Pose adjustment system, medical apparatus, and medical device

Abstract

Disclosed are a pose adjustment system (100) and a medical device using the pose adjustment system (100), wherein the pose adjustment system (100) may comprise: a base (110); a movable platform (130); and a plurality of movable connecting rods (120), the movable connecting rods (120) being respectively connected, by means of movable components (140) having controllable degrees of freedom, to the base (110) and the movable platform (130); wherein the movable platform (130) achieves a plurality of degrees of freedom by means of autonomous movement of the movable connecting rods (120) driven by an external force and passive movement of the movable components (140). The pose adjustment system (100) can achieve precise motion control in a large range with multiple degrees of freedom, can achieve miniaturization and compactness, and can adapt to different application scenarios.

Description

Pose adjustment system, medical device and medical equipment TECHNICAL FIELD

[0001] The present application relates to the field of industrial equipment or medical equipment, in particular to a pose adjustment system, a medical device having the pose adjustment system, and a medical equipment having the pose adjustment system or the medical device. BACKGROUND

[0002] With the development of science and technology, fine motion control equipment has been applied in various industries. Among them, the application is more widely in the field of intelligent manufacturing and the field of medical treatment. For example, industrial robots and various scenes requiring precise control such as the control of surgical mechanisms. For the surgical scene, in order to cope with the difficulty of surgery caused by the fact that the specific body structure of the patient under the body surface cannot be visually observed, precise position positioning guided by various medical scanning equipment has been developed. Therefore, the fine motion control equipment suitable for this scene has been greatly developed. SUMMARY

[0003] The present application discloses a pose adjustment system and a medical device having the pose adjustment system. The pose adjustment system can realize precise attitude control under large range motion.

[0004] In one aspect, the present application discloses a pose adjustment system, which can include a base, a movable platform, and a plurality of movable links, the movable links being connected with the base and the movable platform respectively through movable components with controllable degrees of freedom; wherein the movable platform realizes multiple degrees of freedom through autonomous motion of the movable links under external force driving and passive motion of the movable components.

[0005] According to some embodiments of the present application, the base has a first mounting surface for setting the movable components, and the movable platform has a second mounting surface for setting the movable components, the shape of the first mounting surface is the same as or different from the shape of the second mounting surface; the movement stroke of the plurality of movable links is the same and / or different.

[0006] According to some embodiments of the present application, the first mounting surface or the second mounting surface is a plane or a stepped surface.

[0007] According to some embodiments of the present application, the number of the plurality of movable links is greater than or equal to 6.

[0008] According to some embodiments of the present application, the movable components include a joint bearing; a limiting structure is correspondingly arranged on the outer surface of the spherical joint of the joint bearing and the inner surface of the bearing sleeve, so as to limit the rotation of the spherical joint around its own axis.

[0009] Another aspect of the present application provides a medical device, which can include: a support; and one or more of the above-mentioned pose adjustment systems; wherein the pose adjustment system is arranged on the support, and is controllably slidably connected with the support or fixedly connected with the support; a needle assembly is arranged on the movable platform, and the pose adjustment of the needle assembly is realized by the movement of the movable platform.

[0010] According to some embodiments of the present application, the pose adjustment system is slidably connected with the support through a sliding platform; a plurality of predetermined positions on the support are respectively provided with first positioning structures, and a second positioning structure is arranged on the sliding platform; the second positioning structure is controllably and detachably fixedly connected with the first positioning structure, so as to fix the sliding platform at the corresponding predetermined position on the support.

[0011] According to some embodiments of the present application, the first positioning structure includes a groove, and the second positioning structure includes a rotatably movable clamping block; the clamping block is inserted into or detached from the groove under the action of an external force, so as to realize the detachable fixed connection between the sliding platform and the support.

[0012] Another aspect of the present application provides a medical device, which can include the above-mentioned pose adjustment system or the above-mentioned medical device.

[0013] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0014] The present application will be further described in an exemplary embodiment, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0015] FIG. 1 is an exemplary structural diagram of a pose adjustment system according to some embodiments of the present application;

[0016] FIG. 2 is an exemplary schematic diagram of a movable link mounting plane according to some embodiments of the present application;

[0017] FIG. 3 is another exemplary schematic diagram of a movable link mounting plane according to some embodiments of the present application;

[0018] FIG. 4 is an exemplary perspective assembly diagram of a movable component according to some embodiments of the present application;

[0019] FIG. 5 is an exemplary schematic diagram of a movable component according to some embodiments of the present application;

[0020] FIG. 6 is an application schematic diagram of a pose adjustment system, according to some embodiments of the present application;

[0021] FIG. 7 is an exemplary structural diagram of a medical device, according to some embodiments of the present application;

[0022] FIG. 8 is an exemplary structural diagram of a bracket, according to some embodiments of the present application;

[0023] FIG. 9 is an exemplary installation schematic diagram of a bracket, according to some embodiments of the present application;

[0024] FIG. 10 is another exemplary installation schematic diagram of a bracket, according to some embodiments of the present application;

[0025] FIG. 11 is an exemplary structural diagram of a sliding platform, according to some embodiments of the present application;

[0026] FIG. 12 is another exemplary structural diagram of a medical device, according to some embodiments of the present application;

[0027] FIG. 13 is an exemplary structural diagram of a movable connecting rod, according to some embodiments of the present application;

[0028] FIG. 14 is an exemplary structural diagram of a connecting structure, according to some embodiments of the present application;

[0029] FIG. 15 is another exemplary structural diagram of a connecting structure, according to some embodiments of the present application;

[0030] FIG. 16 is another exemplary structural diagram of a connecting structure, according to some embodiments of the present application;

[0031] FIG. 17 is an exemplary structural diagram of a needle assembly, according to some embodiments of the present application;

[0032] FIG. 18 is another exemplary structural diagram of a needle assembly, according to some embodiments of the present application;

[0033] FIG. 19 is an exemplary structural diagram of a force conducting member, according to some embodiments of the present application;

[0034] FIG. 20 is another exemplary structural diagram of a needle assembly, according to some embodiments of the present application;

[0035] FIG. 21 is another exemplary structural diagram of a needle assembly, according to some embodiments of the present application;

[0036] FIG. 22 is an exemplary structural diagram of a sliding platform, according to some embodiments of the present application;

[0037] FIG. 23 is an exploded view of FIG. 22;

[0038] FIG. 24 is another exemplary structural diagram of a sliding platform, according to some embodiments of the present application;

[0039] FIG. 25 is an exploded view of FIG. 24;

[0040] FIG. 26 is another exemplary structural diagram of a sliding platform, according to some embodiments of the present application;

[0041] FIG. 27 is another exemplary structural diagram of a sliding platform, according to some embodiments of the present application;

[0042] FIG. 28 is an exploded view of FIG. 27;

[0043] FIG. 29 is an exemplary partial schematic view of a sliding platform, according to some embodiments of the present application;

[0044] FIG. 30 is another exemplary structural diagram of a sliding platform, according to some embodiments of the present application;

[0045] FIG. 31 is an exploded view of FIG. 30;

[0046] FIG. 32 is an exemplary exploded view of a bracket, according to some embodiments of the present application. DETAILED DESCRIPTION

[0047] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the following will make a detailed description of the specific embodiments of the present application. In the following description, a lot of specific details are set forth in order to give a full and thorough understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

[0048] It should be noted that when a component is referred to as being "fixed" or "attached" to another component, it can be directly on the other component or there can be other components interposed. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be other components interposed. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0049] In the present application, the term "needle" can be a surgical component applied to a minimally invasive surgery or any step of a minimally invasive surgery, such as a puncture component, a clamping component, a stabilizing component, a light-emitting component, etc. For example, the minimally invasive surgery in the present application is a surgery performed through a small incision into a patient's body, which can also include a puncture biopsy, a tumor ablation, a particle implantation, an intratumoral drug injection, a brain electrode implantation, a radiofrequency or laser ablation, a brachytherapy such as afterloading radiotherapy, a medical cosmetic surgery such as injection of botulinum, hyaluronic acid, etc. solution, liposuction, breast augmentation, slimming, etc. For example, when the minimally invasive surgery is a puncture biopsy or any step of a puncture biopsy, the needle can include a puncture needle; when the minimally invasive surgery includes a tumor ablation or any step of a tumor ablation, the needle can include an ablation needle; when the minimally invasive surgery includes a particle implantation or any step of a particle implantation, the needle can include a particle implantation gun for performing a particle implantation surgery; when the minimally invasive surgery includes an intratumoral drug injection or any step of an intratumoral drug injection, the needle can include an injection needle; when the minimally invasive surgery includes a brain electrode implantation or any step of a brain electrode implantation, the needle can include an electrode guide wire and / or a cannula; when the minimally invasive surgery includes a radiofrequency or laser ablation or any step of a radiofrequency or laser ablation, the needle can include a radiofrequency or laser fiber and / or a cannula; when the minimally invasive surgery includes any step of a brachytherapy, the needle can include an applicator, a catheter, and a seed needle; when the minimally invasive surgery includes any step of a medical cosmetic surgery, the needle can include an injection needle and a liposuction needle.

[0050] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. All publications, patent applications, patents, and other references mentioned in this application are incorporated by reference in their entirety. As used in this application, the term, "comprising" or "comprises" or "including" or "includes" or "containing" or "contains" or "has" or "having" or the like, means the inclusion of the elements or components, but not excluding other elements or components. As used in this application, the term "multiple" can include two or more. As used in this application, the terms "and / or" or "and / or" include any and all combinations of one or more of the associated listed items.

[0051] Some preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be noted that the following description is for the purpose of illustration only and is not intended to limit the scope of protection of the present application. The steps involved in the present application can be executed in order, or various steps can be processed in reverse order or simultaneously. Meanwhile, other operations can be added to these processes, or a step or steps can be removed from these processes.

[0052] One aspect of the present application provides a pose adjustment system. The pose adjustment system can achieve miniaturization, large range, and convenient change of position and attitude. Referring to FIG. 1, FIG. 1 is an exemplary structural diagram of a pose adjustment system according to some embodiments of the present application. The pose adjustment system can achieve transformation of its own attitude and position, thereby driving other components mounted thereon to change their attitude and position. As shown in FIG. 1, the pose adjustment system 100 can include a base 110, a plurality of movable links 120, and a movable platform 130.

[0053] The base 110 can be a substrate for carrying other components of the pose adjustment system 100. Other components (e.g., the plurality of movable links 120, the movable platform 130, etc.) can be directly or indirectly connected to the base 110. For example, one end of the movable link 120 can be directly fixed on the base 110, or fixedly connected to the base 110 through an intermediate connecting member (e.g., a universal joint, a spherical joint bearing, or a coupling with one or more degrees of freedom such as a two-degree-of-freedom coupling, etc.). The other end can be connected to the movable platform 130, for example, in the same or similar manner as the base 110. The base 110 can be installed on other components / devices / facilities, etc. For example, the base 110 can be fixedly installed on a wall, a fixed facade, a motion platform, etc. by welding, bonding, riveting, screwing, magnetic attraction, clamping, etc. In this way, the medical device 700 can also have a stable mounting surface (support surface) that contains components that do not cause the overall movement of the entire pose adjustment system 100 when in motion.

[0054] The movable links 120 can be used to connect the base 110 and the movable platform 130, for example, through movable members 140 disposed on the base 110 and the movable platform 130, respectively. The two ends of the movable links 120 can be connected with the movable members 140 disposed on the base 110 and the movable platform 130, respectively. The movable members 140 can have one degree of freedom, two degrees of freedom, three degrees of freedom, or even be able to move in all directions. Correspondingly, the movable members can be kinematic pairs, or joint bearings, etc. In some examples, the movable members 140 can be controllable in degrees of freedom, for example, by improving the structure to limit one or more degrees of freedom of the movable members 140, so that the motion control of the entire medical device 700 is accurately controlled. The movable links 120 can be driven by external force to achieve autonomous motion. For example, the movable links 120 can include a combination of a screw and a sleeve. The screw can be rotated under the driving of external force, so as to extend into or out of the sleeve, thereby achieving linear motion. Each movable link 120 can be independently controlled to move in linear motion with different stroke lengths, and the movable members passively move (for example, rotate, etc.) based on the motion of the movable links 120. Thus, the movable platform 130 can achieve multiple degrees of freedom by virtue of these motions. By controlling the motion stroke of each movable link 120, the position and attitude of the movable platform 130 can be accurately adjusted.

