Cardiovascular treatment platform
By using auxiliary robotic arms and vertical position adjustment mechanism connected by multiple electromagnetic brake joints on the cardiovascular treatment platform, the complex structure and cumbersome disassembly and assembly of the robotic arms in the prior art are solved, and flexible adjustment of the position of medical devices is achieved and stability, simplifying the maintenance process.
Patent Information
- Application Number
- CN202322827131.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-19
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2033-10-19
AI Technical Summary
The existing DSA operating room robotic arms have complex structures, cumbersome disassembly and assembly and maintenance, making it difficult to achieve flexible position adjustment of medical devices.
The auxiliary robot arm is connected by multiple electromagnetic brake joints. The fixing and synchronous control of the mounting arm is achieved through the electromagnetic brake device, forming a multi-degree of freedom robot arm structure, and combining with the vertical position adjustment mechanism and equipment mount to realize medical devices. real-time position adjustment.
The structure of the robotic arm is simplified, the stability of position fixation and ease of disassembly and assembly are improved, and the position of medical devices is flexible and real-time adjustment.
Smart Images
Figure CN222323850U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical equipment technology, and in particular to a cardiovascular treatment platform. Background Art
[0002] DSA (Digital Surgery Application) digital subtraction angiography system is a new type of imaging diagnostic equipment that combines X-ray fluoroscopy and ultrasound imaging technology, with the advantages of clear imaging, high resolution, and low radiation dose. Its basic principle is to use computer-controlled high-frequency and high-voltage current to form "digital blood vessels" in the human body, and then use special ultrasound imaging technology to observe the morphological and structural changes of these "digital blood vessels" to determine the nature and location of the lesion and its relationship with surrounding tissues.
[0003] In existing DSA operating rooms, interventional surgical instruments are usually installed on a set robotic arm, and the position of the interventional surgical instruments on the patient's surgical platform is positioned by adjusting the position of the robotic arm. However, existing robotic arms are usually automatically controlled by motors and other driving devices, resulting in a complex overall structure and cumbersome disassembly and maintenance. Utility Model Content
[0004] In order to solve the defects of the prior art, the purpose of the present invention is to provide a cardiovascular treatment platform that can solve the above-mentioned technical problems.
[0005] In order to achieve the above objectives, a technical solution adopted by the utility model is to provide a cardiovascular treatment platform, characterized in that the cardiovascular treatment platform comprises:
[0006] A treatment platform and an auxiliary mechanical arm connected to one side of the treatment platform, the auxiliary mechanical arm is used to install medical equipment, the auxiliary mechanical arm includes a plurality of mounting arms and an electromagnetic brake joint, and two adjacent mounting arms are connected through the electromagnetic brake joint to achieve rotational connection between the two adjacent mounting arms;
[0007] The electromagnetic brake joint comprises a first mounting shell, a central axis, a second mounting shell and an electromagnetic brake, wherein the second mounting shell is rotatably arranged on the central axis, and the central axis is fixedly connected to the first mounting shell so that the positions of the first mounting shell and the second mounting shell are fixed;
[0008] The electromagnetic brake is installed on the second installation shell and connected to the central shaft. The electromagnetic brake is used to control whether the second installation shell and the central shaft are fixed.
[0009] Optionally, the auxiliary robot arm includes a plurality of the electromagnetic brake joints, and the electromagnetic brakes in the plurality of the electromagnetic brake joints are all coupled to a set control switch, and the control switch can control the plurality of the electromagnetic brake joints to perform locking control synchronously.
[0010] Optionally, one end of the central axis passes through the second mounting shell and is screwed and fixed to the first mounting shell.
[0011] Optionally, a damping gasket is arranged between the second mounting shell and the central axis to provide damping when the second mounting shell rotates relative to the central axis.
[0012] Optionally, the auxiliary robotic arm further comprises a main shaft, the first mounting shell or the second mounting shell is mounted on one end of the main shaft, and the other end of the main shaft is adjustably mounted on the treatment platform at a fixed position.
[0013] Optionally, a vertical position adjustment mechanism and a device mounting seat are installed at one end of the auxiliary mechanical arm away from the main shaft;
[0014] The vertical position adjustment mechanism comprises: a short rod, two long rods arranged in parallel and a driving rod, one end of each of the two long rods is rotatably connected to the mounting arm at the end, and one end of each of the two long rods is rotatably connected to the short rod; two ends of the driving rod are respectively connected to the two long rods, and two ends of the driving rod are respectively rotatably connected to the two long rods;
[0015] The equipment mounting seat is mounted on the short rod, and the equipment mounting seat is used to mount the medical device.
