Doctor operating table and surgical robot
By introducing a roller shutter mechanism on the doctor's operating table, the bottom structure of the machine case is automatically blocked, which solves the problems of dust pollution and aesthetics, and improves the applicability and comfort of the operating table.
Patent Information
- Application Number
- CN202420337995.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-22
- Publication Date
- 2025-01-17
- Estimated Expiration
- 2034-02-22
AI Technical Summary
During the movement of the doctor's operating table, the bottom structure of the chassis is exposed, causing dust pollution and affecting the beauty.
A roller shutter mechanism is designed to automatically unwind and rewind by connecting with the foot pedal to block the bottom structure of the machine case to prevent dust from entering and maintain a tension during movement.
Effectively prevent dust pollution, improve operational comfort, improve applicability, and reduce the overall size of the chassis.
Smart Images
Figure CN222357645U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of medical devices, and more specifically to a doctor's operating table and a surgical robot. Background Art
[0002] With the application and development of robot technology, the role of surgical robots in clinical practice has attracted more and more attention. The doctor's console is the control center of the surgical robot. It is equipped with a foot pedal for the doctor to step on. The doctor controls the movements of various components of the surgical robot through the foot pedal. When the doctor needs to operate the doctor's console, the doctor will adjust the position of the foot pedal according to his height along the direction of the foot pedal movement. When the foot pedal moves outward, the bottom structure of the chassis of the doctor's console will be exposed, causing dust to enter the chassis from the bottom of the chassis, causing pollution to the internal structure of the chassis; and the exposed bottom structure will also affect the appearance. Utility Model Content
[0003] The content of the utility model introduces a series of simplified concepts, which will be further described in detail in the detailed implementation section. The content of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.
[0004] In order to at least partially solve the above problems, the present application provides a doctor's operating table, which includes:
[0005] Chassis body;
[0006] a foot pedal, the foot pedal being at least partially located outside the chassis and being slidably connected to the chassis, and
[0007] A rolling curtain mechanism is connected to the foot pedal, and the rolling curtain mechanism includes a rollable rolling curtain, which switches between an extended state and a retracted state. In the extended state, the rolling curtain extends from the chassis and covers the bottom of the chassis, and in the retracted state, the rolling curtain is completely located inside the chassis.
[0008] According to this solution, the rolling curtain can effectively cover the bottom structure of the chassis during movement, preventing the bottom structure of the chassis from being exposed during the movement of the pedal, thereby preventing dust from entering the chassis from the bottom of the chassis and polluting the internal structure of the chassis. The rolling curtain not only has the functions of dustproof, aesthetic and protective, but also can improve the operating comfort of the foot area and improve the applicability of the doctor's operating table. The rolling curtain mechanism of the present application occupies a small internal space of the chassis, greatly reducing the overall size of the chassis.
[0009] Optionally, the rolling shutter mechanism comprises:
[0010] Axis; and
[0011] A roller, the roller is sleeved on the rotating shaft and rotatable around the rotating shaft, the inner end of the roller blind is connected to the roller,
[0012] Wherein, the foot pedal provides traction force to the rolling curtain mechanism, so that the rolling curtain drives the roller to move in the unwinding direction.
[0013] According to this solution, the foot pedal is used to realize automatic unwinding of the rolling curtain, and the unwinding of the rolling curtain is synchronized with the sliding of the foot pedal, which has a better shielding effect on the internal structure of the chassis.
[0014] Optionally, the rolling blind mechanism further comprises a spiral spring for providing torque to the rolling blind so as to move the roller in a winding direction.
[0015] According to this solution, the spiral spring can store energy, so that the rolling curtain has a tendency to roll up. The spiral spring is used to realize automatic rolling up of the rolling curtain, so as to ensure that the rolling curtain is always in a tensioned state during the movement of the foot pedal, without affecting the movement of the foot pedal.
[0016] Optionally, the spiral spring is sleeved on the rotating shaft, and the inner end of the spiral spring is connected to the rotating shaft, and the outer end of the spiral spring is connected to the winding drum.
[0017] According to the present solution, the connection method of the spiral spring is simple, and the spiral spring can store or release energy as the winding drum rotates relative to the rotating shaft.
[0018] Optionally, the reel comprises a reel body and a reel end cover, the reel end cover is fixedly connected to the reel body, and the volute spring is axially arranged between the reel body and the reel end cover.
[0019] According to this solution, the drum end cover and the drum body can limit the axial movement of the spiral spring, so that the spiral spring is stably maintained on the rotating shaft.
[0020] Optionally, two shaft ends of the rotating shaft are fixed inside the chassis, and the outer end of the rolling curtain is connected to the foot pedal.