[0055] In some examples, the number of movable links 120 can be equal to or greater than 6, for example, 6, 7, 8, 9, or 10. In this way, the movable platform 130 can achieve motion with equal to or more than 6 degrees of freedom. This can improve the accuracy and diversity of position adjustment and / or attitude adjustment.

[0056] In some examples, such as welding, bonding, clamping, threaded connection, etc. can be used to achieve fixed connection of the movable members 140 with the base 110 / movable platform 130. An exemplary way is that mounting holes can be formed on the base 110 / movable platform 130, and the movable members 140 are fixed in the mounting holes. In this application, the surface of the base 110 for mounting the movable members 140 can be referred to as a first mounting surface. The first mounting surface can be a plane, a curved surface, or other regular or irregular surface. For example, the first mounting surface shown in FIG. 1 can be a stepped surface including two stepped surfaces. Similarly or similarly, the movable platform 130 can also have a mounting surface (which can be referred to as a second mounting surface in this application) for mounting the mounting holes. For example, the movable platform 130 can be a flat platform, and the shape of the flat platform can also be a plane, a curved surface, or other regular or irregular surface. Then the second mounting surface can also be a plane, a curved surface, or a surface with other shapes. In this application, the shapes of the first mounting surface and the second mounting surface can be the same or different, each selected from one of a stepped surface or a plane.

[0057] Two examples are given with reference to FIG. 2 and FIG. 3. As shown in FIG. 2, the first mounting surface on the base 110 is a stepped surface, including step A and step B. The second mounting surface on the movable platform 130 is also a stepped surface, including step C and step D. As shown in FIG. 3, the two mounting surfaces contacted by the movable links 120 are stepped surface E and flat surface F, which can belong to the base 110 and the movable platform 130 respectively. Of course, the above is merely an example, and the two mounting surfaces can also be flat surfaces. Meanwhile, the movement stroke of the plurality of movable links 120 arranged between the first mounting surface and the second mounting surface can be the same or different. For example, when the two mounting surfaces are flat surfaces, the movement stroke of the plurality of movable links 120 can be the same. For another example, when at least one of the two mounting surfaces is a stepped surface, the plurality of movable links 120 can include an individual with a longer movement stroke. As shown in FIG. 2, the movable link T1 connecting step A and step D can have a movement stroke longer than other movable links 120. As shown in FIG. 3, the movable link T2 connecting the rear part of step E and flat surface F. The use of movable links 120 with different movement strokes can enable the movable platform 130 to have a larger movement range and more precise attitude adjustment through the movement of the movable links 120. For example, it can enable the movable platform 130 to have a larger rotation range in the same plane.

[0058] As for the movable component 140, it can refer to a component that has one or more than one component capable of movement. An example is that it can be a joint bearing that has a controllable number of degrees of freedom. The bearing sleeve of the joint bearing or the external component attached to the bearing sleeve can be fixedly arranged in the mounting hole. In this way, the spherical joint moves in the bearing sleeve to realize swinging, rotating and other actions. In the present application, the degrees of freedom of the movable component 140 can be limited, thereby having the controllable number of degrees of freedom. Referring to FIG. 5, the movable component 140 is provided according to some embodiments of the present application. As shown in FIG. 4, the movable component 140 can be a joint bearing, including a spherical joint 410 and a bearing sleeve 420. In some embodiments, the movable component 140 can also be a universal joint or a plurality of one-way joints. The bearing sleeve 420 can be split, for example, including a first part 421 and a second part 422. The first part 421 and the second part 422 can be combined together to jointly hold the spherical joint 410. For example, the combination of the two is achieved by inserting the positioning shaft into the positioning hole in a clamping manner. The spherical joint 410 realizes limited rotation in the bearing sleeve 420. Among them, the spherical joint 410 cannot rotate (also can be understood as rotation) around its own axis. For example, the outer surface of the spherical joint 410 and the inner surface of the bearing sleeve 420 can be correspondingly provided with a limiting structure. As shown in FIG. 4, a groove 411 is formed on the outer surface of the spherical joint 410, and a protrusion 423 (the second part 422 can also be provided with a protrusion, which is not shown due to the perspective problem of the drawing) can be formed on the bearing sleeve 420 (for example, the first part 421). After the bearing sleeve 420 is assembled, the protrusion is aligned with the groove and then combined. In this way, after the protrusion is clamped into the groove, the rotation of the spherical joint 410 is limited, without affecting its rotation in other directions. The limiting structure can also be provided in other forms and / or adjustments. For example, the protrusion can be attached to the component (such as by welding, bonding, etc.), or it can be integrally formed with the component. For another example, the protrusion can be provided on the spherical joint 410, and the groove can be provided on the bearing sleeve 420. For another example, the number of protrusions / grooves can be increased, such as two pairs, three pairs, etc. These examples are within the scope of protection of the present application. In another example, a groove can be formed on the outer surface of the spherical joint 410, and a recess can be formed on the inner surface of the bearing sleeve 420. The protrusion in the foregoing example can be replaced by a separate ball. Among them, a part of the ball can be contained in the recess of the bearing sleeve 420, and the other part can be clamped into the groove on the spherical joint 410. After the bearing sleeve 420 is assembled, the ball can realize the same function as the protrusion: limiting the rotation of the spherical joint 410, without affecting its rotation in other directions.

[0059] In order to stabilize the structure of the assembled joint bearing and to expand its application, the outer member 430 can be used to constrain the joint bearing. For example, the outer member 430 can have a shape matching that of the bearing sleeve 420, such as a ring-shaped cylindrical wall. The bearing sleeve 420 can be fitted into the inner ring of the outer member 430 and fixed in the outer member 430 by means of fitting or clamping. FIG. 5 shows a schematic diagram of an assembled joint bearing according to some embodiments of the present application, which can be used for reference. In addition, the outer member 430 can be used to connect the movable component 140 to other components. For example, in the foregoing description, the movable component 140 is fixedly installed through the mounting hole provided on the base 110 / movable platform 130. In one way, the outer member 430 is provided with an integral fixing portion 431 as a mounting component. For example, the fixing portion 431 is provided with a through threaded hole. When the movable component 140 is inserted into the through hole, the fixing portion 431 can be aligned with the corresponding threaded hole on the base 110 / movable platform 130. The two aligned threaded holes are fastened by bolts, thereby fixing the movable component 140 to the base 110 / movable platform 130.

[0060] Continuing with the example of the movable component 140 as a joint bearing, the movable link 120 can be connected to the joint bearing, thereby being connected to the base 110 / movable platform 130. In one implementation, the movable link 120 can be connected to the mounting member 440 of the joint bearing. The mounting member 440 can be a conical sleeve fixedly connected to the spherical joint 410. Similarly, it can be prepared by welding or one-piece molding technology. The conical design of the mounting member 440 can make the deflection angle range of the joint bearing larger than that of the direct connection method, thereby ensuring the movement range.

[0061] The movable link 120 itself can move. For example, the movable link 120 can be a combination of a slide rod sleeve, a slide block guide rail, a lead screw sleeve, a worm gear sleeve, etc. Under the drive of external force, the movable link 120 can move back and forth in a straight line. Since multiple movable links 120 are connected to the movable platform 130, under the synergistic action of the automatic movement (e.g., linear movement) of the multiple movable links 120 driven by the drive and the passive movement (e.g., the common rotation of the movable link 120 connected thereto affected by the movement of other movable links 120) of the movable component 140, the movable platform 130 can be adjusted in position and attitude. By controlling the movement degree and range of the movable link 120, the movable platform 130 can be controlled to a specific position and a specific attitude.

[0062] The driving force for driving the movable link 120 can be transmitted through a transmission mechanism. Exemplarily, the transmission mechanism can include various components capable of achieving long-distance power transmission, including but not limited to flexible shafts, rigid shafts, gear rods, transmission rods, lead screws, guide wires, pneumatic components, hydraulic components, etc. or any combination thereof. An example can be that the driving force is a rotating force provided by an electric motor, and the transmission mechanism is a flexible shaft or a combination of a flexible shaft and a rigid rotating shaft. For example, the rotating gear of the electric motor can be first connected with a flexible shaft (e.g., referred to as flexible shaft one), then the flexible shaft can be connected with a rigid transmission shaft such as a hard shaft, a gear rod, a transmission rod, a lead screw, etc., and then connected with another flexible shaft (e.g., referred to as flexible shaft two). The flexible shaft can be connected with the movable link 120. In this way, the driving force of the electric motor can be transmitted to the movable link 120 through the flexible shaft one, the rigid transmission shaft, and the flexible shaft two, so as to move under the transmitted driving force. The flexible shaft two can be connected with the movable link 120 through the movable component 140. The spherical joint 410 can have a through hole, and the flexible shaft two can pass through the through hole and be connected with the movable link 120 in the mounting member 440. For example, the movable link 120 can be a lead screw sleeve combination, and the lead screw is fixedly connected with the mounting member 440 through a bearing. The flexible shaft two cooperates with the lead screw, and the transmitted rotating force will make the lead screw rotate. Thus, the lead screw will rotate into or out of the sleeve matched therewith to change the length of the entire combination. The sleeve is connected with the movable platform 130 through the movable component 140 arranged on the movable platform 130. When the lead screw rotates, the sleeve will push or pull the movable platform 130. The transmission structure is connected with the movable link 120 through the through hole formed in the spherical joint 410, which can achieve high integration of the pose adjustment system 100 and reduce complexity.

[0063] The following gives other examples of the movable link 120. For example, the movable link 120 is a sliding rod sleeve combination, and the transmission mechanism is a hydraulic hose. The hydraulic hose passes through the through hole of the spherical joint 410 and is fixedly connected with the sliding rod in the mounting member 440. When the hydraulic pressure is transmitted, the sliding rod will slide into or out of the sliding sleeve to change the length. The sliding sleeve is connected with the movable platform 130 through the movable component 140 arranged thereon. Similarly, when the sliding rod slides in the sliding sleeve, the pose of the movable platform 130 will change.

[0064] For example, the movable link 120 can be a worm and worm gear combination, the driving force is provided by a motor, the transmission mechanism can be a combination of a soft shaft and a rigid transmission shaft as described above or a single soft shaft. In this example, the movable link 120 is connected to the mounting member 460 through a bearing provided with a bevel gear. The worm gear engages with the bevel gear, and the bevel gear connects the soft shaft. When the bevel gear rotates under the drive of the soft shaft, it will drive the worm gear to rotate. The rotation of the worm gear will drive the rotation of the worm, so as to make the worm screw into or out of the matched sleeve, thereby realizing the change in length. In this way, when the worm screws into or out of the sleeve, the posture of the movable platform 130 will change.

[0065] In the above examples, the components (e.g., motors and hydraulic machines) for providing driving force can be away from the pose adjustment system 100, and the force is transmitted through the transmission mechanism. In addition, the transmission mechanism is not limited to being connected to the movable link 120 through the through hole formed in the spherical joint 410. For example, a through hole can be provided on the first mounting surface and / or the second mounting surface. The transmission mechanism, such as a soft shaft, can pass through the through hole and be connected to the movable link 120. Even, the transmission mechanism can be directly connected to the movable link 120 from the outside.

[0066] At the same time, the components for providing driving force can also be attached to the pose adjustment system 100. One example is that the component is a motor, which is arranged at one end of the movable link 120 to directly drive the movement of the movable link 120. At this time, the movable link 120 can be a combination of a worm and a sleeve. The worm is connected to the mounting member 440 through a bearing. The miniature motor for providing driving force can be attached to the mounting member 440 and engaged with the helical teeth of the worm inside the mounting member 440. In this way, the rotary motion of the miniature motor will be converted into the linear rotation of the worm. Thus, the worm can screw into or out of the sleeve.

[0067] It should be noted that the above examples are for illustrative purposes only and are not intended to limit the scope of protection of the present application. Any modification / update / adjustment made under the guidance of the present application is within the scope of protection of the present application.

[0068] Regarding the movable component 140 and the transmission mechanism for transmitting driving force disclosed above, the joint bearing as the movable component 140 improves the accuracy of the pose control of the movable platform 130 by limiting its rotation. In addition, the through hole of the spherical joint 410 realizes the transmission of driving force from the inside of the component, avoiding the problem that the external wiring may affect the movement range of the movable link 120. At the same time, the external driving force combined with the above features can realize the miniaturization of the system as a whole, reduce the complexity of integration, and better adapt to different application scenarios.

