Angle detection mechanism and surgical robot

Abstract

The utility model discloses an angle detection mechanism and a surgical robot, the angle detection mechanism comprises a base, a rotating table and an angle detection assembly, the rotating table is arranged on the base in a manner that the rotating table can rotate by a preset angle, and the rotating table is configured to be an assembling probe; the angle detection assembly comprises a first rotating part, a second rotating part and an angle detection part, the first rotating part is fixed on the rotating table, the second rotating part is rotatably mounted on the base, the first rotating part is in transmission connection with the second rotating part, and the rotating table rotates to drive the second rotating part to rotate through the first rotating part; the angle detection part is arranged on one side of the second rotating part, and the angle detection part is configured to detect the rotating angle of the second rotating part and further detect the rotating angle of the rotating table according to the detection result of the second rotating part. According to the angle detection mechanism, the angle detection assembly is arranged, automatic detection of the rotation angle of the probe is achieved, the structure is simple, and the detection precision is high.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an angle detection mechanism and a surgical robot. Background Technology

[0002] The development of prostate biopsy technology stemmed from the urgent need for accurate diagnosis of diseases such as prostate cancer. Traditional examination methods, such as digital rectal examination and prostate-specific antigen (PSA) testing, cannot confirm the diagnosis; pathological examination of prostate tissue is necessary for definitive diagnosis. Meanwhile, advancements in imaging technology have greatly contributed. Transrectal ultrasound can clearly visualize the internal structure of the prostate, making the needle placement during biopsy more precise. Magnetic resonance imaging (MRI) combined with ultrasound further leverages the advantages of both, using MRI to detect minute lesions and then fusing it with real-time ultrasound images to further improve early diagnosis rates. Furthermore, biopsy techniques have evolved from early blind biopsy to today's precisely guided biopsy, and different biopsy routes, such as transperineal and transrectal, have emerged, each with its own advantages and disadvantages, adapting to different patient conditions and providing comprehensive support for the diagnosis of prostate diseases.

[0003] The existing prostate puncture devices are not yet widely used in terms of axial rotation of the probe. Some probes can rotate axially, but there is a problem that the rotation angle cannot be accurately determined. Utility Model Content

[0004] To address the related technical problems, the purpose of this utility model is to provide an angle detection mechanism to solve the problem of obtaining accurate probe rotation values; in addition, this utility model also provides a surgical robot including the above-mentioned angle detection mechanism.

[0005] To achieve the above objectives, the embodiments of this utility model adopt the following technical solutions:

[0006] An angle detection mechanism includes a base, a rotary table, and an angle detection component, wherein:

[0007] The rotary table is rotatably mounted on the base at a preset angle, and the rotary table is configured to assemble the probe;

[0008] The angle detection assembly includes a first rotating component, a second rotating component, and an angle detection component. The first rotating component is fixed on a rotary table, and the second rotating component is rotatably mounted on a base. The first rotating component and the second rotating component are connected by a transmission. The rotary table rotates to drive the second rotating component to rotate through the first rotating component.

[0009] An angle detection component is located on one side of the second rotating component. The angle detection component is configured to detect the rotation angle of the second rotating component, and based on the detection result of the second rotating component, the rotation angle of the rotary table is then detected.

[0010] Optionally, the first rotating component includes an arc rack, which is fixed to the bottom of the rotary table, and the second rotating component is positioned below the first rotating component. The second rotating component includes a gear that meshes with the arc rack.

[0011] Optionally, the radius of the gear is the same as the radius of the circular arc rack, or the radius of the gear is smaller than the radius of the circular arc rack.

[0012] Optionally, the rotary table includes a base and a top cover. The base is provided with a cavity for accommodating the probe. A first side of the top cover is hinged to the base on the first side of the cavity. A second side of the top cover may be provided with an unlocking part between it and the base on the second side of the cavity. The unlocking part is configured to lock or unlock the second side of the top cover to the base.

