Mechanical arm trolley

Abstract

The utility model provides a mechanical arm trolley. The mechanical arm trolley comprises a walking chassis, a main body structure arranged on the walking chassis and a balance ground support arranged on the walking chassis. The mechanical arm is arranged on the main body structure; wherein the main body structure is provided with pushing and holding handles which are oppositely arranged; and a flange at the tail end of the mechanical arm is provided with a double-sided wedge-shaped structure. According to the technical scheme, the balance ground support is arranged on the walking chassis, so that the stability of the mechanical arm trolley during fixing can be improved. In addition, the position of the mechanical arm trolley can be conveniently and finely adjusted through the arranged pushing and holding handle. Meanwhile, during an operation, the arranged double-sided wedge-shaped structure can press the sterile protective sleeve in the sterile protective sleeve while installing the operation tool, so that a sterile protective sleeve fixing and installing device is omitted. And therefore, the convenience of the whole mechanical arm trolley is improved.

Description

Technical Field

[0001] One or more embodiments of the present specification relate to the field of medical device technology, and in particular, to a robotic arm trolley. Background Art

[0002] Surgical robots are currently widely used in surgical navigation to improve surgical precision and reduce surgical risks. The trolley system is the foundation for the robot's movement, carrying core components, supporting the robotic arm, supporting and adjusting the navigation camera, and providing the operator's control platform. Its structure is closely related to its adaptability to the surgical environment, ease of operation during surgery, and the stability and accuracy of the robotic arm's positioning.

[0003] Existing trolley system designs focus primarily on ensuring the installation and stability of the robotic arm, but lack systematic considerations for adaptability to the surgical environment and ease of operation during surgery. For example, they fail to consider rapid tool replacement during surgery, rapid recovery and data preservation in the event of a system failure, trolley stability, post-maintenance efficiency, backup system configuration, ergonomics, compatibility of the equipment within the operating room, ease of transportation and storage, and system interaction feedback and error-proofing capabilities. Utility Model Content

[0004] In view of this, the purpose of one or more embodiments of this specification is to provide a robotic arm trolley to improve the convenience of the robotic arm trolley during operation.

[0005] In a first aspect, a robotic arm trolley is provided, the robotic arm trolley comprising a traveling chassis, a main structure disposed on the traveling chassis, and a balancing ground support disposed on the traveling chassis; and further comprising:

[0006] A mechanical arm is provided on the main structure; wherein,

[0007] The main structure is provided with push and grip handles arranged opposite to each other;

[0008] The end flange of the robotic arm is provided with a double-sided wedge structure.

[0009] In the above technical solution, the use of balancing supports on the walking chassis improves the stability of the robotic arm trolley when it is fixed. Furthermore, a push-grip handle facilitates fine-tuning of the robotic arm trolley's position. Furthermore, during surgery, the double-sided wedge-shaped structure on the flange at the end of the robotic arm allows the installation of surgical tools within the sterile protective cover while simultaneously compressing the cover, eliminating the need for a sterile protective cover fixing and installation device. This improves the convenience of the entire robotic arm trolley.

[0010] In a specific possible implementation manner, the main structure includes a main frame fixed on the walking chassis, and a shell wrapping the main frame.

[0011] In a specific possible implementation scheme, the shell includes a top cover plate and side plates; wherein the side plates are connected to the main frame via elastic snaps.

[0012] In a specific possible implementation scheme, the main frame is further provided with a magnet; and the side panels are also fixed to the main frame by magnetic attraction of the magnet.

[0013] In a specific embodiment, the top area of ​​the main frame is provided with a convex edge for separating the top cover plate and the side plate;

[0014] The push handle is located on the convex edge; and recessed areas corresponding to the push handles are provided between the top cover plate and the side plates.

[0015] In a specific embodiment, the balance earthly branches are electrically powered balance earthly branches; and the number of the electrically powered balance earthly branches is multiple;

[0016] The plurality of electric balancing ground supports are respectively close to two opposite ends of the walking chassis in the length direction.

[0017] In a specific embodiment, the walking chassis is provided with four casters;

[0018] The plurality of electric balancing ground supports are located between two casters arranged along the length direction of the walking chassis.

[0019] In a specific possible implementation manner, among the four casters, only the two casters on the side away from the robotic arm are casters with brakes.

[0020] In a specific embodiment, it further includes a display screen arranged on the main structure.