[0069] The plurality of movable links 120 are connected to the base 110 and the movable platform 130 in a regular mounting form or a cross mounting form. In some embodiments, the plurality of movable links 120 is preferably 6, 7, 8, 9 or 10. The above two mounting forms are exemplarily described in connection with FIG. 2 and FIG. 3. The regular mounting form is described with reference to FIG. 2. The mounting positions of the plurality of movable links 120 on the first mounting surface (i.e. step surface A and step surface B) and the mounting positions of the plurality of movable links 120 on the second mounting surface (i.e. step surface C and step surface D) are sequential. For example, taking the up and down directions defined by the paper on which the drawings are located as the indicating directions, the distribution of the mounting positions of the plurality of movable links 120 on the first mounting surface is the same as the distribution of the mounting positions of the plurality of movable links 120 on the second mounting surface. That is, assuming that one of the two movable links 120 is above the other movable link 120 at the mounting position on the first mounting surface, the same is true for the mounting positions of the two movable links 120 on the second mounting surface. Such an arrangement can be beneficial for the control of the plurality of movable links 120, reducing the complexity of the control.

[0070] The cross mounting form is described with reference to FIG. 3. The cross mounting form is opposite to the regular mounting form. That is, there is no sequentiality between the mounting positions of the plurality of movable links 120. The movable link 120 whose mounting position on the first mounting surface is above can have its mounting position on the second mounting surface below. Such an arrangement can achieve a larger range of motion of the movable platform 130. The specific mounting form can be selected according to actual conditions and is not limited herein.

[0071] The movable platform 130 can include a mounting surface (i.e. the second mounting surface mentioned in the present application) for connection with the plurality of movable links 120, and a bearing surface. The bearing surface can be used to place / install various workpieces or instruments. In connection with the foregoing description, the movable platform 130 can achieve adjustment of the position and attitude by the motion of the plurality of movable links 120 and the motion of the movable component 140, thereby changing the control of the position and attitude of the workpiece or instrument.

[0072] For the placement of the workpiece or instrument on the movable platform 130, it can be directly performed, such as by welding, clamping, bonding, threaded connection, etc. For example, the movable platform 130 in FIG. 1 is formed with two grooves. Correspondingly, matching protrusions are provided on the workpiece or instrument, and the placement of the workpiece or instrument on the movable platform 130 is achieved by clamping the protrusions into the grooves. If the bearing surface of the movable platform 130 is a plane, a connecting member or a support member can be provided on the plane for connection with the workpiece or instrument, or the workpiece or instrument can be directly connected. In addition, the placement of the workpiece or instrument can also be performed through an intermediate member. For example, the intermediate member is a flat plate, one side of which is used to place the workpiece or instrument, and the other side is used to connect with the movable platform 130.

[0073] The pose adjustment system disclosed in the present application can be applied to the scene of fine motion control, for example, the field of intelligent manufacturing and / or the field of medical treatment. For example, FIG. 6 shows an application scene of the pose adjustment system provided by the present application, which includes the field of manufacturing using a multi-axis robot. The base 110 of the pose adjustment system 100 can be fixedly connected to the front end F of the multi-axis robot through any realizable connecting mode, and the required workpiece can be arranged on the movable platform 130. Through the large-range activity of the multi-axis robot and the fine motion adjustment of the pose adjustment system 100, the fine motion control of the workpiece is realized. For example, the workpiece can be a laser gun, a spray gun, a welding gun, etc. The subsequent part of the present application also shows the application of the medical device 700 in the field of medical treatment, which can be referred to for details. For another example, the medical device 700 can also be applied to the scene of machine vision, security and protection, entertainment, etc. The workpiece arranged on the movable platform 130 can be a camera, a monitor or a display screen. The base 110 can be installed on a fixed position surface such as a wall or a beam column, etc. In this way, through the motion control of the movable connecting rod 120, the adjustment of the position / pose of the camera, the monitor or the display screen can be realized, so that the large-range, high-precision image acquisition / picture display is realized. Of course, the above is only for the purpose of illustration, and the pose adjustment system provided by the present application can also be applied to other fields requiring fine motion control, rather than being limited to the above examples.

[0074] The pose adjustment system disclosed in the present application can realize large-range multi-degree-of-freedom fine motion. At the same time, the miniaturization and detachable connection of the system structure can make the whole system adapt to different application scenes.

[0075] In one aspect, a medical device is provided. The medical device can be used to perform a minimally invasive procedure (e.g., a needle biopsy, tumor ablation, particle implantation, intra-tumor drug injection, brain electrode implantation, radiofrequency or laser ablation, brachytherapy, cosmetic surgery, etc.) or an injection procedure. The medical device can be guided by a medical scanning device to a target location or a vicinity of the target location and start performing the procedure. The medical scanning device can be an X-ray digital imaging device or an ultrasound scanner, including but not limited to CT, MRI, PET, PET-CT, DR, C-arm (including mobile C-arm, peripheral intervention C-arm, DSA digital subtraction angiography system, etc.), G-arm, U-arm, DSC, CCD, holographic projection device, etc. The medical device can be configured to change its position and orientation in a large range and in a convenient manner while occupying a small space (e.g., within the bore of a CT or MRI device). Referring to FIG. 7, which is an exemplary structural diagram of a medical device according to some embodiments of the present application. As shown in FIG. 7, the medical device 700 can include a support 710, a sliding platform 1100, and the aforementioned pose adjustment system 100. The support 710 can be used to support other components of the medical device 700 (e.g., the sliding platform 1100 of the pose adjustment system 100). In some embodiments, the support 710 can have a curved structure, such as a full-curved arched support or a partial-curved door-shaped structure. In this case, the support 710 can also be referred to as a curved support 710. The sliding platform 1100 of the pose adjustment system 100 can be disposed on the curved support 710 and can be configured to slide relative to the curved support 710. In this embodiment, the base 110 of the pose adjustment system 100 can be a sliding platform (referred to as 1110 in this application), which can be configured to slide relative to the curved support 710 by means of, for example, a guide rail and a sliding block, a gear rack and a pinion, a sliding sleeve, friction locking, etc. The movable platform 130 of the pose adjustment system 100 can be configured to carry a device for performing a minimally invasive procedure, such as a needle assembly. The position and orientation of the device can be precisely adjusted by controlling the movement of the movable link 120.

[0076] Referring to FIG. 8, the curved support 710 according to some embodiments of the present application is provided, and the support body 810 can be arched. Of course, the shape of the support body 810 can also be a shape with a smooth surface, such as a wavy shape. A rounded inverted "n" shape or a regular / irregular polygon is also applicable, and the present application is not limited in this regard. A plurality of first positioning structures 820 can be provided on the support body 810. The positions for providing the first positioning structures 820 can be predetermined. Taking the curved support 120 as an arched support, the first positioning structures 820 can be provided according to an angle. For example, a first positioning structure 820 can be provided every 30°. Of course, the angle can be adjusted according to actual conditions, such as 15°, 20°, 40°, etc. Correspondingly, a second positioning structure can be provided on the sliding platform 1100, which can be detachably fixedly connected with the first positioning structure 820. For example, taking the first positioning structure 820 as a groove as shown in FIG. 8, the second positioning structure can be a protrusion. The protrusion can be inserted into or separated from the groove under the action of an external force. When the protrusion is inserted, the sliding platform 1100 will be fixed on the curved support 710, and when the protrusion is separated, the sliding platform 1100 can freely slide on the curved support 710. In combination with the implementation mode of the sliding connection between the sliding platform 1100 and the curved support 710, the first positioning structure 820 and the second positioning structure can have various modifications and / or adjustments. For example, the combination of the groove / protrusion described above can be an implementation mode when the sliding platform 1100 is connected with the curved support 710 through sleeve sliding. When the curved support 710 and the sliding platform 1100 are connected through a gear and a rack for sliding, for example, the outer surface of the support body 810 is provided with a rack, and the sliding platform 1100 is provided with a controlled rotating gear or a gear driven by a controlled motor, and the movement of the sliding platform 1100 on the curved support 710 is achieved through the meshing of the gear and the rack. At this time, the first positioning structure can be a first tooth provided on the rack at a predetermined position, and the second positioning structure can be a second tooth on the gear, and the detachable fixed connection between the sliding platform 1100 and the curved support 710 is achieved through the meshing and separation of the first tooth and the second tooth. In another example, when the curved support 710 and the sliding platform 1100 are connected through a guide rail and a sliding block for sliding, for example, the outer surface of the support body 810 is provided with a guide rail, and the sliding platform 1100 is provided with a sliding block, and the movement of the sliding platform 1100 on the curved support 710 is achieved through the sliding of the sliding block on the guide rail. At this time, the first positioning structure can be a stopper such as a magnetic attraction unit provided on the guide rail at a predetermined position, and the second positioning structure can be another magnetic unit with opposite magnetic properties. The fixed connection between the sliding platform 1100 and the curved support 710 is achieved through the mutual attraction of the two magnetic attraction units, and the fixed connection between the sliding platform 1100 and the curved support 710 is released under the action of an external force.In another example, when the curved bracket 710 and the sliding platform 1100 are connected by sliding with friction locking, for example, the outer surface of the bracket body 810 is provided with tiny particles as the first positioning structure. The second positioning structure of the sliding platform 1100 is still a protrusion. Then, by applying force to the protrusion, the friction between the protrusion and the bracket body 810 of the bracket can be increased, so that the sliding platform 1100 is fixed on the curved bracket 710 by relying on the friction. It should be noted that the above examples are only for illustrative purposes, and any mechanism that can achieve mutual fixation and separation is within the protection scope of the present application. Through the above examples, the sliding platform 1100 can be controlled to slide relative to the curved bracket 710, or be fixedly connected.

[0077] The curved bracket 710 can also be mounted on other devices to enable the medical device 700 to work in combination with other devices. In some embodiments, the curved bracket 710 can be partially curved, or trapezoidal, square, or other shapes, as long as the spatial requirements of the medical device and the application scenario are met. For example, when the medical device 700 is applied in the medical field, it can be used as a component of fine motion control and used in conjunction with medical imaging devices to perform precise positioning under guidance. Based on this, the curved bracket 710 can be mounted on the scanning bed of a medical imaging device (such as ultrasound, CT, or MRI), thereby allowing the medical device 700 to operate within the aperture of the medical imaging device. As shown in FIG. 8, the base T is a base used in conjunction with the scanning bed. Depending on the structure of the scanning bed, the base can be a straight plate or an arc-shaped plate, or other shapes. The mounting can include detachable mounting, such as through buckles, threads, riveting, or other means, or can include clamps or adhesive tape. In some embodiments, the curved bracket can also be connected to the scanning bed by customizing the scanning bed or accessories thereon. An exemplary mounting method is described based on FIG. 8. The two ends of the bracket body 810 are formed with two end faces, and the end faces can be provided with through mounting holes 830, and the bottom of the end face can be provided with positioning members 840. For example, the positioning members 840 are protruding structures protruding from the bottom of the end face. The base T can be provided with a plurality of mounting points and a plurality of positioning holes (not shown in FIG. 8). By inserting the positioning members 840 into the positioning holes, the mounting holes 830 and one of the mounting points can be aligned. The mounting holes 830 and the mounting points can both have internal screw threads, and the mounting members 850 with external screw threads are screwed into the internal screw threads of the mounting holes 830 and the mounting points to achieve fixed mounting between the curved bracket 710 and the base T. It can be understood that the curved bracket 710 can be detachably fixed to the base T. When not in use, the curved bracket 710 can be detached from the base T. For example, the external screw mounting members 850 are caused to come out of the mounting holes 830 and the mounting points. Of course, the curved bracket 710 can also be fixedly connected to the base T by other means. An example is that the end faces of the bracket body 810 are not provided with mounting holes 830 but are provided with positioning members 840. When the positioning members 840 are aligned with the positioning holes on the base T, the end faces of the bracket body 810 and the outer edges of the base T are clamped by additional clamps to achieve fixed connection between the two. Alternatively, the end faces of the bracket body 810 can also not be provided with positioning members 240, and the curved bracket 710 can be placed at any position on the base T, and after placement, clamps are used to achieve fixed connection between the two. Alternatively, adhesive tape is used instead of clamps to achieve fixed connection between the two.

