CN114400585A - Support barrel and cable arrangement method - Google Patents

Abstract

The invention relates to the technical field of medical instruments, in particular to a support barrel and a method for arranging cables. The invention discloses a support barrel which comprises a barrel body, wherein one end of the barrel body is provided with a wire distributing flange, and a binding hole is formed in the wire distributing flange. The invention aims to solve the technical problem of how to realize non-hollow wiring for a large number of cables.

Description

Support barrel and cable arrangement method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a support barrel and a method for arranging cables.

Background

The master-slave minimally invasive surgery robot is a robot system which combines the robot technology with the traditional minimally invasive surgery technology, and a doctor console is a control center of the robot system. Through the doctor console, the doctor controls the three-dimensional endoscope and the surgical instruments through two main hands (main controllers) and a pedal respectively by using eyes, hands and feet to simulate the natural coordination of the eyes, hands and instruments in the open surgery, and the flexibility comparable to that of the open surgery is obtained. However, in the existing master-slave minimally invasive surgical robot, integrated force feedback is not provided between a master hand of a doctor console and a slave hand of a patient trolley, or the degree of freedom of the integrated force feedback is low, the interaction force of a slave hand instrument of the surgical robot and the tissues of the patient cannot be fed back, the on-site force feeling is lacked during the surgery, the operation action of a doctor cannot be transmitted to the slave hand in a complete and accurate manner, and the safety, the comfort and the reliability of the surgery cannot reach ideal states.

On the other hand, in order to realize full force feedback, a main worker needs to install a motor or a motor and a speed reducer on each shaft, and needs to be matched with hardware of the driving motor, namely a circuit board, in order to drive the motor. In order to feed back the pose of each shaft, a position sensor needs to be arranged on each shaft, and a certain number of cables are needed to be connected between the sensors and the control circuit board. Typically, position sensors are mounted on the motor shaft or near the output of each shaft of the robot. Therefore, power lines, ground lines and encoder lines are needed among the circuit board, the motor and the encoder, and the number of the power lines, the ground lines and the encoder lines is large. In order to reduce the wiring burden of each shaft, a circuit board is generally arranged on each shaft connecting rod nearby, so that the nearby wiring and control are realized. The shafts are communicated through a unified communication format, so that only power lines, ground lines and communication lines are generally arranged among the shafts, the number of the wires among the shafts can be greatly reduced, the diameter of the hollow wires is reduced, the outer diameter of each shaft is greatly reduced on the premise of meeting other requirements, and the total weight of a master hand is reduced as much as possible. However, the installation of the hardware circuit board requires a certain space, which increases the volume of the connecting rod, and the weight of the hardware is added, so that the weight of each shaft cannot be further reduced, and the load of the upper-stage driving device cannot be reduced. However, if the hardware is intensively arranged outside the main hand or near the initial shafts, the number of the wires will become huge, and the hollow wires cannot be realized.

The outer line is an important direction for the design of a master, and meanwhile, the problem that how to arrange a large number of cables is beneficial to heat dissipation and ventilation and the improvement of the efficiency and maintainability of the outer line is urgently needed to be solved is solved.

Those skilled in the art are therefore working to develop a cable concentrator, a rack cartridge, a module mounting structure and a method for arranging cables, which can implement non-hollow routing for cables with large number.

Disclosure of Invention

In view of the above defects in the prior art, the present invention discloses a rack drum and a method for arranging cables, and the technical problem to be solved is how to realize non-hollow routing for cables with large number.

In order to achieve the purpose, the invention provides a support barrel which comprises a barrel body, wherein one end of the barrel body is provided with a wire distributing flange, and the wire distributing flange is provided with a binding hole.

Preferably, at least one side of the two sides of the branching flange is provided with a supporting lug, and the two sides of the supporting lug form a wire passing port.

Preferably, a slotted hole is formed in the cylinder body and is located below the wire passing port.

Preferably, the barrel body is provided with side holes which are arranged in pairs, and the side holes are positioned below the wire passing port.

