Mounting platform, pose adjustment system, medical instrument, and medical device

Abstract

The application discloses an installation platform, a pose adjustment system, a medical instrument and a medical device. The installation platform is slidably arranged on a support mechanism and can comprise a shell arranged on the support mechanism in a manner of at least covering part of the support mechanism, and a connecting piece arranged in the shell and connected with a matching piece arranged on the support mechanism. The connecting piece is configured to be in contact connection with the matching piece at any position of the matching piece, so that the shell can be stopped at different positions on the support mechanism. The installation platform disclosed by the application has simple structure, convenient operation and can realize convenient adjustment of multiple positions.

Description

Technical Field

[0001] This application relates to the fields of industrial equipment or medical equipment, and in particular to an installation platform and a posture adjustment system having the installation platform, a medical device, and a medical apparatus. Background Technology

[0002] With the development of technology, precision motion control equipment has been applied in 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. Specifically, how to precisely manipulate surgical instruments to perform the required operations when the space inside medical scanning equipment or the surgical operating area is limited is a problem that urgently needs to be solved. Similarly, in intelligent manufacturing environments, when precise control of robotic equipment is required to complete complex tasks, the limited operating space presents the same technical challenge of how to achieve precise motion control of these devices. Therefore, precision motion control equipment suitable for this scenario has seen significant development. Summary of the Invention

[0003] To achieve the above objectives, this application discloses an installation platform, a posture adjustment system having the installation platform, a medical device, and a medical apparatus. The installation platform has a simple structure, is easy to operate, and enables convenient adjustment and fixation at multiple positions on a support mechanism.

[0004] The first aspect of this application provides an installation platform slidably mounted on a support mechanism, which may include: a housing disposed on the support mechanism such that it at least partially covers the support mechanism; and a connector disposed inside the housing and connected to a mating member disposed on the support mechanism; wherein the connector is configured to contact and connect with the mating member at any position on the mating member, so that the housing can remain at different positions on the support mechanism.

[0005] According to some embodiments of this application, the housing may include a detachable and combinable upper housing and a lower housing; the upper housing and the lower housing, when combined, cover part of the support mechanism.

[0006] According to some embodiments of this application, the housing may further include an end cap; the end cap accommodates and secures the side end faces of the upper housing and the lower housing, thereby realizing the combination of the upper housing and the lower housing.

[0007] According to some embodiments of this application, the support mechanism may include a curved support, wherein the lower end face of the upper housing and the upper end face of the lower housing are arc-shaped surfaces with the same curvature as the curved support.

[0008] According to some embodiments of this application, the end cap may be provided with a receiving groove, and after the upper housing and the lower housing are received and fastened, the outer peripheral side of the curved support may be accommodated in the receiving groove.

[0009] According to some embodiments of this application, the mating component may include continuous toothed grooves formed on the curved support, and the connecting component may include a rotating gear; the rotating gear may mesh with the continuous toothed grooves at any position, and may drive the housing to slide on the curved support through meshing transmission when a rotational force is applied.

[0010] According to some embodiments of this application, a drive motor can be connected to the rotating gear to drive the rotating gear to rotate.

[0011] According to some embodiments of this application, the drive motor may be disposed inside the housing; or, the drive motor may be located outside the housing.

[0012] According to some embodiments of this application, the rotary gear may be connected to the drive motor by a reduction gear set.

[0013] According to some embodiments of this application, the housing may be provided with a handle, which may include a grip portion and a limiting portion fixedly connected to the grip portion; the grip portion may extend into the housing through a through hole opened on the outer peripheral surface of the housing and be rotatably connected to a rotating fitting inside the housing; the limiting portion may extend out or retract from the operating hole opened on the upper or lower end surface by rotating the grip portion.

[0014] According to some embodiments of this application, the curved support may be provided with multiple limiting holes; the limiting part can be inserted into the limiting hole after extending out of the operating hole.

[0015] A second aspect of this application provides a posture adjustment system, which may include the mounting platform as described above; a movable platform; and a plurality of movable links, wherein the movable links are connected to the base and the movable platform respectively through movable components with controllable degrees of freedom; wherein the movable platform realizes multiple degrees of freedom through the autonomous movement of the movable links under external force and the passive movement of the movable components.

[0016] A third aspect of this application provides a medical device, which may include: a posture adjustment system as described above; the posture adjustment system is controlled to slide relative to the support mechanism or fixedly connected via the mounting platform; a needle assembly is disposed on the movable platform, and the needle assembly achieves posture adjustment by the movement of the movable platform.

[0017] A fourth aspect of this application provides a medical device, which includes the posture adjustment system described above or the medical device described above.