[0021] According to this solution, when the foot pedal slides, the inner end of the rolling curtain, the rotating shaft and the roller thereon are kept together inside the housing, and the outer end of the rolling curtain is pulled out of the housing. The foot pedal of this solution does not load the rolling curtain mechanism, so it is not affected by the weight of the rolling curtain mechanism, making it easier to slide the foot pedal and pull the rolling curtain.
[0022] Optionally, the outer end of the rolling curtain is fixed to the inside of the chassis, and the two shaft ends of the rotating shaft are connected to the foot pedal.
[0023] According to this solution, when the foot pedal slides, the outer end of the rolling curtain is kept inside the cabinet, and the inner end of the rolling curtain, the rotating shaft and the roller thereon are pulled together by the foot pedal.
[0024] Optionally, the rolling shutter mechanism further comprises a bearing, and the bearing is arranged between two axial ends of the roller and the rotating shaft.
[0025] According to this solution, bearings are used to limit the reel at the two ends of the rotating shaft and provide supporting force to the reel, so that relative movement can be generated between the reel and the rotating shaft, making the rotation movement of the reel smoother and reducing energy consumption.
[0026] Optionally, the rolling shutter mechanism further comprises a bearing end cover, wherein the bearing end cover is located on a side of the bearing away from the roller, and the bearing end cover is fixedly connected to the roller.
[0027] According to this solution, the bearing end cover is used to limit the axial movement of the bearing, so that the bearing is stably maintained on the rotating shaft.
[0028] Optionally, the rolling blind is a cloth-like member, a steel belt member, a rope member or a mesh member.
[0029] According to this solution, the rolling shutter is made of various flexible materials, and the material cost is low.
[0030] According to another aspect of the present application, a surgical robot is provided, which includes the doctor's operating table described in any of the above aspects.
[0031] According to this solution, the doctor's operating table is provided with a rolling curtain mechanism, which is connected to the foot pedal to move with the sliding of the foot pedal so that the rolling curtain can effectively cover the bottom structure of the chassis during the movement, and prevent the bottom structure of the chassis from being exposed during the movement of the foot pedal, thereby preventing dust from entering the chassis from the bottom of the chassis and polluting the internal structure of the chassis. The rolling curtain not only has the functions of dust prevention, beauty and protection, but also can improve the operating comfort of the foot area and improve the applicability of the doctor's operating table. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] The following drawings of the present application are used as a part of the present application for understanding the present application. The drawings show the implementation modes of the present application and the description thereof, and are used to explain the principle of the present application.
[0033] In the attached figure:
[0034] Figure 1 is a schematic diagram of the structure of a surgical robot system according to the present application;
[0035] Figure 2 for Figure 1 A three-dimensional view of a doctor's operating table shown in , wherein the roller blind mechanism is in a retracted state;
[0036] Figure 3 To place Figure 2 Schematic diagram of a three-dimensional rolling curtain mechanism inside the doctor's operating table shown in , wherein the rolling curtain mechanism is in a retracted state;
[0037] Figure 4 for Figure 1 Another perspective view of the doctor's operating table shown in , wherein the roller blind mechanism is in an extended state;
[0038] Figure 5 To place Figure 4 A three-dimensional schematic diagram of a rolling curtain mechanism inside a doctor's operating table shown in FIG. 1 , wherein the rolling curtain mechanism is in an extended state;
[0039] Figure 6 is a three-dimensional diagram of a rolling shutter mechanism according to the present application;
[0040] Figure 7 for Figure 6 A cross-sectional view of the roller blind mechanism shown in FIG.
[0041] Description of reference numerals:
[0042] 1Surgical robot 2Doctor's operating table
[0043] 3Imaging system 4Patient-side robotic arm system
[0044] 11 chassis 12 pedal
[0045] 13 columns 14 handrails
[0046] 15 horizontal column 20 rolling shutter mechanism
[0047] 21 Roller shutter 22 Rotating shaft
[0048] 23 reels 24 hanging holes
[0049] 25 scroll spring 26 reel body
[0050] 27 drum end cover 28 connection part
[0051] 29 bearing 30 bearing end cover DETAILED DESCRIPTION
[0052] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.
[0053] In order to thoroughly understand the present application, a detailed description will be provided in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other embodiments.
[0054] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of the features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.
[0055] Ordinal numbers such as “first” and “second” cited in the present application are merely identifications and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of the “second component”, and the term “second component” itself does not imply the existence of the “first component”.
[0056] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this document are for illustrative purposes only and are not limiting.
[0057] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.
