CN118806443B - Handheld front end and control method - Google Patents
Handheld front end and control methodInfo
- Publication number
- CN118806443B CN118806443B CN202410889578.0A CN202410889578A CN118806443B CN 118806443 B CN118806443 B CN 118806443B CN 202410889578 A CN202410889578 A CN 202410889578A CN 118806443 B CN118806443 B CN 118806443B
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- lifting
- component
- assembly
- rotating
- connecting plate
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00137—Details of operation mode
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention provides a handheld front end and a control method, wherein the handheld front end comprises a shell, a handheld part, a power assembly, a first lifting component and a second lifting component, wherein the handheld part is used for being held by an operator, the power assembly is connected with the shell and is provided with a feeding part which is movably arranged along a preset direction, the first lifting component and the second lifting component are arranged at intervals, the first lifting component and the second lifting component are connected with the power assembly and are movably arranged relative to each other, the rotating part is connected with the lifting component, the rotating part is used for driving the lifting component to rotate, the tracking assembly is connected with the power assembly, the control module is connected with the power assembly, the lifting assembly, the rotating assembly and the tracking assembly in a signal mode, and the control module is used for adjusting the moving direction of the feeding part. The technical problem of low operation precision of the handheld operation robot in the related art is solved.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a handheld front end and a control method.
Background
The traditional operation robot comprises a mechanical arm, an optical camera and a host, wherein the optical camera is equivalent to an eye, the spatial gesture of the tail end of the mechanical arm is obtained through a tracer fixed on the mechanical arm, then a motion instruction is transmitted to the mechanical arm by the host, the tail end guiding structure of the mechanical arm is driven to accurately operate to the operation position of a patient, and then a doctor performs subsequent operation.
The traditional surgical robot mechanical arm has large volume, high price and complex operation, so the hand-held surgical robot is developed.
However, the manual operation precision of the hand-held surgical robot is not high in the use process.
Accordingly, the prior art is subject to further development.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a handheld front end and a control method, so as to solve the technical problem of low operation precision of a handheld surgical robot in the related art.
The technical scheme includes that the handheld front end comprises a shell, a power assembly, a lifting assembly, a control module, a power assembly, a rotating assembly and a tracking assembly, wherein the shell is provided with a handheld part used for being held by an operator, the handheld part is connected with the shell, the power assembly is provided with a feeding part, the feeding part is movably arranged along a preset direction, the lifting assembly comprises a first lifting component and a second lifting component which are arranged at intervals, the first lifting component and the second lifting component are connected with the power assembly, the first lifting component and the second lifting component are movably arranged, the first lifting component and the second lifting component are relatively movably arranged, the rotating assembly is provided with a rotating part, the rotating part is rotatably arranged, the rotating part is connected with the lifting assembly, the rotating part is used for driving the lifting assembly to rotate, the tracking assembly is connected with the power assembly, the tracking assembly is used for indicating the real-time position of the power assembly, and the control module is in signal connection with the control module and is used for adjusting the moving direction of the feeding part.
Further, the lifting assembly comprises a first lifting cylinder body and a second lifting cylinder body, the first lifting cylinder body and the second lifting cylinder body are arranged on the rotating part at intervals, the first lifting part is connected with a piston rod of the first lifting cylinder body, the second lifting part is connected with a piston rod of the second lifting cylinder body, and the control module is in signal connection with the first lifting cylinder body and the second lifting cylinder body so as to control the lifting of the first lifting cylinder body and the second lifting cylinder body.
The lifting device comprises a power assembly, a first lifting component, a second lifting component, a third connecting plate body, a second connecting plate body and a fourth connecting plate body, wherein the first connecting plate body and the second connecting plate body are arranged on two sides of the power assembly respectively, first connecting protrusions are arranged on one sides, close to the power assembly, of the two first connecting plate bodies, the first connecting protrusions are rotatably connected with the power assembly, two ends of the second connecting plate body are connected with the two first connecting plate bodies respectively, one side, far away from the power assembly, of the second connecting plate body is connected with a piston rod of the first lifting cylinder body, the second lifting component comprises the third connecting plate body and the fourth connecting plate body, the two third connecting plate bodies are arranged on two sides of the power assembly respectively, second connecting protrusions are arranged on one sides, close to the power assembly, of the two third connecting plate bodies, the second connecting protrusions are rotatably connected with the power assembly, and two ends of the fourth connecting plate body are connected with the two third connecting plate bodies respectively, and one side, far away from the power assembly, of the fourth connecting plate body is connected with the piston rod of the second lifting cylinder body.
