Steering mechanism and medical equipment

Abstract

The utility model belongs to the technical field of medical instruments, and provides a steering mechanism and medical equipment, the steering mechanism comprises at least two guide wheels, the guide wheels are arranged on one side of the medical equipment through a lifting assembly, and the at least two guide wheels are arranged between a set of trundles on the same side; the lifting assembly is configured to drive the guide wheels to be switched between the folding position and the landing position. When the guide wheels are in the folding position, all the trundles guide the medical equipment to move; when the guide wheels are located at the landing position, the trundles located on the same side with the guide wheels leave the ground, and at least one guide wheel and the remaining trundles guide the medical equipment to steer. When the guide wheels are located at the landing position, casters on the same side are replaced to support the medical assembly, and the medical equipment can be guided to conduct accurate and controllable steering movement in combination with the remaining casters. The arrangement is simple in structure and easy to install on the side edge of the general medical equipment, the layout structure of the medical equipment does not need to be changed, and the size of the medical equipment cannot be excessively increased.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a steering mechanism and medical equipment. Background Art

[0002] Heavy medical equipment can be difficult to move within the operating room due to its high weight and initial torque. Once pushed, it can be difficult to stop. Furthermore, careful consideration is required when moving medical equipment, especially when an endoscope or surgical instrument is already inserted into the body, as any significant movement of the equipment could cause trauma to the patient.

[0003] In the related art, after a flexible endoscope (already connected to a medical device) is inserted into a patient's body, the medical device needs to rotate around the flexible endoscope's insertion port (a natural human body cavity opening) to align the flexible endoscope with the patient. This alignment helps the operator advance the endoscope further into the patient's body. Subsequently, a forward translation mechanism provided on the medical device will advance the endoscope further into the patient's body. If the endoscope and the patient are not aligned during this process, the forward translation mechanism will only deflect the flexible portion of the endoscope and will not be able to advance the endoscope.

[0004] Moving heavy medical equipment within the operating room, particularly rotating it around a desired location, has been assisted by the use of numerous electric wheels and complex steering mechanisms. However, integrating complex steering mechanisms into medical equipment not only requires redesigning its layout but also increases its size, taking up space in the operating area and hindering surgical procedures. Utility Model Content

[0005] The embodiment of the present application provides a steering mechanism and medical device, which not only has a simple structure and is easy to install on the side of a general medical device without changing the layout structure of the medical device, but also does not increase the volume of the medical device too much, which is conducive to the implementation of surgery.

[0006] According to a first aspect of an embodiment of the present application, a steering mechanism is provided for driving a medical device to steer, wherein at least two sets of casters are provided at the bottom of the medical device; the steering mechanism comprises:

[0007] At least two guide wheels, each of which is disposed on one side of the medical device via a lifting assembly, and at least two of the guide wheels are disposed between a set of casters on the same side;

[0008] In which, the lifting assembly is configured to drive the guide wheel to switch between a retracted position and a landing position; when the guide wheel is in the retracted position, all the casters guide the movement of the medical device; when the guide wheel is in the landing position, the casters on the same side as the guide wheel are off the ground, and at least one of the guide wheels and the remaining casters guide the medical device to turn.

[0009] In a feasible implementation, the steering mechanism is configured to perform one of the following actions when the medical device is in use:

[0010] The two guide wheels are driven by the lifting assembly to descend to a landing position. Under external force, one of the guide wheels rotates forward and the other guide wheel rotates backward, cooperating with the remaining casters to enable the medical device to turn in the first mode.

[0011] The two guide wheels are driven by the lifting assembly to descend to the landing position. Under the drive of external force, the two guide wheels rotate forward or reverse, and the rotation speeds of the two guide wheels are different. In conjunction with the remaining casters, the medical device can be turned in the second mode.

[0012] In a feasible implementation, there is a preset distance between the two guide wheels and the adjacent casters, and there is a preset distance between the two guide wheels; under the drive of the lifting assembly, the two guide wheels rise or fall synchronously to tilt the medical device to one side.

