WO2021218955A1 - 一种导轨装置及医用机器人 - Google Patents

一种导轨装置及医用机器人 Download PDF

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Publication number
WO2021218955A1
WO2021218955A1 PCT/CN2021/090205 CN2021090205W WO2021218955A1 WO 2021218955 A1 WO2021218955 A1 WO 2021218955A1 CN 2021090205 W CN2021090205 W CN 2021090205W WO 2021218955 A1 WO2021218955 A1 WO 2021218955A1
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WIPO (PCT)
Prior art keywords
guide rail
sliding block
arc
curved
curved guide
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/090205
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English (en)
French (fr)
Inventor
王建国
王晓伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Kangduo Robot Co Ltd
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Suzhou Kangduo Robot Co Ltd
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Publication date
Application filed by Suzhou Kangduo Robot Co Ltd filed Critical Suzhou Kangduo Robot Co Ltd
Priority to EP21797388.2A priority Critical patent/EP4144321A4/en
Publication of WO2021218955A1 publication Critical patent/WO2021218955A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/005—Guide rails or tracks for a linear bearing, i.e. adapted for movement of a carriage or bearing body there along
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/04—Ball or roller bearings
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2316/00—Apparatus in health or amusement
    • F16C2316/10—Apparatus in health or amusement in medical appliances, e.g. in diagnosis, dentistry, instruments, prostheses, medical imaging appliances

Definitions

  • the present invention relates to the technical field of medical equipment, in particular to a guide rail device and a medical robot.
  • Laparoscopic surgery a minimally invasive surgery, is the general trend and pursuit of surgical development. .
  • Laparoscopic surgical robots are important equipment for laparoscopic surgery.
  • Existing medical robots represented by laparoscopic surgical robots generally adopt a floor-standing structure. This structure has inflexible walking, inconvenient operation, easily obstructed sight and a large number of occupations.
  • the ground space and other shortcomings are important equipment for laparoscopic surgery.
  • the present invention aims to solve to a certain extent that the existing medical robots represented by laparoscopic surgical robots generally adopt a floor-standing structure, which has the advantages of inflexible walking, inconvenient operation, easy obstruction of the line of sight, and occupation of a large amount of ground space, etc. shortcoming.
  • a guide rail device including:
  • a slider slidably connected to the curved guide rail, and the bottom of the slider is suitable for connecting a medical robot;
  • the curved guide rail includes a first arc-segment guide rail and a second arc-segment guide rail, and the arc-shaped opening direction of the first arc-segment guide rail is opposite to the arc-shaped opening direction of the second arc-segment guide rail.
  • the curved guide rail further includes a first linear guide rail, a second linear guide rail, and a third linear guide rail that are parallel to each other, the first linear guide rail, the first arc-segment guide rail, and the second linear guide rail ,
  • the second arc-segment guide rail and the third linear guide are connected in sequence, the opening direction of the first arc-segment guide rail faces one end of the second linear guide rail, and the opening direction of the second arc-segment guide rail faces all The other end of the second linear guide.
  • the curved guide rail includes a guide rail body and a support rail plate, the support rail plate is connected to the guide rail body, and the support rail plate has a long plate-like structure and extends along the length of the curved guide rail.
  • the supporting rail plates are two and are respectively arranged on both sides of the guide rail body;
  • the sliding block includes a sliding mechanism, the sliding mechanism is two bearing wheels, the two bearing wheels are respectively placed on the top of the two supporting rail plates, and the two bearing wheels are placed on the guide rail body To prevent the sliding block from being separated from the curved guide rail.
  • the slider further includes:
  • Two rotating blocks are respectively rotatably connected to the top of the fixed bottom plate, the bearing wheel is arranged at the rotating block, and the supporting rail plate is placed between the bearing wheel and the rotating block.
  • bearing wheel is rotatably connected with the rotating block.
  • the sliding block further includes a stable moving mechanism, the stable moving mechanism is two holding wheels, the holding wheels are arranged at the rotating block, and the rim of the holding wheel is provided with a ring-shaped wheel.
  • the two sides of the supporting rail plate are respectively placed in the wheel grooves of the two retaining wheels to prevent the sliding block from shaking when it moves.
  • the retaining wheel is rotatably connected with the rotating block.
  • the curved guide rail further includes a rack extending along the length of the supporting rail plate
  • the sliding block further includes a gear and a driving motor, the driving motor is used to drive the gear to rotate , The gear meshes with the rack.
  • a brake is provided on the top of the sliding block, and the brake is adapted to stop the sliding block from moving along the curved guide rail.
  • the present invention also provides a medical robot, including the guide rail device.
  • the medical robot includes a robot body, and the robot body is connected with the sliding block of the guide rail device.
