阅读说明：本技术 一种心内科临床的多用途手术辅助系统 (Clinical multipurpose operation auxiliary system of intracardiac branch of academic or vocational study ) 是由 李婷婷 于 2020-06-19 设计创作，主要内容包括：本发明实施例公开了一种心内科临床的多用途手术辅助系统,包括安装在墙体上轨道盘,轨道盘上设置有圆形轨道,圆形轨道上安装有多自由度伸缩节,多自由度伸缩节通过直线电机组件安装在圆形轨道中,多自由度伸缩节连接有安装架,安装架上设置有力向传导装置；多自由度伸缩节包括通过关节驱动铰轴A连接的第一曲轴杆和第二曲轴杆,第一曲轴杆的另一端通过关节驱动铰轴B连接有阻尼万向节,阻尼万向节连接在直线电机组件上,且关节驱动铰轴A和关节驱动铰轴B电性连接力向传导装置,以并行驱动信号控制多自由度伸缩节的子单元同步工作,多个多自由度伸缩节的相对位置调节的自由度更高,避免出现医疗器械的摆放位置冲突,影响手术进程。(The embodiment of the invention discloses a multipurpose operation auxiliary system for cardiology clinic, which comprises a track disc arranged on a wall body, wherein a circular track is arranged on the track disc, a multi-degree-of-freedom telescopic joint is arranged on the circular track, the multi-degree-of-freedom telescopic joint is arranged in the circular track through a linear motor assembly, the multi-degree-of-freedom telescopic joint is connected with an installation frame, and a force direction conduction device is arranged on the installation frame; the multi-degree-of-freedom telescopic joint comprises a first crankshaft rod and a second crankshaft rod which are connected through a joint driving hinge shaft A, the other end of the first crankshaft rod is connected with a damping universal joint through a joint driving hinge shaft B, the damping universal joint is connected to a linear motor assembly, the joint driving hinge shaft A and the joint driving hinge shaft B are electrically connected to a conduction device, the sub-units of the multi-degree-of-freedom telescopic joint are controlled to work synchronously through parallel driving signals, the freedom degree of relative position adjustment of the multi-degree-of-freedom telescopic joint is higher, the situation that the placing position of medical equipment conflicts and the operation process is influenced is avoided.)

1. The multipurpose operation auxiliary system for the clinical department of cardiology is characterized by comprising a track disc (1) arranged on a wall body, wherein a plurality of circular tracks (2) are concentrically and equidistantly arranged on the track disc (1), a multi-degree-of-freedom telescopic joint (3) is movably arranged on each of the circular tracks (2), one end of the multi-degree-of-freedom telescopic joint (3) is arranged in each circular track (2) through a linear motor assembly (4), the other end of the multi-degree-of-freedom telescopic joint (3) is connected with a mounting frame (5), a vector signal under the action of external force is collected at the bottom of the mounting frame (5) and is converted into a force direction conduction device (6) which provides a trigger working signal for the multi-degree-of freedom telescopic joint (3) and the linear motor assembly (;

the multi-degree-of-freedom telescopic joint (3) comprises a first crankshaft rod (8) and a second crankshaft rod (9) which are connected through a joint driving hinge shaft A (7), the other end of the first crankshaft rod (8) is connected with a damping universal joint (11) through a joint driving hinge shaft B (10), the damping universal joint (11) is connected to the linear motor assembly (4), and the joint driving hinge shaft A (7) and the joint driving hinge shaft B (10) are electrically connected with the force direction transmission device (6).

2. The multipurpose operation auxiliary system for cardiology clinic according to claim 1, wherein the force direction conducting device (6) comprises a torque handle (601), one end of the torque handle (601) is connected to the bottom of the mounting frame (5) through a longitudinal conducting rod (602), an X-axis conducting and sensing device (12) for collecting external force action vector signals is arranged at the connection position of the torque handle (601) and the longitudinal conducting rod (602), the X-axis conducting and sensing device (12) is electrically connected to the linear motor assembly (4), the longitudinal conducting rod (602) is connected to the mounting frame (5) through a Z-axis conducting and sensing device (13) is electrically connected to the joint driving hinge a (7) and the joint driving hinge B (10);

z axle conduction induction system (13) pass through ball pivot (21) and connect on mounting bracket (5), just be provided with Y axle conduction induction system (14) on Z axle conduction induction system (13).