[0058] like Figure 1 As shown, the surgical robot 1 is a robot that can be remotely controlled to complete surgery, and includes three components: a doctor's operating table 2, an imaging system 3 and an adjacent robotic arm system 4.
[0059] The doctor's operating table 2 has a display unit for displaying the surgical instrument environment, a doctor's operating control mechanism, and an armrest. The display unit is provided with an observation window for the doctor to observe, the operation of the operating control mechanism corresponds to the movement of the surgical instrument, and the armrest is used to place the doctor's arm. In addition, the doctor's operating table 2 also has other control switches that are convenient for hands or feet to touch or press, which are used to perform various functional operations and complete human-computer interaction.
[0060] The imaging system 3 has a display screen, an endoscope controller, system electronics, an image processor, etc.
[0061] The para-injured robotic arm system 4 includes a plurality of robotic arms, each of which has a plurality of connecting arms. Two adjacent connecting arms can move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the instrument). An instrument driver is installed on the end joint arm of the robotic arm, and the surgical instrument or endoscope is detachably installed on the instrument driver.
[0062] The surgical instrument consists of three parts: a rear-end mechanism, a main channel extending from the rear-end mechanism to the front-end, and an end effector including a wrist mechanism at the front end of the main channel. The instrument driver usually drives the movement of the rear-end mechanism through multiple cables of the main channel, thereby driving the wrist mechanism. During surgery, part of the main channel and wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal wall to perform surgery instead of human hands.
[0063] Figures 2 to 7 The doctor's operating table 2 according to the present application is schematically shown. Figures 2 to 5 As shown, the doctor's operating table 2 mainly includes a chassis 11 and a foot pedal 12. The chassis 11 is the main structure of the doctor's operating table 2, and is provided with a device / equipment for easy control or auxiliary control. The foot pedal 12 is at least partially located on the outside of the chassis 11 and can be slidably connected to the chassis 11 in the horizontal direction. The foot pedal 12 can move relative to the chassis 11 to change the position of the foot pedal 12 in its moving direction, thereby realizing the position adjustment of the foot pedal 12. The foot pedal 12 is connected to the chassis 11 through a linear drive mechanism, for example, a sliding track can be set on the chassis 11, and the foot pedal 12 slides on the sliding track. The chassis 11 is also provided with columns 13 located at two corners and an armrest 14 connecting the two columns 13. The two columns 13 are respectively located on both sides of the foot pedal 12, and are connected to the main body of the chassis 11 through their respective cross columns 15. The sliding track can be set in the cross column 15. The armrest 14 is located above the foot pedal 12.
[0064] It should be noted that the present application does not limit the structure of the linear drive mechanism between the foot pedal 12 and the chassis 11. As long as the structure meets the use requirements of the present application, it is within the protection scope of the present application.
[0065] The foot pedal 12 has an initial position closest to the main body of the chassis 11 and at least one working position away from the main body of the chassis 11. The foot pedal 12 can slide between the initial position and the working position; in the case of more than two working positions, the foot pedal 12 can slide between different working positions. The initial position is the minimum stroke position, Figure 2 The foot pedal 12 is shown in the minimum travel position. Figure 4 The foot pedal 12 is shown in a maximum travel position, ie, a working position.
[0066] For the sake of brevity and ease of understanding, the sliding direction of the foot pedal 12 from the initial position toward the working position is referred to as outward, and the sliding direction of the foot pedal 12 from the working position toward the initial position is referred to as inward.
[0067] In order to prevent the bottom structure of the cabinet 11 from being exposed, the doctor's operating table 2 further includes a rolling curtain mechanism 20. The rolling curtain mechanism 20 can be connected to the foot pedal 12 to move with the sliding of the foot pedal 12. Specifically, the rolling curtain mechanism 20 includes a rollable rolling curtain 21. The rolling curtain 21 switches between an extended state and a retracted state. Figure 2 and Figure 3 The diagram schematically shows that the rolling curtain 21 is not unrolled but in a retracted state. Figure 4 and Figure 5 The diagram schematically shows that the rolling curtain 21 is unrolled and in an extended state. Figure 4 As shown, the roller blind 21 extends from the chassis 11 in the extended state and blocks the bottom of the chassis 11, as shown in FIG. Figure 2 As shown, the roller blind 21 is completely located inside the cabinet 11 in the retracted state.
[0068] When the foot pedal 12 is in the initial position, the roller blind 21 is in Figure 2 When the foot pedal 12 slides outward from the initial position, the rolling curtain mechanism 20 follows the movement of the foot pedal 12 to gradually unwind the rolling curtain 21, so that the rolling curtain 21 extends out of the cabinet 11 and is in a retracted state. Figure 4 The bottom of the shielding housing 11 is shown in an extended state. When the foot pedal 12 slides inward from the working position, the rolling curtain mechanism 20 moves with the foot pedal 12 to gradually roll up the rolling curtain 21, so that the rolling curtain 21 is retracted into the housing 11.
