Probe rotating platform and surgical robot

Abstract

The utility model discloses a probe rotating platform and a surgical robot, the probe rotating platform comprises a base, a rotating table, a first rotating assembly and a second rotating assembly, the rotating table is arranged on the base; the first rotating assembly and the second rotating assembly are arranged at the two ends of the base correspondingly. The first rotating assembly comprises a first arc guide rail and a first rolling assembly, the first arc guide rail is fixed to the rotating table, the first rolling assembly comprises a plurality of first rolling pieces, and the first rolling pieces abut against the lower arc track face of the first arc guide rail; the second rotating assembly comprises a second arc guide rail and a second rolling assembly, the second arc guide rail is fixed to the rotating table, the second rolling assembly comprises a plurality of second rolling pieces, and the second rolling pieces abut against the lower arc track face of the second arc guide rail. According to the probe rotating platform, through the first rotating assembly and the second rotating assembly, the rotating table can axially and stably rotate on the base, the structure is simple, and the rotating stability is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a probe rotation platform and a surgical robot. Background Technology

[0002] Prostate cancer is one of the most common malignant tumors in men. From the initial blind biopsy to the current precision-guided biopsy, blind biopsy is performed without imaging guidance, relying on the doctor's experience. This method has a low positive rate and is prone to damaging surrounding tissues. With the development of technology, ultrasound-guided biopsy has greatly improved the success rate of biopsy.

[0003] However, the existing puncture navigation and positioning system's robotic arm, after the probe is installed, does not support the probe's axial rotation or shakes significantly during rotation, resulting in poor axial rotation stability. Summary of the Invention

[0004] To address the related technical problems, the purpose of this utility model is to provide a probe rotation platform to solve the problem of poor axial rotation stability of the probe; in addition, this utility model also provides a probe rotation platform including the above-mentioned probe rotation platform.

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

[0006] A probe rotation platform includes a base, a rotating stage, a first rotation assembly, and a second rotation assembly, wherein:

[0007] The rotating stage is rotatably mounted on the base and is configured to mount the probe.

[0008] The first rotating component and the second rotating component are respectively disposed at both ends of the base along their own length direction;

[0009] The first rotating assembly includes a first arc guide rail and at least one set of first rolling assemblies. The first arc guide rail is fixed to the first end of the rotating table along its own length. Each set of first rolling assemblies includes a plurality of first rolling elements spaced apart at the first end of the base. The plurality of first rolling elements abut against the lower arc track surface of the first arc guide rail.

[0010] The second rotating assembly includes a second arc guide rail and at least one set of second rolling assemblies. The second arc guide rail is fixed to the second end of the rotating table along its own length. Each set of second rolling assemblies includes a plurality of second rolling elements spaced apart at the second end of the base. The plurality of second rolling elements abut against the lower arc track surface of the second arc guide rail.

[0011] Optionally, the base is provided with at least one set of third rolling components at its first end along its own length direction. Each set of third rolling components includes a plurality of third rolling elements spaced apart at the first end of the base. The plurality of third rolling elements abut against the upper arc track surface of the first arc guide rail.

[0012] Optionally, the first rolling assembly further includes a first support frame, which is disposed at the first end of the base along its own length direction. The third rolling assembly further includes a first mounting frame, which is spaced apart inside the first support frame. Both the first support frame and the first mounting frame are provided with a first limiting groove. The bottom of the first arc guide rail is provided with a first limiting block, which is disposed in the first limiting groove. The first limiting block is configured to limit the movement of the first arc guide rail.

[0013] Optionally, the second end of the base along its own length is provided with at least one set of fourth rolling components. Each set of fourth rolling components includes a plurality of fourth rolling elements spaced apart at the second end of the base. The plurality of fourth rolling elements abut against the upper arc track surface of the second arc guide rail.

[0014] Optionally, the second rolling assembly further includes a second support frame, which is disposed at the second end of the base along its own length direction. The fourth rolling assembly further includes a second mounting frame, which is spaced apart inside the second support frame. Both the second support frame and the second mounting frame are provided with second limiting grooves. The bottom of the second arc guide rail is provided with a second limiting block, which is disposed in the second limiting groove. The second limiting block is configured to limit the movement of the second arc guide rail.

[0015] Optionally, a first arc limiting groove and a second arc limiting groove are respectively provided on both sides of the second arc guide rail. The first arc limiting groove and the second arc limiting groove are configured to limit the forward rotation angle and the reverse rotation angle of the second rotating component.

[0016] Optionally, a fastener is provided at one end of the top of the base, the fastener being configured to fix the rotation angle of the first rotating component and / or the second rotating component.

[0017] A surgical robot comprising the aforementioned probe rotation platform.