3. The multipurpose surgical assistant system for cardiology department clinic according to claim 2, wherein the second crank shaft (9) comprises a first shaft body (901) and a second shaft body (902) which are connected by a sliding rail, the first shaft body (901) and the second shaft body (902) slide relative to each other through a pneumatic telescopic rod (903) with two ends connected to the first shaft body (901) and the second shaft body (902), respectively, and the pneumatic telescopic rod (903) is electrically connected to the Y-axis conduction sensing device (14).

4. The multipurpose surgical assistant system for cardiology clinic according to claim 3, wherein the X-axis conduction sensing device (12), the Y-axis conduction sensing device (14) and the Z-axis conduction sensing device (13) each comprise a mandrel (15) and a short steel spring (16) sleeved on the mandrel (15), the middle of the short steel spring (16) is fixedly connected to the mandrel (15), and both ends of the short steel spring (16) are provided with sheet type pressure sensors (17).

5. The multipurpose surgical assistant system for cardiology clinic according to claim 3, wherein the joint driving hinge shaft A (7) comprises a hinge shaft (701) for hinging the first crank shaft (8) and the second crank shaft (9), a micro motor (702) for driving the hinge shaft (701) to rotate is connected to one end of the hinge shaft (701), the hinge shaft (701) is engaged with the end of the second crank shaft (9) through a planetary gear mechanism (703), scroll metal strips (704) are fixedly connected to two ends of the hinge shaft (701), and two ends of the scroll metal strips (704) are respectively fixedly connected to the middle positions inside the first crank shaft (8) and the second crank shaft (9).

6. A multipurpose surgical assistant system for cardiology clinic according to claim 1, characterized in that the track disc (1) is provided with a matching groove (18) matching with the first crank shaft (8), one end of the track disc (1) is provided with a hook pin (19), and the second rod body (902) is provided with a hook groove (20) matching with the hook pin (19).

7. Multipurpose surgical aid system for cardiology clinic according to claim 2, characterized in that the linear motor assembly (4) comprises an annular secondary forming the inner wall of a circular track and an arc-shaped primary cooperating with the circular track, the damping gimbal (11) fixedly connecting the arc-shaped primary vertically.

8. A multipurpose surgical aid system for cardiology clinic according to claim 3, characterized in that when the angle between the first crank shaft (8) and the second crank shaft (9) is zero, the second crank shaft (9) is fully inserted into the first crank shaft (8), and the pneumatic telescopic rod (903) pulls the second rod (902) to make the hook groove (20) and the hook pin (19) fit.

9. The multipurpose surgical assistant system for cardiology clinic according to claim 4, wherein the force conducting device (6) further comprises a model building module for performing a spatial rectangular coordinate system of X-axis, Y-axis and Z-axis for the applied force acting on the force conducting device (6), and a signal coupling module using a CPU module of ARM7 chip and combining the spatial rectangular coordinate system with the vector signals of the applied force detected by the corresponding X-axis, Y-axis and Z-axis conduction sensing devices.

Technical Field

The embodiment of the invention relates to the technical field of operation assistance, in particular to a multipurpose operation assistance system for cardiology department clinic.

Background

In the preparation process and the operation process of a clinical operation, the angles and the positions of the mounting brackets of various auxiliary management systems need to be adjusted, and meanwhile, the auxiliary management systems form shadows at the operation position, the mounting brackets of the existing operation auxiliary management systems are connected to a wall or a ceiling in a fixed connection mode, the arm lengths of the mounting brackets and the position adjustment of multiple degrees of freedom are relatively fixed, and various medical instruments are connected to the mounting brackets in a fixed connection mode, so that the position adjustment of the auxiliary management systems is limited; moreover, because the mounting bracket of the auxiliary management system mostly adopts a pure mechanical rotation mode, the adjustment of each degree of freedom of the mounting bracket needs to be carried out manually, and when the complicated angle adjustment is carried out, medical personnel needs to carry out the simultaneous adjustment of a plurality of brackets, the time and labor are wasted, the operation process is influenced, the joint position of the automatic mounting bracket is changed, the cost is high, and in order to ensure the position locking after the adjustment, the damping performance at the joint is larger, and the position change is slower; and occupies a large space in the operating room, resulting in a small operable space for the doctor when performing the cardiology surgery.

