CN107411695A - A kind of digestive endoscopy structure with mechanical arm and digestive endoscopy platform - Google Patents
A kind of digestive endoscopy structure with mechanical arm and digestive endoscopy platform Download PDFInfo
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- CN107411695A CN107411695A CN201710676874.2A CN201710676874A CN107411695A CN 107411695 A CN107411695 A CN 107411695A CN 201710676874 A CN201710676874 A CN 201710676874A CN 107411695 A CN107411695 A CN 107411695A
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- 230000001079 digestive effect Effects 0.000 title claims abstract description 61
- 238000001839 endoscopy Methods 0.000 title claims abstract description 61
- 230000033001 locomotion Effects 0.000 claims description 9
- 239000000758 substrate Substances 0.000 claims description 7
- 230000008602 contraction Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000009467 reduction Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 12
- 210000004400 mucous membrane Anatomy 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 5
- 235000014676 Phragmites communis Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003902 lesion Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000004877 mucosa Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00269—Type of minimally invasive operation endoscopic mucosal resection EMR
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
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- Physics & Mathematics (AREA)
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- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Endoscopes (AREA)
Abstract
The present invention relates to field of medical device, disclose a kind of digestive endoscopy structure with mechanical arm and digestive endoscopy platform, wherein digestive endoscopy structure includes digestive endoscopy and mechanical arm, digestive endoscopy has an end, also include outer tube, outer tube has an access opening, and mechanical arm is set with termini in apposition, outer tube is socketed in end and the outside of mechanical arm, and mechanical arm is connected on end.The present invention can be used cooperatively with existing digestive endoscopy, and the flexible assembling of digestive endoscopy and mechanical arm is realized on the premise of existing digestive endoscopy structure is not changed, and contribute to the R＆D costs of reduction system and the expense of later stage popularization.
Description
Technical field
The present invention relates to field of medical device, more particularly, to a kind of digestive endoscopy structure, and applies the digestive endoscopy
The digestive endoscopy platform of structure.
Background technology
Traditional endoscopic inferior mucosa cutting hand (ESD operations) refers to that Gastroenterology dept. doctor completes pair with the help of digestive endoscopy
The cutting operation of lesion mucous membrane.Most of endoscope commonly used on the market at present is the endoscope of single instrument channel, can only be met
Cutting to lesion mucous membrane, the pull lift action of lesion mucous membrane, therefore whole surgical procedure can not be realized while being cut to it
In it is very high to doctor Personal Skills and skill requirement, add the complication risk and operating time of operation.
In order to meet the needs of mucous membrane lifting is carried out while mucous membrane is cut, the field is expanded much ground both at home and abroad
To study carefully, common solution is to design two ends that there is multivariant double mechanical arms system to be placed in traditional digestive endoscopy,
One of mechanical arm is used for the cutting to mucous membrane, and another mechanical arm is used for the lifting to target mucosal.But these schemes
It is required for being changed the structure of digestive endoscopy in itself, adds the R＆D costs of system and the expense of later stage popularization.
The content of the invention
The problem of in order to overcome prior art to need to be changed the structure of digestive endoscopy in itself, the present invention provide a kind of
Digestive endoscopy structure with mechanical arm.
The present invention also provides a kind of digestive endoscopy platform of application digestive endoscopy structure.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of digestive endoscopy structure with mechanical arm, including digestive endoscopy and mechanical arm, digestive endoscopy have an end,
Also include outer tube, outer tube has an access opening, and mechanical arm is set with termini in apposition, and outer tube is socketed in end and machinery
The outside of arm, mechanical arm is connected on end.
A kind of digestive endoscopy structure with mechanical arm, including digestive endoscopy and mechanical arm, digestive endoscopy have an end,
Also include outer tube and mechanical arm sleeve pipe, outer tube has an access opening, and mechanical arm sleeve pipe is set with termini in apposition, outer tube
The outside of mechanical arm sleeve pipe and end is socketed in, by mechanical arm sleeve pipe connection on end, mechanical arm is fixed on mechanical arm
In sleeve pipe or mechanical arm can be axially moved along mechanical arm sleeve pipe.
As the further improved procedure of such scheme, outer tube is heat-shrink plastic's sleeve pipe, can be sent out in the case of heated
Raw dimensional contraction.