[0013] In a feasible implementation, the lifting assembly includes:

[0014] A support frame, fixed to the side of the medical device;

[0015] The moving part is provided on the support frame, the moving part is connected to the fixing frame of the guide wheel, and the moving part is configured to drive the guide wheel to move at least along the vertical direction.

[0016] In a feasible implementation, the support frame is configured with a slide rail, and the slide rail extends in a vertical direction;

[0017] The moving part includes a connecting block and a sliding member. One end of the connecting block is fixedly connected to the fixed frame, and the other end is embedded in the slide rail. The sliding member serves as a sliding connection mechanism between the connecting block / fixed frame and the support frame to enable the guide wheel to move along the slide rail under the drive of an external force.

[0018] In a feasible implementation, the sliding member includes:

[0019] A fixing rod, one end of which is connected to the connecting block or the fixing frame;

[0020] A rocker is hinged to the other end of the fixed rod, and the rocker is configured to rotate around a hinge point with the fixed rod to convert its rotational motion into a linear motion of the fixed rod.

[0021] In a feasible implementation, the sliding member includes a first link and a second link hinged to each other and a limit block, wherein the limit block is arranged between the first link and the second link, and the limit block is configured to lock the first link and the second link when the guide wheel reaches the retracted position or the landing position.

[0022] In a feasible implementation, the steering mechanism includes at least two sets of lifting assemblies corresponding to at least two guide wheels, so that at least two moving parts synchronously drive the corresponding guide wheels to rise or fall;

[0023] And / or, the diameter of the guide wheel is larger than the diameter of the caster.

[0024] According to a second aspect of an embodiment of the present application, there is provided a medical device comprising a surgical apparatus, a cart, at least two sets of casters, and the steering mechanism described in the above embodiment;

[0025] The surgical device is arranged on the cart, at least two sets of casters are arranged on the bottom of the cart, and the steering mechanism is arranged on one side of the cart.

[0026] In a feasible implementation, the surgical device has a forward direction, and the guide wheel is provided on a side of the cart extending in a direction parallel to the forward direction;

[0027] The axial direction of the guide wheel is parallel to the advancing direction.

[0028] The steering mechanism and medical device provided in the embodiments of the present application are configured by providing at least two guide wheels on one side of a general medical device, and arranging the two guide wheels between two adjacent casters on the same side, and controlling the rise and fall of the guide wheels through a lifting assembly connected to the medical device, so as to realize two modes of movement of the medical device. When the guide wheels are in the retracted position, the medical device can be guided by all the casters for conventional movement. When the guide wheels are in the grounded position, they replace the casters on the same side to support the medical assembly, and combined with the remaining casters, the medical device can be guided to perform precise and controllable steering movement. This configuration is not only simple in structure and easy to install on the side of a general medical device, but also does not require changing the layout structure of the medical device and does not excessively increase the volume of the medical device, which is conducive to the conduct of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 is a schematic structural diagram of a medical device provided according to an embodiment of the present application;

[0031] Figure 2 is a schematic diagram of a steering mechanism in a retracted position according to an embodiment of the present application;

[0032] Figure 3 is a schematic diagram of the state of the steering mechanism provided in the embodiment of the present application in the landing position;

[0033] Figure 4 is a schematic diagram of a turning trajectory of a medical device provided according to an embodiment of the present application;

[0034] Figure 5 1 is a schematic structural diagram of a lifting assembly of a steering mechanism in a retracted position according to an embodiment of the present application;

[0035] Figure 6 1 is a schematic diagram of the lifting assembly structure of the steering mechanism in the landing position according to an embodiment of the present application;

[0036] Figure 7 is a schematic structural diagram of a lifting assembly of a steering mechanism in a retracted position according to another embodiment of the present application;

[0037] Figure 8 It is a schematic diagram of the lifting component structure of the steering mechanism in the landing position according to another embodiment of the present application.