[0078] In addition, the base T is not necessarily required, and the curved support 710 can be directly fixed to the scanning bed. Referring to FIG. 9, the present application provides a connection between the curved support 710 and the scanning bed, in which the end surface of the support body 810 and the scanning bed each have a corresponding notch, and the clamp 910 can be connected between the two through the corresponding notches (the outer shape can match the notches). Subsequently, the locking member 920 can be connected to the end surface of the support body 810 by means such as threaded locking (e.g., through the threaded holes provided on the locking member 920 and the support body 810 shown in FIG. 9) to positionally limit the clamp 910 on the outside thereof and prevent movement. Referring to FIG. 10, the present application provides another connection between the curved support 710 and the scanning bed, in which the end surface of the support body 810 is provided with a T-shaped protrusion 1010, and the scanning bed is provided with a corresponding T-shaped groove 1020, and the T-shaped protrusion 1010 is inserted into the T-shaped groove 1020 and then moved to be locked, thereby completing the fixation between the curved support 710 and the scanning bed.

[0079] It can be understood that the installation between the curved support 210 and the base T (or the scanning bed) can also be non-fixed. For example, the end surface of the support body 810 can be provided with a sliding block, and the base T (or the scanning bed) can be provided with a guide rail. The sliding connection between the curved support 710 and the base T (or the scanning bed) is achieved through the cooperation of the guide rail and the sliding block. Of course, the curved support 710 and / or the base T (or the scanning bed) can also have a stop mechanism, which can positionally fix the curved support 710 when it is slid to a target position. Alternatively, the sliding of the curved support 710 on the base T (or the scanning bed) can be driven by a motor (e.g., a servo motor or a stepper motor), and the position is fixed by the motor.

[0080] In some embodiments, the support 710 can also be a curved support other than the examples described above, but has a structure with a mounting plane or a mounting member. For example, a multi-axis robot as shown in FIG. 6, or other similar multi-axis connection structures, can change the position or attitude of the front end by relying on external force or self-driving force. Other components of the medical device 700, such as the sliding platform, are fixed to the front end of such a support 710. In this way, the medical device 700 can also change the spatial position in a large range along with the movement of the front end of the support 710.

[0081] Referring to FIG. 11, a sliding platform 1100 is shown according to some embodiments of the present application, which can be an example of a slidable connection with the curved support 710 through socket connection. As shown in FIG. 11, the platform body 1110 of the sliding platform 1100 can be a cylindrical body, which is composed of an internally hollowed shell 1111 with one end open and an end cover 1112 for closing and opening the open end. The sliding platform 1100 has a sliding groove that can match the shape of the support body 810 of the curved support 710. For example, the shell 1111 and the end cover 1112 have a part of the sliding groove respectively, and the combination and separation of the shell 1111 and the end cover 1112 can realize the placement of the sliding platform 1100 on the curved support 710 or the disassembly from the curved support 710.

[0082] A second positioning structure 1120 corresponding to the first positioning structure 820 of the curved support 710 can be provided on the shell 1111. The second positioning structure 1120 can include a handle 1121, a rotating shaft 1122, and a clamping block 1123. The above three components are sequentially connected and can realize rotational movement. As shown in the example of FIG. 11, the two ends of the handle 1121 are provided with connection structures, such as recesses or protrusions, for connection with other components. Among them, a pair of connection structures can realize rotatable connection with the shell 1111. For example, the through holes provided on the side wall of the shell 1111 are provided with corresponding connection structures, such as protrusions or recesses. Through the connection mode of the protrusion being clamped into the recess, the handle 1121 can realize connection between the shell 1111. At the same time, through the design of the structure, properties, and attributes of the recess or protrusion, the connection can not be fixed connection but rotatable. In this way, when the handle 1121 is forced to rotate, it can drive other components connected therewith, such as the rotating shaft 1122 and the clamping block 1123. Similarly or similarly, the rotating shaft 1122 can be fixedly connected with the handle 1121 inside the shell 1111 based on the same or similar connection mode. In addition, the shaft of the rotating shaft 1122 is provided with a protrusion, and the two ends of the protrusion along the axial direction of the rotating shaft 1122 have the aforementioned similar protrusions or recesses. The block of the clamping block 1123 is provided with a recess, and the two ends of the recess along the axial direction of the clamping block 1123 also have the aforementioned similar recesses or protrusions. The same connection mode makes the protrusion clamped into the recess, and the rotating shaft is fixedly connected with the clamping block 1123. Thus, with the lifting or lowering of the handle 1121, the position of the clamping block 1123 also changes. For example, it is pulled out of or clamped into the recess as the first positioning structure 820. The fixed connection between the sliding platform 1100 and the curved support 710 is thereby released or realized.

[0083] The rotating shaft 1122 and the clamping block 1123 are separate in the above example, and can be integrally formed to facilitate manufacturing. Of course, the example of the second positioning structure 1120 is not unique and is not limiting. For example, the second positioning structure 1120 can also be in the form of a resilient button that is clamped into the groove as the first positioning structure 820 after being pressed, and is released from the groove after being pressed again. Any structure that can achieve separable fixed connection between the first positioning structure 820 and the second positioning structure 1120 is within the scope of the present application.

[0084] Similarly, FIG. 8 is only an example of the sliding connection between the sliding platform 1100 and the curved support 710, and the sliding platform 1100 can also be integral and located above the curved support 710. For example, as described above, a sliding groove or a rack can be provided on the curved support 710, and a sliding block or a motor gear exposed and engaged therewith can be provided on the top surface or the bottom surface of the sliding platform 1100. FIG. 8 is not limiting.

[0085] The movable component 140 for connecting the movable link 120 can be provided on the housing 1111. For example, a mounting hole can be provided on the closed end surface of the housing 1111, and the movable component 140 can be provided in the mounting hole. The end surface is the first mounting surface in the foregoing description, or is referred to as the first mounting surface 1140. In this embodiment, it can be a stepped surface, including a first step surface 1141 and a second step surface 1142. Of course, as described above, the end surface can also be a flat surface.

[0086] In some embodiments, the above medical device (including the pose adjustment system 100) can have other implementations. Referring to the example structural diagram of the medical device 1200 provided by the present application shown in FIG. 12, the sliding connection between the pose adjustment system (for example, the pose adjustment system 100) and the curved support (for example, the curved support 710) can be achieved by the cooperation between a sliding groove and a sliding block. The first positioning structure and the second positioning structure can be achieved by the cooperation between a groove and an elastic sheet. The movable component (for example, the movable component 140) can be achieved by using a universal joint. FIG. 13 shows the detailed part of the dashed box in FIG. 12. In this embodiment, the movable component 1300 can include a universal joint 1310 and a transmission member 1320 connected to the universal joint 1310. One end of the universal joint 1310 is fixedly connected to the base of the pose adjustment system. For example, in the form of a mounting hole, one end of the universal joint 1310 can be fixedly provided in the mounting hole. The other end of the universal joint 1310 can be connected to the transmission member 1320, and then connected to the movable link 120 through the transmission member 1320.

[0087] The exemplary structure of the transmission 1320 provided by the present application is shown in FIGS. 14-16. As shown in FIG. 14, the transmission includes a hollow cylindrical barrel, and a plurality of spur gears arranged inside the barrel and engaged with each other. The movable link is a screw sleeve combination. For example, spur gear 1410 and spur gear 1420. The flexible shaft 1430 enters the transmission from the end of the transmission away from the movable link, and is connected with the spur gear 1410 therein. The spur gear 1420 is connected with the screw rod. The rotation transmitted by the flexible shaft 1430 will drive the spur gear 1410 to rotate, and then drive the spur gear 1420 to rotate. The screw rod will rotate synchronously by the rotation of the spur gear 1420, so as to enter or exit the sleeve, and realize the length change of the movable link in a straight line.

[0088] As shown in FIG. 15, the transmission also includes a plurality of spur gears engaged with each other, and the movable link is still a screw sleeve combination. Different from the foregoing example, the flexible shaft 1530 enters the transmission from the end of the transmission close to the movable link, and is connected with the spur gear 1510. When the flexible shaft 1530 drives the spur gear 1510 to rotate, the spur gear 1520 engaged with the spur gear 1510 will rotate synchronously, so as to drive the screw rod to rotate to enter or exit the sleeve, and realize the length change of the movable link in a straight line.

[0089] As shown in FIG. 16, the transmission can include a plurality of bevel gears engaged with each other, and the movable link is still a screw sleeve combination. In this embodiment, the flexible shaft 1630 can enter the transmission from the side wall of the transmission, and is connected with the bevel gear 1610. The bevel gear 1620 is orthogonally engaged with the bevel gear 1610, and is connected with the screw rod. When the flexible shaft 1630 drives the bevel gear 1610 to rotate, the bevel gear 1620 will rotate synchronously. Thus, the screw rod will also rotate synchronously to enter or exit the sleeve, and realize the length change of the movable link in a straight line.

[0090] It should be noted that the above description is only exemplary, and is not intended to limit the protection scope of the present application. Any improvement / adjustment / variation made under the teaching of the present application is within the protection scope of the present application.

[0091] In some examples, the workpiece or instrument disposed on the pose adjustment system (e.g., on the movable platform) can include a puncture component (or a stabilization component, a clamping component, a light-emitting component, etc.) for surgery. Referring to FIG. 17, a needle component 1710 is provided according to some embodiments of the present application. The needle component 1710 includes a needle whose movement direction can be parallel to the mounting surface of the movable platform. This is beneficial for the medical device 700 to perform surgery on the patient. Referring to FIG. 18, an exemplary structural diagram of the needle component 1710 is shown, which can include a clamp 1810 to clamp the needle, and a force transmission structure 1820 to transmit driving force to the clamp 1810. The needle can be a puncture needle, an ablation needle, a particle implantation gun, an injection needle, an electrode guide wire and / or a cannula, a radio frequency or laser fiber and / or a cannula, a source applicator / catheter / insertion needle combination, a liposuction needle, etc. as described above. The clamp 1810 can have a combination of clamping / loosening functions, for example, when two parts are combined with each other, the needle can be clamped, and when the two parts are separated from each other, the needle can be loosened. As shown in FIG. 18, the two parts included in the clamp 1810 to achieve the above functions are disposed on a frame 1850 through elastic elements such as springs and / or other fixing / connection components. The elastic force of the elastic elements achieves clamping, and an external force is used to push the two parts apart to achieve loosening. The force transmission structure 1820 can include multiple components that together form a force transmission path and are finally connected to the clamp 1810. The transmitted force can drive the clamp 1810 to move linearly, so that the needle is advanced or withdrawn.

[0092] The force transmission component 1820 can include a transmission distal end 1821 and a gear set 1822. The transmission distal end 1821 can be the end of the aforementioned various transmission mechanisms connected with the needle assembly 1810. As shown in FIG. 18, it is used when a flexible shaft transmission is used. The specific structure can refer to the transmission distal end 1821 shown in FIG. 19 according to some embodiments of the present application, which includes a hollow shaft sleeve 1910, a rotating shaft body 1920 arranged inside the hollow shaft sleeve, and a rotating shaft head 1930 coupled with the hollow shaft sleeve. The hollow shaft sleeve 1910 can be a hollow cylinder with one end closed and one end open, and the shape of the rotating shaft body 1920 can match the shape of the hollow cylinder. For example, the rotating shaft body 1920 is a regular polygonal prism, and the hollow cylinder also has a regular polygonal space inside. The rotating shaft body 1920 is connected with a flexible shaft, and when the flexible shaft transmits force to drive it to rotate, the hollow shaft sleeve 1910 will follow the rotation. At the same time, the rotation is transmitted to the rotating shaft head 1930 coupled therewith. The hollow shaft sleeve 1910 and the rotating shaft head 1930 can be similar to a shaft coupling, and the two are coupled with each other through coupling screws. In this way, the transmission of the driving force (i.e. the rotating force) of the transmission distal end 1821 is achieved. It can be understood that the flexible shaft does not have substantial stretchability or has weak stretchability. When the movable platform 130 moves, the flexible shaft will be pulled. On the one hand, it affects the service life of the flexible shaft, and on the other hand, the pulling of the flexible shaft will affect the movement of the movable platform 130. Therefore, in the present application, an elastic member such as a spring can be arranged inside the hollow shaft sleeve 1910 near the closed end. The rotating shaft body 1920 enters the inside of the hollow shaft sleeve 1910 and is fixedly connected with the elastic member. In this way, when the flexible shaft is pulled, it will be buffered by the elastic member, thereby avoiding the occurrence of the above problems.