Preferably, the number of the side holes corresponding to each wire passing port is at least two pairs, and the side holes are arranged on the upper side and the lower side of the cylinder body.

Preferably, the other end of the cylinder body is provided with a positioning flange, and the positioning flange corresponds to the branching flange.

Preferably, the other end of the cylinder body is provided with a positioning lug opposite to the positioning flange.

Preferably, the branching flange, the positioning flange, the support lug and the positioning lug are concentrically arranged.

The invention also provides a method for arranging cables, which comprises the following steps:

1) providing a support barrel, arranging a branching flange at one end of the support barrel, and arranging a binding hole on the branching flange; at least one side of the two sides of the branching flange is provided with a supporting lug, the two sides of the supporting lug form a wire passing port, the cylinder body is provided with a slotted hole corresponding to the wire passing port, and the cylinder body is also provided with side holes which are arranged in pairs;

2) dividing the cable into a plurality of bundles, dividing the bundled cable into two parts, respectively routing the cables to two sides along the distributing flange in an arc manner, and fixing the cables by penetrating through the binding lines at the binding holes;

3) turning each cable downward at the wire passing port in sequence, and wiring downward by clinging to the outer wall of the barrel body;

4) the cables running downwards pass through the space between each pair of side holes, are bundled at the side holes and then leave the support barrel to enter the other end of the support barrel.

Preferably, the other end of the support cylinder is provided with a butted wire collecting frame.

The invention has the beneficial effects that:

through the arrangement of the support barrel, the support lugs are used for supporting and fixing cables, the cables are arranged in a split mode through the bundling holes, a large number of cable split beams penetrate through the bundling holes and are fixed respectively, the cables can pass through the annular space in a dispersed and orderly mode, and therefore the air flow passing through all the positions of the space is guaranteed, and the problems of heat accumulation and hot air blockage are avoided.

Drawings

FIG. 1 is a schematic structural view of a stent cartridge of the present invention;

FIG. 2 is a schematic view of the present invention with a cable deployed on a rack cartridge;

FIG. 3 is a schematic view of the module mounting structure of the present invention;

FIG. 4 is a schematic structural view of the line concentrator of the present invention;

FIG. 5 is a schematic view of the present invention with the cables arranged on the module mounting structure;

FIG. 6 is a schematic diagram of the right primary hand of the present invention;

FIG. 7 is a schematic front view of the right primary hand of the present invention;

FIG. 8 is a cross-sectional view of the A-axis three-axis linkage of FIG. 7;

FIG. 9 is a schematic view of the overall configuration of the surgical robotic medical console of the present invention;

FIG. 10 is a schematic cross-sectional view taken along line B of FIG. 7;

FIG. 11 is a schematic view, partly in section, taken in the direction F of FIG. 10;

FIG. 12 is a schematic cross-sectional view taken along line I of FIG. 10;

FIG. 13 is an enlarged partial view at O of FIG. 12;

FIG. 14 is a schematic cross-sectional view taken along line P in FIG. 10;

FIG. 15 is an enlarged partial view at Q of FIG. 14;

FIG. 16 is a schematic cross-sectional view taken along line C of FIG. 7;

FIG. 17 is a schematic sectional view taken along the line L in FIG. 16;

FIG. 18 is an enlarged partial view at M of FIG. 17;

fig. 19 is a partially enlarged view of fig. 17 at N.