Further, a connecting groove and a sliding groove are formed in two sides of the power assembly, the sliding groove extends along the axis direction of the power assembly, the first connecting protrusion is rotatably connected with the connecting groove relatively, the second connecting protrusion is rotatably connected with the sliding groove relatively, and the second connecting protrusion is movably arranged in the sliding groove.
The handheld front end further comprises a supporting structure, the supporting structure comprises a first supporting part and a second supporting part, the first supporting part and the second supporting part are arranged at intervals, a first shaft body and a second shaft body are arranged at intervals on one side, close to the second supporting part, of the first supporting part, a third shaft body and a fourth shaft body are arranged at intervals on one side, close to the first supporting part, of the second supporting part, a first moving channel and a third moving channel are respectively arranged on the two first connecting plate bodies, the first moving channel is used for allowing the first shaft body to pass through, the third moving channel is used for allowing the third shaft body to pass through, a second moving channel and a fourth moving channel are respectively arranged on the two third connecting plate bodies, the second moving channel is used for allowing the second shaft body to pass through, and the fourth moving channel is used for allowing the fourth shaft body to pass through.
Further, one end of the third supporting component is connected with the first supporting component, the other end of the third supporting component is connected with the second supporting component, one side, far away from the first supporting component and the second supporting component, of the third supporting component is provided with a connecting part, the connecting part is connected with the handheld part in a relatively rotatable mode, the third supporting component is provided with a lifting channel, and the lifting channel is used for allowing the first lifting component and the second lifting component to pass through.
The rotating assembly comprises a rotating motor, the rotating motor is in signal connection with a control module, the control module is used for controlling the rotating motor to rotate, the rotating portion is in driving connection with the rotating motor, the rotating portion comprises a rotating plate body, the rotating plate body is connected with a motor shaft of the rotating motor, the fixing plate body is arranged on the rotating plate body, and a first fixing portion used for fixing a first lifting component and a second fixing portion used for fixing a second lifting component are respectively arranged on two sides of the fixing plate body.
The power assembly further comprises a sleeve, a moving rail, a feeding cylinder body and a feeding part, wherein the sleeve is provided with a mounting cavity, the sleeve is connected with the first lifting part in a relatively rotatable mode, the sleeve is connected with the second lifting part in a relatively movable mode, the moving rail is arranged on one side, close to the mounting cavity, of the sleeve, the extending direction of the moving rail is the same as the axis direction of the mounting cavity, the feeding cylinder body is arranged in the mounting cavity, the feeding part is arranged on a shaft body of the feeding cylinder body, and the feeding cylinder body drives the feeding part to move along the moving rail.
Further, one end of the moving track, which is far away from the feeding cylinder body, is provided with a mounting part, the feeding part is arranged in the mounting part, one side, which is close to the feeding cylinder body, of the mounting part is provided with a first limiting part, one side, which is far away from the feeding cylinder body, of the mounting part is provided with a second limiting part, and the first limiting part and the second limiting part are used for limiting the movement of the feeding part.
The control method is suitable for the handheld front end and comprises the steps of holding the handheld part to move the handheld front end to a preset operation range, controlling the rotating assembly to drive the power assembly to rotate by the control module, enabling a preset end point of a feeding part of the power assembly to move to a preset operation entry point, controlling the lifting assembly to adjust the moving direction of the feeding part to enable the real-time moving direction of the feeding part to coincide with the preset direction, and controlling the feeding part to move along the preset direction by the control module to finish an operation.