[0093] Referring back to FIG. 18, the rotating shaft head 1930 of the transmission distal end 1821 is connected with an intermediate gear, which can form an intersecting gear (e.g., in the form of a bevel gear, helical gear, or bevel gear, etc.) with a gear in the gear assembly 1822 to transmit the rotating force. In some embodiments, the rotating shaft head 1930 and the intermediate gear can also form a gear assembly. In some embodiments, other components such as a speed reducer can be added in the middle of the rotating shaft head 1930 and the intermediate gear, or the speed reduction effect can be achieved by setting the speed reduction ratio of the intersecting gear. In one specific embodiment, in combination with the view of the needle component in another direction shown in FIG. 20, the gear assembly 1822 can include three gear pieces that are engaged with each other. Among them, the first gear is engaged with the intermediate gear (which is connected with the rotating shaft head 1930) to form an intersecting gear, including a gear shaft, one end of which is a bevel gear or bevel gear, and the other end is a spur gear. Alternatively, the first gear can be a gear assembly, including two gears arranged at both ends of a shaft. One end is a bevel gear, which is engaged with the intermediate gear connected with the rotating shaft sleeve 1930 to form an intersecting gear, and the spur gear is used to engage with the second spur gear (which can be referred to as the second gear) of the gear assembly 1822. The second gear will engage a spur gear (which can be referred to as the third gear) connected with a lead screw 1830. The lead screw 1830 can be threadedly connected with the clamping member 1810. In this way, the rotating force transmitted by the rotating shaft head 1930 will drive the lead screw to rotate. In turn, the clamping member 1810 performs linear motion, achieving the advancement or withdrawal of the needle. In some embodiments, the gear assembly 1822 can also not use the second gear, but only use the first gear and the third gear; or use 2 or more than 2 second gears according to actual needs. In some embodiments, a speed reducer (such as a speed reduction gear or a worm gear) can also be added in the middle of the rotating shaft head 1930 and the bevel gear. Alternatively, the rotating shaft head 1930 can be directly engaged with the third gear, and the first gear and the second gear are omitted. The above changes are within the scope of protection of the present application.

[0094] The gear assembly 1822, as shown in Fig. 18, includes two sets of three-gear transmission structure. One set is used to drive the movement of the clamp 1820 as described above, and the other set can be used to interfere with the state of the clamp 1810. Referring to another exemplary schematic diagram of the needle assembly shown in Fig. 21, the "first gear" in the second set of three-gear transmission structure can be connected with a wrench 1870. The wrench 1870 can be actuated by an external force to cause the rotation of a cam shaft 1880 connected with the "third gear". The cam shaft 1880 can be an elliptical rod, which, when rotated, will destroy the internal force balance of the clamp 1810 to release it. The needle clamped thereon can be released. Of course, the rotation of the cam shaft 1880 can also be achieved by the transmission distal end 1821 as described above. This way has higher automation. In another embodiment, the wrench 1870 can also be provided on the "third gear", for example, on the outside of the cam shaft 1880, as long as the wrench 1870 can cause the rotation of the cam shaft 1880 to release the clamp 1810. The cam shaft can be an elliptical shaft or a circular shaft with a rotation center not at the center of the circle.

[0095] It can be understood that the configuration of the above needle assembly is matched with the configuration of the movable platform 130 shown in Fig. 1. Meanwhile, referring to Fig. 18, the needle assembly can be first mounted on the plate 1860, and then the plate 1860 is fixed with the movable platform 130 to complete the installation of the needle assembly. At this time, the first gear of the gear assembly 1822 will be received in the two grooves formed in the movable platform 130, and there is no conflict between any components. At this time, the flexible shaft for transmitting the rotation force can also pass through the inside of the sliding platform 1110, and then pass through the through hole formed in the movable platform 130. In this way, the compactness of the system is improved from another aspect.

[0096] It should be noted that the connection between the movable platform 130 and the workpiece or instrument can also be in other forms. For example, the movable platform 130 can be a plane, and the workpiece or instrument such as a needle is directly mounted on the plane, and the position change or posture change or motion control of the needle is achieved by controlling the movement of the movable platform 130 (that is, controlling the movement of the plurality of movable links 120). For another example, the needle in the foregoing example can also be driven to advance or withdraw, instead of relying on the movement of the movable platform 130. In this example, the needle can have a hollow cylinder with a screw rod inside. The needle is fixedly connected with an intermediate piece threadedly connected with the screw rod. When the flexible shaft drives the screw rod to rotate, the intermediate piece will drive the needle to move linearly, thereby achieving the advancement or withdrawal. Any change, adjustment or replacement made by a person skilled in the art under the inspiration of the present application is within the scope of the present application.

[0097] The medical device disclosed in the present application can achieve wide-range multi-degree-of-freedom precise motion control. The entire device can be miniaturized and compact, and can adapt to different application scenarios.

[0098] The medical device disclosed in the present application can be used alone or in combination with a medical scanning device to perform surgical operations, such as performing microsurgery, minimally invasive surgery (such as puncture biopsy, tumor ablation, particle implantation, intratumoral drug injection, brain electrode implantation, radiofrequency or laser ablation, brachytherapy, medical cosmetic surgery, and other minimally invasive surgeries), or injection administration, and even the pose adjustment system is miniaturized enough to perform microsurgery or minimally invasive surgery within the aperture of the medical scanning device. For example, when used in combination with a medical scanning device, the pose adjustment system can position a needle to a target position or the periphery of the target position under the guidance of a medical scanning image and start performing an operation such as advancing the needle. The medical scanning device can be an X-ray digital imaging device or an ultrasonic scanner, including but not limited to CT, DR, MRI, PET, PET-CT, C-arm (including mobile C-arm, peripheral intervention C-arm, DSA digital subtraction angiography system, etc.), G-arm, U-arm, DSC, CCD, holographic projection device, etc. When the medical device 700 is used, the curved support 710 can be directly mounted (or mounted through an adapted base T) on the scanning bed of the medical scanning device. The medical device 700 will enter the scanning aperture of the medical scanning device together with the scanning bed for medical scanning imaging, for confirming the target area to be reached by the needle component, and planning the motion trajectory of the needle component. This includes confirming the initial position and initial attitude of the needle component. At the same time, the position and attitude of the needle component can also be monitored in real time by the medical scanning image during the minimally invasive surgery to confirm and / or fine-tune it, improving the accuracy and safety of the operation. In other embodiments, the position of the pose adjustment system and / or its needle component can also be tracked or monitored by an additional positioning system (such as an optical positioning system). In some embodiments, the needle component can also be other surgical operation mechanisms.

[0099] Since the medical device 700 is simultaneously imaged, in order to avoid affecting the quality of the medical scan image, for example in the application scenario of the MRI system, each component of the medical device 700 can be made of a medical scan compatible material. For example, the medical device 700 can be made of a non-magnetic material such as plastic, a non-magnetic metal such as titanium alloy, etc. For example, when the medical device 700 is applied to CT, it can be made of plastic, Kevlar, and metals that do not affect human body scanning. When the medical device 700 is applied to MRI, it can be made of plastic and non-magnetic metal that meets the MRI safety requirements. At the same time, in order to make the medical device 700 visible on the medical scan image so as to determine the position of each part, a substance that can be nuclear magnetic imaging (such as fish liver oil particles or water beads) can be included in the material of the medical device 700 or added when in use. For example, a liquid flow groove can be provided in each component, and a substance that can be nuclear magnetic imaging can be added to the liquid flow groove when in use, so that the component is visible in the medical scan image.

[0100] The following briefly describes the use method of the foregoing medical device 700. The additional instrument on the medical device 700 at this time is a needle for minimally invasive surgery. It should be noted that this description is merely exemplary and is not intended to limit the present application. As described below, the use method can include the following steps.

[0101] Step one, place the pose adjustment system and scan to obtain medical scan images. As mentioned before, the pose adjustment system can be directly installed (or installed through an adapter base) on the scanning bed. The installation position can be selected according to the target site where the patient needs to be punctured. For example, a patient needs to be punctured in the lung, so after the pose adjustment system is placed, the needle can be near the patient's chest. Of course, the pose adjustment system can also be placed according to the doctor's clinical experience. After the pose adjustment system is placed, the patient and the pose adjustment system can be scanned to obtain medical scan images. Medical scanning equipment such as CT, DR, MRI, PET, PET-CT, C-arm (including mobile C-arm, peripheral interventional C-arm, DSA digital subtraction angiography system, etc.), G-arm, U-arm, DSC, CCD, etc. can be used for medical scanning. After data processing and image reconstruction, the obtained images such as CT images, MRI images, PET images, and DSA images can be the aforementioned medical scan images. The medical scan images can be 2D images or 3D images. Taking CT images as an example, the medical scan images can be multiple cross-sectional images, or a three-dimensional image obtained based on these cross-sectional images. The medical scan images can be directly displayed on the display device related to the medical scanning equipment. For example, the display screen of the computer of the CT or MRI interactive equipment. The medical scan images can directly display the image information of the patient and the pose adjustment system (especially the needle). The image information can have the relevant spatial data of the patient and the pose adjustment system. For example, the coordinate set corresponding to the patient's area and the pose adjustment system (for example, the needle) in the established image coordinate system. The coordinate set can be used to determine the current position, the final position of the pose adjustment system (and / or the needle), and the motion trajectory of the needle (and / or the through-hole area of the pose adjustment system).

[0102] Step two, adjust the pose adjustment system based on the medical scan images. The adjustment can be to adjust the position of the pose adjustment system (especially the needle) relative to the patient. For example, by dragging the sliding platform 1100 to slide on the curved support 710 to achieve large-scale position change of the needle, by driving the movable connecting rod 120 to move to achieve small-scale and slight position change of the needle, and by adjusting the attitude (for example, the direction of the needle, etc.).

[0103] To achieve the above adjustment, the final position of the needle into the patient and the motion path of the needle into the patient can be first determined using the medical scan image. The final position of the needle can be the position where the needle exerts a specific function, for example, the needle is used for puncture biopsy to determine whether the patient is suffering from lung cancer, then the final position of the needle can be the suspected tumor area of the patient's lung, after entering the area, the needle is used to take out tissue / cells. The motion path of the needle can be the trajectory of the needle from the surface of the patient to the final position. For example, in the above example, the trajectory of the needle from the chest of the patient to the suspected tumor area of the lung after percutaneous entry into the body. An exemplary method for determining the final position of the needle can be to first process the medical scan image by an identification / segmentation algorithm to display the target position in the image. Any suitable machine learning algorithm or neural network, such as R-CNN, SPP-Net, Fast R-CNN, Faster R-CNN, R-FCN, U-Net, V-Net, OverFeat, YOLO, SSD, DSSD, etc. can be applied. Alternatively, the doctor can manually divide and confirm according to clinical experience. Subsequently, through the image coordinate system established based on the medical scan image, the coordinate point set of the target position in the image coordinate system can be obtained. Through coordinate conversion, the coordinate point set in the image coordinate system can be converted into a coordinate point set in the world coordinate system to represent the target position in the real environment.

[0104] As for the motion path of the needle, it can be determined according to several strategies. It can be known that the needle has rigidity, which will certainly cause damage after entering the patient's body; at the same time, the needle also has a certain flexibility, which will certainly be accompanied by a certain deformation (thus deviating from the planned motion trajectory) after entering the patient's body, so it is necessary to determine the real-time position of the needle through the medical scanning device. In order to reduce the influence on normal organs and / or tissues, while avoiding the influence of bones during entry (for example, the needle entering from the chest surface needs to avoid the blockage of the ribs), the motion path of the needle can be the safest path after damage assessment. Along this path, the needle can smoothly reach the target position from the surface of the patient, and the damage to the patient is minimized. The needle generally moves in a straight line after entering the patient's body, so the pose of the needle when moving along the motion path, including the position and the angle, can be obtained based on the medical scan image. The position can be the intersection of the needle entering the patient's body and the surface, and the angle can be the basis for ensuring that the needle coincides with the motion path during travel, which can be achieved by controlling the motion of the movable link 120 to adjust the attitude of the movable platform 130, thereby adjusting the position and angle of the needle.

[0105] In one example, the regions in the patient body where other organs / tissues are located can also be determined based on the segmentation and identification of the medical scan images. Subsequently, an exhaustive approach can be applied to obtain a plurality of lines connecting the patient body surface to the final position of the needle (which can also be considered as a plurality of candidate paths). For example, these candidate paths do not intersect with the organs / tissues in the patient body. After evaluation, the optimal candidate path, for example, the one that results in the least damage to the healthy tissue as evaluated by the weighted evaluation of the damage to the healthy tissue caused by the needle traveling along the candidate path, can be determined as the motion path. Of course, other evaluation methods such as the length of the path can also be used as a guide to determine the motion path. For example, the shortest candidate path can be determined as the motion path. Meanwhile, after the motion path is determined, the intersection of the motion path and the patient body surface can also be determined, or can be referred to as the starting point of the needle motion. As for the angle of the needle, an exemplary approach can be to extrapolate the motion path and obtain a set of coordinate points of the extrapolated line in the world coordinate system (for example, first obtain a set of coordinate points in the image coordinate system established based on the medical scan images and then perform coordinate conversion to determine). The pose of the needle can then be coincident with the region represented by the set of coordinate points. At least, the central axis of the needle is coincident with the region represented by the set of coordinate points. In this way, the pose of the needle can be adjusted by controlling the operation of the movable link 120 of the pose adjustment system to meet the requirements.