In the above drawings: a rightmain hand 1, a first rotatingshaft 111, a second rotatingshaft 112, a third rotatingshaft 113, a fourth rotatingshaft 114, a fifth rotatingshaft 115, a sixth rotatingshaft 116, a seventh rotatingshaft 117, afinger control ring 118, a three-axis connecting rod 13, a four-axis connecting rod 14, adriving module 21, afirst module flange 211, asecond module flange 212, amodule lug 213, an arc-shaped wire casing 214, atorque sensor 22, a leftmain hand 2, a base 3, apedal panel 31, abrake pedal 32, acaster 33, acolumn lifting mechanism 4, a viewfinder 5, aviewing hole 51, an eyepiece 52, aheadrest 53, a microphone 55, aninfrared sensor 56, aspeaker 57, a left connectingarm 61, a right connectingarm 62, anarmrest 63, anadjusting button 631, aswitch button 632, anemergency stop button 633, anelectric box 7, awire collecting rack 8, arack body 81, afirst mounting flange 82, asecond mounting flange 83, afixed lug 84, abolt avoiding groove 85, asecond side hole 86, a back-offhole 86, afinger control ring 13, a three-axis connecting rod, The cable support device comprises an arc-shaped wire clamp 87, afirst screw 91, asecond screw 92, athird screw 93, a positioning pin 94, asupport barrel 10, abarrel body 101, abranching flange 102, astrapping hole 1021, asupport lug 103, awire passing port 104, aslotted hole 105, aside hole 106, apositioning flange 107, apositioning lug 108, avent hole 109, acable 20, ahardware combination 30 and a dust-proof and interference-proof assembly 40.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, wherein the terms "upper", "lower", "left", "right", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular manner, and thus should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1, the present invention provides asupport frame 10, which includes aframe 101, a wire-distributingflange 102 is disposed at one end of theframe 101, and abinding hole 1021 is disposed on the wire-distributingflange 102.Support lugs 103 are arranged on two sides of the branchingflange 102, andwire passing openings 104 are formed on two sides of thesupport lugs 103. The supportinglugs 103 are used for supporting and fixing the wire harnesses horizontally routed to two sides along the branchingflange 102, the wire harnesses on each side are sequentially turned downwards at thewire passing openings 104 and are routed downwards along the outer wall of thebarrel body 101, and thewire passing openings 104 are used for providing mounting space for the wire harnesses and playing a role in protecting the wire harnesses. In addition, aslot 105 below thewire passing port 104 is arranged on thebarrel body 101, or afirst side hole 106 below thewire passing port 104 is also arranged in pairs. Meanwhile, the number of thefirst side holes 106 corresponding to eachslot 105 is at least two pairs, and thefirst side holes 106 are arranged on the upper and lower sides of thebarrel body 101.

Furthermore, the other end of thecylinder 101 is provided with apositioning flange 107, thepositioning flange 107 corresponds to the branchingflange 102, and the other end of thecylinder 101 is further provided with apositioning lug 108 opposite to thepositioning flange 107. The concentric arrangement of the branchingflange 102, thepositioning flange 107, the support lugs 103 and the positioning lugs 108. The outer circles of thepositioning flange 107 and thepositioning support lug 108 are the same outer circle, and the outer circle and the inner circle of the three-axis connecting rod 13 are in a hole-axis matching relationship, so that thesupport cylinder 10 does not swing in a hole. Theslot hole 105 is used to reinforce the top of the wire harness, and thefirst side hole 106 is used to reinforce thecable 20 routed on thebarrel 101. Thecable 20 is bound by a tie through each pair of first side holes 106 as it passes between each pair of first side holes 106, although other fastening means such as a wire clip may be used. Theslot 105 and thefirst side hole 106 may be separately provided, or may be provided simultaneously, although the reinforcing effect is better. Further, avent hole 109 with a larger diameter is further formed in thebarrel 101 to reduce the weight of thebarrel 101 and facilitate ventilation and heat dissipation.

In the embodiment, through the arrangement of therack cylinder 10 of the present invention, the branchingflange 102 and the supportinglugs 103 on therack cylinder 10 are used for supporting and fixing thecables 20, so that thecables 20 can dispersedly and orderly pass through the annular space, thereby ensuring that the air flow can pass through all places of the space, and the problems of heat accumulation and hot air blockage can not occur. Meanwhile, thecable 20 is reliably fixed on thesupport barrel 10 in the whole path, so that the joint cannot be loosened or pulled when rotating at a high speed or stopping suddenly, and the reliability of wiring is improved.