As the further improved procedure of such scheme, clamping device that mechanical arm includes being sequentially connected, the first arm section, the
The arm sections of two arm Duan Yu tri-, and clamping device, the paired driving rope of the first arm section and the second arm section are driven respectively, wherein,
Under the driving of corresponding driving rope, reciprocally opened/closed, the first arm section can drive clamping device with respect to second to clamping device
Arm section rotates, and the second arm section can drive the first arm section to be rotated relative to the 3rd arm section, and the rotation side of the first arm section and the second arm section
To different.
As the further improved procedure of such scheme, clamping device includes stationary jaw and movable jaw, driving rope bag
Include the first driving rope and the second driving is restricted, stationary jaw is fixedly connected with the first arm section, and movable jaw and the first arm section are rotated and connected
Connect, the first driving rope is respectively in the both sides of movable jaw with the second driving rope along the rotation direction of movable jaw, to drive activity
Clamping jaw is relatively fixed clamping jaw and carries out clamping movement.
As the further improved procedure of such scheme, clamping device also includes rotating shaft and pulley, the first driving rope, second
Driving rope is fixedly connected with pulley respectively；
The surface of pulley is provided with grooving arranged side by side, and the end of grooving is provided with buckling groove, the first driving rope, the second driving rope point
It is not embedded in corresponding grooving, the first driving rope, the end of the second driving rope are respectively provided with clamping block, and clamping block is embedded corresponding
In the buckling groove of grooving；
Movable jaw is fixedly connected with pulley, and pulley is connected with axis of rotation, and rotating shaft is fixedly connected with the first arm section；
Or pulley is fixedly connected with rotating shaft, rotating shaft is rotatablely connected with the first arm section.
As the further improved procedure of such scheme, driving rope also includes the 3rd driving being fixedly connected with the first arm section
Rope and 4 wheel driven running rope, the 3rd driving rope are respectively in the two of the first arm section with rotation direction of the 4 wheel driven running rope along the first arm section
Side；
One end of neighbouring second arm section is provided with cambered surface in first arm section, is provided with the second arm section adjacent to one end of the first arm section
Plane；Or first one end of neighbouring second arm section in arm section be provided with plane, set in the second arm section adjacent to one end of the first arm section
There is cambered surface；
Supported and contacted with plane by cambered surface between first arm section and the second arm section.
As the further improved procedure of such scheme, the end face of neighbouring clamping device is provided with hinged seat in the first arm section,
Hinged seat is provided with shaft hole；
Axial centre bore is additionally provided with end face, groove is arranged with the hole wall of centre bore, groove is axially towards end face
Unidirectional the first arm section of insertion in direction, the bottom land of groove be provided with axially through driving rope connecting hole, the 3rd driving rope and the 4th
The end of driving rope is respectively provided with clamping block, and the 3rd driving rope is located in corresponding driving rope connecting hole with 4 wheel driven running rope, clamping
Block is contained in centre bore, and the size of clamping block is more than the diameter of respective slot；
Be additionally provided with first arm section axially through driving rope via.
As the further improved procedure of such scheme, driving rope also includes the 5th driving being fixedly connected with the second arm section
Rope is restricted with the 6th driving, and the 5th driving rope is respectively in the two of the second arm section along the rotation direction of the second arm section with the 6th driving rope
Side；
One end of neighbouring 3rd arm section is provided with cambered surface in second arm section, is provided with the 3rd arm section adjacent to one end of the second arm section
Plane；Or second one end of neighbouring 3rd arm section in arm section be provided with plane, set in the 3rd arm section adjacent to one end of the second arm section
There is cambered surface；
Supported and contacted with plane by cambered surface between the arm sections of second arm Duan Yu tri-.
As the further improved procedure of such scheme, the second arm section is provided with axial direction adjacent to the end face of the first arm section
Heart hole, groove is arranged with the hole wall of centre bore, groove unidirectionally penetrates the second arm section axially towards the direction of end face, groove
Bottom land be provided with axially through driving rope connecting hole, the end of the 5th driving rope and the 6th driving rope is respectively provided with clamping block, the 5th
Driving rope is located in corresponding driving rope connecting hole with the 6th driving, and clamping block is contained in centre bore, and the size of clamping block
More than the diameter of respective slot；
Be additionally provided with the arm sections of second arm Duan Yu tri- axially through driving rope via.