The beneficial effects are that:
the hand-held front end can be positioned according to the tracking assembly, the axial height and the axial direction of the power assembly are adjusted according to the positioning and the pre-planned operation path, the needle insertion position is not required to be manually adjusted, and the accuracy of the operation is improved.
Drawings
FIG. 1 is a schematic diagram of the internal structure of a hand-held front end employed in an embodiment of the present invention;
FIG. 2 is a side view of a hand-held front end employed in an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a lifting assembly for a hand-held front end as employed in an embodiment of the present invention;
FIG. 4 is a schematic view of a lifting assembly for a handheld front end according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a first lifting member of a handheld front end employed in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a power assembly for a hand-held front end as employed in an embodiment of the present invention;
FIG. 7 is a schematic view of a support structure for a hand-held front end employed in an embodiment of the present invention;
FIG. 8 is a schematic diagram of the internal structure of a power assembly for a hand-held front end as employed in an embodiment of the present invention;
FIG. 9 is a schematic view illustrating the elevation lower limit of the handheld front end employed in an embodiment of the present invention;
FIG. 10 is a schematic view of a lifting upper limit of a handheld front end employed in an embodiment of the present invention;
FIG. 11 is a schematic view of a pitch up limit of a handheld front end employed in an embodiment of the present invention;
FIG. 12 is a pitch down limit schematic of a hand-held front end employed in an embodiment of the present invention;
FIG. 13 is a right-hand-held front end rotational limit schematic diagram as employed in an embodiment of the present invention;
fig. 14 is a rotational left limit schematic of a hand-held front end employed in an embodiment of the present invention.
Wherein the above figures include the following reference numerals:
1. The device comprises a shell, 11, a handheld part, 2, a power assembly, 21, a feeding part, 22, a sleeve, 221, a mounting cavity, 23, a moving track, 24, a feeding cylinder, 25, a mounting part, 251, a first limiting part, 252, a second limiting part, 26, a connecting groove, 27, a sliding groove, 3, a lifting assembly, 31, a first lifting component, 311, a first connecting plate body, 3111, a first moving channel, 3112, a third moving channel, 312, a second connecting plate body, 313, a third connecting plate body, 3131, a second moving channel, 3132, a fourth moving channel, 314, a fourth connecting plate body, 315, a first connecting protrusion, 316, a second connecting protrusion, 32, a second lifting component, 33, a first lifting cylinder, 34, a second lifting cylinder, 4, a rotating assembly, 41, a rotating part, 411, a rotating plate body, 412, a fixed plate body, 4121, a first fixed part, 4122, a second fixed part, 5, a tracking assembly, 6, a supporting structure, 61, a first supporting component, 611, a first shaft body, a second shaft body, 612, a second supporting component, a third supporting component, 631.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
According to an embodiment of the present invention, there is provided a handheld front end, referring to fig. 1 to 14, comprising a housing 1, the housing 1 having a hand-held portion 11, the hand-held portion 11 being for an operator to hold, a power assembly 2, the power assembly 2 being connected to the housing 1, the power assembly 2 having a feeding portion 21, the feeding portion 21 being movably arranged in a preset direction, a lifting assembly 3, the lifting assembly 3 including a first lifting member 31 and a second lifting member 32, the first lifting member 31 and the second lifting member 32 being arranged at a distance from each other, the first lifting member 31 and the second lifting member 32 being connected to the power assembly 2, the first lifting member 31 and the second lifting member 32 being movably arranged, the first lifting member 31 and the second lifting member 32 being relatively movably arranged, a rotation assembly 4, the rotation assembly 41 being rotatably arranged, the rotation assembly 41 being connected to the lifting assembly 3, the rotation portion 41 being for driving the lifting assembly 3 to rotate, the tracking assembly 5 being connected to the power assembly 2, the tracking assembly 5 being connected to the power assembly 5 for indicating the position of the power assembly 2, the rotation assembly 4 being controlled by a real-time signal controlling module, and the lifting assembly 21 being connected to the movement module.
