Driving mechanism and uterine manipulator

Abstract

The utility model provides a driving mechanism. The driving mechanism comprises a sliding rail arranged on a trolley mechanism, a sliding frame arranged on the sliding rail in a sliding mode, a sliding driving piece in transmission connection with the sliding frame and a linear driving unit arranged on the sliding frame. The sliding driving part is used for driving the sliding frame to slide along the sliding rail; the wire driving unit comprises a wire driving motor arranged on the sliding frame, a driving wire wheel arranged on the sliding frame and a driving wire wound on the driving wire wheel, the wire driving motor is used for driving the driving wire wheel to take up and pay off the driving wire, and the driving wire is used for driving the posture adjusting mechanism to move. By the adoption of the technical scheme, the line driving unit drives the posture adjusting mechanism to adjust the posture of the uterus lifting mechanism in a line driving mode, the adjusting mode is flexible, the position adjusting precision degree is high, and the operation efficiency and the operation precision can be improved easily.

Description

Technical Field

[0001] This utility model relates to the technical field of surgical instruments, and more specifically, to a drive mechanism and a uterine lifter. Background Technology

[0002] In the field of minimally invasive obstetric and gynecological surgery, the precise positioning and posture adjustment of the uterine manipulator are key factors affecting surgical outcomes. Traditional uterine manipulators often use rigid linkage mechanisms combined with gear and rack transmissions or hydraulic drives to achieve position adjustment. Such mechanical structures have inherent defects: First, gear and rack transmission systems are prone to meshing backlash, leading to decreased positioning accuracy and making it difficult to achieve control requirements when performing fine-tuning of the uterine angle; second, hydraulic drive devices are bulky and have complex piping layouts, which not only increase the overall weight of the surgical trolley mechanism but also easily cause medical safety hazards due to liquid leakage; third, although existing line drive systems have the advantage of flexible transmission, they generally suffer from technical bottlenecks such as inaccurate control of drive line tension and poor positional stability, especially prone to motion interference during multi-degree-of-freedom coordinated movements. Utility Model Content

[0003] The purpose of this invention is to provide a driving mechanism and a uterine lifter to solve the technical problems of poor control accuracy and weak stability of the driving mechanism of the uterine lifter in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] In a first aspect, a driving mechanism is provided, the driving mechanism including a sliding rail disposed on a trolley mechanism, a sliding frame slidably disposed on the sliding rail, a sliding drive member pulverizedly connected to the sliding frame, and a wire drive unit disposed on the sliding frame; the sliding drive member is used to drive the sliding frame to slide along the sliding rail; the wire drive unit includes a wire drive motor disposed on the sliding frame, a drive wire wheel disposed on the sliding frame, and a drive wire wound on the drive wire wheel, the wire drive motor is used to drive the drive wire wheel to retract and extend the drive wire, and the drive wire is used to drive the attitude adjustment mechanism to move.

[0006] By adopting the above technical solution, the wire-driven unit drives the posture adjustment mechanism to adjust the posture of the uterus lifting mechanism through wire drive. The adjustment method is flexible and the position adjustment is highly accurate, which helps to improve surgical efficiency and surgical precision.

[0007] In one embodiment, the sliding frame includes a first sliding frame body and a second sliding frame body detachably connected to the first sliding frame body. The first sliding frame body is slidably mounted on the sliding track. The first sliding frame body is equipped with the line drive motor, and the second sliding frame body is equipped with the drive line wheel.

[0008] In one embodiment, the drive mechanism further includes a third sliding frame connected to the first sliding frame, a manual gear disposed on the third sliding frame, a manual operation structure driven by the manual gear, and an electric gear connected to the power output shaft of the line drive motor; the manual gear is driven by the electric gear, and the line drive motor is driven by the drive line wheel through the electric gear and the manual gear.

[0009] In one embodiment, the drive mechanism further includes a coupling, which includes a first coupling unit disposed on the third sliding frame and a second coupling unit disposed on the second sliding frame and detachably connected to the first coupling unit. The first coupling unit is coaxially connected to the manual gear, and the second coupling unit is coaxially connected to the drive pulley.

[0010] In one embodiment, the first sliding frame is provided with a latch, the latch and the second coupling unit are respectively located on opposite sides of the first sliding frame and a latch space for accommodating the second sliding frame is formed between them, the latch can limit the second sliding frame within the latch space, so that the first coupling unit and the second coupling unit are connected.

[0011] In one embodiment, the sliding frame further includes a first pulley disposed on the first sliding frame body, the axis of the first pulley being perpendicular to the axis of the drive line wheel, and the drive line being wound around the first pulley.

[0012] In one embodiment, the sliding frame further includes a second pulley disposed on the first sliding frame body, the axis of the second pulley being parallel to the axis of the first pulley, and the drive line being wound around the first pulley and the second pulley.

[0013] In one embodiment, the posture adjustment mechanism includes a first rotating unit and a second rotating unit connected to the axis of the first rotating unit. The first rotating unit is connected to the sliding frame and has a first rotating axis. The second rotating unit is connected to the uterus lifting mechanism and is capable of rotating around the first rotating axis. The second rotating unit is connected to the drive line.

