WO2023092972A1 - Portal frame convenient for butt joint - Google Patents

Abstract

A multifunctional interventional surgical robot slave-end driving device, comprising a supporting frame; a fixed support plate mounted on the supporting frame; a first driving assembly; a movable support plate; and two clamping groups respectively mounted on the fixed support plate and the movable support plate, wherein the first driving assembly drives the movable support plate to approach or move away from the fixed support plate in a first direction, such that the two clamping groups cooperate with each other to clamp or release an elongated medical device. The driving device has a good transmission effect and occupies little space.

Description

A gantry frame that is convenient for docking

This application claims the priority of the Chinese patent application filed on November 25, 2021 with the application number 202111415676.3 and the title of the invention is "A Gantry Frame for Easy Docking" submitted to the China Patent Office, the entire contents of which are hereby incorporated by reference in this application .

technical field

The present application relates to a device in the field of medical robots, in particular to a gantry frame that is convenient for docking.

Background technique

In vascular interventional surgery, doctors need to receive X-ray radiation for a long time. For this reason, a remote-operated master-slave vascular interventional surgery robot has been developed, so that doctors can control the slave-end interventional robot to perform vascular interventional surgery outside the ray environment.

However, in the actual use of the interventional robot from the end, it was found that when the gantry equipped with the interventional surgery robot needs to be transported from the catheter bed to the mobile trolley, the mass of the gantry equipped with the interventional surgery robot is too heavy, and the existing gantry The process of docking with the mobile trolley is prone to jams, the handling time is too long, and it may even require the help of multiple medical staff, which is very inconvenient.

Contents of the invention

Based on this, it is necessary to provide a new type of gantry that is convenient for docking to address the deficiencies in the prior art.

A gantry frame that is convenient for docking, including a frame and a trolley docking structure;

The frame is used to connect with the catheter bed to install the interventional operation robot;

The trolley docking structure is installed on the frame for docking with the mobile trolley for carrying the gantry.

Preferably, the trolley docking structure includes two opposite trolley docking assemblies;

Each of the trolley docking components includes a trolley docking body provided with a trolley docking groove, and the trolley docking body is also provided with a trolley guide groove, and the trolley guide groove gradually faces toward the direction of the corresponding trolley docking groove. Zoom out, for guidance.

Preferably, the trolley docking assembly further includes two sets of trolley rollers;

The two sets of trolley rollers are installed on the corresponding trolley docking body, respectively located at the trolley docking entrance and the trolley docking outlet of the trolley docking groove.

Preferably, a trolley roller set is arranged between the trolley docking entrance of the trolley docking groove and the corresponding trolley guide groove.

Preferably, the gantry frame also includes a bed docking structure docked with the catheter bed, the bed docking structure includes two oppositely arranged bed docking assemblies, and the frame includes two moving supports and connecting two The two trolley docking assemblies are respectively located at the head ends of the two mobile supports, and the two bed docking assemblies are respectively located at the ends of the two mobile supports.

Preferably, each of the bed docking components includes a bed docking body provided with a bed docking groove, and the bed docking body is also provided with a bed guide groove, and the bed guide groove faces the corresponding bed docking groove The direction of is tapered for guidance.

Preferably, the bed docking assembly further includes two sets of bed rollers;

The two sets of bed rollers are installed on the corresponding bed docking body, respectively located at the bed docking entrance and the bed docking outlet of the bed docking groove.

Preferably, a bed roller set is arranged between the bed docking entrance of the bed docking groove and the corresponding bed guiding groove.

Preferably, the guide groove of the bed body and the guide groove of the trolley are set in opposite directions.

Preferably, the gantry frame also includes a bed docking structure docked with the catheter bed, the bed docking structure includes two oppositely arranged bed docking assemblies; Reinforcing beams for a mobile support;

The two trolley docking assemblies are respectively located on the reinforcing beams; the two bed docking assemblies are respectively located on the two moving supports.

To sum up, the docking gantry of this application can conveniently transport the frame with the interventional surgery robot installed by setting the docking structure of the trolley, without moving the trolley to dock with the catheter bed, avoiding jamming, and the operation is simple and convenient. It is convenient for medical staff to operate.

technical problem

When it is necessary to transport the gantry with the interventional surgery robot from the catheter bed to the mobile trolley, the mass of the gantry with the interventional surgery robot installed is too heavy, and the existing gantry and the mobile trolley are prone to jamming during the docking process. The handling time is too long, and it may even require the help of multiple medical staff, which is very inconvenient.

technical solution

A multifunctional interventional surgery robot driving device from the end, used to realize the clamping of slender medical equipment, which includes a support frame, a fixed support plate installed on the support frame, a first drive assembly, and the first drive assembly Drive the movable support plate that moves relative to the fixed support plate in the first direction, and the two clamping groups respectively installed on the fixed support plate and the movable support plate, and the first driving component drives the movable support plate independently in the first direction The fixed strut is close to or far away from, and the clamping group on the movable strut cooperates with the clamping group on the fixed strut to clamp or loosen the slender medical equipment.

