Supporting device
By using a telescopic mechanism and a support with coaxially aligned limiting holes in minimally invasive surgery, the bending problem of flexible instruments during insertion is solved, providing reliable dynamic support, simplifying the structure, and reducing cost and resistance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2026-03-27
AI Technical Summary
In current minimally invasive surgeries, flexible instruments are prone to unexpected bending postures when inserted into the patient's body, which increases the difficulty of control or damages the instruments. In addition, existing support devices have complex structures and poor support effects.
It adopts a telescopic mechanism and multiple support components. The support components are equipped with limit holes. Through the coaxial arrangement of the limit holes and the connecting seat, the drive component drives the telescopic component to expand or contract, providing reliable support, avoiding bending and deformation of the flexible components, and eliminating the need for magnetic or spring structure correction.
It achieves dynamic support stability of flexible instruments, simplifies device structure, reduces manufacturing costs and driving resistance, and ensures smooth insertion and use of instruments.
Smart Images
Figure CN224039743U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of medical devices, and in particular to a support device. BACKGROUND
[0002] Minimally invasive treatment technology is a surgical treatment method based on the principle of minimal tissue trauma. Compared with traditional open surgery, minimally invasive technology enters the lesion area through a small incision or a natural channel (such as a blood vessel or a trachea) and uses precise instruments such as endoscopes and catheters to perform operations, thereby greatly reducing surgical trauma while ensuring treatment effectiveness. Minimally invasive treatment is widely used in many medical fields such as surgery, cardiology, neurology, and urology.
[0003] During a minimally invasive surgery, medical personnel need to control the flexible elongated body in several degrees of freedom, such as insertion, retraction, and bending guidance. Common minimally invasive surgical instruments, such as endoscopes and catheters, are made of flexible elongated materials. In a remotely operable interventional system, there is a part of the flexible instrument between the patient and the interventional system that is not supported. The flexible nature of the instrument may cause unexpected bending postures during the process of sending the instrument into the patient's body by the interventional system. Abnormal bending postures may increase the difficulty of controlling the instrument and even cause the instrument to fail to be inserted or internal components to be damaged. To prevent unexpected bending postures, a device for supporting the instrument needs to be added to the system.
[0004] In related technologies, a telescopic device is used to support a flexible tube to work in a patient's body. However, the telescopic device has the problems of poor support effect and complex structure. CONTENT OF THE UTILITY MODEL
[0005] The present application provides a support device to provide reliable support for a flexible member inserted into a patient's body for surgery, so as to prevent the bending deformation of the flexible member from causing structural damage to a medical instrument arranged inside the flexible member.
[0006] To achieve the above object, the present application provides the following technical solutions:
[0007] The application provides a supporting device, which comprises a telescopic mechanism and two connecting bases, the telescopic mechanism comprises a telescopic part and a plurality of supporting parts connected to the telescopic part, the plurality of supporting parts are arranged along the length direction of the telescopic part and can move synchronously with the telescopic part, each of the plurality of supporting parts has a limiting hole, and the plurality of limiting holes are coaxially arranged, one of the two connecting bases is used for being fixed, and the other of the two connecting bases is used for being connected with a driving part to drive the telescopic part to expand or contract, the two connecting bases are provided with through holes coaxial with the limiting holes, and the supporting parts and the connecting bases support a flexible part arranged in the through holes and the limiting holes.
[0008] In a possible implementation, the telescopic part comprises a movable linkage, and two ends of the movable linkage are respectively hinged to the two connecting bases.
[0009] The movable linkage comprises at least one linkage unit, the linkage unit comprises a plurality of linkage sub-units which are sequentially hinged along the telescopic direction, and each of the linkage sub-units is hinged to one of the supporting parts, and the linkage sub-units at the first end and the tail end are respectively hinged to the two connecting bases.
[0010] In a possible implementation, the movable linkage comprises two linkage units, and the two linkage units are arranged along the circumference of the supporting part at intervals; or the movable linkage comprises at least three linkage units, and the three linkage units are arranged along the circumference of the supporting part at equal intervals.
[0011] In a possible implementation, in the plurality of linkage sub-units, each of the linkage sub-units comprises a first movable linkage and a second movable linkage which are intersected and rotationally connected to form a hinge part, and the hinge part is fixedly connected to the supporting part.