[0018] 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

[0019] 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: Figure 1 These are exemplary structural diagrams of the installation platform shown in some embodiments of this application; Figure 2 yes Figure 1 Exploded view; Figure 3 This is another exemplary structural diagram of the installation platform shown in some embodiments of this application; Figure 4 yes Figure 3 Exploded view; Figure 5 This is another exemplary structural diagram of the installation platform shown in some embodiments of this application; Figure 6 This is another exemplary structural diagram of the installation platform shown in some embodiments of this application; Figure 7 yes Figure 6 Exploded view; Figure 8 This is an exemplary partial schematic diagram of an installation platform according to some embodiments of this application; Figure 9 This is another exemplary structural diagram of the installation platform shown in some embodiments of this application; Figure 10 yes Figure 9 Exploded view; Figure 11 This is an exemplary exploded view of the support mechanism shown in some embodiments of this application; Figure 12 This is an exemplary three-dimensional assembly drawing of a pose adjustment system according to some embodiments of this application. Detailed Implementation

[0020] 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.

[0021] 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 application are for illustrative purposes only.

[0022] 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.

[0023] The following description, with reference to the accompanying drawings, illustrates some preferred embodiments of the present 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.

[0024] This application provides an installation platform. This platform can slide freely on a carrier and achieve multiple positions for stopping and fixing, facilitating the adjustment of the position of attached workpieces or medical devices. (Reference) Figures 1-3 The mounting platform 100 may include a housing. The housing may be mounted on the support structure in such a way that it at least partially covers the support structure. For example, as... Figure 1The housing described herein may have a through channel C, 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, channel C 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 channel C may be fabricated using milling, drilling, or other processing equipment. In another implementation, the housing may be obtained by assembling multiple components. Channel C can be obtained after assembling the housing by designing the component structure and connection method. (Reference) Figure 2 The housing 110 of the mounting platform 100 may include an upper housing 111 and a lower housing 112. When the upper housing 111 and the lower housing 112 are combined, a gap space may exist between them to form the aforementioned channel C. The housing 110 may also include end caps 113 and 114, which can be used for the combination between the upper housing 111 and the lower housing 112. Exemplarily, end caps 113 and 114 may have side end faces that correspond to the upper housing 111 and the lower housing 112 (see reference). Figure 2 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 originally possessed by end cap 113 / 114 and the inner peripheral surface extending vertically from a curve on the bottom surface. The side end faces of the upper housing 111 and the lower housing 112 can be received into this receiving space and fastened by friction. For example, the upper housing 111 and the lower housing 112 are fixedly connected to the end cap in a manner similar to a sleeve. The inner peripheral surface can be different; for example, two mutually spaced inner peripheral surfaces are formed by extending two curves, thereby creating an open space between the two inner peripheral surfaces. After the upper housing 111 and the lower housing 112 are assembled, they will not contact each other, thus forming the aforementioned gap space between the upper housing 111 and the lower housing 112.

[0025] Considering factors such as component design and manufacturing processes, the upper housing 111, lower housing 112, end cap 113, and end cap 114 are integrally formed from two or three components. For example, the upper housing 111 and end cap 113 (or end cap 114) can be integrally formed, and the lower housing 112 and end cap 114 (or end cap 113) can be integrally formed. Another example is that the upper housing 111, end cap 113 (or end cap 114), and lower housing 112 can be integrally formed. Yet another example is that the upper housing 111 (or lower housing 112) can be integrally formed with end cap 113 (or end cap 114), while the lower housing 112 (or upper housing 111) and end cap 114 (or end cap 114) are manufactured separately as independent components. The above can be adjusted according to actual circumstances and are not limited to this application.

[0026] Combination Figure 3 and Figure 4The support mechanism may include a curved support 300. In some implementations, the curved support 300 may be an arched support, which may have a specific curvature. In some implementations, the curved support 300 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 3 and Figure 4 Taking the curved support 300 shown as an example of an arched support, after the housing 110 is assembled, the upper housing 111 can be located on the outer arch surface OF side of the curved support 300, and the lower housing 112 can be located on the inner arch surface IF side of the curved support 300. To achieve smooth sliding of the housing 110 on the curved support 300 (e.g., minimizing frictional resistance), the lower end face of the upper housing 111 (refer to...) Figure 2 The end face (pointed to by the middle arrow B in the vertical direction) and the upper end face of the lower housing 112 can be arc-shaped surfaces. This arc-shaped surface can have the same curvature as the curved support 300, which serves as an arched support. In this way, after the housing 110 is assembled, it can slide smoothly on the curved support 300 without the frictional force increasing dramatically due to the different curvatures, preventing it from sliding.

[0027] For assembling the housing 110, one possible procedure is to first use an end cap (either end cap 113 or end cap 114) to accommodate and secure one side end face of the upper housing 111 and the lower housing 112. At this point, an unsealed gap space is formed between the upper housing 111 and the lower housing 112. Subsequently, the incompletely assembled housing can be inserted into the curved support 300, for example, by inserting the curved support 300 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 111 and the lower housing 112. This completes the installation of the housing 110 on the curved support 300.

[0028] The lengths of the upper housing 111 and the lower housing 112 can be slightly greater than the width of the curved support 300, 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 113 and 114 (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 300, for example, the outer periphery of the curved support 300 in the width direction. This reduces the aforementioned margins in the upper housing 111 and the lower housing 112, saving production costs. Furthermore, it avoids friction between the curved support 300 and the end caps, preventing the housing 110 from sliding on the curved support 300.

