A medical five-axis robotic arm
By designing a five-axis robotic arm, combining pneumatic springs and limiting structure, the problem of insufficient control range and flexibility of existing medical robotic arm is solved, and multi-dimensional activities of probes or surgical instruments are realized, improving the patient's medical experience.
Patent Information
- Application Number
- CN202421091321.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-17
- Publication Date
- 2025-04-04
- Estimated Expiration
- 2034-05-17
AI Technical Summary
Most of the existing medical robotic arms are two-axis or three-axis, and the control range and flexibility are insufficient, which leads to the need for the patient to adjust his posture by himself during testing or surgery, which is very inconvenient.
A medical five-axis robotic arm is designed to achieve five-axis adjustment through a combination of vertical rod, adjustment arm, load-bearing seat and mounting seat, and ensure the stability and multi-dimensional movement of the connecting rod and mounting seat through pneumatic springs and limiting structures.
It realizes multi-dimensional activities of probes or surgical instruments, can adapt to different postures of patients without the need for the patient to adjust themselves, and improves the patient's medical experience.
Smart Images
Figure CN222708387U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of robotic arms, and in particular to a medical five-axis robotic arm. Background Art
[0002] Transplantation is a technique that uses surgery or other methods to introduce cells, tissues or organs from one individual into a part of the body or another individual to replace the lost function of the original part. Depending on the transplanted material, it can be divided into cell, tissue and organ transplantation.
[0003] Existing organ transplant carts are generally provided with detection probes or surgical instruments through a robotic arm, and the position of the detection probes or surgical instruments is adjusted by the robotic arm. However, most medical robotic arms in the prior art are two-axis or three-axis robotic arms, which have a small range of control over the activities of the detection probes or surgical instruments and poor flexibility. During detection or surgery, the patient needs to change his or her posture or position to cooperate with the detection probes or surgical instruments, which is very inconvenient.
[0004] In view of this, there is an urgent need for a medical five-axis robotic arm to solve the above problems. Summary of the invention
[0005] In order to help solve the problems existing in the prior art, the present application provides a medical five-axis robotic arm, which adopts the following technical solution: comprising: a vertical pole, an adjustment arm, a bearing seat and a mounting seat;
[0006] The adjusting arm comprises a first connecting seat, a second connecting seat and a connecting rod, the two ends of the connecting rod are rotatably connected to the first connecting seat and the second connecting seat respectively, the first connecting seat is rotatably connected to the vertical rod, the bearing seat is rotatably arranged on the second connecting seat, and the mounting seat is rotatably arranged on the bearing seat;
[0007] The rotation direction of the first connecting seat relative to the vertical rod and the rotation direction of the bearing seat relative to the second connecting seat are both horizontal directions;
[0008] The rotation direction of the connecting rod relative to the first connecting seat and the rotation direction of the connecting rod relative to the second connecting seat are both perpendicular to the horizontal direction.
[0009] A further feature is that
[0010] The regulating arm also includes a pneumatic spring, one end of which is connected to the connecting rod, and the other end of which is connected to the first connecting seat.
[0011] A screw rod is rotatably arranged on the first connecting seat, the axial direction of the screw rod is perpendicular to the rotation direction of the first connecting seat, and one end of the pneumatic spring close to the first connecting seat is rotatably connected to the screw rod.
[0012] The connecting rod comprises an upper connecting rod and a lower connecting rod, the upper connecting rod and the lower connecting rod are arranged in parallel, and two ends of the upper connecting rod and the lower connecting rod are rotatably connected to the first connecting seat and the second connecting seat respectively.
[0013] A first limiting edge is provided on one side of the first connecting seat, and a first abutting edge is provided on one end of the upper connecting rod close to the first connecting seat. When the upper connecting rod rotates downward until the first abutting edge abuts against the first limiting edge, the first limiting edge restricts the upper connecting rod from continuing to rotate downward.
[0014] A second limiting edge is provided on one side of the first connecting seat, and a second abutting edge is provided on one end of the lower connecting rod close to the first connecting seat. When the lower connecting rod rotates upward until the second abutting edge abuts against the second limiting edge, the second limiting edge restricts the lower connecting rod from continuing to rotate upward.
[0015] A first arc-shaped limiting groove is arranged on one side of the first connecting seat close to the vertical pole, and a first limiting pin extending into the first arc-shaped limiting groove is arranged on the ring side of the vertical pole.
[0016] A second arc-shaped limiting groove is arranged on one side of the second connecting seat close to the bearing seat, and a second limiting pin extending into the second arc-shaped limiting groove is arranged on the ring side of the bearing seat.
