Auxiliary alignment structure and auxiliary system of interventional operation robot

Abstract

The utility model belongs to the technical field of medical instruments, and discloses an auxiliary alignment structure and an auxiliary system of an interventional operation robot, and the auxiliary alignment structure comprises a butt joint assembly and a butt insertion assembly; the butt joint assembly comprises a supporting device, a moving device and a knocking device. The moving device is movably arranged on the supporting device, and the knocking device is arranged on the supporting device and corresponds to the moving device. The opposite inserting assembly and the moving device are correspondingly arranged, the opposite inserting assembly is used for pushing the moving device to move relative to the supporting device, and when the opposite inserting assembly pushes the moving device to move and drives the knocking device to move relative to the supporting device, the opposite inserting assembly is used for pushing the moving device to move. The knocking device interacts with the moving device to generate a sound signal. According to the auxiliary alignment structure, an operator can generate a sound signal according to the auxiliary alignment structure, instrument damage caused by improper butt joint of the adjusting support arm and the trolley is avoided, the accuracy of an operation is improved, and the service life of the instrument is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field, especially interventional operation robot's auxiliary system of supplementary alignment structure. BACKGROUND

[0002] Interventional therapy is a kind of minimally invasive treatment using modern high-tech means, under the guidance of medical imaging equipment, the precision instrument such as special-purpose catheter, guide wire is introduced into human body, and the disease in vivo is diagnosed and locally treated.

[0003] The adjusting arm of the existing auxiliary system of interventional operation robot is connected on the mobile trolley through the docking device, because the sensor and other electrical equipment cannot be used in the passive environment, the operator cannot accurately judge whether the two are docked in place and completed to be separated, leading to the operator to install the adjusting arm to the mobile trolley when the operation pressure is prone to being too large, or the adjusting arm is prone to being separated from the mobile trolley when the jacking separation force is too large, and further damaging the mobile trolley and the adjusting arm, leading to the reduction of operation precision, increasing the operation risk and reducing the service life of the mobile trolley and the adjusting arm. UTILITY MODEL CONTENT

[0004] The main purpose of the utility model is to provide an auxiliary alignment structure and an auxiliary system of an interventional operation robot, to solve the technical problem that the operator cannot accurately judge whether the adjusting arm of the existing auxiliary system of the interventional operation robot is docked in place and completed to be separated when being connected on the mobile trolley through the docking device in the passive environment, leading to the damage of the mobile trolley and the adjusting arm.

[0005] In order to realize the above-mentioned utility model purpose, the utility model provides an auxiliary alignment structure, which comprises a docking assembly and a plug-in assembly.

[0006] The docking assembly comprises a supporting device, a moving device and a knocking device.

[0007] The moving device is movably arranged on the supporting device, and the knocking device is arranged on the supporting device corresponding to the moving device.

[0008] The plug-in assembly is arranged corresponding to the moving device, and is used to push the moving device to move relative to the supporting device, when the plug-in assembly pushes the moving device to move and drives the knocking device to move relatively, the knocking device and the moving device interact to generate a sound signal.

[0009] Further, a latch slot is arranged in the supporting device, and the plug-in assembly is movably connected in the latch slot.

[0010] Further, a plurality of first sliding wheels are arranged on the side wall of the plug slot, and the plug assembly is slidingly connected with the support device through the first sliding wheels.

[0011] Further, the moving device comprises a movable rod and a reset elastic member, one end of the movable rod is movably connected with the support device, the other end of the movable rod is located in the plug slot and abuts against the plug assembly, the reset elastic member is sleeved outside the movable rod and is used for providing a reset elastic force for the movable rod, the movable rod is provided with a corresponding docking portion for the knocking device, when the movable rod moves axially relative to the support device, the knocking device interacts with the docking portion to generate a sound signal.

[0012] Further, the docking portion comprises a containing groove, and the knocking device is at least partially arranged in the containing groove, and the containing groove is provided with a knocking plate on both sides in the movement direction of the movable rod, when the movable rod moves axially relative to the support device, the knocking device knocks the knocking plate in the containing groove.

[0013] Further, the knocking device comprises a knocking rod and a tensile elastic member, one end of the knocking rod is rotatably connected to the support device, the other end of the knocking rod is located in the containing groove, one end of the tensile elastic member is connected to the support device, the other end of the tensile elastic member is connected to the other end of the knocking rod, and the tensile elastic member is used for providing a tensile elastic force for the knocking rod.

[0014] Further, the docking portion is provided with a recess, when the movable rod moves axially relative to the support device, the knocking device knocks the movable rod in the recess.