[0014] In one embodiment, the attitude adjustment mechanism includes a third rotating unit connected to the shaft of the second rotating unit. The second rotating unit defines a second rotating shaft, and the third rotating unit is capable of rotating around the second rotating shaft. The number of the line-driven units is two, one of which has a drive line connected to the first rotating unit, and the other has a drive line connected to the second rotating unit.

[0015] Secondly, a uterine lifting device is provided, comprising the aforementioned drive mechanism, trolley mechanism, posture adjustment mechanism connected to the drive mechanism, and uterine lifting mechanism connected to the posture adjustment mechanism and the drive mechanism; the trolley mechanism carries the drive mechanism, the posture adjustment mechanism, and the uterine lifting mechanism; the drive mechanism is disposed on the trolley mechanism, and the drive mechanism is used to drive the posture adjustment mechanism and the uterine lifting mechanism to operate; the posture adjustment mechanism is used to adjust the posture of the uterine lifting mechanism; the uterine lifting mechanism is used to be inserted into a corresponding human body part.

[0016] By adopting the above technical solution, the uterine lifter of this embodiment has the advantages of strong applicability, saving the physical strength of operators, and improving surgical efficiency, based on the advantages of the driving mechanism of the above embodiment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural diagram of the uterine lifting device provided in this embodiment of the utility model.

[0019] Figure 2 The explosion of the uterine lifting device provided in this embodiment of the utility model Figure 1 .

[0020] Figure 3 This is a cross-sectional view of the lifting mechanism provided in this embodiment of the utility model.

[0021] Figure 4 This is an exploded view of the lifting mechanism provided in an embodiment of this utility model.

[0022] Figure 5 This is a three-dimensional structural diagram of the driving mechanism provided in an embodiment of this utility model.

[0023] Figure 6 The explosion of the uterine lifting device provided in this embodiment of the utility model Figure 2 .

[0024] Figure 7 This is a three-dimensional structural diagram of the attitude adjustment mechanism provided in this embodiment of the utility model.

[0025] The labels for the attached figures are as follows:

[0026] 100. A device for lifting the uterus;

[0027] 1. Cart mechanism; 2. Drive mechanism; 3. Attitude adjustment mechanism; 4. Lifting mechanism;

[0028] 11. Base; 12. First column; 13. Second column; 15. Support platform; 16. Pitch axis; 18. Caster wheel; 21. Sliding rail; 22. Sliding frame; 23. Sliding drive component; 24. Wire drive unit; 25. Coupling; 31. First rotating unit; 32. Second rotating unit; 33. Third rotating unit; 41. Cup body; 42. Cup body sleeve; 43. Ruler rod;

[0029] 241. Wire-driven motor; 242. Drive wire pulley; 243. Drive wire; 221. First sliding frame; 222. Second sliding frame; 223. Third sliding frame; 224. Manual gear; 225. Manual operation structure; 226. Electric gear; 227. First pulley; 228. Second pulley; 251. First coupling unit; 252. Second coupling unit; 410. Uterine cavity; 411. Uterine cup connecting seat; 412. Cup body; 431. Inner ruler rod; 432. Outer ruler rod; 433. First pneumatic mechanism; 434. Telescopic cavity; 435. Airbag; 436. Second pneumatic mechanism; 437. Airbag cavity; 438. First ventilation tube; 439. Second ventilation tube;

[0030] 4131, Lead screw; 4132, Drive unit; 2211, Lock; 2431, Drive end;

[0031] 41321, Gear disk; 41311, Gear. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0033] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0034] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0036] like Figures 1 to 3 As shown, an embodiment of the present invention provides a uterine lifting device 100, comprising:

[0037] The system comprises a trolley mechanism 1, a drive mechanism 2 mounted on the trolley mechanism 1, a posture adjustment mechanism 3 connected to the drive mechanism 2, and a lifting mechanism 4 connected to the posture adjustment mechanism 3 and the drive mechanism 2; the trolley mechanism 1 carries the drive mechanism 2, the posture adjustment mechanism 3, and the lifting mechanism 4; the drive mechanism 2 drives the posture adjustment mechanism 3 and the lifting mechanism 4; the posture adjustment mechanism 3 adjusts the posture of the lifting mechanism 4; and the lifting mechanism 4 is inserted into the corresponding human body part.

[0038] The uterine lifting mechanism 4 includes a uterine lifting cup 41, a cup sleeve 42 fitted on the uterine lifting cup 41, and a ruler 43 connected to the uterine lifting cup 41; the cup sleeve 42 is elastic and forms a uterine cavity 410; the uterine lifting cup 41 can expand or shrink in its own radial direction, so that the radial dimension of the uterine cavity 410 is adjustable; the ruler 43 is located on the axis of the uterine lifting cup 41 and can extend and retract along the axial direction of the uterine lifting cup 41.