[0021] In a specific possible implementation scheme, it also includes an emergency stop button arranged on the main structure and used to control the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate one or more embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only one or more embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic diagram of the structure of the robotic arm trolley provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the structure of the walking chassis provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the coordination between the display screen and the main structure provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of the main structure provided in the embodiment of the present application;

[0027] Figure 5 This is a schematic structural diagram of the double-sided wedge structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0029] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of this specification should have the usual meanings understood by people with ordinary skills in the field to which this disclosure belongs. The "first", "second" and similar words used in one or more embodiments of this specification do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0030] To facilitate understanding of the robotic arm trolley provided in the embodiment of the present application, its application scenario is first explained. The robotic arm trolley provided in the embodiment of the present application is used in the medical industry to perform surgery on patients. In specific use, the robotic arm trolley is required to have good convenience, but the current robotic arm trolleys are less convenient. To this end, the embodiment of the present application provides a robotic arm trolley to improve the convenience of the robotic arm trolley when in use. The following is a detailed description with reference to specific drawings and embodiments.

[0031] refer to Figure 1 , Figure 1The main structure 10 of the manipulator trolley provided in an embodiment of the present application is shown. The manipulator trolley mainly includes a walking chassis 30, a main structure 10, a manipulator arm 20 and other structures. Among them, the walking chassis 30 has wheels for realizing the walking of the manipulator trolley. In addition, it serves as a supporting structure to support the main structure 10 and the manipulator arm 20. The main structure 10 is used to carry the modules of the manipulator trolley and the manipulator arm 20. The manipulator arm 20 is used as a functional device to clamp surgical instruments. It is described in detail below with reference to specific drawings and embodiments.

[0032] For reference Figure 2 The traveling chassis 30 provided in the embodiment of the present application is provided with four casters 31, which are respectively arranged at the four corners of the traveling chassis 30 to support the traveling chassis 30. In addition, when the traveling chassis 30 is pushed to move, the movement can be achieved by the four casters 31. As an alternative example, the casters 31 provided in the embodiment of the present application can also be universal wheels to facilitate steering of the traveling chassis 30 during movement.

[0033] In addition, the walking chassis 30 provided in the embodiment of the present application is also provided with a balancing ground support 32, which is used to adjust the horizontality of the walking chassis 30, and then adjust the horizontality of the robotic arm 20, so as to adjust its accuracy during use. It should be understood that the above-mentioned balancing ground support 32 is an electric balancing ground support 32, which can be electrically driven to extend and retract the balancing ground support 32 to achieve horizontal adjustment. The electric balancing ground support 32 can be manually raised and lowered for automatic leveling during use, which increases the stability of the robotic arm trolley and can effectively reduce the risk of position deviation of the end of the robotic arm 20 caused by vibration or human touch. When performing automatic leveling, the electric balancing ground support 32 is an automatic electric balancing ground support 32, which can adjust the extension and retraction of the electric balancing ground support 32 according to the data of the spirit level to achieve leveling. The principles and control methods of the above-mentioned automatic leveling are all existing conventional principles and controls, which will not be described in detail here.

[0034] When the electric balancing ground supports 32 are provided, multiple electric balancing ground supports 32 are provided. For example, the number of electric balancing ground supports 32 is three, four, or other different numbers. These electric balancing ground supports 32 are positioned near opposite ends of the length of the traveling chassis 30. Specifically, when the electric balancing ground supports 32 are provided, some electric balancing ground supports 32 are positioned near one end of the traveling chassis 30, while others are positioned near the other end. This allows the levelness of the traveling chassis 30 to be adjusted by adjusting the extension and contraction of the electric balancing ground supports 32.

[0035] As an example, multiple electric balancing supports 32 are located between two casters 31 arranged along the length of the traveling chassis 30. This prevents interference between the electric balancing supports 32 and the casters 31. Furthermore, the balancing supports 32 are positioned closer to the interior of the traveling chassis 30 relative to the casters 31, minimizing interference between the electric balancing supports 32 and the human operator pushing the robotic arm trolley.

[0036] For reference Figure 3 As an optional solution, the robotic arm trolley provided in the embodiment of the present application may also include a display screen 40 for displaying the operating status of the electric balancing ground support 32. The display screen 40 is mounted on the top surface of the main structure 10 for easy viewing, facilitating operator operation and observation. The display screen 40 may be composed of a light strip box, a light strip, a diffuser panel, and a brown transparent panel. It features a simple structure and excellent display quality. It can also provide real-time notifications to the operator regarding the operating status of the electric balancing ground support 32.