[0015] Further, a positioning bead is arranged at one end of the knocking device close to the movable rod, when the movable rod moves to a position where the recess corresponds to the positioning bead, the positioning bead knocks the bottom of the recess.

[0016] Further, a limiting block is arranged at one end of the movable rod provided with the recess, and the limiting block abuts against the top of the plug slot.

[0017] The utility model also includes an auxiliary system of an interventional surgery robot, including the auxiliary alignment structure of any one of the above embodiments, further including an adjusting support arm and a trolley corresponding to the adjusting support arm, the docking assembly is arranged on the adjusting support arm, the plug assembly is arranged on the trolley, and the auxiliary alignment structure is used for assisting the docking of the adjusting support arm and the trolley.

[0018] Beneficial effects:

[0019] The utility model discloses an auxiliary alignment structure, including butt joint subassembly and insert subassembly, the butt joint subassembly includes support device, moving device and knocking device, the moving device swing is established in support device, and the knocking device is established in support device with moving device corresponds, insert subassembly with moving device corresponds and sets up, and insert subassembly is used for pushing moving device relative to support device moves, when insert subassembly pushes moving device and moves and drives the relative motion of knocking device, the knocking device and moving device interact and produce sound signal, so when the adjustment support arm is adjusted and is docked with the trolley through the auxiliary alignment structure, moving device and knocking device are according to the trolley and insert or separate support device, make knocking device and moving device relative motion and produce the interaction force generation sound signal, so that operator can accurately judge whether the adjustment support arm and the trolley are docked in place or complete separation according to sound signal in passive environment, effectively avoid the damage of instrument operation failure that the adjustment support arm and the trolley are docked and are not properly docked, thereby reduce the operation risk, improve the precision and success rate of operation, prolong the service life of the whole interventional operation robot auxiliary system. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is auxiliary alignment structure whole schematic drawing of an embodiment of the utility model;

[0021] Figure 2 It is rear side view of support device of an embodiment of the utility model;

[0022] Figure 3 It is front side view of support device of an embodiment of the utility model;

[0023] Figure 4 It is auxiliary alignment structure's explosion drawing of an embodiment of the utility model;

[0024] Figure 5 It is moving device and knocking device schematic drawing of an embodiment of the utility model;

[0025] Figure 6 It is moving device and knocking device schematic drawing of another embodiment of the utility model;

[0026] Figure 7 It is interventional operation robot auxiliary system schematic drawing of an embodiment of the utility model.

[0027] Among them:

[0028] 1, butt joint subassembly;2, adjustment support arm;3, trolley;4, insert subassembly;5, second sliding wheel;6, insert rod;

[0029] 10, support device; 11, moving device; 12, knocking device;

[0030] 101, plug-in board; 102, support plate; 103, bolt slot; 104, first sliding wheel; 105, first sunken groove; 106, second sunken groove; 107, buffer pad;

[0031] 110, bushing seat; 111, reset elastic member; 112, movable rod;

[0032] 1120, first movable rod; 1121, second movable rod; 1122, accommodating groove; 1123, knocking plate; 1124, third movable rod; 1125, fourth movable rod; 1126, recess; 1127, limiting block; 1128, first knocking plate; 1129, second knocking plate;

[0033] 120, knocking rod; 121, tensile elastic member; 122, connecting arm; 123, knocking column; 124, positioning bead; 125, sound amplification hole.

[0034] The realization, functional features and advantages of the utility model will be further described with reference to the drawings in combination with embodiments. DETAILED DESCRIPTION

[0035] It should be understood that the specific embodiments described herein merely serve to explain the utility model and do not serve to limit the utility model.

[0036] In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like is the orientation or position relationship based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0037] In the description of the utility model, it is necessary to explain, unless another definite provision and limitation, term " install " " link " " connection " should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, can be direct connection, also can pass through intermediate medium indirectly link, can be two element inside link or two element mutual action relation. For ordinary skilled person in the art, the above-mentioned term can be understood according to the specific meaning of the utility model.

[0038] In the utility model, unless another definite provision and limitation, first feature is " on " or " below " second feature can include that first and second features are directly contacted, also can include that first and second features are not directly contacted but are contacted through other features between them. Moreover, first feature is " on " " above " and " on " second feature includes that first feature is directly above and obliquely above second feature, or just indicates that the horizontal height of first feature is higher than second feature. First feature is " below " " under " and " below " second feature includes that first feature is directly below and obliquely below second feature, or just indicates that the horizontal height of first feature is less than second feature.

