Storage table suitable for storing control table of vascular intervention surgical robot

Abstract

The utility model provides a storage table suitable for storing a control table of a vascular intervention surgical robot, and belongs to the technical field of medical auxiliary equipment, the storage table comprises a table body, the table body comprises a table top and a table frame, and a lifting opening is formed in the table top; a double-door structure; a door plate driving assembly; the side edge of the door plate is provided with a limiting convex edge, the limiting convex edge is suitable for abutting against the lower side edge of the lifting opening in the closing position, and the door plate driving assembly is arranged to conduct overcurrent protection and stop driving when the door plate is driven to rotate till the limiting convex edge abuts against the lower side edge of the lifting opening and cannot continue to rotate. When the double-door structure is rotationally closed, the limiting protruding edge on the side edge of the door plate abuts against the lower side edge of the lifting opening, the second driving motor is arranged to conduct overcurrent protection and stop driving when the limiting protruding edge abuts against the position of the lifting opening and cannot continue to rotate, at the moment, it can be guaranteed that the door plate is closed in place, and time and labor are saved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular, to a storage table suitable for storing a control console of a vascular interventional surgery robot. Background Art

[0002] At present, surgical robots have been applied to surgical operations such as vascular interventional surgery. They generally include a slave end and a master end that controls the slave end. The master end control panel is generally located in a room outside the operating room. The master end control panel is provided with a control mechanism for medical staff to operate to control the slave end located in the operating room. A lifting port is provided on the table. The master end control panel can be stored in the table through the lifting port through the lifting mechanism. A double-door structure that rotates downward is provided at the position of the lifting port. The lifting port is opened and closed by rotating the door. After the master end control panel is stored in the table, the double door needs to be flush with the table when it is rotated and closed, so that medical staff can use a flat table. However, during the rotation of the double door, it is impossible to accurately judge whether the door panel is closed in place. The door panel can only be adjusted based on experience until it is flush with the table and closed, which is time-consuming and labor-intensive and has low precision. Utility Model Content

[0003] The purpose of the present application is to provide a storage table suitable for storing a control panel of a vascular interventional surgical robot, aiming to solve the problem in the related art that after the surgical robot is stored in the table, the process of closing the door panel is time-consuming, labor-intensive and low-precision.

[0004] Additional aspects and advantages of the present 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 the present application.

[0005] The present application provides a storage table suitable for storing a control console of a vascular interventional surgery robot, comprising:

[0006] The table body comprises a table top and a table frame for supporting the table top, wherein a lifting opening is provided on the table top, and the lifting opening is used for allowing the control console to move between a working position and a storage position;

[0007] A double-door structure, comprising two door panels rotatably arranged at the lifting opening, wherein the two door panels have an open position in which they are rotated below the tabletop to open the lifting opening, and a closed position in which they are rotated upward to close the lifting opening;

[0008] A door panel driving assembly, used for driving the door panel to switch between the open position and the closed position;

[0009] The side of the door panel is provided with a limiting convex edge, and the limiting convex edge is suitable for abutting against the lower edge of the lifting opening when in the closed position. The door panel driving component is configured to perform overcurrent protection and stop driving when the door panel is driven to rotate until the limiting convex edge abuts against the lower edge of the lifting opening and cannot continue to rotate.

[0010] In an exemplary embodiment of the present application, the door panel drive assembly includes:

[0011] A second fixing frame, fixedly arranged on the table body;

[0012] A second lead screw and a second slide assembly, comprising a second drive motor, a second lead screw and a second slide, wherein the second lead screw is driven by the second drive motor, and the second slide can move up and down along the second lead screw under the drive of the second drive motor;

[0013] A door opening support rod has one end hinged on the second slide and the other end hinged on the door panel. When the second slide moves upward along the second lead screw, the door opening support rod pushes the door panel to rotate to the closed position.

[0014] In an exemplary embodiment of the present application, the door panel driving assembly is provided in two numbers, each for driving the two door panels, and the two door panel driving assemblies are respectively provided on the left and right sides of the table body.

[0015] In an exemplary embodiment of the present application, a detection sensor is provided on the second fixed frame, and a baffle is provided on the second sliding platform. When the door panel rotates to the closed position, the baffle slides to the detection sensor, and the detection sensor determines whether the door panel is closed in place by sensing the baffle.

[0016] In an exemplary embodiment of the present application, there are two detection sensors, which are respectively located in the upper section and the lower section of the second fixed frame. The detection sensor located in the upper section of the second fixed frame determines whether the door panel is closed in place by sensing the baffle, and the detection sensor located in the lower section of the second fixed frame determines whether the door panel is opened in place by sensing the baffle.

[0017] In an exemplary embodiment of the present application, the table body further comprises a door frame arranged at the lifting opening, and the limiting protrusion is suitable for abutting against the lower edge of the lifting opening through the door frame when in the closed position.

[0018] In an exemplary embodiment of the present application, the limiting protrusion is arranged on at least one side of the two sides of the door panel located at the rotating end.

[0019] In an exemplary embodiment of the present application, a screw nut is provided on the second slide, and the screw nut cooperates with the second screw. When the door panel rotates to the closed position driven by the drive motor, the screw nut and the second screw form a self-locking structure.

[0020] In an exemplary embodiment of the present application, two parallel slide rails are provided on the second fixing frame, and the two slide rails are respectively located on two sides of the second lead screw;

[0021] The second slide is connected to the second lead screw through the lead screw nut, and the second slide is slidably arranged on the two slide rails. There are two door opening support rods, and the two door opening support rods are arranged corresponding to the two slide rails.

[0022] In an exemplary embodiment of the present application, a fixing rod is provided on the second fixing frame, and one end of the door opening support rod is rotatably connected to the fixing rod;

[0023] The door panel is provided with a connecting ear plate, and the other end of the door opening support rod is connected to the connecting ear plate through a rotating shaft.