[0106] Of course, using a real-time imaging medical scan device such as a dynamic flat panel DRF can achieve instant adjustment of the pose adjustment system. For example, the algorithm can display the motion path of the needle and the pose of the needle in real time on the display of the workstation of the medical scan device, and the pose adjustment system can be automatically adjusted based on the above real-time display. In some cases, steps one and two can be repeated or alternated as needed until the pose adjustment system (especially the needle) reaches the target position.

[0107] Step three, the needle is guided by the adjusted pose adjustment system. It is obvious that the adjusted pose adjustment system can ensure the needle to move along the determined motion path with the proper pose until the final position. During the whole process of needle insertion, the medical scanning device can be controlled to image the patient and the needle (optionally, the pose adjustment system can be included) in real time or at short time intervals. The acquired real-time medical images can be used to fine-tune the motion of the needle to ensure that the needle is correctly inserted into the body to reach the aforementioned final position. For example, after the needle enters the patient's body, the needle can be squeezed and deformed due to tissue pressure, elasticity, and tissue density differences, and thus deviate from the trajectory defined by the motion path. At this time, the pose of the needle at the current time can be re-adjusted based on the acquired real-time medical images to restore it to the trajectory defined by the motion path. In addition, the real-time medical images can be displayed on a display device associated with the medical scanning device, such as the display screen of a workstation, to allow the doctor to better understand the needle insertion process.

[0108] The above description is for the use of the pose adjustment system when working on a single needle. The pose adjustment system can also be used to position and guide multiple needles.

[0109] It should be noted that the use of the pose adjustment system is not limited to the above exemplary description. For example, when installing the pose adjustment system, the doctor can roughly adjust the pose of the needle according to his own experience to reduce the adjustment time in the subsequent steps. For another example, the adjustment of the pose adjustment system can also include the determination of the insertion depth. At the same time, the deviation of the needle travel trajectory can be ignored during the needle insertion process until the needle insertion depth is reached and the needle insertion is stopped, and then the medical scanning device is used to scan and image to determine whether the needle reaches the final position. For another example, the use of the pose adjustment system also includes some additional operations such as moving the wrench 1870 to disengage the needle from the pose adjustment system to remove most of the components of the pose adjustment system except the needle, facilitating other operations on the patient.

[0110] Additionally, the above processes can also be implemented automatically. For example, the pose adjustment system can be communicatively coupled with a motion control system, which can also be communicatively coupled with the medical imaging device. Alternatively, the motion control system can be part of a processing device (e.g., a workstation) of the medical imaging device. An acquisition module can be included for acquiring the medical scan image, an adjustment module can be included for adjusting the pose adjustment system based on the acquired medical scan image, and a guidance module can be included for guiding the adjusted needle guidance module. For example, the acquisition module can be configured to implement the aforementioned step one, the adjustment module can be configured to implement the aforementioned step two, and the guidance module can be configured to implement the aforementioned step three. See the descriptions of the respective steps for details. These systems and their modules can be implemented in various ways. For example, in hardware, software, or a combination of software and hardware. The hardware part can be implemented with special logic; the software part can be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or a specially designed hardware. Those skilled in the art can understand that the above-mentioned methods and systems can be implemented using computer executable instructions and / or included in processor control code, such as provided on a carrier medium, such as a disk, CD or DVD-ROM, a programmable memory, such as a read-only memory (firmware), or a data carrier, such as an optical or electronic signal carrier. The systems of the present disclosure and their modules can not only be implemented in hardware circuits, such as very large scale integrated circuits or gate arrays, semiconductors, such as logic chips, transistors, or programmable hardware devices, such as field programmable gate arrays, programmable logic devices, etc., but also in software, for example, executed by various types of processors, and also by a combination of the above-mentioned hardware circuits and software (e.g., firmware).

[0111] It should be noted that the above description of the modules is for the convenience of description only, and cannot limit the scope of the present disclosure to the embodiments described. It can be understood that, for those skilled in the art, after understanding the principles of the system, various modules can be combined or connected with other modules to form a subsystem without departing from the principles. For example, the modules can share a storage module, and each module can have its own storage module. Variations such as this are within the scope of the present disclosure.

[0112] The present disclosure also discloses other implementations of the support (e.g., support 710) and the sliding platform (e.g., sliding platform 1100) in the medical device described above. See the exemplary descriptions with reference to FIGS. 22-32.

[0113] In one aspect, a sliding platform is provided. The sliding platform can freely slide on a carrier and achieve multi-position stopping and fixing, and realize the convenience of position adjustment of additional workpieces or medical devices. Referring to FIGS. 22-24, the sliding platform 2200 can include a housing. The housing can be disposed on the support mechanism in a manner of at least covering part of the support mechanism. For example, as shown in FIG. 22, the housing can have a through passage K, which can be used for the support mechanism to pass through, so that the housing is disposed on the support mechanism in the form of “clamping”. In one implementation, the passage K can be obtained by retaining during preparation of the housing or machining after preparation is completed. For example, the passage K is retained during one-piece forming of the housing, or is manufactured by using milling, hole opening, or other machining equipment. In another implementation, the housing can be obtained by combining multiple components. The passage K can be obtained after the housing is combined by designing the component structure and connection manner. Referring to FIG. 23, the housing 2210 of the sliding platform 2200 can include an upper housing 2211 and a lower housing 2212. After the upper housing 2211 and the lower housing 2212 are combined, a gap space can be formed therebetween, which is used to form the above-mentioned passage K. The end cover 2213 and the end cover 2214 additionally included in the housing 2210 can be used for the combination between the upper housing 2211 and the lower housing 2212. For example, the end cover 2213 and the end cover 2214 can have a receiving space matched with the shape / size of the side end surface (referring to the end surface in the direction indicated by the arrow A in FIG. 23) of the upper housing 2211 and the lower housing 2212. For example, the receiving space is composed of the outer peripheral surface originally possessed by the end cover 2213 / end cover 2214 and the inner peripheral surface vertically extended based on a certain curve on the bottom surface. The side end surface of the upper housing 2211 and the lower housing 2212 can be received into the receiving space, and fastening is realized by relying on friction. For example, the fixed connection of the upper housing 2211 and the lower housing 2212 on the end cover is realized in a manner similar to that of a sleeve joint. The inner peripheral surface can be different, for example, two inner peripheral surfaces separated from each other are obtained based on two curves, so that an open space is formed between the two inner peripheral surfaces. After the upper housing 2211 and the lower housing 2212 are combined, they do not contact each other, so that the above-mentioned gap space is formed between the upper housing 2211 and the lower housing 2212.

[0114] With reference to FIGS. 24 and 25, the support mechanism can include a curved support 2400. In some implementations, the curved support 2400 can be an arched support, which can have a specific curvature. In some implementations, the curved support 2400 can also be a shape with a smooth surface, such as a wavy shape, a circular chamfer, or the like. For example, a reversed "N" shape with a rounded corner or a regular / irregular polygon such as a trapezoid, a square, a polygon, or the like is also applicable, which is not limited in the present application. Taking the curved support 2400 shown in FIGS. 24 and 25 as an example of a circular arched support, after the combination of the shell 2210, the upper shell 2211 can be located on the outer arch surface OF side of the curved support 2400, and the lower shell 2212 can be located on the inner arch surface IF side of the curved support 2400. In order to achieve smooth sliding of the shell 2210 on the curved support 2400 (for example, to avoid the hindrance of friction as much as possible), the lower end surface of the upper shell 2211 (referring to the end surface in the up-down direction indicated by the arrow B in FIG. 23) and the upper end surface of the lower shell 2212 can be arc-shaped surfaces. The arc-shaped surfaces can have the same curvature as the curved support 2400 which is a circular arched support. In this way, after the combination of the shell 2210, the shell 2210 can flow smoothly on the curved support 2400, and the friction will not increase dramatically to cause the shell 2210 to be unable to slide due to different curvatures.

[0115] For the combination of the shell 2210, one operation process can be to first use one end cover (which can be the end cover 2213 or the end cover 2214) to accommodate and fasten one side end surface of the upper shell 2211 and the lower shell 2212. At this time, the gap space of the shell 2210 is formed between the upper shell 2211 and the lower shell 2212. Subsequently, the uncombined shell can be inserted into the curved support 2400, for example, the curved support 2400 is inserted into the gap space of the shell. After completion, the other end cover can be used to accommodate and fasten the other side end surface of the upper shell 2211 and the lower shell 2212. In this way, the installation of the shell 2210 on the curved support 2400 is completed.

[0116] The length of the upper shell 2211 and the lower shell 2212 can be slightly greater than the width of the curved support 2400, and the amount greater than the width of the curved support 2400 can be used as a margin for accommodating the end cover. At the same time, the open space (which can also be referred to as an accommodation groove or a first recess in the present application) defined by the outer circumferential surface and the inner circumferential surface of the end cover 2213 and the end cover 2214 can be used to accommodate part of the curved support 2400, for example, the outer circumferential side of the curved support 2400 in the width direction. On the one hand, the above-mentioned margin of the upper shell 2211 and the lower shell 2212 can be shortened, saving production costs. On the other hand, the friction between the curved support 2400 and the end cover can be avoided, which affects the sliding of the shell 2210 on the curved support 2400.

[0117] For the sliding of the shell 2210 on the curved support 2400, a second groove 2410 can be formed on the curved support 2400. As shown in FIG. 24 and FIG. 25, the second groove 2410 can be formed on the outer arch surface OF of the curved support 2400, or on the inner arch surface IF. Alternatively, the second groove 2410 can be formed on both the outer arch surface OF and the inner arch surface IF. For example, the second groove 2410 can be formed on the arch surface of the curved support 2400 by using a slotting machine or the like. On the lower end surface of the upper shell 2211 and / or the upper end surface of the lower shell 2212, a sliding member can be provided to match the second groove 2410. The sliding member can be accommodated in the second groove 2410 after the shell 2210 is arranged on the curved support 2400. At this time, the combination of the shell 2210 can be that the sliding members of the upper shell 2211 and the lower shell 2212 are aligned with the second groove 2410 first, and then the two are attached to the curved support 2400, and then the side end surface of the upper shell 2211 / lower shell 2212 is accommodated / fixed by using an end cap.

[0118] In an implementation, the sliding member can be a sliding block. The sliding block can be integrally formed with the upper shell 2211 / lower shell 2212 (for example, by using injection molding, hot pressing, extrusion, 3D printing, etc.), or can be additionally attached (for example, by welding, bonding, etc.). The sliding block can slide in the second groove 2410. For example, when an external force is applied to the shell 2210, the shell 2210 can change its position on the curved support 2400 by sliding of the sliding block in the second groove 2410. In order to achieve smooth sliding of the shell 2210, a lubricating liquid or oil can also be added in the second groove 2410.

[0119] In another implementation, the sliding member can be a rolling wheel. Referring back to FIG. 23, the upper shell 2211 and the lower shell 2212 can be hollow, and the inside can be used to install / arrange other components. As shown in FIG. 23, the lower end surface of the upper shell 2211 and the upper end surface of the lower shell 2212 can be provided with a plurality of through grooves G. On the outer peripheral side of the grooves G in the shell interior, a mounting bracket M can be fixedly arranged. The mounting bracket M can be provided with a mounting hole for mounting the rolling wheel, for example, the rolling wheel rotates around its own shaft, and the shaft can be fixedly mounted in the mounting hole in a sleeving or clamping manner. Alternatively, the rolling wheel has a fixed central shaft, and the central shaft is rotatably connected with the mounting hole, such as by bearing connection. In this way, the rolling wheel mounted on the mounting bracket M can rotate freely. Through the grooves G, the rolling wheel can partially protrude outside the shell, and then enter the second groove 2410. Thus, the rolling wheel can roll in the second groove 2410, driving the shell 2210 to move on the curved support 2400.

[0120] With the above structure design, the sliding of the shell 2210 on the curved support 2400 can be achieved by external force. For example, the operator applies a pushing force or a pulling force to the shell 2210 to push or pull the shell 2210 to move.