[0017] The mounting seat includes a U-shaped clamp, and the two sides of the U-shaped clamp are rotatably arranged on both sides of the end of the bearing seat. The end of the bearing seat is provided with a third arc-shaped limit groove, and the inner side of the U-shaped clamp is provided with a third limit pin extending to the third arc-shaped limit groove.
[0018] The mounting seat also includes a carrier plate, which is rotatably arranged at the end of the U-shaped clamp, the end of the U-shaped clamp is provided with a fourth arc-shaped limiting groove, and the carrier plate is provided with a fourth limiting pin extending into the fourth arc-shaped limiting groove.
[0019] To summarize, the first connecting seat is rotatably connected to the vertical pole, the supporting seat is rotatably connected to the second connecting seat, the mounting seat is rotatably connected to the supporting seat, and the angle between the connecting rod and the vertical pole is adjustable (the connecting rod is rotatably connected to the first connecting seat and the second connecting seat). In this way, five-axis adjustment is achieved, and the mounting seat can be controlled to adjust the height, so that the probe or surgical instrument installed on the mounting seat can move in multiple dimensions to adapt to the different postures of the patient. The patient does not need to adjust his or her own posture to adapt to the probe or surgical instrument, thereby improving the patient's medical experience. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a schematic diagram of the structure of this application;
[0021] Figure 2 It is a structural schematic diagram of the relevant structure at the regulating arm in this application;
[0022] Figure 3 It is a structural schematic diagram of the relevant structure of the pneumatic spring in this application;
[0023] Figure 4 It is a structural schematic diagram of the relevant structure at the first connecting socket in this application;
[0024] Figure 5 It is a structural schematic diagram of the relevant structure at the second connecting socket in this application;
[0025] Figure 6 It is a structural schematic diagram of the bearing seat and the mounting seat in this application;
[0026] Figure 7 It is a schematic diagram of the structure of the carrier plate and the fourth limiting pin in this application.
[0027] Figure markings: 1. vertical pole; 11. first limit pin; 2. bearing seat; 21. second limit pin; 22. third arc-shaped limit groove; 3. mounting seat; 31. U-shaped clamp; 32. third limit pin; 33. carrier plate; 34. fourth arc-shaped limit groove; 35. fourth limit pin; 4. first connecting seat; 41. first limit edge; 42. second limit edge; 43. first arc-shaped limit groove; 5. second connecting seat; 51. second arc-shaped limit groove; 6. connecting rod; 61. upper connecting rod; 611. first contact edge; 62. lower connecting rod; 621. second contact edge; 7. pneumatic spring; 8. screw. DETAILED DESCRIPTION
[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.
[0029] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.
[0030] The following is combined with Figure 1-7 This application is further described in detail.
[0031] Reference Figure 1-Figure 3A medical five-axis robot arm comprises: a vertical pole 1, an adjusting arm, a bearing seat 2 and a mounting seat 3; the adjusting arm comprises a first connecting seat 4, a second connecting seat 5 and a connecting rod 6, the two ends of the connecting rod 6 are respectively rotatably connected with the first connecting seat 4 and the second connecting seat 5, the first connecting seat 4 is rotatably connected with the vertical pole 1, the bearing seat 2 is rotatably arranged on the second connecting seat 5, and the mounting seat 3 is rotatably arranged on the bearing seat 2; the rotation direction of the first connecting seat 4 relative to the vertical pole 1 and the rotation direction of the bearing seat 2 relative to the second connecting seat 5 are both horizontal directions; the rotation direction of the connecting rod 6 relative to the first connecting seat 4 and the rotation direction of the connecting rod 6 relative to the second connecting seat The rotation direction of the seat 5 is perpendicular to the horizontal direction. In this way, the first connecting seat 4 is rotationally connected to the vertical pole 1, the supporting seat 2 is rotationally connected to the second connecting seat 5, the mounting seat 3 is rotationally connected to the supporting seat 2, and the angle between the connecting rod 6 and the vertical pole 1 is adjustable (the connecting rod 6 is rotationally connected to the first connecting seat 4 and the second connecting seat 5). In this way, five-axis adjustment is achieved, and the mounting seat 3 can be controlled to adjust the height, so that the probe or surgical instrument installed on the mounting seat 3 can move in multiple dimensions to adapt to the different postures of the patient. The patient does not need to adjust his or her posture to adapt to the probe or surgical instrument, thereby improving the patient's medical experience.