[0039] Referring to Figure 1 、 Figure 7 The embodiment provides a kind of auxiliary alignment structure, including docking assembly 1 and plug-in assembly 4;

[0040] The docking assembly 1 includes support device 10, moving device 11 and knocking device 12;

[0041] The moving device 11 is movably arranged on the support device 10, and the knocking device 12 is arranged on the support device 10 corresponding to the moving device 11;

[0042] The plug-in assembly 4 is arranged corresponding to the moving device 11, and the plug-in assembly 4 is used to push the moving device 11 to move relative to the support device 10, when the plug-in assembly 4 pushes the moving device 11 to move and drives the knocking device 12 to move relatively, the knocking device 12 and the moving device 11 interact to generate sound signal.

[0043] In the above embodiment, the auxiliary alignment structure is mainly used for the alignment and docking of the adjusting arm 2 of the auxiliary system of the interventional surgical robot and the trolley 3, preferably a mobile trolley 3. When the adjusting arm 2 is mounted on the trolley 3, the auxiliary alignment structure is used for alignment and docking to ensure the precise docking of the adjusting arm 2 and the trolley 3. The auxiliary alignment structure includes a docking assembly 1 and a plug-in assembly 4. The docking assembly 1 includes a support device 10, a moving device 11 and a knocking device 12. The moving device 11 is movably arranged on the support device 10, and the moving device 11 is arranged corresponding to the plug-in assembly 4, so that the plug-in assembly 4 is used to push the moving device 11 to perform extension and contraction movement, and the movement mode is preferably up and down movement. The knocking device 12 is also arranged on the support device 10, and the knocking device 12 is arranged corresponding to the moving device 11. The plug-in assembly 4 is used to push the moving device 11 to move relative to the support device 12, so that the knocking device 12 moves relative to the moving device 11 with the up and down movement of the moving device 11. That is, when the plug-in assembly 4 pushes the moving device 11 to move and drives the knocking device 12 to move at the same time, the knocking device 12 interacts with the moving device 11 to generate a sound signal. When the adjusting arm 2 is docked with the trolley 3 through the auxiliary alignment structure, the moving device 11 and the knocking device 12 are inserted into or separated from the support device 10 according to the trolley 3, so that the knocking device 12 and the moving device 11 move relative to each other to generate an interaction force to generate a sound signal. Therefore, in a passive environment, the operator can accurately judge whether the adjusting arm 2 and the trolley 3 are docked in place or completed separation according to the sound signal. The passive environment is a working environment without power supply. The damage caused by improper docking of the adjusting arm 2 and the trolley 3 during docking is effectively avoided, thereby reducing the risk of surgery, improving the accuracy and success rate of surgery, and prolonging the service life of the entire auxiliary system of the interventional surgical robot.

[0044] Reference Figures 1-7 In an embodiment, the support device 10 is provided with a bolt slot 103, and the plug-in assembly 4 is movably connected in the bolt slot 103.

[0045] In the above embodiment, the support device 10 comprises a plug-in plate 101 and a support plate 102, wherein a recessed first sink 105 is arranged on the outer side of one end of the support plate 102, a recessed second sink 106 is arranged on the inner side of the other end of the support plate 102, the first sink 105 and the second sink 106 are in communication, the size of the first sink 105 is less than or equal to the size of the second sink 106, the size is the length, the width and the depth, the plug-in plate 101 is fixedly connected in the first sink 105 of the support plate 102, the moving device 11 and the knocking device 12 are fixedly connected in the second sink 106 of the support plate 102, and a buffer pad 107 is further arranged on the bottom of the support plate 102 to avoid excessive collision between the support plate 102 and the trolley 3, wherein the fixed connection mode is preferably bolted connection, the plug-in slot 103 is preferably arranged through the plug-in plate 101 of the support device 10, and the plug-in assembly 4 is movably connected in the plug-in slot 103, so that the plug-in assembly 4 pushes the moving device 11 to move up and down in the plug-in slot 103, the locking mechanism of the plug-in slot 103 and the plug-in assembly 4 ensures the stability during docking, prevents displacement or falling of the adjusting arm 2 caused by accident during docking, and reduces the pressure on the adjusting arm 2 and the trolley 3 during docking, thereby reducing the risk of damage to the adjusting arm 2 and the trolley 3.

[0046] Referring to Figures 1-4 In an embodiment, a plurality of first sliding wheels 104 are arranged on the side wall of the plug-in slot 103, and the plug-in assembly 4 is slidably connected with the support device 10 through the first sliding wheels 104.