[0121] It should be noted that the above second groove can also be arranged on the shell 2210. For example, arranged on the lower end surface of the upper shell 2211 and / or the upper end surface of the lower shell 2212. Correspondingly, the outer arch surface and / or the inner arch surface of the curved support 2400 can be provided with a strip-shaped protrusion. The sliding of the shell 2210 on the curved support 2400 is achieved by the cooperation of the strip-shaped protrusion and the second groove. The present application does not make specific limitations on this.

[0122] In some implementations, the sliding platform 2200 can stay at different positions on the support mechanism (for example, the curved support 2400). For example, the sliding platform 2200 further includes a connecting piece arranged inside the shell 2210. As mentioned above, the upper shell 2211 and the lower shell 2212 can be hollow, and the connecting piece can be arranged inside the upper shell 2211 and / or the lower shell 2212. The connecting piece can be connected with a cooperating piece arranged on the support mechanism. For example, the through slot G arranged on the lower end surface of the upper shell 2211 and / or the upper end surface of the lower shell 2212 can be used as a passage for the connecting piece to extend outside the shell. During the sliding of the shell (for example, the shell 2210) on the support mechanism (for example, the curved support 2400), the connecting piece can always be connected with the cooperating piece, for example, contact connection. That is, the connecting piece can be connected with the cooperating piece at any position of the cooperating piece. By the contact connection and in combination with the specific design of the shell and the support mechanism, the shell can stay at any position of the support mechanism.

[0123] Referring back to FIG. 24 and FIG. 25, in some implementations, the connecting member can include a rotating gear 2220, and the cooperating member can include a continuous tooth groove 2420 disposed on the curved bracket 2400. The continuous tooth groove 2420 and the curved bracket 2400 can be integrally formed after being machined separately, for example, by bonding, screw locking, buckling, etc. In some implementations, the continuous tooth groove 2420 can be realized by a rack installed on the curved bracket 2400 to form the continuous tooth groove 2420. In other implementations, the continuous tooth groove 2420 can be integrally formed with the curved bracket 2400, forming a "rack" embedded in the curved bracket 2400, or a "rack" formed on the curved bracket 2400 by machining or laser etching, etc. The rotating gear 2220 can be meshingly connected with the continuous tooth groove 2420 at any position of the continuous tooth groove 2420. When the rotating gear 2220 is subjected to a rotating force, it can drive the shell 2210 to slide on the curved bracket 2400 through meshing transmission.

[0124] Referring to another exemplary structure of the sliding platform shown in FIG. 26. Compared with FIG. 24 and FIG. 25, the curved bracket 2400' shown in FIG. 26 is similar to the curved bracket 2400 shown in FIG. 25, but does not have the second groove described above. And the continuous tooth groove 2420' on the curved bracket 2400' can be integrally formed after being machined separately as described above. For example, the continuous tooth groove 2420' is bonded on the lower curved surface of the curved bracket 2400' by bonding. At this time, for the combination of the shell 2210', since the curved bracket 2400' does not have the second groove, the sliding member (such as a sliding block or a rolling wheel) will no longer be provided on the shell 2210'. Therefore, one of the end covers of the upper shell and the lower shell included in the shell 2210' can be integrated, and then the curved bracket 2400' is inserted into the gap space of the shell 2210'. Subsequently, the other end cover is used to accommodate / fasten the other side end surface of the upper shell and the lower shell, completing the installation of the shell 2210' on the curved bracket 2400'. The setting of the rotating gear 2220 inside the shell 2210 can be the same as or similar to the setting of the rolling wheel described above. For example, the through groove G can also serve as a passage for the rotating gear 2220 to protrude out of the shell 2210, and the corresponding through groove G on the outer circumferential side inside the upper shell 2211 and / or the lower shell 2212 can also be provided with a mounting rack or other similar components. In this way, the rotating gear 2220 can be mounted on the mounting rack, and after receiving a rotating force, it can drive the shell 2210 to move on the curved bracket 2400 through meshing connection with the continuous tooth groove 2420.

[0125] In some implementations, the rotating force can be provided by a driving motor (not shown in the figures). The driving motor can be disposed inside the housing 2210. As shown in FIGS. 23, 24 and 25, the rotating gear 2220 is disposed inside the lower housing 2212, the driving motor can also be disposed inside the lower housing 2212. Corresponding structures for fixing the driving motor can also be disposed inside the lower housing 2212. For example, mounting slots can be provided for the driving motor to be directly clamped into. In another implementation, the rotating gear 2220 can be placed on the upper housing 2211, and a continuous tooth slot can be provided on the upper arch surface of the curved support 2400. The rotating gear 2220 can be connected with the rotating shaft of the driving motor, so as to be driven to rotate by the rotation of the rotating shaft. In some other examples, the driving motor can be disposed outside the housing 2210. For example, the driving motor can be connected with the rotating gear 2220 through a force transmission component such as a flexible shaft, a rigid shaft, a gear rod, a transmission rod, a lead screw, a guide wire, a pneumatic component, a hydraulic component, or any combination thereof. In this way, the rotating force of the driving motor can be transmitted through the above-mentioned force transmission component, and finally drive the rotating gear 2220 to rotate. The entry of the force transmission component (such as a flexible shaft) into the interior of the housing 2210 can be achieved through an opening O on the end cover (such as the end cover 2214). The force transmission component (such as a flexible shaft) is connected with the rotating gear 2220 after entering the interior of the housing 2210 from the opening O.

[0126] The driving motor (or the force transmission component) and the rotating gear 2220 can be directly connected or indirectly connected. For example, a reduction gear set RG can be connected between the driving motor (or the force transmission component) and the rotating gear 2220. The reduction gear set RG has the advantages of large transmission torque and high precision, and can achieve fine control of the rotation of the rotating gear 2220, so that the housing 2210 can accurately stay at the desired position on the curved support 2400.

[0127] Under the above structure design, the sliding of the housing 2210 on the curved support 2400 can be achieved by the driving motor. For example, after the driving motor is powered on, the speed of the housing 2210 on the curved support 2400 can be controlled by controlling the rotating speed of the driving motor. At the same time, by setting the structure of the driving motor and the rotating gear 2220, the fixing of the rotating gear 2220 on the continuous tooth slot 2420 can be achieved by the meshing between the gears and the characteristics that the rotating shaft is fixed when the driving motor is powered off or powered on, so as to achieve the fixing of the housing 2210 on the curved support 2400.

[0128] It should be noted that the rotating gear 2220 and the driving motor above can also be arranged inside the upper shell 2211. Correspondingly, the continuous tooth groove 2420 can also be arranged on the outer arc surface of the curved support 2400. The present application does not make specific limitations. In addition, the present application realizes the sliding of the sliding platform 2200 on the curved support 2400 by the cooperation of the rotating gear 2220 and the continuous tooth groove 2420, but this does not limit the relative movement between the above two components to be realized by the meshing of the gears. In other implementations, the rotating gear 2220 can also be replaced by a chain wheel, and the continuous tooth groove 2420 can be replaced by a chain such as a toothed chain. For example, a set of grooves are arranged on the inner arc surface IF of the curved support 2400 for accommodating the chain. In this way, the relative movement between the sliding platform 2200 and the curved support 2400 can be realized by the tooth meshing between the chain wheel and the chain. Of course, other suitable components that can realize transmission can also be applied to the present application. For example, gear transmission, belt transmission, chain transmission, worm gear transmission, etc. Any transmission mode with rotary input and rotary output can be used.

[0129] It should be noted that the above content involves two sliding modes of the shell 2210 on the curved support 2400: external force driving and motor driving, and the combination of the sliding platform 2200 and / or the curved support 2400 can be different. For example, under the external force driving, the rotating gear 2220 and / or the continuous tooth groove 2420 are not necessary. Only the second groove 2410 is arranged on the curved support 2400 and the sliding block or the rolling wheel is arranged inside the shell 2210. Under the motor driving, the rotating gear 2220 and the continuous tooth groove 2420 are necessary, and the second groove 2410 and / or the sliding block or the rolling wheel arranged inside the shell 2210 are not necessary. By the meshing connection of the rotating gear 2220 and the continuous tooth groove 2420, the movement and stop of the sliding platform 2200 on the curved support 2400 can be realized by controlling the rotation and stop of the driving motor.

[0130] In addition, the above motor driving can also be realized in other forms. For example, the rotating gear 2220 and the continuous tooth groove 2420 are replaced by a linear motor with an arc-shaped screw rod. The arc-shaped screw rod is arranged on the curved support 2400, and the linear motor is arranged inside the sliding platform 2200, which directly drives the sliding platform 2200 to move on the curved support 2400.

[0131] In some implementations, the sliding platform 2200 can further include a handle 2230. As shown in FIGS. 22-25, the handle 2230 can be disposed above the housing 2210, and can include a gripping portion 2231 and a limiting portion 2232 fixedly connected with the gripping portion 2231. As shown in the figures, the limiting portion 2232 can be a columnar body, and can be disposed on two side wall columns of the gripping portion 2231. The two columnar bodies can be connected with each other by a connecting rod 2233. In one possible implementation, the limiting portion 2232 can be integrally formed, i.e., the two columnar bodies and the connecting rod 2233 can be integral, and the connecting rod 2233 can be part of the limiting portion 2232. Alternatively, the limiting portion 2232 as a columnar body can be fixedly connected with the connecting rod 2233. Meanwhile, in order to mount the limiting portion 2232 on the gripping portion 2231, one end of the columnar body can be provided with a hole. The two side wall columns of the gripping portion 2231 can be clamped into the hole by means of a sleeve joint, so as to complete the fixed connection therebetween. The handle 2230 can be partially inserted into the housing 2210. As shown in the figures, the outer periphery of the housing 2210 can be provided with a through hole (e.g., a through hole can be formed on the outer periphery of the upper housing 2211), and the gripping portion 2231 can be inserted into the upper housing 2211 and rotationally connected with the rotation fitting inside the housing 2210. For example, the top ends of the two side wall columns of the gripping portion 2231 can be provided with through holes, and the inside of the upper housing 2211 can be provided with rotation fittings identical to or similar to the mounting racks of the rolling wheels as described above, and the number thereof can be two, corresponding to the two side wall columns of the gripping portion 2231. By means of rods (or shafts) passing through the through holes at the top ends of the side wall columns and the two mounting holes on the mounting racks, the gripping portion 2231 can be rotationally mounted on the rotation fittings. In this way, pulling the gripping portion 2231 by an external force can cause the gripping portion 2231 to rotate.

[0132] During the rotation of the gripping portion 2231, the limiting portion 2232 can be extended out of or retracted into the upper housing 2211 along with the rotation of the gripping portion 2231. Similarly or analogously, the lower end surface of the upper housing 2211 can be provided with an operation hole. The position of the operation hole can correspond to the position of the limiting portion 2232 (e.g., the two columnar bodies described above) after the rotation mounting of the gripping portion 2231 is completed. When the handle 2230 (or the gripping portion 2231) is pressed, the limiting portion 2232 can be extended out of the operation hole. When the handle 2230 (or the gripping portion 2231) is lifted, the limiting portion 2232 will be retracted into the upper housing 2211 from the operation hole.

[0133] Correspondingly, the curved bracket 2400 can be provided with a plurality of limiting holes 2430. For example, the curved bracket 2400 is provided with a plurality of limiting holes 2430 on the outer arch surface. The limiting holes 2430 can be arranged according to a predetermined rule or randomly. For example, the limiting holes 2430 are arranged every 15°, 20°, 25°, 30°, etc. After the limiting portion 2232 extends out of the upper shell 2211, it can be inserted into the limiting hole 2430 to achieve secondary position fixing of the sliding platform 2200 (or the shell 2210).

