Space control device for initial alignment of transcranial navigation

Abstract

The utility model discloses a space control device for initial alignment of transcranial navigation, which comprises a six-degree-of-freedom control seat arranged on a working table, a handle main body is arranged at the top end of the six-degree-of-freedom control seat, an adjusting rod extending out of the top of the handle is arranged in the handle, a plurality of positioning grooves are formed in one side of the adjusting rod, and the positioning grooves are matched with the positioning grooves. A handle head is arranged at the top end of the adjusting rod, a reset button and an emergency stop button are transversely arranged on the top of the handle head side by side, and a locking piece matched with the adjusting rod is arranged on the outer side of the handle body. When a doctor holds the handle body, the extending length of the adjusting rod can be adjusted according to the width of the hand and the length of the thumb of the doctor, and then the height of the handle head is changed, so that the doctor can appropriately hold the handle body, and meanwhile the thumb can smoothly operate a button on the handle head; therefore, the operation habits of different doctors are effectively adapted, and the adaptation range of the product is widened.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical devices, and in particular relates to a space manipulation device for initial alignment of transcranial navigation. Background Art

[0002] Transcranial navigation combined with a robotic arm to grip a probe paddle is becoming increasingly common in transcranial neuromodulation. As the robotic arm moves from its initial position to the treatment location, the probe paddle's displacement is primarily controlled by buttons or remote control. More advanced robotic arms can also be adjusted to unload force, allowing the probe paddle to be manually pushed to the desired position before gripping. With technological advancements, six-degree-of-freedom handles are now available to control the robotic arm. After gripping the handle, the arm is actuated by thumb-pressing control buttons and gestures.

[0003] However, most control handles have uniform size specifications and fixed button positions. However, the sizes of the hands of different doctors are different, especially the difference in hand size between male and female doctors is more obvious. Therefore, when different doctors hold the handle, it is difficult for the handle to adapt to the hands of different doctors, which leads to operational errors when operating the buttons. Summary of the Invention

[0004] The purpose of the utility model is to address the problems existing in the prior art and provide a spatial manipulation device for transcranial navigation initial alignment, which can quickly adjust the length of the handle to adapt to different doctors and allow doctors to operate the handle with the best control feel.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solution: a spatial manipulation device for transcranial navigation initial alignment, comprising a six-degree-of-freedom control seat arranged on a workbench, a handle body being provided at the top of the six-degree-of-freedom control seat, an adjustment rod extending from the top of the handle being provided in the handle, a plurality of positioning grooves being provided on one side of the adjustment rod, a handle head being provided at the top of the adjustment rod, a reset button and an emergency stop button being arranged side by side horizontally on the top of the handle head, and a locking member being provided on the outside of the handle body that is adapted to the adjustment rod.

[0006] Through the above technical solution, when the doctor holds the handle body, he can adjust the extended length of the adjustment rod according to the width of his hand and the length of his thumb, thereby changing the height of the handle head. This allows the doctor to hold the handle body just right while the thumb can smoothly operate the buttons on the handle head, thereby effectively adapting to the operating habits of different doctors and improving the adaptability of the product.

[0007] Optionally, the locking member includes a slider slidably embedded in the outer side of the handle body, and the slider is provided with an oblique groove on the side facing the handle body, and a locking bead adapted to the positioning groove is provided in the oblique groove.

[0008] By moving the slider, the locking bead in the inclined groove is pushed to move. When the slider moves upward, the locking bead will slide outward. At this time, the extended length of the adjusting rod can be adjusted. When the slider moves downward, the inclined groove will squeeze the locking bead, allowing the locking bead to move inward until it is stuck in the positioning groove on the side wall of the adjusting rod, thereby locking the adjusting rod.

[0009] Optionally, an adjustment cavity adapted to the adjustment rod is opened in the handle body, a through-hole adapted to the locking bead is opened on the side wall of the adjustment cavity, and a first-level threading hole is opened on the bottom wall of the adjustment cavity, and the threading hole is used to reserve a threading channel for the wire of the handle head.

[0010] Optionally, both sides of the slider are provided with limit blocks connected to the handle body, and both sides of the limit blocks are provided with damping pads. The damping pads allow the limit blocks to move with the help of external force. Without external force, the slider cannot move autonomously.

[0011] Optionally, a locking groove is provided on the side wall of the handle body, the slider is located in the locking groove, and the inner walls on both sides of the locking groove are provided with limiting sliding grooves adapted to the limiting block, and the vertical length of the locking groove is greater than the vertical length of the slider.

[0012] Optionally, a robotic arm follow-up button is provided on the side wall of the handle body, and the robotic arm follow-up button is located above the slider and on the same side as the slider; during operation, the robotic arm follow-up button must be pressed throughout the entire process. Once the pressure on the robotic arm follow-up button is released, the handle body cannot be operated, thereby effectively preventing misoperation.