[0069] With such a configuration, the roller blind 21 can effectively shield the bottom structure of the chassis 11 during movement, preventing the foot pedal 12 from causing the structure at the bottom of the chassis 11 to be exposed during movement, thereby preventing dust from entering the interior of the chassis 11 from the bottom of the chassis 11 and polluting the internal structure of the chassis 11. The roller blind 21 not only has the functions of dustproof, aesthetic and protective, but also can improve the operating comfort of the foot area and improve the applicability of the doctor's operating table. Compared with a pivoting or linearly moving covering mechanism, the roller blind mechanism 20 of the present application occupies a smaller internal space of the chassis 11, greatly reducing the overall size of the chassis 11.
[0070] The rolling curtain 21 is a member made of various flexible materials such as a cloth member, a steel belt member, a rope member or a mesh member, and the material cost is relatively low.
[0071] like Figure 6 and Figure 7 As shown, the rolling mechanism 20 also includes a rotating shaft 22 and a reel 23. The rotating shaft 22 is a fixed part, and the reel 23 is a movable part. The reel 23 is sleeved on the rotating shaft 22 and can rotate around the rotating shaft 22. The inner end of the rolling curtain 21 can be connected to the reel 23, and the unwinding and rewinding can be started from the outer end of the rolling curtain 21. The foot pedal 12 provides traction to the rolling mechanism 20 so that the rolling curtain 21 drives the reel 23 to move in the unwinding direction. The foot pedal 12 is used to realize the automatic unwinding of the rolling curtain 21. The unwinding of the rolling curtain 21 is synchronized with the sliding of the foot pedal 12, which has a better shielding effect on the bottom structure of the chassis 11.
[0072] The outer end of the rolling curtain 21 is connected to the chassis 11 or the foot pedal 12. In one embodiment, the two ends of the shaft 22 are fixed inside the chassis 11, and the outer end of the rolling curtain 21 is connected to the foot pedal 12. When the foot pedal 12 slides, the inner end of the rolling curtain 21, the shaft 22 and the roller 23 thereon are kept together inside the chassis 11, and the outer end of the rolling curtain 21 is pulled out from the chassis 11. The foot pedal 12 of this solution does not load the rolling curtain mechanism 20, so it is not affected by the weight of the rolling curtain mechanism 20, making it easier to slide the foot pedal 12 and pull the rolling curtain 21. Return to see Figure 5 The outer end of the rolling curtain 21 may be provided with a hanging hole 24 , and the foot pedal 12 is provided with a hook (not shown), which is hooked into the hanging hole 24 , thereby achieving the connection between the outer end of the rolling curtain 21 and the foot pedal 12 .
[0073] In another embodiment, the outer end of the rolling curtain 21 is fixed inside the housing 11, and the two ends of the rotating shaft 22 are connected to the pedal 12. When the pedal 12 slides, the outer end of the rolling curtain 21 remains inside the housing 11, and the inner end of the rolling curtain 21, the rotating shaft 22 and the reel 23 thereon are pulled together by the pedal 12.
[0074] The rolling curtain mechanism 20 further includes a spiral spring 25, which is used to provide torque to the rolling curtain 21 so that the reel 23 moves in the direction of winding. The spiral spring 25 can store energy so that the rolling curtain 21 has a tendency to roll up. The spiral spring 25 is used to realize automatic winding of the rolling curtain 21, so as to ensure that the rolling curtain 21 is always in a tensioned state during the movement of the foot pedal 12, and does not affect the movement of the foot pedal 12.
[0075] The spiral spring 25 is sleeved on the rotating shaft 22, and the inner end of the spiral spring 25 is connected to the rotating shaft 22, and the outer end of the spiral spring 25 is connected to the reel 23. Specifically, the inner end of the spiral spring 25 is provided with a radial spring leaf, and the outer end thereof is provided with a special-shaped spring leaf, the radial spring leaf is connected to the rotating shaft 22, and the special-shaped spring leaf is connected to the reel 23. The connection method of the spiral spring 25 is simple, and it is convenient for the spiral spring 25 to accumulate energy or release energy as the reel 23 rotates relative to the rotating shaft 22.