[0018] The beneficial effects of this utility model are as follows: Compared with the prior art, the probe rotation platform provided by this utility model has the following beneficial effects:

[0019] 1. The first and second rotating components enable the rotary table to rotate axially and stably on the base, resulting in a simple structure and improved rotational stability;

[0020] 2. The rotational stability of the rotary table is improved by the cooperation of the first support frame, the first rolling assembly, the first mounting frame, and the third rolling assembly;

[0021] 3. The rotational stability of the rotary table is improved by the cooperation of the second support frame, the second rolling assembly, the second mounting frame, and the fourth rolling assembly;

[0022] 4. By setting the first limiting groove, the first limiting block, the second limiting groove, and the second limiting block, the rotational stability of the first and second circular arc guide rails during movement is increased. Attached Figure Description

[0023] To more clearly illustrate and understand the technical solutions in the embodiments of this utility model, the accompanying drawings used in the background technology and embodiment description of this utility model will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a probe rotation platform provided in an embodiment of this utility model;

[0025] Figure 2 This is a side view structural schematic diagram of a probe rotation platform provided in an embodiment of the present utility model;

[0026] Figure 3 This is a schematic diagram of the structure of the first rotating component in a probe rotating platform provided in an embodiment of this utility model;

[0027] Figure 4 This is a schematic diagram of the structure of the second rotating component in a probe rotating platform provided in an embodiment of this utility model. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] To facilitate understanding of this utility model, a more complete description of it will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model. It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of this utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] Please see Figures 1 to 4 As shown, this embodiment provides a probe rotation platform, which includes a base 10, a rotating stage 20, a first rotating assembly 30, and a second rotating assembly 40.

[0031] The rotating stage 20 is rotatably mounted on the base 10 and is configured to mount the probe 50; the first rotating assembly 30 and the second rotating assembly 40 are respectively disposed at both ends of the base 10 along their own length direction.

[0032] The first rotating component 30 includes a first arc guide rail 31 and at least one set of first rolling components 32. The first arc guide rail 31 is fixed to the first end of the rotating table 20 along its own length. Each set of first rolling components 32 includes a plurality of first rolling elements 320 spaced apart at the first end of the base 10. The plurality of first rolling elements 320 abut against the lower arc track surface of the first arc guide rail 31.

[0033] The second rotating assembly 40 includes a second arc guide rail 41 and at least one set of second rolling assemblies 42. The second arc guide rail 41 is fixed to the second end of the rotating table 20 along its own length. Each set of second rolling assemblies 42 includes a plurality of second rolling elements 420 spaced apart at the second end of the base 10. The plurality of second rolling elements 420 abut against the lower arc track surface of the second arc guide rail 41.

[0034] As can be seen, the first rotating component 30 and the second rotating component 40 enable the rotating table 20 to rotate axially and stably on the base 10, which has a simple structure and improves rotational stability.

[0035] In one embodiment, the base 10 is provided with at least one set of third rolling components 12 at its first end along its own length direction. Each set of third rolling components 12 includes a plurality of third rolling elements 120 spaced apart at the first end of the base 10. The plurality of third rolling elements 120 abut against the upper arc track surface of the first arc guide rail 31.

[0036] It can be seen that the rotational stability of the rotary table 20 is improved by the cooperation of the third rolling component 12 with the first rotating component 30.

[0037] In one embodiment, the first rolling assembly 32 further includes a first support frame 11, which is disposed at the first end of the base 10 along its own length direction. The third rolling assembly 12 further includes a first mounting frame 121, which is spaced apart inside the first support frame 11. Both the first support frame 11 and the first mounting frame 121 are provided with a first limiting groove 13. The bottom of the first arc guide rail 31 is provided with a first limiting block 14, which is disposed in the first limiting groove 13. The first limiting block 14 is configured to limit the movement of the first arc guide rail 31.

[0038] It can be seen that the rotational stability of the rotary table is improved by the cooperation of the first support frame 11, the first rolling assembly 32, the first mounting frame 121 and the third rolling assembly 12.

[0039] In one embodiment, the base 10 is provided with at least one set of fourth rolling components 16 at its second end along its own length direction. Each set of fourth rolling components 16 includes a plurality of fourth rolling elements 160 spaced apart at the second end of the base 10. The plurality of fourth rolling elements 160 abut against the upper arc track surface of the second arc guide rail 41.

[0040] It can be seen that the rotational stability of the rotary table 20 is improved by the cooperation of the fourth rolling component 16 and the second rotating component 40.

[0041] In one embodiment, the second rolling assembly 42 further includes a second support frame 15, which is disposed at the second end of the base 10 along its own length direction. The fourth rolling assembly 16 further includes a second mounting frame 161, which is spaced apart inside the second support frame 15. Both the second support frame 15 and the second mounting frame 161 are provided with a second limiting groove 17. The bottom of the second arc guide rail 41 is provided with a second limiting block 18, which is disposed in the second limiting groove 17. The second limiting block 18 is configured to limit the movement of the second arc guide rail 41.

