Trolley

Abstract

The utility model relates to a trolley which comprises a moving mechanism. The base is arranged on the moving mechanism; the stand column is arranged on the base; the mechanical arm assembly is arranged on the stand column and comprises a first mechanical arm, a second mechanical arm and a support, the first mechanical arm is rotationally connected with the stand column, the second mechanical arm is rotationally connected with the first mechanical arm, and the support is rotationally connected with the second mechanical arm; the mechanical arm assembly can be in an unfolded state and a folded state; the mechanical arm assembly is further provided with a balance mechanism, the balance mechanism comprises a balancing weight arranged in the base, and in the unfolding state, when the mechanical arm assembly rotates towards one side around the stand column, the balancing weight moves towards the other side. According to the trolley provided by the utility model, the magnetic field generator can be fixed at a preset position, and the stability of the trolley can be kept when the mechanical arm is unfolded and swings; the trolley locking operation is convenient and fast, and the trolley can stably stay on the ground after being locked.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a trolley. Background Technology

[0002] Surgical trolleys are indispensable mobile auxiliary equipment in hospitals, clinics, and laboratories, used for the safe and efficient storage and transportation of medical devices, medicines, consumables, and other supplies. Due to their rich functionality and flexible mobility, they have also found widespread application in surgery. For example, surgical trolleys are increasingly being used in intramedullary nailing surgery to meet the required needs. In intramedullary nailing surgery, electromagnetic navigation technology has been used to facilitate precise intraoperative positioning of the intramedullary nail and its locking screw. Electromagnetic navigation technology requires a magnetic field generator to produce a magnetic field, and sensors installed on the intramedullary nail and locking screw can sense the direction and intensity of the magnetic field, thereby measuring their own position within the magnetic field and determining the location of the intramedullary nail or locking screw.

[0003] During intramedullary nailing surgery, a magnetic field generator needs to be placed, positioned appropriately, and held in place. However, existing trolleys cannot meet the requirements for using magnetic field generators. Utility Model Content

[0004] To enable the operating trolley to meet the requirements of using a magnetic field generator in an intramedullary nail navigation system, one aspect of this utility model provides a trolley comprising:

[0005] Mobile mechanism;

[0006] A base is mounted on the moving mechanism;

[0007] The upright is mounted on the base;

[0008] A robotic arm assembly is mounted on the column. The robotic arm assembly includes a first robotic arm, a second robotic arm, and a support. The first robotic arm is rotatably connected to the column, the second robotic arm is rotatably connected to the first robotic arm, and the support is rotatably connected to the second robotic arm. The robotic arm assembly can be in an unfolded state and a folded state.

[0009] A balancing mechanism is also provided, which includes a counterweight block disposed in the base. In the unfolded state, when the robotic arm assembly rotates around the column to one side, the counterweight block moves to the other side.

[0010] According to one embodiment of the present invention, the balancing mechanism further includes a motion detection mechanism and a driving mechanism. The motion detection mechanism is used to detect the rotation direction of the first robotic arm around the column in the horizontal plane. The driving mechanism is used to control the movement of the counterweight according to the detection result of the motion detection mechanism. The driving mechanism includes a motor and a transmission mechanism.

[0011] According to one embodiment of the present invention, the transmission mechanism includes a gear and rack mechanism or a cam mechanism.

[0012] According to one embodiment of the present invention, the moving mechanism includes at least one caster, the trolley further includes a locking mechanism, the locking mechanism includes a locking operating member, the locking operating member is connected to at least one rotating member, and the at least one rotating member is connected to the caster.

[0013] According to one embodiment of the present invention, the locking mechanism further includes a linkage mechanism, and the at least one rotating member includes two rotating members, which are connected to each other through the linkage mechanism.

[0014] According to one embodiment of the present invention, the locking mechanism further includes an unlocking operation component, which is connected to the at least one rotating component.