[0038] Reference numerals:

[0039] 10. Surgical equipment; 20. Trolley; 30. Casters;

[0040] 100, guide wheel; 110, fixed frame;

[0041] 200, lifting assembly; 210, support frame; 211, slide rail; 220, moving part; 221, connecting block; 222, sliding member; 2221, fixed rod; 2222, rocker; 2223, first connecting rod; 2224, second connecting rod. DETAILED DESCRIPTION

[0042] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0044] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0045] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0047] The medical device mentioned in this application may be, for example, a surgical robot, to which a flexible arm for entering a natural cavity may be connected, and the distal end of the flexible arm generally includes a flexible sleeve, and an independently extendable imaging arm, an end effector, and components for realizing other functions such as blowing, an auxiliary channel for inserting medical tools, water jets, and suction, etc. The above-mentioned medical device is relatively heavy and can be called heavy medical equipment. Before the operation, the heavy medical equipment needs to be pushed to the vicinity of the patient, and then the flexible arm (which has been connected to the medical device) is inserted into the patient's body. The medical device is then pushed to rotate around the insertion port of the flexible arm (usually referring to the opening of the natural cavity of the human body) so that the axis of the flexible arm is facing the opening of the patient's natural cavity, so that the flexible arm can be further pushed into the patient's body through the forward translation mechanism on the medical device.

[0048] Based on the usage scenarios of the above-mentioned medical devices, an embodiment of the present application first provides a medical device that is easy to rotate near a patient so that the surgical device 10 (for example, a flexible arm and its drive control device) provided thereon can be accurately and quickly aligned with the patient's natural cavity opening. Figure 1 is a schematic structural diagram of a medical device provided according to an embodiment of the present application; Figure 2 is a schematic diagram of a steering mechanism in a retracted position according to an embodiment of the present application; Figure 3 : is a schematic diagram of the state of the steering mechanism provided in the embodiment of the present application at the landing position; Figure 1-Figure 3 As shown, the medical device may include a surgical device 10, a cart 20, at least two sets of casters 30, and a steering mechanism; the surgical device 10 is arranged on the cart 20, at least two sets of casters 30 are arranged at the bottom of the cart 20, and the steering mechanism is arranged on one side of the cart 20.

[0049] It is understood that the cart 20 is used to carry the surgical device 10 and is provided with two sets of casters 30 on its bottom. Typically, one set of casters 30 includes two casters 30, that is, four casters 30 are respectively provided at the four corners of the bottom of the cart 20, or the four casters 30 are evenly distributed on the bottom of the cart 20 according to the center of gravity of the cart 20. For example, the casters 30 are universal wheels to improve the flexibility of the cart 20 when it is pushed.

[0050] The steering mechanism provided on the side of the cart 20 can be understood as forming a rotation center. In order to align the surgical device 10 with the opening of the patient's natural cavity (hereinafter referred to as the patient opening), the steering mechanism can be triggered to lift the two casters 30 located on the same side. At this time, the medical device is in a tilted state, and the mechanism in contact with the ground includes the steering mechanism and the remaining two casters 30. In this case, the operator can drive the cart 20 to rotate based on the rotation center formed by the steering mechanism, and can easily rotate the cart 20, that is, the medical device, so that the surgical device 10 (e.g., the axial direction of the flexible arm) is aligned with the patient opening, so as to further drive the surgical device 10 into the patient opening during subsequent surgical operations.

[0051] Of course, in order to facilitate the rotation of the cart 20 after the steering mechanism contacts the ground, a lifting assembly 200 can be set between the steering mechanism and the cart 20. When the steering mechanism needs to be used, the steering mechanism is lowered by the lifting assembly 200, and the steering mechanism can be stationary relative to the ground. With the steering mechanism as the rotation center, the medical equipment can be rotated under the guidance of the remaining two casters 30.

[0052] It should be noted that the mechanism that drives the surgical device 10 forward toward the patient opening is another driving mechanism provided on the cart 20. The specific structure can be understood by referring to relevant technologies and will not be described here. It does not further drive the surgical device 10 forward by driving the medical equipment forward.