[0047] In the above embodiment, the plug-in slot 103 is formed in an open shape on the outer side of the end of the plug-in plate 101 close to the trolley 3, a plurality of first sliding wheels 104 are movably connected on the inner side wall of the plug-in slot 103 at this part, and the first sliding wheels 104 are preferably arranged on the inner walls of both sides of the plug-in slot 103, two first sliding wheels 104 are arranged on each inner wall, and the first sliding wheels 104 protrude from the inner walls of the plug-in slot 103, so that the protruding part of the first sliding wheels 104 contacts the plug-in assembly 4, the plug-in assembly 4 is slidably connected with the plug-in plate 101 of the support device 10 through the first sliding wheels 104, the design of the first sliding wheels 104 reduces the wear caused by the direct contact between the plug-in assembly 4 and the plug-in slot 103, and the first sliding wheels 104 provide a buffer between the plug-in assembly 4 and the plug-in slot 103, which helps to absorb the impact force that may be generated during docking, thereby improving the service life of the auxiliary system of the interventional surgical robot.

[0048] Referring to Figures 1-6In an embodiment, the moving device 11 comprises a movable rod 112 and a reset elastic member 111, one end of the movable rod 112 is movably connected with the support device 10, the other end of the movable rod 112 is located in the latch slot 103 and abuts against the plug-in assembly 4, the reset elastic member 111 is sleeved outside the movable rod 112 and is used for providing a reset elastic force for the movable rod 112, the movable rod 112 is provided with a corresponding docking part corresponding to the knocking device 12, when the movable rod 112 moves axially relative to the support device 10, the knocking device 12 interacts with the docking part to generate a sound signal.

[0049] In the above embodiment, the moving device 11 comprises the reset elastic member 111 and the movable rod 112, and the moving device 11 further comprises a bushing seat 110, that is, the bushing seat 110, the reset elastic member 111 and the movable rod 112 are simultaneously arranged in the second sink groove 106 of the support plate 102, wherein the bushing seat 110 is fixedly connected at the bottom of the second sink groove 106 by a bolt, one end of the movable rod 112 is movably connected with the support device 10, that is, one end of the movable rod 112 is slidably connected in the bushing seat 110, the reset elastic member 111 is sleeved outside the movable rod 112, the reset elastic member 111 is preferably a spring, and the reset elastic member 111 is located between the movable rod 112 and the bushing seat 110, that is, the reset elastic member 111 is mainly used for providing a reset elastic force for the movable rod 112 during movement, so that the movable rod 112 can be restored to the original state by the reset elastic member 111 after the plug-in assembly 4 is separated, and the other end of the movable rod 112 is located in the latch slot 103 and abuts against the plug-in assembly 4, the other end of the movable rod 112 is in contact with the plug-in assembly 4 during the jacking of the plug-in assembly 4, so that the shape of the whole moving device 11 is preferably T-shaped, in addition, the top of the second sink groove 106 is formed with an avoiding slot corresponding to one end of the movable rod 112, so as to ensure that the movable rod 112 has a certain jacking space during movement, avoiding direct contact between the movable rod 112 and the bottom of the second sink groove 106 during up-down movement of the movable rod 112, avoiding interference between the movable rod 112 and the bottom of the second sink groove 106 during movement, ensuring smooth movement of the movable rod 112, in addition, the movable rod 112 is provided with a corresponding docking part corresponding to the knocking device 12, when the movable rod 112 moves axially relative to the support device 10, the knocking device 12 interacts with the docking part to generate a sound signal, the reset elastic member 111 provides an elastic force for the movable rod 112, so as to ensure that the movable rod 112 can be automatically restored to the original state after the plug-in assembly 4 is separated, improving the response speed and convenience of the docking process.

[0050] Further, the movable rod 112 comprises a first movable rod 1120 and a second movable rod 1121, the first movable rod 1120 is connected with the second movable rod 1121, and the first movable rod 1120 and the second movable rod 1121 are in a vertical connection state, so that the first movable rod 1120 and the second movable rod 1121 are an integral piece, the integral design of the first movable rod 1120 and the second movable rod 1121 simplifies the structure, reduces the number of components, and improves the stability and durability of the entire movable rod 112, wherein the reset elastic member 111 is sleeved on the first movable rod 1120, and the end of the first movable rod 1120 away from the second movable rod 1121 is connected with the bushing seat 110, the shape of the first movable rod 1120 is preferably a cylinder, the reset elastic member 111 is located between the bushing seat 110 and the second movable rod 1121, the docking portion comprises a containing groove 1122, and the knocking device 12 is at least partially arranged in the containing groove 1122, so that the containing groove 1122 is preferably arranged at the end of the second movable rod 1121 close to the first movable rod 1120, the shape of the second movable rod 1121 is preferably a cuboid, and the containing groove 1122 extends along the entire width direction of the second movable rod 1121, so that the two sides of the containing groove 1122 parallel to the first movable rod 1120 are in an open state, ensuring that the knocking device 12 can extend into the containing groove 1122 from the opening of the containing groove 1122, and then the knocking device 12 can move in the containing groove 1122 through the up-down movement of the moving device 11, that is, the knocking device 12 knocks the moving device 11 in the containing groove 1122, the design of the containing groove 1122 enables the knocking device 12 to move freely in the second movable rod 1121, improves the space utilization of the entire second movable rod 1121, and at the same time, the open state and the extension direction of the containing groove 1122 provide a clear movement path for the knocking device 12, ensuring that the knocking device 12 can accurately knock the moving device 11, and ensuring the accuracy of the docking process.