[0013] Optionally, the handle head is "L"-shaped, and the horizontal length of the handle head is greater than the diameter of the handle body, thereby effectively improving the anti-slip effect. The top surface of the handle head is an inclined surface and faces the front of the handle body. This design makes it easier for the thumb to press the reset button or emergency stop button.

[0014] Optionally, a secondary threading hole is provided at the axis of the adjusting rod, which vertically passes through the adjusting rod, so that the wire of the handle head can be easily passed through the adjusting rod.

[0015] Optionally, a limiting ring seat is provided on the workbench and around the six-degree-of-freedom control seat to limit the movement range of the six-degree-of-freedom control seat.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The extended length of the adjustment rod can be adjusted according to the width of one's own hand and the length of the thumb, thereby changing the height of the handle head, so that the doctor can hold the handle body just right while the thumb can smoothly operate the button on the handle head, thereby effectively adapting to the operating habits of different doctors and improving the adaptability of the product; 2. During operation, the robotic arm follow-up button must be pressed down throughout the entire process. Once the pressure on the robotic arm follow-up button is released, the handle body cannot be operated, thereby effectively preventing misoperation; 3. During operation, the robotic arm follow-up button must be pressed down throughout the entire process. Once the pressure on the robotic arm follow-up button is released, the handle body cannot be operated, thereby effectively preventing misoperation; 4. The top surface of the handle head is an inclined surface and faces the front of the handle body. This design makes it easier for the thumb to press the reset button or the emergency stop button. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a spatial manipulation device for initial alignment of transcranial navigation according to the present invention;

[0018] Figure 2 This is a side view structural diagram of a spatial manipulation device for initial alignment of transcranial navigation according to the present invention;

[0019] Figure 3 This is a frontal half-section schematic diagram of a spatial manipulation device for initial alignment of transcranial navigation according to the present invention;

[0020] Figure 4 For this utility model Figure 3 A in the middle is an enlarged structural diagram;

[0021] Figure 5 This is a schematic diagram of the structure of the slider of the utility model;

[0022] Figure 6 This is a schematic diagram of the space manipulation device controlling the robotic arm of the present invention.

[0023] In the figure: 1. Workbench; 2. Six-degree-of-freedom control seat; 3. Handle body; 31. Adjustment chamber; 32. Locking groove; 4. Adjustment rod; 41. Positioning groove; 5. Handle head; 6. Reset button; 7. Emergency stop button; 8. Robot arm follow-up button; 9. Locking part; 91. Slider; 92. Limit block; 93. Bevel groove; 94. Locking bead; 10. Limiting ring seat; 11. Robot arm. DETAILED DESCRIPTION

[0024] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0026] like Figure 1 —5, the specific scheme of the embodiment is as follows: a spatial manipulation device for transcranial navigation initial alignment, comprising a six-degree-of-freedom control seat 2 arranged on a workbench 1, a handle body 3 being provided at the top of the six-degree-of-freedom control seat 2, an adjusting rod 4 extending from the top of the handle being provided in the handle, a plurality of positioning grooves 41 being provided on one side of the adjusting rod 4, a handle head 5 being provided at the top of the adjusting rod 4, a reset button 6 and an emergency stop button 7 being arranged side by side horizontally on the top of the handle head 5, a locking member 9 being provided on the outer side of the handle body 3 and being adapted to the adjusting rod 4.

[0027] In this embodiment, the handle head 5 is "L"-shaped, and the horizontal length of the handle head 5 is greater than the diameter of the handle body 3, thereby effectively improving the anti-slip effect. The top surface of the handle head 5 is an inclined surface and faces the front of the handle body 3. This design makes it easier for the thumb to press the reset button 6 or the emergency stop button 7.

[0028] like Figure 1-3 When the doctor holds the handle body 3, he can adjust the extended length of the adjustment rod 4 according to the width of his hand and the length of his thumb, thereby changing the height of the handle head 5, so that the doctor can hold the handle body 3 just right while the thumb can smoothly operate the buttons on the handle head 5, thereby effectively adapting to the operating habits of different doctors and improving the adaptability of the product.

[0029] like Figure 4 As shown, the locking member 9 includes a slider 91 slidably embedded in the outer side of the handle body 3 , and a bevel groove 93 is provided on the side of the slider 91 facing the handle body 3 , and a locking bead 94 adapted to the positioning groove 41 is provided in the bevel groove 93 .

[0030] By moving the slider 91, the locking bead 94 in the inclined groove 93 is pushed to move. When the slider 91 moves upward, the locking bead 94 will slide outward. At this time, the extended length of the adjusting rod 4 can be adjusted. When the slider 91 moves downward, the inclined groove 93 will squeeze the locking bead 94, allowing the locking bead 94 to move inward until it is stuck in the positioning groove 41 on the side wall of the adjusting rod 4, thereby locking the adjusting rod 4.

