Interventional operation robot power installation vehicle

Abstract

The utility model discloses a power installation vehicle for an interventional operation robot, and relates to the technology of medical auxiliary instruments, and the power installation vehicle comprises a vehicle frame (1) for providing an installation platform; the lifting moving structure (2) is arranged on the platform of the frame (1), can move on the basis of the plane of the platform of the frame (1), comprises a lifting assembly, can lift the connected mechanical arm on the basis of the lifting assembly, and is used for maneuvering adjustment in the mounting process of the mechanical arm; and the mechanical arm locking structure is used for locking the mounted mechanical arm. According to the mounting vehicle, the mechanical arm of the surgical robot can be conveniently mounted without manual carrying, and the overall surgical efficiency of a catheter chamber is improved.

Description

Technical Field

[0001] This application relates to the field of medical auxiliary device technology, and in particular to a powered installation vehicle for an interventional surgical robot. Background Technology

[0002] Interventional surgical robots require the installation of powered robotic arms at the edge of the existing catheterization lab operating table. Before surgery, the robotic arms must be installed and tested. During the procedure, the DSA operating table serves as support, and the surgeon uses the robotic arms to complete the surgery. After the surgery, the robotic arms must be dismantled and moved outside the operating room. Compared to existing manual surgical procedures, this adds extra workload to the installation and relocation process. With the iteration of new functions in surgical robots, their size and weight have increased, making installation and relocation within the limited space of the operating room challenging. Excessive installation and relocation time can negatively impact the hospital's overall surgical efficiency. For large cardiac interventional centers, which are filled with cardiovascular patients undergoing surgery daily, how to effectively install and relocate the robotic arms is a core issue that needs to be addressed for the future widespread application of surgical robots.

[0003] The operating room environment is relatively complex. The robotic arm needs to be installed on the inner side of the operating table. The inner side of the catheterization lab operating table usually contains equipment such as an ablation device, saline pump, 3D mapping imaging, and ultrasound system. During the transportation of the surgical robotic arm, it is necessary to go around the C-shaped arm at the head of the operating table. Extreme care must be taken during transportation and installation to avoid the connection lines of the above-mentioned equipment. The overall transportation and installation process is complex and cumbersome, and there are certain surgical safety risks involved.

[0004] Chinese Patent Application No. 202310700827.2 discloses a trolley, a transfer mounting device, and a robotic arm system for a surgical robot. The trolley, used to transport a robotic arm equipped with a second movable seat locking assembly, includes a frame, a movable component, and a second mounting base. The movable component is connected to the frame for moving the trolley on the ground. The second mounting base is connected to the frame and is vertically movable relative to the frame. The second mounting base is equipped with a second fixed seat locking assembly corresponding to the second movable seat locking assembly. When the second fixed seat locking assembly and the second movable seat locking assembly are locked together, the robotic arm is immovable relative to the second mounting base. When the second fixed seat locking assembly and the second movable seat locking assembly are unlocked, the robotic arm and the trolley can be disengaged. According to this application, the height of the second mounting base can be adjusted to lock with the second movable seat locking assembly.

[0005] While this method can stably support and transport the robotic arm, it requires moving the trolley to the inside of the operating table for installation. The instruments and equipment inside the operating table severely hinder the installation process, significantly slowing down the installation of the surgical robot arm and reducing the overall surgical efficiency of the catheterization lab. Summary of the Invention

[0006] This application provides a powered installation vehicle for interventional surgical robots, which allows for convenient installation of the surgical robot's robotic arm without manual handling, thereby improving the overall surgical efficiency of the catheterization lab.

[0007] This application provides a power installation vehicle for an interventional surgical robot, comprising:

[0008] Frame 1, providing a mounting platform;

[0009] The lifting and moving structure 2 is set on the platform of the frame 1 and can move based on the plane of the platform of the frame 1. It includes a lifting component, which can lift and lower the connected robotic arm. The lifting and moving structure 2 is used for motorized adjustment during the installation process of the robotic arm.

