Horizontal keeping assembly
By designing a horizontal retaining assembly including a mount, a multi-link mechanism and a conveying motor, the problem of insufficient horizontal retaining of electrodes during driving in the prior art is solved, and the electrodes are efficient and stable in spinal cord electrical stimulation therapy is achieved. Drive extends the service life of the electrode.
Patent Information
- Application Number
- CN202420939272.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-30
- Publication Date
- 2025-01-17
- Estimated Expiration
- 2034-04-30
AI Technical Summary
The existing spinal cord interventional surgical robots need to bend to rotate when driving electrode movement, which limits the rotation speed of the electrode and shortens the service life, and lacks effective horizontal retaining components to ensure the horizontal state of the installation during movement.
A horizontal retaining assembly is designed, including a mount, a multi-link mechanism and a conveyor motor, which realizes horizontal movement of the electrodes through swing arms, connecting rods and coaxial counter-rotating mechanisms, ensuring that the electrodes remain in a horizontal state during driving. The assembly uses a conveyor motor to drive the multi-link mechanism, and through a parallelogram structure and a reverse rotation mechanism, limiting the height movement of the electrodes, ensuring that the electrodes move only on the horizontal plane during rotation.
It effectively realizes the level of the electrode during movement, improves the rotation speed and service life of the electrode, and ensures the stable and efficient driving of the electrode in spinal cord electrical stimulation therapy.
Smart Images
Figure CN222357889U_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of medical devices, and in particular, relates to a level maintaining component. Background Art
[0002] Spinal cord stimulation (SCS) is a treatment method that uses electrical current to stimulate nerve fibers to relieve chronic pain and improve motor function by implanting electrodes into the patient's spinal cord area. During the operation, the electrodes are delivered into the human body through a drive device.
[0003] CN216652445U discloses a surgical robot for spinal cord electrode intervention, in which a torsion motor joint is arranged on the side of a transmission device for driving the electrode movement, and the horizontal electrode needs to be bent to the side before the electrode can be driven to rotate, which limits the rotation speed of the electrode and reduces the service life of the electrode. Therefore, the optimal electrode driving method is to pull the electrode into a horizontal state for driving rotation, so a horizontal holding component is required to ensure that the installed object is kept horizontal during movement. Utility Model Content
[0004] The technical problem to be solved by the utility model is: to solve the deficiencies in the prior art, thereby providing a level keeping component which can ensure that the installed object remains level during movement.
[0005] The technical solution adopted by the utility model to solve its technical problems is:
[0006] A level keeping assembly, a mounting seat and a multi-link mechanism;
[0007] A conveying motor is arranged in the mounting seat, and the conveying motor can drive the multi-link mechanism to move;
[0008] The multi-link mechanism comprises a swing arm, a first link, a second link and a third link, the output shaft of the conveying motor is connected to one end of the swing arm and a coaxial reverse rotation mechanism, the other end of the swing arm is movably connected to one end of the first link, the coaxial reverse rotation mechanism is movably connected to one end of the second link, the other end of the first link is movably connected to one end of the third link, the second link is movably connected to the middle of the third link, and the other end of the third link is movably connected to the connecting rod;
[0009] The first connecting rod, the second connecting rod, the portion of the third connecting rod located between the first connecting rod and the second connecting rod, and the swing arm form four sides of a parallelogram;
[0010] The coaxial counter-rotation mechanism enables the first link and the second link to rotate in opposite directions.
[0011] Preferably, in the horizontal maintaining assembly of the utility model, the mounting seat is further provided with an arc-shaped limiting groove, a swing rod is provided in the middle of the swing arm, and the swing rod extends into the limiting groove.
[0012] Preferably, the level maintaining assembly of the utility model,
[0013] The coaxial reverse rotation mechanism includes a mechanism housing, a first bevel gear, a second bevel gear and a third bevel gear; the rotation axis direction of the third bevel gear is at a 90 degree angle to the rotation axis directions of the first bevel gear and the second bevel gear, the third bevel gear is meshed with the first bevel gear and the second bevel gear, the rotation axis directions of the first bevel gear and the second bevel gear are colinear, and when the first bevel gear is driven to rotate by the conveying motor, the second bevel gear is driven to rotate in the reverse direction through the third bevel gear.