[0051] Further, the knocking plate 1123 is arranged on both sides of the accommodation groove 1122 in the moving direction of the movable rod 112, i.e. the protruding knocking plate 1123 is arranged on both sides of the accommodation groove 1122 perpendicular to the first movable rod 1120, and the knocking plate 1123 extends along the whole width direction of the second movable rod 1121, when the movable rod 112 moves axially relative to the support device 10, the knocking device 12 knocks the knocking plate 1123 in the accommodation groove 1122, wherein the knocking plate 1123 comprises a first knocking plate 1128 and a second knocking plate 1129, the first knocking plate 1128 is arranged at one end of the accommodation groove 1122 close to the first movable rod 1120, the first knocking plate 1128 is in contact with the reset elastic member 111, so that the first knocking plate 1128 is mainly used for providing support for the reset elastic member 111 on the second movable rod 1121, the second knocking plate 1129 is arranged at one end of the accommodation groove 1122 away from the first knocking plate 1128, and the protrusion size of the first knocking plate 1128 and the second knocking plate 1129 is the same, the whole knocking plate 1123 and the whole thickness of the second movable rod 1121 are greater than the width of the plug-in groove 103, the second knocking plate 1129 abuts against the top opening of the plug-in groove, so that the second knocking plate 1129 is mainly used for avoiding excessive movement of the second movable rod 1121 when the second movable rod 1121 is inserted into the plug-in groove 103 through the second knocking plate 1129, the second knocking plate 1129 keeps the second movable rod 1121 in contact with the plug-in plate 101 in the initial state and after reset, so as to ensure that the whole movable rod 112 will not fall out of the plug-in groove 103 of the plug-in plate 101 after reset, therefore, the arrangement of the first knocking plate 1128 and the second knocking plate 1129 limits the excessive movement of the second movable rod 1121, ensures that the moving device 11 will not exceed the predetermined range in the moving process, reduces the accidental situation caused by the excessive movement of the second movable rod 1121, and improves the safety of the adjustment support arm 2 and the trolley 3 when they are docked.

[0052] Further, the knocking device 12 is preferably two, respectively symmetrically arranged on both sides of the accommodating groove 1122 of the second movable rod 1121, the knocking device 12 comprises a knocking rod 120 and a tensile elastic element 121, wherein the connecting end of the knocking rod 120 is connected to the support plate 102 through a rotating column, so that the connecting end can rotate on the support plate 102 through the rotating column, and the knocking end of the knocking rod 120 away from the connecting end extends into the accommodating groove 1122, so that the knocking end of the knocking rod 120 knocks the first knocking plate 1128 and the second knocking plate 1129 on both sides of the accommodating groove 1122 with the rotation of the connecting end, and one end of the tensile elastic element 121 is connected to the support plate 102 through a first tensile column fixedly connected to the support plate 102, and the other end of the tensile elastic element 121 is connected to the knocking rod 120 through a second tensile column fixedly connected to the knocking end of the knocking rod 120, wherein the tensile elastic element 121 is preferably a tensile spring, for providing a tensile elastic force to the knocking rod 120, when the adjusting support arm 2 is not docked with the trolley 3, the knocking rods 120 located on both sides of the movable rod 112 are in V-shaped state through the tensile elastic element 121 and are in contact with the second knocking plate 1129; when the adjusting support arm 2 is docked with the trolley 3, the jack-up assembly 4 lifts the movable rod 112, so that the knocking rods 120 located on both sides of the movable rod 112 are in parallel state through the tensile elastic element 121, at this moment, the knocking rods 120 located on both sides of the movable rod 112 are in the critical state of sudden change; when the adjusting support arm 2 is docked with the trolley 3, the knocking rods 120 located on both sides of the movable rod 112 exceed the critical point of sudden change, so that the knocking rods 120 located on both sides of the movable rod 112 are in inverted V-shaped state through the tensile elastic element 121 and are in contact with the first knocking plate 1128, that is, the knocking rod 120 collides with the first knocking plate 1128 to produce sound after exceeding the critical point, and the disengaging action is opposite, which provides intuitive auditory feedback for the operator, helps to judge whether the adjusting support arm 2 is docked with the trolley 3 or the disengaging is completed, enhances the operator's perception of the docking state, improves the accuracy of operation, and avoids misoperation due to visual blind area or lack of concentration.