Disclosure of Invention

Therefore, the embodiment of the invention provides a multipurpose operation auxiliary system for cardiology clinic, which solves the problems that the position and angle adjustment is limited due to the fact that a medical instrument mounting bracket in the conventional assistant management system for cardiology clinic operation is too fixed, and the conventional automatic mounting bracket is difficult to adjust and slow in positioning.

In order to achieve the above object, an embodiment of the present invention provides the following:

a multipurpose operation auxiliary system for cardiology clinic comprises a track disc arranged on a wall body, wherein a plurality of circular tracks are concentrically and equidistantly arranged on the track disc, a multi-degree-of-freedom telescopic joint is movably arranged on the circular tracks respectively, one end of the multi-degree-of-freedom telescopic joint is arranged in the circular tracks through a linear motor assembly, the other end of the multi-degree-of-freedom telescopic joint is connected with a mounting frame, and a force direction conduction device for collecting vector signals under the action of external force and converting the vector signals into force for providing triggering working signals for the multi-degree-of-freedom telescopic joint and the linear motor assembly respectively is arranged at the bottom;

the multi-degree-of-freedom telescopic joint comprises a first crankshaft rod and a second crankshaft rod which are connected through a joint driving hinge shaft A, the other end of the first crankshaft rod is connected with a damping universal joint through a joint driving hinge shaft B, the damping universal joint is connected to the linear motor assembly, and the joint driving hinge shaft A and the joint driving hinge shaft B are electrically connected with a force direction conduction device.

As a preferred scheme of the present invention, the force direction conducting device includes a torque handle, one end of the torque handle is connected to the bottom of the storage box body through a longitudinal conducting rod, an X-axis conducting and sensing device for collecting an external force action vector signal is disposed at a joint of the torque handle and the longitudinal conducting rod, the X-axis conducting and sensing device is electrically connected to the linear motor assembly, the longitudinal conducting rod is connected to the mounting frame through a Z-axis conducting and sensing device, and the Z-axis conducting and sensing device is electrically connected to the joint driving hinge shaft a and the joint driving hinge shaft B;

z axle conduction induction system passes through the ball pivot and connects on the mounting bracket, just be provided with Y axle conduction induction system on the Z axle conduction induction system.

As a preferable scheme of the present invention, the second crank shaft includes a first rod and a second rod connected by a sliding rail, and the first rod and the second rod slide relative to each other through a pneumatic telescopic rod having two ends connected to the first rod and the second rod, respectively, and the pneumatic telescopic rod is electrically connected to the Y-axis conduction sensing device.

In a preferred embodiment of the present invention, each of the X-axis conduction sensing device, the Y-axis conduction sensing device, and the Z-axis conduction sensing device includes a core shaft and a short rigid spring sleeved on the core shaft, the middle of the short rigid spring is fixedly connected to the core shaft, and two ends of the short rigid spring are provided with sheet-type pressure sensors.

As a preferable scheme of the present invention, the joint driving hinge shaft a includes a hinge shaft that is hinged to a first crank shaft and a second crank shaft, one end of the hinge shaft is connected to a micro motor for driving a spindle to rotate, the hinge shaft is engaged with an end of the second crank shaft through a planetary gear mechanism, two ends of the hinge shaft are fixedly connected to scroll metal strips, and two ends of the scroll metal strips are fixedly connected to inner middle positions of the first crank shaft and the second crank shaft, respectively.

As a preferable scheme of the present invention, the rail plate is provided with a mating groove that is matched with the first crank rod, one end of the rail plate is provided with a hook pin, the second rod body is provided with a hook groove that is matched with the hook pin, when an included angle between the first crank rod and the second crank rod is zero, the second crank rod is completely embedded into the first crank rod, and the pneumatic telescopic rod pulls the second rod body to enable the hook groove and the hook pin to be just matched.

As a preferable scheme of the invention, the linear motor assembly comprises an annular secondary forming the inner wall of the circular track and an arc-shaped primary matched with the circular track, and the damping universal joint is fixedly and vertically connected with the arc-shaped primary.

As a preferable aspect of the present invention, the force direction conduction device further includes a model building module performing a spatial rectangular coordinate system of an X axis, a Y axis, and a Z axis on the applied force acting on the force direction conduction device, and a signal coupling module using a central processing unit module of an ARM7 chip and combining a vector signal of the applied force detected by the corresponding X axis conduction sensing device, the Y axis conduction sensing device, and the Z axis conduction sensing device with the spatial rectangular coordinate system.