[0014] Preferably, the level maintaining assembly of the utility model,
[0015] The first connecting rod is connected to the swing arm through a first connecting member, the first connecting rod is connected to the third connecting rod through a second connecting member, and the second connecting rod is connected to the third connecting rod through a third connecting member.
[0016] Preferably, the level maintaining assembly of the utility model,
[0017] The first connecting member, the second connecting member and the third connecting member each include a mounting column and a bearing mounted on one end of the mounting column.
[0018] Preferably, the level maintaining assembly of the utility model,
[0019] The top end of the connecting rod can swing on a vertical plane relative to the third connecting rod, and the bottom end of the connecting rod is provided with a horizontally arranged bearing.
[0020] Preferably, the level maintaining assembly of the utility model,
[0021] The connecting rod is provided with a fixing plate, and screw holes are provided on both sides of the fixing plate. The rotary drive assembly is provided with a strip hole and a slide groove. The position of the end of the connecting rod extending into the strip hole is adjusted to make the rotary drive assembly in a horizontal state. Then, the fixing plate and the slide groove are fixed by screws to fix the rotary drive assembly in a horizontal state.
[0022] The beneficial effects of the utility model are:
[0023] In the horizontal maintaining component of the utility model, a conveying motor drives the swing arm to move, and a parallelogram structure formed by the first connecting rod, the second connecting rod, the part of the third connecting rod located between the first connecting rod and the second connecting rod, and the swing arm cooperates with a coaxial reverse rotating mechanism, so that the installation object installed at the bottom end of the connecting rod can only move horizontally, thereby realizing the limitation of the height of the installation object. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The technical solution of the present application is further described below in conjunction with the accompanying drawings and embodiments.
[0025] Figure 1 is a three-dimensional diagram of a level maintaining assembly according to an embodiment of the present application;
[0026] Figure 2 is a front view of the coaxial counter-rotating mechanism of an embodiment of the present application;
[0027] Figure 3 is a schematic diagram of the horizontal holding component of an embodiment of the present application when in motion;
[0028] Figure 4 is a stereoscopic diagram of a first connecting member, a second connecting member, and a third connecting member of an embodiment of the present application;
[0029] Figure 5 is a stereoscopic diagram of an electrode linear intervention drive device using a horizontal holding component;
[0030] Figure 6 It is a stereoscopic diagram of the connection between the horizontal holding assembly and the rotation driving assembly; the reference numerals in the figure are: 1 multi-degree-of-freedom mechanical arm;
[0031] 2. Horizontal holding assembly;
[0032] 3 Rotary drive assembly;
[0033] 4 Reach into the assembly;
[0034] 9 electrode 21 mounting seat;
[0035] 22 arm swing;
[0036] 23 swing bar;
[0037] 24 coaxial counter-rotating mechanism; 26 first connecting rod;
[0038] 27 Second connecting rod;
[0039] 28 Third link;
[0040] 29 connecting rod;
[0041] 31 strip holes;
[0042] 32 chute;
[0043] 212 limit slot;
[0044] 241 Mechanism housing;
[0045] 242 first helical gear;
[0046] 243 second helical gear;
[0047] 244 third helical gear;
[0048] 251 first connecting member;
[0049] 252 second connecting member;
[0050] 253 third connector;
[0051] 2511 bearings;
[0052] 2512 Mounting Column;
[0053] 291Fixed plate. DETAILED DESCRIPTION
[0054] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.
[0055] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of the present utility model, unless otherwise specified, "multiple" means two or more.
[0056] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.
[0057] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.