[0012] One end of the first movable linkage and one end of the second movable linkage at the first end and the tail end of the plurality of linkage sub-units are respectively hinged to the two connecting bases, and the other end of the first movable linkage and the other end of the second movable linkage are hinged to one end of the first movable linkage and one end of the second movable linkage of the adjacent linkage sub-unit, so that each of the linkage sub-units rotates synchronously to drive each of the supporting parts to move.
[0013] In a possible implementation, the two connecting bases are respectively provided with a limiting linkage group, and the first end and the tail end of the movable linkage are hinged to the two connecting bases through the limiting linkage groups.
[0014] In a possible implementation, the limiting link set comprises a first limiting link and a second limiting link, the first end of the first limiting link and the first end of the second limiting link are both fixed to one of the two connecting seats, and the first end of the first limiting link and the first end of the second limiting link are both rotatable relative to the connecting seat, and the second end of the first limiting link and the second end of the second limiting link are respectively rotatably connected to one end of the first movable link and one end of the second movable link located at the head end or the tail end.
[0015] In a possible implementation, the support member is in the shape of a prism or a cylinder.
[0016] In a possible implementation, one of the two connecting seats is a first connecting subseat, the first connecting subseat is provided with a docking interface, the docking interface is provided with an elastic buckle, and the elastic buckle is used for being clamped with a clamping groove prearranged on the driving member.
[0017] In a possible implementation, the support device further comprises a receiving mechanism, a first end of the receiving mechanism is fixedly connected to the first connecting subseat, and a second end of the receiving mechanism is provided with a receiving interface.
[0018] The other of the two connecting seats is a second connecting subseat, the second connecting subseat is used for being fixed, the second connecting subseat is provided with a connecting terminal to be insertedly fixed with the receiving interface.
[0019] In a possible implementation, the second connecting subseat comprises a main seat and at least two connecting plates, the two connecting plates are arranged at one side of the main seat in a spaced manner, the connecting plates are provided with protrusions for being clamped and fixed with mounting grooves prearranged on the fixed equipment.
[0020] The support device provided in the application has at least the following beneficial effects:
[0021] The flexible member can be a medical flexible instrument, and the two ends of the telescopic member are respectively connected with the connecting seats, one of the connecting seats is fixed, and the other is used for being connected with the driving member, the through holes of the connecting seats and the limiting holes of the plurality of support members are coaxially arranged, the limiting holes of the plurality of support members have high alignment when the driving member drives the connecting seat to drive the telescopic member to expand and contract, and the alignment does not need to be corrected by magnetic attraction or spring structure, thereby further ensuring the dynamic support stability of the flexible member. In addition, the support device has simple structure, low manufacturing cost, small device volume, and small resistance for driving the support device. BRIEF DESCRIPTION OF DRAWINGS
[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.
[0023] Figure 1 The overall structure schematic diagram of the support device provided by the embodiments of the present application in the expanded state is shown in the figure.
[0024] Figure 2 The side view structure schematic diagram of the support device is shown in the figure. Figure 1
[0025] Figure 3 The overall structure schematic diagram of the support device provided by the embodiments of the present application in the contracted state is shown in the figure.
[0026] Figure 4 The structure schematic diagram of the telescopic mechanism of the support device provided by the embodiments of the present application is shown in the figure.
[0027] Figure 5 The structure schematic diagram of the support member in the figure is shown in the figure. Figure 4
[0028] Figure 6 The structure schematic diagram of the first movable connecting rod and the second movable connecting rod in the figure is shown in the figure. Figure 4
[0029] The structure schematic diagram of the first connecting sub-base and the storage mechanism of the support device provided by the embodiments of the present application after assembly is shown in the figure. Figure 7
[0030] The structure schematic diagram of the main body part of the first connecting sub-base in the figure is shown in the figure. Figure 8 Figure 7 The structure schematic diagram of the storage mechanism in the figure is shown in the figure.
[0031] Figure 9 Figure 7 The structure schematic diagram of the first limiting connecting rod and the second limiting connecting rod in the figure is shown in the figure.
