Installation mechanism of manual control device and ophthalmologic operation robot

Abstract

The utility model discloses a mounting mechanism of hand control device and ophthalmologic operation robot, the mounting mechanism of hand control device comprises a mobile platform deck, cantilever and hand control device, the first end of cantilever is provided with a first rotating shaft, the first rotating shaft is rotatablely installed on the end part of mobile platform deck, the end part of mobile platform deck is provided with a first adjusting assembly, the first adjusting assembly is provided with a second rotating shaft, the second rotating shaft is rotatablely installed on the mobile platform deck. The first adjusting assembly is configured to lock or loosen the first rotating shaft relative to the movable carrying table; the manual control device comprises a base and a manual control assembly, the manual control assembly is arranged on the base, a second rotating shaft is arranged on the base and rotatably installed at the second end of the cantilever, a second adjusting assembly is arranged at the second end of the cantilever, and the second adjusting assembly is configured to lock or loosen the second rotating shaft relative to the cantilever. According to the mounting mechanism, the manual control device is mounted through the cantilever, the mounting angles of the cantilever and the manual control device can be adjusted, and the mounting mechanism has the advantages of being large in adjusting range and convenient to adjust.

Description

Technical Field

[0001] The utility model relates to the field of ophthalmic surgical robots, in particular to a mounting mechanism of a hand-controlled device and an ophthalmic surgical robot. Background Art

[0002] There are currently two main control modes for ophthalmic robots: master-slave and human-machine collaborative. In master-slave control, the movement of the master manipulator is scaled and mapped to the movement space of the slave robot, and the doctor's operation scale is magnified, which helps the doctor to perform more precise surgical operations. The human-machine collaborative control mode allows the doctor to directly hold the surgical instruments installed at the end of the robot, and the doctor's operation intention is transmitted to the robot through the force sensor, thereby controlling the robot. Under the human-machine system control mode, the doctor's hand tremors can be effectively filtered out, and the doctor can also obtain a more intuitive operating environment.

[0003] At present, ophthalmic surgical robots usually include a mobile platform on which a control system and an actuator are arranged. The ophthalmic surgical robot is adjusted by a multi-axis drive device, which is easy to interfere with other equipment or sites and has limitations. Before or during the use of the ophthalmic surgical robot, the position of the platform is adjusted according to the height of the medical staff and the situation on site to facilitate the medical staff to perform the operation in a comfortable and stable state. Therefore, a mounting mechanism for a hand-controlled device with a large adjustable range and a wide range of application scenarios is needed. Utility Model Content

[0004] In order to solve the related technical problems, the purpose of the present utility model is to provide a mounting mechanism for a hand-controlled device to solve the problems of small adjustable range and small application scenarios; in addition, the present utility model also provides an ophthalmic surgical robot including the mounting mechanism of the above-mentioned hand-controlled device.

[0005] To achieve the above purpose, the embodiment of the utility model adopts the following technical solutions:

[0006] A mounting mechanism for a hand-controlled device comprises a movable platform, a cantilever and a hand-controlled device, wherein:

[0007] A first rotating shaft is provided at the first end of the cantilever, and the first rotating shaft is rotatably mounted on the end of the movable platform. A first adjusting component is provided at the end of the movable platform, and the first adjusting component is configured to lock or loosen the first rotating shaft relative to the movable platform;

[0008] The hand control device includes a base and a hand control assembly, the hand control assembly is arranged on the base, a second rotating shaft is arranged on the base, the second rotating shaft is rotatably mounted on the second end of the cantilever, a second adjusting assembly is arranged on the second end of the cantilever, and the second adjusting assembly is configured to lock or loosen the second rotating shaft relative to the cantilever;

[0009] The first adjusting component loosens the first rotating shaft relative to the movable platform and rotates the first rotating shaft to adjust the installation angle of the first end of the cantilever on the movable platform;

[0010] The second adjusting component loosens the second rotating shaft relative to the cantilever and rotates the second rotating shaft to adjust the installation angle of the hand control component at the second end of the cantilever.

[0011] Optionally, a first detection member is installed below the first rotating shaft, and the installation angle of the first rotating shaft is detected by the first detection member.

[0012] Optionally, a second detection member is installed below the second rotating shaft, and the installation angle of the second rotating shaft is detected by the second detection member.