[0024] The exemplary embodiments of the present application may have some or all of the following beneficial effects:

[0025] The storage table provided in the present application can be abutted against the lower edge of the lifting opening by the limiting convex edge on the side of the door panel when the double-door structure is rotated and closed. The second drive motor is configured to stop driving for overcurrent protection when the limiting convex edge abuts against the position of the lifting opening and cannot continue to rotate. At this time, the door panel can be ensured to be closed in place. At the same time, the doctor does not need to check whether it is closed in place, which saves time and effort.

[0026] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A schematic diagram of the structure of a storage table suitable for storing a control console of a vascular interventional surgery robot in an embodiment of the present application is shown;

[0029] Figure 2 A schematic diagram of the structure of a double door assembly in an embodiment of the present application is shown;

[0030] Figure 3 A schematic diagram of the side structure of a double door assembly in an embodiment of the present application is shown;

[0031] Figure 4 A cross-sectional view of a double door assembly in an embodiment of the present application is shown;

[0032] Figure 5 Shows Figure 4 The enlarged schematic diagram at A in the middle;

[0033] Figure 6 A schematic diagram of the structure of the control console drive assembly in an embodiment of the present application is shown;

[0034] Figure 7 A schematic diagram of the structure of the vertical lifting mechanism of the control console at a first angle in an embodiment of the present application is shown;

[0035] Figure 8 A second angle structural schematic diagram of the vertical lifting mechanism of the control console in an embodiment of the present application is shown;

[0036] Fig. 9 A rear view structural diagram of the vertical lifting mechanism of the control console in an embodiment of the present application is shown;

[0037] Fig.10 Shows Fig. 9 Schematic diagram of the cross section at AA;

[0038] Fig.11 A schematic diagram of the first angle structure of the control console translation mechanism in an embodiment of the present application is shown;

[0039] Fig.12 A second angle structural diagram of the control console translation mechanism in an embodiment of the present application is shown;

[0040] Fig.13 A rear view structural diagram of the control console translation mechanism in an embodiment of the present application is shown;

[0041] Fig.14 A schematic diagram of the side structure of the control console translation mechanism in an embodiment of the present application is shown;

[0042] Fig.15 A schematic diagram of the top view of the translation mechanism of the control console in an embodiment of the present application is shown;

[0043] Fig.16 A schematic diagram of the structure of a door panel drive assembly in an embodiment of the present application is shown;

[0044] Fig.17 A schematic diagram showing the installation of the anti-pinch touch mechanism on the door panel in an embodiment of the present application is shown;

[0045] Fig.18 The main structural diagram of the door panel drive assembly in the embodiment of the present application is shown.

[0046] Fig.19 A schematic diagram of the structure of the lead screw slide assembly in an embodiment of the present application is shown;

[0047] Fig. 20 A front view of a lead screw slide assembly in an embodiment of the present application is shown;

[0048] Fig.21 Shows Fig. 20 Schematic diagram of the middle BB section;

[0049] Fig. 22 Shows Fig.21 The enlarged schematic diagram is at the X in the middle;

[0050] Fig.23 A schematic diagram of the structure of the anti-pinch touch mechanism in an embodiment of the present application is shown;

[0051] Fig.24 A top view of the anti-pinch finger touch mechanism in an embodiment of the present application is shown;

[0052] Fig.25 A schematic diagram of the installation structure of the decorative plate and the table frame in an embodiment of the present application is shown;

[0053] Fig.26 A side view of a storage table in an embodiment of the present application is shown;

[0054] Fig. 27 A schematic diagram of the first angle structure of the lift port position protection plate in an embodiment of the present application is shown;

[0055] Fig.28 A schematic diagram of the second angle structure of the lift port position protection plate in the embodiment of the present application is shown;

[0056] Fig.29 A schematic diagram of the structure of the front and rear guard plates in an embodiment of the present application is shown.

[0057] Description of reference numerals:

[0058] 1. Table body; 2. Table top; 3. Table frame; 4. Lifting port; 5. Control panel; 6. Door frame; 61. Groove; 7. Door panel; 71. Limiting boss; 8. Control panel drive assembly; 81. Control panel vertical lifting mechanism; 811. First fixed frame; 812. First drive motor; 813. First lead screw; 814. First slide; 815. Lead screw nut; 816. Upper bearing; 817. Lower bearing; 82. Control panel translation mechanism; 821. Support bracket; 822. Translation slide; 823. Fixed plate; 824. Connecting frame; 825. Locking ring; 826. Translation drive motor; 827. Translation drive lead screw; 828. Translation drive slide; 829. Guide frame; 9. Cable bracket; 91. Slide groove; 92. Support block; 93. Limiting slot; 10, first cable outlet; 11, second fixing frame; 12, second drive motor; 13, second lead screw; 14, second slide; 15, door opening support rod; 16, detection sensor; 17, induction sheet; 18, anti-pinch touch mechanism; 1801, mounting frame; 1802, touch rod; 1803, guide rod; 1804, spring; 1805, micro switch; 19, decorative plate; 20, power supply inlet; 21, second cable outlet; 22, decorative skirt; 23, button; 24, power socket; 25, rotating shaft; 26, horizontal slide; 27, motor support; 28, conveyor belt; 29, guide groove; 30, deep groove ball bearing; 31, pressure cover; 32, round nut; 33, shell structure; 34, front protective plate; 35, rear protective plate. DETAILED DESCRIPTION

[0059] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present application will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed descriptions will be omitted. In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.

[0060] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0061] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" are used merely as labels and are not intended to limit the quantity of their objects.