[0032] Figure 10 The structure schematic diagram of the second connecting sub-base of the support device provided by the embodiments of the present application is shown in the figure. Figure 7
[0033] The structure schematic diagram of the main body seat of the second connecting sub-base in the figure is shown in the figure. Figure 11
[0034] The structure schematic diagram of the main body seat of the second connecting sub-base in the figure is shown in the figure. Figure 12 Figure 11
[0035] Explanation of reference signs:
[0036] 100, telescopic mechanism; 110, telescopic part; 111, movable linkage group; 1111, linkage unit; 1112, linkage subunit; 1113, first movable linkage; 1114, second movable linkage; 1115, movable linkage connecting shaft; 120, supporting part; 121, limiting hole; 122, linkage positioning shaft; 200, connecting seat; 210, first connecting subseat; 211, butt joint interface; 212, elastic buckle; 213, positioning protrusion; 214, main body part; 220, second connecting subseat; 221, main body seat; 2211, connecting terminal; 222, connecting plate; 2221, protrusion; 230, via hole; 240, limiting linkage group; 241, first limiting linkage; 242, second limiting linkage; 243, limiting linkage connecting shaft; 300, flexible part; 400, storage mechanism; 410, storage interface; 420, mounting interface; 430, avoiding through hole.
[0037] The specific embodiments of the present application have been shown in the above drawings, and will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0038] As described in the background, in the minimally invasive surgery, the medical staff needs to control the slender flexible body in several degrees of freedom, such as insertion, withdrawal and bending guidance. Commonly used minimally invasive surgical instruments, such as scopes and catheters, are made of slender flexible materials. In a teleoperated interventional system, there is a part of the flexible instrument that is not supported between the patient and the interventional system. The soft characteristics of the instrument can cause unexpected bending postures during the process of the interventional system applying force to send the instrument into the patient's body. Abnormal bending postures can increase the difficulty of controlling the instrument and even cause the instrument to fail to be inserted or the internal components to be damaged. To prevent unexpected bending postures, a device for assisting the support of the instrument needs to be added to the system.
[0039] In the related art, a telescopic device is used to support the flexible tube to enter the patient's body to work. However, the telescopic device has the problems of poor support effect and complex structure.
[0040] The inventor has found that the reasons for the problems include: first, the telescopic device in the related art includes a step-by-step nested structure of multiple rod structures, which makes the device size (radial and axial) larger, increases the operation space on site, and affects the installation and working space of other parts of the system. At the same time, in order to ensure smooth sliding of the rod structures at all levels, there is a large gap between the rods in the radial direction, so that the flexible slender device bends when passing through the telescopic rod device, which may affect the instruments inside the flexible slender device. In addition, the rod structure is heavy, and the friction is large when moving, which increases the energy consumption of the system.
[0041] Secondly, the telescopic device in the related art also includes a scissor telescopic device. When the scissor telescopic device is telescoped, the centers of the through holes of the levels of the scissor do not align, which causes this problem. The reason for this problem is that there are multiple movable degrees of freedom between the through holes at all levels relative to the center axis of the telescopic device. To solve this problem, the through holes at all levels need to be constrained in degrees of freedom on the telescopic device. Common solutions include magnetic fixation, spring structure centering, and the like. These solutions increase the complexity of device design and implementation, increase production costs, and also affect other systems, such as the magnetic fixation solution which affects the accuracy of electromagnetic navigation, thereby affecting the functions of existing examination and treatment systems.
[0042] To solve the above technical problems, the embodiment of the present application provides a supporting device. The supporting device includes a telescopic mechanism, a plurality of supporting members arranged on the telescopic mechanism, and a plurality of limiting holes arranged on the supporting members. The supporting device can provide reliable support for a flexible member passing through the telescopic mechanism through the limiting holes, prevent the flexible member from being bent and deformed, and the like. The flexible member can be a medical flexible instrument. The two ends of the telescopic mechanism are respectively connected with connecting seats. One connecting seat is fixed, and the other connecting seat is used to be connected with a driving member. The through hole of the connecting seat and the limiting holes of the plurality of supporting members are coaxially arranged. When the driving member drives the connecting seat to drive the telescopic mechanism to expand and contract, the alignment of the limiting holes of the pluralityes of supporting members is high, and the alignment does not need to be corrected by magnetic attraction or spring structure. The dynamic support stability for the flexible member is further ensured. In addition, the supporting device has simple structure, low manufacturing cost, small device size, and small resistance for driving the supporting device.
[0043] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more apparent and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.