[0013] Optionally, the first adjustment assembly includes a first locking rod, which is rotatably mounted on an end of the movable platform, and the first locking rod can move closer to or away from the first rotating shaft;

[0014] Rotate the first locking rod so that the first locking rod approaches and abuts against the side surface of the first rotating shaft, so as to lock the first rotating shaft relative to the cantilever;

[0015] The first locking rod is rotated so that the first locking rod leaves the side surface of the first rotating shaft, so as to release the first rotating shaft relative to the cantilever.

[0016] Optionally, the second adjustment assembly includes a second locking rod, the second locking rod is rotatably mounted on the second end of the cantilever, and the second locking rod can move closer to or away from the second rotating shaft;

[0017] Rotate the second locking rod so that the second locking rod approaches and contacts the side surface of the second rotating shaft, so as to lock the first rotating shaft relative to the base;

[0018] The second locking rod is rotated so that the second locking rod is away from the side of the second rotating shaft, so as to loosen the second rotating shaft relative to the base.

[0019] Optionally, the operating ends of the first locking rod and the second locking rod are both equipped with handles for easy operation.

[0020] Optionally, threaded holes are provided at the end of the movable platform and the second end of the cantilever, and threaded sections are provided on the first locking rod and the second locking rod. The first locking rod is installed in the threaded hole at the end of the movable platform through the threaded section, and the second locking rod is installed in the threaded hole at the second end of the cantilever through the threaded section.

[0021] An ophthalmic surgical robot comprises the mounting mechanism of the above-mentioned hand-controlled device.

[0022] The beneficial effects of the present invention are as follows: compared with the prior art, the installation mechanism of the hand-controlled device and the ophthalmic surgical robot provided by the present invention have the following beneficial effects:

[0023] 1. By arranging a cantilever on the mobile platform, and making the first end of the cantilever rotatable and adjustable at the end of the mobile platform, and at the same time, arranging the hand control device rotatably at the second end of the cantilever, the installation angles of the cantilever and the hand control device can be adjusted, which has the effect of a large adjustment range and a wide range of application scenarios;

[0024] 2. By installing a first detection member below the first rotating shaft and installing a second detection member below the second rotating shaft, the installation angle of the first rotating shaft and the second rotating shaft is detected, and the detected position information is used as the initial position information of the hand control device to ensure the surgical accuracy;

[0025] 3. The overall structure of the first adjustment component and the second adjustment component is simple and easy to adjust. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following briefly introduces the background technology of the present invention and the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0027] Figure 1 It is a schematic diagram of the structure of a mounting mechanism of a hand-controlled device and an ophthalmic surgical robot provided by an embodiment of the utility model;

[0028] Figure 2 It is a schematic diagram of the structure of a mounting mechanism of a hand-controlled device and an ophthalmic surgical robot provided by an embodiment of the utility model;

[0029] Figure 3 It is a structural schematic diagram of a mounting mechanism of a hand-controlled device and a first locking rod and a second locking rod in an ophthalmic surgical robot provided by an embodiment of the utility model. DETAILED DESCRIPTION

[0030] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0031] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively with reference to the relevant drawings. The preferred embodiments of the utility model are given in the drawings. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thoroughly understood. It should be noted that when a component is referred to as "fixed to" another component, it can be directly on another component or there can also be a central component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a central component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the utility model. The terms used in the specification of the utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the utility model. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0032] See also Figures 1 to 3 As shown, this embodiment provides a mounting mechanism for a hand-controlled device 3, which includes a mobile platform 1, a cantilever 2 and a hand-controlled device 3. The first end of the cantilever 2 is provided with a first rotating shaft 4, and the first rotating shaft 4 is rotatably mounted on the end of the mobile platform 1. The end of the mobile platform 1 is provided with a first adjusting component 5, and the first adjusting component 5 is configured to lock or loosen the first rotating shaft 4 relative to the mobile platform 1; the hand-controlled device 3 includes a base 31 and a hand-controlled component 32, and the hand-controlled component 32 is provided on the base 31, and the base 31 is provided with a second The second rotating shaft 6 is rotatably installed at the second end of the cantilever 2, and the second adjusting component 7 is provided at the second end of the cantilever 2, and the second adjusting component 7 is configured to lock or loosen the second rotating shaft 6 relative to the cantilever 2; the first adjusting component 5 loosens the first rotating shaft 4 relative to the movable platform 1, and rotates the first rotating shaft 4 to adjust the installation angle of the first end of the cantilever 2 on the movable platform 1; the second adjusting component 7 loosens the second rotating shaft 6 relative to the cantilever 2, and rotates the second rotating shaft 6 to adjust the installation angle of the hand control component 32 at the second end of the cantilever 2.