[0031] like Figure 3 As shown, an adjustment cavity 31 is provided in the handle body 3 to match the adjustment rod 4, and a through-hole is provided on the side wall of the adjustment cavity 31 to match the locking bead 94. A primary threading hole is provided on the bottom wall of the adjustment cavity 31 to reserve a threading channel for the thread of the handle head 5.

[0032] Both sides of the slider 91 are provided with limit blocks 92 connected to the handle body 3, and both sides of the limit blocks 92 are provided with damping pads. The damping pads allow the limit blocks 92 to move with the help of external force. Without external force, the slider 91 cannot move independently.

[0033] A locking groove 32 is provided on the side wall of the handle body 3, and the slider 91 is located in the locking groove 32. The inner walls on both sides of the locking groove 32 are provided with limiting sliding grooves adapted to the limiting block 92, and the vertical length of the locking groove 32 is greater than the vertical length of the slider 91.

[0034] like Figure 1 、 Figure 6 As shown, the side wall of the handle body 3 is provided with a robotic arm follow-up button 8, which is located above the slider 91 and on the same side as the slider 91; during operation, the robotic arm follow-up button 8 must be pressed throughout the entire process, and the robotic arm 11 moves synchronously with the movement of the gesture. Once the pressure on the robotic arm follow-up button 8 is released, the handle body 3 cannot be operated, and the robotic arm 11 cannot operate, thereby effectively preventing misoperation.

[0035] A secondary threading hole is provided at the axis of the adjusting rod 4 and vertically penetrates the adjusting rod 4 , so that the wires of the handle head 5 can pass through the adjusting rod 4 conveniently.

[0036] A limiting ring seat 10 is provided on the workbench 1 and around the six-degree-of-freedom control seat 2. The limiting ring seat 10 limits the movement range of the six-degree-of-freedom control seat 2.

[0037] The working principle of the above embodiment is as follows: the doctor holds the handle body 3 and places his thumb on the handle head 5 to determine whether the product is in line with his operating habits. If the handle feels too long and the thumb cannot be placed on the handle head 5 normally, the slider 91 is slid upward to allow the locking bead 94 to move out of the positioning groove 41 on the side wall of the adjusting rod 4, and then the adjusting rod 4 can be slid up and down until the height of the handle head 5 fits the palm of his hand. Then, the slider 91 is slid downward to allow the slider 91 to squeeze the locking bead 94 into the positioning groove 41 on the side wall of the adjusting rod 4 again to lock the adjusting rod 4.

[0038] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A spatial manipulation device for transcranial navigation initial alignment, characterized by: It includes a six-degree-of-freedom control seat arranged on a workbench, a handle body is provided at the top of the six-degree-of-freedom control seat, an adjustment rod extending from the top of the handle is provided in the handle, a plurality of positioning grooves are provided on one side of the adjustment rod, a handle head is provided at the top of the adjustment rod, a reset button and an emergency stop button are arranged horizontally side by side on the top of the handle head, and a locking piece adapted to the adjustment rod is provided on the outside of the handle body.

2. The spatial manipulation device for transcranial navigation initial alignment according to claim 1, characterized in that: The locking member includes a slider slidably embedded in the outer side of the handle body, and an oblique groove is provided on the side of the slider facing the handle body, and a locking bead adapted to the positioning groove is provided in the oblique groove.

3. The spatial manipulation device for transcranial navigation initial alignment according to claim 2, characterized in that: An adjusting cavity adapted to the adjusting rod is provided in the handle body, a through hole adapted to the locking bead is provided on the side wall of the adjusting cavity, and a first-level threading hole is provided on the bottom wall of the adjusting cavity.

4. The spatial manipulation device for transcranial navigation initial alignment according to claim 2, characterized in that: Limit blocks connected to the handle body are provided on both sides of the slider, and damping pads are provided on both sides of the limit blocks.

5. The spatial manipulation device for transcranial navigation initial alignment according to claim 4, characterized in that: The side wall of the handle body is provided with a locking groove, the slider is located in the locking groove, and the inner walls on both sides of the locking groove are provided with limiting sliding grooves adapted to the limiting block, and the vertical length of the locking groove is greater than the vertical length of the slider.

6. The spatial manipulation device for transcranial navigation initial alignment according to claim 2, characterized in that: A robotic arm follow-up button is provided on the side wall of the handle body. The robotic arm follow-up button is located above the slider and on the same side as the slider.

7. The spatial manipulation device for transcranial navigation initial alignment according to claim 1, characterized in that: The handle head is "L"-shaped, the horizontal length of the handle head is greater than the diameter of the handle body, and the top surface of the handle head is an inclined surface and faces the front of the handle body.

8. The spatial manipulation device for transcranial navigation initial alignment according to claim 1, characterized in that: A secondary threading hole is provided at the axis of the adjusting rod and vertically penetrates the adjusting rod.

9. The spatial manipulation device for transcranial navigation initial alignment according to claim 1, characterized in that: A limiting ring seat is provided on the workbench and around the six-degree-of-freedom control seat.

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