  • the robot body includes a lifting rod, a rotating support arm, a telescopic rod, and a surgical operator that are sequentially arranged from top to bottom, and the top of the lifting rod is connected with the bottom of the sliding block.
  • the curved guide rail of the guide rail device, the sliding block and the robot body are arranged in order from top to bottom.
  • the guide rail device provided by the present invention has, but is not limited to, the following technical effects:
  • Fig. 1 is a schematic structural diagram of a guide rail device according to a specific embodiment of the present invention
  • Fig. 2 is a schematic structural diagram of a slider according to a specific embodiment of the present invention.
  • Figure 3 is an enlarged view of B in Figure 1;
  • Figure 4 is an enlarged view of A in Figure 1;
  • Fig. 5 is a schematic structural diagram of a gear and rack meshing state according to a specific embodiment of the present invention.
  • 3-Robot body 31-lifting rod, 32-arm rotating bracket, 33-rotating arm, 34-telescopic rod, 35-surgical operator.
  • the Z-axis in the figure indicates the vertical direction, that is, the up and down position, and the positive direction of the Z-axis (that is, the arrow pointing to the Z-axis) indicates up, and the negative direction of the Z-axis (that is, the opposite of the positive direction of the Z-axis) Direction) means down;
  • the X axis represents the longitudinal direction of the horizontal plane, which is perpendicular to the Z axis, and the positive direction of the X axis (that is, the direction of the arrow of the X axis) represents the front side, and the negative direction of the X axis (that is, the opposite of the positive direction of the X axis) Direction) indicates the back side;
  • the Y axis represents the transverse direction of the horizontal plane and is perpendicular to the Z axis and the X axis.
  • the positive direction of the Y axis (that is, the arrow of the Y axis points) represents the left side, and the negative direction of the Y axis (that is, the direction of the Y axis) The opposite direction) means the right side;
  • the plane formed by the X axis and the Z axis is a vertical plane.
  • this embodiment provides a guide rail device, including:
  • the slider 2 which cooperates with the curved guide rail 1, that is, is slidably connected to the curved guide rail 1, and the slider 2 is suitable for moving along the curved guide rail 1;
  • the bottom of the slider 2 is suitable for connecting a medical robot, such as a laparoscopic surgical robot or other medical robots.
  • the curved guide rail 1 can be set at a high altitude, where the high altitude refers to the upper part of the operating table or hospital bed. More specifically, the curved guide rail 1 is set above the patient's surgical area relative to the patient to be operated on. It can be set on the roof or on the top of the operating bed.
  • the curved guide rail 1 will not block the sight of patients and doctors, and will not occupy the space on the ground.
  • the slider 2 slides along the curved guide rail 1.
  • This "curved" design makes the slider 2 carry
  • the medical robot can slide in at least a two-dimensional plane, and only needs to move the slider 2 to a suitable position on the two-dimensional plane. It is easy to operate. In this suspended setting, the medical robot connected to the bottom of the slider 2 The robot will not be hindered by obstacles such as hospital beds, making it flexible to walk, solving the problems of inflexible walking, inconvenient operation, inconvenient operation, easily obstructed sight, and taking up a lot of ground space with the existing floor-standing laparoscopic surgical robots.
  • the above-mentioned two-dimensional plane refers to the XY plane in Figure 1; of course, the curved guide rail 1 can not only be in a two-dimensional plane, it can also be in a three-dimensional space, that is, it can also be a three-dimensional curve In the case of the curved guide rail, the slider 2 can move in a three-dimensional space, not limited to a two-dimensional plane, and has higher flexibility.
  • the curved guide rail 1 includes a first arc-segment guide rail 102 and a second arc-segment guide rail 104, the arc-shaped opening direction of the first arc-segment guide rail 102 and the arc-shaped opening of the second arc-segment guide rail 104
  • the directions are opposite, that is, the first arc-segment guide rail 102 and the second arc-segment guide rail 104 protrude in different directions.
  • the curved guide rail 1 has at least two bends, and it is ensured that the slider 2 can change direction at least twice in a two-dimensional plane. Compared with the traditional linear guide rail movement, it is more flexible and changeable.
  • the curved guide rail 1 further includes a first linear guide 101, a second linear guide 103, and a third linear guide 105.
  • the linear guide 103, the second arc guide 104 and the third linear guide 105 are connected in sequence, the first arc guide 102 protrudes toward one end of the second linear guide 103, and the second arc guide 104 faces the second linear guide 103 The other end protrudes.
  • the first linear guide rail 101, the first arc segment guide rail 102, the second linear guide rail 103, the second arc segment guide rail 104 and the third linear guide rail 105 are connected in sequence, so that the curved guide rail 1 can be an S-shaped guide rail with beautiful shape , And it is more realistic when moving in a two-dimensional plane.