[0016] Optionally, the equipment mounting seat comprises a mounting seat and a rotating platform, the rotating platform is connected to the mounting seat in a damped rotation manner, the medical device is mounted on the rotating platform, and the mounting seat is connected to the short rod.
[0017] Optionally, a guide rail is provided at a side end of the treatment platform, and the other end of the main shaft is adjustably mounted on the guide rail at a fixed position.
[0018] The present application discloses a cardiovascular treatment platform. The auxiliary mechanical arm provided in the present application can achieve position change by manually dragging its end, and by setting an electromagnetic brake, multiple mounting arms of the auxiliary mechanical arm can be fixed at a set angle position, thereby improving the position fixation stability of multiple mounting arms. Therefore, the auxiliary mechanical arm has a simple structure and is easy to disassemble and maintain. Moreover, by adopting multiple electromagnetic brakes to connect multiple mounting arms, a multi-degree-of-freedom auxiliary mechanical arm can be formed, and by synchronously locking the electromagnetic brake joints in each electromagnetic brake joint, the position of the auxiliary mechanical arm when it moves to any form can be locked and limited, so that the position of the medical device set thereon can be adjusted in real time. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a structural schematic diagram of an embodiment of a cardiovascular treatment platform provided by the present application;
[0020] Figure 2 yes Figure 1 An exploded view of the electromagnetic brake joint in the cardiovascular therapy platform shown;
[0021] Figure 3 yes Figure 1 A cross-sectional view of an electromagnetic brake joint in the cardiovascular treatment platform shown;
[0022] Figure 4 yes Figure 1 A schematic diagram of the structure of the cardiovascular treatment platform in another direction;
[0023] Figure 5 yes Figure 1 A schematic structural diagram of a vertical position adjustment mechanism and an equipment mounting seat in a cardiovascular treatment platform is shown. DETAILED DESCRIPTION
[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.
[0025] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0027] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0028] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0029] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.
[0030] See also Figure 1-Figure 3 , Figure 1 It is a structural schematic diagram of an embodiment of a cardiovascular treatment platform provided by the present application; Figure 2 yes Figure 1 An exploded view of the electromagnetic brake joint in the cardiovascular therapy platform shown; Figure 3 yes Figure 1 A cross-sectional view of the electromagnetic brake joint in the cardiovascular therapy platform is shown.
[0031] The cardiovascular treatment platform 10 includes: a treatment platform 100 and an auxiliary mechanical arm 200 connected to one side of the treatment platform 100, the auxiliary mechanical arm 200 is used to install medical equipment, the auxiliary mechanical arm 200 includes a plurality of mounting arms 210 and an electromagnetic brake joint 220, two adjacent mounting arms 210 are connected to the electromagnetic brake joint 220 to achieve rotational connection between the two adjacent mounting arms 210; wherein the electromagnetic brake joint 220 includes a first mounting shell 221, a central axis 222, a second mounting shell 223 and an electromagnetic brake 224, the second mounting shell 223 is rotatably arranged on the central axis 222, the central axis 222 is fixedly connected to the first mounting shell 221 so that the positions of the first mounting shell 221 and the second mounting shell 223 are fixed; the electromagnetic brake 224 is installed on the second mounting shell 223 and connected to the central axis 222, and the electromagnetic brake 224 is used to control whether the positions of the second mounting shell 223 and the central axis 222 are fixed.
[0032] In this embodiment, the electromagnetic brake 224 is provided so that the multiple mounting arms 210 of the auxiliary robot arm 200 can be fixed at a set angle position.
[0033] In this embodiment, the auxiliary manipulator 200 includes a plurality of electromagnetic brake joints 220, and the electromagnetic brakes 224 in the plurality of electromagnetic brake joints 220 are coupled to a control switch, through which the plurality of electromagnetic brake joints 220 can be controlled to be locked synchronously. Therefore, by connecting a plurality of electromagnetic brakes with a plurality of mounting arms 210, a multi-degree-of-freedom auxiliary manipulator 200 can be formed, and by synchronously locking the electromagnetic brake joints 220 in each electromagnetic brake joint 220, the position of the auxiliary manipulator 200 when it moves to any form can be locked and limited, so that the position of the medical device installed thereon can be adjusted in real time.