[0039] Specifically, the trolley mechanism 1 is a mechanism for enabling the uterine lifter 100 to have a movable function. The trolley mechanism 1 carries the drive mechanism 2, the posture adjustment mechanism 3, and the uterine lifter 4. The trolley mechanism 1 can be moved to the target position by setting moving wheels, making it convenient for the operator to move the uterine lifter 100 to the target position.

[0040] The drive mechanism 2 refers to the power mechanism that provides operation for the attitude adjustment mechanism 3 and the lifting mechanism 4; the drive mechanism 2 includes, but is not limited to, the motor mechanism.

[0041] The posture adjustment mechanism 3 refers to the mechanism used to adjust the posture of the lifting mechanism 4.

[0042] The uterine lifting mechanism 4 is a mechanism used to insert into the corresponding part of the human body to lift the uterus and thus expose the surgical field. The uterine lifting mechanism 4 includes a uterine lifting cup 41, a cup sleeve 42, and a measuring rod 43. The cup sleeve 42 is elastic and forms a uterine cavity 410. The cup sleeve 42 is placed on the uterine lifting cup 41. The uterine lifting cup 41 is deformable and can expand or shrink in its radial direction to adjust its radial size. This, in turn, makes the radial size of the cup sleeve 42 adjustable, ultimately allowing the radial size of the uterine cavity 410 to be adjustable to accommodate uteruses of different sizes. The measuring rod 43 is located on the axis of the uterine lifting cup 41 and can extend and retract along the axial direction of the uterine lifting cup 41, thereby making the position of the measuring rod 43 adjustable in the axial direction.

[0043] By adopting the above technical solution, the size and position of the uterus lifting mechanism 4 are electrically adjustable, which makes it highly applicable and helps to save the physical strength of operators and improve surgical efficiency.

[0044] Please refer to the following: Figure 4 In one embodiment, the uterine cup body 41 includes a uterine cup connecting seat 411, a plurality of cup parts 412 arranged sequentially around the axis of the uterine cup body 41 on the uterine cup connecting seat 411, and a cup driving member 413 that is pulsatorically connected to the cup parts 412; the uterine cup connecting seat 411 is connected to the posture adjustment mechanism 3, and the cup driving member 413 is used to drive the plurality of cup parts 412 to move radially along the uterine cup body 41.

[0045] Specifically, the uterine cup connecting seat 411 refers to the seat used to support the cup body part 412 and the cup body driving member 413. The uterine cup connecting seat 411 is connected to the posture adjustment mechanism 3. Multiple cup body parts 412 are arranged sequentially around the axis of the uterine cup body 41. In this way, multiple cup body parts 412 are arranged sequentially along the circumference of the uterine cup body 41, and each cup body part 412 can move radially along the uterine cup body 41. The cup body driving member 413 includes, but is not limited to, a motor mechanism. The cup body driving member 413 is used to drive multiple cup body parts 412 to move radially along the uterine cup body 41.

[0046] By adopting the above technical solution, the uterine cup body 41 includes multiple cup body parts 412 with adjustable radial positions, thereby realizing the adjustable radial dimensions of the uterine cup body 41.

[0047] In one embodiment, the cup body drive member 413 includes a lead screw 4131 disposed on the uterine cup connecting seat 411 and a drive part 4132 that is pulsatingly connected to the lead screw 4131; the lead screw 4131 extends radially along the uterine cup body 41 and is threadedly engaged with the cup body part 412; the lead screw 4131 drives the cup body part 412 to move radially along the uterine cup body 41 under the drive of the drive part 4132.

[0048] Specifically, the lead screw 4131 is a mechanical transmission device that converts rotary motion into linear motion, typically consisting of a screw (threaded shaft) and a nut. The screw of the lead screw 4131 is connected to the drive unit 4132, and the nut of the lead screw 4131 is connected to the cup body 412. The drive unit 4132 is used to drive the lead screw 4131 to rotate, and the lead screw 4131 drives the cup body 412 to move radially along the cup body 41.

[0049] By adopting the above technical solution, radial movement of the cup body 412 was achieved.

[0050] In one embodiment, the drive unit 4132 is provided with a gear disk 41321, and the lead screw 4131 is provided with a gear 41311 that is connected to the gear disk 41321 for transmission; the gear disk 41321 is located on the axis of the cup body 41, and the gear 41311 meshes with the gear disk 41321.

[0051] Specifically, the drive unit 4132 includes, but is not limited to, a motor. The power output shaft of the drive unit 4132 is connected to a gear disk 41321. The lead screw 4131 is provided with a gear 41311, which meshes with the gear disk 41321. When the drive unit 4132 drives the gear disk 41321 to rotate, it drives the gear 41311 to rotate, which in turn drives the screw of the lead screw 4131 to rotate.

[0052] By adopting the above technical solution, the reliability of the power output of the drive mechanism 2 has been improved.

[0053] In one embodiment, the ruler 43 includes an inner ruler 431, an outer ruler 432 movably sleeved on the inner ruler 431, and a first air pressure mechanism 433 for adjusting air pressure. The inner ruler 431 is connected to the uterine cup body 41. A telescopic cavity 434 is provided between the inner ruler 431 and the outer ruler 432. The telescopic cavity 434 is used to communicate with the first air pressure mechanism 433 and expand or shrink under the drive of the first air pressure mechanism 433, so that the outer ruler 432 can extend or retract relative to the inner ruler 431.