As the further improved procedure of such scheme, mechanical arm also includes the first bourdon tube, second spring pipe, the 3rd bullet
Reed pipe and the 4th bourdon tube, wherein
First bourdon tube is socketed in the outside of the driving rope of driving clamp structure opening and closing, and one end of the first bourdon tube and the
One arm section is fixedly connected；
Second spring pipe sleeve is connected on the outside for the driving rope that the first arm section of driving rotates, and one end of second spring pipe and the
Two arm sections are fixedly connected；
3rd bourdon tube is socketed in the outside for the driving rope that the second arm section of driving rotates, and one end of the 3rd bourdon tube and the
Three arm sections are fixedly connected；
4th bourdon tube is socketed in the first bourdon tube, the outside of the bourdon tubes of second spring Guan Yu tri-.
A kind of digestive endoscopy platform with mechanical arm, including control module and the above-mentioned digestive endoscopy knot with mechanical arm
Structure, control module move for control machinery arm.
As the further improved procedure of such scheme, control module includes axle rotatory force module, and axle rotatory force module is used
Rotated in driving mechanical arm around Pivot Point Center.
As the further improved procedure of such scheme, control module include correspond to respectively clamping device, the first arm section and
The driving rope power module that second arm section is set, driving rope power module include substrate, wheel and rack, and two toothed racks are parallel to be set
Put, and be slidably connected with substrate, gear is located between two toothed rack, and is engaged respectively with two toothed rack, paired driving
Two toothed racks respectively with corresponding power module of restricting are fixedly connected.
The beneficial effects of the invention are as follows：
The present invention can be used cooperatively with existing digestive endoscopy, real on the premise of existing digestive endoscopy structure is not changed
The flexible assembling of existing digestive endoscopy and mechanical arm, contribute to the R＆D costs of reduction system and the expense of later stage popularization.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the schematic perspective view of digestive endoscopy platform one embodiment of the present invention；
Fig. 2 is the schematic diagram that mechanical arm of the present invention is connected with digestive endoscopy end；
Fig. 3 is the schematic perspective view of mechanical arm one embodiment of the present invention；
Fig. 4 is the schematic perspective view that clamping device of the present invention is connected with respective drive rope；
Fig. 5 is the schematic perspective view of first arm section one embodiment of the invention；
Fig. 6 is the top view of first arm section one embodiment of the invention；
Fig. 7 is the schematic perspective view of second arm section one embodiment of the invention；
Fig. 8 is the top view of second arm section one embodiment of the invention；
Fig. 9 is the schematic perspective view of the 3rd arm section one embodiment of the invention；
Figure 10 is the schematic perspective view that clamping device of the present invention, the first arm section are connected with respective drive rope；
Figure 11 is the schematic perspective view that of the invention first arm section, the second arm section are connected with respective drive rope；
Figure 12 is the sectional view that of the invention first arm section, the second arm section are connected with respective drive rope；
Figure 13 is the schematic perspective view that of the invention second arm section, the 3rd arm section are connected with respective drive rope；
Figure 14 is the sectional view that of the invention second arm section, the 3rd arm section are connected with respective drive rope；
Figure 15 is the schematic perspective view of present invention control module one embodiment；
Figure 16 is the schematic perspective view of present invention driving rope power module one embodiment.
Embodiment
Carried out below with reference to the design of embodiment and accompanying drawing to the present invention, concrete structure and caused technique effect clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting
Under, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " in another feature,
It can directly fix, be connected in another feature, can also indirectly fix, be connected in another feature.In addition, this
The descriptions such as the up, down, left, right, before and after used in invention be only relative in accompanying drawing each part of the present invention it is mutual
For position relationship.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, without
It is to limit the present invention.Term as used herein " and/or " include the arbitrary of one or more related Listed Items
Combination.
Reference picture 1, show the schematic perspective view of digestive endoscopy platform one embodiment of the present invention.As illustrated, this hair
It is bright including mechanical arm 1, digestive endoscopy 2 with control module 3.Digestive endoscopy 2 can use known technology, be not described in detail here.Machine
Tool arm 1 is used for the lifting that the auxiliary in the cutting process of mucous membrane realizes mucous membrane, and control module 3 is then carried out for control machinery arm 1
Related motion.
