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CN-116115345-B - Fixing device, mobile device, surgical system and control method thereof

CN116115345BCN 116115345 BCN116115345 BCN 116115345BCN-116115345-B

Abstract

The invention relates to a fixing device, mobile equipment, a surgical system and a control method thereof. The fixing device comprises a lifting mechanism and a clamping mechanism, wherein the lifting mechanism can output lifting movement along the vertical direction of the trolley, the clamping mechanism is connected with the lifting mechanism and lifts along with the lifting mechanism, and the clamping mechanism can clamp or loosen a mounting sliding rail of an operating table. Therefore, the step that the surgical robot must be detached and installed from the trolley is omitted, the installation, fixation and disassembly processes of the surgical robot are greatly simplified, so that the operation difficulty of medical staff is reduced, the time for installation, fixation and disassembly is shortened, good use experience is brought to the medical staff and patients, and potential safety hazards are reduced.

Inventors

  • Request for anonymity
  • HE CHAO
  • Request for anonymity

Assignees

  • 知脉(上海)机器人有限公司

Dates

Publication Date
20260508
Application Date
20230203

Claims (13)

  1. 1. The control method of the surgical system is characterized in that the surgical system comprises a surgical robot, a surgical bed and a mobile device, the mobile device comprises a trolley and a fixing device, an installation sliding rail is arranged on the side face of the surgical bed, the surgical robot is arranged on the trolley of the mobile device, the fixing device is clamped and fixed with the installation sliding rail, the fixing device comprises a lifting mechanism and a clamping mechanism, the lifting mechanism comprises a first power source and a first braking part, the clamping mechanism comprises a second power source, a first clamping assembly, a second clamping assembly and a detection assembly, the detection assembly comprises a first detection part and a second detection part, and the control method comprises the following steps: after the control panel acquires the installation signal, the first braking piece is controlled to unlock the first power source, and the first power source drives the clamping mechanism to descend under the action of gravity so that the installation sliding rail is positioned in the clamping mechanism; When the first detection piece contacts the mounting sliding rail and detects the change of the pressure value, the control panel controls the second power source to work, so that the first clamping assembly and the second clamping assembly move in opposite directions; When the second detection part detects that the acting force contacting the mounting sliding rail reaches a preset value, the control panel controls the second power source to stop working and controls the first braking part to lock the first power source; the control panel controls the operation robot to unlock, and the operation robot executes operation; After the operation is finished, the control panel starts a reset operation, and the control panel controls the surgical robot to reset and lock the surgical robot; The control panel controls the clamping mechanism to release the mounting sliding rail and controls the first braking piece to unlock the first power source, and after the control panel controls the first power source to rise to a preset height, the control panel controls the first braking piece to lock the first power source.
  2. 2. The control method according to claim 1, wherein the lifting mechanism can output lifting movement in a vertical direction of the trolley, the clamping mechanism lifts along with the lifting mechanism, and the clamping mechanism can clamp or unclamp a mounting slide rail of the operating table; When the trolley is required to be fixed on the operating table, the lifting mechanism can drive the clamping mechanism to move, so that the clamping mechanism clamps the mounting slide rail to fix the trolley on the operating table, and when the trolley is removed from the operating table, the clamping mechanism releases the mounting slide rail, and the lifting mechanism drives the clamping mechanism to move, so that the clamping mechanism is far away from the mounting slide rail.
  3. 3. The control method of claim 2, wherein the lift mechanism includes a first transmission assembly, the first power source having a first output shaft; The first transmission assembly comprises a first gear and a first rack, the first gear is arranged on the first output shaft, the first rack is arranged on the trolley, and the first gear is meshed with the first rack.
  4. 4. A control method according to claim 3, wherein the first brake is provided to the first output shaft for locking or unlocking the first output shaft.
  5. 5. A control method according to claim 3, wherein the lifting mechanism further comprises a guide member extending in a vertical direction, and the clamping mechanism is provided to the guide member and is slidable along the guide member.
  6. 6. The control method according to claim 5, wherein the lifting mechanism further comprises a limiting assembly disposed on the guide member, the limiting assembly being configured to limit a position of the first power source that is raised and/or lowered.
  7. 7. The control method according to any one of claims 1 to 6, wherein the clamping mechanism includes a second transmission assembly, the second transmission assembly is disposed on a second output shaft of the second power source, the first clamping assembly and the second clamping assembly are disposed along a vertical direction, and are used for clamping or loosening the mounting sliding rail, and the second transmission assembly is in transmission connection with the first clamping assembly and the second clamping assembly, so that the first clamping assembly and the second clamping assembly move towards each other or away from each other.
  8. 8. The control method according to claim 7, wherein the second transmission assembly comprises a second gear, a second rack and a third rack, the second rack and the third rack are disposed on two sides of the second gear opposite to each other and are engaged with the second gear, the second rack is connected with the first clamping assembly, and the third rack is connected with the second clamping assembly.
  9. 9. The control method according to claim 8, wherein the first clamping assembly comprises a first connecting plate and a first clamping block connected with the first connecting plate, the second clamping assembly comprises a second connecting plate and a second clamping block connected with the second connecting plate, the first connecting plate is connected with the second rack, the second connecting plate is connected with the third rack, and the first clamping block and the second clamping block are arranged opposite to each other in the vertical direction.
  10. 10. The control method of claim 9, wherein the first clamping block has a first notch and the second clamping block has a second notch, the first notch being disposed opposite the second notch for clamping the mounting rail.
  11. 11. The method according to claim 7, wherein the first detecting member is disposed on the first clamping assembly, the second detecting member is disposed on the second clamping assembly, the first detecting member is configured to detect a force applied when the first clamping assembly contacts the mounting rail, and the second detecting member is configured to detect a force applied when the second clamping assembly contacts the mounting rail.
  12. 12. The method of claim 7, wherein the clamping mechanism further comprises a fixed wedge and a movable wedge, the movable wedge is disposed on the second clamping assembly, the fixed wedge is disposed on the lifting mechanism, and the movable wedge is synchronously lifted along the fixed wedge when the second clamping assembly is in lifting motion.
  13. 13. The control method according to any one of claims 1 to 6, characterized in that the fixing device further includes a dust-proof member which is provided to the lifting mechanism so as to be foldable or extendable, and which is capable of shielding an opening of the dolly when folded or extended.