[0134] In order to avoid the handle 2230 always hanging down due to gravity without external force, causing the limiting portion 2232 to extend out of the operation hole and rub against the outer arch surface of the curved bracket 2400, thereby affecting the sliding of the sliding platform 2200 and the stability of the structure, the connecting rod 2233 can be provided with a protruding structure Z, and the inside of the upper shell 2211 can be provided with an elastic buckle structure. When the holding portion 2231 is installed with the rotating cooperation piece, the protruding structure Z will be opposite to the elastic buckle structure. At this time, when the holding portion 2231 is lifted, the handle 2230 (or the holding portion 2231) is lifted, and the protruding structure Z is separated from the elastic buckle structure. After the handle 2230 is released, the protruding structure Z will be blocked by the elastic buckle structure and be lifted. Thus, the entire handle 2230 is lifted, avoiding the limiting portion 2232 extending out of the operation hole. The protruding structure Z is opposite to the elastic buckle structure. When the handle 2230 (or the holding portion 2231) is pulled up, the protruding structure Z is separated from the elastic buckle structure. After the handle 2230 is released, the protruding structure Z will be blocked by the elastic buckle structure and be lifted. When the handle 2230 (or the holding portion 2231) is pressed downward, the protruding structure Z will be buckled into the elastic buckle structure, and at the same time, the limiting portion 2232 will extend out of the shell 2210 and be buckled into the limiting hole 2430. This setting can also avoid the handle 2230 being accidentally touched and directly lifted, causing the limiting portion 2232 to be separated from the limiting hole 2430 and resulting in failure of secondary position fixing.

[0135] In some implementations, the sliding platform 2200 can provide a mounting surface for other components or devices. For example, the end cover 2213 can provide the mounting surface. For example, the surface of the end cover 2213 facing away from the inside of the shell 2210 can be used as the mounting surface, that is, the surface of the end cover 2213 facing in the figure 22. A plurality of mounting hole positions are provided on the surface, which can be used for mounting of components or devices.

[0136] The application also discloses other implementations of the sliding platform. Referring to the exemplary structural diagrams of the sliding platform according to some embodiments of the application shown in FIGS. 27-32. The sliding platform 2500 shown in FIGS. 27-32 is different from the foregoing sliding platform 2200 in the handle and the internal portion structure.

[0137] The sliding platform 2500 can also include an upper housing 2511, a lower housing 2512, an end cap 2513, and an end cap 2514. The sliding platform 2500 can be arranged in a "clamped" manner on a support mechanism. The support mechanism can be the same as or similar to the curved support 2400 described above, and is labeled as curved support 2600 in FIGS. 30-32. The curved support 2600 differs from the curved support 2400 in that instead of a second recess 2410 formed in the outer face OF or the inner face IF of the curved support 2400, the curved support 2600 has a rail 2610 that is detachably mounted to the support body. The rail 2610 can be rigid and have a curvature that is the same as the curvature of the curved support 2600 so that the rail 2610 can fit snugly on the curved support 2600 when mounted. In another implementation, the rail 2610 can be flexible so that it can fit curved supports 2600 having different curvatures without having to design / produce a rail 2610 having the same curvature for each curved support 2600. In some implementations, the rigid rail 2610 can also function as a stiffener to provide structural support to the curved support 2600.

[0138] The rail 2610 can form a slide channel similar to the second recess 2410. Similarly, a slide can be provided on the lower end face of the upper housing 2511 and / or the upper end face of the lower housing 2512. When the sliding platform 2500 is arranged on the curved support 2600, the slide will be received in the slide channel. The slide can also be a slider or a rolling wheel.

[0139] In other implementations, the rail 2610 can form a sliding monorail. For example, the rail 2610 can have a "T" shape or a "Γ" shape in cross-section. In this case, the vertical edge will fit snugly against the curved support 2600, and the horizontal edge will extend out of the rail 2610 after the rail 2610 is fitted against the curved support 2600 to form the sliding monorail. The sliding platform 2500 will slide on the curved support 2600 with the aid of an external member. By way of example, the external member can be a "∩" shaped slider. As shown in FIG. 31, the slider S is slidingly engaged with the sliding monorail. The upper housing 2511, the lower housing 2512, the end cap 2513, and the end cap 2514 of the sliding platform 2500 can be designed to receive the slider S and secure the slider S when the sliding platform 2500 is assembled. In this way, the slider S will form part of the sliding platform 2500 when the sliding platform 2500 is mounted on the curved support 2600 by the previously described similar manner. With the aid of the slider S, the sliding platform 2500 can slide freely on the curved support 2600.

[0140] In some implementations, the curved bracket 2600 can also be provided with reinforcing ribs (not shown in the figures). The number of reinforcing ribs can be adjusted according to actual conditions. For example, if the curved bracket 2600 is wide, a larger number of reinforcing ribs can be used to maintain the structural strength of the curved bracket 2600. For a narrower curved bracket 2600, one or two reinforcing ribs can be used. Of course, this is not limiting.

[0141] Referring back to FIGS. 30 and 31, the connecting member used for stopping the sliding platform 2500 at any position on the curved bracket 2600 can still be a rotating gear, for example, the rotating gear 2520. The rotating gear 2520 will also be engaged with the cooperating member (also capable of being provided by bonding, screw locking, buckling, integral molding, etc.) on the curved bracket 2600, for example, the continuous tooth groove 2620. In this way, when the rotating gear 2520 is applied with a rotating force, it will drive the shell to move on the curved bracket 2600 through engagement. And by locking the rotation of the rotating gear 2520, the sliding platform 2500 that has stopped sliding is fixed at the stop position. The through groove G provided on the lower shell 2512 of the sliding platform 2500 for extending the rotating gear 2520 is larger than the through groove G provided on the lower shell 2212 of the sliding platform 2200. This is beneficial for the installation of the rotating gear 2520.

[0142] The handle 2530 provided on the sliding platform 2500 has a different structure from the handle 2230 of the sliding platform 2200. As shown in FIG. 31, the handle 2530 can include a holding portion 2531 and a handle body 2532 connected to the holding portion 2531. The holding portion 2531 can be a T-shaped holding piece, and the handle body 2532 can be connected to one end of the vertical body of the T-shaped holding piece. A limiting portion 2533 for inserting into the limiting hole 2630 provided on the curved support 2600 can be provided on the handle body 2532. For example, the middle part of the handle body 2532 as shown in FIG. 31. Similarly, the handle 2530 can extend into the sliding platform 2500 through the through hole provided on the outer circumferential surface of the upper shell 2511, for example, at least the limiting portion 2533. The other end of the handle body 2532 can be provided on a connecting portion 2534, for example, the connecting portion 2534 is a columnar body. The columnar body can be rotationally connected to a rotating fitting piece P provided inside the sliding platform 2500. For example, the rotating fitting piece P has a circular hole, and after the two ends of the columnar body are respectively inserted into the circular holes of two rotating fitting pieces P (only one is shown in FIG. 31 due to shielding), the handle 2530 is rotated under the external force pulling due to the rotation between the connecting portion 2534 and the rotating fitting piece P. Similarly. The lower end surface of the upper shell 2411 can also be provided with a through area for the limiting portion 2533 to extend out or retract, so that by pulling the handle 2530, the limiting portion 2533 can be inserted into or withdrawn from the limiting hole 2630. In another embodiment, the handle 2530 can also be provided at other positions, for example, the top surface of the upper shell 2511. By adjusting the length of the handle body 2532 of the handle 2530, the position and shape (such as being provided longer) of the limiting portion 2533, and the position of the rotating fitting piece P provided inside the sliding platform 2500, the limiting portion 2533 can also be inserted or withdrawn from the limiting hole 2630 in a pulling manner to complete the fixing or unlocking of the position of the sliding platform 2500 on the curved support 2600.

[0143] To prevent the handle 2530 from being accidentally inserted into the limit hole 2630 when inserted into the limit hole 2630 due to accidental touch or always hanging down due to gravity when removed from the limit hole 2630, elastic members such as elastic sheets, springs or elastic coils can be installed on both sides of the vertical body of the holding portion 2531. The through hole opened on the outer peripheral surface of the upper housing 2511 of the sliding platform 2500 can be in the shape of "艹". With such a shape of the through hole, the vertical bar of the main body serves as a passage for the handle 2530 to move up and down when lifted. Since this passage is narrow, the elastic sheet will be squeezed and stick to the vertical body of the holding portion 2531. The horizontal bar "=" is for position limitation. When the holding portion 2531 moves here, the elastic sheet will expand and extend into the horizontal space because the passage becomes wider. For example, the upper horizontal space keeps the limiting portion 2533 completely out of the limit hole 2630. Or rather, when the holding portion 2531 moves to this position, the elastic sheet extends into the upper horizontal space, and the entire handle 2530 will be lifted, and a relatively small force or gravity will not cause the elastic sheet to deform and separate, preventing the handle 2530 from hanging down and being accidentally inserted into the limit hole. The lower horizontal space keeps the limiting portion 2533 in the state of being inserted into the limit hole 2630. Accidentally touching the handle 2530 will not cause the elastic sheet to deform and separate, preventing the limiting portion 2533 from being removed from the limit hole 2630 and resulting in the failure of secondary fixation. In another embodiment, the elastic member can also be installed inside the through hole (i.e., inside 2511), and the handle 2530 is locked by squeezing the elastic member during the locking process.

[0144] For the application of the above-mentioned sliding platform and the curved surface bracket, the curved surface bracket can be installed on the scanning bed by using the mounting hole 2440 or the mounting hole 2640.

[0145] Of course, the above description is only exemplary and not a limitation of the present application. Any improvement, adjustment, deformation, etc. within the scope claimed in the present application are applicable.

[0146] The basic concepts of the present application have been described. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation of the present application. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to the present application. Such modifications, improvements and corrections are proposed in the present application, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0147] Also, the use of "a" or "an" to describe an item or feature of the application should be taken to mean "one or more" unless otherwise indicated. Furthermore, the use of the term "including" as well as other forms for, e.g., "include", "includes", "included", "including", "contain", "contains", "contained", etc., should be taken to be open-ended, meaning that there is no limitation as to single or plural features, and items and components can be added and still be within the scope of the application. The word "comprising" and variations such as "comprise" or "comprises" is not used as a limitation but instead the complete scope of the claims is to be afforded the broadest interpretation so as to encompass any prior art embodiments.

[0148] Similarly, it is to be noticed that the term "comprising", used in the description, is not used in the sense of "consisting only of" to limit the present application to the listed features but to "provide the possibilities for an additional feature to be present" in other words, the term "comprising" means the presence of the stated features, integers, steps or components but the absence of one or more of them, not precluding the presence or addition of one or more other features, integers, steps, components or groups thereof. Furthermore, as used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0149] Finally, it is to be understood that the use of any form of the word "comprising", "including", "containing", "having" etc., is intended to open the claims to a broad scope of equivalents, such that any additional features, integers, steps, components, etc. can be added to the features, integers, steps, components, etc. listed in the claims without the instant application being limited to those so added features, integers, steps, components, etc.

Claims

1. A pose adjustment system, characterized in that, The pose adjustment system comprises: a base, a movable platform; and a plurality of movable links, each of which is connected to the base and the movable platform through a degree-of-freedom controllable movable component; wherein the movable platform is capable of autonomous movement under the driving of external force and passive movement of the movable component, thereby achieving multiple degrees of freedom.

2. The pose adjustment system of claim 1, wherein, The base has a first mounting surface for setting the movable component, and the movable platform has a second mounting surface for setting the movable component, wherein the shapes of the first and second mounting surfaces are the same or different; the movement stroke of the plurality of movable links is the same and / or different.

3. The pose adjustment system of claim 2, wherein, The first or second mounting surface is a plane, a stepped surface, a curved surface, or a combination of two / three.

4. The pose adjustment system of claim 1, wherein, The number of the plurality of movable links is equal to or greater than 6.

5. The pose adjustment system of claim 1, wherein, The movable component comprises a joint bearing; the outer surface of the spherical joint of the joint bearing and the inner surface of the bearing sleeve are provided with limiting structures, which limit the rotation of the spherical joint around its own axis.

6. The pose adjustment system of claim 1, wherein, The movable platform is provided with a workpiece or an instrument.

7. A medical device, characterized by The medical device comprises: a support; and one or more pose adjustment systems according to claims 1-6; wherein the pose adjustment system is arranged on the support and is controlled to slide relative to the support or is fixedly connected to the support; the movable platform is provided with a needle assembly, and the pose adjustment is achieved by the movement of the movable platform.

8. The medical device of claim 7, wherein, The pose adjustment system is slidably connected to the support through a sliding platform; a plurality of predetermined positions on the support are provided with first positioning structures, and the sliding platform is provided with second positioning structures; the second positioning structures are controlled to be fixedly connected to the first positioning structures in a detachable manner, so that the sliding platform is fixed at the corresponding predetermined position on the support.

9. The medical device of claim 8, wherein, The first positioning structure comprises a groove, and the second positioning structure comprises a rotatable movable clamping block; the clamping block is inserted into or separated from the groove under the action of external force, thereby achieving the detachable fixed connection between the sliding platform and the support.

10. A medical device comprising the pose adjustment system according to any one of claims 1-6 or the medical device according to any one of claims 7-9.

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