[0062] In the prior art, due to limited space in doctors' operating rooms, surgical instruments are often stacked and cluttered on general desks. Since the control console of the vascular interventional surgery robot is large in size and occupies a large space, protection and storage after use are particularly important.

[0063] First of all, it should be noted that in order to meet the needs of remote control, the vascular interventional surgical robot usually includes a slave-end actuator installed in the operating room and a control console installed outside the operating room. The doctor controls the action of the slave-end actuator by operating the control console, and then performs interventional surgery to achieve the effect of radiation protection.

[0064] The present application embodiment provides a storage table suitable for storing a control console of a vascular interventional surgery robot, such as Figure 1As shown, the storage table includes a table body 1, which includes a desktop 2 and a table frame 3. The table frame 3 is used to support the desktop 2. A lifting port 4 is provided on the desktop 2. The lifting port 4 is used for the control panel 5 to move between the working position and the storage position. In this embodiment, the desktop 2 is a rectangular plate-like structure, the table frame 3 is a two U-shaped support leg structure, and the lifting port 4 is a square through-hole structure provided at the center of the desktop 2. Of course, the present application does not limit the specific shape and structure of the desktop 2 and the table frame 3. For example, the desktop 2 can also be a circular desktop, and the table frame 3 can also include a plurality of vertical support legs. Moreover, the specific shape of the lifting port 4 is not restrictive, as long as the control panel 5 can be lifted and lowered through the lifting port 4. The double-door structure includes two door panels 7 rotatably arranged at the lifting opening 4. The two door panels 7 have an open position in which they rotate downward to open the lifting opening 4 and a closed position in which they rotate upward to close the lifting opening 4. In the closed position, the two door panels 7 are flush with the desktop 2. It can be understood that the specific shape of the two door panels 7 matches the shape of the lifting opening 4, as long as the two door panels 7 can cover the lifting opening 4 and support it when they are in the closed position, thereby ensuring the normal use of the desktop 2. The door panel drive assembly is used to drive the door panel 7 to switch between the open position and the closed position. It can be understood that the structure of the door panel drive assembly is not restrictive, as long as it can drive the door panel 7 to rotate between the open position and the closed position. The side of the door panel 7 is provided with a limiting convex edge 71, and the limiting convex edge 71 is suitable for abutting against the lower side edge of the lifting opening 4 in the closed position. The door panel drive assembly is configured to perform overcurrent protection and stop driving when the door panel 7 is driven to rotate until the limiting convex edge 71 abuts against the lower side edge of the lifting opening 4 and cannot continue to rotate. In addition, the present application does not limit the specific structure and setting method of the limiting flange 71. For example, the limiting flange 71 can be set as a part of the edge of the door panel 7.

[0065] Furthermore, in order to ensure that the two door panels 7 can be closed in place when in the closed position, there will be no gaps left at the door panels 7 due to untimely or inadequate closing, which will affect the use of the user, and there will be no damage to the driving components and door panels 7 used to drive the door panels 7 due to excessive closing. In this embodiment, Figure 2 As shown, the double-door structure also includes a door frame 6 for mounting two door panels 7. The door frame 6 is embedded in the lifting port 4, and the door frame 6 can be made of metal material to improve the strength of the connection and better ensure the service life of the storage table; the connection position between the door panel 7 and the door frame 6 is set at the edge, so that the door panel 7 can be closer to the side when in the open position, so as to better make room for the lifting of the control console 5. Figure 4 and Figure 5As shown, the front and rear sides of the door panel 7 are provided with limiting bosses 71, which are arranged to abut against the lower surface of the edge of the door frame 6 when the door panel 7 is in the closed position, and the lower surface of the door frame 6 is provided with a groove 61 corresponding to the limiting boss 71, and the limiting boss 71 can be stuck in the groove 61 to better ensure the closing effect, that is, the upper surface of the door panel is kept flush with the desktop. During operation, the door panel drive assembly drives the door panel 7 to rotate upward from the open position to the closed position, and when the door panel 7 reaches the closed position, the limiting boss 71 abuts against the lower surface of the edge of the door frame 6, and at this time, the door panel drive assembly continues to drive the door panel 7 to rotate upward until it stops driving when it cannot continue to rotate. Specifically, the door panel drive assembly includes a second drive motor 12 for driving the door panel 7 to rotate. The second drive motor 12 is configured to stop driving for overcurrent protection when driving the door panel 7 to rotate upward until it can no longer rotate. Specifically, when the door panel 7 rotates to a closed position, the position of the door panel 7 no longer changes due to the contact of the limiting convex edge 71 with the groove 61 on the lower surface of the door frame 6. The resistance encountered by the second drive motor 12 increases. At this time, the second drive motor 12 is powered off for overcurrent protection, which can ensure that the door panel 7 is closed in place without causing damage to the second drive motor 12 and the door panel 7 due to excessive closing.

[0066] Preferably, in this embodiment, limiting bosses 71 are provided on the front and rear sides of the door panel 7, but this is not restrictive. As an alternative embodiment, the limiting bosses 71 may be provided only on the front or rear sides of the door panel 7.

[0067] Of course, the limiting boss 71 mentioned in the present application is set on the side of the door panel 7 for abutting the lower edge of the lifting port 4, and can be used alone, such as the door panel 7 and the door frame 6 can cooperate with each other to enable the second drive motor 12 to perform overcurrent protection to ensure that the surface of the door panel 7 is flush with the surface of the door frame 6. At the same time, the door panel 7 can also be used alone on other objects, such as electric door structures, which can also use the above-mentioned motor overcurrent protection when closed in place, thereby stopping the drive of the door panel 7.