[0054] Specifically, the ruler 43 achieves telescopic movement by incorporating a cylinder structure within itself; the ruler 43 includes an inner ruler 431, an outer ruler 432, and a first pneumatic mechanism 433; the inner ruler 431 is connected to the uterine cup body 41 and is coaxial with the uterine cup body 41; the outer ruler 432 is movably sleeved on the inner ruler 431 and is also coaxial with the uterine cup body 41; the outer ruler 432 and the inner ruler 431 are fitted together with a clearance, allowing the outer ruler 432 to extend and retract. Moving along the axial direction of the inner ruler 431, a telescopic cavity 434 is formed between the inner ruler 431 and the outer ruler 432. The telescopic cavity 434 is used to communicate with the first air pressure mechanism 433. The first air pressure mechanism 433 includes, but is not limited to, an air intake mechanism, such as an air pump mechanism. The first air pressure mechanism 433 adjusts the air pressure of the telescopic cavity 434 by air intake and air extraction. The force applied by the air pressure to the outer ruler 432 causes the outer ruler 432 to extend and retract relative to the inner ruler 431.

[0055] By adopting the above technical solution, the telescopic nature of the ruler 43 was achieved.

[0056] In one embodiment, the ruler 43 further includes an airbag 435 disposed on the outer ruler 432 and a second air pressure mechanism 436 for adjusting air pressure. The airbag 435 is provided with an airbag cavity 437 communicating with the second air pressure mechanism 436. The airbag cavity 437 can expand or shrink under the drive of the second air pressure mechanism 436.

[0057] Specifically, the airbag 435 is elastic and can deform under air pressure. The airbag 435 is mounted on the outer ruler 432 and is located at the end of the outer ruler 432 away from the uterine cup body 41. The airbag 435 is connected to the second air pressure mechanism 436. The second air pressure mechanism 436 includes, but is not limited to, an air intake mechanism, such as an air pump mechanism. The second air pressure mechanism 436 adjusts the air pressure of the airbag 435 by air intake and air extraction. The force of the air pressure applied to the airbag 435 causes the airbag 435 to expand or shrink. The airbag 435 is used to prevent the rigid end of the ruler 43 from damaging the uterus.

[0058] It needs to be further explained that by shrinking the balloon 435 to facilitate the entry of the rod 43 into the uterus, and by expanding the balloon 435 after the rod 43 enters the uterus, the possibility of the rod 43 damaging the uterus is reduced.

[0059] By adopting the above technical solution, the size of the airbag 435 is adjustable, which takes into account both the accessibility and protection of the ruler 43.

[0060] In one embodiment, the first pneumatic mechanism 433 is provided with a first vent pipe 438 that passes through the inner ruler rod 431 and communicates with the telescopic cavity 434; the second pneumatic mechanism 436 is provided with a second vent pipe 439 that passes through the inner ruler rod 431 and is inserted into the telescopic cavity 434, the second vent pipe 439 extends to the airbag 435 and communicates with the airbag cavity 437.

[0061] Specifically, the first ventilator 438 connects the first air pressure mechanism 433 and the telescopic cavity 434. One end of the first ventilator 438 passes through the internal toothed rod and extends into the telescopic cavity 434. The other end of the first ventilator 438 is exposed outside the internal ruler rod 431 and is connected to the first air pressure mechanism 433. The second ventilator 439 connects the second air pressure mechanism 436 and the airbag cavity 437. One end of the second ventilator 439 passes through the internal toothed rod and is inserted into the telescopic cavity 434. It also extends into the airbag 435. The other end of the second ventilator 439 is exposed outside the internal ruler rod 431 and is connected to the second air pressure mechanism 436.

[0062] By adopting the above technical solution, the ruler 43 has a high degree of structural integration, which helps to reduce the volume of the ruler 43 and facilitates the entry of the ruler 43.

[0063] In one embodiment, the ruler 43 is further provided with a force sensor 440 located at the end of the ruler 43 away from the airbag 435. The force sensor 440 is used to obtain the interaction force between the ruler 43 and the uterine cavity, so as to avoid excessive force causing damage to the uterine cavity.

[0064] By adopting the above technical solution, the force sensor 440 is used to monitor the pressure force of the ruler 43 in contact with the human uterine cavity in real time, which makes it easier to determine the size of the uterine cavity and protect the patient.

[0065] Please refer to it again. Figure 2 In one embodiment, the trolley mechanism 1 includes a base 11, a first column 12 disposed on the base 11, a second column 13 slidably connected to the first column 12, a lifting drive connecting the first column 12 and the second column 13, and a support platform 15 disposed on the second column 13; the second column 13 can be raised and lowered relative to the first column 12 under the drive of the lifting drive; the support platform 15 is used to support the drive mechanism 2.

[0066] Specifically, the lifting drive component includes, but is not limited to, a motor component; the support platform 15 is used to connect with the drive mechanism 2, thereby driving the posture adjustment mechanism 3 and the lifting mechanism 4 to rise and fall.