As shown in fig. 2, the present invention also provides a method of laying a cable, comprising the steps of:

1) asupport cylinder 10 is provided, a branchingflange 102 is provided at one end of thesupport cylinder 10, and 6binding holes 1021 are provided in the branchingflange 102. The two sides of the branchingflange 102 are symmetrical and are respectively and uniformly provided with 3 supportinglugs 103, the two sides of the supportinglugs 103 form awire passing opening 104, a slottedhole 105 is arranged on thebarrel body 101 positioned in thewire passing opening 104, and thebarrel body 101 is also provided with afirst side hole 106 corresponding to the slottedhole 105.

2) Thecables 20 are divided into a plurality of bundles, in the embodiment, thecables 20 are divided into 8 bundles, the 8 bundles ofcables 20 are divided into two parts and horizontally routed on the branchingflange 102 along the circular arc of the branchingflange 102 to both sides, and thecables 20 are fixed through the binding wires at thebinding holes 1021.

3) The wire harness is divided into four parts, and each part turns downwards at thewire passing port 104 in sequence and is tightly attached to the outer wall of thebarrel body 101 for downward wiring.

4) In the downward routing path, the first side holes 106 distributed in pairs are used for bundling and fixing. The number of pairs of the first side holes 106 can be increased or decreased according to the depth of the cylinder, and the wiring harness can be reliably fixed. The wire harness is bundled by thefirst side hole 106 near the lower end portion, and then leaves thestent cartridge 10 and enters the other end of thestent cartridge 10.

And the other wire harnesses adopt the same wiring mode as the mode, and the wire speed is distributed and wired in sequence. The other end of thecylinder body 101 is provided with apositioning flange 107, and thepositioning flange 107 corresponds to the distributingflange 102. Meanwhile, the other end of thecylinder body 101 is provided with two positioning lugs 108 opposite to thepositioning flange 107. The branchingflange 102, thepositioning flange 107, the support lugs 103 and the positioning lugs 108 are concentrically arranged, the branchingflange 102 and thepositioning flange 107 are in circular arc shapes, and the cylindrical surface of the outer diameter is used for positioning when thesupport cylinder 10 is installed.

According to the method for arranging the cables, thecables 20 are distributed and routed through thesupport barrel 10, so that enough space is reserved, air in the space outside the drivingmodule 21 can circulate, heat accumulation is avoided, and ventilation and heat dissipation are facilitated.

As shown in fig. 3, in order to apply the module mounting structure of theholder cartridge 10 of the present invention, the module mounting structure is used for the driving of the master hand. The module mounting structure further comprises aline collecting frame 8 which is in butt joint with the bottom of thesupport cylinder 10, a drivingmodule 21 is mounted inside thesupport cylinder 10 and theline collecting frame 8, and a motor is arranged in thedriving module 21.

The drivingmodule 21 is provided with afirst module flange 211, asecond module flange 212 and amodule support lug 213.Module brace 213 is positioned betweenfirst module flange 211 andsecond module flange 212, andmodule brace 213 is positioned to correspond toalignment flange 107 andalignment brace 108.First module flange 211 is positioned between locatingflange 107 and first mountingflange 82, andfirst module flange 211 and first mountingflange 82 are secured to the housing of three-axis link 13 withfirst screws 91. Thesecond module flange 212 is located between thepositioning lug 108 and the second mountingflange 83, and thesecond module flange 212 and the second mountingflange 83 are also fixed to the housing of thetriaxial link 13 by the first screws 91. At the same time, thedrive module 21 is also fixedly mounted to the housing of the three-axis link 13 by passing second screws 92 on the module lugs 213.