  • the curved guide rail 1 includes a guide rail body 13 and a support rail plate 11, the support rail plate 11 is connected to the guide rail body 13, for example, the support rail plate 11 can be connected to the bottom of the body of the curved guide rail 1 to support
  • the rail plate 11 has a long plate-like structure and extends along the length of the curved guide rail 1.
  • the slider 2 includes a sliding mechanism, which is hung on the supporting rail plate 11 and cooperates with the supporting rail plate 11 through the sliding mechanism. , To prevent the sliding block 2 from separating from the curved guide rail 1.
  • the support rail plate 11 is provided to provide an area for the movement and support of the slider 2, and the sliding mechanism is hung on the support rail plate 11 to ensure that the slider 2 moves along the curved guide rail 1, preventing the slider 2 and the curved guide rail 1 from moving. Break away.
  • the top of the guide rail body 13 can also be provided with a support rail plate 11, the curved guide rail 1 can be fixed on the roof through the support rail plate 11 provided on the top, the top support rail The plate 11 provides an effective area for fixing the curved guide rail 1.
  • the slider 2 further includes:
  • Two rotating blocks 22 are rotatably connected to the top of the fixed bottom plate 21, the sliding mechanism is arranged at the rotating block 22, the sliding mechanism is two bearing wheels 24, and the supporting rail plates 11 are two and are respectively arranged on the guide rail body 13 On both sides, the guide rail body 13 is placed between the two bearing wheels 24 to prevent the sliding block 2 from separating from the curved guide rail 1, and the supporting rail plate 11 is placed between the bearing wheels 24 and the rotating block 22.
  • the curved guide rail body 13 guides and restricts the two bearing wheels 24 to ensure that they will not deviate from the curved guide rail 1, which is understandable Yes, the load-bearing wheel 24 not only serves as a guide for the sliding block 2, but also as a load-bearing function of the corresponding structure.
  • the slider 2 further includes a stable moving mechanism. Through the cooperation of the stable moving mechanism and the supporting rail plate 11, the slider 2 is prevented from shaking when moving along the curved guide rail 1.
  • the stable movement mechanism is two holding wheels 23, the holding wheels 23 are arranged at the rotating block 22, the rim of the holding wheels 23 is provided with a ring-shaped wheel groove 231, and the two sides 111 of the supporting rail plate 11 are respectively It is embedded in a wheel groove 231 of a retaining wheel 23 to ensure the smoothness of the sliding block 2 when moving.
  • the load on the bearing wheels 24 is reduced by the retaining wheels 23.
  • the bearing wheels 24 can only be used for bearing weight, the structure is more stable, and the sliding block 2 will not shake and be more stable when moving.
  • the grooves 231 of the retaining wheels 23 on the front and rear sides of each group are embedded and matched with the sides 111 of the supporting rail plate 11, so that the retaining wheels 23 can only move smoothly along the curved direction of the supporting rail plate 11 to realize the sliding block. 2 Sliding on the curved guide rail 1, while the holding wheel 23 itself provides a certain amount of support and load-bearing for the medical robot below.
  • the two sets of retaining wheels 23 in the left-right direction that is, two retaining wheels 23 at the front and rear of the support rail plate 11, make the retaining wheels 23 walk more stable.
  • the rotating block 22 may be a U-shaped plate, wherein the bearing wheels 24 are arranged on the inner walls of both sides of the U-shaped plate, and the holding wheels 23 are arranged in two opening grooves on the outer side of the U-shaped plate.
  • a brake 25 is provided on the top of the slider 2, and the brake 25 is adapted to stop the slider 2 from moving along the curved guide rail 1.
  • the brake 25 here is an existing technology, and it is subject to the ability to brake the slider 2 on the curved guide rail 1.
  • it may be a friction brake.
  • the friction brake When the friction brake is activated, the braking element and curve of the friction brake The friction between the guide rails 1 brakes and maintains a stopped state.
  • the curved guide rail 1 is provided with a rack 12
  • the rack 12 extends along the curved guide rail 1
  • the slider 2 is provided with a gear 26 and a drive motor 27, and the drive motor 27 is used to drive the gear 26 to rotate ,
  • the gear 26 meshes with the rack 12.
  • the rack 12 can be arranged at the bottom of the supporting rail plate 11, and the gear 26 and the driving motor 27 are respectively arranged at the top and the bottom of a rotating block 22.
  • a protruding surface can be extended on the side of one rotating block 22 away from the other rotating block 22 to increase the area of the rotating block 22 to provide a sufficient area for setting the drive motor 27 and the gear 26, and The rotation of the rotating block 22 will not be hindered.