[0067] By adopting the above technical solution, the lifting mechanism 4 was raised and lowered.

[0068] In one embodiment, the second column 13 is provided with a pitch axis 16, and the support platform 15 is provided with a pitch drive. The support platform 15 is connected to the pitch axis 16 and can rotate around the pitch axis 16 under the drive of the pitch drive.

[0069] Specifically, the pitch drive includes, but is not limited to, motor components; the support platform 15 is connected to the pitch axis 16, and the support platform 15 can rotate the pitch axis 16 under the drive of the pitch drive.

[0070] By adopting the above technical solution, the pitch angle of the lifting mechanism 4 can be adjusted.

[0071] In one embodiment, the base 11 has a plurality of casters 18 at its bottom.

[0072] By adopting the above technical solution, the trolley mechanism 1 is movable, thereby driving the lifting mechanism 4 to move.

[0073] Please refer to the following: Figure 5 and Figure 6 In one embodiment, the drive mechanism 2 includes a sliding rail 21 mounted on the trolley mechanism 1, a sliding frame 22 slidably mounted on the sliding rail 21, a sliding drive member 23 connected to the sliding frame 22 in a transmission manner, and a wire drive unit 24 mounted on the sliding frame 22; the sliding drive member 23 is used to drive the sliding frame 22 to slide along the sliding rail 21; the wire drive unit 24 includes a wire drive motor 241 mounted on the sliding frame 22, a drive wire wheel 242 mounted on the sliding frame 22, and a drive wire 243 wound around the drive wire wheel 242; the wire drive motor 241 is used to drive the drive wire wheel 242 to retract and extend the drive wire 243, and the drive wire 243 is used to drive the attitude adjustment mechanism 3 to move.

[0074] Specifically, the sliding track 21 refers to the track used to enable the drive mechanism 2 to slide relative to the trolley mechanism 1 on the trolley mechanism 1. The sliding track 21 has a preset direction. In this embodiment, the sliding track 21 is parallel to the horizontal direction, that is, the drive mechanism 2 can move along the horizontal direction, thereby driving the posture adjustment mechanism 3 and the lifting mechanism 4 to move along the horizontal direction.

[0075] The sliding frame 22 is used to support the wire drive unit 24. The sliding frame 22 is slidably mounted on the sliding rail 21. The sliding frame 22 can move along the length of the sliding rail 21, so that the sliding frame 22 can drive the wire drive unit 24 to move in the horizontal direction.

[0076] The sliding drive component 23 is used to drive the sliding frame 22 to slide, providing the power for the sliding frame 22 to slide on the sliding track 21. The sliding drive component 23 includes, but is not limited to, motor components.

[0077] The line drive unit 24 includes a line drive motor 241, a drive reel 242, and a drive line 243. The line drive motor 241 and the drive reel 242 are mounted on the sliding frame 22, and the drive line 243 is wound around the drive reel 242. The line drive motor 241 is used to drive the drive reel 242 to wind and unwind the drive line 243, and the drive line 243 is used to drive the attitude adjustment mechanism 3 to move, thereby enabling the attitude adjustment mechanism 3 to adjust the attitude of the lifting mechanism 4.

[0078] By adopting the above technical solution, the wire drive unit 24 drives the posture adjustment mechanism 3 to adjust the posture of the uterus lifting mechanism 4 through wire drive. Its adjustment method is flexible and the position adjustment is highly accurate, which helps to improve surgical efficiency and surgical precision.

[0079] In one embodiment, the sliding frame 22 includes a first sliding frame body 221 and a second sliding frame body 222 detachably connected to the first sliding frame body 221. The first sliding frame body 221 is slidably mounted on the sliding track 21. The first sliding frame body 221 is provided with a wire drive motor 241, and the second sliding frame body 222 is provided with a drive wheel 242.

[0080] Specifically, the sliding frame 22 is detachable. The sliding frame 22 includes a first sliding frame body 221 and a second sliding frame body 222. The two are detachably connected by the cooperation of corresponding sliders and grooves. The first sliding frame body 221 is equipped with a wire drive motor 241, and the second sliding frame body 222 is equipped with a drive wire wheel 242. This allows the drive motor and drive wire wheel 242 to be connected and disconnected as the first sliding frame body 221 and the second sliding frame body 222 are assembled and disassembled.

[0081] By adopting the above technical solution, it is beneficial to realize the modular structure of the posture adjustment mechanism 3, the lifting mechanism 4 and part of the drive mechanism 2, and it is also beneficial to disassemble the modular structure.

[0082] In one embodiment, the drive mechanism 2 further includes a third sliding frame 223 connected to the first sliding frame 221, a manual gear 224 disposed on the third sliding frame 223, a manual operation structure 225 driven by the manual gear 224, and an electric gear 226 connected to the power output shaft of the line drive motor 241; the manual gear 224 is driven by the electric gear 226, and the line drive motor 241 is driven by the drive reel 242 through the electric gear 226 and the manual gear 224.