With the present module mounting structure, as shown in fig. 18 and 19, a part of thefirst screws 91 connected to thedrive module 21 is used to simultaneously connect theline concentrating brackets 8, and the other part of thesecond screws 92 connected to thedrive module 21 is used to independently connect thedrive module 21. During maintenance, thefirst screw 91 is only disassembled to realize the disassembly of theline concentration frame 8, and thesecond screw 92 is not required to be disassembled, so that the drivingmodule 21 is still installed in the three-shaft connecting rod 13. This kind of connected mode make full use of the existing installation screw hole on the triaxial connectingrod 13, and do not have additional design installation screw hole to this can be to the space fluting outside the mounting hole on the ring flange, furthest has improved this kind of line capacity and the air volume of crossing the line mode, improves the radiating efficiency. Meanwhile, the drivingmodule 21 is installed inside thesupport cylinder 10, the shell of the three-axis connecting rod 13 is arranged outside thesupport cylinder 10, and thesupport cylinder 10 is installed in the shell of the three-axis connecting rod 13 from the axial assembling direction and then fixed through screws. This assembly mode adopts the back lid direction of following the casing of triaxial connectingrod 13 to pack into and fix, can independently install after each connecting rod assembly of master hand is accomplished, is convenient for electrical construction and later maintenance and overhaul. As shown in fig. 15, a positioning pin 94 is provided between the three-axis link 13 and thefirst module flange 211 for pre-positioning the butt joint therebetween.

As shown in fig. 4, theline collecting rack 8, which is installed in a module installation structure in a butt joint with asupport barrel 10, includes arack body 81, afirst installation flange 82 and asecond installation flange 83 which are opposite to each other are arranged at one end of therack body 81, a fixingsupport lug 84 is arranged at the other end of therack body 81, and abolt avoiding groove 85 is arranged between thefirst installation flange 82 and thesecond installation flange 83. Theframe body 81 is provided with second side holes 86 arranged in pairs, and each pair of the second side holes 86 is arranged up and down for bundling the passing wiring harness through a binding belt. Thewire collecting rack 8 is provided for collecting thecables 20 distributed in a distributed manner. After the wire harness enters the other end of thesupport cylinder 10, the wire harness is distributed in the grooves on the two sides of themodule support lug 213, and then the wire harness is relatively routed on thesupport body 81 along the circumferential direction and is converged to the fixedsupport lug 84. Thecables 20 are secured to theframe 81 by bundling the cables between pairs of second side holes 86.

As shown in fig. 5 and 10, the fixing lugs 84 are provided with arc-shapedline cards 87 for fixing the cables which are merged together, two ends of each arc-shapedline card 87 are fixedly connected with two adjacent fixing lugs 84 through screws, and cable through holes are formed in the arc-shapedline cards 87. As shown in fig. 11 and 13, thewire collecting rack 8 is connected to the arc-shapedwire clip 87 by athird screw 93.

As shown in fig. 6 to 8, in order to use the master hand with the driving knot as the upper module, which is theright master hand 1 in the drawing of the present embodiment, the driving method of the master hand includes the following steps:

1) integrally arranging thedrive plates 30 of all the shaft links in the three-shaft link 13;

2) asupport barrel 10 is arranged in one end of a three-axis connecting rod 13, a drivingmodule 21 is arranged in thesupport barrel 10, a driving motor is arranged in thedriving module 21, and acable 20 for connecting a drivingplate 30 and the drivingmodule 21 is arranged between thesupport barrel 10 and the three-axis connecting rod 13.

By adopting the driving method of the master hand, the two ends of the shaft connecting rods are provided with the rotating shafts, the rotating shafts of the adjacent shaft connecting rods are hinged with each other, and the shaft connecting rods are in a hollow shell shape. The rotation shafts include afirst rotation shaft 111, asecond rotation shaft 112, athird rotation shaft 113, afourth rotation shaft 114, afifth rotation shaft 115, asixth rotation shaft 116, and aseventh rotation shaft 117, which are connected in series in this order. The firstrotating shaft 111, the secondrotating shaft 112, the thirdrotating shaft 113, the fourthrotating shaft 114, the fifthrotating shaft 115, the sixthrotating shaft 116 and the seventhrotating shaft 117 are all internally provided with a power device and atorque sensor 22, and the power device comprises a motor, a speed reducer and a brake and is used for driving or stopping the rotation of the power device. Two ends of the three-axis connecting rod 13 are respectively provided with a secondrotating shaft 112 and a thirdrotating shaft 113, the three-axis connecting rod 13 corresponding to the secondrotating shaft 112 is provided with a dustproof andanti-interference assembly 40, the thirdrotating shaft 113 is internally provided with asupport barrel 10, and a driving module in the support barrel provides power for the rotation of each axis connecting rod. The end of the seventhrotating shaft 117 is connected with afinger control ring 118 for the doctor to control.

