Trolley for multi-degree-of-freedom medical instrument adjusting device
By designing a trolley for adjusting medical devices with multiple degrees of freedom, the problem of laborious and time-consuming adjustment of existing trolleys on heavy equipment has been solved, achieving fast, labor-saving, and low-cost position adjustment, which is suitable for complex surgical environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2026-03-27
AI Technical Summary
Existing medical device trolleys are laborious, time-consuming, and structurally complex when carrying heavy equipment, and active robotic arms bring electrical safety risks and high costs.
Design a trolley for adjusting a multi-degree-of-freedom medical device, comprising a trolley base, a vertical position adjustment module, a horizontal position adjustment module, and a tilt adjustment module, equipped with a counterweight adjustment module, and achieve multi-degree-of-freedom position adjustment of the device through a sliding component and a multi-joint support arm, thus avoiding the use of an active robotic arm.
It enables rapid, labor-saving, and easy-to-operate position adjustment of medical devices, reduces equipment costs, avoids electrical risks, and is suitable for complex surgical environments.
Smart Images
Figure CN224039323U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to medical instrument technical field, especially a kind of trolley for multi-degree-of-freedom medical instrument adjusting device. BACKGROUND
[0002] With the development of medical level, more and more medical instruments are used for surgical navigation or auxiliary surgery, which means that more and more complex medical instruments need to be arranged around the patient to be operated on. For example, in the application scenario of urological surgery robot, in order to provide navigation for the surgical process, so that the doctor can clearly know the tissue environment around the surgical instrument at any time, an ultrasonic imaging device is usually necessary. In necessary cases, the ultrasonic probe of the ultrasonic imaging device needs to be driven to move to provide more abundant image navigation information. In addition, the surgical instrument for implementing the surgical operation also needs to be carried by a robot or a mechanical arm and controlled by a modern robot system with high precision to realize the specific surgical operation. The mechanical arm or robot system for carrying the ultrasonic probe or surgical probe is usually arranged by means of a trolley. When surgery is not needed, these devices are integrated on the trolley. When surgery is needed, the trolley integrated with these medical instruments can be moved around the operating bed. Therefore, the trolley provides a basic carrying function and a movable function for these medical instruments. However, only these simple functions cannot meet the needs of complex surgical environments. Limited by the surgical operation space, in the limited environment carried by the trolley, it is hoped that the trolley can also provide a convenient medical instrument position adjustment function, so that when the trolley is moved to the vicinity of the operating bed, the medical instrument can be quickly adjusted to a better position range.
[0003] Although there are trolleys that can adjust positions in practice, such trolleys have problems of either complicated structure or limited freedom of position adjustment that can be achieved, especially when the medical instruments carried by the trolley are too heavy, there are problems of laborious adjustment and time-consuming. In order to solve the above problems, the prior art also explores the use of active collaborative robot for supporting and adjusting medical instruments. Although the function can meet most of the needs, the active robot will bring additional electrical safety risks and high costs. In the surgical environment that needs to be covered with sterile cloth to ensure aseptic operation, the above problems are particularly prominent. SUMMARY
[0004] The utility model provides a kind of trolley for multi-degree-of-freedom medical instrument adjusting device based on the above-mentioned problem and solution, for the medical instrument carried is adjusted in multiple degrees of freedom position, it is characterized in that, the trolley includes: trolley base, and vertical position adjustment module, horizontal position adjustment module, inclination adjustment module and counterweight adjusting module are set on the trolley base, the vertical position adjustment module is set on the trolley base, the side of the vertical position adjustment module is connected with the counterweight adjusting module, the upper surface of the vertical position adjustment module is provided with the horizontal position adjustment module, and the inclination adjustment module is provided on the horizontal position adjustment module.
[0005] As preferred, the counterweight adjusting module includes a counterweight block, the vertical position adjustment module includes a vertical sliding pair, the vertical sliding pair includes a vertical column and a sliding assembly, the vertical column is fixedly connected with the trolley base, and the sliding assembly is used to drive the medical instrument to move up and down; the sliding assembly is connected with the counterweight block.
[0006] As preferred, the sliding assembly includes a sliding block, the sliding block can slide in vertical direction along the vertical column, the top end of the sliding block is connected with a traction rope, and the traction rope is connected with the top end of the counterweight block after passing through a rotating wheel.
[0007] As preferred, the traction rope is a steel wire, and the rotating wheel is a fixed pulley; or the traction rope is a chain, and the rotating wheel is a sprocket; and the weight of the counterweight block is substantially equal to the sum of the weight of the sliding block and the components fixedly connected to the sliding block.
[0008] As preferred, a movable pulley is arranged between the rotating wheels, and the weight of the counterweight block is substantially equal to twice the sum of the weight of the sliding block and the components fixedly connected to the sliding block.