[0083] Specifically, the drive mechanism 2 also includes a third sliding frame 223, a manual gear 224, a manual operation structure 225, and an electric gear 226; the third sliding frame 223 is connected to the first sliding frame 221, the manual gear 224 is mounted on the third sliding frame 223 and can rotate around its own axis, the manual operation structure 225 is operated by the operator, and the manual operation structure 225 includes, but is not limited to, a knob, and the manual gear 224 is driven to rotate by rotating the manual operation structure 225; the electric gear 226 is connected to the manual gear 224 in a transmission connection, and the line drive motor 241 is connected to the drive reel 242 in a transmission connection through the electric gear 226 and the manual gear 224.

[0084] It needs further explanation that the wire drive unit 24 has both electric and manual drive modes. First, when the wire drive motor 241 of the wire drive unit 24 is running normally, the power output shaft of the wire drive motor 241 drives the electric gear 226 to rotate. Since the electric gear 226 is connected to the manual gear 224, the electric gear 226 drives the manual gear 224 to rotate, and the manual gear 224 in turn drives the drive sheave 242 to rotate, ultimately driving the drive sheave 242 to rotate. Second, when the wire drive motor 241 cannot run normally, the operator directly operates the manual operation structure 225 to drive the manual gear 224 to rotate, which in turn drives the drive sheave 242 to rotate. In this way, the two drive modes of the drive mechanism 2 are realized: electric and manual.

[0085] In one embodiment, the drive mechanism 2 further includes a coupling 25, which includes a first coupling unit 251 disposed on the third sliding frame 223 and a second coupling unit 252 disposed on the second sliding frame 222 and detachably connected to the first coupling unit 251. The first coupling unit 251 is coaxially connected to the manual gear 224, and the second coupling unit 252 is coaxially connected to the drive pulley 242.

[0086] Specifically, the coupling 25 refers to a device used in mechanical transmission to connect two shaft-like components and transmit torque and rotational motion. It enables efficient power transmission, compensates for installation misalignment between the two shafts, and provides buffering, vibration damping, or overload protection. In this embodiment, the coupling 25 includes a first coupling unit 251 and a second coupling unit 252. The first coupling unit 251 is mounted on a third sliding frame 223, and the second coupling unit 252 is mounted on a second sliding frame 222. The second coupling unit 252 is detachably connected to the first coupling unit 251 via a keyway structure. The first coupling unit 251 is coaxially connected to a manual gear 224 and can rotate synchronously with it; the second coupling unit 252 is coaxially connected to a drive reel 242 and can rotate synchronously with it.

[0087] By adopting the above technical solution, the coupling 25 enables the disassembly and assembly of the manual gear 224 and the drive reel 242.

[0088] In one embodiment, the first sliding frame 221 is provided with a latch 2211, the latch 2211 and the second coupling unit 252 are respectively located on opposite sides of the first sliding frame 221 and a latching space for accommodating the second sliding frame 222 is formed between them. The latch 2211 can limit the second sliding frame 222 within the latching space, so that the first coupling unit 251 and the second coupling unit 252 are connected.

[0089] Specifically, in this embodiment, the latch 2211 is rotatably connected to the first sliding frame 221. The latch 2211 can rotate upward to form a limiting protrusion, which limits the second sliding frame 222 within the latch space. The latch 2211 can rotate downward so that the limiting protrusion no longer limits the second sliding frame 222, and the second sliding frame 222 can be removed from the latch space.

[0090] By adopting the above technical solution, it is easier for operators to disassemble and assemble the second sliding frame 222, thereby facilitating the disassembly of the modular structure formed by the posture adjustment mechanism 3, the lifting mechanism 4, and part of the drive mechanism 2.

[0091] In one embodiment, the sliding frame 22 further includes a first pulley 227 disposed on the first sliding frame body 221, the axis of the first pulley 227 being perpendicular to the axis of the drive line wheel 242, and the drive line 243 being wound around the first pulley 227.

[0092] Specifically, the first pulley 227 is used to adjust the extension direction of the drive line 243. The axis of the first pulley 227 is perpendicular to the axis of the drive line wheel 242, so that the extension direction of the drive line 243 when it is wrapped around the first pulley 227 is perpendicular to the extension direction of the drive line wheel 242.

[0093] It needs to be further explained that the first pulley 227 is used to adjust the extension direction of the drive line 243 and can also increase the tension of the drive line 243.

[0094] By adopting the above technical solution, the drive line 243 is prevented from falling off the first pulley 227 and the drive line wheel 242.

[0095] In one embodiment, the sliding frame 22 further includes a second pulley 228 disposed on the first sliding frame body 221, the axis of the second pulley 228 being parallel to the axis of the first pulley 227, and the drive line 243 being wound around the first pulley 227 and the second pulley 228.

[0096] Specifically, the second pulley 228 is used to adjust the extension direction of the drive line 243. The axis of the second pulley 228 is parallel to the axis of the first pulley 227, so that the extension direction of the drive line 243 when it is wound around the first pulley 227 and the second pulley 228 is perpendicular to the extension direction of the drive line wheel 242.