[0053] In order to make the steering mechanism cooperate with the other casters 30 to make the steering of the medical device more flexible, the embodiment of the present application also provides a steering mechanism, such as Figure 2 and Figure 3 As shown, the steering mechanism is used to drive the medical device to steer. At least two sets of casters 30 are provided at the bottom of the medical device, and each set of casters 30 includes at least two casters 30 . The steering mechanism may include at least two guide wheels 100 .

[0054] At least two guide wheels 100 are arranged on one side of the medical device through the lifting assembly 200, and at least two guide wheels 100 are arranged between a group of two adjacent casters 30 on the same side; wherein, the lifting assembly 200 is configured to drive the guide wheels 100 to switch between a retracted position and a landing position; when the guide wheels 100 are in the retracted position, all casters 30 guide the movement of the medical device; when the guide wheels 100 are in the landing position, the casters 30 on the same side as the guide wheels 100 are off the ground, and at least one guide wheel 100 and the remaining casters 30 guide the medical device to turn.

[0055] It can be understood that four casters 30 are also provided at the bottom of the medical device, and at least two guide wheels 100 are provided on any side of the medical device. This example takes the provision of two guide wheels 100 as an example. The two guide wheels 100 are provided on one side of the medical device. On the one hand, the two guide wheels 100 can be lowered to the landing position, that is, after the two casters 30 provided on the same side as the guide wheels 100 are lifted, the stability of the medical device when tilted can be ensured; on the other hand, the use of the two guide wheels 100 is more flexible. For example, the two guide wheels 100 can be turned in opposite directions, but can still be regarded as a rotation center, so that the medical device can rotate as a whole around the rotation center to facilitate the surgical device 10 thereon to align with the patient opening.

[0056] Of course, the use of the above-mentioned two guide wheels 100 can also be more flexible. For example, the two guide wheels 100 can rotate in the same direction, but at different rotation speeds, which can realize the rotational movement of the medical device with the patient's opening as the origin, thereby improving the accuracy and controllability of the movement of the medical device.

[0057] It should be noted that the above-mentioned two guide wheels 100 can be understood as directional wheels, and the axes of the two guide wheels 100 coincide. The axes of the guide wheels 100 are set parallel to the side extension direction of the medical device. This setting is more conducive to the medical device rotating around a certain point of itself.

[0058] Furthermore, since the mounting position of surgical device 10 (i.e., the flexible arm) on the medical device is fixed, and the forward direction of surgical device 10 is also fixed, this example defines the mounting positions of two guide wheels 100 to achieve the goal of aligning surgical device 10 with the patient's opening by slightly rotating the medical device. In some embodiments, surgical device 10 has a forward direction, and guide wheels 100 are disposed on the sides of cart 20 extending parallel to the forward direction; the axial direction of guide wheels 100 is parallel to the forward direction.

[0059] Specifically, in conjunction with the above embodiment, the base of the cart 20 can be configured as a square with four sides, two of which are perpendicular to the direction of travel of the surgical device 10, and the other two, i.e., the side sides, are parallel to the direction of travel of the surgical device 10. In this example, two guide wheels 100 are positioned on one of the two side sides, i.e., the axial directions of the two guide wheels 100 are parallel to the direction of travel of the surgical device 10. This configuration facilitates quick and accurate maneuvering of the medical device into position, once the surgical device 10 has been connected to the patient opening, guided by the guide wheels 100 and the remaining casters 30.