Reference picture 2, show the schematic diagram that mechanical arm of the present invention is connected with digestive endoscopy end.As illustrated, in digestion
Mirror 2 has an end 21 for being used to stretch into human body, and the outside of end 21 is provided with mechanical arm sleeve pipe 4, mechanical arm sleeve pipe 4 and end side by side
The outside at end 21 is coated with outer tube, has an access opening inside outer tube, end 21 and mechanical arm sleeve pipe 4 are plugged on
In the passage, the fixation of mechanical arm sleeve pipe 4 and end 21 is realized by outer tube, one kind side of being preferable to carry out as outer tube
Formula, it uses plasticity sleeve pipe 5 (plasticity sleeve pipe 5 is in uncontracted position in figure), and plasticity sleeve pipe 5 has good hot shortness,
It can be shunk in the case of heated by lateral dimension and mechanical arm 1 and end 21 are fixed together, mechanical arm 1 is plugged on mechanical arm
In sleeve pipe 4, it can be fixedly connected with mechanical arm sleeve pipe 4, can also axial direction fortune of the relative mechanical arm sleeve pipe 4 along mechanical arm sleeve pipe 4
It is dynamic, mechanical arm 1 is had along the free degree on the length direction of end 21.The present invention is without transforming existing digestive endoscopy
Digestive endoscopy can be coordinated to realize the lifting of mucous membrane, the R＆D costs of system and the expense of later stage popularization can be reduced, and
This fixed form has very high flexibility, not only can arbitrarily adjust the circumferential position of the opposing end portions 21 of mechanical arm 1, may be used also
To adapt to various sizes of digestive endoscopy.
Certainly, if mechanical arm 1 does not need length direction of the opposing end portions 21 along end 21 to move, machine can also be not provided with
Tool arm sleeve pipe 4, mechanical arm 1 is directly fixed on end 21 by plasticity sleeve pipe 5.
Reference picture 3, show the schematic perspective view of mechanical arm one embodiment of the present invention.As illustrated, mechanical arm includes
Clamping device 11, the first arm section 12, the second arm section 13 and the 3rd arm section 14 being sequentially connected, and for drive said mechanism with
Some driving ropes of arm section.Under the driving of corresponding driving rope, the reciprocally opened/closed of clamping device 11, so as to realize to mesh
Mark release/clamping of mucous membrane；First arm section 12 can drive clamping device 11 to be rotated relative to the second arm section 13, and the second arm section 13 can band
Dynamic first arm section 12 rotates relative to the 3rd arm section 14, and the rotation direction of the first arm section and the second arm section is different, so as to certainly
By the position of adjustment clamping device 11.
Specifically, reference picture 4, Fig. 4 show the schematic perspective view that clamping device of the present invention is connected with respective drive rope.Such as
Shown in figure, clamping device 11 preferably uses single open-type mechanism, including stationary jaw 111 and movable jaw 112, corresponding driving rope
Including the first driving rope 151 and the second driving rope 152.
Stationary jaw 111 is fixedly connected with the first arm section 12, and movable jaw 112 is rotatablely connected with the first arm section 12, as
A kind of preferred scheme of the two rotation connection, clamping device 11 also include rotating shaft 113 and pulley 114, and movable jaw 112 is with sliding
Wheel 114 is fixedly connected with (movable jaw 112 is integrally formed with pulley 114 in the present embodiment), and pulley 114 is fixed with rotating shaft 113 again
Connection, rotating shaft 113 are plugged in the shaft hole in the first arm section 12, rotated by structures such as bearings relative to the first arm section 12.When
So or movable jaw 112 is fixedly connected with pulley 114, is turned between pulley 114 and rotating shaft 113 by structures such as bearings
Dynamic connection, rotating shaft 113 are then fixedly connected with the first arm section 12.
First driving rope 151 and the second driving rope 152 are respectively in movable jaw 112 along the rotation direction of movable jaw 112
Both sides, and be fixedly connected with movable jaw 112.A kind of preferred scheme being fixedly connected as driving rope with movable jaw 112,
The surface of pulley 114 is provided with grooving (not shown) arranged side by side, and the end of grooving is provided with buckling groove (not shown), the size of buckling groove
More than the diameter of grooving.
The end of first the 151, second driving of driving rope rope 152 is respectively provided with clamping block 153, and the first driving rope 151, second drives
Running rope 152 is embedded in corresponding grooving respectively, and clamping block 153 is embedded in the buckling groove of corresponding grooving, as certain side drives
The contraction of rope, movable jaw 112 will rotate towards the side.
Reference picture 5, Fig. 6, respectively illustrate the schematic perspective view and top view of first arm section one embodiment of the invention.Such as
Shown in figure, the end face 121 of neighbouring clamping device 11 is provided with hinged seat 122 in the first arm section 12, and hinged seat 122 is provided with and rotating shaft
The shaft hole 123 of 113 connections.The end face 129 away from clamping device 11 is cambered surface in first arm section 12.