[0033] It can be seen that by arranging the cantilever 2 on the movable platform 1, the first end of the cantilever 2 can be rotated and adjusted at the end of the movable platform 1 through the first rotating shaft 4, and at the same time, the hand control device 3 is rotatably arranged on the second end of the cantilever 2 through the second rotating shaft 6, so that the installation angles of the cantilever 2 and the hand control device 3 can be adjusted, so that the hand control device 3 can expand the adjustment range and is suitable for more application scenarios.

[0034] As an implementation manner, a first detection member 8 is installed below the first rotating shaft 4 , and the first detection member 8 is used to detect the installation angle of the first rotating shaft 4 .

[0035] It can be seen that, by providing the first detection member 8, the rotation angle of the cantilever 2 relative to the movable platform 1 can be confirmed to ensure surgical accuracy.

[0036] As an implementation manner, a second detection member 9 is installed below the second rotating shaft 6 , and the second detection member 9 is used to detect the installation angle of the second rotating shaft 6 .

[0037] It can be seen that, by providing the second detection member 9 , the rotation angle of the hand-controlled device 3 relative to the cantilever 2 can be confirmed to ensure surgical accuracy.

[0038] As an embodiment, the first adjustment component 5 includes a first locking rod, which is rotatably mounted on the end of the movable platform 1, and the first locking rod can move closer to or away from the first rotating shaft 4; the first locking rod is rotated so that the first locking rod approaches and abuts against the side of the first rotating shaft 4 to lock the first rotating shaft 4 relative to the cantilever 2; the first locking rod is rotated so that the first locking rod leaves the side of the first rotating shaft 4 to loosen the first rotating shaft 4 relative to the cantilever 2.

[0039] It can be seen that the first rotating shaft 4 is locked or released by the first locking rod, which has a simple structure and is easy to operate.

[0040] As an embodiment, the second adjustment assembly 7 includes a second locking rod, which is rotatably mounted on the second end of the cantilever 2, and the second locking rod can move closer to or away from the second rotating shaft 6; the second locking rod is rotated so that the second locking rod approaches and contacts the side of the second rotating shaft 6 to lock the first rotating shaft 4 relative to the base 31; the second locking rod is rotated so that the second locking rod is away from the side of the second rotating shaft 6 to loosen the second rotating shaft 6 relative to the base 31.

[0041] It can be seen that the second rotating shaft 6 is locked or released by the second locking rod, which has a simple structure and is easy to operate.

[0042] As an implementation manner, the operating ends of the first locking rod and the second locking rod are both equipped with handles 10 for easy operation.

[0043] It can be seen that providing the handle 10 increases the friction between the hand and the first locking rod and the second locking rod during rotation, which facilitates installation.

[0044] As an embodiment, threaded holes are provided at the end of the mobile platform 1 and the second end of the cantilever 2, and threaded sections are provided on the first locking rod and the second locking rod. The first locking rod is installed in the threaded hole at the end of the mobile platform 1 through the threaded section, and the second locking rod is installed in the threaded hole at the second end of the cantilever 2 through the threaded section.

[0045] It can be seen that the first locking rod is penetrated on the movable platform 1, and the second locking rod is penetrated on the cantilever 2. The installation structure is simple and easy to operate.

[0046] Optionally, a limiting groove is provided on the first locking rod and the second locking rod, and a limiting rod 11 is provided on one side of the limiting groove and is located inside the movable platform 1, and the limiting end of the limiting rod 11 is provided in the limiting groove, and the limiting rod 11 is configured to limit the rotation overload of the first locking rod and the second locking rod, thereby causing wear on the side walls of the first rotating shaft 4 and the second rotating shaft 6, or causing the first locking rod and the second locking rod to fall off.

[0047] An ophthalmic surgical robot comprises the mounting mechanism of the hand-controlled device 3 mentioned above.

[0048] The specific adjustment method of the installation mechanism of the above-mentioned hand control device is:

[0049] The specific adjustment method of the first rotating shaft is:

[0050] S1. Rotate the first locking rod so that the first locking rod leaves the side of the first rotating shaft 4 to loosen the first rotating shaft 4 relative to the cantilever 2.

