CN219063336U

CN219063336U - Remote-control intelligent cooperative shadowless lamp with follow-up function

Info

Publication number: CN219063336U
Application number: CN202223275684.5U
Authority: CN
Inventors: 姚永忠; 张墨染
Original assignee: Nanjing Kangni Intelligent Technology Co ltd
Current assignee: Nanjing Kangni Intelligent Technology Co ltd
Priority date: 2022-12-07
Filing date: 2022-12-07
Publication date: 2023-05-23
Anticipated expiration: 2032-12-07

Abstract

The utility model discloses a remote-control intelligent cooperative shadowless lamp with a follow-up function, which belongs to the technical field of automatic control, and comprises a shadowless lamp body, wherein a camera is arranged in the shadowless lamp body, the upper end of the shadowless lamp body is connected with a hanging mechanism, a wall body is arranged above the shadowless lamp body, the hanging mechanism comprises a mounting plate, a bolt, a hanging rod, a first mechanical arm, a second mechanical arm and a third mechanical arm.

Description

Remote-control intelligent cooperative shadowless lamp with follow-up function

Technical Field

The utility model relates to an automatic control technology, in particular to a remote-control intelligent cooperative shadowless lamp with a follow-up function.

Background

A surgical shadowless lamp is an illumination system for illuminating a surgical site to view objects at different depths and contrast in an incision and body cavity at an optimal viewing angle. Since the head, hands and instruments of the operator may cause disturbing shadows to the surgical site, the surgical shadowless lamp should be designed to eliminate shadows as much as possible and minimize color distortion.

In the course of daily surgery, due to the change of the surgical site, it is often necessary to adjust the position and angle of the shadowless lamp so as to observe objects at different depths and contrast in the incision and body cavity at an optimal viewing angle, which brings about a lot of inconveniences: the common single lighting system shadowless lamp is difficult to create good lighting effect, special personnel are needed to adjust the position and the lighting angle of the shadowless lamp, the number of connecting rods and rotatable parts of the shadowless lamp are too small, and the shadowless lamp is difficult to adjust to a proper lighting position.

Disclosure of Invention

The utility model aims to overcome the defect that a common single-lighting system shadowless lamp in the prior art is difficult to create a good lighting effect, special personnel are needed to adjust the position and the lighting angle of the shadowless lamp, the number of connecting rods and rotatable parts of the shadowless lamp are too small to adjust to a proper lighting position, and the remote-control intelligent cooperative shadowless lamp with a follow-up function is provided to solve the defects and is convenient to use.

In order to achieve the above purpose, the technical scheme provided by the utility model is as follows:

the utility model relates to a remote-control intelligent cooperative shadowless lamp with a follow-up function, which comprises a shadowless lamp body, wherein a camera is arranged in the shadowless lamp body and is used for calibrating and detecting the position of an operation field, the upper end of the shadowless lamp body is connected with a hanging mechanism, a wall body is arranged above the shadowless lamp body, the shadowless lamp body is connected with the wall body through the hanging mechanism, and the shadowless lamp body is hung and installed below the wall body;

the hanging mechanism comprises a mounting plate arranged at the lower end of a wall body and a bolt arranged at the bottom of the mounting plate, the mounting plate and the wall body are fixedly mounted through the bolt, a hanging rod is welded and mounted at the lower end of the bolt, the left side and the right side of the hanging rod are movably connected with first mechanical arms, one ends of the first mechanical arms, which are far away from the hanging rod, are movably connected with second mechanical arms, the other ends of the second mechanical arms are movably connected with third mechanical arms, and the other ends of the third mechanical arms are connected with a shadowless lamp body.

Preferably, the whole body formed by the two groups of the first mechanical arm, the second mechanical arm and the third mechanical arm has six degrees of freedom in space.

Preferably, the lower end of the hanging rod is welded with a hanging column, the left side wall and the right side wall of the hanging column are provided with jacks, and the two groups of jacks are not positioned on the same horizontal line.

Preferably, the left and right sides of hanging the post all is provided with connecting rod A and linking rod B, and linking rod A and linking rod B insert two sets of respectively in the jack, linking rod A and hang all fix through the angle steel piece between post and linking rod B and the post.

Preferably, the structure shape of the connecting rod A is consistent with that of the connecting rod B, and the size and the length are inconsistent.

Preferably, the lower extreme of second arm is connected with connecting rod A, and connecting rod A's lower extreme is provided with joint piece A, installs the dysmorphism pole on joint piece A's the lateral wall.

Preferably, the other end of the special-shaped rod is connected with a third mechanical arm.

Preferably, one end of the third mechanical arm is connected with a connecting rod B, and one end of the connecting rod B, which is far away from the third mechanical arm, is connected with a connecting block B.