[0009] As preferred, the vertical position adjustment module includes a mounting plate arranged at the top thereof, and the horizontal position adjustment module is arranged on the mounting plate.
[0010] As preferred, the horizontal position adjustment module includes a first horizontal sliding shaft slidingly installed on the mounting plate, a second horizontal sliding shaft is slidingly installed on the first horizontal sliding shaft, and the moving direction of the second horizontal sliding shaft is perpendicular to the moving direction of the first horizontal sliding shaft.
[0011] As preferred, the inclination adjustment module arranged on the horizontal position adjustment module is a multi-joint support arm, and the distal end of the multi-joint support arm is fixed with the medical instrument.
[0012] As preferred, the multi-joint support arm has at least a first rotary joint and a second rotary joint.
[0013] As preferred, the unlocking handle is further included, the unlocking handle is connected with the transmission assembly through a hinge structure, the hinge structure drives the transmission assembly to realize the locking and unlocking of each position adjustment module by pressing the unlocking handle.
[0014] The beneficial effects of the above technical solutions of the utility model are as follows: the trolley provided by the application can easily drag the instrument to be moved, and the trolley is released when reaching the target position range, can be applied to complex surgical environments, such as puncture, natural orifice transluminal surgery, and hand-eye combined navigation surgical instruments, has the advantages of compact structure and small floor area, can provide multi-degree-of-freedom position adjustment for medical instruments, and has the advantages of simple adjustment process, time saving, labor saving, easy operation, and avoidance of additional electrical risks, and reduces equipment cost. BRIEF DESCRIPTION OF DRAWINGS
[0015] The drawings described herein are used to provide further understanding of the application, constitute a part of the application, the schematic embodiments of the application and the description thereof are used to explain the application, and do not constitute improper limitation on the application. In the drawings:
[0016] Figure 1 A structural schematic view of the multi-degree-of-freedom medical instrument adjusting trolley according to an embodiment of the utility model is shown in the figure.
[0017] Figure 2 Another angle structural schematic view of the multi-degree-of-freedom medical instrument adjusting trolley according to an embodiment of the utility model is shown in the figure.
[0018] Figure 3 A working principle diagram of the vertical position adjustment module according to an embodiment of the utility model is shown in the figure.
[0019] Figure 4 A working principle diagram of the vertical position adjustment module according to another embodiment of the utility model is shown in the figure.
[0020] Figure 5 An assembly principle schematic view of each position adjustment structure of the multi-degree-of-freedom medical instrument adjusting trolley according to an embodiment of the utility model is shown in the figure.
[0021] BRIEF DESCRIPTION OF DRAWINGS
[0022] 1-trolley base; 2-vertical position adjustment module; 201-stand; 202-counterweight; 203-slid; 204-moving pulley; 205-first mounting plate; 3-horizontal position adjustment module; 31-first horizontal position adjustment module; 32-second horizontal position adjustment module; 310-first horizontal sliding shaft, 311-first horizontal slider, 320-second horizontal sliding shaft, 321-second horizontal slider; 33-second mounting plate; 4-inclination adjustment module; 41-first rotary joint; 42-second rotary joint; 401-first arm; 402-second arm; 403-third arm; 404-fourth arm; 5-medical instrument; 6-unlocking handle. DETAILED DESCRIPTION
[0023] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described clearly and completely below in combination with the specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0024] Reference is made to Figure 1 For the structure schematic diagram of the trolley for multi-degree-of-freedom medical instrument adjustment according to an embodiment of the present application, as shown in the figure, the present embodiment provides a trolley for multi-degree-of-freedom medical instrument adjustment device, which is used for multi-degree-of-freedom position adjustment of the carried medical instrument 5. The medical instrument 5 can be, for example, an ultrasonic probe, a surgical probe, a water jet, or any other instrument component that can be clamped and perform medical examination or surgical operation. A caster is arranged at the bottom of the trolley, so that the trolley caster can be easily moved together with the carried medical instrument and position adjustment assembly in the unlocked condition. Further, the trolley further comprises: a trolley base 1, which can be a bottom plate or similar component with bearing capacity, and a vertical position adjustment module 2, a horizontal position adjustment module 3 and an inclination adjustment module 4 are sequentially arranged on the trolley base 1. Sequential arrangement means that the vertical position adjustment module 2 is arranged on the trolley base 1, the horizontal position adjustment module 3 is arranged on the upper surface of the vertical position adjustment module 2, and the inclination adjustment module 4 is arranged on the upper surface of the horizontal position adjustment module 3.