  • the gear 26 is driven to rotate by the driving motor 27, and under the engagement with the fixed rack 12, the slider 2 “passively” realizes the movement along the curved guide rail 1.
  • the holding wheel 23 is rotatably connected with the rotating block 22, and the bearing wheel 24 is rotatably connected with the rotating block 22.
  • this embodiment also provides a medical robot.
  • the medical robot includes the aforementioned guide rail device.
  • the medical robot is connected to the bottom of the slider 2 in the guide rail device.
  • the medical robot is a laparoscopic surgical robot as an example.
  • the surgical robot includes a robot body 3 connected to the bottom of the slider 2.
  • the robot body 3 includes a lifting rod 31, a rotating arm 33, a telescopic rod 34, and a surgical operator 35 arranged in order from top to bottom.
  • the top of the lifting rod 31 is connected to the bottom of the slider 2, and the lifting rod 31 and the telescopic rod 34 are all arranged vertically, and the rotating support arm 33 is arranged horizontally.
  • the rotating support arm 33, the telescopic rod 34 and the surgical operator 35 are suspended high.
  • the rotating support arm 33, the telescopic rod 34 and the surgical operation The hand 35 moves down to a position slightly above the patient.
  • multiple rotating support arms 33 are provided, and the bottom of the lifting rod 31 is provided with a support arm rotating bracket 32.
  • a support arm rotating bracket 32 On a plane perpendicular to the lifting rod 31, one end of the multiple rotating support arms 33 is rotatably connected to The arm rotates in the receiving groove of the bracket 32.
  • a plurality of surgical operation hands 35 can be arranged, and the operation can be completed more flexibly and conveniently under the action of the multiple surgical operation hands 35 in different orientations.
  • the telescopic rod 34 is adapted to move along the length direction of the rotating arm 33.
  • the small range lifting of the telescopic rod 34, the rotation of the rotating arm 33, and the movement of the telescopic rod 34 on the rotating arm 33 make the surgical operator 35 more flexible.