In the present embodiment, by integrally arranging thedrive plate 30 so that the weight of each shaft at the tip is reduced, the size of the connecting shaft at the tip in contact with the patient, that is, the size of the 5-to-8-shaft connecting shaft near thefinger manipulation ring 118 is reduced, and the smaller the size, the higher the flexibility, and thus the flexibility of the master hand is improved. And the power of the motor of each shaft is reduced, namely, the driving can be realized only by installing the motor with smaller power, and the weight of the whole master is reduced. Thus, starting with the four-axis link 14, the inside of the axis link does not need to be provided with a large number ofcables 20 and to install a motor having a large power, thereby reducing the size of the axis link.

As shown in fig. 9, the surgical robot doctor console adopting the above module driving structure and the master hand driving method includes aright master hand 1 and aleft master hand 2, drivingplates 30 of all shaft connecting rods of theright master hand 1 and theleft master hand 2 are integrally arranged, two ends of each shaft connecting rod are rotating shafts, the rotating shafts of adjacent shaft connecting rods are hinged with each other, and a power device and atorque sensor 22 are installed in each rotating shaft; the leftmain hand 2 and the rightmain hand 1 are identical in structure and are arranged oppositely.

In the present embodiment, the rotation axes of the right and leftmain hands 1 and 2 each include afirst rotation axis 111, asecond rotation axis 112, athird rotation axis 113, afourth rotation axis 114, afifth rotation axis 115, asixth rotation axis 116, and aseventh rotation axis 117, which are connected in series in this order. And, a controllable power device and atorque sensor 22 are installed in each rotating shaft, and the power device comprises a motor, a speed reducer and a brake for driving or stopping the rotation thereof. In use, thetorque sensor 22 in each rotating shaft collects a corresponding force feedback signal and transmits the signal to thedrive plate 30, and thedrive plate 30 drives the motor by resolving, thereby achieving the counter-drive of the attitude of each rotating shaft.

According to the conventional arrangement, rotating shafts are arranged on the rightmain hand 1 and the leftmain hand 2, a drivingmodule 21 can be respectively and mechanically connected in each rotating shaft, and atorque sensor 22 is integrated on the drivingmodule 21. In the present invention, the right and leftmaster hands 1 and 2 are the master manipulators of the surgical robot system, each master hand having 8 degrees of freedom, and the force feedback function is realized by integrating thetorque sensor 22. Meanwhile, the mainhand configuration type 7+1 is in a serial connection mode, 1 rotational degree of freedom is arranged on each shaft of 1-6 shafts, 6 degrees of freedom are achieved, 7 and 8 shafts connected to the tail ends of the 6 shafts can be integrally moved to any position of a sphere-like space, the 7-8 shafts have 1 rotational degree of freedom and one opening and closing degree of freedom, rotation of wrists and opening and closing and clamping of fingers can be simulated, therefore, through master-slave mapping, the main hand can drive a slave hand instrument to achieve the same flexible action of hands around a focus of a patient, force feedback can enable contact interaction of the instrument and tissues of the patient to be fed back to an operator of the main hand, touch of the hands is simulated, and operation safety is guaranteed. Thereby improving the safety, comfort and reliability of the operation.

Further, the surgical robot medical console provided by the invention further comprises a base 3, wherein the base 3 is provided with an uprightpost lifting mechanism 4, and the left side and the right side of the uprightpost lifting mechanism 4 are respectively provided with a rightmain hand 1 and a leftmain hand 2. The front side of the uprightpost lifting mechanism 4 is provided with a viewfinder support, the viewfinder support is provided with a viewfinder 5, and a rotating shaft is arranged between the viewfinder support and the uprightpost lifting mechanism 4. Through stand elevatingsystem 4, can realize the lift of finder 5, rightmain hand 1 and leftmain hand 2, through the pivot, can realize the every single move of finder 5. Through above motion function, throughadjustment button 631, can control 3 movements to satisfy the doctor's of different heights, size operation travelling comfort's demand.