[0029] To prevent the housing 110 from sliding on the curved support 300, a second groove 310 provided on the curved support 300 can be used. (See reference) Figure 3 and Figure 4 As shown, the second groove 310 can be formed on the outer arch surface OF of the curved support 300 or on the inner arch surface IF. Alternatively, the second groove 310 can be formed on both the outer arch surface OF and the inner arch surface IF. For example, the second groove 310 can be formed on the arch surface of the curved support 300 using a grooving machine or other machinery. Matching the second groove 310, a sliding member can be provided on the lower end face of the upper housing 111 and / or the upper end face of the lower housing 112. This sliding member can be accommodated in the second groove 310 after the housing 110 is mounted on the curved support 300. In this case, the assembly of the housing 110 can be achieved by first aligning the sliding members of the upper housing 111 and the lower housing 112 with the second groove 310, then attaching them to the curved support 300, and then using end caps to accommodate / fasten the side end faces of the upper housing 111 / lower housing 112.

[0030] In one implementation, the sliding element can be a sliding block. This sliding block can be integrally formed with the upper housing 111 / lower housing 112 (e.g., using injection molding, hot pressing, extrusion, 3D printing, etc.) or additionally attached (e.g., by welding, bonding, etc.). The sliding block can slide within the second groove 310. For example, when an external force is applied to the housing 110, the housing 110 can change its position on the curved support 300 by the sliding of the sliding block within the second groove 310. To achieve smooth sliding of the housing 110, lubricant or lubricating oil can also be added to the second groove 310.

[0031] In another implementation, the slider can be a scroll wheel. (Return to Reference) Figure 2 The upper housing 111 and lower housing 112 can be hollow, and the interior can be used to install / set other components. For example... Figure 2 As shown, the lower end face of the upper housing 111 and the upper end face of the lower housing 112 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 then enter the second groove 310. Therefore, the rolling wheel can roll within the second groove 310, driving the housing 110 to move on the curved support 300.

[0032] Under the above structural design, the sliding of the housing 110 on the curved support 300 can be achieved by external force. For example, an operator can apply a pushing or pulling force to the housing 110 to move it.

[0033] It should be noted that the second groove described above can also be provided on the housing 110. For example, it can be provided on the lower end face of the upper housing 111 and / or the upper end face of the lower housing 112. Correspondingly, strip-shaped protrusions can be provided on the outer arched surface and / or inner arched surface of the curved support 300. The sliding of the housing 110 on the curved support 300 is achieved by the cooperation of the strip-shaped protrusions with the second groove. This application does not specifically limit this aspect.

[0034] In some implementations, the mounting platform 100 can remain at different positions on the support mechanism (e.g., the curved bracket 300). Exemplarily, the mounting platform 100 also includes a connector disposed within the housing 110. As mentioned above, both the upper housing 111 and the lower housing 112 can be hollow, and the connector can be disposed within the upper housing 111 and / or the lower housing 112. 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 111 and / or the upper end face of the lower housing 112 can serve as a channel for the connector to extend outside the housing. During the sliding of the housing (e.g., housing 110) on the support mechanism (e.g., the curved bracket 300), the connector can always be connected to the mating member, for example, through contact. That is, the connector can connect 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 on the support mechanism.

[0035] Return to reference Figure 3 and Figure 4 In some implementations, the connecting member may include a rotary gear 120, and the mating member may include a continuous toothed groove 320 disposed on the curved support 300. The continuous toothed groove 320 and the curved support 300 can be separately machined and then assembled together, for example, by bonding, screw locking, or snap-fitting. In some implementations, the continuous toothed groove 320 can be implemented by a rack, mounted on the curved support 300 to form the continuous toothed groove 320. In other implementations, the continuous toothed groove 320 can be integrally formed with the curved support 300, forming a "rack" similar to being embedded in the curved support 300. Alternatively, a "rack" can be formed on the curved support 300 as the continuous toothed groove 320 by machining or laser etching. The rotary gear 120 can mesh with the continuous toothed groove 320 at any position. When a rotational force is applied to the rotary gear 120, the meshing transmission can drive the housing 110 to slide on the curved support 300. (Reference) Figure 5 Another exemplary structural diagram of the installation platform is shown. Comparison with... Figure 3 and Figure 4 , Figure 5 The curved support 300' shown in the figure and Figure 5 The curved support 300 shown is similar, but does not have the aforementioned second groove. The continuous toothed groove 320' on the curved support 300' can be machined separately from the curved support 300' 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 300' by adhesive. In this case, for the assembly of the housing 110', since the curved support 300' does not have the second groove, no sliding element (e.g., a sliding block or a rolling wheel) will be provided on the housing 110'. Therefore, one end cap of the upper and lower housings included in the housing 110' can be integral, and then inserted into the curved support 300', inserting the curved support 300' into the gap space of the housing 110'. 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 110' on the curved support 300'. The arrangement of the rotating gear 120 inside the housing 110 can be the same as or similar to the arrangement of the aforementioned rolling wheel. For example, the through slot G can also serve as a channel for the rotating gear 120 to extend out of the housing 110, and the corresponding through slot G can also be provided with a mounting bracket or other similar components on the outer periphery inside the upper housing 111 and / or lower housing 112. In this way, the rotating gear 120 can be mounted on the mounting bracket, and after receiving rotational force, it can drive the housing 110 to move on the curved support 300 through the meshing connection with the continuous toothed groove 320.