[0060] Furthermore, the guide wheels 100 can be raised and lowered by a lifting assembly 200 disposed on the medical device. During normal movement of the medical device, the lifting assembly 200 can be used to raise the guide wheels 100 to a stowed position, i.e., a position where the medical device is not affected by the movement of all casters 30. At this point, the medical device can be guided to the vicinity of the patient by the movement of all casters 30. When the surgical device 10 is moved near the patient and placed within the patient's opening, the lifting assembly 200 can be used to lower the guide wheels 100 to a landing position. This allows the casters 30 on the same side to lift off the ground, placing the medical device in a slightly tilted position. In this case, the medical device is supported on one side by two guide wheels 100 and on the other side by two casters 30. The distance between the two guide wheels 100 is smaller than the distance between the two casters 30. This facilitates treating the two guide wheels 100 as a rotation center, and cooperating with the two casters 30 to achieve rotational movement of the medical device around this rotation center, thereby quickly and accurately aligning the surgical device 10 with the patient's opening.

[0061] In the present application, at least two guide wheels 100 are provided on one side of a universal medical device, and the two guide wheels 100 are provided between two adjacent casters 30 on the same side, and the rise and fall of the guide wheels 100 are controlled by a lifting assembly 200 connected to the medical device, so as to realize two modes of movement of the medical device. When the guide wheels 100 are in the retracted position, the medical device can be guided to move conventionally by all the casters 30. When the guide wheels 100 are in the grounded position, the casters 30 on the same side are replaced to support the medical components. Combined with the remaining casters 30, the medical device can be guided to perform precise and controllable steering movements. This arrangement is not only simple in structure and easy to install on the side of the universal medical device, but also does not require changing the layout structure of the medical device and does not increase the volume of the medical device too much, which is conducive to the conduct of surgery.

[0062] Below, we will combine the Figure 1 -Attached Figure 8 The specific structure of the steering mechanism provided in the embodiment of the present application is introduced in detail.

[0063] This example uses the provision of two guide wheels 100 on the side of the medical device as an example. In some embodiments, the steering mechanism is configured to perform one of the following actions when the medical device is in use:

[0064] Method 1: Figure 4 As shown, the two guide wheels 100 are driven by the lifting assembly 200 to descend to the landing position. Driven by external force, one of the guide wheels 100 rotates forward and the other guide wheel 100 rotates reversely, cooperating with the remaining casters 30 to enable the medical device to turn in the first mode.

[0065] Specifically, when the medical device is pushed to the vicinity of the patient and needs to be turned, the two guide wheels 100 are driven to the landing position through the lifting assembly 200, forming a scene in which the two guide wheels 100 are combined with the two casters 30 on the opposite side to support the medical device. At the same time, the operator can manually or electrically apply force to the medical device through the joystick to immediately realize the rotation of the medical device, that is, change the flexible arm from a bent state to a straight state. Specifically, in the steering process of the above-mentioned medical device, one of the two guide wheels 100 can be rotated in the forward direction and the other can be rotated in the reverse direction, so as to achieve the purpose of rotating the medical device as a whole clockwise or counterclockwise by a certain angle. As for the forward or reverse rotation of the guide wheel 100, the medical device can be turned into place with the smallest rotation according to the current position of the medical device. This type of steering can be understood as regarding the two guide wheels 100 as the center of rotation (origin) to realize the rotation of the medical device around the center of rotation.

[0066] In the second method, the two guide wheels 100 are driven by the lifting assembly 200 to descend to the landing position. Under the drive of external force, the two guide wheels 100 rotate forward or reverse, and the rotation speeds of the two guide wheels 100 are different. In conjunction with the remaining casters 30, the medical device can be turned in the second mode.

[0067] Specifically, in this example, when the medical device is pushed by an external force, the two guide wheels 100 rotate in the same direction but at different speeds. This allows the medical device to steer due to the operator's varying force application points. This type of steering can be understood as the entire medical device performing an arc-shaped rotation with the patient's opening as the origin, thereby changing the flexible arm from a bent state to a straight state.

[0068] It should be noted that this example can achieve precise and controllable steering movement of medical equipment by combining two guide wheels 100 with the remaining casters 30 on the opposite side. Of course, the actual steering trajectory and the rotation of the guide wheel 100 are not limited to the above two methods.