[0042] It can be seen that the rotational stability of the rotary table is improved by the cooperation of the second support frame 15, the second rolling assembly 42, the second mounting frame 161 and the fourth rolling assembly 16.

[0043] In one embodiment, a first arc-shaped limiting groove 43 and a second arc-shaped limiting groove 44 are respectively provided on both sides of the second arc-shaped guide rail 41. The first arc-shaped limiting groove 43 and the second arc-shaped limiting groove 44 are configured to limit the forward rotation angle and the reverse rotation angle of the second rotating component 40.

[0044] It can be seen that the cooperation of the first arc-shaped limiting groove 43 and the second arc-shaped limiting groove 44 avoids overload of the rotary table 20 when it rotates axially.

[0045] In one embodiment, a fixing member 60 is provided at one end of the top of the base 10. The fixing member 60 is configured to fix the rotation angle of the first rotating component 30 and / or the second rotating component 40.

[0046] Specifically, the fastener 60 includes a first fastener, a second fastener, and a connector. The first fastener is fixedly installed at the bottom of the first support frame 11. The first fastener has a through hole and a pointer. The pointer is used to read the value by cooperating with the dial with scale on the top of the base 10. The second fastener is symmetrically arranged on the bottom of the first support frame 11 and has a threaded hole. The connector passes through the through hole and is threadedly connected to the second fastener.

[0047] Specifically, the connecting component is a bolt, and the bolt is provided with a handle. Rotating the handle causes the second fixing component to approach the first fixing component, thereby causing the first fixing component to press the dial and fix the rotating table 20.

[0048] As can be seen, the fastener 60 has a simple structure and is easy to operate.

[0049] A surgical robot comprising the aforementioned probe rotation platform.

[0050] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.

[0051] The above embodiments merely illustrate the basic principles and characteristics of this utility model. This utility model is not limited to the above examples. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A probe rotation platform, characterized in that, The probe rotation platform includes a base, a rotating stage, a first rotation assembly, and a second rotation assembly, wherein: The rotating platform is rotatably mounted on the base, and the rotating platform is configured to mount the probe; The first rotating component and the second rotating component are respectively disposed at both ends of the base along their own length direction; The first rotating component includes a first arc guide rail and at least one set of first rolling components. The first arc guide rail is fixed to the first end of the rotating table along its own length. Each set of first rolling components includes a plurality of first rolling elements spaced apart at the first end of the base. The plurality of first rolling elements abut against the lower arc track surface of the first arc guide rail. The second rotating component includes a second arc guide rail and at least one set of second rolling components. The second arc guide rail is fixed to the second end of the rotating platform along its own length. Each set of second rolling components includes a plurality of second rolling elements spaced apart at the second end of the base. The plurality of second rolling elements abut against the lower arc track surface of the second arc guide rail.

2. A probe rotation platform according to claim 1, wherein, At least one set of third rolling components is provided at the first end of the base along its own length direction. Each set of third rolling components includes a plurality of third rolling elements spaced apart at the first end of the base. The plurality of third rolling elements abut against the upper arc track surface of the first arc guide rail.

3. A probe rotation platform according to claim 2, wherein, The first rolling assembly further includes a first support frame, which is disposed at a first end of the base along its own length direction. The third rolling assembly further includes a first mounting frame, which is spaced apart inside the first support frame. Both the first support frame and the first mounting frame are provided with a first limiting groove. The bottom of the first arc guide rail is provided with a first limiting block, which is disposed in the first limiting groove. The first limiting block is configured to limit the movement of the first arc guide rail.

4. A probe rotation platform according to claim 1, wherein, At least one set of fourth rolling components is provided at the second end of the base along its own length direction. Each set of fourth rolling components includes a plurality of fourth rolling elements spaced apart at the second end of the base. The plurality of fourth rolling elements abut against the upper arc track surface of the second arc guide rail.

5. A probe rotation platform according to claim 4, wherein, The second rolling assembly further includes a second support frame, which is disposed at the second end of the base along its own length direction. The fourth rolling assembly further includes a second mounting frame, which is spaced apart and disposed inside the second support frame. Both the second support frame and the second mounting frame are provided with second limiting grooves. The bottom of the second arc guide rail is provided with a second limiting block, which is disposed in the second limiting groove. The second limiting block is configured to limit the movement of the second arc guide rail.

6. A probe rotation platform according to claim 1, wherein, The second arc guide rail is provided with a first arc limiting groove and a second arc limiting groove on both sides, and the first arc limiting groove and the second arc limiting groove are configured to limit the forward rotation angle and the reverse rotation angle of the second rotating component.

7. A probe rotation platform according to claim 1, wherein, One end of the base top is provided with a fixing part, and the fixing part is configured to fix the rotation angle of the first rotation assembly and / or the second rotation assembly.

8. A surgical robot, characterized by The probe rotation platform comprises the probe rotation platform according to any one of claims 1-7.

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