[0013] Optionally, the rotary table also includes at least one detection plate, which is mounted on the end face of the base and has scale markings.

[0014] Optionally, a mounting base is provided on the base, and the angle detection component is an angle encoder. The angle encoder is detachably mounted on the mounting base via a disassembly component, and the second rotating component is rotatably mounted on the detection end of the angle encoder.

[0015] Optionally, the angle encoder is provided with a damper facing the gear, the end of which abuts against the side wall of the gear.

[0016] A surgical robot comprising the aforementioned angle detection mechanism.

[0017] The beneficial effects of this utility model are as follows: Compared with the prior art, the angle detection mechanism provided by this utility model has the following beneficial effects:

[0018] 1. By cooperating with the first rotating component, the second rotating component, and the angle detection component, the automatic detection of the probe rotation angle is achieved. The structure is simple and the detection accuracy is high.

[0019] 2. By setting the arc rack at the bottom of the rotary table and cooperating with the gear mounted on the angle encoder, precise positioning can be provided, reducing the shaking and vibration of the rotary table during rotation, and it also occupies little space and has a reasonable layout;

[0020] 3. By installing dampers on the gears, the gears can change direction more smoothly, reducing motion errors caused by backlash. Attached Figure Description

[0021] To more clearly illustrate and understand the technical solutions in the embodiments of this utility model, the accompanying drawings used in the background technology and embodiment description of this utility model will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of an end effector of a surgical robot provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of an angle detection mechanism provided in an embodiment of this utility model;

[0024] Figure 3 This is a side view of an angle detection mechanism provided in an embodiment of the present invention;

[0025] Figure 4 This is a cross-sectional view of an angle detection mechanism provided in an embodiment of this utility model. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings.

[0027] To facilitate understanding of this utility model, a more complete description of it will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model. It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of this utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] Please see Figures 1 to 4As shown, this embodiment provides an angle detection mechanism, which includes a base 10, a rotating platform 20, and an angle detection assembly 30. The rotating platform 20 is rotatably mounted on the base 10 at a preset angle and is configured to mount a probe 40. The angle detection assembly 30 includes a first rotating member 31, a second rotating member 32, and an angle detection member 33. The first rotating member 31 is fixed on the rotating platform 20, and the second rotating member 32 is rotatably mounted on the base 10. The first rotating member 31 and the second rotating member 32 are connected by a transmission. The rotating platform 20 rotates to drive the second rotating member 32 to rotate through the first rotating member 31. The angle detection member 33 is disposed on one side of the second rotating member 32 and is configured to detect the rotation angle of the second rotating member 32. Based on the detection result of the second rotating member 32, the rotation angle of the rotating platform 20 is then detected.

[0029] It can be seen that the automatic detection of the rotation angle of the probe 40 is achieved through the cooperation of the first rotating component 31, the second rotating component 32 and the angle detection component 33. The structure is simple and the detection accuracy is high.

[0030] In one embodiment, the first rotating member 31 includes an arc rack 310, which is fixed to the bottom of the rotating platform 20. The second rotating member 32 is positioned below the first rotating member 32, which includes a gear 320 that meshes with the arc rack 310.

[0031] Specifically, the bottom of the rotary table 20 is provided with a mounting groove, and the arc rack 310 is set in the mounting groove.

[0032] As can be seen, by setting the arc rack 310 at the bottom of the rotary table 20 and cooperating with the gear 320 installed on the angle detection component 33, precise positioning can be provided, the shaking and vibration of the rotary table 20 during rotation can be reduced, and the space occupied is small and the layout is reasonable.

[0033] In one implementation, the radius of gear 320 is the same as the radius of circular arc rack 310, or the radius of gear 320 is smaller than the radius of circular arc rack 310.

[0034] It is evident that by setting the radius of gear 320 to be less than or equal to the radius of the circular arc rack 310, the structure becomes more compact and the space occupied is reduced.