[0036] 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 110. For example... Figure 2 , Figure 3 and Figure 4As shown, the rotating gear 120 is disposed inside the lower housing 112, and the driving electrode can also be disposed inside the lower housing 112. Corresponding structural components for fixing the drive motor can also be disposed inside the lower housing 112. For example, a mounting slot, into which the drive motor can be directly inserted. In another implementation, the rotating gear 120 can be placed on the upper housing 111, and continuous toothed grooves can be disposed on the upper arched surface of the curved support 300. The rotating gear 120 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 110. For example, the drive motor can be connected to the rotating gear 120 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. Thus, the rotational force of the drive motor can be transmitted through the aforementioned force transmission components, ultimately driving the rotating gear 120 to rotate. The force transmission component (e.g., a flexible shaft) can enter the interior of the housing 110 through an opening O on an end cover (e.g., end cover 114). The force transmission component (e.g., a flexible shaft) enters the housing 110 through the opening O and then connects to the rotating gear 120.

[0037] The drive motor (or force transmission component) and the rotating gear 120 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 120. 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 120, thereby allowing the housing 110 to accurately stop at the desired position on the curved support 300.

[0038] Under the above structural design, the sliding of the housing 110 on the curved support 300 can be achieved by a drive motor. For example, after the drive motor is powered on, the moving speed of the housing 110 on the curved support 300 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 120, the rotational shaft can be fixed on the continuous tooth groove 320 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 110 on the curved support 300.

[0039] It should be noted that the rotary gear 120 and the drive motor can also be located inside the upper housing 111. Correspondingly, the continuous toothed groove 320 can also be formed on the outer arch surface of the curved support 300. This application does not impose specific limitations. In addition, this application uses the cooperation between the rotary gear 120 and the continuous toothed groove 320 to realize the sliding of the mounting platform 100 on the curved support 300, 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 120 can also be replaced by a sprocket, and the continuous toothed groove 320 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 300 to accommodate the chain. In this way, the relative movement between the mounting platform 100 and the curved support 300 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 transmission, belt transmission, chain transmission, worm gear transmission, etc., any transmission method with rotary input and rotary output can be used here.

[0040] It should be noted that the above content involves two sliding methods of the housing 110 on the curved support 300: external force drive and motor drive. The combination of the mounting platform 100 and / or the curved support 300 can be different. For example, under external force drive, the rotary gear 120 and / or the continuous toothed groove 320 are not necessary. It is sufficient to provide a second groove 310 on the curved support 300 and a sliding block or rolling wheel inside the housing 110. Under motor drive, the rotary gear 120 and the continuous toothed groove 320 are necessary, while the corresponding second groove 310 and / or the sliding block or rolling wheel inside the housing 110 are not necessary. Relying on the meshing connection between the rotary gear 120 and the continuous toothed groove 320, the movement and stopping of the mounting platform 100 on the curved support 300 can be achieved by controlling the rotation and stopping of the drive motor.

[0041] Alternatively, the aforementioned motor drive can also be implemented in other forms. For example, the rotary gear 120 and continuous toothed groove 320 can be replaced with a linear motor with an arc-shaped lead screw. The arc-shaped lead screw is mounted on the curved support 300, and the linear motor is built into the mounting platform 100, directly driving the mounting platform 100 to move on the curved support 300.

[0042] In some implementations, the mounting platform 100 may also include a handle 130. For example... Figures 1-4As shown, the handle 130 can be disposed on the housing 110 and may include a grip portion 131 and a limiting portion 132 fixedly connected to the grip portion 131. As shown, the limiting portion 132 may be a columnar body, disposed on two sidewall columns of the grip portion 131. The two columnar bodies are connected to each other by a connecting rod 133. One feasible implementation is that the limiting portion 132 is integrally formed, that is, the two columnar bodies and the connecting rod may be integral, with the connecting rod 133 being part of the limiting portion 132. Alternatively, the limiting portion 132, as a columnar body, is fixedly connected to the connecting rod 133. Simultaneously, to install the limiting portion 132 on the grip portion 131, one end of the columnar body may have a hole. The two sidewall columns of the grip portion 131 can be inserted into the hole by a sleeve, completing the fixed connection between the two. The handle 130 may partially extend into the housing 110. As shown in the figure, a through hole may be formed on the outer peripheral surface of the housing 110 (for example, a through hole is formed on the outer peripheral surface of the upper housing 111). The gripping part 131 can extend into the interior of the upper housing 111 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 131. The interior of the upper housing 111 may have two rotating fittings, corresponding to the two side wall posts of the gripping part 131, which are identical to or similar to the aforementioned roller mounting bracket. 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 131 can be rotatably mounted on the rotating fitting. Thus, pulling the gripping part 131 with external force will cause it to rotate.