Compared with the prior art, the technical scheme provided by the utility model has the following beneficial effects:

compared with the prior art, the utility model has the following beneficial effects:

(1) According to the remote control intelligent cooperative shadowless lamp with the follow-up function, through the arranged shadowless lamp body, the camera, the first mechanical arm, the second mechanical arm and the third mechanical arm, the two shadowless lamp bodies can calibrate and detect the operation field position through the binocular camera, so that a coordinate system conversion matrix of the operation field position and the binocular camera is established, the position and the gesture of an operation instrument under a camera system are calculated, then the control system adjusts the angles of all joints of the first mechanical arm, the second mechanical arm and the third mechanical arm of the shadowless lamp body according to the position and the gesture, so that the illumination position change caused by the change of the operation field position, namely the follow-up operation, can also be manually cooperated by an operator to drag the shadowless lamp body to a required illumination position, time and labor are saved, the operation difficulty is low, simultaneously, the binocular camera can be used for carrying out obstacle avoidance detection on a target object (namely an operation operator) in real time when the operation field position change due to movement in an operation process, the body is quickly approached by the control system, the shadowless operator can be controlled to avoid the operation field position change, and the intelligent cooperative operation system can be realized when the operation field is more completely avoided, and the intelligent cooperative operation assembly can be realized when the intelligent operation system is not needed, and the intelligent operation assembly can be realized, and the intelligent operation system can be avoided when the operation assembly is more cooperated by the operator is realized.

Drawings

FIG. 1 is an overall block diagram of the present utility model;

FIG. 2 is a schematic view of a suspension mechanism according to the present utility model;

FIG. 3 is a schematic view of a second mechanical arm according to the present utility model;

FIG. 4 is a schematic view of a third mechanical arm according to the present utility model;

fig. 5 is an enlarged schematic view of fig. 2 a in accordance with the present utility model.

In the figure: 1. a wall body; 2. a suspension mechanism; 21. a mounting plate; 22. a bolt; 23. a hanging rod; 231. a hanging column; 232. a connecting rod A; 233. a connecting rod B; 234. a jack; 235. angle steel sheet; 24. a first mechanical arm; 25. a second mechanical arm; 251. a connecting rod A; 252. a connecting block A; 253. a special-shaped rod; 26. a third mechanical arm; 261. a connecting rod B; 262. a connecting block B; 3. a shadowless lamp body; 4. a camera is provided.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

For a further understanding of the present utility model, the present utility model will be described in detail with reference to the drawings.

Referring to fig. 1, the remote-control intelligent cooperative shadowless lamp with the follow-up function comprises a shadowless lamp body 3, wherein a camera 4 is arranged in the shadowless lamp body 3, the camera 4 is used for calibrating and detecting the position of an operation field, a hanging mechanism 2 is connected to the upper end of the shadowless lamp body 3, a wall body 1 is arranged above the shadowless lamp body 3, the shadowless lamp body 3 is connected with the wall body 1 through the hanging mechanism 2, and the shadowless lamp body 3 is hung and installed below the wall body 1.

The utility model is further described below with reference to examples.

Embodiment one:

with reference to fig. 2-5, the hanging mechanism 2 comprises a mounting plate 21 arranged at the lower end of the wall body 1 and a bolt 22 arranged at the bottom of the mounting plate 21, the mounting plate 21 and the wall body 1 are fixedly mounted through the bolt 22, at this time, the mounting plate 21 and the hanging rod 23 are sequentially arranged at the lower end of the wall body 1, the hanging rod 23 is welded and mounted at the lower end of the bolt 22, the left side and the right side of the hanging rod 23 are both movably connected with a first mechanical arm 24, one end of the first mechanical arm 24, which is far away from the hanging rod 23, is movably connected with a second mechanical arm 25, the other end of the second mechanical arm 25 is movably connected with a third mechanical arm 26, the other end of the third mechanical arm 26 is connected with the shadowless lamp body 3, the hand-held remote controller or the control display screen can be used for manually adjusting the angles of the first mechanical arm 24, the second mechanical arm 25 and the third mechanical arm 26, and the required lighting position of the shadowless lamp body 3 can be adjusted at any time, the shadowless lamp body 3 is internally provided with the camera 4 and can work independently and cooperatively, the whole body formed by the first mechanical arm 24, the second mechanical arm 25 and the third mechanical arm 26 has six degrees of freedom in space, the omnidirectional, three-dimensional and dead-angle-free illumination is realized, the lower end of the hanging rod 23 is welded with the hanging column 231, the left side wall and the right side wall of the hanging column 231 are respectively provided with the jack 234, the two groups of the jacks 234 are not positioned on the same horizontal line, the left side and the right side of the hanging column 231 are respectively provided with the connecting rod A232 and the connecting rod B233, the connecting rod A232 and the connecting rod B233 are respectively inserted into the two groups of the jacks 234, the connecting rod A232, the hanging column 231, the connecting rod B233 and the hanging column 231 are respectively fixed through the angle steel sheet 235, at the moment, the connecting rod A232 and the connecting rod B233 are respectively positioned at the two sides of the hanging column 231 so as to be convenient for connecting the first mechanical arm 24, the structure shape of the connecting rod A232 is consistent with that of the connecting rod B233, the size and the length are inconsistent, the lower end of the second mechanical arm 25 is connected with a connecting rod A251, the lower end of the connecting rod A251 is provided with a connecting block A252, the side wall of the connecting block A252 is provided with a special-shaped rod 253, the other end of the special-shaped rod 253 is connected with a third mechanical arm 26, one end of the third mechanical arm 26 is connected with a connecting rod B261, one end of the connecting rod B261, far away from the third mechanical arm 26, is connected with a connecting block B262, and the other end of the connecting block B262 is connected with the shadowless lamp body 3, so that the shadowless lamp body 3 is hung and installed above an operating table through the first mechanical arm 24, the second mechanical arm 25 and the third mechanical arm 26.