[0068] The storage table of the present application also includes a control panel drive assembly 8, which is provided with a mounting portion for mounting the control panel 5. The specific structure of the mounting portion is not limited, as long as the installation of the control panel 5 can be achieved. The control panel drive assembly 8 is installed below the desktop 2. The control panel drive assembly 8 has the function of driving the control panel 5 to rise from below the desktop 2 through the lifting port 4 to a working position above the desktop 2 and to descend from above the desktop 2 to below the desktop 2 to store the control panel 5 in a storage position. When the control panel drive assembly 8 descends to the storage position, the rotation path of the control panel drive assembly 8 and the control panel 5 does not interfere with the two door panels 7 when switching between the open position and the closed position. Specifically, in this embodiment, if Figure 6 and Figure 7As shown, the control panel drive assembly 8 includes a control panel vertical lifting mechanism 81 for driving the control panel 5 to rise and fall, and the control panel vertical lifting mechanism 81 includes a first fixed frame 811, a lifting screw slide and a supporting bracket 821; wherein, the first fixed frame 811 is fixedly arranged with the table body 1, preferably, a rear protective plate is arranged at the lower rear side of the table body, and the first fixed frame 811 is fixedly mounted on the rear protective plate, and the rear protective plate is fixedly connected to the lower surface of the desktop, of course, this is not restrictive, and the first fixed frame 811 can also be directly fixedly mounted on the lower surface of the desktop or fixed to the desktop through other connecting parts. The lifting screw slide is installed on the first fixed frame 811, and the lifting screw slide includes a first drive motor 812, a first screw 813 and a first slide 814. The first screw 813 and the first drive motor 812 are both installed on the first fixed frame 811. The first screw 813 is driven by the first drive motor 812. The first slide 814 is provided with a screw hole structure that cooperates with the first screw 813. Of course, the screw hole structure can be directly formed on the first slide 814, and can also be formed on the screw nut of the first slide 814. The first drive motor 812 can drive the first screw 813 to rotate, so that the first slide 814 can move up and down along the first screw 813 under the drive of the first drive motor 812; the support bracket 821 is fixedly connected to the first slide 814. The specific method of realizing the fixed connection between the support bracket 821 and the first slide 814 is not limited. The support bracket 821 is provided with a mounting portion, and the mounting portion can be used to install the control console 5. It is understandable that the present embodiment only provides a preferred arrangement of the control console vertical lifting mechanism 81, and is not restrictive, and those skilled in the art can also adjust its specific structure according to actual use requirements. In the process of controlling the lifting of the control console 5, the first slide 814 can move up and down along the first lead screw 813 under the drive of the first drive motor 812, and at the same time drive the support bracket 821 and the control console 5 to move up and down, completing the switching of the control console 5 between the working position and the storage position.

[0069] Furthermore, if Figure 8 As shown, the first fixing frame 811 is fixedly arranged behind the table frame 3, and the lifting screw slide is installed on the first fixing frame 811. Under the drive of the first driving motor 812, the first slide 814 drives the control panel 5 on the mounting portion of the support bracket 821 to move up and down together. During the up and down movement of the control panel 5, the control panel 5 switches between the working position and the storage position. It can be understood that the control panel 5 can move up and down vertically or at a small angle, which is not restrictive.

[0070] like Fig. 9 and Fig.10As shown, the storage table of the present application also includes a motor support 27 for fixing and installing the first drive motor 812. Of course, the specific structure of the motor support 27 is not limited, as long as the motor support 27 can support and fix the main part of the first drive motor 812. The motor support 27 and the first lead screw 813 are respectively installed on both sides of the first fixed frame 811, and the first drive motor 812 and the first lead screw 813 are connected by a conveyor belt 28. Specifically, the power output shaft of the first drive motor 812 and the end of the first lead screw 813 are fixed with a transmission wheel structure, and the two transmission wheel structures are connected by the conveyor belt 28. A horizontal slide 26 is provided on the first fixed frame 811, and the installation position of the motor support 27 can be adjusted in the horizontal slide 26 to adjust the fixed position of the first drive motor 812, and then adjust the distance between the power output shaft of the first drive motor 812 and the first lead screw 813; wherein, the position of the horizontal slide 26 corresponds to the driving position of the first lead screw 813. The first drive motor 812 and the first lead screw 813 are respectively installed on both sides of the first fixed frame 811, which can save vertical space in the table body 1 and ensure that the effective stroke of the lead screw can meet the use requirements; when the motor support 27 slides in the horizontal slide groove 26, the tightness of the conveyor belt 28 between the first drive motor 812 and the first lead screw 813 can be adjusted, thereby effectively ensuring the transmission efficiency, and at the same time, it is also convenient for the installation of the conveyor belt 28. When the distance between the motor support 27 and the first lead screw 813 is close, the conveyor belt 28 between the first drive motor 812 and the first lead screw 813 can be connected. After the conveyor belt 28 is connected, the position of the motor support 27 can be adjusted to achieve the effect of the first drive motor 812 driving the first lead screw 813 to rotate through the conveyor belt 28.

[0071] In this embodiment, the control console drive assembly 8 also includes a lead screw nut 815, which is sleeved on the first lead screw 813, and the main body of the first slide 814 is fixedly mounted on the lead screw nut 815, so that the first slide 814 can move up and down when the first lead screw 813 rotates. Further preferably, the left and right ends of the first slide 814 are slidably mounted on both sides of the first fixed frame 811 through the cooperation of the slide rail and the slide groove. The slide rail and slide groove structure between the first slide 814 and the first fixed frame 811 can be a slide rail provided on the first slide 814, and a slide groove provided on the first fixed frame 811; or a slide groove provided on the first slide 814, and a slide rail provided on the first fixed frame 811, as long as the guided sliding of the first slide 814 on the first fixed frame 811 can be achieved.

[0072] Reference Figure 7In this embodiment, detection sensors 16 are provided at both upper and lower ends of the first fixed frame 811, and a sensing sheet 17 is provided on the first slide 814 to detect whether the control console 5 is raised or lowered into place. Of course, the specific types of the detection sensors 16 and the sensing sheets 17 are not restrictive, as long as they can cooperate to realize the function of detecting the position.