[0037] Continue to refer Figure 1 The robot arm trolley provided in the embodiment of the present application includes a main structure 10 provided in the embodiment of the present application for carrying the module of the robot arm trolley. The main structure 10 is fixed to the traveling chassis 30 during installation. As an example, the main structure 10 may include a main frame 11 on the traveling chassis 30, and a shell 12 that wraps the main frame 11.

[0038] When supporting the modules, they are stacked in a double layer within the main structure 10 and assembled in a modular fashion. The cable ends connecting the modules are all pluggable, facilitating later component replacement and maintenance. Furthermore, a UPS power supply is housed within the main structure 10, and a corresponding UPS status indicator light strip is located outside the main structure 10 to prevent the device from becoming unusable due to a sudden power outage. Different colored light strips indicate the UPS operating status for easy user observation.

[0039] During surgery, to facilitate the surgeon's surgical operations or meet specific needs, the robotic arm trolley needs to be moved to adjust the equipment's position so that the trolley is in a position that is conducive to the surgical procedure. To achieve the appropriate position, the trolley is usually pushed from the rear, or from the sides of the trolley and the robotic arm 20 body, to achieve the ideal position. For single-bed surgery, the equipment's position has specific requirements. This positioning adjustment method is difficult to operate, and due to the heavy weight of the trolley, it requires careful and precise position adjustment. If the position adjustment is not done properly, it will pose a potential risk to the subsequent surgery.

[0040] refer to Figure 4, the main structure 10 provided in the embodiment of the present application is provided with push handles 13 arranged opposite to each other. For the convenience of description, the two opposite ends of the main structure 10 are defined, and one end along the length direction is the head end, and the other opposite end is the tail end. Among them, the robotic arm 20 is located at the head end of the main structure 10. In order to facilitate the movement of the robotic arm trolley, a handle is provided at the tail end of the main structure 10 to facilitate the staff to push the robotic arm trolley. In addition, in order to facilitate the adjustment of the position of the robotic arm trolley, two push handles 13 are provided at the corresponding head, and the two push handles 13 are provided on the side walls on both sides of the head end of the main structure 10, which are close to the robotic arm 20. During use, when it is necessary to fine-tune the position of the robotic arm 20, the position of the head end of the main structure 10 can be adjusted by adjusting the two push handles 13 to achieve fine-tuning of the robotic arm 20.

[0041] Furthermore, to facilitate adjustment of the position of the robotic arm 20, of the four casters 31 provided in this embodiment, only the two casters 31 on the side away from the robotic arm 20 are equipped with brakes. In other words, the two casters 31 on the side closest to the robotic arm 20 are unbraked. This allows for fine adjustments to the position of the robotic arm 20 while the rear casters 31 are braked, enabling optimal positioning and ensuring high-quality surgical procedures.

[0042] To facilitate description of the structure of the push-grip handle 13, we'll first explain the specific structure of the main structure 10 in which it resides. The top region of the main frame 11 of the main structure 10 is provided with a circumferential rim that separates a top cover plate 121 from side panels 122. These top cover plate 121 and side panels 122 are the specific structures of the housing 12. During assembly, the top cover plate 121 and side panels 122 are respectively placed over the main frame 11 to enclose the main frame 11.

[0043] When the push-grip handle 13 is provided, it is located on the ridge, meaning that it forms part of the ridge. Furthermore, recessed areas corresponding to the push-grip handles 13 are provided between the top cover 121 and the side panels 122. These recessed areas are located on either side of the push-grip handle 13 to provide convenient placement for the operator's hands, facilitating pushing and gripping. When this solution is employed, the push-grip handles 13 can be concealed within the main structure 10 of the robotic arm trolley, eliminating the need for additional space.

[0044] In addition, when assembling the housing 12, the side panels 122 and the top cover 121 of the housing 12 are connected to the main frame 11 via elastic buckles. The elastic buckles can be used to achieve a detachable fixed connection between the side panels 122 and the top cover 121 and the main frame 11.

[0045] As an optional solution, the side panels 122 can be fixed to the main frame 11 by magnetic attraction. For example, the main frame 11 is also provided with magnets; the side panels 122 are also fixed to the main frame 11 by magnetic attraction. This further improves the stability between the side panels 122 and the main frame 11. When adopting the above structure, the connection structure between the shell 12 and the main frame 11 is simple, which facilitates subsequent disassembly and maintenance, and also ensures the integrity and aesthetics of the trolley's appearance.