[0076] The reel 23 includes a reel body 26 and a reel end cover 27. The axial size of the reel body 26 is much larger than the axial size of the reel end cover 27. The reel end cover 27 is fixedly connected to the reel body 26. Exemplarily, the reel body 26 is provided with a connecting portion 28, which is located at the outer periphery of the reel body 26 and at the radial outer side of the spiral spring 25. The reel end cover 27 is provided with a recess with an axial opening, and the connecting portion 28 extends into the recess. The connecting portion 28 can be connected to the reel end cover 27 by fasteners such as screws. The spiral spring 25 is axially arranged between the reel body 26 and the reel end cover 27, and the outer end of the spiral spring 25 is connected to the main body of the reel 23. The reel end cover 27 and the reel body 26 can limit the axial movement of the spiral spring 25, so that the spiral spring 25 is stably maintained on the rotating shaft 22.
[0077] The rolling shutter mechanism 20 also includes a bearing 29 and a bearing end cover 30. The bearing 29 is disposed between the two ends of the reel 23 in the axial direction and the rotating shaft 22. The bearing 29 is used to limit the reel 23 at the two ends of the rotating shaft 22 and to provide a supporting force to the reel 23, so that relative movement can be generated between the reel 23 and the rotating shaft 22, so that the rotation movement of the reel 23 is smoother and energy consumption is reduced. The bearing end cover 30 is located on the side of the bearing 29 away from the reel 23, and the bearing end cover 30 is fixedly connected to the reel 23. The bearing end cover 30 is a fixing component for the bearing 29, and the bearing end cover 30 is used to limit the axial movement of the bearing 29 so that the bearing 29 is stably maintained on the rotating shaft 22.
[0078] The present application also provides a surgical robot, which includes the above-mentioned doctor's operating table. By applying the above-mentioned doctor's operating table, it is used to perform various functional operations and complete human-computer interaction.
[0079] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present application. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present application. The features described herein in one embodiment may be applied to another embodiment individually or in combination with other features, unless the feature is not applicable or otherwise specified in the other embodiment.
[0080] The present application has been illustrated through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and explanation, and the present application is not limited to the above-mentioned embodiments. According to the teachings of the present application, more variations and modifications can be made, and these variations and modifications all fall within the scope of protection claimed by the present application.
Claims
1. A doctor's operating table, characterized in that: The doctor's operating table comprises: Chassis body; a foot pedal, the foot pedal being at least partially located outside the chassis and being slidably connected to the chassis, and A rolling curtain mechanism is connected to the foot pedal, and the rolling curtain mechanism includes a rollable rolling curtain, which switches between an extended state and a retracted state. In the extended state, the rolling curtain extends from the chassis and covers the bottom of the chassis, and in the retracted state, the rolling curtain is completely located inside the chassis.
2. The doctor's operating table according to claim 1, characterized in that: The rolling shutter mechanism comprises: Axis; and A roller, the roller is sleeved on the rotating shaft and rotatable around the rotating shaft, the inner end of the roller blind is connected to the roller, Wherein, the foot pedal provides traction force to the rolling curtain mechanism, so that the rolling curtain drives the roller to move in the unwinding direction.
3. The doctor's operating table according to claim 2, characterized in that: The rolling blind mechanism also includes a spiral spring for providing torque to the rolling blind so as to move the roller in a winding direction.
4. The doctor's operating table according to claim 3, characterized in that: The spiral spring is sleeved on the rotating shaft, and the inner end of the spiral spring is connected to the rotating shaft, and the outer end of the spiral spring is connected to the winding drum.
5. The doctor's operating table according to claim 3, characterized in that: The reel comprises a reel body and a reel end cover, the reel end cover is fixedly connected to the reel body, and the volute spring is axially arranged between the reel body and the reel end cover.
6. The doctor's operating table according to any one of claims 2 to 5, characterized in that: The two shaft ends of the rotating shaft are fixed inside the chassis, and the outer end of the rolling curtain is connected to the foot pedal.
7. The doctor's operating table according to any one of claims 2 to 5, characterized in that: The outer end of the rolling curtain is fixed inside the chassis, and the two shaft ends of the rotating shaft are connected to the foot pedal.
8. The doctor's operating table according to any one of claims 2 to 5, characterized in that: The rolling shutter mechanism further comprises a bearing, and the bearing is arranged between two axial ends of the roller and the rotating shaft.
9. The doctor's operating table according to claim 8, characterized in that: The rolling shutter mechanism further comprises a bearing end cover, which is located on a side of the bearing away from the roller, and is fixedly connected to the roller.
10. The doctor's operating table according to any one of claims 1 to 5, characterized in that: The rolling curtain is a cloth-like component, a steel belt component, a rope component or a mesh component.
11. A surgical robot, characterized in that: A doctor operating table comprising any one of claims 1-10.