[0015] According to one embodiment of the present invention, it further includes an auxiliary support mechanism, the auxiliary support mechanism including at least one auxiliary support leg and an actuation device, the actuation device being adapted to raise or lower the auxiliary support leg.

[0016] According to one embodiment of the present invention, the actuating device includes a motor and a gear and rack mechanism, wherein the gear and rack mechanism is connected to the auxiliary support leg; or

[0017] The actuating device includes a hydraulic drive unit, which includes a hydraulic cylinder and a piston, and the auxiliary support leg is connected to the piston; or

[0018] The actuation device includes a linkage mechanism.

[0019] According to one embodiment of the present invention, a first rotating mechanism and a second rotating mechanism are provided between the second robotic arm and the support, and a damping element is provided at the second rotating mechanism.

[0020] According to one embodiment of the present invention, a position holding mechanism is provided between the first robotic arm and the support. The position holding mechanism includes a hydraulic cylinder, a piston rod connected to a piston in the hydraulic cylinder, a first connector connected to the hydraulic cylinder, and a second connector connected to the piston rod. The first connector is connected to the first robotic arm, and the second connector is connected to the support.

[0021] The trolley proposed in this invention can fix the magnetic field generator in a predetermined position and maintain the stability of the trolley when the robotic arm is extended and swings; the trolley locking operation is convenient and quick, and it can stay stably on the ground after locking.

[0022] Other structures and advantages of this utility model will be described in detail below with reference to the accompanying drawings. Attached Figure Description

[0023] The features and advantages of this utility model will become clear from the following detailed description provided with reference to the accompanying drawings. It should be understood that the following drawings are merely schematic and not necessarily drawn to scale, and therefore should not be considered as limitations on this utility model, wherein:

[0024] Figure 1 A schematic diagram of a trolley according to an embodiment of the present invention is shown, wherein all of the trolley's robotic arms are in a folded state.

[0025] Figure 2 A schematic diagram of a trolley according to an embodiment of the present invention is shown, wherein all of the trolley's robotic arms are in an extended state.

[0026] Figure 3 A bottom view of the base of a trolley according to one embodiment of the present invention is shown.

[0027] Figure 4 A front view of a portion of the base and column of a trolley according to an embodiment of the present invention is shown.

[0028] Figure 5 A front view of a portion of the base and column of a trolley according to another embodiment of the present invention is shown.

[0029] Figure 6 A front view of a portion of the base and column of a trolley according to an embodiment of the present invention is shown, in which different heights of the robotic arm are shown.

[0030] Figure 7 A front view of a portion of the column and all the mechanical parts of a trolley according to an embodiment of the present invention is shown in an unfolded state.

[0031] Figure 8 A schematic diagram of the position holding mechanism of the second robotic arm of a trolley according to an embodiment of the present invention is shown. Detailed Implementation

[0032] Embodiments of the present invention are described below with reference to the accompanying drawings. In the following description, numerous specific details are set forth to enable those skilled in the art to more fully understand and implement the present invention. However, it will be apparent to those skilled in the art that implementations of the present invention may not include some of these specific details. Furthermore, it should be understood that the present invention is not limited to the specific embodiments described. Rather, the present invention can be conceived to be implemented with any combination of the features and elements described below, regardless of whether they relate to different embodiments. Therefore, the following aspects, features, embodiments, and advantages are for illustrative purposes only and should not be construed as elements or limitations of the claims unless expressly set forth in the claims.

[0033] The terms "first" and "second" are used below to describe the elements of this application. These terms are used only to distinguish the individual elements and not to limit the nature, order, or number of these elements. The terms "comprising" and "having" are used to indicate an open-ended inclusion and mean that there may be additional elements / components besides those listed.