[0046] When the robot arm 20 is specifically set, the robot arm 20 is located on the main structure 10. Figure 1 As shown in FIG, the robotic arm 20 is arranged on the top surface of the main structure 10, so that the robotic arm 20 has a high degree of freedom. It is convenient to adjust the operating space of the instrument clamped by the robotic arm 20 during surgery.

[0047] For reference Figure 1 and Figure 5 , Figure 5 The specific structural diagram of the double-sided wedge structure is shown. When the robotic arm 20 is specifically set up, the end flange of the robotic arm 20 is provided with a double-sided wedge structure 21. When the double-sided wedge structure 21 is used, it is inside the sterile protective cover during surgery, and the sterile protective cover is pressed while the surgical tools are installed, eliminating the need for a sterile protective cover fixing and installation device. This double-sided wedge structure 21 can achieve rapid disassembly and assembly of the tool, and has no sharp edges and is not easy to scratch the sterile protective cover. At the same time, the design of the double-sided wedge structure 21 ensures that both sides of the tool contain sterile protective covers and are clamped evenly, and ensures the accuracy of reuse. In addition, it is designed and installed with an anti-fouling plate to improve the accuracy of its one-time installation and use.

[0048] To facilitate the control of the robotic arm 20, the robotic arm trolley further includes an emergency stop button provided on the main structure 10 for controlling the robotic arm 20. During use, when an unexpected situation occurs, the robotic arm 20 can be directly stopped by the emergency stop button, which can effectively prevent the risk of accidents and improve safety during surgery.

[0049] As can be seen from the above description, the robotic arm trolley provided in the embodiment of the present application improves the stability of the robotic arm trolley when it is fixed by providing a balancing ground support 32 on the walking chassis 30. In addition, the provided push-grip handle 13 facilitates fine-tuning of the position of the robotic arm trolley. At the same time, during surgery, the provided double-sided wedge structure 21 can be installed in the sterile protective cover while simultaneously pressing the sterile protective cover, eliminating the need for a sterile protective cover fixing and installation device. This improves the convenience of the entire robotic arm trolley.

[0050] The one or more embodiments of this specification are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included within the scope of protection of this disclosure.

[0051] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A robotic arm trolley, characterized in that: The invention comprises a walking chassis, a main structure arranged on the walking chassis, and a balancing ground support arranged on the walking chassis; and further comprises: A mechanical arm is provided on the main structure; wherein, The main structure is provided with push and grip handles arranged opposite to each other; The end flange of the robotic arm is provided with a double-sided wedge structure, and the double-sided wedge structure is arranged in the sterile protective cover during surgery and presses the sterile protective cover.

2. The robotic arm trolley according to claim 1, characterized in that: The main structure includes a main frame fixed on the walking chassis and a shell that wraps the main frame.

3. The robotic arm trolley according to claim 2, characterized in that: The shell includes a top cover plate and side plates; wherein the side plates are connected to the main frame via elastic buckles.

4. The robotic arm trolley according to claim 3, characterized in that: The main frame is also provided with a magnet; the side panels are also fixed to the main frame by magnetic attraction of the magnet.

5. The robotic arm trolley according to claim 3, characterized in that: The top area of ​​the main frame is provided with a convex edge for separating the top cover plate and the side plate; The push handle is located on the convex edge; and recessed areas corresponding to the push handles are provided between the top cover plate and the side plates.

6. The robotic arm trolley according to claim 5, characterized in that: The balanced earthly branches are electrically-powered balanced earthly branches; and there are multiple electrically-powered balanced earthly branches; The plurality of electric balancing ground supports are respectively close to two opposite ends of the walking chassis in the length direction.

7. The robotic arm trolley according to claim 6, characterized in that: The walking chassis is provided with four casters; The plurality of electric balancing ground supports are located between two casters arranged along the length direction of the walking chassis.

8. The robotic arm trolley according to claim 7, characterized in that: Among the four casters, only the two casters on the side away from the robotic arm are casters with brakes.

9. The robotic arm trolley according to any one of claims 1 to 8, characterized in that: It also includes a display screen arranged on the main structure.

10. The robotic arm trolley according to claim 9, characterized in that: It also includes an emergency stop button arranged on the main structure and used to control the robotic arm.

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