[0010] The robotic arm locking structure is used to lock the installed robotic arm.

[0011] Optionally, the lifting and moving structure 2 includes a guide rail 22 and a first mounting base 21;

[0012] The first mounting base 21 is slidably mounted on the first guide rail 22, and the first mounting base 21 is driven to move on the first guide rail 22 by the first drive module;

[0013] The first mounting base 21 is provided with not less than two second guide rails 23 in the vertical direction, and the second guide rails 23 are perpendicular to the first guide rails 22.

[0014] A second mounting base 24 is provided on the second guide rail 23. The second mounting base 24 can slide along the second guide rail 23. The second driving module drives the second mounting base 24 to rise and fall in the direction of the second guide rail 23.

[0015] Optionally, the lateral dimension of the second mounting base 24 is greater than the width of the operating table, and the end of the second mounting base 24 away from the slide rail is connected and fixed to the tray 44 through the first locking structure 3. The tray 44 is used to support the robotic arm.

[0016] Optionally, the frame 1 is provided with pulleys;

[0017] The main body of the frame 1 is provided with a counterweight platform 11, which is used to place counterweights.

[0018] Optionally, the frame 1 is provided with a control panel 12, which is used to connect the first drive module and the second drive module.

[0019] Optionally, the robotic arm locking structure includes a first locking structure 3 and a second locking structure, wherein the first locking structure 3 is used for locking between the robotic arm and the installation vehicle, and the second locking structure is used for locking between the robotic arm and the operating table.

[0020] Optionally, the first locking structure 3 includes grippers 42 disposed at both ends of the tray 44 and a locking block 41 disposed at the end of the second mounting base 24 away from the slide rail;

[0021] The gripper 42 and the locking block 41 are provided with corresponding holes and slots. The gripper 42 and the locking block 41 are detachably fixed by inserting a pin into the coaxial holes and slots, so that the tray 44 is fixed on the second mounting base 24.

[0022] Optionally, there are at least two slots, the gripper 42 is concave, the locking block 41 is strip-shaped, and the size of the locking block 41 is adapted to the gripper 42.

[0023] Optionally, it also includes a cover block 43, which covers the pin hole to prevent the pin inside the pin hole from slipping out;

[0024] The sealing block 43 is inverted L-shaped. The top horizontal extension of the sealing block 43 is provided with a vertical pin hole for inserting a vertical pin 422. The gripper 42 is provided with a corresponding insertion hole. The sealing block is fixed to the gripper by the vertical pin 422. The horizontal pin 421 is between the sealing gripper and the locking block.

[0025] The power installation vehicle of this application embodiment can conveniently install the surgical robot arm without manual handling, thereby improving the overall surgical efficiency of the catheterization lab.

[0026] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0027] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0028] Figure 1This is a schematic diagram of the overall structure of the interventional surgical robot power installation vehicle according to an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the overall side structure of the interventional surgical robot power installation vehicle according to an embodiment of this application;

[0030] Figure 3 This is a partial structural diagram of the power installation vehicle for the interventional surgical robot according to an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of the structure of the robotic arm base of the interventional surgical robot power installation vehicle according to an embodiment of this application. Detailed Implementation

[0032] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0033] This application provides a powered installation vehicle for an interventional surgical robot, such as... Figure 1 As shown, it includes:

[0034] The frame 1 provides an installation platform, and in some embodiments, the frame 1 is provided with pulleys.

[0035] A lifting and moving structure 2 is mounted on the platform of the chassis 1 for connecting a robotic arm. The lifting and moving structure 2 is movable based on the plane of the platform of the chassis 1 and includes a lifting assembly. Based on the lifting assembly, the connected robotic arm can be raised and lowered. The lifting and moving structure 2 is used for motorized adjustment during the installation process of the robotic arm.