Beneficial effect

The rack with the interventional surgery robot can be easily transported without moving the trolley to dock with the catheter bed, avoiding jamming, simple and convenient operation, and convenient for medical staff to operate.

Description of drawings

FIG. 1 is a structural schematic diagram of a gantry frame that is convenient for docking in the present application.

Fig. 2 is a cross-sectional view of a gantry frame convenient for docking according to the present application.

Fig. 3 is an enlarged view of the docking structure of the trolley in Fig. 2 .

Fig. 4 is an enlarged view of the bed body docking structure in Fig. 2 .

in,

10. Rack; 11. Mobile support; 12. Strengthening beam;

20. Trolley docking structure; 21. Trolley docking assembly; 22. Trolley docking body; 23. Trolley docking slot; 231. Trolley docking entrance; 232. Trolley docking outlet; 24. Trolley roller group; 25 , trolley guide groove;

30. Bed docking structure; 31. Bed docking assembly; 32. Bed docking body; 33. Bed docking groove; 331. Bed docking entrance; 332. Bed docking outlet; 34. Bed roller group; 35 , bed guide groove;

40. Interventional surgery robot.

Detailed ways

In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.

In the description of this application, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the It should not be construed as limiting the application to indicate that a device or element must have a particular orientation, be constructed, and operate in a particular orientation.

As used herein, the direction "distal" is a direction toward the patient, and the direction "proximal" is a direction away from the patient. The terms "head", "upper" and "upper" refer to a direction away from the force of gravity, and the terms "end", "bottom", "lower" and "lower" refer to a direction of gravity.

"Left" refers to the direction towards the medical staff standing on the side of the catheter bed, and "right" refers to the direction away from the medical staff standing on the side of the catheter bed.

As shown in Figures 1 to 4, the present application provides a gantry frame that is convenient for docking, including a frame 10 and a trolley docking structure 20; the frame 10 is used to connect with the catheter bed, and install an interventional surgery robot 40; The car docking structure 20 is installed on the frame 10 and is used for docking with the mobile trolley for carrying the gantry.

In this embodiment, the interventional surgery robot 40 is supported by the frame 10 to provide stable support for the interventional surgery robot 40 , and the frame 10 is also used to connect with the catheter bed to provide support for the interventional surgery robot 40 to perform interventional operations. The frame 10 on which the interventional surgery robot 40 is installed can be conveniently transported by setting the trolley docking structure 20 , without moving the trolley to dock with the catheter bed to avoid jamming. Specifically, when it is necessary to remove the frame 10 on which the interventional surgery robot 40 is installed from the catheter bed, the mobile trolley is inserted into the trolley docking structure 20. The full weight of the frame 10, the mobile trolley and the trolley docking structure 20 can be quickly and easily docked; when the docking is completed, the frame 10 is separated from the catheter bed, and the frame 10 with the interventional surgery robot 40 installed Move away from the catheter bed, the operation is simple and convenient, and it is convenient for medical staff to operate.

Specifically, the frame 10 includes two moving supports 11 arranged oppositely in parallel, and a reinforcing crossbeam 12 connecting the two moving supports 11; It is better to ensure the overall stability of the frame 10 , and it can support the heavy interventional surgery robot 40 . The frame 10 is a frame 10 with adjustable width. As an example, the two mobile supports 11 are detachably connected to the reinforcement beams 12 respectively. Therefore, the two mobile supports 11 can face each other along the extending direction of the reinforcement beams 12. Move close to or move away from each other to adjust the distance between the two moving supports 11, through the adjustment of the two moving supports 11, the frame 10 is docked with catheter beds of different widths to improve adaptability; and the two moving The support 11 is used to connect with the catheter bed. When the frame 10 equipped with the interventional surgery robot 40 needs to be removed from the catheter bed, the mobile trolley is inserted into the trolley docking structure 20. At this time, the catheter bed carries When the full weight of the frame 10 is removed, the mobile trolley and the trolley docking structure 20 can be docked quickly and smoothly. Then, the frame 10 is separated from the catheter bed body, and the frame 10 equipped with the interventional surgery robot 40 is removed from the catheter bed. When moving away from the frame 10, the weight of the frame 10 is borne by the mobile trolley. Once the frame 10 with a heavier mass is shifted, it will cause jamming in the docking. As another example of the adjustable width of the frame 10, it can also be realized by adjusting the length of the reinforcing beam 12, such as making the reinforcing beam 12 a two-section type, which can be connected together and move closer or farther away from each other to adjust their own length. In addition, in order to meet the needs of different heights of the medical staff during operation and the fatness and thinness of surgical patients, the two mobile supports 11 are height-adjustable supports. Exemplarily, each mobile support 11 includes a first adjustment member (not shown in the figure) and a second adjustment member (not shown in the figure) that are telescopically connected to each other, so as to easily adjust the position of the mobile support 11 high.