Axial centre bore 124 is additionally provided with end face 121, groove 125, groove are arranged with the hole wall of centre bore 124
125 axially towards end face 121 direction unidirectionally penetrate the first arm section 12.The bottom land of groove 125 is provided with axially through the first arm section
12 driving rope connecting hole 126, be additionally provided with end face 121 axially through driving rope via 127.
Wherein, driving rope via 127 preferably includes two parts, i.e. the first hole 1271 of proximate end face 121 and remote end face
121 the second hole 1272, the first hole 1271 and the second hole 1272 are interconnected, and the diameter in the first hole 1271 is less than the second hole
1272 diameter.In addition, being additionally provided with grooving 128 in the side wall of the first arm section 12, grooving 128 radially gos deep into the first arm section 12
Until exposing the second hole 1272.
Reference picture 7, Fig. 8, respectively illustrate the schematic perspective view and top view of second arm section one embodiment of the invention.Such as
Shown in figure, the second arm section 13 is plane adjacent to the end face 131 of the first arm section 12, and the end face 132 away from the first arm section 12 is cambered surface.
It is similar with the first arm section 12, it is again provided with centre bore 133 in the second arm section 13, it is symmetrical on the hole wall of centre bore 133
Provided with groove 134, groove 134 unidirectionally penetrates the second arm section 13 axially towards the direction of end face 131.The bottom land of groove 134 is provided with
Axially through the driving rope connecting hole 135 of the second arm section 13, driving corresponding with driving rope via 127 is additionally provided with end face 131
Rope via 136, and driving rope via 137 corresponding with driving rope connecting hole 126.
The diameter of driving rope via 136 is not less than the diameter in the second hole 1272, driving rope via 137 and driving rope via
127 is similar, same to have the first hole 1371 and the second hole 1372, and the first hole 1371 and the second hole 1372 are interconnected, and first
The diameter in hole 1371 is less than the diameter in the second hole 1372.In addition, it is again provided with grooving 138, grooving in the side wall of the second arm section 13
138 shape is advisable with depth with exposing the second hole 1372.
Reference picture 9, show the schematic perspective view of the 3rd arm section one embodiment of the invention.As illustrated, the 3rd arm section
14 include pedestal 141 and pedestal 142, are connected between pedestal 141 and pedestal 142 by connecting rod 143, pedestal 141 is adjacent to the second arm
The end face 1411 of section 13 is plane.
The driving rope via 136 corresponding with pedestal 142 of pedestal 141 is provided with driving rope via 144, and corresponding second hole 1372 is set
There are driving rope via 145, and the driving rope via 146 of corresponding driving rope connecting hole 135, wherein driving rope via 144 is straight
Footpath drives the diameter of rope via 145 to be not less than the diameter in the second hole 1372 not less than the diameter of driving rope via 136.
Driving rope via 146 on pedestal 142 is equally divided into the first hole 1461 and the second hole 1462, the first hole 1461
It is interconnected with the second hole 1462, and the diameter in the first hole 1461 is less than the diameter in the second hole 1462.In addition, the side of pedestal 142
Wall is provided with grooving 1421, and grooving 1421 radially gos deep into the 3rd arm section 14 until exposing the second hole 1462.
Reference picture 10, show the schematic perspective view that clamping device of the present invention, the first arm section are connected with respective drive rope.Such as
Shown in figure, the stationary jaw 111 of clamping device 11 is fixedly connected with the first arm section 12, and movable jaw 112 passes through rotating shaft and first
Arm section 12 is rotatablely connected.
First driving rope 151 with second driving restrict 152 pass through the first arm section 12 on driving rope via 127 after with being not shown
Power set connection.The present invention is preferably also provided with carrying out Flexible Control and the spacing bourdon tube in space for restricting to driving.Tool
Body, bourdon tube includes the first bourdon tube 161 of corresponding first driving rope 151 and the second driving rope 152, the first bourdon tube 161
It is plugged in the second hole 1272 in the first arm section 12, and is socketed in the outside of the first driving rope 151 and the second driving rope 152,
And first the top of bourdon tube 161 be fixedly connected with the first arm section 12.
With reference to and Figure 11, Figure 12, respectively illustrate of the invention first arm section, the second arm section is connected with respective drive rope stands
Body schematic diagram and sectional view, concealed spring pipe in Figure 10.As illustrated, the arm section 12 of end face 129 and second of the first arm section 12
End face 131 is mutually supported, and the rotation between the first arm section 12 and the second arm section 13 can be realized by the cooperation of cambered surface and plane,
Due to being therebetween linear contact lay, the active force for not having other obstruction rotations in addition to frictional force, therefore the rotation ten between arm section
Divide flexible.It is of course also possible to it is that plane is set in the first arm section 12 and cambered surface is set in the second arm section 13.