[0032] Reference Figure 2-Figure 4 In order to provide stable support after the adjusting arm is lifted or swung down, the adjusting arm also includes a pneumatic spring 7, one end of the pneumatic spring 7 is connected to the connecting rod 6, and the other end is connected to the first connecting seat 4. A screw 8 is rotatably arranged on the first connecting seat 4, and the axial direction of the screw 8 is perpendicular to the rotation direction of the first connecting seat 4. One end of the pneumatic spring 7 close to the first connecting seat 4 is rotatably connected to the screw 8. In this way, the pneumatic spring 7 is supported between the first connecting seat 4 and the connecting rod 6 to play a supporting role, and by rotating the screw 8, the height of the end of the pneumatic spring 7 on the first connecting seat 4 is adjusted, so that the angle between the pneumatic spring 7 and the connecting rod 6 changes, so that the supporting force of the pneumatic spring 7 is adjusted to support the connecting rod 6 to be stable at different angles relative to the vertical pole 1.
[0033] Reference Figure 3-Figure 4The connecting rod 6 includes an upper connecting rod 61 and a lower connecting rod 62, which are arranged in parallel. The two ends of the upper connecting rod 61 and the lower connecting rod 62 are rotatably connected to the first connecting seat 4 and the second connecting seat 5 respectively. A first limiting edge 41 is arranged on one side of the first connecting seat 4, and a first abutting edge 611 is arranged on one end of the upper connecting rod 61 close to the first connecting seat 4. When the upper connecting rod 61 rotates downward until the first abutting edge 611 abuts against the first limiting edge 41, the first limiting edge 41 limits the upper connecting rod 61 from continuing to rotate downward. A second limiting edge 42 is arranged on one side of the first connecting seat 4. A second abutting edge 621 is provided at one end of the lower connecting rod 62 close to the first connecting seat 4. When the lower connecting rod 62 rotates upward until the second abutting edge 621 abuts against the second limiting edge 42, the second limiting edge 42 restricts the lower connecting rod 62 from continuing to rotate upward. In this way, when the connecting rod 6 is lifted up until the second abutting edge 621 abuts against the second limiting edge 42, the connecting rod 6 is restricted from continuing to be lifted up, and the connecting rod 6 swings down until the first abutting edge 611 abuts against the first limiting edge 41. At this time, the connecting rod is restricted from continuing to swing down, so as to limit the rotation angle of the connecting rod 6 and avoid motion transition.
[0034] Reference Figure 4 In order to limit the rotation of the first connecting seat 4, a first arc-shaped limiting groove 43 is provided on the side of the first connecting seat 4 close to the vertical rod 1, and a first limiting pin 11 extending into the first arc-shaped limiting groove 43 is provided on the ring side of the vertical rod 1. In this way, the first limiting pin 11 moves in the first arc-shaped limiting groove 43 to limit the rotation angle of the first connecting seat 4.
[0035] Reference Figure 5 In order to limit the rotation of the supporting seat 2, a second arc-shaped limiting groove 51 is provided on the side of the second connecting seat 5 close to the supporting seat 2, and a second limiting pin 21 extending into the second arc-shaped limiting groove 51 is provided on the ring side of the supporting seat 2. In this way, the second limiting pin 21 moves in the second arc-shaped limiting groove 51 to limit the rotation angle of the supporting seat 2 relative to the second connecting seat 5.
[0036] Reference Figure 6 In order to limit the rotation of the mounting seat 3, the mounting seat 3 includes a U-shaped clamp 31, and the two sides of the U-shaped clamp 31 are rotatably arranged on both sides of the end of the bearing seat 2. The end of the bearing seat 2 is provided with a third arc-shaped limiting groove 22, and the inner side of the U-shaped clamp 31 is provided with a third limiting pin 32 extending to the third arc-shaped limiting groove 22. In this way, the third limiting pin 32 moves in the third limiting groove 22 to limit the rotation angle of the mounting seat 3 relative to the bearing seat 2.
[0037] Reference Figure 6-Figure 7The mounting seat 3 further includes a carrier plate 33, which is rotatably disposed at the end of the U-shaped clamp 31, and a fourth arc-shaped limiting groove 34 is disposed at the end of the U-shaped clamp 31. A fourth limiting pin 35 extending into the fourth arc-shaped limiting groove 34 is disposed on the carrier plate 33, so that the carrier plate 33 can rotate relative to the U-shaped clamp 31, and because the fourth limiting pin 35 is disposed in the fourth arc-shaped limiting groove 34, the rotation angle of the carrier plate 33 relative to the U-shaped clamp 31 is limited.