[0043] During the rotation of the grip 131, the limiting part 132 can extend or retract into the upper housing 111 as the grip 131 rotates. Similarly, an operating hole can be provided on the lower end face of the upper housing 111. The position of this operating hole can correspond to the position of the limiting part 132 (such as the two columnar bodies mentioned above) after the grip 131 is rotated and installed. When the handle 130 (or grip 131) is pressed down, the limiting part 132 can extend out from the operating hole. When the handle 130 (or grip 131) is lifted, the limiting part 132 will retract from the operating hole into the upper housing 111.

[0044] Correspondingly, the curved support 300 can be provided with multiple limiting holes 330. For example, multiple limiting holes 330 are provided on the outer arch surface of the curved support 300. The limiting holes 330 can be set according to a predetermined rule or randomly. For example, the limiting holes 330 are set at intervals of 15°, 20°, 25°, 30°, etc. After the limiting part 132 extends out of the upper housing 111, it can be inserted into the limiting hole 330 to achieve secondary position fixation of the mounting platform 100 (or housing 110).

[0045] To prevent the handle 130 from drooping due to gravity without external force, causing the limiting part 132 to rub against the outer arch of the curved bracket 300 and thus affecting the sliding and structural stability of the mounting platform 100, a protruding structure B can be provided on the connecting rod 133, and a corresponding elastic snap-fit ​​structure can be provided inside the upper housing 111. After the grip 131 is installed with the rotating fitting, the protruding structure B will be aligned with the elastic snap-fit ​​structure. When the grip 131 is lifted, the handle 130 (or the grip 131) is lifted, and the protruding structure B disengages from the elastic snap-fit ​​structure. After the handle 130 is released, the protruding structure B is supported by the elastic snap-fit ​​structure, thus supporting the entire handle 130 and preventing the limiting part 132 from extending out of the operating hole. The protruding structure B is aligned with the elastic snap-fit ​​structure. When the handle 130 (or the grip 131) is pulled up, the protruding structure B disengages from the elastic snap-fit ​​structure. When handle 130 is released, the protruding structure B will be supported by the elastic snap-fit ​​structure. When force is applied downward to handle 130 (or grip 131), the protruding structure B will engage with the elastic snap-fit ​​structure, and at the same time, the limiting part 132 will extend out of the housing 110 and engage with the limiting hole 330. This design also prevents the handle 130 from being accidentally lifted, causing the limiting part 132 to disengage from the limiting hole 330 and resulting in failure of secondary position fixation.

[0046] In some implementations, the mounting platform 100 may provide a mounting surface for other components or devices. For example, the end cap 113 may provide this mounting surface. For instance, the surface of the end cap 113 facing away from the interior of the housing 110 may serve as the mounting surface. Figure 1 As shown, this is the face of the end cap 113 facing upwards. This face has multiple mounting holes for mounting components or devices.

[0047] The installation platform disclosed in this application has a simple structure, is easy to operate, and can be conveniently adjusted in multiple positions on the supporting structure.

[0048] This application also discloses some other implementations of the aforementioned installation platform. (See references) Figures 6 to 11 The diagram illustrates an exemplary structural design of an installation platform according to some embodiments of this application. Figures 6 to 8 The installation platform 400 shown differs from the aforementioned installation platform 100 in the handle and internal structure.

[0049] The mounting platform 400 may also include an upper housing 411, a lower housing 412, an end cap 413, and an end cap 414. 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 300, and is referred to in this application as... Figures 9 to 11The curved support 500 is shown in the figure. The curved support 500 differs from the aforementioned curved support 300 in that, unlike the second groove 310 formed on the outer arch surface OF or inner arch surface IF of the curved support 300, the curved support 500 has a guide rail 510 that is detachably mounted to the support body. The guide rail 510 can be rigid, and its curvature can be the same as the curvature of the curved support 500, so that it can fit snugly against the curved support 500 during installation. In another implementation, the guide rail 510 can be flexible, thus adapting to curved supports 500 with different curvatures, without requiring the design / manufacturing of guide rails 510 with the same curvature for each curved support 500. In some implementations, the rigid guide rail 510 can also act as a reinforcing rib, providing structural support for the curved support 500.

[0050] The guide rail 510 can form a groove similar to the second groove 310. Similarly, a sliding element can be provided on the lower end face of the upper housing 411 and / or the upper end face of the lower housing 412. When the mounting platform 400 is mounted on the curved support 500, the sliding element will be accommodated in the groove. The sliding element can also be a slider or a roller.

[0051] In other implementations, the guide rail 510 can form a sliding monorail. For example, the cross-section of the guide rail 510 is "T"-shaped or "Γ"-shaped. The vertical edge will fit against the curved support 500, and the horizontal edge will extend after the guide rail 510 fits against the curved support 500 to form a sliding monorail. The mounting platform 400 will slide on the curved support 500 by means of an external component. Exemplarily, this external component can be a "U"-shaped slider. Figure 10 The slider S shown is slidably engaged with a sliding monorail. The upper housing 411, lower housing 412, end cap 413, and end cap 414 of the mounting platform 400 are designed to accommodate the slider S and secure it after assembly. Thus, when the mounting platform 400 is mounted on the curved support 500 in a similar manner as described above, the slider S becomes part of the mounting platform 400. The mounting platform 400 can slide freely on the curved support 500 via the slider S.