[0053] With reference to Figures 1-3 , Figure 6 In an embodiment, the docking portion comprises a groove 1126, and the knocking device 12 knocks the movable rod 112 in the groove 1126 when the movable rod 112 moves axially relative to the support device 10.

[0054] In the above embodiment, the movable rod 112 comprises a third movable rod 1124 and a fourth movable rod 1125, the third movable rod 1124 is connected with the fourth movable rod 1125, and the third movable rod 1124 and the fourth movable rod 1125 are in a vertical connection state, so that the third movable rod 1124 and the fourth movable rod 1125 are an integral part, the integral design of the third movable rod 1124 and the fourth movable rod 1125 simplifies the structure, reduces the number of components, and improves the stability and durability of the entire movable rod 112. The reset elastic member 111 is sleeved on the third movable rod 1124, and one end of the third movable rod 1124 away from the fourth movable rod 1125 is connected with the bushing seat 110. The third movable rod 1124 is preferably a cylinder, and the reset elastic member 111 is located between the bushing seat 110 and the fourth movable rod 1125. In addition, the butt joint part comprises a groove 1126, which is preferably arranged at one end of the fourth movable rod 1125 close to the third movable rod 1124. The fourth movable rod 1125 is preferably a cuboid, and the groove 1126 is preferably arranged on both sides of the fourth movable rod 1125. The two grooves 1126 on both sides of the fourth movable rod 1125 respectively extend along the entire thickness direction of the fourth movable rod 1125, so that the two sides of the groove 1126 parallel to the third movable rod 1124 are in an open state. When the movable rod 112 moves relative to the support device 10 along the axial direction, the knocking device 12 moves on the fourth movable rod 1125, so that the knocking device 12 collides with the fourth movable rod 1125 through the difference of the groove 1126, and then knocks the fourth movable rod 1125 of the movable rod 112. In addition, an audio expansion hole 125 is arranged at the middle position of the fourth movable rod 1125, and the center of the audio expansion hole 125 and the center of the two grooves 1126 are located in the same plane. The design of the groove 1126 enables the knocking device 12 to move freely on the fourth movable rod 1125, effectively improving the space utilization rate of the fourth movable rod 1125 and the movement efficiency of the knocking device 12. At the same time, when the knocking device 12 knocks the moving device 11 in the groove 1126, the sound can be amplified through the audio expansion hole 125, providing clear auditory feedback for the operator, helping to judge the butt joint state, and helping to improve the operation precision of the butt joint of the adjusting support arm 2 and the trolley 3.

[0055] Further, the knocking device 12 is provided with a positioning bead 124 at one end close to the movable rod 112, when the movable rod 112 moves to the position that the groove 1126 corresponds to the positioning bead 124, the positioning bead 124 knocks the bottom of the groove 1126.The knocking device 12 is preferably two, symmetrically arranged on both sides of the groove 1126 of the fourth movable rod 1125, and the knocking device 12 comprises a connecting arm 122 and a knocking column 123, wherein the connecting arm 122 is connected to the bushing seat 110, and the connecting arm 122 is also fixedly connected to the support plate 102 through a bolt, and the connecting arm 122 and the bushing seat 110 are an integral part, so that the connecting arms 122 on both sides of the fourth movable rod 1125 and the bushing seat 110 form a U-shaped structure, and a specified interval is formed between the connecting arm 122 and the movable rod 112, so as to ensure that the movable rod 112 moves up and down between the two connecting arms 122. The knocking column 123 is connected to the end of the connecting arm 122 away from the bushing seat 110, and a movable positioning bead 124 is arranged in the knocking column 123, so that the knocking column 123 is in contact with the fourth movable rod 1125 through the positioning bead 124. When the groove 1126 of the fourth movable rod 1125 corresponds to the positioning bead 124, that is, the positioning bead 124 is located directly above the groove 1126, the knocking column 123 generates a feedback signal through the interaction of the positioning bead 124 and the groove 1126. The movable connection mode is preferably elastic connection, that is, a spring is arranged in the knocking column 123 and connected with the positioning bead 124, and the diameter of the through hole for the positioning bead 124 to protrude from one end of the knocking column 123 is smaller than the diameter of the positioning bead 124, so that only part of the positioning bead 124 protrudes from the through hole. The positioning bead 124 is elastically changed by the spring in the knocking column 123 and slides on the fourth movable rod 1125. On the end of the knocking column 123 away from the positioning bead 124, a recess is formed on the side wall of the second sink groove 106 of the support plate 102, for accommodating the end of the knocking column 123 away from the positioning bead 124. When the adjusting support arm 2 is not connected with the trolley 3, the positioning bead 124 abuts against the side surface of the fourth movable rod 1125. When the adjusting support arm 2 is connected with the trolley 3, the positioning bead 124 is lifted by the movable rod 112, the movable rod 112 moves upward, the knocking column 123 remains stationary, and the positioning bead 124 is located directly above the groove 1126. When the positioning bead 124 is located directly above the groove 1126, due to the difference between the bottom of the groove 1126 and the positioning bead 124, the positioning bead 124 is popped out from the bottom of the groove 1126 relative to the knocking column 123, the positioning bead 124 generates a knocking force on the bottom of the groove 1126, and then the knocking column 123 emits a sound at the groove 1126 of the fourth movable rod 1125. When the adjusting support arm 2 is separated from the trolley 3, the positioning bead 124 slides out of the groove 1126 and does not emit a sound. The sound emitted by the knocking column 123 at the groove 1126 of the fourth movable rod 1125 provides intuitive auditory feedback for the operator, helps to judge whether the adjusting support arm 2 is connected with the trolley 3 or is separated from the trolley 3, enhances the operator's perception of the connection state, improves the accuracy of operation, and avoids misoperation caused by visual blind area or lack of concentration.