[0034] In this embodiment, one end of the central shaft 222 passes through the second mounting shell 223 and is screwed and fixed to the first mounting shell 221. The central shaft 222 and the second mounting shell 223 can be rotatably matched, and a step portion can be formed at one end of the central shaft 222, and the step portion can be matched with the internal step hole of the second mounting shell 223. In this embodiment, the position of the second mounting shell 223 can be fixed by screwing and fixing the central shaft 222 and the first mounting shell 221, that is, the position of the two sides of the second mounting shell 223 is fixed by the central shaft 222 and the first mounting shell 221, and the axial position of the second mounting shell 223 can be fixed.
[0035] In this embodiment, the second mounting shell 223 can rotate relative to the central axis 222 and the first mounting shell 221, and the electromagnetic brake 224 connects the second mounting shell 223 and the central axis 222. By controlling the locking of the electromagnetic brake 224, the second mounting shell 223 can be fixed relative to the central axis 222 and the first mounting shell 221. By controlling the unlocking of the electromagnetic brake 224, the second mounting shell 223 can rotate relative to the central axis 222 and the first mounting shell 221.
[0036] In this embodiment, when the electromagnetic brake 224 is released from the locked state, the operator can manually pull the end of the auxiliary robotic arm 200 so that the medical device is located at the set position. All electromagnetic brakes 224 can be controlled to lock through the control switch, and the position of the medical device can be further limited, thereby ensuring the position stability of the medical device.
[0037] Furthermore, in this embodiment, a damping pad 225 is provided between the second mounting shell 223 and the central shaft 222 to provide damping when the second mounting shell 223 rotates relative to the central shaft 222. This can provide an operating feel when the operator manually pulls the end of the auxiliary robot arm 200. Moreover, the damping pad 225 can play an auxiliary role in fixing the position of the auxiliary robot arm 200.
[0038] Please read further Figure 1 and Figure 4 , Figure 4 yes Figure 1 A schematic diagram of the structure of the cardiovascular treatment platform in another direction is shown.
[0039] In this embodiment, the auxiliary robot arm 200 further includes a main shaft 240, wherein the mounting arm 210 closest to the main shaft 240 can also be, wherein the first mounting shell 221 or the second mounting shell 223 in the mounting arm 210 closest to the main shaft 240 is mounted on one end of the main shaft 240, and the other end of the main shaft 240 is fixedly mounted on the treatment platform 100 in an adjustable position. Among them, one of the first mounting shell 221 or the second mounting shell 223 in the mounting arm 210 closest to the main shaft 240 is connected to the main shaft 240, and the other of the two is connected to the other mounting arm 210.
[0040] A guide rail 101 may be provided at the side end of the treatment platform 100 , and the main shaft 240 may be arranged to be mounted on the guide rail 101 in a fixed position that is adjustable.
[0041] For further information, please refer to Figure 1 and Figure 5 , Figure 5 yes Figure 1 A schematic structural diagram of a vertical position adjustment mechanism and an equipment mounting seat in a cardiovascular treatment platform is shown.
[0042] A vertical position adjustment mechanism 250 and a device mounting seat 260 are also installed at one end of the auxiliary robot arm 200 away from the main shaft 240;
[0043] The vertical position adjustment mechanism 250 includes: a short rod 251, two long rods 252 arranged in parallel, and a driving rod 253. Each end of the two long rods 252 can be rotatably connected to the mounting arm 210 at the end, and each end of the two long rods 252 can be rotatably connected to the short rod 251; both ends of the driving rod 253 are respectively connected to the two long rods 252, and both ends of the driving rod 253 are respectively rotatably connected to the two long rods 252; the equipment mounting base 260 is installed on the short rod 251, and the equipment mounting base 260 is used to install medical devices.
[0044] In this embodiment, the short rod 251 and the two long rods 252 in the vertical position adjustment mechanism 250 can form a parallelogram structure, and the two long rods 252 are parallel and spaced apart. The driving rod 253 is a telescopic rod, and the telescopic movement of the driving rod 253 can drive the two long rods 252 to rotate, thereby adjusting the vertical position of the short rod 251, that is, adjusting the vertical position of the equipment mounting base 260 installed on the short rod 251, and thereby adjusting the vertical position of the medical device installed on the equipment mounting base 260.