[0051] S2. Adjust the installation angle of the cantilever 2 on the movable platform 1 to a preset angle.

[0052] S3, rotating the first locking rod so that the first locking rod approaches and abuts against the side surface of the first rotating shaft 4, so as to lock the first rotating shaft 4 relative to the cantilever 2.

[0053] The specific adjustment method of the second rotating shaft is:

[0054] S1. Rotate the second locking rod so that the second locking rod is away from the side of the second rotating shaft 6 to loosen the second rotating shaft 6 relative to the base 31.

[0055] S2. Adjust the installation angle of the base 31 on the cantilever 2 to a desired angle.

[0056] S3 . Rotate the second locking rod so that the second locking rod approaches and contacts the side surface of the second rotating shaft 6 , so as to lock the first rotating shaft 4 relative to the base 31 .

[0057] In the embodiments disclosed in the present invention, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "connect" can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments disclosed in the present invention can be understood according to specific circumstances.

[0058] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A mounting mechanism for a hand-controlled device, characterized in that: The installation mechanism of the hand-controlled device includes a movable platform, a cantilever and a hand-controlled device, wherein: A first rotating shaft is disposed at the first end of the cantilever, and the first rotating shaft is rotatably mounted on the end of the movable platform. A first adjusting component is disposed at the end of the movable platform, and the first adjusting component is configured to lock or loosen the first rotating shaft relative to the movable platform; The hand control device comprises a base and a hand control assembly, wherein the hand control assembly is arranged on the base, a second rotating shaft is arranged on the base, the second rotating shaft is rotatably mounted on the second end of the cantilever, a second adjusting assembly is arranged on the second end of the cantilever, and the second adjusting assembly is configured to lock or loosen the second rotating shaft relative to the cantilever; The first adjusting component loosens the first rotating shaft relative to the movable platform, and rotates the first rotating shaft to adjust the installation angle of the first end of the cantilever on the movable platform; The second adjusting component loosens the second rotating shaft relative to the cantilever and rotates the second rotating shaft to adjust the installation angle of the hand control component at the second end of the cantilever.

2. The installation mechanism of a hand-controlled device according to claim 1, characterized in that: A first detection member is installed below the first rotating shaft, and the first detection member is used to detect the installation angle of the first rotating shaft.

3. The installation mechanism of a hand-controlled device according to claim 1, characterized in that: A second detection member is installed below the second rotating shaft, and the second detection member is used to detect the installation angle of the second rotating shaft.

4. The installation mechanism of a hand-controlled device according to claim 1, characterized in that: The first adjustment assembly includes a first locking rod, which is rotatably mounted on the end of the movable platform, and the first locking rod can move closer to or away from the first rotating shaft; Rotating the first locking rod so that the first locking rod approaches and abuts against a side surface of the first rotating shaft, so as to lock the first rotating shaft relative to the cantilever; The first locking rod is rotated so that the first locking rod leaves the side of the first rotating shaft, so as to loosen the first rotating shaft relative to the cantilever.

5. The installation mechanism of a hand-controlled device according to claim 4, characterized in that: The second adjustment assembly includes a second locking rod, which is rotatably mounted on the second end of the cantilever, and the second locking rod can move closer to or away from the second rotating shaft; Rotating the second locking rod so that the second locking rod approaches and contacts the side surface of the second rotating shaft, so as to lock the first rotating shaft relative to the base; The second locking rod is rotated so that the second locking rod is away from the side of the second rotating shaft, so as to loosen the second rotating shaft relative to the base.

6. The installation mechanism of a hand-controlled device according to claim 5, characterized in that: The operating ends of the first locking rod and the second locking rod are both equipped with handles for easy operation.

7. The installation mechanism of a hand-controlled device according to claim 5, characterized in that: The end of the movable platform and the second end of the cantilever are both provided with threaded holes, and the first locking rod and the second locking rod are both provided with threaded sections. The first locking rod is installed in the threaded hole at the end of the movable platform through the threaded section, and the second locking rod is installed in the threaded hole at the second end of the cantilever through the threaded section.

8. An ophthalmic surgical robot, characterized in that: The ophthalmic surgical robot comprises the mounting mechanism of the hand-controlled device according to any one of claims 1 to 7.

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