  • this ceiling type structure compared with the floor type structure, it has a small footprint. All the wiring is at a high altitude. There will be no cumbersome cables on the ground.
  • the lifting rod 31 on the Z axis there is no need to During the operation, the equipment can be raised to the top, which has little effect on the walking and vision of the personnel.
  • the sliding of the slider 2 on the curved guide rail 1 and the mutual movement of the joints realize the spatial movement of the surgical operator 35, which can be accurate It is convenient to locate the wound position of the wounded on the hospital bed.
  • the structure is more stable and simple, the operation is stable, the positioning is accurate, and it has better dexterity, and can safely complete more delicate and complex operations.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
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Abstract

一种导轨装置及医用机器人，涉及医疗器械技术领域。导轨装置包括：曲线导轨（1）以及滑块（2），滑块（2）滑动连接于曲线导轨（1），滑块（2）的底部适于连接医用机器人；曲线导轨（1）包括第一弧段导轨（102）和第二弧段导轨（104），第一弧段导轨（102）的弧形开口方向和第二弧段导轨（104）的弧形开口方向相反。通过将曲线导轨（1）设置在待手术病人的高空处，解决现有的落地式结构的腹腔镜手术机器人具有行走不灵活、操作不方便、视线容易被遮挡以及占用大量的地面空间等的问题。

Description

一种导轨装置及医用机器人 技术领域
本发明涉及医疗器械技术领域，具体而言，涉及一种导轨装置及医用机器人。
背景技术
腹腔镜手术与传统手术相比，深受患者的欢迎，尤其是术后瘢痕小、又符合美学要求，青年病人更乐意接受，腹腔镜手术这种微创手术是外科发展的总趋势和追求目标。
腹腔镜手术机器人是腹腔镜手术的重要设备，现有的以腹腔镜手术机器人为代表的医用机器人一般采用落地式结构，这种结构具有行走不灵活、操作不方便、视线容易被遮挡以及占用大量的地面空间等缺点。
发明内容
本发明旨在一定程度上解决现有的以腹腔镜手术机器人为代表的医用机器人一般采用落地式结构，这种结构具有行走不灵活、操作不方便、视线容易被遮挡以及占用大量的地面空间等缺点。
为解决上述问题，本发明提供了一种导轨装置，包括：
曲线导轨；以及
滑块，滑动连接于所述曲线导轨，所述滑块的底部适于连接医用机器人；
所述曲线导轨包括第一弧段导轨和第二弧段导轨，所述第一弧段导轨的弧形开口方向和所述第二弧段导轨的弧形开口方向相反。
进一步地，所述曲线导轨还包括相互平行的第一直线导轨、第二直线导轨和第三直线导轨，所述第一直线导轨、所述第一弧段导轨、所述第二直线导轨、所述第二弧段导轨和所述第三直线导轨依次连接，所述第一弧段导轨的开口方向朝向所述第二直线导轨的一端，所述第二弧段导轨的开口方向朝向所述第二直线导轨的另一端。
进一步地，所述曲线导轨包括导轨本体和支撑轨板，所述支撑轨板与所述导轨本体连接，所述支撑轨板呈长条形板状结构并沿着所述曲线导轨的长 度方向延伸，所述支撑轨板为两个并分别设置在所述导轨本体的两侧；
所述滑块包括滑移机构，所述滑移机构为两个承重轮，两个承重轮分别置于两个所述支撑轨板的顶部，通过所述导轨本体置于两个所述承重轮之间，以防止所述滑块与所述曲线导轨脱离。
进一步地，所述滑块还包括：
固定底板；以及
两个转动块，分别转动连接在所述固定底板的顶部，所述承重轮设置于所述转动块处，所述支撑轨板置于所述承重轮与所述转动块之间。
进一步地，所述承重轮与所述转动块转动连接。
进一步地，所述滑块还包括稳定移动机构，所述稳定移动机构为两个保持轮，所述保持轮设置于所述转动块处，所述保持轮的轮缘处开设有呈环形的轮槽，所述支撑轨板的两个侧边分别置于两个所述保持轮的轮槽中，以防止所述滑块移动时发生晃动。
进一步地，所述保持轮与所述转动块转动连接。
进一步地，所述曲线导轨还包括齿条，所述齿条沿着所述支撑轨板的长度方向延伸，所述滑块还包括齿轮和驱动电机，所述驱动电机用于驱动所述齿轮转动，所述齿轮与所述齿条啮合。