[0025] Conventionally, in order to quickly adjust the surgical instrument to the target position range, generally follow the principle of first coarse adjustment and then fine adjustment, when operating the device of the embodiment, the operator first moves the trolley carrying the surgical instrument horizontally to the horizontal area corresponding to the target position through the casters, then moves the surgical instrument vertically to the vertical area corresponding to the target position through the vertical position adjustment module, and then finely adjusts the horizontal position of the surgical instrument by means of the horizontal position adjustment module and finely adjusts the inclination direction of the surgical instrument by means of the inclination adjustment module. In this way, the convenience of the doctor's operation can be effectively improved, and the surgical instrument position adjustment function can be quickly and accurately realized.
[0026] As shown in Figures 1-2 , the vertical position adjustment module 2 comprises a vertical sliding pair, which includes a stand 201 and a sliding assembly. The stand 201 is fixedly connected with the trolley base 1, and the sliding assembly comprises a sliding block 203. A mounting plate 205 is arranged on the top of the sliding block 203. The mounting plate 205 carries the horizontal position adjustment module 3, the inclination adjustment module 4 and the surgical instrument 5. Thus, by sliding the sliding block 5 up and down in the vertical direction, the medical instrument 5 can be moved up and down, thereby providing adjustment of the position of the medical instrument 5 in the vertical direction.
[0027] The vertical position adjustment module 2 comprises a mounting plate 205 arranged at the top thereof. The mounting plate 205 at the top of the vertical position adjustment module 2 is provided with the horizontal position adjustment module 3. The horizontal position adjustment module 3 comprises a first horizontal position adjustment module 31 and a second horizontal position adjustment module 32. The first horizontal adjustment module 31 is slidably installed with a first horizontal sliding shaft 310 through a first horizontal sliding block 311. The second horizontal adjustment module 32 is slidably installed with a second horizontal sliding shaft 320 through a second horizontal sliding block 321. The moving direction of the second horizontal sliding shaft 321 is perpendicular to the moving direction of the first horizontal sliding shaft 311. In this way, the trolley of the embodiment can provide position adjustment of the medical instrument in two dimensions in the horizontal direction through the horizontal position adjustment module 3.
[0028] The horizontal position adjustment module 3 comprises a second mounting plate 33 arranged at the top thereof. The second mounting plate 33 at the top of the horizontal position adjustment module 3 is provided with the inclination adjustment module 4. The inclination adjustment module 4 is a multi-joint support arm. The distal end of the distal end support arm of the multi-joint support arm is attached or clamped to the medical instrument 5.
[0029] As shown in Figure 1 , Figure 5As shown, the multi-joint support arm has at least a first rotary joint 41 and a second rotary joint 42, wherein a first arm 401 is located between the mounting plate 33 and the first rotary joint 41, a second arm 402 is located between the first rotary joint 41 and the second rotary joint 42, a third arm 403 and a fourth arm 404 are located between the second rotary joint and the surgical instrument 5.
[0030] Wherein, the extension direction of the second arm 402 is the left-right direction, the extension direction of the first arm 401 is the up-down direction, the first rotary joint 41 provides position adjustment of the left-right inclination angle of the medical instrument 5, and the second rotary joint 42 provides position adjustment of the up-down inclination angle of the medical instrument 5. The first arm 401 and the third arm 403 provide vertical support function, the second arm 402 is used to arrange two rotary joints in the horizontal direction, and the fourth arm 404 is used to arrange the unlocking handle 6 and provide clamping of the medical instrument 5. In this way, the position adjustment of the left-right inclination angle and the up-down inclination angle of the medical instrument can be realized by only two rotary joints, the structure is compact, and the cost is effectively reduced.
[0031] After carrying the horizontal position adjustment module 3 and the inclination angle adjustment module 4, especially the multi-joint support arm of the inclination angle adjustment module 4, the weight of the mechanical structure carried by the trolley is greatly increased, and further, the trolley of the embodiment is further provided with a counterweight adjustment module at the vertical position adjustment module 2 located below the horizontal position adjustment module 3 and the inclination angle position adjustment module 4. Specifically, the counterweight adjustment module is connected on the side of the vertical position adjustment module 2.
[0032] The counterweight adjustment module includes a counterweight block 202, and a sliding assembly in the vertical position adjustment module 2 is connected with the counterweight block 202. Referring to Figure 3 、 Figure 4 The sliding assembly includes a sliding block 203, the sliding block 203 can slide in the vertical direction along the stand 201, a traction rope is provided through the top end of the sliding block 203, and the traction rope is connected with the counterweight block 202 after winding around a rotating wheel.