The embodiment of the invention has the following advantages:

according to the invention, the circular moving track is arranged, the vector signal under the action of external force is collected at the bottom of the mounting rack and is converted into the force direction conduction device which respectively provides a trigger working signal for the multi-degree-of-freedom telescopic joint and the linear motor assembly, the sub-units of the multi-degree-of-freedom telescopic joint are controlled to synchronously work by parallel driving signals, the relative positions of the multiple multi-degree-of-freedom telescopic joints can be freely changed to proper positions, the adjustment freedom degree is higher, the arrangement positions of multiple pieces of medical equipment can not be continuously searched due to the mounting structure of the fixed auxiliary management system, and the mounting support can not be continuously adjusted, so that the position conflict of the medical equipment is avoided, and the operation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

FIG. 1 is a schematic view of a multipurpose surgical assistance system according to an embodiment of the present invention;

FIG. 2 is a schematic bottom view of a track plate according to an embodiment of the present invention;

FIG. 3 is a schematic three-dimensional structure of a multi-degree-of-freedom expansion joint according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a cross section of a multi-degree-of-freedom expansion joint according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a force transmission device according to an embodiment of the present invention.

In the figure:

1-a track disk; 2-circular orbit; 3-multi-degree-of-freedom expansion joint; 4-a linear motor assembly; 5-mounting a frame; 6-force direction conducting means; 7-joint driving hinge shaft A; 8-a first crankshaft; 9-a second crankshaft; 10-joint driving hinge B; 11-damping universal joint; 12-X axis conduction sensing means; 13-Z axis conduction sensing means; 14-Y axis conduction sensing means; 15-a mandrel; 16-short steel spring; 17-sheet type pressure sensor; 18-a mating groove; 19-a hook pin; 20-hook groove; 21-spherical hinge;

601-torque handle; 602-longitudinal conductive rods;

701-an articulated shaft; 702-a micro-motor; 703-a planet wheel; 704-a scroll metal strip;

901-a first stick; 902-a second stick body; 903-pneumatic telescopic rod.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the invention provides a multipurpose operation auxiliary system for cardiology clinic, which comprises a track disc 1 installed on a wall body, wherein a plurality of circular tracks 2 are concentrically and equidistantly arranged on the track disc 1, a multi-degree-of-freedom telescopic joint 3 is movably installed on each circular track 2, and one end of the multi-degree-of-freedom telescopic joint 3 is installed in each circular track 2 through a linear motor assembly 4.

As shown in figure 2, the multi-degree-of-freedom telescopic joint 3 is driven to rotate for 360 degrees by the rail disc 1 and the plurality of circular rails 2 on the wall or the ceiling and the linear motor assembly 4 serving as a driving source, so that the multi-angle adjustment of the mounting bracket of the auxiliary management system in the clinical operation of the cardiology department is realized.

Different from the existing auxiliary management system in a fixed connection form, the multiple-degree-of-freedom telescopic joint 3 can move 360 degrees in the circular track 2, so that the relative positions of the multiple-degree-of-freedom telescopic joint 3 can be freely changed to appropriate positions, the adjustment freedom is higher, and the installation support can not be continuously adjusted due to the fixed installation structure of the auxiliary management system because the placement positions of multiple medical equipment are continuously searched, so that the position conflict of the medical equipment is avoided, and the operation effect is influenced.

Furthermore, the invention intentionally arranges a plurality of annular shadowless lamp sets on the track disc and arranges a cover body structure which can be rolled in the side wall of the track disc, thus all devices of the auxiliary system can be coated and isolated, an isolation space is formed in the operation space, and the isolation in the operation process is further improved.

The linear motor assembly 4 is a deformation structure of the existing linear motor, and specifically can refer to a double-flexible linear transmission system (XTS), the position of the multi-degree-of-freedom telescopic joint 3 can be adjusted more quickly through the linear motor assembly 4, and the position of the multi-degree-of-freedom telescopic joint 3 can be locked after being adjusted through the electromagnetic structural characteristics of the linear motor assembly 4.