Thefinger control ring 118 ends of the right and leftmain hands 1 and 2 extend below the viewfinder 5, and a finger pressure clutch is provided on thefinger control ring 118. The front side of the viewfinder 5 is provided with anobservation hole 51, an ocular 52 is arranged in theobservation hole 51, aheadrest 53 and a neck support are arranged around the ocular 52, a microphone 55 is arranged below the front side of the ocular 52, and aninfrared sensor 56 and aloudspeaker 57 are arranged on the side wall of theobservation hole 51. The number of eyepieces 52 is two to provide the operating surgeon with a 3D surgical view of the patient's anatomy while also displaying surgical instrument information and icons and other user interface functions. Moreover, theobservation hole 51 of the viewfinder 5 is designed by ergonomics, and a head support and a neck support are arranged around the ocular lens 52, so that the comfort of long-time operation work of an operator is improved. When the head of an operator leaves theobservation hole 51 from theinfrared sensor 56, the main operator cannot work, and the bidirectional voice system provides a voice communication channel for the operator of the doctor console and other workers in the operating room.

Further, thecolumn lifting mechanism 4 is connected with a left connectingarm 61 and aright connecting arm 62, the free ends of theleft connecting arm 61 and theright connecting arm 62 are connected through anarmrest 63, and thearmrest 63 is located below the viewfinder 5. When the doctor operates, the arm can lean on thearmrest 63, so that the comfort of the doctor for long-time operation is improved. Thearmrest 63 is provided with anadjusting button 631, aswitch button 632 and anemergency stop button 633, which is convenient for operation and timely dealing with various problems.

In addition, anelectric box 7 is arranged between the base 3 and theupright lifting mechanism 4 and used for providing power supply and control signals for the control console. The front side of the base 3 is provided with a gap, apedal panel 31 is arranged in the gap, and the outer side of the base 3 is provided with abrake pedal 32. The bottom of the base 3 is provided withcasters 33. When the brake pedal is loosened, the doctor console can be moved, and when the brake pedal is stepped down, the doctor console stops to avoid moving during operation. The base 3 is another aspect of the auxiliary control device, which is provided with apedal panel 31, thepedal panel 31 is provided with 6 pedal switches, which are used for cooperating with the main hand during operation to activate endoscope control and various functions of the instrument, and thepedal panel 31 can be adjusted back and forth to adapt to operating doctors with different heights.

With the method of arranging cables of the present invention, since the rotation shafts of the adjacent shaft links need to be rotated with each other, for example, the four-shaft link 14 swings with respect to the three-shaft link 13. As shown in fig. 5 and 10, how to implement a method for swinging and routing a four-axis link 14 relative to a three-axis link 13 out of a central axis with a large number of cables in a thirdrotating shaft 113 when the cable arranging method and the master hand driving method of the present invention are adopted, includes the following steps:

1)cables 20 are distributed and routed between thesupport cylinder 10 and thecable collecting rack 8 and the shell of the three-axis connecting rod 13;

2)cables 20 are converged into one bundle at the bottom of theline concentration rack 8;

3) an arc-shapedslot 214 is formed at the bottom of the drivingmodule 21, and themerged cable 20 passes through the arc-shapedslot 214 and then enters the next rotating shaft.

In the embodiment, the bottom of thewire collecting rack 8 is provided with an arc-shapedwire clip 87, thecables 20 penetrate into the arc-shapedwire clip 87 to be converged and collected, and the collectedcables 20 can swing in the arc-shapedwire slot 214.