[0038] In summary: the first connecting seat 4 is rotatably connected to the vertical pole 1, the supporting seat 2 is rotatably connected to the second connecting seat 5, the mounting seat 3 is rotatably connected to the supporting seat 2, and the angle between the connecting rod 6 and the vertical pole 1 is adjustable. In this way, five-axis adjustment is achieved, and the mounting seat 3 can be controlled to adjust the height, so that the probe or surgical instrument installed on the mounting seat 3 can move in multiple dimensions to adapt to the different postures of the patient. The patient does not need to adjust his or her posture to adapt to the probe or surgical instrument, thereby improving the patient's medical experience.
[0039] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.
Claims
1. A medical five-axis robotic arm, characterized in that: include: A vertical pole (1), an adjustment arm, a bearing seat (2) and a mounting seat (3); The adjusting arm comprises a first connecting seat (4), a second connecting seat (5) and a connecting rod (6); the two ends of the connecting rod (6) are rotatably connected to the first connecting seat (4) and the second connecting seat (5) respectively; the first connecting seat (4) is rotatably connected to the vertical rod (1); the bearing seat (2) is rotatably arranged on the second connecting seat (5); and the mounting seat (3) is rotatably arranged on the bearing seat (2); The rotation direction of the first connecting seat (4) relative to the vertical rod (1) and the rotation direction of the bearing seat (2) relative to the second connecting seat (5) are both horizontal directions; The rotation direction of the connecting rod (6) relative to the first connecting seat (4) and the rotation direction of the connecting rod (6) relative to the second connecting seat (5) are both perpendicular to the horizontal direction.
2. A medical five-axis robotic arm according to claim 1, characterized in that: The regulating arm also comprises a pneumatic spring (7), one end of the pneumatic spring (7) is connected to the connecting rod (6), and the other end of the pneumatic spring (7) is connected to the first connecting seat (4).
3. A medical five-axis robotic arm according to claim 2, characterized in that: A screw rod (8) is rotatably arranged on the first connecting seat (4), the axial direction of the screw rod (8) is perpendicular to the rotation direction of the first connecting seat (4), and one end of the pneumatic spring (7) close to the first connecting seat (4) is rotatably connected to the screw rod (8).
4. A medical five-axis robotic arm according to claim 2, characterized in that: The connecting rod (6) comprises an upper connecting rod (61) and a lower connecting rod (62), wherein the upper connecting rod (61) and the lower connecting rod (62) are arranged in parallel, and the two ends of the upper connecting rod (61) and the lower connecting rod (62) are rotatably connected to the first connecting seat (4) and the second connecting seat (5) respectively.
5. A medical five-axis robotic arm according to claim 4, characterized in that: A first limiting edge (41) is provided on one side of the first connecting seat (4), and a first abutting edge (611) is provided on one end of the upper connecting rod (61) close to the first connecting seat (4); when the upper connecting rod (61) rotates downward until the first abutting edge (611) abuts against the first limiting edge (41), the first limiting edge (41) limits the upper connecting rod (61) from continuing to rotate downward.
6. A medical five-axis robotic arm according to claim 4, characterized in that: A second limiting edge (42) is provided on one side of the first connecting seat (4), and a second abutting edge (621) is provided on one end of the lower connecting rod (62) close to the first connecting seat (4); when the lower connecting rod (62) rotates upward until the second abutting edge (621) abuts against the second limiting edge (42), the second limiting edge (42) limits the lower connecting rod (62) from continuing to rotate upward.
7. The medical five-axis robotic arm according to claim 1, characterized in that: A first arc-shaped limiting groove (43) is arranged on one side of the first connecting seat (4) close to the vertical rod (1), and a first limiting pin (11) extending into the first arc-shaped limiting groove (43) is arranged on the ring side of the vertical rod (1).
8. The medical five-axis robotic arm according to claim 6, characterized in that: A second arc-shaped limiting groove (51) is arranged on one side of the second connecting seat (5) close to the bearing seat (2), and a second limiting pin (21) extending into the second arc-shaped limiting groove (51) is arranged on the ring side of the bearing seat (2).
9. The medical five-axis robotic arm according to claim 1, characterized in that: The mounting seat (3) comprises a U-shaped clamp (31), the two sides of the U-shaped clamp (31) are rotatably arranged on the two sides of the end of the bearing seat (2), the end of the bearing seat (2) is provided with a third arc-shaped limiting groove (22), and the inner side of the U-shaped clamp (31) is provided with a third limiting pin (32) extending to the third arc-shaped limiting groove (22).
10. A medical five-axis robotic arm according to claim 9, characterized in that: The mounting seat (3) further comprises a carrier plate (33), the carrier plate (33) being rotatably arranged at the end of the U-shaped clamp (31), the end of the U-shaped clamp (31) being provided with a fourth arc-shaped limiting groove (34), and the carrier plate (33) being provided with a fourth limiting pin (35) extending into the fourth arc-shaped limiting groove (34).