As shown in fig. 3, when the multi-degree-of-freedom telescopic joint works, the other end of the multi-degree-of-freedom telescopic joint 3 is connected with an installation frame 5, and the bottom of the installation frame 5 is provided with a force direction conduction device 6 which is used for collecting vector signals under the action of external force and converting the vector signals into force directions which are used for providing triggering working signals for the multi-degree-of-freedom telescopic joint 3 and the linear motor assembly 4 respectively.

The multi-degree-of-freedom telescopic joint 3 comprises a first crank rod 8 and a second crank rod 9 which are connected through a joint driving hinge shaft A7, the other end of the first crank rod 8 is connected with a damping universal joint 11 through a joint driving hinge shaft B10, the damping universal joint 11 is connected to the linear motor assembly 4, and the joint driving hinge shaft A7 and the joint driving hinge shaft B10 are electrically connected with the force transmission device 6.

The system structure of the force direction conduction device 6 comprises a model building module which carries out a space rectangular coordinate system of an X axis, a Y axis and a Z axis on the applied acting force acting on the force direction conduction device 6, and a signal coupling module which combines a central processing unit module of an ARM7 chip and a vector signal of an applied force with a space rectangular coordinate system, and the parallel signals of each joint of the multi-freedom expansion joint 3 are transmitted through the processing result obtained by the central processing unit module to the signal coupling module, therefore, synchronous driving processing of the multi-degree-of-freedom telescopic joint 3 and the linear motor assembly 4 is achieved, the intention of an operator on the position adjustment of the multi-degree-of-freedom telescopic joint 3 is simulated to the greatest extent according to the acting force of the operator on the force direction conduction device, and the response speed of joints of mounting supports of all auxiliary management systems is further improved.

When a large number of medical instruments are used in the auxiliary management system, the quadrants in the spatial rectangular coordinate system can be split by the model building module, so that the joint correspondence and the position adjustment speed of each connection structure of the multi-degree-of-freedom telescopic joint 3 can be more accurately obtained.

The model building module and the signal coupling module are realized based on CAD/CAE software.

As shown in fig. 5, further, the force direction conducting device 6 includes a torque handle 601, one end of the torque handle 601 is connected to the bottom of the mounting frame 5 through a longitudinal conducting rod 602, an X-axis conducting and sensing device 12 for collecting external force acting vector signals is disposed at a connection position of the torque handle 601 and the longitudinal conducting rod 602, the X-axis conducting and sensing device 12 is electrically connected to the linear motor assembly 4, and a transverse acting force acting on the torque handle 601 is used as a driving signal for driving the linear motor assembly 4 as the linear motor assembly 4.

The longitudinal conducting rod 602 is connected to the mounting bracket 5 through a Z-axis conducting and sensing device 13, and the Z-axis conducting and sensing device 13 is electrically connected to the joint driving hinge shaft a7 and the joint driving hinge shaft B10;

the Z-axis conduction sensing device 13 is connected to the mounting frame 5 through a spherical hinge 21, and the Y-axis conduction sensing device 14 is arranged on the Z-axis conduction sensing device 13.

As shown in fig. 4, the second crank shaft 9 includes a first rod 901 and a second rod 902 connected by a sliding rail, and the first rod 901 and the second rod 902 slide relative to each other through a pneumatic telescopic rod 903 connected to the first rod 901 and the second rod 902 at two ends, respectively, and the pneumatic telescopic rod 903 is electrically connected to the Y-axis conduction sensing device 14.

The force direction conducting device 6 of the invention splits the acting force vector signals on different coordinates of each joint of the multi-degree-of-freedom telescopic joint 3 in the auxiliary management system, and the specific form is as follows: linking the X axial acting force on the torque handle 601 with the starting or non-starting of the linear motor assembly 4; whether a joint driving hinge shaft A7 and a joint driving hinge shaft B10 of a first crank rod 8 and a second crank rod 9 of the multi-degree-of-freedom telescopic joint 3 work or not is linked with the Z-axis acting force of the longitudinal conduction rod 602, and whether a pneumatic telescopic rod 903 on a first rod body 901 and a second rod body 902 works or not is linked;

the advantage of such linkage is that firstly the linear motor assembly 4 moves the position of the multi-degree-of-freedom telescopic joint 3 as a whole, and the joint driving hinge shaft a7, the joint driving hinge shaft B10 and the pneumatic telescopic rod 903 control the position and angle of each connecting structure of the multi-degree-of-freedom telescopic joint 3, so that the force transmission device 6 has a function of zone adjustment, and medical staff can intuitively feel the position, angle change and controllability of the multi-degree-of-freedom telescopic joint 3 through the difference of acting forces acting in the force transmission direction, thereby improving the feeling of man-machine interaction.