[0052] In some implementations, the curved support 500 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 500 is large, a larger number of reinforcing ribs can be used to maintain the structural strength of the curved support 500. For a narrower curved support 500, one or two reinforcing ribs can be used. Of course, this is not a limitation.

[0053] Return to reference Figure 7 and Figure 8The connecting element used by the mounting platform 400 to stop at any position on the curved support 500 can still be a rotary gear, such as a rotary gear 420. The rotary gear 420 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 500, such as a continuous toothed groove 520. Thus, when a rotational force is applied to the rotary gear 420, it will drive the housing to move on the curved support 500 through meshing transmission. The mounting platform 400, which has stopped sliding, is fixed in a stopped position by locking the rotation of the rotary gear 420. The through slot G for the rotary gear 420 to extend from the lower housing 412 of the mounting platform 400 is larger than the through slot G provided on the lower housing 112 of the mounting platform 100. This facilitates the installation of the rotary gear 420.

[0054] The handle 430 on the mounting platform 400 has a different structure than the handle 130 on the aforementioned mounting platform 100. For example... Figure 10 As shown, the handle 430 may include a grip portion 431 and a handle body 432 connected to the grip portion 431. The grip portion 431 may be a T-shaped grip, and the handle body 432 may be connected to one end of the vertical part of the T-shaped grip. A limiting portion 433 for inserting into a limiting hole 530 formed on the curved support 500 may be provided on the handle body 432. For example, as Figure 10 The handle body 432 shown is located in the middle. Similarly, the handle 430 can extend into the mounting platform 400 through a through hole on the outer peripheral surface of the upper housing 411, for example, at least the limiting part 433 can extend into it. The other end of the handle body 432 can be provided in the connecting part 434, for example, the connecting part 434 is a columnar body. This columnar body can be rotatably connected to a rotating fitting P provided inside the mounting platform 400. 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 10 After the handle 430 is inserted into the circular hole (only one is shown due to obstruction), it rotates due to the rotation between the connecting part 434 and the rotating fitting P when pulled by an external force. Similarly, the lower end face of the upper housing 411 may also have a through area for the extension or retraction of the limiting part 433, so that the limiting part 433 can be inserted into or removed from the limiting hole 530 by pulling the handle 430. In another embodiment, the handle 430 may also be provided in other positions, such as the top surface of the upper housing 411. By adjusting the length of the handle body 432 of the handle 430, the position and shape of the limiting part 433 (for example, making it longer), and the position of the rotating fitting P inside the mounting platform 400, the limiting part 433 can also be inserted into or removed from the limiting hole 530 by pulling, thereby fixing or unlocking the position of the mounting platform 400 on the curved support 500.

[0055] To prevent the handle 430 from being mistakenly inserted into the limiting hole 530 due to accidental touch when being inserted into the limiting hole 530, or due to the handle always hanging down under gravity when being pulled out of the limiting hole 530, elastic members, such as elastic sheets, springs or elastic coils, may be mounted on both sides of the vertical body of the grip portion 431. The through hole opened on the outer peripheral surface of the upper housing 411 of the mounting platform 400 may be in a "卄" shape. With such a shape of the through hole, the vertical line "丨" of the main trunk serves as a passage for the handle 430 to move up and down when being pulled up. Since this passage is relatively narrow, the elastic member will be squeezed to cling to the vertical body of the grip portion 431. The transversely arranged "=" serves for position limitation. When the grip portion 431 moves to this position, the passage becomes wider, so that the elastic sheet will expand and extend into the transverse space. For example, the upper transverse space keeps the limiting portion 433 completely separated from the limiting hole 530. In other words, when the grip portion 431 moves to this position, the elastic sheet extends into the upper transverse space, the entire handle 430 will be supported, and a relatively small force or gravity cannot deform and disengage the elastic sheet, thus preventing the handle 430 from hanging down and being mistakenly inserted into the limiting hole. The lower transverse space keeps the limiting portion 433 in the state of being inserted into the limiting hole 530. Accidental touch on the handle 430 cannot deform and disengage the elastic sheet, thus preventing the limiting portion 433 from slipping out of the limiting hole 530 and causing secondary fixation failure. In another embodiment, the elastic member may also be installed inside the through hole (i.e., inside 411), and the handle 430 is locked by squeezing the elastic member during the locking process.

[0056] Of course, the above description is only exemplary, and does not limit the present application. Any improvements, adjustments, modifications and the like made within the scope claimed by the present application are all applicable.