进一步地，所述滑块顶部设置有制动器，所述制动器适于停止所述滑块沿着所述曲线导轨移动。
另外，本发明还提供一种医用机器人，包括所述的导轨装置。
进一步地，所述医用机器人包括机器人本体，且所述机器人本体与所述导轨装置的滑块相连接。
进一步地，所述机器人本体包括由上至下依次设置的升降杆、旋转支臂、伸缩杆和手术操作手，且所述升降杆的顶部与所述滑块的底部相连接。
进一步地，所述导轨装置的曲线导轨、所述滑块和所述机器人本体从上到下依次设置。
由于该医用机器人在本实用新型中所起的作用与该导轨装置所起的作用相同，因此对该医用机器人不再解释说明。
与现有技术相比，本发明提供的一种导轨装置，具有但不局限于以下技 术效果：
通过将曲线导轨设置在待手术病人的高空处，这种状态下的曲线导轨不会挡住病人、医生的视线，也不会占用地面的空间，通过滑块沿着曲线导轨滑动，这种“曲线”的设计，使得滑块带着机器人本体可以在一个二维平面内滑动，只需要移动滑块到该二维平面上合适的位置即可，操作方便，在这种悬空设置的情况下，通过滑块与医用机器人连接后，医用机器人不会受到障碍物(比如病床、手术台)的阻碍，使得其行走灵活，解决了现有的以腹腔镜手术机器人为代表的医用机器人一般采用落地式结构，这种结构具有行走不灵活、操作不方便、视线容易被遮挡以及占用大量的地面空间等缺点。
附图说明
图1为本发明的具体实施方式的导轨装置的示意性结构图；
图2为本发明的具体实施方式的滑块的示意性结构图；
图3为图1中B处的放大图；
图4为图1中A处的放大图；
图5为本发明的具体实施方式的齿轮和齿条啮合状态的示意性结构图。
附图标记说明：
1-曲线导轨，101-第一直线导轨，102-第一弧段导轨，103-第二直线导轨，104-第二弧段导轨，105-第三直线导轨，11-支撑轨板，111-侧边，12-齿条，13-导轨本体；
2-滑块，21-固定底板，22-转动块，23-保持轮，231-轮槽，24-承重轮，25-制动器，26-齿轮，27-驱动电机；
3-机器人本体，31-升降杆，32-支臂旋转支架，33-旋转支臂，34-伸缩杆，35-手术操作手。
具体实施方式
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”“后” 等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
而且，附图中Z轴表示竖向，也就是上下位置，并且Z轴的正向(也就是Z轴的箭头指向)表示上，Z轴的负向(也就是与Z轴的正向相反的方向)表示下；
附图中X轴表示水平面的纵向，与Z轴垂直，并且X轴的正向(也就是X轴的箭头指向)表示前侧，X轴的负向(也就是与X轴的正向相反的方向)表示后侧；
附图中Y轴表示水平面的横向，同时与Z轴和X轴垂直，并且Y轴的正向(也就是Y轴的箭头指向)表示左侧，Y轴的负向(也就是与Y轴的正向相反的方向)表示右侧；
X轴和Z轴形成的平面为竖直平面。
同时需要说明的是，前述Z轴、Y轴及X轴的表示含义仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
参见图1至图5，本实施方式提供了一种导轨装置，包括：
曲线导轨1；
滑块2，与曲线导轨1配合，即滑动连接于曲线导轨1，滑块2适于沿着曲线导轨1移动；
滑块2的底部适于连接医用机器人，比如可以是腹腔镜手术机器人或者其它的医用机器人。
这里，可以将曲线导轨1设置在高空处，这里的高空处是指手术台或病床的上方，更确切的说是相对于待手术的病人来说，曲线导轨1设置在病人手术区域的上方，可以是设置在房顶上，也可以是设置在手术床顶部。
这种状态下的曲线导轨1不会挡住病人、医生的视线，也不会占用地面的空间，通过滑块2沿着曲线导轨1滑动，这种“曲线”的设计，使得滑块2带着医用机器人至少可以在一个二维平面内滑动，只需要移动滑块2到该二维平面上合适的位置即可，操作方便，在这种悬空设置的情况下，与滑块 2底部连接的医用机器人不会受到障碍物比如病床的阻碍，使得其行走灵活，解决现有的落地式结构的腹腔镜手术机器人具有行走不灵活、操作不方便、视线容易被遮挡以及占用大量的地面空间等的问题，其中上述的二维平面指的是图1中XY平面；当然曲线导轨1不仅可以是在一个二维平面内，它还可以是在一个三维空间中，即它也可以是一个三维曲线式的曲线导轨这样的话，滑块2就可以在三维空间内移动，不局限于二维平面中，灵活性更高。
同时需要说明的是，上述出现的“设置于”、“设置在”包括固定、可拆卸连接等多种连接方式，同时本实施方式后文中提及的“设置于”、“设置在”亦是如此。
参见图1至图4，优选地，曲线导轨1包括第一弧段导轨102和第二弧段导轨104，第一弧段导轨102的弧形开口方向和第二弧段导轨104的弧形开口方向相反，即第一弧段导轨102和第二弧段导轨104朝向不同方向凸出。
通过第一弧段导轨102和第二弧段导轨104，保证曲线导轨1最少有两个折弯处，保证滑块2可以在一个二维平面内进行至少两次变向。相较于传统的直线型导轨移动方式，更加灵活多变。