[0069] like Figure 1 and Figure 4 As shown, in some embodiments, there is a preset distance between the two guide wheels 100 and their adjacent casters 30, and there is a preset distance between the two guide wheels 100; driven by the lifting assembly 200, the two guide wheels 100 rise or fall synchronously to tilt the medical device to one side.

[0070] It can be understood that the two guide wheels 100 are arranged between the two casters 30 on the same side, and have a preset distance from the corresponding casters 30. The retention of this distance is, on the one hand, to facilitate the setting of the guide wheel 100 on the side of the medical device without affecting the rotation of the caster 30. On the other hand, the two guide wheels 100 are located in the middle position of the side as much as possible so that it can serve as the rotation center to realize the rotation of the medical device.

[0071] Of course, there is also a predetermined distance between the two guide wheels 100. This distance is maintained to prevent the two guide wheels 100 from being too close together and unable to maintain stability after the medical device is tilted. Therefore, the distance between the two guide wheels 100, as well as the distance between the guide wheels 100 and the corresponding casters 30, should be set based on the actual size and center of gravity of the medical device and are not specifically limited here.

[0072] In addition, the two guide wheels 100 can be installed on the same lifting assembly 200 to achieve synchronous raising or lowering of the two guide wheels 100, thereby maintaining the stability of the medical device during steering and preventing shaking from causing harm to the patient. Of course, the two guide wheels 100 can also be controlled separately by the corresponding lifting assembly 200, but it is necessary to ensure the synchronous movement of the two guide wheels 100.

[0073] In some embodiments, the lifting assembly 200 includes a support frame 210 and a moving portion 220. The support frame 210 is fixed to the side of the medical device; the moving portion 220 is disposed on the support frame 210 and connected to the fixed frame 110 of the guide wheel 100. The moving portion 220 is configured to drive the guide wheel 100 to move at least in the vertical direction.

[0074] Specifically, the support frame 210 is used to connect the guide wheel 100 and the medical device. In this example, the support frame 210 can be added to the side of a general medical device, thereby positioning the guide wheel 100 on the side of the medical device to achieve precise steering of the medical device. To achieve the raising or lowering of the guide wheel 100, the guide wheel 100 is rotatably mounted on the fixed frame. The support frame 210 is provided with a movable portion 220. The movable portion 220 can be a telescopic rod. The end of the telescopic rod is connected to the fixed frame 110. The telescopic rod is driven up or down by a motor or cylinder, thereby achieving the raising or lowering of the guide wheel 100.

[0075] Of course, in addition to the above-mentioned driving method, there may also be, in some embodiments, the support frame 210 is constructed with a slide rail 211, and the slide rail 211 extends in the vertical direction; the moving part 220 includes a connecting block 221 and a sliding member 222, one end of the connecting block 221 is fixedly connected to the fixed frame 110, and the other end is embedded in the slide rail 211, and the sliding member 222 serves as a sliding connection mechanism between the connecting block 221 / fixed frame 110 and the support frame 210, so that the guide wheel 100 moves along the slide rail 211 under the drive of external force.

[0076] Specifically, the setting of the slide rail 211 and the connecting block 221 can limit the moving direction of the guide wheel 100 to the vertical direction. In order to achieve the rise or fall of the guide wheel 100, a sliding member 222 can be set between the connecting block 221 or the fixed frame 110 and the support frame 210. The sliding member 222 can be a ball screw structure or other manually driven structure. See the following content for details.

[0077] Figure 5 1 is a schematic structural diagram of a lifting assembly of a steering mechanism in a retracted position according to an embodiment of the present application; Figure 6 FIG. 1 is a schematic diagram of a lifting assembly structure of a steering mechanism in a landing position according to an embodiment of the present application; Figure 5 and Figure 6 As shown, in some embodiments, the sliding member 222 includes a fixed rod 2221 and a rocker 2222. One end of the fixed rod 2221 is connected to the connecting block 221 or the fixing frame 110; the rocker 2222 is hinged to the other end of the fixed rod 2221, and the rocker 2222 is configured to rotate around the hinge point with the fixed rod 2221 to convert its rotational motion into linear motion of the fixed rod 2221.