[0073] The second lead screw 13 in the door panel drive assembly described below is also provided with an upper bearing 816 and a lower bearing 817, which have the same structure as the upper bearing 816 and the lower bearing 817 on the first lead screw 813, which can be referred to Fig.19 , Fig. 20 , Fig.21 and Fig. 22 . In order to increase the service life of the first lead screw 813, in this embodiment, an upper bearing 816 and a lower bearing 817 are respectively provided at the upper and lower ends of the first lead screw 813. The upper bearing 816 is configured as a force bearing for bearing the axial force of the first lead screw 813, and the lower bearing 817 can be used to prevent the radial runout of the first lead screw 813 to ensure stability. At the same time, there is a certain amount of free play between the lower bearing 817 and the first lead screw 813, allowing the first lead screw 813 to expand and contract during rotation to produce a certain amount of axial extension. The force bearing is arranged above the first lead screw 813, so that the first lead screw 813 forms a hoisting structure, which prevents the first lead screw 813 from deforming when subjected to greater pressure, thereby causing the motion trajectory of the first slide 814 to change, thereby affecting the lifting effect of the control console 5, so as to ensure the service life of the first lead screw 813. It should be noted that the specific types of the upper bearing 816 and the lower bearing 817 can be selected according to actual use requirements.

[0074] Further, as a preferred arrangement, the load-bearing bearing is a double-layer bearing structure formed by two adjacently arranged deep groove ball bearings 30 .

[0075] Furthermore, the storage table of the present application also includes a pressure cover 31 and a round nut 32. The round nut 32 rotates on the first screw 813 so that the pressure cover 31 can press the double-layer bearing structure, thereby ensuring the stability of the double-layer bearing structure and preventing the double-layer bearing structure from detaching.

[0076] In order to make the storage table of this embodiment have a certain versatility, considering the height differences and optimal operating distances between different doctors, in this embodiment, Fig.11As shown, the console driving assembly 8 also includes a console translation mechanism 82 for driving the console 5 to translate. The console translation mechanism 82 includes a translation slide 822, which is movably mounted on a support bracket 821. The translation direction of the translation slide 822 is the front-to-back direction of the table body 1. The translation slide 822 can form a mounting portion for supporting the console 5. When the translation slide 822 translates and slides on the support bracket 821, it drives the console 5 to translate and slide. The table body 1 has four directions: front, back, left, and right. The front of the table body 1 is the position for medical staff to operate. On the one hand, although the rotating double-door structure can provide a flatter desktop 2 and better ensure the support effect of the desktop 2, it also needs to occupy more space under the desktop 2; based on this, the present application adjusts the position of the console 5 in the front and rear directions by setting a console translation mechanism 82, so that the doctor can adjust the distance between the console 5 and himself to the optimal control distance according to his own height, which can not only adapt to different doctors to the greatest extent, ensure their usage experience, and improve adaptability; moreover, the storage of the console 5 under the desktop 2 affects the doctor's leg activity space, and the present application adjusts the console 5 by the control mechanism 82. The table translation mechanism 82 can make up for this problem by adjusting the front and rear of the control panel 5. Specifically, based on this, the control panel vertical lifting mechanism 81 can be set as far back as possible on the desktop 2, so that more space can be made at the front and lower position of the desktop 2 to increase the doctor's leg space. This is very useful for doctors who need to sit in front of the table for a long time to operate the control panel during surgery. When the doctor feels that the position of the control panel 5 is too far back, the doctor can also adjust the position of the control panel 5 forward (i.e., close to the doctor) through the control panel translation mechanism 82 to ensure the doctor's operation.

[0077] Furthermore, if Fig.12 , Fig.13 , Fig.14 and Fig.15As shown, the console translation mechanism 82 includes a support bracket 821, a translation slide 822, a fixed plate 823, a connecting frame 824, a translation drive motor 826, a translation drive lead screw 827, a translation drive slide 828, and a guide frame 829. Among them, the support bracket 821 is used to be installed on the console vertical lifting mechanism 81, and the support bracket 821 is connected to the first slide 814 through the connecting frame 824 to achieve the installation with the console vertical lifting mechanism 81; the fixed plate 823 is fixedly installed on the support bracket 821, and two parallel guide grooves 29 are opened on the fixed plate 823, the translation drive motor 826 and the translation drive lead screw 827 are respectively installed on the upper and lower sides of the fixed plate 823, and the guide frame 829 is fixedly installed on the translation drive slide 828, and the guide frame 829 is fixedly installed on the translation drive slide 828, and the guide frame 829 is fixedly installed on the translation drive slide 828. The frame 829 extends to both sides of the translation drive slide 828 and is connected to the translation slide 822 through the guide groove 29. Under the drive of the translation drive motor 826, the translation drive screw 827 rotates. During the rotation of the translation drive screw 827, the translation drive slide 828 is driven to move along the axial direction of the translation drive screw 827. The translation drive slide 828 drives the translation slide 822 to move horizontally through the guide frame 829, thereby realizing the horizontal movement of the control console 5 installed on the translation slide 822.