[0044] In combination withFigures 1 to 12 The support device provided by the embodiment of the application comprises a telescopic mechanism 100 and two connecting seats 200. The telescopic mechanism 100 comprises a telescopic piece 110 and a plurality of support pieces 120 connected to the telescopic piece 110. The plurality of support pieces 120 are arranged at intervals along the length direction of the telescopic piece 110 and can move synchronously with the telescopic piece 110. Each of the plurality of support pieces 120 has a limiting hole 121, and the plurality of limiting holes 121 are coaxially arranged. The two ends of the telescopic piece 110 are fixedly connected with the two connecting seats 200 respectively. One of the two connecting seats 200 is fixed, and the other is connected with a driving piece to be driven to drive the telescopic piece 110 to expand or contract. The two connecting seats 200 each have a through hole 230 coaxial with the limiting hole 121. The support piece 120 and the connecting seat 200 cooperate to support a flexible piece 300 arranged through the through hole 230 and the limiting hole 121.
[0045] In this way, the telescopic piece 110 of the telescopic mechanism 100 and the plurality of support pieces 120 arranged on the telescopic piece 110 can provide reliable support for the flexible piece 300 arranged through the limiting hole 121 of the telescopic mechanism 100, so as to prevent the flexible piece 300 from being bent and deformed. The flexible piece 300 can be a medical flexible instrument. The two ends of the telescopic piece 110 are connected with the two connecting seats 200 respectively. One of the two connecting seats 200 is fixed, and the other is connected with the driving piece. The through hole 230 of the connecting seat 200 and the limiting hole 121 of the plurality of support pieces 120 are coaxially arranged. When the driving piece drives the connecting seat 200 to drive the telescopic piece 110 to expand or contract, the limiting holes 121 of the plurality of support pieces 120 are highly aligned, and do not need to be corrected by magnetic attraction or spring structure, so as to further ensure the dynamic support stability of the flexible piece 300. In addition, the support device has simple structure, low manufacturing cost, small size and small driving resistance.
[0046] For example, the driving piece comprises a driving motor, a mechanical arm and a motion module. The driving motor drives the mechanical arm, and the motion module is installed on the mechanical arm. The support device is drivingly connected with the motion module. One end of the flexible piece 300 is signal-connected with an equipment control module. The mechanical arm provides a suitable initial pose. The equipment control module and the guiding support device of the flexible piece 300 are installed on the motion module. The motion module can make reciprocating motion to control the flexible piece 300 to advance or retreat. The equipment control module controls the direction of the flexible piece 300, and the support device provides reliable support for the flexible piece 300.
[0047] In some embodiments, the telescopic member 110 comprises a movable linkage assembly 111, two ends of the movable linkage assembly 111 are respectively hinged to two connecting seats 200; the movable linkage assembly 111 comprises at least one linkage unit 1111, the linkage unit 1111 comprises a plurality of linkage sub-units 1112 which are sequentially hinged along the telescopic direction, and each linkage sub-unit 1112 is hinged to a support member 120, the linkage sub-units 1112 at the first end and the tail end are respectively hinged to the two connecting seats 200, and the two connecting seats 200 are respectively a first connecting sub-seat 210 and a second connecting sub-seat 220.
[0048] In this way, when one of the connecting seats 200 is driven, it can drive the telescopic mechanism 100 to move axially, so that the plurality of linkage sub-units 1112 can drive each support member 120 to move equidistantly and uniformly, and when all the support members 120 are folded together, the support device is in a fully collapsed state.
[0049] Further, when the support device is in the collapsed state, the first connecting sub-seat 210 is driven, which drives the telescopic mechanism 100 to extend along its own axis in a direction away from the second connecting sub-seat 220, and when all the linkage sub-units 1112 are stretched to the limit position, the support device is in a fully expanded state.
[0050] The above describes the process of fully collapsing or fully expanding the support device, and in actual use, the device can maintain the current collapsed or expanded state when the driving member stops driving according to the operation requirements. Holes are provided in each support member 120 and the two connecting seats 200 for the flexible member 300 to pass through. The diameters of the limiting holes 121 and the through holes 230 can be designed according to the diameter of the flexible member 300 to be passed through, and the diameters of the two are consistent, for example, the diameter of the hole is 5mm-10mm. The center axis of the through hole 230 is coaxial with the center axis of the telescopic mechanism 100.
[0051] Due to the shear structure constraint of each linkage sub-unit 1112, the hole structure of the connecting seat 200 and the support member 120 does not change with the expansion or contraction movement of the telescopic mechanism 100 device, and when the flexible member 300 passes through the through hole 230 and the limiting hole 121, the support member 120 can provide uniform support for the flexible member 300, avoiding deformation of the flexible member 300.