[0033] As described above, the top end of the sliding block 203 is further fixedly installed with the horizontal position adjustment module 3 and the inclination angle adjustment module 4 through the mounting plate 205, and in the preferred scheme, the weight of the counterweight block 202 is equivalent to the sum of the weight of the sliding block 203 and the horizontal position adjustment module 3 and the inclination angle adjustment module 4 fixedly connected to the sliding block 203, so as to provide force balance in the vertical direction, so that the gravity of the counterweight block 202 can offset all or at least most of the gravity of the sliding block and the components carried thereby. In this way, slight external force can realize the position movement of the surgical instrument 5 in the vertical direction, and easy adjustment can still be realized even in the case of carrying a multi-joint support arm and the like.
[0034] In some embodiments, the number of the rotating wheels is at least two, the traction rope is a steel wire, and the rotating wheels are fixed pulleys. Alternatively, the traction rope is a chain, and the rotating wheels are sprockets. However, when the use environment of the trolley does not allow the weight block 202 to have too large a stroke in terms of the overall size, as shown in Figure 4 the dynamic pulley 204 for the traction rope to pass through can be additionally arranged between the rotating wheels, and the weight of the weight block 202 is increased to twice the original weight, and the corresponding gravity balance can also be achieved.
[0035] In the above scheme, the weight block is arranged to ensure the balance in the vertical direction, and the operator only needs to use a small force to push the sliding assembly to move up and down, and even after the horizontal position adjustment module 3 and the inclination adjustment module 4 are carried, the vertical position adjustment operation can be easily and quickly implemented, and the use requirements of doctors can be better met.
[0036] In some embodiments, the unlocking handle 6 is also arranged, the unlocking handle is arranged at the fourth arm 404 of the multi-section support arm, the handle and the transmission assembly (not shown) are connected through the hinge structure, and the hinge structure drives the transmission assembly to realize the locking and unlocking of each position adjustment module by pressing the handle.
[0037] It should be noted that the terms “comprising”, “containing” or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement “comprising a” does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.
[0038] The above only describes the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims
1. A multi-degree-of-freedom medical instrument adjustment device cart for multi-degree-of-freedom position adjustment of a carried medical instrument, characterized by, The trolley comprises a trolley base, a vertical position adjusting module, a horizontal position adjusting module, an inclination angle adjusting module and a counterweight adjusting module arranged on the trolley base, the vertical position adjusting module is arranged on the trolley base, the side of the vertical position adjusting module is connected with the counterweight adjusting module, the upper surface of the vertical position adjusting module is arranged with the horizontal position adjusting module, and the horizontal position adjusting module is arranged with the inclination angle adjusting module.
2. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 1, characterized by, The counterweight adjusting module comprises a counterweight block, the vertical position adjusting module comprises a vertical sliding pair, the vertical sliding pair comprises a stand column and a sliding assembly, the stand column is fixedly connected with the trolley base, and the sliding assembly is used for driving the medical instrument to move up and down; the sliding assembly is connected with the counterweight block.
3. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 2, characterized by, The sliding assembly comprises a sliding block, the sliding block can slide in the vertical direction along the stand column, the top end of the sliding block is connected with a traction rope, and the traction rope is connected with the top end of the counterweight block after winding around a rotating wheel.
4. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 3, characterized by The traction rope is a steel wire, and the rotating wheel is a fixed pulley; or the traction rope is a chain, and the rotating wheel is a chain wheel; and the weight of the counterweight block is equivalent to the sum of the weight of the sliding block and the components fixedly connected on the sliding block.
5. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 3, characterized by, A movable pulley is arranged between the rotating wheels, and the weight of the counterweight block is approximately equivalent to twice the sum of the weight of the sliding block and the components fixedly connected on the sliding block.
6. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 1, characterized by The vertical position adjusting module comprises a mounting plate arranged on the top thereof, and the horizontal position adjusting module is arranged on the mounting plate.
7. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 6, characterized by The horizontal position adjusting module comprises a first horizontal sliding shaft slidingly mounted on the mounting plate, a second horizontal sliding shaft is slidingly mounted on the first horizontal sliding shaft, and the moving direction of the second horizontal sliding shaft is perpendicular to the moving direction of the first horizontal sliding shaft.
8. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 1, characterized by, The inclination angle adjusting module arranged on the horizontal position adjusting module is a multi-joint support arm, and the distal end of the multi-joint support arm is fixed with the medical instrument.
9. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to claim 8, characterized by, The multi-joint support arm at least has a first rotating joint and a second rotating joint.
10. The multi-degree-of-freedom medical instrument adjustment apparatus cart according to any one of claims 1 to 9, characterized by, An unlocking handle is further arranged, the unlocking handle is connected with a transmission assembly through a hinge structure, the hinge structure drives the transmission assembly to realize the locking and unlocking of each position adjusting module by pressing the unlocking handle.