[0056] Referring to Figures 1-3 , Figure 6In an embodiment, a limiting block 1127 is arranged at one end of the fourth movable rod 1125 where the groove 1126 is arranged, and the limiting block 1127 abuts against the top of the plug slot 103.

[0057] In the above embodiment, the limiting block 1127 is arranged at one end of the fourth movable rod 1125 close to the third movable rod 1124, and the groove 1126 is arranged on the limiting block 1127, so that the overall thickness of the limiting block 1127 and the fourth movable rod 1125 is greater than the width of the plug slot 103, and the limiting block 1127 abuts against the top opening of the plug slot 103. The end of the limiting block 1127 close to the third movable rod 1124 is in contact with the reset elastic member 111, which is mainly used to provide support for the reset elastic member 111 on the third movable rod 1124. The end of the limiting block 1127 away from the third movable rod 1124 is mainly used to avoid excessive movement of the fourth movable rod 1125 when the fourth movable rod 1125 is inserted into the plug slot 103, so that the limiting block 1127 keeps the fourth movable rod 1125 in contact with the plug-in plate 101 in the initial state and after reset, ensuring that the entire movable rod 112 will not fall out of the plug slot 103 of the plug-in plate 101 after reset. Therefore, the limiting block 1127 limits the excessive movement of the fourth movable rod 1125, ensures that the mobile device 11 will not exceed the predetermined range during movement, reduces the possibility of accidents caused by excessive movement of the fourth movable rod 1125, and improves the safety of the adjustment support arm 2 and the trolley 3 during docking.

[0058] Referring to Figures 1-4 , Figure 7 The utility model also proposes an auxiliary system of interventional operation robot, including the auxiliary alignment structure of any one embodiment, still include adjustment support arm 2 and with adjustment support arm 2 corresponding trolley 3, the docking assembly 1 is arranged on adjustment support arm 2, the plug-in assembly 4 is arranged on trolley 3, the auxiliary alignment structure is used for assisting adjustment support arm 2 and trolley 3 docking, the plug-in assembly 4 is through a plurality of second pulley 5 and support device 10 sliding connection.

[0059] In the above embodiment, the auxiliary system of the interventional surgery robot comprises the auxiliary alignment structure, and further comprises the adjusting support arm 2, wherein the auxiliary alignment structure is preferably two and is arranged on the two side bases of the adjusting support arm 2, that is, the auxiliary alignment structure is fixedly connected on the two side bases of the adjusting support arm 2 through the support device 10 of the docking assembly 1, and the fixed connection mode is preferably bolt connection; in addition, the auxiliary system of the interventional surgery robot further comprises the trolley 3, and the docking assembly 4 is arranged on the top of the trolley 3; when the trolley 3 is docked with or separated from the adjusting support arm 2, the moving device 11 is arranged in correspondence with the trolley 3, the docking assembly 4 exerts a jacking or separating force on the movable rod 112 of the moving device 11, and then the movable rod 112 exerts a corresponding pushing force on the knocking device 12, so that the knocking device 12 can knock the movable rod 112 to emit a sound after the knocking device 12 exceeds a preset mutation point according to the movement of the trolley 3; when the adjusting support arm 2 is docked with the trolley 3, the docking assembly 4 of the trolley 3 is inserted into the insertion slot 103, and then the docking assembly 4 pushes the moving device 11 to move up and down in the insertion slot 103, so that the auxiliary alignment structure ensures the accurate docking of the adjusting support arm 2 and the trolley 3, improves the accuracy of the surgery, and the corresponding arrangement of the docking assembly 4 on the top of the trolley 3 and the moving device 11 enables the knocking device 12 to emit a sound after exceeding a preset mutation point according to the movement of the trolley 3 when the trolley 3 is docked with or separated from the adjusting support arm 2, thereby providing intuitive feedback for the operator, effectively avoiding damage to the adjusting device and the trolley 3 when they are docked, and improving the service life of the entire auxiliary system of the interventional surgery robot.