[0052] In some embodiments, the movable linkage group 111 includes two groups of linkage units 1111, and the two groups of linkage units 1111 are circumferentially spaced along the support 120; or, the movable linkage group 111 includes at least three groups of linkage units 1111, and the three groups of linkage units 1111 are circumferentially equally spaced along the support 120. For example, the linkage units 1111 are arranged in three groups, or the linkage units 1111 are arranged in five groups.
[0053] In some embodiments, each of the plurality of linkage sub-units 1112 includes a first movable linkage 1113 and a second movable linkage 1114 intersecting and rotationally connected to form a hinge, and the hinge is fixedly connected to the support 120.
[0054] The one end of the first movable linkage 1113 and the one end of the second movable linkage 1114 at the head end and the tail end of the plurality of linkage sub-units 1112 are respectively hingedly connected to the two connecting seats 200, and the other end of the first movable linkage 1113 and the other end of the second movable linkage 1114 are hingedly connected to the one end of the adjacent first movable linkage 1113 and the one end of the adjacent second movable linkage 1114, for example, the other end of the first movable linkage 1113 and the other end of the second movable linkage 1114 are hingedly connected to the one end of the adjacent first movable linkage 1113 and the one end of the adjacent second movable linkage 1114 through the movable linkage connecting shaft 1115, so that each linkage sub-unit 1112 is synchronously rotated to drive each support 120 to move.
[0055] Further, the first movable linkage 1113 is provided with a first mounting hole between the two ends, and the second movable linkage 1114 is provided with a second mounting hole between the two ends, the first mounting hole and the second mounting hole are correspondingly arranged, and the first movable linkage 1113 and the second movable linkage 1114 are rotationally connected on the linkage positioning shaft 122 of the support 120 through the first mounting hole and the second mounting hole. In this way, the structure is simple and easy to manufacture, the first movable linkage 1113 and the second movable linkage 1114 form a scissor structure, and this structure itself has the characteristics of uniform linkage, so that the spacing of each support 120 can be ensured to be consistent when the support device moves, the stability of the telescopic mechanism 100 during the telescopic process is ensured, and the same support ability is provided, and the flexible member 300 will not be bent due to uneven support force.
[0056] In some embodiments, the two connecting seats 200 are each provided with a limiting linkage group 240, and the head end and the tail end of the movable linkage group 111 are hingedly connected to the two connecting seats 200 through the limiting linkage group 240.
[0057] In some embodiments, the limiting link set 240 comprises a first limiting link 241 and a second limiting link 242, the first end of the first limiting link 241 and the first end of the second limiting link 242 are both fixed to one of the two connecting seats 200, and the first end of the first limiting link 241 and the first end of the second limiting link 242 are both rotatable relative to the connecting seat 200, further, the first end of the first limiting link 241 and the first end of the second limiting link 242 are rotatably connected through a limiting link connecting shaft 243, and the second end of the first limiting link 241 and the second end of the second limiting link 242 are respectively rotatably connected to one end of the first movable link 1113 and one end of the second movable link 1114 located at the head end or the tail end.
[0058] In this way, during the unfolding or contraction movement of the supporting device, the limiting link and the movable link in the scissors structure combination connect the two connecting seats 200 and the plurality of supporting members 120 in series, link the movements of the parts, so that the supporting members 120 are uniformly unfolded by the telescopic member 110 during the unfolding of the supporting device, thereby ensuring that the supporting members 120 uniformly support the flexible member 300 along the axial direction, and the scissors structure combination of the limiting link and the movable link also provides sufficient support for each part, ensuring the rigidity of the entire device, and transmitting the pushing force during the unfolding of the device and the pulling force during the contraction of the device.
[0059] In some embodiments, the shape of the supporting member 120 is a prism or a cylinder, and exemplarily, the shape of the supporting member 120 is a triangular prism, a quadrangular prism, a hexagonal prism, an octagonal prism, or more polygonal prisms.
[0060] In some embodiments, one of the two connecting seats 200 is a first connecting sub-seat 210, the first connecting sub-seat 210 is provided with a docking interface 211, the docking interface 211 is provided with an elastic buckle 212 inside, the elastic buckle 212 is used for being buckled with a pre-set buckle groove on the driving member, in other examples, the docking interface 211 can be provided with a magnetic attraction structure and a magnetic attraction connection terminal 2211 of the driving member for magnetic attraction connection, or the first connecting sub-seat 210 is connected through the interference fit of the docking interface 211 and the connection end of the driving member.