The trolley docking structure 20 is installed on the inner side of the two mobile supports 11, and is used for docking with the mobile trolley carrying the gantry, so that the full weight of the frame 10 can be carried by the catheter bed body, and the mobile trolley and the trolley docking structure 20 for quick and smooth docking. Exemplarily, the trolley docking structure 20 can also be arranged on the reinforcing beam 12 and located between the two mobile supports 11, on the one hand, it can ensure the same height, which is conducive to smooth docking with the mobile trolley; on the other hand It is beneficial to the miniaturization design of the mobile trolley, and is suitable for operating rooms with small spaces.

Specifically, as shown in FIG. 3 , the mobile trolley is provided with a trolley guide rail; the trolley docking structure 20 includes two trolley docking assemblies 21, and the two trolley docking assemblies 21 are respectively arranged in the interior of the two mobile supports 11. Side; each trolley docking assembly 21 includes a trolley docking body 22 with a trolley docking groove 23 and two sets of trolley roller sets 24; two sets of trolley roller sets 24 are installed on the corresponding trolley docking body 22, respectively The trolley docking entrance 231 and the trolley docking outlet 232 located in the trolley docking slot 23 . When the mobile trolley is docked with the frame 10, the trolley guide rail can be inserted into the trolley docking groove 23, and the use of the trolley roller group 24 can effectively reduce the friction between the trolley guide rail and the trolley docking groove 23, which is convenient for moving the frame 10. Avoid lag.

As shown in Figures 1 to 3, the trolley docking assembly 21 also includes a trolley guide groove 25 arranged on the trolley docking body 22; , until it corresponds to the trolley docking entrance 231 of the trolley docking slot 23 . Therefore, when the mobile trolley is docked with the trolley docking structure 20, insert the trolley guide rail into the trolley guide groove 25, and use the trolley guide groove 25 to gradually shrink toward the trolley docking groove 23, which can facilitate docking and to the guiding role to ensure fast and accurate docking.

The catheter bed is provided with bed guide rails; the gantry also includes a bed docking structure 30 docked with the catheter bed; the bed docking structure 30 includes two oppositely arranged bed docking assemblies 31; each bed docking assembly 31 includes A bed docking body 32 provided with a bed docking groove 33 and two sets of bed roller sets 34; two sets of bed roller sets 34 are installed on the corresponding bed docking body 32, respectively located in the bed docking groove 33. The inlet 331 is connected to the bed outlet 332 . When the catheter bed is docked with the frame 10, the bed guide rail can be inserted into the bed docking groove 33, and the bed body roller group 34 can be used to effectively reduce the friction between the bed guide rail and the bed docking groove 33, so as to facilitate the movement of the frame 10. Avoid lag.

In this embodiment, the trolley docking structure 20 and the bed body docking structure 30 are installed on the inner surfaces of the two mobile supports 11, and the two trolley docking assemblies 21 are respectively located at the head ends of the two mobile supports 11; The two bed docking assemblies 31 are respectively located at the ends of the two moving supports 11 .

In addition, the two trolley docking assemblies 21 can also be respectively arranged on the outer surfaces of the two moving supports 11, and the two bed docking assemblies 31 can be respectively arranged on the inner surfaces of the two moving supports 11, so as to realize the connection between the gantry and the catheter. The docking of the bed body and the mobile trolley is not limited here.

As shown in Figure 4, each bed docking assembly 31 also includes a bed guide groove 35 arranged on the bed docking body 32 and corresponding to the bed roller set 34; the bed guide groove 35 is trapezoidal, and it faces the bed The direction of the docking groove 33 gradually decreases until it corresponds to the bed docking entrance 331 of the bed docking groove 33 . Therefore, when the catheter bed is docked with the bed docking structure 30, insert the bed guide rail into the bed guide groove 35, and use the bed guide groove 35 to gradually shrink toward the bed docking groove 33 until it is connected to the bed docking groove. The bed body of 33 corresponds to the docking port 331, which is convenient for docking and plays a guiding role to ensure fast and accurate docking.

As an example, the two moving supports 11 are detachably connected to the two bed body joint assemblies 31 respectively, and the two bed body joint assemblies 31 can move toward each other or move away from each other along the extending direction of the reinforcing beam 12 to adjust the two bed body joint assemblies 31. The distance between the two bed docking assemblies 31, through the adjustment of the two bed docking assemblies 31, the frame 10 is docked with catheter beds of different widths to improve adaptability, and through the bed docking assemblies 31 and the catheter bed The sliding connection is convenient for moving the interventional surgery robot 40 .