[0034] Figure 1 A schematic diagram of a trolley according to an embodiment of the present invention is shown, wherein all the robotic arms of the trolley are in a folded state. From Figure 1 As can be seen, the trolley includes a moving mechanism 1, a base 2, a column 3, a robotic arm assembly 4, and a magnetic field generator 5. The moving mechanism 1 is located at the lower part of the base 2, serving to support the base 2 and also allowing the base 2 to be moved. Preferably, the moving mechanism 1 uses casters of the form of omnidirectional wheels known in the prior art. Such casters may be equipped with brakes, which are actuated by foot movements, preventing the casters from rotating and thus keeping the base 2 and the entire trolley in a predetermined position, such as beside an operating table.

[0035] A column 3 is mounted on the base 2. A mechanical component 4 is mounted on the column 3. The column 3 can be positioned perpendicular to the base 2. The base 2 is generally designed in a symmetrical shape. Preferably, the column 3 or its extension does not pass through the center of gravity of the base 2. This is because the column 3 also houses the robotic arm component 4 and the magnetic field generator 5, both of which are located on one side of the column 3. Therefore, if the column 3 passes through the center of gravity of the base 2, the entire trolley may tilt or even tip over due to instability.

[0036] Figure 2A schematic diagram of a trolley according to an embodiment of the present invention is shown, wherein all the robotic arms of the trolley are in an extended state. In this case, the support 43 and the magnetic field generator 5 are furthest from the column, and the lever arm of the magnetic field generator 5 from the center of gravity of the base 2 is longer, thus resulting in a larger overturning moment. Placing the column 3 on the other side of the center of gravity of the base 2 can achieve better balance.

[0037] The robotic arm assembly 4 may include one or more robotic arms. Figure 2 The image shows a first robotic arm 41 connected to the column 3, a second robotic arm 42 connected to the first robotic arm 41, and a support 43 connected to the second robotic arm 42. A magnetic field generator 5 is placed on the support 43. (Comparison) Figure 2 and Figure 2 As can be seen, the first robotic arm 41 can rotate relative to the column 3 within the plane of the paper, and the second robotic arm 42 can also rotate relative to the first robotic arm 41 within the plane of the paper. The support 43 can also rotate relative to the second robotic arm 42 within the plane of the paper, thus allowing the robotic arm assembly 4 to be in both a folded and unfolded state. When the trolley is not used, the robotic arm assembly 4 can be in a folded state to reduce its volume. Furthermore, in the folded state, the center of gravity of the robotic arm assembly 4 is lower, making the trolley more stable.

[0038] Figure 3 A bottom view of the base of a trolley according to an embodiment of the present invention is shown. As a specific example, the base 2 has a rectangular portion and four corner portions extending from the four corners of the rectangular portion, each corner portion being provided with a caster. Figure 3The four casters are: a first caster 11, a second caster 12, a third caster 13, and a fourth caster 14. As an improvement of this invention, a locking mechanism is provided, which can simultaneously lock or unlock all four casters. In the prior art, each caster typically has its own brake, which is operated to lock or unlock the caster when needed. However, this has many problems: each caster needs to be operated during use, which is time-consuming and laborious, and prone to errors. Forgetting to lock or unlock can lead to unstable locking, inability to push the trolley, or even causing the trolley to tip over. Furthermore, the operator needs to rotate the trolley a full circle, requiring a significant amount of space. Therefore, the locking mechanism proposed in this invention includes a locking operation component 201 and an unlocking operation component 202. The locking operation component 201 is connected to a second rotating component 205 via a first rotating component 203 and a connecting component 204. The second rotating component 205 is connected to the brake component located in the caster. Therefore, when the locking mechanism 201 is pressed down with a foot, the first rotating component 203 is rotated. The first rotating component 203, in turn, rotates the second rotating component 205 via the connecting component 204. The second rotating component 205 then engages the brake to lock the caster. Thus, for four casters, each caster can be equipped with a corresponding connecting component and a second rotating component, while for two of the casters—in… Figure 3 The first caster 11 and the second caster 12 are configured with a first rotating component 203, which serves as the other two casters. Figure 3 The third caster 13 and the fourth caster 14 are configured with other rotating parts, and the first rotating part 203 and the other rotating parts can rotate together through the first linkage mechanism 206, such as a linkage mechanism, so that a locking operation 201 can lock all the casters at the same time.