In this embodiment, the two shadowless lamp bodies 3 can calibrate and detect the position of the operative field through the binocular camera 4, thereby establishing a coordinate system conversion matrix of the position of the operative field and the binocular camera 4, calculating the position and the posture of the operative instrument under the camera system, and then adjusting the angles of the joints of the first mechanical arm 24, the second mechanical arm 25 and the third mechanical arm 26 of the shadowless lamp body 3 according to the position and the posture by the control system, so as to realize the change of the illumination position caused by the change of the position of the operative field, namely follow-up, manual collaborative dragging by an operator can be realized, the shadowless lamp body 3 is dragged to the required illumination position, time and effort are saved during manual adjustment, the operation difficulty is small, meanwhile, the object (namely, the operator) can be prevented from being detected in real time through the binocular camera 4 during independent operation, namely, the operator can control the shadowless lamp body 3 to actively avoid when the position change occurs due to the movement in the operation process, the control system can realize the avoidance of the shadowless lamp body 3, the intelligent operator can realize the avoidance of the intelligent operator, the intelligent operator can realize the avoidance of another intelligent operator can also realize the intelligent operation assembly and the avoidance of the intelligent operator when the intelligent operator can realize the intelligent operation assembly.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Remote control intelligent cooperation shadowless lamp with follow-up function, including shadowless lamp body (3), its characterized in that: the camera (4) is arranged in the shadowless lamp body (3), the camera (4) is used for calibrating and detecting the operation field position, the upper end of the shadowless lamp body (3) is connected with the hanging mechanism (2), the wall body (1) is arranged above the shadowless lamp body (3), the shadowless lamp body (3) is connected with the wall body (1) through the hanging mechanism (2), and the shadowless lamp body (3) is hung and installed below the wall body (1);

the utility model provides a hanging mechanism (2) is including setting up mounting panel (21) and the bolt (22) of setting in mounting panel (21) bottom at wall body (1) lower extreme, carry out fixed mounting through bolt (22) between mounting panel (21) and wall body (1), hanging pole (23) are installed in the lower extreme welding of bolt (22), the left and right sides of hanging pole (23) all swing joint has first arm (24), the one end swing joint that hanging pole (23) was kept away from to first arm (24) has second arm (25), the other end swing joint of second arm (25) has third arm (26), the other end and the shadowless lamp body (3) of third arm (26) are connected.

2. The remote-controlled intelligent cooperative shadowless lamp with follow-up function as set forth in claim 1, wherein: the whole body formed by the two groups of the first mechanical arm (24), the second mechanical arm (25) and the third mechanical arm (26) has six degrees of freedom in space.

3. A remotely controllable intelligent collaborative shadowless lamp with follow-up function according to claim 2 characterized in that: the lower extreme welding of hanging pole (23) has hanging post (231), has seted up jack (234) on the left and right sides wall of hanging post (231), and two sets of jack (234) are not in on same horizontal line.

4. A remotely controllable intelligent collaborative shadowless lamp with follow-up function according to claim 3 wherein: the left side and the right side of hanging post (231) all are provided with connecting rod A (232) and linking rod B (233), and linking rod A (232) and linking rod B (233) insert respectively two sets of in jack (234), all fix through angle steel sheet (235) between connecting rod A (232) and hanging post (231) and linking rod B (233) and hanging post (231).

5. The remote-controlled intelligent cooperative shadowless lamp with follow-up function according to claim 4, wherein: the structure shape of the connecting rod A (232) is consistent with that of the connecting rod B (233), and the size and the length are inconsistent.

6. The remote-controlled intelligent cooperative shadowless lamp with follow-up function according to claim 5, wherein: the lower extreme of second arm (25) is connected with connecting rod A (251), and the lower extreme of connecting rod A (251) is provided with joint piece A (252), installs dysmorphism pole (253) on the lateral wall of joint piece A (252).

7. The remote-controlled intelligent cooperative shadowless lamp with follow-up function as set forth in claim 6, wherein: the other end of the special-shaped rod (253) is connected with a third mechanical arm (26).

8. The remote-controlled intelligent cooperative shadowless lamp with follow-up function as set forth in claim 7, wherein: one end of the third mechanical arm (26) is connected with a connecting rod B (261), and one end, far away from the third mechanical arm (26), of the connecting rod B (261) is connected with a connecting block B (262).