[0097] It needs to be further explained that the first pulley 227 and the second pulley 228 are used together to adjust the extension direction of the drive line 243 and can also increase the tension of the drive line 243.

[0098] By adopting the above technical solution, the drive line 243 is prevented from falling off the first pulley 227, the second pulley 228 and the drive line wheel 242.

[0099] like Figure 7 As shown, in one embodiment, the posture adjustment mechanism 3 includes a first rotating unit 31 and a second rotating unit 32 connected to the axis of the first rotating unit 31. The first rotating unit 31 is connected to the sliding frame 22 and defines a first rotating axis. The second rotating unit 32 is connected to the lifting mechanism 4 and can rotate around the first rotating axis. The second rotating unit 32 is connected to the drive line 243.

[0100] Specifically, the posture adjustment mechanism 3 includes a first rotating unit 31 and a second rotating unit 32. The first rotating unit 31 is connected to the sliding frame 22. More specifically, the first rotating unit 31 is connected to the second sliding frame 222. The first rotating unit 31 defines a first rotating axis. The second rotating unit 32 is connected to the first rotating unit 31 and can rotate around the first rotating axis. One end of the second rotating unit 32 away from the first rotating unit 31 is connected to the lifting mechanism 4. The drive line 243 is connected to the second rotating unit 32 and rotates around the first rotating axis under the drive of the drive line 243.

[0101] More specifically, the drive line 243 has two drive ends 2431, which are respectively connected to two sides of the second rotating unit 32 located on both sides of its own axis. The drive line 243 is wound around the drive line wheel 242. The drive line wheel 242 rotates to retract and extend the drive line 243. When one drive end 2431 is extended, the other drive end 2431 is retracted, so that the second rotating unit 32 can rotate around the first rotating axis, and finally drive the lifting mechanism 4 to rotate around the first rotating axis.

[0102] By adopting the above technical solution, the lifting mechanism 4 has one degree of freedom for rotational adjustment.

[0103] In one embodiment, the attitude adjustment mechanism 3 includes a third rotation unit 33 connected to the axis of the second rotation unit 32. The second rotation unit 32 defines a second rotation axis, and the third rotation unit 33 is capable of rotating around the second rotation axis. There are two wire-driven units 24, one of which is connected to the first rotation unit 31 by a drive line 243, and the other is connected to the second rotation unit 32 by a drive line 243.

[0104] Specifically, the posture adjustment mechanism 3 also includes a third rotation unit 33, the second rotation unit 32 defines a second rotation axis, the third rotation unit 33 is connected to the second rotation unit 32 and can rotate around the second rotation axis, the third rotation unit 33 connects the second rotation unit 32 and the lifting mechanism 4, the drive line 243 is connected to the third rotation unit 33 and rotates around the second rotation axis under the drive of the drive line 243.

[0105] Specifically, the drive line 243 has two drive ends 2431. In this embodiment, there are two drive lines 243, which are respectively connected to the second rotating unit 32 and the third rotating unit 33. The two drive ends 2431 of the drive line 243 connected to the third rotating unit 33 are respectively connected to the two sides of the third rotating unit 33 located on both sides of its own axis. The drive line 243 is wound on a drive line wheel 242 that is different from the second rotating unit 32. The drive line wheel 242 rotates to retract and extend the drive line 243. When one drive end 2431 is extended, the other drive end 2431 is retracted, so that the third rotating unit 33 can rotate around the second rotating axis, and finally drive the lifting mechanism 4 to rotate around the second rotating axis.

[0106] It needs to be further explained that the first axis of rotation is perpendicular to the second axis of rotation.

[0107] By adopting the above technical solution, the lifting mechanism 4 has two degrees of freedom for rotational adjustment.

[0108] Secondly, a uterine lifting device 100 is provided, including the aforementioned drive mechanism 2, trolley mechanism 1, posture adjustment mechanism 3 connected to the drive mechanism 2, and uterine lifting mechanism 4 connected to the posture adjustment mechanism 3 and the drive mechanism 2; the trolley mechanism 1 carries the drive mechanism 2, posture adjustment mechanism 3, and uterine lifting mechanism 4; the drive mechanism 2 is disposed on the trolley mechanism 1, and the drive mechanism 2 is used to drive the posture adjustment mechanism 3 and uterine lifting mechanism 4 to operate; the posture adjustment mechanism 3 is used to adjust the posture of the uterine lifting mechanism 4; the uterine lifting mechanism 4 is used to be inserted into the corresponding human body part.

[0109] By adopting the above technical solution, based on the advantages of the drive mechanism 2 in the above embodiment, the uterine lifter 100 in this embodiment also has the advantages of strong applicability, saving the physical strength of operators, and improving surgical efficiency.

[0110] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A drive mechanism characterized by: The driving mechanism comprises a sliding rail arranged on a trolley mechanism, a sliding frame slidingly arranged on the sliding rail, a sliding driving member in driving connection with the sliding frame, and a wire driving unit arranged on the sliding frame; the sliding driving member is used to drive the sliding frame to slide along the sliding rail; the wire driving unit comprises a wire driving motor arranged on the sliding frame, a driving wire wheel arranged on the sliding frame, and a driving wire wound on the driving wire wheel; the wire driving motor is used to drive the driving wire wheel to wind and unwind the driving wire; and the driving wire is used to drive a posture adjusting mechanism to move.