[0039] In the above embodiments, the connector 204 is not a necessary structure, but is provided to accommodate the shape of the base 2. That is, when coaxial, the locking and unlocking of the casters can be achieved directly using the integrated first rotating member 203 and second rotating member 205.

[0040] All casters can be locked by operating the locking mechanism 201 in one direction, and unlocked by operating it in the other direction. For example, you can press down to lock and release to unlock, or you can release to lock and press down to unlock.

[0041] As a further improvement, an unlocking actuator 202 can be provided. This is because if a single actuator is used for locking and unlocking, it requires placing a foot under the actuator and lifting it upwards. Since the actuator is generally a plate-like structure, lifting it easily can cause foot injury or pain. With the unlocking actuator 202, it can simultaneously operate the first rotating member 203 and another rotating member via the second linkage mechanism 207, thereby achieving unlocking. Since the locking actuator 201 and the unlocking actuator 202 are mechanically connected through the rotating member and the linkage mechanism, when one is pressed down, the other is lifted. This ensures that both actuators are actuated by pressing down, avoiding the need for lifting.

[0042] Figure 4 A front view of a portion of the base and column of a trolley according to an embodiment of the present invention is shown. Figure 4 The auxiliary support mechanism is shown. Specifically, in addition to the casters, retractable auxiliary support legs 211 are provided. The number of auxiliary support legs 211 can be the same as or different from the number of casters. The auxiliary support legs 211 are mainly provided to address the following situation: on smooth surfaces, the friction between the casters and the ground may be insufficient when braking, especially when the ground is wet. This makes it impossible to ensure that the trolley can stop on the ground by relying solely on the braking of the casters. Therefore, the auxiliary support legs 211 can provide support together with the braked casters, which increases the friction with the ground and achieves better static support stability for the trolley.

[0043] The auxiliary support leg 211 can be hydraulic, electromechanical, or purely mechanical. For example, a hydraulic type can use a hydraulic cylinder and piston; the pressure of hydraulic oil drives the piston, which connects to the support leg, thus extending the leg. An electromechanical type can use a combination of a motor and a rack and pinion mechanism; the motor's rotation drives the gears, which in turn drive the rack in linear motion. The rack connects to the support leg, thus extending it. A purely mechanical type can use a linkage mechanism to raise and lower the support leg.

[0044] An operating switch 212 for the auxiliary support leg 211 can be installed on the column 3. When the operator operates the switch, the auxiliary support leg 211 can be operated.

[0045] Figure 5 A front view of a portion of the base and column of a trolley according to another embodiment of the present invention is shown. (As previously stated in conjunction with...) Figure 1 and Figure 2As described above, since the magnetic field generator 5 and the robotic arm need to be deployed during use, the stability of the entire trolley needs to be considered. Therefore, the position of the upright is designed so that it does not pass through the center of gravity of the base 2. However, during use, in addition to deployment, the first robotic arm 41, the second robotic arm 42, and the support 43 may also need to rotate in the horizontal plane to place the magnetic field generator 5 in the required position. This rotation, or oscillation, causes a change in the lever arm applied by the magnetic field generator to the base 2, thus affecting the overall stability of the trolley. Therefore, to further improve the stability of the trolley during use, this invention also proposes a balancing mechanism. See [link to related documentation]. Figure 5 A counterweight 222 is installed in the base 2, and this counterweight 222 can move within the internal space of the base 2. A motion detection mechanism 221 is installed on the column 3. This motion detection mechanism 221 can detect the rotation direction of the first robotic arm 41 in the horizontal plane and transmit the detected result to a drive device, such as a motor, installed in the base 2 via a line 223. The motor drives the counterweight 222 to move in the balance direction according to the rotation direction of the first robotic arm 41. Specifically, the counterweight 222 can be moved in a straight line by a motor driving a rack and pinion mechanism or a cam mechanism. Thus, when viewed from above in a direction perpendicular to the ground, when the first robotic arm 41 swings to the left, the motion detection mechanism 221 detects this movement of the first robotic arm, and the motor, upon receiving the signal, drives the counterweight 222 to move to the right. Conversely, when the first robotic arm 41 swings to the right, it drives the counterweight 222 to move to the left. Therefore, by detecting the movement of the first robotic arm 41 and controlling the movement of the counterweight 222, it is possible to avoid the large overturning moment caused by the full extension of the first robotic arm 41, the second robotic arm 42 connected to it, and the support, which would lead to instability of the trolley. The motion detection mechanism 221 can be, for example, an angle sensor, which can detect the rotation angle of the first robotic arm 41.