[0058] Example
[0059] This embodiment provides a level maintaining component, such as Figure 1 As shown, including:
[0060] Mounting seat 21 and multi-link mechanism;
[0061] A conveying motor is arranged in the mounting seat 21, and the conveying motor can drive the multi-link mechanism to move;
[0062] The multi-link mechanism includes a swing arm 22, a first link 26, a second link 27 and a third link 28, the output shaft of the conveying motor is connected to one end of the swing arm 22 and the coaxial reverse rotation mechanism 24, the other end of the swing arm 22 is movably connected to one end of the first link 26, the coaxial reverse rotation mechanism 24 is movably connected to one end of the second link 27, the other end of the first link 26 is movably connected to one end of the third link 28, the second link 27 is movably connected to the middle of the third link 28, and the other end of the third link 28 is movably connected to the connecting rod 29;
[0063] The first connecting rod 26, the second connecting rod 27, the third connecting rod 28, the portion between the first connecting rod 26 and the second connecting rod 27, and the swing arm 22 form four sides of a parallelogram;
[0064] The coaxial counter-rotation mechanism 24 enables the first link 26 and the second link 27 to rotate in opposite directions.
[0065] In the horizontal holding assembly of this embodiment, the conveying motor drives the swing arm 22 to move, and the first connecting rod 26, the second connecting rod 27, the third connecting rod 28 located between the first connecting rod 26 and the second connecting rod 27, and the parallelogram structure formed by the swing arm 22 cooperate with the coaxial reverse rotation mechanism 24, so that the installation object installed at the bottom end of the connecting rod 29 can only move horizontally, so as to limit the height of the installation object. The movement relationship is as follows: Figure 3 The conveying motor is located in the mounting seat 21. Figure 1 Not visible in.
[0066] Furthermore, the mounting seat 21 is provided with an arc-shaped limiting groove 212, and a swing rod 23 is provided in the middle of the swing arm 22, and the swing rod 23 extends into the limiting groove 212. The limiting groove 212 can limit the swing amount of the swing arm 22, and thus the movement amount of the entire multi-link mechanism.
[0067] Furthermore, if Figure 2As shown, the coaxial reverse rotation mechanism 24 includes a mechanism housing 241, a first bevel gear 242, a second bevel gear 243 and a third bevel gear 244; the rotation axis direction of the third bevel gear 244 is at a 90 degree angle with the rotation axis direction of the first bevel gear 242 and the second bevel gear 243, the third bevel gear 244 is meshed with the first bevel gear 242 and the second bevel gear 243, the rotation axis directions of the first bevel gear 242 and the second bevel gear 243 are colinear, when the first bevel gear 242 is driven to rotate by the conveying motor, the second bevel gear 243 is driven to rotate in the reverse direction through the third bevel gear 244. The first bevel gear 242, the second bevel gear 243 and the third bevel gear 244 are located in the mechanism housing 241.
[0068] Furthermore, the first connecting rod 26 is connected to the swing arm 22 via a first connecting member 251, the first connecting rod 26 is connected to the third connecting rod 28 via a second connecting member 252, and the second connecting rod 27 is connected to the third connecting rod 28 via a third connecting member 253. The above four connecting members are provided so that the components connected in pairs can rotate freely, and the components are staggered in space through the connecting members to prevent mutual influence. The first connecting member 251, the second connecting member 252 and the third connecting member 253 each include a mounting column 2512 and a bearing 2511 mounted on one end of the mounting column 2512 (the lengths of the mounting column 2512 are different). The mounting column 2512 is fixedly connected to one of the components connected in pairs, and the other component of the components connected in pairs is connected via a bearing 2511 to achieve free rotation of the components connected in pairs, such as Figure 4 shown.
[0069] Furthermore, the top end of the connecting rod 29 can swing in a vertical plane relative to the third connecting rod 28, that is, the connecting rod 29 and the third connecting rod 28 are connected by a vertically arranged bearing, and the bottom end of the connecting rod 29 is provided with a horizontally arranged bearing so that the installation at the bottom of the connecting rod 29 can swing horizontally.
[0070] Furthermore, a fixing plate 291 is provided on the connecting rod 29, and screw holes are provided on both sides of the fixing plate 291. A strip hole 31 and a slide groove 32 are provided on the rotation drive component 3. The position of the end of the connecting rod 29 extending into the strip hole 31 is adjusted (the position of the fixing plate 291 corresponding to the slide groove 32 will also change) so that the rotation drive component 3 is in a horizontal state. Then, the fixing plate 291 and the slide groove 32 are fixed by screws to fix the rotation drive component 3 in a horizontal state.