Description

Fixing device, mobile device, surgical system and control method thereof Technical Field The invention relates to the technical field of medical equipment, in particular to a fixing device, mobile equipment, a surgical system and a control method thereof. Background The vascular intervention operation refers to that a doctor operates a catheter to move in a human blood vessel under the guidance of a Digital Subtraction Angiography (DSA) to treat a focus, so as to achieve the purposes of embolism malformed blood vessels, dissolving thrombus, dilating narrow blood vessels and the like. Vascular intervention requires that the vascular intervention robot and the operating table are relatively stationary so as to ensure the stability of the operation, the robot needs to be installed and fixed on the operating table, and the robot needs to be dismantled and removed after the operation is finished. In the prior art, at least two people need to detach from the trolley and lift the robot to the operating table for installation and fixation when the robot is installed and fixed on the operating table, and at least two people need to detach the robot and lift the robot to the trolley for installation and fixation after the operation is finished. The whole installation, fixation and disassembly process is very complicated for the operating bed or the trolley. Thus, the installation and the disassembly of the vascular intervention robot are time-consuming and labor-consuming, the investment of surgical personnel is increased, the risk of falling and damaging the robot in the process of carrying the robot is brought, and the risk is brought to the smooth operation. Disclosure of Invention The application provides a fixing device, mobile equipment, a surgical system and a control method thereof, which can omit the steps of installing, fixing and detaching a surgical robot, improve the efficiency and reduce the potential safety hazard. A fixation device, comprising: a lifting mechanism for outputting lifting motion along the vertical direction of the trolley, and The clamping mechanism is connected with the lifting mechanism and can lift along with the lifting mechanism, and the clamping mechanism can clamp or loosen the installation slide rail of the operating table. In the fixing device, the lifting mechanism can output lifting movement along the vertical direction of the trolley, the clamping mechanism can output clamping and loosening actions, and the clamping mechanism can clamp or loosen the mounting sliding rail of the operating table so as to enable the trolley to be fixed to or separated from the operating table. When the trolley is required to be fixed to the operating table, the trolley is moved to the vicinity of the operating table and aligned with the mounting sliding rail, the lifting mechanism drives the clamping mechanism to descend, the mounting sliding rail is positioned in the clamping mechanism, the mounting sliding rail is clamped through the clamping mechanism, so that the moving effect is fixed to the operating table, and the position of the operating robot on the trolley and the position of the operating table are relatively fixed. After the operation of the surgical robot is finished, the clamping mechanism loosens the mounting sliding rail, and the lifting mechanism drives the clamping mechanism to ascend and reset. The fixing device adjusts the position of the clamping mechanism through the lifting mechanism, so that the clamping mechanism is aligned with the installation sliding rail of the operating table, and the clamping of the installation sliding rail is realized through the clamping mechanism, so that the fixation of the trolley and the operating table is realized. So, fixing device makes the platform truck have the installation fixed function, saves the step that surgical robot must be demolishd and install from the platform truck, has greatly simplified surgical robot's installation fixed and dismantlement process to reduce medical personnel's the operation degree of difficulty, reduced the time of installation fixed and dismantlement, brought good use experience for medical personnel and patient, reduced the potential safety hazard. In one embodiment, the lifting mechanism comprises a first power source and a first transmission assembly, wherein the first power source is provided with a first output shaft; The first transmission assembly comprises a first gear and a first rack, the first gear is arranged on the first output shaft, the first rack is arranged on the trolley, and the first gear is meshed with the first rack. So as to drive the clamping mechanism to lift. In one embodiment, the lifting mechanism further comprises a first braking member, wherein the first braking member is arranged on the first output shaft and is used for locking or unlocking the first output shaft. When the first brake member locks the first output shaft, reliable locking of the first output shaft can be