[0057] Based on this, the present application further provides a medical device. The medical device may include a pose adjustment system having the mounting platform as described above, and a medical device disposed on the pose adjustment system. Reference Figure 12 shows an exemplary structural diagram of the pose adjustment system, the pose adjustment system 1200 includes a base 1210, a plurality of movable links 1220, and a movable platform 1230. The base 1210 may be provided by the mounting platform 100 (or the mounting platform 100' or the mounting platform 400) as described above. In combination Figures 1-11The base 1210 can be provided by end cap 114 (or end cap 414). In some implementations, the movable platform 1230 can be used to connect directly or indirectly to the base 1210. For example, one end of the movable link 1220 can be directly fixed to the base 1210, or fixedly connected to the base 1210 via an intermediate connector (e.g., a universal joint, a ball joint 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 1230, for example, in the same or similar manner as the base 1210. The movable link 1220 can be used to connect the base 1210 and the movable platform 1230. For example, both ends of the movable link 1220 can be connected to movable components 1240 respectively disposed on the base 1210 and the movable platform 1230. The movable component 1240 can have one degree of freedom, two degrees of freedom, three degrees of freedom, or even be capable of universal motion. Correspondingly, the movable component can be a kinematic pair or a joint bearing, etc. In some examples, the movable component 1240 can have controllable degrees of freedom. For example, by modifying the structure to restrict one or more degrees of freedom of the movable component 1240, the motion control of the pose adjustment system 1200 can be precisely controlled. The movable link 1220 can achieve autonomous movement under external force. For example, the movable link 1220 can include a screw / sleeve combination, a worm gear / worm combination, etc. The screw can rotate under external force, thereby extending into or out of the sleeve, achieving overall linear motion. Each movable link 1220 can be independently controlled to perform linear motion with different strokes, and the movable component performs passive motion (e.g., rotation) based on the motion of the movable link 1220. Therefore, the movable platform 1230 can achieve multiple degrees of freedom through these movements. By controlling the stroke of each movable link 1220, the position and attitude of the movable platform 1230 can be precisely adjusted. In some examples, the number of movable links 1220 can be equal to or greater than six, such as 6, 7, 8, 9, or 10. This allows the movable platform 1230 to achieve movement with six or more degrees of freedom. This improves the accuracy and versatility of position and / or attitude adjustments. The movable platform 1230 can have a bearing surface. This bearing surface can be used to place / install various workpieces or instruments. The movable platform 1230 can achieve position and attitude adjustments through the movement of the movable links 1220 and the movable parts 1240, thereby controlling the position and attitude of the workpiece or instrument. The placement of the workpiece or instrument on the movable platform 1230 can be done directly, for example, by welding, snap-fitting, bonding, threaded connection, etc. Figure 12The movable platform 1230 has two grooves. Corresponding protrusions are provided on the workpiece or instrument, and the workpiece or instrument is placed on the movable platform 1230 by engaging the protrusions into the grooves. If the bearing surface of the movable platform 1230 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 1230.

[0058] The pose adjustment system disclosed in this application can be applied to scenarios requiring fine motion control, such as in the medical field. For example, the workpiece or instrument may include a needle assembly. This needle assembly can be 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 instance, minimally invasive surgery in this application involves entering the patient's body through a small incision 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 / facial contouring. For example, when the minimally invasive surgery is a biopsy or any step of a biopsy, the needle assembly may include a puncture needle; when the minimally invasive surgery includes tumor ablation or any step of tumor ablation, the needle assembly may include an ablation needle; when the minimally invasive surgery includes particle implantation or any step of particle implantation, the needle assembly 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 assembly may include an injection needle; when the minimally invasive surgery... When the procedure includes brain electrode implantation or any step of brain electrode implantation, the needle assembly may include electrode guidewires and / or cannulas; when the minimally invasive surgery includes radiofrequency or laser ablation or any step of radiofrequency or laser ablation, the needle assembly may include radiofrequency or laser fibers and / or cannulas; when the minimally invasive surgery includes any step of brachytherapy, the needle assembly may include applicators, catheters, and interpolation needles; when the minimally invasive surgery includes any step of cosmetic surgery, the needle assembly may include injection needles and liposuction needles.

[0059] When applied in the medical field, the curved support 300 (or curved support 300' or curved support 500) can be mounted on other medical devices and used in conjunction with them to perform synergistically. Exemplary examples of such medical devices include, but are not limited to, CT, MRI, PET, PET-CT, DR, C-arms (including mobile C-arms, peripheral interventional C-arms, DSA digital subtraction angiography systems, etc.), G-arms, U-arms, DSC, CCD, holographic projection devices, etc. The pose adjustment system 600 can achieve a wide range of convenient position and posture changes while occupying a very small space (e.g., within the aperture of medical imaging devices such as CT and MRI). In this case, the curved support 300 (or curved support 300' or curved support 500) will be mounted on the scanning bed of the aforementioned medical imaging device (e.g., ultrasound, CT, or MRI). This mounting can include detachable mounting, such as through snaps, threads, riveting, etc., or may include clamps or tape. In some embodiments, the connection between the support and the scanning bed can be achieved by customizing the scanning bed or its accessories. One installation method is that the bottom end face of the curved support 300 (or curved support 300' or curved support 500) can be provided with a mounting hole 340 (or mounting hole 540), which is provided with a threaded structure. The corresponding scanning bed is also provided with a mounting hole with a threaded structure. After the two are aligned (for example, by means of positioning parts or positioning holes), the mounting parts are screwed into the two mounting holes to fix the curved support 300 (or curved support 300' or curved support 500) to the scanning bed. Alternatively, the aligned curved support 300 (or curved support 300' or curved support 500) can be clamped onto the scanning bed by a clamp. Or, the fixed connection between the two can be achieved by adhesive tape. Of course, other connection methods such as slot fastening can also be applied to this application, and are not specifically limited.