With the above arrangement, the operator holds the hand-held portion 11 to move the hand-held front end, and when the tracking assembly 5 detects that the hand-held front end is moved within a predetermined operation range, the control module controls the rotating assembly 4 and the lifting assembly 3 to adjust the advancing direction of the power assembly 2, so that the advancing direction of the power assembly 2 coincides with the predetermined needle inserting direction, and then the control module controls the feeding portion 21 to move forward to perform the needle inserting operation. Thus, the miniaturized handheld front end adjusts the needle inserting direction through the control module, the manual needle inserting position and angle adjustment are avoided, and the operation precision is improved.
In the hand-held front end of the present embodiment, referring to fig. 1 to 3, the lifting assembly 3 includes a first lifting cylinder 33 and a second lifting cylinder 34, the first lifting cylinder 33 and the second lifting cylinder 34 are disposed on the rotating portion 41 at intervals, the first lifting member 31 is connected with a piston rod of the first lifting cylinder 33, the second lifting member 32 is connected with a piston rod of the second lifting cylinder 34, and the control module is in signal connection with both the first lifting cylinder 33 and the second lifting cylinder 34 to control lifting of the first lifting cylinder 33 and the second lifting cylinder 34. Thus, when the control module judges that the power assembly 2 needs to be subjected to pitching adjustment through the real-time position information of the power assembly 2 transmitted by the tracking assembly 5, the control module realizes pitching angle adjustment of the power assembly 2 by controlling the difference of the moving distances of the first lifting cylinder 33 and the second lifting cylinder 34.
Specifically, referring to fig. 11 and 12, when the power assembly 2 needs to be tilted up, the first lifting cylinder 33 is lifted up by a larger distance than the second lifting cylinder 34, and when the power assembly 2 needs to be tilted down, the first lifting cylinder 33 is lifted up by a smaller distance than the second lifting cylinder 34.
In the handheld front end of the present embodiment, referring to fig. 4 and 5, the first lifting component 31 includes two first connecting plates 311 and two second connecting plates 312, the two first connecting plates 311 are respectively disposed at two sides of the power assembly 2, one side of the two first connecting plates 311 close to the power assembly 2 is provided with a first connecting protrusion 315, the first connecting protrusion 315 is rotatably connected with the power assembly 2, two ends of the second connecting plates 312 are respectively connected with the two first connecting plates 311, one side of the second connecting plates 312 far from the power assembly 2 is connected with a piston rod of the first lifting cylinder, the second lifting component 32 includes a third connecting plate 313 and a fourth connecting plate 314, the two third connecting plates 313 are respectively disposed at two sides of the power assembly 2, one side of the two third connecting plates 313 close to the power assembly 2 is provided with a second connecting protrusion 316, the second connecting protrusion 316 is rotatably connected with the power assembly 2, two ends of the fourth connecting plates 314 are respectively connected with the two third connecting plates 313, and one side of the fourth connecting plates 314 far from the piston rod of the first lifting cylinder is connected with the piston rod of the second lifting cylinder. In this way, the first connecting protrusions 315 are inserted at two sides of the power assembly 2, the first connecting protrusions 315 are rotatably disposed in the power assembly 2, so that the first connecting plate body 311 is rotatably disposed relative to the power assembly 2, the second connecting plate body 312 is connected with both the two first connecting plate bodies 311, when the piston rod of the first lifting cylinder moves up and down, the second connecting plate body 312 and the two first connecting plate bodies 311 are driven to rotate relative to the power assembly 2, and similarly, when the piston rod of the second lifting cylinder moves up and down, the third connecting plate body 313 and the fourth connecting plate body 314 also rotate relative to the power assembly 2.