[0045] The equipment mounting seat 260 includes a mounting seat 261 and a rotating platform 262. The mounting seat 261 is connected to the short rod 251. The rotating platform 262 is connected to the mounting seat 261 with damped rotation (for example, a rotation damper can be used to connect the rotating platform 262 and the mounting seat 261). The medical device is mounted on the rotating platform 262. The medical device can be an interventional surgical device.
[0046] In summary, the present application discloses a cardiovascular treatment platform. By setting an electromagnetic brake, multiple mounting arms of an auxiliary manipulator can be fixed at a set angle position. Moreover, by using multiple electromagnetic brakes to connect multiple mounting arms, a multi-degree-of-freedom auxiliary manipulator can be formed, and by synchronously locking the electromagnetic brake joints in each electromagnetic brake joint, the position of the auxiliary manipulator when it moves to any form can be locked and limited, so that the position of the medical device installed thereon can be adjusted in real time.
[0047] The above embodiments are merely illustrative of the present invention, and are not exhaustive embodiments. The present invention may also be implemented in other specific ways or other specific forms without departing from the gist or essential features of the present invention. Therefore, the described embodiments should be considered illustrative rather than restrictive in any respect. The scope of the present invention should be described by the appended claims, and any changes equivalent to the intent and scope of the claims should also be included within the scope of the present invention.
Claims
1. A cardiovascular treatment platform, characterized in that: The cardiovascular therapeutic platform includes: A treatment platform and an auxiliary mechanical arm connected to one side of the treatment platform, the auxiliary mechanical arm is used to install medical equipment, the auxiliary mechanical arm includes a plurality of mounting arms and an electromagnetic brake joint, and two adjacent mounting arms are connected through the electromagnetic brake joint to achieve rotational connection between the two adjacent mounting arms; The electromagnetic brake joint comprises a first mounting shell, a central axis, a second mounting shell and an electromagnetic brake, wherein the second mounting shell is rotatably arranged on the central axis, and the central axis is fixedly connected to the first mounting shell so that the positions of the first mounting shell and the second mounting shell are fixed; The electromagnetic brake is installed on the second installation shell and connected to the central shaft. The electromagnetic brake is used to control whether the second installation shell and the central shaft are fixed.
2. The cardiovascular treatment platform according to claim 1, characterized in that: The auxiliary robot arm includes a plurality of electromagnetic brake joints, and the electromagnetic brakes in the plurality of electromagnetic brake joints are all coupled to a set control switch, and the control switch can control the plurality of electromagnetic brake joints to synchronously perform locking control.
3. The cardiovascular treatment platform according to claim 2, characterized in that: One end of the central axis passes through the second mounting shell and is screwed and fixed to the first mounting shell.
4. The cardiovascular treatment platform according to claim 3, characterized in that: A damping gasket is arranged between the second mounting shell and the central axis to provide damping when the second mounting shell rotates relative to the central axis.
5. The cardiovascular treatment platform according to any one of claims 1 to 4, characterized in that: The auxiliary robot arm also includes a main shaft, the first mounting shell or the second mounting shell is mounted on one end of the main shaft, and the other end of the main shaft is fixedly mounted on the treatment platform in an adjustably fixed position.
6. The cardiovascular treatment platform according to claim 5, characterized in that: The auxiliary mechanical arm is also equipped with a vertical position adjustment mechanism and a device mounting seat at one end away from the main shaft; The vertical position adjustment mechanism comprises: a short rod, two long rods arranged in parallel and a driving rod, one end of each of the two long rods is rotatably connected to the mounting arm at the end, and one end of each of the two long rods is rotatably connected to the short rod; two ends of the driving rod are respectively connected to the two long rods, and two ends of the driving rod are respectively rotatably connected to the two long rods; The equipment mounting seat is mounted on the short rod, and the equipment mounting seat is used to mount the medical device.
7. The cardiovascular treatment platform according to claim 6, characterized in that: The equipment mounting seat comprises a mounting seat and a rotating platform, the rotating platform is connected to the mounting seat in a damped rotation manner, the medical device is mounted on the rotating platform, and the mounting seat is connected to the short rod.
8. The cardiovascular treatment platform according to claim 5, characterized in that: A guide rail is arranged at the side end of the treatment platform, and the other end of the main shaft is adjustably mounted on the guide rail at a fixed position.