[0060] Due to the aforementioned application scenarios of the pose adjustment system 1200, the materials used to fabricate the mounting platform 100 (or mounting platform 100' or mounting platform 400) (and the curved support 300 / curved support 300' / curved support 500) can be made from conventional medical materials or from medical scanning compatible materials. For example, non-magnetic materials such as plastics or non-magnetic metals such as titanium alloys can be used to avoid affecting the imaging effect. Simultaneously, to enable imaging on medical scan images to determine the position of each part, the fabrication materials of each component may include MRI-enhanced substances (such as cod liver oil particles or water droplets), or these substances may be added during use. For example, each component may be provided with a fluid flow channel, into which MRI-enhanced substances can be added during use to enable imaging of the component in medical scan images.

[0061] Of course, the pose adjustment system 1200 equipped with mounting platform 100 (or mounting platform 100' or mounting platform 400) can also be applied in the manufacturing field. For example, the workpiece mounted on the movable platform 1230 may include a laser gun, spray gun, welding gun, etc. Alternatively, the workpiece may also be a camera, monitor, or display screen. Of course, the above is for illustrative purposes only, and the pose adjustment system provided in this application can also be applied to other fields requiring fine motion control, and is not limited to the examples mentioned above.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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. An installation platform, wherein the installation platform is slidably mounted on a support mechanism, characterized in that, include: A housing, wherein the housing is disposed on the support mechanism such that it at least partially covers the support mechanism; A connector, disposed inside the housing, connects to a mating component disposed on the support mechanism; wherein... The connector is configured to contact and connect with the mating member at any position on the mating member, so that the housing can remain at different positions on the support mechanism.

2. The installation platform according to claim 1, characterized in that, The housing includes a detachable and combinable upper housing and a lower housing; the upper housing and the lower housing are combined to cover part of the support mechanism.

3. The installation platform according to claim 2, characterized in that, The housing also includes an end cap; the end cap accommodates and secures the side end faces of the upper housing and the lower housing, thereby realizing the combination of the upper housing and the lower housing.

4. The installation platform according to claim 3, characterized in that, The support mechanism includes a curved support, and the lower end face of the upper shell and the upper end face of the lower shell are arc-shaped surfaces with the same curvature as the curved support.

5. The installation platform according to claim 4, characterized in that, The end cap is provided with a receiving groove. After the upper housing and the lower housing are received and fastened, the outer periphery of the curved support is accommodated in the receiving groove.

6. The installation platform according to claim 4, characterized in that, The mating component includes a continuous toothed groove formed on the curved support, and the connecting component includes a rotating gear; the rotating gear meshes with the continuous toothed groove at any position on the continuous toothed groove, and can drive the housing to slide on the curved support through meshing transmission when a rotational force is applied.

7. The installation platform according to claim 6, characterized in that, A drive motor is connected to the rotating gear to drive the rotating gear to rotate.

8. The installation platform according to claim 7, characterized in that, The drive motor is disposed inside the housing; or, the drive motor is located outside the housing.

9. The installation platform according to claim 7, characterized in that, A reduction gear set is connected between the rotating gear and the drive motor.

10. The installation platform according to claim 4, characterized in that, The housing is provided with a handle, which includes a gripping part and a limiting part fixedly connected to the gripping part; the gripping part extends into the housing through a through hole on the outer peripheral surface of the housing and is rotatably connected to a rotating fitting inside the housing; the limiting part extends out or retracts from the operating hole on the upper or lower end surface by the rotation of the gripping part.

11. The installation platform according to claim 10, characterized in that, The curved support has multiple limiting holes; the limiting part can be inserted into the limiting hole after extending out of the operating hole.

12. A pose adjustment system, characterized in that, The pose adjustment system includes: The installation platform according to any one of claims 1-11; Movable platform; and Multiple movable links are provided, each connected to the base and the movable platform via movable components with controllable degrees of freedom; wherein, The movable platform achieves multiple degrees of freedom through the autonomous movement of the movable link driven by external force and the passive movement of the movable components.

13. A medical device, characterized in that, The medical device includes: The pose adjustment system as described in claim 12; The posture adjustment system is controlled to slide relative to the support mechanism or be fixedly connected via the mounting platform; A needle assembly is provided on the movable platform, and the needle assembly adjusts its position and posture by means of the movement of the movable platform.

14. A medical device comprising the posture adjustment system of claim 12 or the medical device of claim 13.

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