参见图1至图4，优选地，曲线导轨1还包括第一直线导轨101、第二直线导轨103和第三直线导轨105，第一直线导轨101、第一弧段导轨102、第二直线导轨103、第二弧段导轨104和第三直线导轨105依次连接，第一弧段导轨102朝向第二直线导轨103的一端外凸出，第二弧段导轨104朝向第二直线导轨103的另一端外凸出。
通过第一直线导轨101、第一弧段导轨102、第二直线导轨103、第二弧段导轨104和第三直线导轨105依次连接，使得曲线导轨1可以是一种S形状导轨，形状美观，且在一个二维平面内移动时更加贴合实际。
参见图1至图3，优选地，曲线导轨1包括导轨本体13和支撑轨板11，支撑轨板11与导轨本体13连接，例如该支撑轨板11可以连接在曲线导轨1本体的底部，支撑轨板11呈长条形板状结构并沿着曲线导轨1的长度方向延伸，滑块2包括滑移机构，滑移机构挂在支撑轨板11上，通过滑移机构与支撑轨板11配合，防止滑块2与曲线导轨1脱离。
通过设置支撑轨板11提供对滑块2移动以及支撑的区域，滑移机构通过挂在支撑轨板11上的方式保证滑块2沿着曲线导轨1的移动，防止滑块2与曲线导轨1脱离。
参见图1至图4，优选地，导轨本体13的顶部也可以设置有一个支撑轨板11，通过该顶部设置的支撑轨板11可以将曲线导轨1固定在房顶上，该顶部的支撑轨板11提供一个有效的区域用于固定曲线导轨1。
参见图1至图4，优选地，滑块2还包括：
固定底板21；以及
两个转动块22，转动连接在固定底板21的顶部，滑移机构设置于转动块22处，滑移机构为两个承重轮24，支撑轨板11为两个并分别设置在导轨本体13的两侧，导轨本体13置于两个承重轮24之间，以防止滑块2与曲线导轨1脱离，支撑轨板11置于承重轮24与转动块22之间。
通过两个承重轮24分别置于曲线导轨1本体两侧的支撑轨板11上，曲线导轨本体13对着两个承重轮24进行导向限位，保证其不会脱离曲线导轨1，可以理解的是，承重轮24既起到滑块2的导向作用，又起到相应结构的承重作用。
参见图1至图4，优选地，滑块2还包括稳定移动机构，通过稳定移动机构与支撑轨板11的配合，防止滑块2沿着曲线导轨1移动时发生晃动。
优选地，稳定移动机构为两个保持轮23，保持轮23设置于转动块22处，保持轮23的轮缘处开设有呈环形的轮槽231，支撑轨板11的两个侧边111分别嵌入在一个保持轮23的轮槽231中，以保证滑块2移动时的平稳性。
这里，通过保持轮23减轻承重轮24的负担，在保持轮23提供导向的作用下，承重轮24可仅用于承重，结构更加稳定，并且使滑块2移动时不会发生晃动、更加平稳。即通过每组前后两侧的保持轮23的轮槽231与支撑轨板11的侧边111嵌入配合，使得保持轮23只能沿着支撑轨板11的曲线方向进行平稳的移动，实现滑块2在曲线导轨1上的滑动，同时保持轮23自身提供一定的对下方的医用机器人的支撑、承重。
通过左右方向两组保持轮23，即支撑轨板11前后两方各两个保持轮23， 使得保持轮23行走的更加稳定。
通过转动块22与固定底板21转动连接，保证在行走到曲线导轨1的弧度区域时，转动块22同时转动做出变向，使其能顺利的行走。
这里，转动块22可以是U形板，其中承重轮24设置在U形板的两侧内壁上，保持轮23设置在U形板外侧的两个开口槽中。
参见图2，优选地，滑块2顶部设置有制动器25，制动器25适于停止滑块2沿着曲线导轨1移动。
这里，通过设置制动器25，当启动制动器25后，滑块2无法继续在曲线导轨1上移动，防止因意外而移动医用机器人，造成不良的后果。这里的制动器25为现有技术，以能实现滑块2在曲线导轨1上的制动为准，比如可以是一种摩擦制动器，该摩擦制动器被启动时，靠摩擦制动器的制动件与曲线导轨1之间的摩擦力而制动，保持停止状态。
参见图2至图4，优选地，曲线导轨1设置有齿条12，齿条12沿着曲线导轨1延伸，滑块2设置有齿轮26和驱动电机27，驱动电机27用于驱动齿轮26转动，齿轮26与齿条12啮合。
例如，齿条12可以设置在支撑轨板11的底部，齿轮26和驱动电机27分别设置一个转动块22的顶部和下部。
这里，可以在一个转动块22远离另一个转动块22的一侧延伸有一个突出面，增大该转动块22的面积，提供一个足够的用来设置驱动电机27和齿轮26的区域位置，并且不会妨碍转动块22的旋转。
通过驱动电机27带动齿轮26转动，在与被固定的齿条12的啮合下，滑块2“被动的”实现沿着曲线导轨1移动。
参见图2，优选地，保持轮23与转动块22转动连接，承重轮24与转动块22转动连接。
通过将承重轮24、保持轮26分别与转动块22转动连接，这样承重轮24和保持轮23在支撑轨板11上行走的时候，将滑动摩擦转变为滚动摩擦，减小了其所受的阻力。
参见图1，本实施例还提供一种医用机器人，该医用机器人包括前述的导轨装置，医用机器人连接在导轨装置中滑块2的底部，这里以医用机器人 为腹腔镜手术机器人为例，腹腔镜手术机器人包括机器人本体3，机器人本体3连接在滑块2的底部。该机器人本体3包括由上至下依次设置的升降杆31、旋转支臂33、伸缩杆34和手术操作手35，其中升降杆31的顶部与滑块2的底部连接，升降杆31和伸缩杆34均竖直设置，旋转支臂33水平设置。
通过升降杆31的升降功能，在不需要手术时，将旋转支臂33、伸缩杆34和手术操作手35高高的悬起，需要手术时，将旋转支臂33、伸缩杆34和手术操作手35下移至稍高于病人上方的位置。