[0035] In one embodiment, the rotary table 20 includes a base 21 and a top cover 22. The base 21 is provided with a cavity for accommodating the probe 40. The first side of the top cover 22 is hinged to the base 21 on the first side of the cavity. An unlocking part 23 is provided between the second side of the top cover 22 and the base 21 on the second side of the cavity. The unlocking part 23 is configured to lock or unlock the second side of the top cover 22 to the base 21.

[0036] It is evident that the rotary table 20 has a simple structure and is easy to use.

[0037] In one embodiment, the rotary table 20 also includes at least one detection plate 24, which is mounted on the end face of the base 21 and has a scale.

[0038] It is evident that by setting up a graduated detection plate 24, it is easier to read the rotation angle, thus improving work efficiency.

[0039] In one embodiment, a mounting base 11 is provided on the base 10, and the angle detection component 33 is an angle encoder. The angle encoder is detachably mounted on the mounting base 11 through the disassembly component 12, and the second rotating component 32 is rotatably mounted on the detection end of the angle encoder.

[0040] As can be seen, the angle encoder has a simple structure and is easy to maintain.

[0041] In one implementation, the angle encoder is provided with a damper 330 facing the gear 320, and the end of the damper 330 abuts against the side wall of the gear 320.

[0042] It can be seen that by setting the damper 330 on the gear 320, the gear 320 can be made to move more smoothly when changing the direction of motion, and the motion error caused by backlash can be reduced.

[0043] A surgical robot comprising the aforementioned angle detection mechanism.

[0044] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.

[0045] The above embodiments merely illustrate the basic principles and characteristics of this utility model. This utility model is not limited to the above examples. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An angle detection mechanism, characterized in that, The angle detection mechanism includes a base, a rotating stage, and an angle detection component, wherein: The rotating platform is rotatably mounted on the base at a preset angle, and the rotating platform is configured to assemble the probe; The angle detection component includes a first rotating component, a second rotating component, and an angle detection component. The first rotating component is fixed on the rotating platform, and the second rotating component is rotatably mounted on the base. The first rotating component and the second rotating component are connected in a transmission manner. The rotating platform rotates to drive the second rotating component to rotate through the first rotating component. The angle detection component is disposed on one side of the second rotating component. The angle detection component is configured to detect the rotation angle of the second rotating component, and based on the detection result of the second rotating component, the rotation angle of the rotary table is further detected.

2. The angle detection mechanism according to claim 1, characterized in that, The first rotating component includes an arc rack, which is fixed to the bottom of the rotary table. The second rotating component is positioned below the first rotating component and includes a gear that meshes with the arc rack.

3. The angle detection mechanism according to claim 2, characterized in that, The radius of the gear is the same as the radius of the circular arc rack, or the radius of the gear is smaller than the radius of the circular arc rack.

4. The angle detection mechanism according to claim 1, characterized in that, The rotating stage includes a base and a top cover. The base has a cavity for accommodating the probe. A first side of the top cover is hinged to the base on the first side of the cavity. A second side of the top cover may have an unlocking part between it and the base on the second side of the cavity. The unlocking part is configured to lock or unlock the second side of the top cover to the base.

5. The angle detection mechanism according to claim 4, characterized in that, The rotary table also includes at least one detection plate, which is mounted on the end face of the base and has a scale.

6. The angle detection mechanism according to claim 2, characterized in that, A mounting base is provided on the base, and the angle detection component is an angle encoder. The angle encoder is detachably mounted on the mounting base via a detachable component, and the second rotating component is rotatably mounted on the detection end of the angle encoder.

7. An angle detection mechanism according to claim 6, characterized in that, The angle encoder is provided with a damper facing the gear, and the end of the damper abuts against the side wall of the gear.

8. A surgical robot, characterized in that, The surgical robot includes an angle detection mechanism as described in any one of claims 1-7.

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