[0061] Further, the first connecting sub-seat 210 is further provided with a plurality of positioning protrusions 213, the plurality of positioning protrusions 213 are distributed around the docking interface 211 at intervals, the driving member has a boss, the boss is provided with a buckle groove, the driving member is buckled into the docking interface 211 through the boss, so that the buckle groove and the elastic buckle 212 are buckled, and the positioning protrusions 213 are arranged, which not only facilitates the installation and positioning between the driving member and the first connecting sub-seat 210, but also limits the buckling depth of the boss, and such arrangement ensures the driving stability of the driving of the first connecting sub-seat 210.
[0062] In some embodiments, the storage mechanism 400 is further included, the first end of the storage mechanism 400 is fixedly connected to the first connecting sub-base 210, and the second end of the storage mechanism 400 is provided with a storage interface 410; the other of the two connecting bases 200 is a second connecting sub-base 220, the second connecting sub-base 220 is used to be fixed, and the connecting terminal 2211 is arranged on the second connecting sub-base 220 to be inserted and fixed with the storage interface 410 when the telescopic part 110 is retracted, so that the storage interface 410 of the storage mechanism can be nested and connected with the connecting terminal 2211, and in the actual use environment, the unfolded support device is first separated from the storage interface 410, and the second connecting sub-base 220 of the device remains stationary.
[0063] Specifically, in actual use, the flexible part 300 is inserted from the first connecting sub-base 210 of the support device, sequentially passes through the through hole 230 and the limiting hole 121 of the support part 120, and finally passes out from the through hole 230 of the second connecting sub-base 220. In order to facilitate the operator to take, install and use the perforation, the support device is usually in a completely retracted state in this process. In this way, the device needs to be provided with a self-locking storage mechanism 400 to enable the device to have the ability to remain in a retracted state.
[0064] For example, one end of the storage mechanism 400 is provided with a mounting interface 420, which can be sleeved on the outer periphery of the first connecting sub-base 210, and the other end is provided with the storage interface 410 which is connected with the connecting terminal 2211 of the second connecting sub-base 220. The form of the storage interface 410 can be buckling, magnetic attraction or other structural connection mode. In this example, the buckling form is taken as an example. When the support device is retracted to the limit, the storage interface 410 of the storage mechanism will be nested with the connecting terminal 2211 of the second connecting sub-base 220, and will be clamped by the protrusions preset inside the storage interface 410. At this time, the entire device is completely retracted and in a storage state, which is convenient for operation and use. Further, the storage mechanism 400 is provided with an avoiding through hole, which is coaxially arranged with the limiting hole 121 and the through hole 230, so as to be penetrated by the flexible part 300.
[0065] In some embodiments, the second connecting sub-base 220 includes a main base 221 and at least two connecting plates 222, the two connecting plates 222 are arranged on one side of the main base 221 in a spaced manner, the connecting plate 222 is provided with a protrusion 2221 which is used to be clamped and fixed with the preset mounting groove of the fixed equipment. Further, the protrusion 2221 is an elastic clamping protrusion, so that the self-locking in the operating force range of the device is realized, and the quick disassembly and quick assembly requirement of manual operation is also met. In another example, the protrusion 2221 of the connecting plate 222 can be a magnetic attraction part which is used to be magnetically connected with the fixed equipment, so that the disassembly and assembly are convenient, and a certain convenience is provided for doctors in clinical use.
[0066] In some other embodiments, the mounting bases of the first and second connecting seats 210 and 220 can be exchanged, i.e., if the first connecting seat 210 is fixed, the second connecting seat 220 is mounted on the driving member, which is driven to drive the telescopic mechanism 100 to perform telescopic movement under the constraint and guidance of the limiting linkage set 240.
[0067] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0068] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.
[0069] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0070] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.
[0071] The embodiments or implementations in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be mutually referred to.
[0072] It should be noted that the use of "a" or "an" or "the" or similar referents in the specification is intended to include the item(s) at issue irrespective of how many there are, unless otherwise indicated. It should also be noted that the terms "another," "alternative," "additional," and "yet another" are used interchangeably to describe various embodiments. The terms "comprising," "having," "including," and the like can be used synonymously. It is also noted that the terms "comprise," "comprising," "comprises," "including," "include," "includes" or "contain," "containing," "contains" or the like are used synonymously. It is further noted that the use of the term "one" or "a" or "the" or similar referents in the singular sense does not exclude a plurality, but rather the use of "one" or "a" or "the" or similar referents in the singular sense can include at least one, unless otherwise indicated. Furthermore, the use of the term "plurality" or "a plurality" or "one or more" or "two or more" or "one or more of" or "two or more of" or the like in the specification is intended to include a quantity of at least one, unless otherwise indicated. It is further noted that the use of the term "another" is generally intended to mean "one or more than one" or "one or more," unless otherwise indicated.