[0078] Specifically, the hinged structure of the fixed rod 2221 and the rocker 2222 can be understood with reference to the toggle clamp mechanism in the related art. The rocker 2222, through its two extreme positions, enables the fixed rod 2221 to be raised or lowered, thereby driving the guide wheel 100 to be raised or lowered. Due to the mechanical advantage of the hinged connection between the rocker 2222 and the fixed rod 2221, the guide wheel 100 can be lowered and the medical device tilted with a relatively small driving force, thereby reducing the difficulty of operation for the operator.

[0079] In addition to the above structure, the sliding member 222 may also be: Figure 7 is a schematic structural diagram of a lifting assembly of a steering mechanism in a retracted position according to another embodiment of the present application; Figure 8 FIG. 1 is a schematic diagram of a lifting assembly structure of a steering mechanism in a landing position according to another embodiment of the present application. Figure 7 and Figure 8As shown, in some embodiments, the sliding member 222 includes a first link 2223 and a second link 2224 hinged to each other and a limit block, the limit block is arranged between the first link 2223 and the second link 2224, and the limit block is configured to lock the first link 2223 and the second link 2224 when the guide wheel 100 reaches the retracted position or the landing position.

[0080] Specifically, the first link 2223 and the second link 2224 can be set to be L-shaped, and the corner of the first link 2223 is hinged to the support frame 210, and the corner of the second link 2224 is located at the rotating shaft of the guide wheel 100, and can be specifically hinged to the fixed frame 110 or the connecting block 221 at the same position, and the end of the first link 2223 and the end of the second link 2224 are hinged. At this time, the first link 2223 and the second link 2224 both have free ends.

[0081] In order to lock the first link 2223 and the second link 2224 when the guide wheel 100 is folded, a limit block can be set at the free end of the first link 2223 and the second link 2224. The limit block can be a buckle or other mechanism that can connect the two, and there is no limitation here.

[0082] In addition, when the guide wheel 100 moves down and is located in the landing position, the hinged part of the first link 2223 and the second link 2224 is arranged in a straight line. This arrangement can prevent the guide wheel 100 from rising easily. However, in order to ensure the stability of the guide wheel 100 in the landing position, a clamping plate can be provided at the hinge of the first link 2223 and the second link 2224 to keep the first link 2223 and the second link 2224 arranged in a straight line.

[0083] It should be noted that the free end of the second connecting rod 2224 can serve as a handle, allowing the operator to apply force to the handle to achieve relative rotation between the first connecting rod 2223 and the second connecting rod 2224. To reduce the operator's operating difficulty and enable more labor-saving manipulation of the handle, a compression spring can be installed between the corners of the first connecting rod 2223 and the corners of the second connecting rod 2224, or between the corresponding positions on the support frame 210 and the fixing frame 110 / connecting block 221. As the operator presses down the handle to move the guide wheel 100 downward, the compression spring assists in pressing down the guide wheel 100, reducing the operator's operating difficulty.

[0084] In some embodiments, the steering mechanism includes at least two sets of lifting assemblies 200 corresponding to at least two guide wheels 100, so that the at least two moving parts 220 synchronously drive the corresponding guide wheels 100 to rise or fall.

[0085] It is understandable that in order to rationally utilize the space on the side of the medical equipment, a set of lifting components 200 can be set for each of the two guide wheels 100, but it is necessary to ensure that the two moving parts 220 synchronously drive their corresponding guide wheels 100 to rise or fall, so as to avoid the situation where the medical equipment shakes too much due to asynchrony and causes harm to the patient.

[0086] In one example, the diameter of the guide wheel 100 is larger than the diameter of the caster 30. Specifically, designing the diameter of the guide wheel 100, i.e., the directional wheel, to be larger than the diameter of the caster 30 can, on the one hand, improve the stability of the medical device during steering, especially the stability of heavy medical equipment during steering; on the other hand, it can better adapt to uneven surfaces, reduce the risk of shaking or instability of the medical device during steering, and thus improve the performance and safety of the medical device during steering.