In the hand-held front end of the present embodiment, referring to fig. 6, the power unit 2 is provided with a coupling groove 26 and a sliding groove 27 on both sides, the sliding groove 27 extending in the axial direction of the power unit 2, a first coupling protrusion 315 rotatably coupled to the coupling groove 26, a second coupling protrusion 316 rotatably coupled to the sliding groove 27, and the second coupling protrusion 316 movably disposed in the sliding groove 27. Thus, when the power assembly 2 needs to be pitch-adjusted, the first connecting protrusion 315 rotates in the connecting groove 26, and the second connecting protrusion 316 moves along the sliding groove 27 while rotating in the sliding groove 27, so that the connecting groove 26 and the sliding groove 27 can generate a height difference through the lifting motions of the first lifting cylinder and the second lifting cylinder, thereby completing the pitch-adjustment of the power assembly 2.
In the handheld front end of the present embodiment, referring to fig. 7, the handheld front end further includes a support structure 6, the support structure 6 includes a first support member 61 and a second support member 62, the first support member 61 and the second support member 62 are disposed at intervals, a first shaft body 611 and a second shaft body 612 disposed at intervals are disposed on a side of the first support member 61 near the second support member 62, a third shaft body and a fourth shaft body disposed at intervals are disposed on a side of the second support member 62 near the first support member 61, a first moving channel 3111 and a third moving channel 3112 are disposed on the two first connection plate bodies 311, the first moving channel 3111 is used for passing the first shaft body 611, the third moving channel 3112 is used for passing the third shaft body, a second moving channel 3131 and a fourth moving channel 3132 are disposed on the two third connection plate bodies 313, the second moving channel 3131 is used for passing the second shaft body 612, and the fourth moving channel 3132 is used for passing the fourth shaft body. In this way, the supporting structure 6 is sleeved outside the first lifting component 31 and the second lifting component 32, the first lifting component 31 is movably connected with the supporting structure 6 through the first shaft body 611 and the third shaft body, the second lifting component 32 is movably connected with the supporting structure 6 through the second shaft body 612 and the fourth shaft body, meanwhile, the first shaft body 611, the third shaft body and the fourth shaft body are respectively connected with the first lifting component 31 through the first moving channel 3111 and the third moving channel 3112, the first shaft body 611 passes through the third moving channel 3111, the third shaft body passes through the third moving channel 3112, the first lifting component 31 can only move along the extending direction of the first shaft body 611 and the third shaft body relative to the supporting structure 6, and plays a limiting role in other directions, the second shaft body 612, the fourth shaft body 612 and the fourth shaft body 3132 are respectively connected with the second lifting component 32 through the second moving channel 3131, the fourth shaft body passes through the fourth moving channel 3132, and the second lifting component 32 can only move along the extending direction of the second shaft body 612 and the fourth shaft body relative to the supporting structure 6 in other limiting roles in other directions.
Preferably, rollers are provided in each of the first moving path 3111, the third moving path 3112, the second moving path 3131, and the fourth moving path 3132.
In the hand-held front end of the present embodiment, referring to fig. 7, a third support member 63, one end of the third support member 63 is connected to the first support member 61, the other end of the third support member 63 is connected to the second support member 62, a connection portion 631 is provided on a side of the third support member 63 remote from the first support member 61 and the second support member 62, the connection portion 631 is rotatably connected to the hand-held portion 11, and the third support member 63 has a lifting passage for passing the first lifting member 31 and the second lifting member 32. In this way, the first 31 and second 32 lifting members are movably connected to the support structure 6, the first 31 and second 32 lifting members being movable in a lifting direction within the support structure 6.
Preferably, a bearing is provided between the connection portion 631 and the hand-held portion 11. In this way, the bearing not only lubricates the rotation between the connection portion 631 and the hand-held portion 11, but also can limit the movement of the first elevating member 31 and the second elevating member 32 in other directions than the elevating direction.