The concentric guard is arranged outside theline concentration frame 8, because the four-axis connecting rod 14 rotates by taking the drivingmodule 21 of the three axes as the center, the shell of the four-axis connecting rod 14 moves relative to theline concentration frame 8, and the guard concentrically arranged with theline concentration frame 8 is arranged outside theline concentration frame 8 for protection in order to avoid the abrasion of the inner surface of the shell of the four-axis connecting rod 14 on the cable fixed on theline concentration frame 8.

By adopting the swinging wiring method outside the central shaft, the cable comes out from the arc-shapedline card 87, enters the four-axis connecting rod 14, crosses the rotation center O2 of the four-axis connecting rod 14, and is limited by the arc-shapedline card 87 at the A2 position. When the four-axis link 14 swings upward by anangle Φ 1 around O2, the cable at O1a2 bends while swinging upward due to O1B2< O1a2, and finally moves to anarc O1B 2. The cable at O1 is swung up at an angle of & lt O2O1B2, because & lt A2O2B2 &lt phi 1 and & lt A2O2B2 is an external angle of a triangle O1O2B2, so & lt B2O1O2 & lt A2O2B2, namely & lt B2O1O2 &lt phi 1. If the cable comes out from the center O2, the aforementioned swinging results in a cable swingingangle Φ 1. Therefore, by adopting the wiring method, the torsion angle of the cable is smaller than that of the central wiring, the service life of the cable is longer, and the reliability of an electrical system is higher.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. A stent cartridge, characterized in that: the novel bobbin comprises a bobbin body (101), one end of the bobbin body (101) is provided with a wire distributing flange (102), and a binding hole (1021) is formed in the wire distributing flange (102).

2. The stent cartridge of claim 1, wherein: at least one side of the two sides of the wire distributing flange (102) is provided with a supporting lug (103), and the two sides of the supporting lug (103) form a wire passing opening (104).

3. The stent cartridge of claim 2, wherein: a slotted hole (105) is formed in the barrel body (101), and the slotted hole (105) is located below the wire passing port (104).

4. The stent cartridge of claim 2, wherein: the barrel body (101) is provided with side holes (106) which are arranged in pairs, and the side holes (106) are located below the wire passing port (104).

5. The stent cartridge of claim 2, wherein: the number of the side holes (106) corresponding to each wire passing port (104) is at least two, and the side holes (106) are arranged on the upper side and the lower side of the cylinder body (101).

6. The stent cartridge of claim 5, wherein: the other end of the cylinder body (101) is provided with a positioning flange (107), and the positioning flange (107) corresponds to the branching flange (102).

7. The stent cartridge of claim 6, wherein: and the other end of the cylinder body (101) is provided with a positioning support lug (108) opposite to the positioning flange (107).

8. The stent cartridge of claim 7, wherein: the distributing flange (102), the positioning flange (107), the supporting lug (103) and the positioning lug (108) are concentrically arranged.

9. A method of arranging cables, comprising the steps of:

1) providing a support barrel (10), arranging a branching flange (102) at one end of the support barrel (10), and arranging a binding hole (1021) on the branching flange (102); at least one side of the two sides of the branching flange (102) is provided with a supporting lug (103), the two sides of the supporting lug (103) form a cable passing port (104), the barrel body (101) is provided with a slotted hole (105) corresponding to the cable passing port (104), and the barrel body (101) is also provided with side holes (106) which are arranged in pairs;

2) the cable (20) is divided into a plurality of bundles, the cables (20) in the bundles are divided into two parts and are respectively routed to the two sides along the branching flange (102) in an arc shape, and the cables (20) are fixed by penetrating through the binding wire at the binding hole (1021);

3) each cable (20) is sequentially bent downwards at the cable passing port (104) and is tightly attached to the outer wall of the cylinder body (101) to be wired downwards;

4) the cables (20) running downwards pass through the space between each pair of side holes (106), the cables (20) are bundled at the side holes (106), and then the cables leave the support barrel (10) and enter the other end of the support barrel (10).

10. The method of laying a cable of claim 9, wherein: the other end of the support cylinder (10) is provided with a butt joint line concentration frame (8).

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