[0036] A robotic arm locking structure is used to lock an installed robotic arm. In some embodiments, the robotic arm locking structure includes a first locking structure 3 and a second locking structure, wherein the first locking structure 3 is used for locking the robotic arm to the installation vehicle, and the second locking structure is used for locking the robotic arm to the operating table.

[0037] The power installation vehicle of this application embodiment can conveniently install the surgical robot arm without manual handling, thereby improving the overall surgical efficiency of the catheterization lab.

[0038] In some embodiments, a counterweight platform 11 is provided on the main body of the frame 1, and the counterweight platform 11 is used to place counterweights.

[0039] In some embodiments, such as Figure 2As shown, the lifting and moving structure 2 includes a first guide rail 22 and a first mounting base 21.

[0040] The first mounting base 21 is slidably mounted on the first guide rail 22, and the first mounting base 21 is driven to move on the first guide rail 22 by the first drive module;

[0041] The first mounting base 21 is provided with not less than two second guide rails 23 in the vertical direction, and the second guide rails 23 are perpendicular to the first guide rails 22;

[0042] A second mounting base 24 is provided on the second guide rail 23. The second mounting base 24 can slide along the second guide rail 23, and is driven to rise and fall in the direction of the second guide rail 23 by the second drive module. In a specific example, the first guide rail 22 can be a transverse guide rail, and the second guide rail can be a longitudinal guide rail.

[0043] In some embodiments, the lateral dimension of the second mounting base 24 is greater than the width of the operating table, and the end of the second mounting base 24 away from the slide rail is connected and fixed to the tray 44 by the first locking structure 3, the tray 44 being used to support the robotic arm.

[0044] In some embodiments, a control panel 12 is provided on the frame 1, and the control panel 12 is used to connect the first drive module and the second drive module. The operator inputs control commands through the control panel to control the lateral and longitudinal movement of the robotic arm.

[0045] In some embodiments, such as Figure 3 As shown, the first locking structure 3 includes grippers 42 disposed at both ends of the tray 44 and a locking block 41 disposed at the end of the second mounting base 24 away from the slide rail;

[0046] The gripper 42 and locking block 41 are provided with corresponding slots. The gripper 42 and locking block 41 are detachably fixed by inserting a pin into the coaxial slot, thereby fixing the tray 44 to the second mounting base 24. During installation, the locking block is embedded in the gripper groove. To prevent the pin from loosening during transportation and causing damage to the surgical robot, a cover block is provided outside the pin hole, such as... Figure 3 A magnified view of a portion of the image. Figure 3 The left image is a schematic diagram of the cap block in the installed state. Figure 3 The image on the right is a schematic diagram of the structure after the capping block has been removed.

[0047] In some embodiments, such as Figure 3 As shown, there are at least two slots, the gripper 42 is concave, the locking block 41 is strip-shaped, and the size of the locking block 41 is adapted to the gripper 42.

[0048] In some embodiments, such as Figure 3 As shown, it also includes a cover block 43, which covers the pin hole to prevent the pin inside the pin hole from slipping out.

[0049] The sealing block 43 is inverted L-shaped. A vertical pin hole is provided on the horizontally extended portion of the top of the sealing block 43 for inserting a vertical pin 422. A corresponding insertion hole is provided on the gripper 42. The sealing block is fixed to the gripper by the vertical pin 422, sealing the horizontal pin 421 between the gripper and the locking block, preventing the horizontal pin from slipping outwards. In this specific example, the sealing block's function is to seal the horizontal pin used to lock the gripper 42 and the locking block 41 within the pin hole, thus locking the gripper 42 and the locking block 41 securely. Horizontal pins are more prone to loosening and falling off than vertical pins. This design ensures the locking mechanism is locked, preventing the horizontal pin from loosening and falling off, thus guaranteeing safety during handling.