In the handheld front end of the present embodiment, referring to fig. 1 and 3, the rotating assembly 4 includes a rotating motor in signal connection with a control module for controlling the rotating motor to rotate, the rotating portion 41 is in driving connection with the rotating motor, the rotating portion 41 includes a rotating plate 411, the rotating plate 411 is connected with a motor shaft of the rotating motor, and a fixing plate 412 is disposed on the rotating plate 411, and a first fixing portion 4121 for fixing the first lifting member 31 and a second fixing portion 4122 for fixing the second lifting member 32 are disposed on both sides of the fixing plate 412, respectively. Thus, when the control module determines that the power assembly 2 needs to rotate to adjust the moving direction of the feeding portion 21, the rotating motor drives the rotating portion 41 to rotate around the rotating shaft of the rotating motor, the fixing plate 412 fixes the first lifting member 31 and the second lifting member 32 on the rotating portion 41, and when the rotating portion 41 rotates around the motor axis, the first lifting member 31 and the second lifting member 32 are driven to rotate together, and the first lifting member 31 and the second lifting member 32 drive the power assembly 2 to rotate along the motor axis direction, so that the adjustment of the moving direction of the feeding portion 21 is completed.
Specifically, referring to fig. 13 and 14, when the rotation adjustment power assembly 2 is required, the rotation motor drives the fixing plate 412 to integrally rotate through the rotation plate 411.
In the handheld front end of the present embodiment, referring to fig. 1, 3 and 8, the power assembly 2 includes a sleeve 22 having a mounting cavity 221 therein, the sleeve being rotatably connected to a first lifting member 31, the sleeve 22 being rotatably connected to a second lifting member 32, the sleeve 22 being movably connected to the second lifting member 32, a moving rail 23 disposed on a side of the sleeve adjacent to the mounting cavity 221, the moving rail 23 extending in the same direction as an axis of the mounting cavity 221, a feeding cylinder 24 disposed in the mounting cavity 221, and a feeding portion 21 disposed on a shaft of the feeding cylinder 24, the feeding cylinder 24 driving the feeding portion 21 to move along the moving rail 23. In this way, the feeding cylinder 24 is disposed in the mounting cavity 221, and when the control module adjusts the axis of the power assembly 2 to coincide with the preset axis, the control module controls the feeding cylinder 24 to push the feeding portion 21 to perform feeding movement along the moving rail 23, and the moving rail 23 plays a guiding role in feeding of the feeding portion 21.
In the handheld front end of the present embodiment, referring to fig. 1,3 and 8, a mounting portion 25 is provided at an end of the moving rail 23 away from the feeding cylinder 24, the feeding portion 21 is provided in the mounting portion 25, a first limiting portion 251 is provided at a side of the mounting portion 25 close to the feeding cylinder 24, a second limiting portion 252 is provided at a side of the mounting portion 25 away from the feeding cylinder 24, and the first limiting portion 251 and the second limiting portion 252 are used for limiting movement of the feeding portion 21. In this way, the mounting portion 25 is mounted on the moving rail 23, and the feeding portion 21 moves within the mounting portion 25, so that the smoothness of movement and the feeding accuracy of the feeding portion 21 can be improved.
Specifically, referring to fig. 3, when the power assembly 2 is required to be fed, the feeding cylinder 24 pushes the feeding portion 21 to move within the mounting portion 25, feeding is achieved, and the mounting portion 25 is mounted on the moving rail 23 to ensure smooth movement and structural accuracy.
The embodiment provides a control method suitable for the handheld front end, which comprises the steps of holding the handheld front end by a hand to move the handheld front end to a preset operation range, controlling the rotating assembly 4 to drive the power assembly 2 to rotate by the control module so that a preset end point of the feeding part 21 of the power assembly 2 moves to a preset operation entrance point, controlling the lifting assembly 3 to adjust the moving direction of the feeding part 21 so that the real-time moving direction of the feeding part 21 coincides with the preset direction, and controlling the feeding part 21 to move along the preset direction by the control module so as to finish an operation.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (9)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN2024105810719 | 2024-05-11 | ||
| CN202410581071 | 2024-05-11 |
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| CN118806443A CN118806443A (en) | 2024-10-22 |
| CN118806443B true CN118806443B (en) | 2025-09-16 |
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| CN202410889578.0A Active CN118806443B (en) | 2024-05-11 | 2024-07-04 | Handheld front end and control method |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN222549332U (en) * | 2024-05-11 | 2025-03-04 | 北京天智航医疗科技股份有限公司 | Surgical robot |
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