[0060] Further, the docking assembly 4 comprises the docking rod 6 and a plurality of second pulleys 5, the docking rod 6 is arranged on the trolley 3, the second pulleys 5 are arranged on the docking rod 6, and the second pulleys 5 protrude from the bottom of the docking rod 6, so that the protruding part of the second pulleys 5 is in contact with the bottom wall of the insertion slot 103; the docking rod 6 is slidably connected with the support device 10 through the second pulleys 5, and the depth of the insertion slot 103 is less than or equal to the thickness of the entire docking rod 6; the end of the docking rod 6 close to the moving device 11 is preferably conical, so that the docking rod 6 does not excessively insert into the inside of the insertion slot 103 when the docking rod 6 jacks up the moving device 11 in the insertion slot 103, and the moving device 11 is not excessively jacked up, thereby reducing damage to the entire moving device 11 or the adjusting support arm 2 caused by improper operation.

[0061] The above only describes the preferred embodiments of the present application, and does not limit the patent range of the present application, and any equivalent structure or equivalent process transformation obtained by using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection range of the present application.

Claims

1. An assist alignment structure, characterized by, The docking assembly and the mating assembly are included; The docking assembly includes a supporting device, a moving device and a knocking device; The moving device is movably arranged on the supporting device, and the knocking device is arranged on the supporting device corresponding to the moving device; The mating assembly is arranged corresponding to the moving device, and is used to push the moving device to move relative to the supporting device, and when the mating assembly pushes the moving device to move and drives the knocking device to move relatively, the knocking device interacts with the moving device to generate a sound signal.

2. The assist alignment structure of claim 1, wherein, A latch slot is arranged in the supporting device, and the mating assembly is movably connected in the latch slot.

3. The assist alignment structure of claim 2, wherein, A plurality of first sliding wheels are arranged on the side wall of the latch slot, and the mating assembly is slidably connected with the supporting device through the first sliding wheels.

4. The assist alignment structure of claim 2, wherein, The moving device includes a movable rod and a reset elastic member, one end of the movable rod is movably connected with the supporting device, the other end of the movable rod is located in the latch slot and abuts against the mating assembly, the reset elastic member is sleeved outside the movable rod and is used to provide a reset elastic force for the movable rod, and a docking portion corresponding to the knocking device is arranged in the movable rod, and when the movable rod moves axially relative to the supporting device, the knocking device interacts with the docking portion to generate a sound signal.

5. The assist alignment structure of claim 4, wherein, The docking portion includes a containing slot, and the knocking device is at least partially arranged in the containing slot, and the containing slot is provided with a knocking plate on both sides in the movement direction of the movable rod, and when the movable rod moves axially relative to the supporting device, the knocking device knocks the knocking plate in the containing slot.

6. The assist alignment structure of claim 5, wherein, The knocking device includes a knocking rod and a tensile elastic member, one end of the knocking rod is rotatably connected to the supporting device, the other end of the knocking rod is located in the containing slot, one end of the tensile elastic member is connected to the supporting device, the other end of the tensile elastic member is connected to the other end of the knocking rod, and the tensile elastic member is used to provide a tensile elastic force for the knocking rod.

7. The assist alignment structure of claim 4, wherein, The docking portion includes a groove, and when the movable rod moves axially relative to the supporting device, the knocking device knocks the movable rod in the groove.

8. The assist alignment structure of claim 7, wherein, A positioning bead is arranged at one end of the knocking device close to the movable rod, and when the movable rod moves to a position where the groove corresponds to the positioning bead, the positioning bead knocks the bottom of the groove.

9. The assist alignment structure of claim 7, wherein, A limiting block is arranged at one end of the movable rod where the groove is arranged, and the limiting block abuts against the top of the latch slot.

10. An auxiliary system for an interventional operating robot, comprising the auxiliary alignment structure according to any one of claims 1 to 9, characterized in that An adjusting arm and a trolley corresponding to the adjusting arm are further included, the docking assembly is arranged on the adjusting arm, the mating assembly is arranged on the trolley, and the auxiliary alignment structure is used to assist the docking of the adjusting arm and the trolley.

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