[0050] Figure 4 The diagram shows the structure of the robotic arm base. The second locking structure includes a clamping component 41 for the operating table guide rail, which is located below the robotic arm base and adapted to the operating table guide rail. The robotic arm base is adapted to the arc-shaped guide rail of the operating table, and the clamping component 41 fixes the robotic arm base to the arc-shaped guide rail. Since the robotic arm base and the arc-shaped guide rail are fixed with screws, at least two engineers are required for installation without the assistance of an installation cart. One engineer holds the robotic arm while the other secures the screws from below the operating table guide rail, making the entire installation process time-consuming and labor-intensive. However, with the installation cart assistance of this application, only one engineer is needed to complete the entire installation, significantly improving work efficiency. The robotic arm is transported to the operating table using the installation cart, and the drive module controls the robotic arm to move to the installation position on the arc-shaped guide rail. With the installation cart providing support and locking, the robotic arm base is then fixed to the arc-shaped guide rail of the operating table using the clamping component.

[0051] The installation cart in this application supports installation from both the inner and outer sides of the DSA operating table. Inner side installation refers to transporting the robotic arm to the inner side of the operating table via the installation cart and installing it on the arc-shaped guide rails on the inner side of the operating table. However, in typical DSA catheterization lab environments, which are often crowded and contain numerous medical instruments, the inner side of the operating table does not support the movement of the installation cart. To address this, this invention supports installation of the robotic arm on the inner guide rails of the operating table from the outer side. The space outside the operating table within a DSA catheterization lab is usually more spacious. The installation cart is moved to a designated position outside the operating table, and the second drive module controls the second mounting base and the robotic arm... The robotic arm rises as a whole until the second mounting base is above the operating table surface. The first drive module controls the first mounting base, along with the second mounting base and the robotic arm, to move inwards across the operating table until the robotic arm is above the inner arc-shaped guide rail of the operating table. A counterweight is installed on the installation cart to prevent the robotic arm from tipping over due to changes in the center of gravity during its movement. Finally, the second drive module controls the second mounting base and the robotic arm to descend as a whole until the clamping component under the robotic arm base is mounted on the I-shaped guide rail of the operating table. The clamping component secures the robotic arm to the inner guide rail of the operating table. Finally, the first locking structure is opened, allowing the robotic arm tray to detach from the second mounting base on the installation cart. The installation cart is then removed, completing the forward installation of the surgical robot robotic arm on the operating table.

[0052] In other embodiments, a handrail may be provided on the side of the installation vehicle to facilitate the movement and control of the installation vehicle. The frame moving assembly also includes a locking device. When the installation vehicle moves to the set position, the locking device can lock the installation vehicle, making it more stable and easier to install during the transfer of the robotic arm to the operating table guide rail.

[0053] The installation process of the vehicle in this embodiment is as follows:

[0054] Observe the installation environment of the DSA catheterization lab robotic arm and whether the inside of the operating table supports forward installation;

[0055] The robotic arm is pre-installed on the installation vehicle and secured using the first locking structure of the robotic arm;

[0056] Move the installation cart next to the operating table, with the side of the installation cart equipped with the robotic arm against the operating table;

[0057] The locking device for the moving components of the installation vehicle is used to lock the installation vehicle.

[0058] The doctor inputs control commands for the first and second drive units via the control panel.

[0059] First, control the robotic arm to rise so that the lower edge of the robotic arm is higher than the operating table. Then, control the robotic arm to move across the operating table to the side until it reaches the set position (directly above the arc-shaped guide rail of the operating table).

[0060] By inputting the descent command through the control panel, the robotic arm is controlled to descend until the adapter structure under the robotic arm base connects with the I-shaped bed rail of the operating table.

[0061] The robotic arm is locked to the operating table via a second locking mechanism;

[0062] Unlock the first locking structure to detach the second mounting seat of the installation cart from the surgical robot tray, move the installation cart outside the operating room, and complete the overall installation of the robotic arm.