[0073] Finally, it should be noted that the above-mentioned embodiments merely illustrate the technical solutions of the present application, instead of limiting the same. Even though the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that the technical solutions recorded in the above-mentioned embodiments can be modified, or some or all of the technical features thereof can be substituted with equivalent technical features, without departing from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A support device, characterized in that, The telescopic mechanism comprises a telescopic member and a plurality of supporting members connected to the telescopic member, the plurality of supporting members are arranged along the length direction of the telescopic member and move synchronously with the telescopic member, each of the supporting members has a limiting hole, and the plurality of limiting holes are coaxially arranged, two ends of the telescopic member are respectively fixedly connected with two connecting seats, one of the two connecting seats is used for being fixed, and the other connecting seat is used for being connected with a driving member to drive the telescopic member to expand or contract, the two connecting seats each have a through hole coaxial with the limiting hole, and the supporting member and the connecting seat cooperate to support a flexible member arranged in the through hole and the limiting hole.
2. The support device of claim 1, wherein, The telescopic member comprises a movable linkage, and two ends of the movable linkage are respectively hinged to the two connecting seats. The movable linkage comprises at least one linkage unit, the linkage unit comprises a plurality of linkage sub-units sequentially hinged along the telescopic direction, and each of the linkage sub-units is hinged to a supporting member, and the linkage sub-units at the first end and the tail end are respectively hinged to the two connecting seats.
3. The support device of claim 2, wherein, The movable linkage comprises two linkage units, and the two linkage units are arranged along the circumference of the supporting member; or the movable linkage comprises at least three linkage units, and the three linkage units are arranged along the circumference of the supporting member at equal intervals.
4. The support device of claim 2, wherein, In the plurality of linkage sub-units, each of the linkage sub-units comprises a first movable link and a second movable link intersecting and rotationally connected to form a hinged part, and the hinged part is fixedly connected to the supporting member. One end of the first movable link and one end of the second movable link at the first end and the tail end of the plurality of linkage sub-units are respectively hinged to the two connecting seats, and the other end of the first movable link and the other end of the second movable link are hinged to one end of the first movable link and one end of the second movable link of the adjacent linkage sub-unit, so that each of the linkage sub-units rotates synchronously to drive each of the supporting members to move.
5. The support device of claim 4, wherein, The two connecting seats are each provided with a limiting linkage, and the first end and the tail end of the movable linkage are hinged to the two connecting seats through the limiting linkage.
6. The support apparatus of claim 5, wherein The limiting linkage comprises a first limiting link and a second limiting link, the first end of the first limiting link and the first end of the second limiting link are fixed to one of the two connecting seats, and the first end of the first limiting link and the first end of the second limiting link can rotate relative to the connecting seat, and the second end of the first limiting link and the second end of the second limiting link are respectively rotationally connected to one end of the first movable link and one end of the second movable link at the first end or the tail end.
7. Support device according to any one of claims 1-6, characterized in that The shape of the supporting member is a prism or a cylinder.
8. The support device according to any one of claims 1-6, characterized in that One of the two connecting seats is a first connecting sub-seat, the first connecting sub-seat is provided with a docking interface, the docking interface is provided with an elastic buckle, and the elastic buckle is used for being clamped with a clamping groove prearranged on the driving member.
9. The support apparatus of claim 8, wherein, Further comprising a receiving mechanism, a first end of the receiving mechanism is fixedly connected to the first connecting base, and a second end of the receiving mechanism is provided with a receiving interface; The other of the two connecting bases is a second connecting base, the second connecting base is used to be fixed, and a connecting terminal is arranged on the second connecting base to be inserted and fixed with the receiving interface when the telescopic part is retracted.
10. The support apparatus of claim 9, wherein, The second connecting base comprises a main base and at least two connecting plates, the two connecting plates are arranged on one side of the main base in a spaced manner, and a protrusion is arranged on the connecting plate to be clamped and fixed with a pre-installed mounting groove on the fixing device.