[0087] Finally, it should be noted that the above embodiments are intended only to illustrate the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, or equivalent substitutions of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application and are intended to be encompassed by the claims of the present application.

Claims

1. A steering mechanism, characterized in that: Used to drive the medical device to turn, the bottom of the medical device is provided with at least two sets of casters; the steering mechanism includes: At least two guide wheels, the guide wheels being arranged on one side of the medical device through a lifting assembly, and at least two of the guide wheels being arranged between a group of casters on the same side; In which, the lifting assembly is configured to drive the guide wheel to switch between a retracted position and a landing position; when the guide wheel is in the retracted position, all the casters guide the movement of the medical device; when the guide wheel is in the landing position, the casters on the same side as the guide wheel are off the ground, and at least one of the guide wheels and the remaining casters guide the medical device to turn.

2. The steering mechanism according to claim 1, characterized in that: The steering mechanism is configured to perform one of the following actions when the medical device is in use: The two guide wheels are driven by the lifting assembly to descend to a landing position. Under external force, one of the guide wheels rotates forward and the other guide wheel rotates backward, cooperating with the remaining casters to enable the medical device to turn in the first mode. The two guide wheels are driven by the lifting assembly to descend to the landing position. Under the drive of external force, the two guide wheels rotate forward or reverse, and the rotation speeds of the two guide wheels are different. In conjunction with the remaining casters, the medical device can be turned in the second mode.

3. The steering mechanism according to claim 2, characterized in that: There is a preset distance between the two guide wheels and the adjacent casters, and there is a preset distance between the two guide wheels; under the drive of the lifting assembly, the two guide wheels rise or fall synchronously to tilt the medical device to one side.

4. The steering mechanism according to any one of claims 1 to 3, characterized in that: The lifting assembly comprises: A support frame, fixed to the side of the medical device; The moving part is provided on the support frame, the moving part is connected to the fixing frame of the guide wheel, and the moving part is configured to drive the guide wheel to move at least along the vertical direction.

5. The steering mechanism according to claim 4, characterized in that: The support frame is configured with a slide rail, and the slide rail extends in a vertical direction; The moving part includes a connecting block and a sliding member. One end of the connecting block is fixedly connected to the fixed frame, and the other end is embedded in the slide rail. The sliding member serves as a sliding connection mechanism between the connecting block / fixed frame and the support frame to enable the guide wheel to move along the slide rail under the drive of an external force.

6. The steering mechanism according to claim 5, characterized in that: The sliding member comprises: A fixing rod, one end of which is connected to the connecting block or the fixing frame; A rocker is hinged to the other end of the fixed rod, and the rocker is configured to rotate around a hinge point with the fixed rod to convert its rotational motion into a linear motion of the fixed rod.

7. The steering mechanism according to claim 5, characterized in that: The sliding member includes a first link and a second link hinged to each other and a limit block, wherein the limit block is arranged between the first link and the second link, and the limit block is configured to lock the first link and the second link when the guide wheel reaches the retracted position or the landing position.

8. The steering mechanism according to claim 4, characterized in that: The steering mechanism includes at least two sets of lifting assemblies corresponding to at least two guide wheels, so that at least two moving parts synchronously drive the corresponding guide wheels to rise or fall; And / or, the diameter of the guide wheel is larger than the diameter of the caster.

9. A medical device, characterized in that: comprising a surgical apparatus, a cart, at least two sets of casters, and the steering mechanism according to any one of claims 1 to 8; The surgical device is arranged on the cart, at least two sets of casters are arranged on the bottom of the cart, and the steering mechanism is arranged on one side of the cart.

10. The medical device according to claim 9, characterized in that The surgical device has a forward direction, and the guide wheels are provided on the side of the cart whose extending direction is parallel to the forward direction; The axial direction of the guide wheel is parallel to the advancing direction.

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