[0063] The installation cart of this application is equipped with power outputs in both lateral and longitudinal directions, enabling convenient installation of the surgical robot arm without manual handling. With the installation cart providing support and locking, the user only needs to lock the second locking structure to complete the installation of the robot arm, ensuring safety, efficiency, and convenience. This installation cart allows for installation from both the front and opposite sides of the DSA operating table, adapting to more complex operating room environments and enhancing its practicality.

[0064] The first locking structure of the installation vehicle in this application uses a detachable fixing method with a pin to fix the robotic arm on the installation vehicle. This method is convenient and efficient for assembly and disassembly. In addition, a cover block is provided to lock the pin and prevent it from loosening during the transfer of the robotic arm. The above design improves the safety of the robotic arm during the transfer process.

[0065] It should be noted that, in the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0066] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0067] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.

Claims

1. A powered installation vehicle for interventional surgical robots, characterized in that, include: The frame (1) provides a mounting platform; The lifting and moving structure (2) is set on the platform of the frame (1) and can move based on the plane of the platform of the frame (1). It includes a lifting component, which can lift and lower the connected robotic arm based on the lifting component. The lifting and moving structure (2) is used for motor adjustment during the installation process of the robotic arm. The robotic arm locking structure is used to lock the installed robotic arm.

2. The interventional surgical robot power installation vehicle as described in claim 1, characterized in that, The lifting and moving structure (2) includes a first guide rail (22) and a first mounting base (21); The first mounting base (21) is slidably mounted on the first guide rail (22), and the first mounting base (21) is driven to move on the first guide rail (22) by the first drive module; The first mounting base (21) has at least two second guide rails (23) in the vertical direction, and the second guide rails (23) are perpendicular to the first guide rail (22); A second mounting base (24) is provided on the second guide rail (23). The second mounting base (24) can slide along the second guide rail (23). The second driving module drives the second mounting base (24) to rise and fall in the direction of the second guide rail (23).

3. The interventional surgical robot power installation vehicle as described in claim 2, characterized in that, The second mounting base (24) has a lateral dimension greater than the width of the operating table. The end of the second mounting base (24) away from the slide rail is connected and fixed to the tray (44) by the first locking structure (3). The tray (44) is used to support the robotic arm.

4. The interventional surgical robot power installation vehicle as described in claim 3, characterized in that, The frame (1) is equipped with pulleys; The frame (1) is provided with a counterweight platform (11) for placing counterweights.

5. The interventional surgical robot power installation vehicle as described in claim 4, characterized in that, The frame (1) is provided with a control panel (12), which is used to connect the first drive module and the second drive module.

6. The interventional surgical robot power installation vehicle as described in claim 3, characterized in that, The robotic arm locking structure includes a first locking structure (3) and a second locking structure, wherein the first locking structure (3) is used for locking between the robotic arm and the installation vehicle, and the second locking structure is used for locking between the robotic arm and the operating table.

7. The interventional surgical robot power installation vehicle as described in claim 6, characterized in that, The first locking structure (3) includes grippers (42) disposed at both ends of the tray (44) and a locking block (41) disposed at the end of the second mounting base (24) away from the slide rail; The gripper (42) and the locking block (41) are provided with corresponding holes and slots. The gripper (42) and the locking block (41) are detachably fixed by inserting a pin into the coaxial holes and slots, so that the tray (44) is fixed on the second mounting base (24).

8. The interventional surgical robot power installation vehicle as described in claim 7, characterized in that, There are at least two slots, the gripper (42) is concave, the locking block (41) is strip-shaped, and the size of the locking block (41) is adapted to the gripper (42).

9. The interventional surgical robot power installation vehicle as described in claim 8, characterized in that, It also includes a cover block (43) that covers the pin hole to prevent the pin from slipping out of the pin hole; The sealing block (43) is inverted L-shaped. The top horizontal extension of the sealing block (43) is provided with a vertical pin hole for inserting a vertical pin (422). The gripper (42) is provided with a corresponding insertion hole. The sealing block is fixed on the gripper by the vertical pin (422). The horizontal pin (421) is between the sealing gripper and the locking block.

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