[0078] In order to facilitate the rotation opening and closing of the door panel 7 in the double door structure, and at the same time, to provide a better supporting force for the door panel 7, in this embodiment, Fig.16 , Fig.17 and Fig.18 As shown, the storage table of the present application also includes a door panel driving assembly, which is used to drive the door panel 7 to switch between the open position and the closed position, that is, to drive the door panel 7 to rotate between the open position and the closed position. The door panel drive assembly includes a second fixed frame 11, a screw slide assembly, and a door opening support rod 15; wherein the second fixed frame 11 is fixedly arranged with the table body 1; the screw slide assembly includes a second drive motor 12, a second screw 13 and a second slide 14, the second screw 13 is driven by the second drive motor 12, and the second slide 14 can move up and down along the second screw 13 under the drive of the second drive motor 12; the door opening support rod 15, one end of which is hinged on the second slide 14, and the other end is hinged on the door panel 7, the door opening support rod 15 pushes the door panel 7 to rotate to the closed position when the second slide 14 moves upward along the second screw 13, and drives the door panel 7 to rotate to the open position when the second slide 14 moves downward along the second screw 13; the door panel drive assembly is set to two, respectively used to drive the two door panels 7, and the two door panel drive assemblies are respectively arranged on the left and right sides of the table body 1. It should be noted that the specific structure of the door panel drive assembly is not restrictive. For example, a pull rope structure can also be adopted, that is, a pull rope structure is set on the door frame 6, and the opening and closing state of the door panel 7 is controlled by retracting and releasing the rope.

[0079] In this embodiment, two parallel slide rails are provided on the second fixing frame 11, and the two slide rails are respectively arranged on both sides of the second lead screw 13, and two door opening support rods 15 are respectively arranged corresponding to the two slide rails. Specifically, a fixing rod is provided on the second fixing frame 11, and a lug plate is provided on the door panel 7. One end of the door opening support rod 15 is hinged on the fixing rod, and the other end is rotatably connected to the lug plate through a rotating shaft.

[0080] In order to detect whether the door panel 7 reaches the closed position during the rotation process, in this embodiment, Fig.19 As shown, a detection sensor 16 is also provided on the second fixed frame 11, and a baffle is provided on the second slide 14. When the door panel 7 rotates to the closed position, the baffle of the second slide 14 slides to the detection sensor 16. The detection sensor 16 determines whether the door panel 7 is closed in place by sensing the baffle. The detection sensor 16 detects whether the baffle reaches the corresponding position. If the baffle reaches the corresponding position, the door panel 7 is closed in place. If the baffle does not reach the corresponding position, although the second drive motor 12 has an overcurrent protection, the door panel 7 has not reached the closed position. The detection sensor 16 is set to detect the position of the baffle to verify whether the door panel 7 has reached the closed position, thereby avoiding the phenomenon that the door panel 7 has not reached the closed position when the motor has an overcurrent protection due to other reasons, such as motor failure.

[0081] In this embodiment, a screw nut 815 is provided on the second slide 14, and the screw nut 815 cooperates with the second screw 13. When the door panel 7 rotates to the closed position under the drive of the second drive motor 12, the screw nut 815 and the second screw 13 form a self-locking structure.

[0082] In order to increase the service life of the second lead screw 13, in this embodiment, Fig. 20 As shown, the upper and lower ends of the second lead screw 13 are provided with an upper bearing 816 and a lower bearing 817 respectively. The upper bearing 816 is configured as a force bearing for bearing the axial force of the first lead screw 813, and the lower bearing 817 can be used to prevent radial runout of the second lead screw 13 to ensure stability. At the same time, there is a certain amount of free clearance between the lower bearing 817 and the second lead screw 13, allowing the second lead screw 13 to expand and contract during rotation to produce a certain amount of axial extension. The force bearing is disposed above the second lead screw 13 so that the second lead screw 13 forms a hoisting structure to prevent the second lead screw 13 from deforming when subjected to greater pressure, thereby causing changes in the motion trajectory of the second slide 14, thereby affecting the lifting and lowering effect of the control console 5, so as to ensure the service life of the second lead screw 13. Further, as Fig.21 and Fig. 22As shown, as a preferred arrangement, the load bearing is a double-layer bearing structure formed by two adjacent deep groove ball bearings 30. The storage table of the present application also includes a pressure cover 31 and a round nut 32. The round nut 32 rotates on the second lead screw 13 so that the pressure cover 31 can press the double-layer bearing structure, thereby ensuring the stability of the double-layer bearing structure and preventing the double-layer bearing structure from detaching.

[0083] In order to ensure that the double-door structure on the storage table of the present application has a certain protective effect during the closing process, in this embodiment, Fig.17 , Fig.18 and Fig.23 As shown, the storage table of the present application also includes an anti-pinch touch mechanism 18, which is installed at the inner door edge of one of the two door panels 7 to better achieve the detection effect. The anti-pinch touch mechanism 18 is communicatively connected with the door panel drive assembly. The anti-pinch touch mechanism 18 is configured to control the second drive motor 12 to stop rotating when it is touched by an inserted object when the door panel 7 rotates to the closed position.

[0084] Further, see Fig.23 and Fig.24 The anti-pinch touch mechanism 18 includes a mounting frame 1801, a micro switch 1805, a guide rod 1803, a touch rod 1802 and a spring 1804; wherein the mounting frame 1801 is mounted on the door panel 7, the micro switch 1805 is mounted on the mounting frame 1801, and the micro switch 1805 is communicatively connected with the door panel drive assembly; the guide rod 1803 is fixedly mounted on the mounting frame 1801, and the touch rod 1802 is slidably mounted on the guide rod 1803. When the touch rod 1802 slides on the guide rod 1803, it is suitable for touching the button of the micro switch 1805. The spring 1804 is sleeved on the guide rod 1803, one end of the spring 1804 abuts on the mounting frame 1801, and the other end abuts on the touch rod 1802. The spring 1804 has the function of making the touch rod 1802 move away from the mounting frame 1801 so that the micro switch 18 05 is in the normally open state of elastic force. When the touch rod 1802 touches the inserted object, the compression spring 1804 slides on the guide rod 1803 and touches the button of the micro switch 1805 to close the micro switch 1805, so as to control the door panel drive component to stop driving the door panel 7. When the door panel 7 switches from the open position to the closed position, if the medical staff's hand accidentally extends between the two door panels 7 during the closing process of the door panel 7, the touch rod 1802 will compress the spring 1804 after touching the human hand, slide on the guide rod 1803, and touch the micro switch 1805 to close, so that the micro switch 1805 controls the door panel drive component to stop driving the door panel 7, so as to prevent the door panel 7 from pinching the medical staff's hand. At the same time, the anti-pinch hand touch mechanism 18 can also protect the door panel 7 from being damaged when other objects fall into it.