Furthermore, the force direction transmission mechanism realizes the function of zone adjustment on the difference of the acting force acting on the force direction transmission direction, so that the parallel signal transmission and the driving adjustment on each joint are realized, the condition that the conventional multi-angle free arm adopts a step-by-step adjustment mode is avoided, and the response speed is improved.

Because the magnitude and direction of the force applied to the torque handle 601 by each person are different greatly in the practical process, the X-axis conduction sensing device 12, the Y-axis conduction sensing device 14 and the Z-axis conduction sensing device 13 in the invention each include a mandrel 15 and a short steel spring 16 sleeved on the mandrel 15, the middle of the short steel spring 16 is fixedly connected to the mandrel 15, two ends of the short steel spring 16 are provided with a sheet-type pressure sensor 17, the mandrel 15 is a section of cylindrical shaft, the connection with the mounting frame 5 has certain guidance of force and unicity of direction of force, the movement of the mandrel 15 along the axial direction makes the short steel spring 16 contact the sheet-type pressure sensors 17 on two sides of the mandrel 15 respectively, and further the vector signal of the applied force applied to the mandrel 15 is obtained through the sheet-type pressure sensors 17.

Further, the sheet-type pressure sensor 17 monitors the changes of the acting forces of the torque handle 601 and the longitudinal conduction rod 602 in real time, performs data processing and analysis through the model building module, the central processor module and the signal coupling module, judges whether an operator is about to reach a target position according to the changes of the acting forces, and then the joint driving hinge shaft a7 and the joint driving hinge shaft B10 intervene to prepare for locking the first crank shaft 8, the second crank shaft 9 and the linear motor assembly 4, so that the motion inertia of the multi-free telescopic joint 3 when the multi-free telescopic joint reaches the target position under the action of the external force is eliminated.

In order to further increase the speed of change of the joint angle of the first crank shaft 8 and the second crank shaft 9, the joint driving hinge shaft a7 includes a hinge shaft 701 for hinge-connecting the first crank shaft 8 and the second crank shaft 9, one end of the hinge shaft 701 is connected with a micro motor 702 for driving the hinge shaft 701 to rotate, the hinge shaft 701 is engaged with the end of the second crank shaft 9 through a planetary gear mechanism 703, two ends of the hinge shaft 701 are fixedly connected with scroll metal strips 704, and two ends of the scroll metal strips 704 are respectively fixedly connected with the middle positions of the inner sides of the first crank shaft 8 and the second crank shaft 9.

The scroll metal strips 704 disposed on both sides of the hinge shaft 701 are double-head scroll springs without elasticity, the hinge shaft 701 is fixedly connected to the middle of the scroll metal strips 704, and when the hinge shaft 701 rotates, the first crank shaft 8 and the second crank shaft 9 are synchronously pulled.

The track plate 1 is provided with a matching groove 18 matched with the first crank shaft 8, one end of the track plate 1 is provided with a hook pin 19, and the second rod 902 is provided with a hook groove 20 matched with the hook pin 19.

The linear motor assembly 4 comprises an annular secondary forming the inner wall of the circular track and an arc primary matched with the circular track, and the damping universal joint 11 is fixedly and vertically connected with the arc primary.

According to the invention, when the included angle between the first crankshaft rod 8 and the second crankshaft rod 9 is zero, the second crankshaft rod 9 is completely embedded into the first crankshaft rod 8, and the second rod body 902 is pulled by the pneumatic telescopic rod 903, so that the hook groove 20 and the hook pin 19 are just matched, and the first crankshaft rod 8 and the second crankshaft rod 9 of the multi-freedom-degree telescopic joint 3 are completely accommodated in the matching groove 18, so that the space in an operating room for clinical operation is neat and orderly, and secondary use is facilitated.

When the auxiliary system is used, fixed initial position parameters can be set to the force transmission device 6 through the computer control panel, so that the auxiliary system is more suitable for operating rooms with different heights when being started to use, and is convenient for personnel to operate.

The locking of the second crank rod 9 and the track disc 1 is achieved through the micro-motion of the pneumatic telescopic rod 903, an additional locking structure is not practical, and the integrity is stronger.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.