2. The drive mechanism of claim 1, wherein, The sliding frame comprises a first sliding frame body and a second sliding frame body in detachable connection with the first sliding frame body; the first sliding frame body is slidingly arranged on the sliding rail; the first sliding frame body is provided with the wire driving motor; and the second sliding frame body is provided with the driving wire wheel.

3. The drive mechanism of claim 2, wherein, The driving mechanism further comprises a third sliding frame body in connection with the first sliding frame body, a manual gear wheel arranged on the third sliding frame body, a manual operation structure in driving connection with the manual gear wheel, and an electric gear wheel in connection with a power output shaft of the wire driving motor; the manual gear wheel is in driving connection with the electric gear wheel; and the wire driving motor is in driving connection with the driving wire wheel through the electric gear wheel and the manual gear wheel.

4. The drive mechanism of claim 3, wherein, The driving mechanism further comprises a shaft coupling; the shaft coupling comprises a first shaft coupling unit arranged on the third sliding frame body and a second shaft coupling unit arranged on the second sliding frame body and in detachable connection with the first shaft coupling unit; the first shaft coupling unit is coaxially connected with the manual gear wheel; and the second shaft coupling unit is coaxially connected with the driving wire wheel.

5. The drive mechanism of claim 4, wherein, The first sliding frame body is provided with a lock catch; the lock catch and the second shaft coupling unit are respectively located on opposite sides of the first sliding frame body and form a lock catch space for accommodating the second sliding frame body therebetween; and the lock catch can limit the second sliding frame body in the lock catch space so that the first shaft coupling unit is in butt joint with the second shaft coupling unit.

6. The drive mechanism of claim 2, wherein, The sliding frame further comprises a first pulley arranged on the first sliding frame body; an axis of the first pulley is perpendicular to an axis of the driving wire wheel; and the driving wire is wound on the first pulley.

7. The drive mechanism of claim 6, wherein, The sliding frame further comprises a second pulley arranged on the first sliding frame body; an axis of the second pulley is parallel to an axis of the first pulley; and the driving wire is wound on the first pulley and the second pulley.

8. The drive mechanism of claim 1, wherein, The posture adjusting mechanism comprises a first rotating unit and a second rotating unit in shaft connection with the first rotating unit; the first rotating unit is in connection with the sliding frame; the first rotating unit defines a first rotating shaft; the second rotating unit is in connection with a uterus lifting mechanism; the second rotating unit can rotate around the first rotating shaft; and the second rotating unit is in connection with the driving wire.

9. The drive mechanism of claim 8, wherein, The posture adjusting mechanism comprises a third rotating unit connected with the second rotating unit shaft, the second rotating unit defines a second rotating shaft, the third rotating unit can rotate around the second rotating shaft, the number of the wire driving units is two, one of the driving wires is connected with the first rotating unit, and the other driving wire is connected with the second rotating unit.

10. An uterine manipulator, characterized by The uterus lifting mechanism is used for being placed into the corresponding human body part. The posture adjusting mechanism comprises a third rotating unit connected with the second rotating unit shaft, the second rotating unit defines a second rotating shaft, the third rotating unit can rotate around the second rotating shaft, the number of the wire driving units is two, one of the driving wires is connected with the first rotating unit, and the other driving wire is connected with the second rotating unit. The posture adjusting mechanism comprises a third rotating unit connected with the second rotating unit shaft, the second rotating unit defines a second rotating shaft, the third rotating unit can rotate around the second rotating shaft, the number of the wire driving units is two, one of the driving wires is connected with the first rotating unit, and the other driving wire is connected with the second rotating unit. The posture adjusting mechanism comprises a third rotating unit connected with the second rotating unit shaft, the second rotating unit defines a second rotating shaft, the third rotating unit can rotate around the second rotating shaft, the number of the wire driving units is two, one of the driving wires is connected with the first rotating unit, and the other driving wire is connected with the second rotating unit. The posture adjusting mechanism comprises a third rotating unit connected with the second rotating unit shaft, the second rotating unit defines a second rotating shaft, the third rotating unit can rotate around the second rotating shaft, the number of the wire driving units is two, one of the driving wires is connected with the first rotating unit, and the other driving wire is connected with the second rotating unit. The posture adjusting mechanism comprises a third rotating unit connected with the second rotating unit shaft, the second rotating unit defines a second rotating shaft, the third rotating unit can rotate around the second rotating shaft, the number of the wire driving units is two, one of the driving wires is connected with the first rotating unit, and the other driving wire is connected with the second rotating unit. The posture adjusting mechanism comprises a third rotating unit connected with the second rotating unit shaft, the second rotating unit defines a second rotating shaft, the third rotating unit can rotate around the second rotating shaft, the number of the wire driving units is two, one of the driving wires is connected

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