[0085] In order to further prevent objects from entering under the desktop 2 through the lifting opening 4, in the present embodiment, baffles are further installed on the front and rear sides of the door frame 6. When the door panel 7 is in the open position, the door panels 7 on the left and right sides and the baffles on the front and rear sides are jointly arranged to form a storage space for the control panel 5. At the same time, since the lifting opening 4 is blocked by baffles or door panels 7 on all sides, it is prevented that a person's hands can be put on the back of the desktop 2 and thus be pinched.

[0086] In order to further enhance the protective effect of the lifting opening 4 on the desktop 2, Fig. 27 , Fig.28 and Fig.29 As shown, at the position of the lifting opening 4, a front protective plate 34 and a rear protective plate 35 are provided to prevent the doctor from accidentally inserting his hands into the gap between the lifting opening 4 and the desktop 2, wherein the door panel 7 can protect the space on the left and right sides when it is in the open position.

[0087] In order to make more reasonable use of the space of the table body 1, in this embodiment, Figure 1 and Fig.25 As shown, the side of the table body 1 is wrapped with a decorative skirt 22, and some buttons 23 of the control panel 5 are arranged on the side of the table body 1, that is, arranged on the decorative skirt 22, so as to effectively utilize the layout space of the table body 1 and avoid the buttons being concentrated together, which is inconvenient for medical staff to distinguish and operate. In addition, a power socket 24 is provided on the desktop 2, and the electrical components located in the table body 1 can be powered by the power socket 24, thereby improving the utilization rate of the table body 1.

[0088] In order to make the cable adapt to the lifting and translation of the control console 5, in this embodiment, Fig.11As shown, the storage table of the present application also includes a cable bracket 9 installed on the desktop 2, and the cable bracket 9 is provided with a slide groove 91 suitable for accommodating the passage of cables; a first cable outlet 10 is provided on the desktop 2, and the cable is electrically connected to the control console 5 through the first cable outlet 10 and the slide groove 91. When the control console 5 slides on the mounting bracket, it is suitable for driving the cable to slide up and down in the slide groove 91, so that the cable can adapt to the distance change when the control console 5 slides. Specifically, after the cable extends out of the desktop 2, it passes through the slide groove 91 to form at least one U-shaped bend and then is electrically connected to the control console 5. When the control console 5 translates relative to the desktop 2, it is suitable for driving the cable to slide in the slide groove 91 and change the shape of the U-shaped bend, that is, the radius of the U-shaped bend, so that the cable can adapt to the distance change when the control console 5 slides. In addition, the cable bracket 9 can increase the turning radius of the cable, avoid the situation where the cable has a dead bend, and better protect the cable. During the translation of the control panel 5, when the control panel 5 moves forward, the cable is pulled downward in the slide groove 91, and the bend becomes larger to adapt to the increase in the distance between the control panel 5 and the cable bracket 9; when the control panel 5 moves backward, the cable is pushed upward in the slide groove 91, and the bend becomes smaller to adapt to the decrease in the distance between the control panel 5 and the cable bracket 9. Specifically, there are two cable brackets 9, which are arranged side by side in the left-right direction. After the cable comes out of the first cable outlet 10, it passes through the two cable brackets 9 in sequence, and then is bent and connected to the control console 5. The cable is fixedly connected at the first cable outlet 10. The reserved length of the cable after it extends out of the first cable outlet 10 is sufficient to meet the translation requirements of the control console 5. A locking ring 825 is also provided at the position of the control console 5. The locking ring 825 is installed on the translation slide 822. The locking ring 825 moves with the control console 5 on the translation slide 822. The locking ring 825 is used to lock the connection position of the cable close to the control console 5 to avoid the reciprocating rotation of the connection position between the cable and the control console 5 during the movement of the control console 5. Specifically, the cable bracket 9 is installed on the fixed plate 823.

[0089] Specifically, the cable holder 9 is a holder-type structure, and a slide groove 91 extending in the height direction thereof is formed on the cable holder 9, that is, the slide groove 91 is vertically arranged on the cable holder 9, so that the cable can slide in the slide groove 91 in the vertical direction. The cable holder 9 also includes a support block 92, which is slidably installed in the slide groove 91, and the support block 92 is arranged to support the cable to adjust the height of the cable on the slide groove 91, thereby effectively adjusting the shape of the cable and ensuring the storage effect of the cable. Furthermore, a limit groove 93 is also arranged at the bottom of the cable holder 9, and the limit groove 93 is located below the slide groove 91, and is an open groove structure with an opening facing forward. The cable can abut against the limit groove 93 during the bending process, thereby effectively preventing the cable from moving too far backward and affecting its final storage, thereby effectively ensuring its storage effect.

[0090] In one embodiment, the cable bracket 9 of the two cable brackets 9 close to the first cable outlet 10 can be fixedly connected to the cable, and the cable bracket 9 far away from the first cable outlet 10 can be movably connected to the cable. As long as the cable can slide in the sliding groove of one of the cable brackets 9, the distance change requirement during the translation of the control console 5 can be met.