[0046] Alternatively, a slide rail can be provided for the counterweight 222, and this function can be achieved through a mechanical transmission mechanism. That is, when the first robotic arm 41 swings, it drives, for example, a chain drive mechanism to move the counterweight 222 along the slide rail in the corresponding balance direction.

[0047] Figure 6 A front view of a portion of the base and column of a trolley according to an embodiment of the present invention is shown, in which different heights of the robotic arm are shown. Figure 7 This is a front view showing a portion of the column and all the mechanical parts of a trolley according to an embodiment of the present invention in an unfolded state. See also Figure 6 and Figure 7In intramedullary nailing surgery, the position of the magnetic field generator needs to be adjusted to ensure it is in the appropriate location. Therefore, the trolley of this invention is equipped with a height adjustment mechanism for the entire robotic arm assembly and a universal adjustment mechanism between the individual robotic arms. See details... Figure 6 A height adjustment mechanism 411 is provided between the first robotic arm 41 and the column 3 to adjust the height of the entire robotic arm assembly 4. For example, a fixing device can be provided to fix the robotic arm assembly 4 at different heights on the column 3. The fixing device can be a fixing screw; tightening the screw fixes the robotic arm assembly 4, and loosening the screw allows the height of the robotic arm assembly 4 to be adjusted up and down. The fixing device can also be a spring-loaded pin that engages with a hole. When the pin is in the hole, the robotic arm assembly 4 cannot move; when the pin is pressed out of the hole, the robotic arm assembly 4 can move up and down.

[0048] See Figure 7 A universal joint mechanism can be provided between the first robotic arm and the height adjustment mechanism 411, or between the first robotic arm and the column 3 in the absence of a height adjustment mechanism, thereby enabling the first robotic arm 41 to rotate in the horizontal plane and in the plane passing through the column. Figure 7 The upper and lower parts rotate vertically. Similarly, a universal joint 421 is provided between the first robotic arm 41 and the second robotic arm 42 to realize the rotation of the second robotic arm in two orthogonal directions. Between the second robotic arm 42 and the support 43, a first rotating mechanism 431 and a second rotating mechanism 432 can be provided, wherein the first rotating mechanism 431 is used to realize rotation in one direction. Figure 7 The first rotating mechanism 43 rotates about a rotation axis located in the plane of the paper, while the second rotating mechanism 432 rotates about a rotation axis perpendicular to the plane of the paper. A connecting mechanism 433 is also provided on the support 43 for connecting the magnetic field generator. Furthermore, as a preferred embodiment, a damping element 4321, such as a damping nut, can be provided at the second rotating mechanism 432 to keep the support in its stationary position relative to the second robotic arm after rotation. The support 43 is preferably made of a non-magnetic material to reduce interference with the magnetic field generated by the magnetic field generator. In addition, the magnetic field generated by the magnetic field generator does not cover any part of the trolley to reduce interference from metal parts on the trolley.