As shown in FIG. 2 , the trolley guide groove 25 and the bed guide groove 35 are arranged in opposite directions, that is, the direction in which the trolley guide groove 25 shrinks is opposite to the direction in which the bed guide groove 35 shrinks. That is to say, when the frame 10 on which the interventional surgery robot 40 is installed is removed from the catheter bed, the mobile trolley and the catheter bed are respectively located on both sides of the frame 10, so that the docking position can be standardized, and the mobile trolley and catheter bed can be avoided. Interference between catheter beds.

The above embodiment only expresses one implementation mode of the invention, and its description is relatively specific and detailed, but it should not be understood as limiting the patent scope of the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the invention, and these all belong to the protection scope of the invention. Therefore, the scope of protection of the invention patent shall be subject to the appended claims.

Claims (15)

A gantry frame convenient for docking, which includes a frame and a trolley docking structure; The frame is used to connect with the catheter bed to install the interventional operation robot; The trolley docking structure is installed on the frame for docking with the mobile trolley for carrying the gantry. A gantry frame convenient for docking according to claim 1, wherein: the trolley docking structure comprises two oppositely arranged trolley docking assemblies; Each of the trolley docking components includes a trolley docking body provided with a trolley docking groove, and the trolley docking body is also provided with a trolley guide groove, and the trolley guide groove gradually faces toward the direction of the corresponding trolley docking groove. Zoom out, for guidance. A gantry frame convenient for docking according to claim 2, wherein: said trolley docking assembly further includes two sets of trolley rollers; The two sets of trolley rollers are installed on the corresponding trolley docking body, respectively located at the trolley docking entrance and the trolley docking outlet of the trolley docking groove. A gantry frame convenient for docking according to claim 3, wherein: a trolley roller set is arranged between the trolley docking entrance of the trolley docking groove and the corresponding trolley guide groove. A gantry frame convenient for docking according to claim 2, wherein: the gantry frame further includes a bed body docking structure docked with the catheter bed body, and the bed body docking structure includes two oppositely arranged bed body docking assemblies , the frame includes two mobile supports and a reinforcing crossbeam connecting the two mobile supports, the two trolley docking assemblies are respectively located at the head ends of the two mobile supports, and the two beds are docked The components are respectively located at the ends of the two mobile supports. A gantry frame for easy docking according to claim 5, wherein: each of the bed docking components includes a bed docking body provided with a bed docking groove, and the bed docking body is also provided with a bed guide Groove, the bed body guide groove gradually narrows toward the direction of the corresponding bed body docking groove, and is used for guiding. A gantry frame convenient for docking according to claim 6, wherein: said bed docking assembly further includes two sets of bed rollers; The two sets of bed rollers are installed on the corresponding bed docking body, respectively located at the bed docking entrance and the bed docking outlet of the bed docking groove. The gantry frame convenient for docking according to claim 7, wherein: a bed body roller set is arranged between the bed body docking entrance of the bed body docking groove and the corresponding bed body guide groove. The gantry frame convenient for docking as claimed in claim 6, wherein: the guide groove of the bed body and the guide groove of the trolley are set in opposite directions. A gantry frame convenient for docking according to claim 2, wherein: the gantry frame further includes a bed body docking structure docked with the catheter bed body, and the bed body docking structure includes two oppositely arranged bed body docking assemblies ; The frame includes two mobile supports and a reinforcing crossbeam connecting the two mobile supports; The two trolley docking assemblies are respectively located on the reinforcing beams; the two bed docking assemblies are respectively located on the two moving supports. A gantry frame that facilitates docking as claimed in claim 5 or 10, wherein the two moving supports are respectively detachably connected to the reinforcing beams, and the two moving supports are respectively along the reinforcing beams The extension directions of the two moving supports move closer to each other or move away from each other to adjust the distance between the two moving supports. A docking-friendly gantry frame according to claim 5 or 10, wherein each of the moving supports includes a first adjusting piece and a second adjusting piece, and the first adjusting piece and the second adjusting piece It is telescopic, and the first adjustment part is connected with the second adjustment part to adjust the height of the mobile support. The docking-friendly gantry frame according to claim 5 or 10, wherein, the trolley docking structure and the bed body docking structure are installed on the inner surfaces of the two moving supports. A gantry frame convenient for docking according to claim 5 or 10, wherein the two trolley docking assemblies are respectively arranged on the outer surfaces of the two moving supports, and the two bed docking assemblies are respectively It is arranged on the inner side of the two mobile supports. The docking-friendly gantry frame according to claim 5 or 10, wherein the two moving supports are respectively detachably connected to the two bed docking assemblies.