[0091] Next Read Fig.25 In one embodiment, the table frame 3 also includes a shell structure 33 for protecting the control console and its drive assembly, the door panel and its drive assembly. The shell structure 33 encloses the door panel drive assembly, the control console drive assembly, the door panel in the open position, and the control console in the storage position for protection. In addition, a mounting bracket is installed under the desktop 2 to provide a mounting carrier for the door panel drive assembly and the control console drive assembly, that is, the first fixing frame 811 of the control console drive assembly is fixedly mounted on the mounting bracket, and the two second fixing frames 11 of the door panel drive assembly are respectively fixedly mounted on both sides of the mounting bracket. Of course, the enclosure structure formed by the above-mentioned shell structure 33 also shields the control console and its drive assembly, the door panel and its drive assembly, so as to ensure a better visual effect.

[0092] At the same time, in order to make the table body 1 fit better with the wall, in this embodiment, Fig.11 As shown, a power supply inlet 20 and a second cable outlet 21 are provided on the rear side of the shell of the table frame 3. The cable enters the table frame 3 through the second cable outlet 21 and extends from the first cable outlet 10 to be electrically connected to the control console 5. The rear side of the shell of the table frame 3 corresponding to the power supply inlet 20 and the second cable outlet 21 is a decorative panel 19. The decorative panel 19 is bent at the positions of the power supply inlet 20 and the second cable outlet 21 to form a step surface, one side of which is flush with the edge of the table frame 3, and the other side is located in the table frame 3, so that the power supply inlet 20 and the second cable outlet 21 are both received in the step surface of the decorative panel 19. When inserting a plug or a cable, the end of the plug and the corner of the cable can be received in the step surface, so that the table frame 3 can be set flush against the wall, and the plug or cable of the power supply inlet 20 and the second cable outlet 21 can be accommodated between the step surface and the wall, so as to avoid the plug or cable pressing against the wall and affecting the placement of the storage table against the edge.

[0093] Those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the embodiments of the present application. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that the present application does not apply for. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

Claims

1. A storage table suitable for storing a control console of a vascular interventional surgery robot, characterized in that: include: The table body comprises a table top and a table frame for supporting the table top, wherein a lifting opening is provided on the table top, and the lifting opening is used for allowing the control console to move between a working position and a storage position; A double-door structure, comprising two door panels rotatably arranged at the lifting opening, wherein the two door panels have an open position in which they are rotated below the tabletop to open the lifting opening, and a closed position in which they are rotated upward to close the lifting opening; A door panel driving assembly, used for driving the door panel to switch between the open position and the closed position; The side of the door panel is provided with a limiting convex edge, and the limiting convex edge is suitable for abutting against the lower edge of the lifting opening when in the closed position. The door panel driving component is configured to perform overcurrent protection and stop driving when the door panel is driven to rotate until the limiting convex edge abuts against the lower edge of the lifting opening and cannot continue to rotate.

2. The storage table suitable for storing the control console of the vascular interventional surgery robot according to claim 1, characterized in that: The door panel drive assembly comprises: A second fixing frame, fixedly arranged on the table body; A second lead screw and a second slide assembly, comprising a second drive motor, a second lead screw and a second slide, wherein the second lead screw is driven by the second drive motor, and the second slide can move up and down along the second lead screw under the drive of the second drive motor; A door opening support rod has one end hinged on the second slide and the other end hinged on the door panel. When the second slide moves upward along the second lead screw, the door opening support rod pushes the door panel to rotate to the closed position.

3. The storage table suitable for storing the control console of the vascular interventional surgery robot according to claim 2, characterized in that: The number of the door panel driving components is two, each used to drive the two door panels, and the two door panel driving components are respectively arranged on the left and right sides of the table body.

4. The storage table suitable for storing the control console of the vascular interventional surgery robot according to claim 3, characterized in that: A detection sensor is provided on the second fixing frame, and a baffle is provided on the second sliding platform. When the door panel rotates to the closed position, the baffle slides to the detection sensor, and the detection sensor determines whether the door panel is closed in place by sensing the baffle.

5. The storage table suitable for storing the control console of the vascular interventional surgery robot according to claim 4, characterized in that: There are two detection sensors, which are respectively located at the upper section and the lower section of the second fixed frame. The detection sensor located at the upper section of the second fixed frame determines whether the door panel is closed by sensing the baffle, and the detection sensor located at the lower section of the second fixed frame determines whether the door panel is opened by sensing the baffle.

6. The storage table suitable for storing a control console of a vascular interventional surgery robot according to any one of claims 1 to 5, characterized in that: The table body further comprises a door frame arranged at the lifting opening, and the limiting protrusion is suitable for abutting against the lower side edge of the lifting opening through the door frame when in the closed position.

7. The storage table suitable for storing a control console of a vascular interventional surgery robot according to any one of claims 1 to 5, characterized in that: The limiting protrusion is arranged on at least one side of the two sides of the door panel located at the rotating end.

8. The storage table suitable for storing a control console of a vascular interventional surgery robot according to any one of claims 2 to 5, characterized in that: A lead screw nut is provided on the second slide, and the lead screw nut cooperates with the second lead screw. When the door panel is driven by the driving motor to rotate to the closed position, the lead screw nut and the second lead screw form a self-locking structure.

9. The storage table suitable for storing the control console of the vascular interventional surgery robot according to claim 8, characterized in that: The second fixing frame is provided with two parallel slide rails, and the two slide rails are respectively located on two sides of the second lead screw; The second slide is connected to the second lead screw through the lead screw nut, and the second slide is slidably arranged on the two slide rails. There are two door opening support rods, and the two door opening support rods are arranged corresponding to the two slide rails.

10. The storage table suitable for storing a control console of a vascular interventional surgery robot according to claim 9, characterized in that: The second fixing frame is provided with a fixing rod, and one end of the door opening support rod is rotatably connected to the fixing rod; The door panel is provided with a connecting ear plate, and the other end of the door opening support rod is connected to the connecting ear plate through a rotating shaft.

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