[0049] Figure 8 A schematic diagram of the position holding mechanism of the second robotic arm of a trolley according to an embodiment of the present invention is shown. Figure 7 and Figure 8A position holding mechanism may also be provided at the second robotic arm 42. Specifically, the position holding mechanism may include a hydraulic cylinder 441, a piston rod 442 connected to a piston in the hydraulic cylinder, a first connector 443 connected to the hydraulic cylinder 441, and a second connector 444 connected to the piston rod. The first connector 443 is connected to the first robotic arm 41, and the second connector 444 is connected to the bracket 43. After setting the pressure in the hydraulic cylinder in conjunction with the weight of the magnetic field generator, during the movement of the second robotic arm, when the second robotic arm moves to the desired position, the position holding mechanism can use the pressure in the hydraulic cylinder to ensure that the second robotic arm remains stably stationary at that position.

[0050] Various modifications and variations can be made to the embodiments disclosed above without departing from the scope or spirit of this invention. Other embodiments of this invention will be apparent to those skilled in the art based on the practice of this invention disclosed in this specification. This specification and the examples disclosed herein should be considered illustrative only, and the true scope of this invention is defined by the appended claims and their equivalents.

Claims

1. A trolley, comprising: Mobile mechanism (1); The base (2) is disposed on the moving mechanism; A column (3) is mounted on the base; A robotic arm assembly (4) is mounted on the column. The robotic arm assembly includes a first robotic arm (41), a second robotic arm (42), and a bracket (43). The first robotic arm is rotatably connected to the column, the second robotic arm is rotatably connected to the first robotic arm, and the bracket is rotatably connected to the second robotic arm. The robotic arm assembly can be in an unfolded state and a folded state. Its features are, A balancing mechanism is also provided, which includes a counterweight (222) disposed in the base. In the unfolded state, when the robotic arm assembly rotates around the column to one side, the counterweight moves to the other side.

2. The trolley according to claim 1, characterized in that, The balancing mechanism further includes a motion detection mechanism (221) and a drive mechanism. The motion detection mechanism is used to detect the rotation direction of the first robotic arm around the column in the horizontal plane. The drive mechanism is used to control the movement of the counterweight according to the detection result of the motion detection mechanism. The drive mechanism includes a motor and a transmission mechanism.

3. The trolley according to claim 2, characterized in that, The transmission mechanism includes a rack and pinion mechanism or a cam mechanism.

4. The trolley according to any one of claims 1-3, characterized in that, The moving mechanism includes at least one caster, and the trolley also includes a locking mechanism, the locking mechanism including a locking operation member (201), the locking operation member (201) being connected to at least one rotating member, the at least one rotating member being connected to the caster.

5. The trolley according to claim 4, characterized in that, The locking mechanism further includes a linkage mechanism (206), and the at least one rotating member includes two rotating members connected to each other through the linkage mechanism.

6. The trolley according to claim 4, characterized in that, The locking mechanism further includes an unlocking operation element (202) connected to the at least one rotating element.

7. The trolley according to any one of claims 1-3, characterized in that, It also includes an auxiliary support mechanism, which includes at least one auxiliary support leg (211) and an actuation device adapted to raise or lower the auxiliary support leg.

8. The trolley according to claim 7, characterized in that, The actuating device includes a motor and a rack and pinion mechanism, the rack and pinion mechanism being connected to the auxiliary support leg; or The actuating device includes a hydraulic drive unit, which includes a hydraulic cylinder and a piston, and the auxiliary support leg is connected to the piston; or The actuation device includes a linkage mechanism.

9. The trolley according to any one of claims 1-3, characterized in that, Between the second robotic arm and the support, a first rotating mechanism (431) and a second rotating mechanism (432) are provided, and a damping element (4321) is provided at the second rotating mechanism.

10. The trolley according to any one of claims 1-3, characterized in that, A position holding mechanism is provided between the first robotic arm and the support. The position holding mechanism includes a hydraulic cylinder (441), a piston rod (442) connected to the piston in the hydraulic cylinder, a first connector (443) connected to the hydraulic cylinder, and a second connector (444) connected to the piston rod. The first connector is connected to the first robotic arm, and the second connector is connected to the support.

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