参见图1，优选地，旋转支臂33设置有多个，升降杆31的底部设置有支臂旋转支架32，在垂直于升降杆31的平面上，多个旋转支臂33的一端转动连接在支臂旋转支架32的容纳槽中。
通过设置多个旋转支臂33，进而可以设置多个手术操作手35，在多个手术操作手35不同方位下的作用下，能够更灵活、更简便的完成手术。
参见图1，优选地，伸缩杆34适于沿着旋转支臂33的长度方向上移动。
通过伸缩杆34小范围的升降、旋转支臂33的旋转以及伸缩杆34在旋转支臂33上的移动，使得手术操作手35更加灵活。
需要说明的是，上述关于机器人本体3的具体结构可以为现有技术，在此不多做赘述。
这里，通过这种吊顶式结构，相对于落地式结构具有占地空间小，所有的走线都在高空处，地面不会有繁琐的线缆，通过Z轴上的升降杆31，在不需要手术时可以将设备升高到最顶端，这样对人员的走动及视野影响很小，滑块2在曲线导轨1上滑动及各关节的相互运动来实现手术操作手35的空间移动，从而能准确方便定位病床上伤者伤口位置，相比悬臂式机器人结构更加稳定与简单，运行平稳、定位精确，具有更好的灵巧性，能够安全完成更精细和复杂的操作。
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。

Claims (13)

  1. 一种导轨装置，其中，包括：
    曲线导轨(1)；以及
    滑块(2)，滑动连接于所述曲线导轨(1)，所述滑块(2)的底部适于连接医用机器人；
    所述曲线导轨(1)包括第一弧段导轨(102)和第二弧段导轨(104)，所述第一弧段导轨(102)的弧形开口方向和所述第二弧段导轨(104)的弧形开口方向相反。
  2. 根据权利要求1所述的导轨装置，其中，所述曲线导轨(1)还包括相互平行的第一直线导轨(101)、第二直线导轨(103)和第三直线导轨(105)，所述第一直线导轨(101)、所述第一弧段导轨(102)、所述第二直线导轨(103)、所述第二弧段导轨(104)和所述第三直线导轨(105)依次连接，所述第一弧段导轨(102)的开口方向朝向所述第二直线导轨(103)的一端，所述第二弧段导轨(104)的开口方向朝向所述第二直线导轨(103)的另一端。
  3. 根据权利要求1所述的导轨装置，其中，所述曲线导轨(1)包括导轨本体(13)和支撑轨板(11)，所述支撑轨板(11)与所述导轨本体(13)连接，所述支撑轨板(11)呈长条形板状结构并沿着所述曲线导轨(1)的长度方向延伸，所述支撑轨板(11)为两个并分别设置在所述导轨本体(13)的两侧；
    所述滑块(2)包括滑移机构，所述滑移机构为两个承重轮(24)，两个承重轮(24)分别置于两个所述支撑轨板(11)的顶部，通过所述导轨本体(13)置于两个所述承重轮(24)之间，以防止所述滑块(2)与所述曲线导轨(1)脱离。
  4. 根据权利要求3所述的导轨装置，其中，所述滑块(2)还包括：
    固定底板(21)；以及
    两个转动块(22)，分别转动连接在所述固定底板(21)的顶部，所述承重轮(24)设置于所述转动块(22)处，所述支撑轨板(11)置于所述承重轮(24)与所述转动块(22)之间。
  5. 根据权利要求4所述的导轨装置，其中，所述承重轮(24)与所述转动块(22)转动连接。
  6. 根据权利要求4所述的导轨装置，其中，所述滑块(2)还包括稳定移动机构，所述稳定移动机构为两个保持轮(23)，所述保持轮(23)设置于所述转动块(22)处，所述保持轮(23)的轮缘处开设有呈环形的轮槽(231)，所述支撑轨板(11)的两个侧边(111)分别置于两个所述保持轮(23)的轮槽(231)中，以防止所述滑块(2)移动时发生晃动。
  7. 根据权利要求6所述的导轨装置，其中，所述保持轮(23)与所述转动块(22)转动连接。
  8. 根据权利要求3所述的导轨装置，其中，所述曲线导轨(1)还包括齿条(12)，所述齿条(12)沿着所述支撑轨板(11)的长度方向延伸，所述滑块(2)还包括齿轮(26)和驱动电机(27)，所述驱动电机(27)用于驱动所述齿轮(26)转动，所述齿轮(26)与所述齿条(12)啮合。
  9. 根据权利要求1至8中任一项所述的导轨装置，其中，所述滑块(2)顶部设置有制动器(25)，所述制动器(25)适于停止所述滑块(2)沿着所述曲线导轨(1)移动。
  10. 一种医用机器人，其中，包括如权利要求1至9中任一项所述的导轨装置。
  11. 根据权利要求10所述的医用机器人，其中，包括机器人本体(3)，且所述机器人本体(3)与所述导轨装置的滑块(2)相连接。
  12. 根据权利要求11所述的医用机器人，其中，所述机器人本体(3)包括由上至下依次设置的升降杆(31)、旋转支臂(33)、伸缩杆(34)和手术操作手(35)，且所述升降杆(31)的顶部与所述滑块(2)的底部相连接。
  13. 根据权利要求11所述的医用机器人，其中，所述导轨装置的曲线导轨(1)、所述滑块(2)和所述机器人本体(3)从上到下依次设置。
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