[0071] like Figure 5As shown, the horizontal holding component 2 of the present application can be mainly used in an electrode linear intervention drive device. The horizontal holding component 2 can be arranged on a multi-degree-of-freedom robotic arm 1 so that the spatial position of the horizontal holding component 2 is adjustable. The object installed on the horizontal holding component 2 is a rotating drive component 3. The rotating drive component 3 is installed with the electrode 9. The electrode 9 is installed on the insertion component 4. The horizontal holding component 2 and the insertion component 4 jointly drive the electrode 9 to move along its length so as to extend the electrode 9 forward or backward. The horizontal holding component 2 ensures that the horizontal position of the electrode 9 remains unchanged during this process.
[0072] Based on the above ideal embodiments of this application, the relevant staff can make various changes and modifications without departing from the technical concept of this application through the above description. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.
Claims
1. A level keeping assembly, characterized in that: A mounting seat (21) and a multi-link mechanism; A conveying motor is arranged in the mounting seat (21), and the conveying motor can drive the multi-link mechanism to move; The multi-link mechanism comprises a swing arm (22), a first link (26), a second link (27) and a third link (28); the output shaft of the conveying motor is connected to one end of the swing arm (22) and the coaxial reverse rotation mechanism (24); the other end of the swing arm (22) is movably connected to one end of the first link (26); the coaxial reverse rotation mechanism (24) is movably connected to one end of the second link (27); the other end of the first link (26) is movably connected to one end of the third link (28); the second link (27) is movably connected to the middle of the third link (28); and the other end of the third link (28) is movably connected to a connecting rod (29); The first connecting rod (26), the second connecting rod (27), the portion of the third connecting rod (28) located between the first connecting rod (26) and the second connecting rod (27), and the swing arm (22) form four sides of a parallelogram; The coaxial reverse rotation mechanism (24) enables the first connecting rod (26) and the second connecting rod (27) to rotate in opposite directions.
2. The level maintaining assembly according to claim 1, characterized in that: The mounting seat (21) is also provided with a circular arc-shaped limiting groove (212), and a swing rod (23) is provided in the middle of the swing arm (22), and the swing rod (23) extends into the limiting groove (212).
3. The level maintaining assembly according to claim 1, characterized in that: The coaxial reverse rotation mechanism (24) comprises a mechanism housing (241), a first bevel gear (242), a second bevel gear (243) and a third bevel gear (244); the rotation axis direction of the third bevel gear (244) forms an angle of 90 degrees with the rotation axis directions of the first bevel gear (242) and the second bevel gear (243); the third bevel gear (244) meshes with the first bevel gear (242) and the second bevel gear (243); the rotation axis directions of the first bevel gear (242) and the second bevel gear (243) are colinear; when the first bevel gear (242) is driven to rotate by the conveying motor, the second bevel gear (243) is driven to rotate in the reverse direction through the third bevel gear (244).
4. The level maintaining assembly according to claim 1, characterized in that: The first connecting rod (26) is connected to the swing arm (22) via a first connecting member (251), the first connecting rod (26) is connected to the third connecting rod (28) via a second connecting member (252), and the second connecting rod (27) is connected to the third connecting rod (28) via a third connecting member (253).
5. The level maintaining assembly according to claim 4, characterized in that: The first connecting member (251), the second connecting member (252) and the third connecting member (253) each include a mounting column (2512) and a bearing (2511) mounted on one end of the mounting column (2512).
6. The level maintaining assembly according to claim 1, characterized in that: The top end of the connecting rod (29) can swing on a vertical plane relative to the third connecting rod (28), and the bottom end of the connecting rod (29) is provided with a horizontally arranged bearing.
7. The level maintaining assembly according to claim 6, characterized in that: The connecting rod (29) is provided with a fixing plate (291), and screw holes are provided on both sides of the fixing plate (291). The rotation drive assembly (3) is provided with a strip hole (31) and a slide groove (32). The position of the end of the connecting rod (29) extending into the strip hole (31) is adjusted so that the rotation drive assembly (3) is in a horizontal state. Then, the fixing plate (291) and the slide groove (32) are fixed by screws to fix the rotation drive assembly (3) in a horizontal state.