The driving rope for driving the first arm section 12 to rotate includes the 3rd driving rope 154 and 4 wheel driven running rope 155, the 3rd driving rope
154 and rotation direction of the 4 wheel driven running rope 155 along the first arm section 12 be respectively in the both sides of the first arm section 12, and with the first arm section 12
It is fixedly connected.A kind of preferred scheme, the 3rd driving rope 154 and 4 wheel driven running rope are fixedly connected with the first arm section as driving rope
155 end is respectively provided with clamping block 156.The tail end of 3rd driving rope 154 and 4 wheel driven running rope 155 is each passed through the first arm section 12
On driving rope connecting hole 126 after be connected with unshowned power set, positioned at the 3rd driving rope 154 and 4 wheel driven running rope 155
The clamping block 156 of head end is then contained in centre bore 124, because the size of clamping block 156 is more than the diameter of respective slot 125,
Driving rope can pull the first arm section 12 to rotate.
Preferably, the depth of grooves on two sides 125 differs, so that axial direction of the clamping block 156 of both sides along the first arm section 12
Distribution, help to reduce the diameter of centre bore 124, realize the miniaturization of mechanical arm.
In addition, the corresponding 3rd driving rope 154 of the present invention and 4 wheel driven running rope 155 are additionally provided with second spring pipe 162, the second bullet
Reed pipe 162 is plugged in the second hole 1372 in the second arm section 13, and is socketed in the 3rd driving rope 154 and 4 wheel driven running rope 155
Outside, and the top of second spring pipe 162 is fixedly connected with the second arm section 13.
Reference picture 13, Figure 14, respectively illustrate the second arm section of the present invention, the solid that the 3rd arm section is connected with respective drive rope
Schematic diagram and sectional view, concealed spring pipe in Figure 12.It is as illustrated, same using flat between the second arm section 13 and the 3rd arm section 14
The cooperation of face and cambered surface, which is realized, to be rotated.
The driving rope for driving the second arm section 13 to rotate includes the 5th driving rope 157 and the 6th driving rope 158, the 5th driving rope
157 and the 6th both sides for being respectively in the second arm section 13 along the rotation direction of the second arm section 13 of driving rope 158, and with the second arm section 13
It is fixedly connected, fixed connection mode of the fixed connection mode between driving rope, the second arm section 13 preferably between the first arm section 12, the second arm section 13
Identical, i.e., the end of the 5th driving rope 157 and the 6th driving rope 158 is respectively provided with clamping block 159, the 5th driving rope 157 and the 6th
It is connected after the driving rope connecting hole 135 that the tail end of driving rope 158 is each passed through in the second arm section 13 with unshowned power set,
Clamping block 159 positioned at the 5th driving rope 157 and the 6th driving 158 head ends of rope is then contained in centre bore 133, due to clamping block
159 size is more than the diameter of respective slot 134, and driving rope can pull the second arm section 13 to rotate.
In addition, the corresponding driving rope 158 of 5th driving rope 157 and the 6th of the present invention is additionally provided with the 3rd bourdon tube 163, the 3rd bullet
Reed pipe 163 is plugged in the second hole 1462 in the 3rd arm section 14, and is socketed in the 5th driving rope 157 and the 6th driving rope 158
Outside, and the top of the 3rd bourdon tube 163 is fixedly connected with the 3rd arm section 14.
Reference picture 3, Figure 13 and Figure 14, first the 151, second driving of driving rope rope 152 sequentially pass through with the first bourdon tube 161
The driving in the driving rope arm section 14 of via 136 and the 3rd on driving rope via 127, the second arm section 13 in first arm section 12
Rope via 144.3rd driving rope 154,4 wheel driven running rope 155 sequentially pass through the drive in the second arm section 13 with second spring pipe 162
Driving rope via 145 in the arm section 14 of running rope via 137 and the 3rd.The driving rope 158 and the 3rd of 5th driving rope the 157, the 6th
Bourdon tube 163 is through the driving rope via 146 in the 3rd arm section 14, so as to realize the first arm section 12, the second arm section 13 and the 3rd
The series connection of arm section 14.
In addition, being additionally provided with the 4th bourdon tube 164, the 4th bourdon tube 164 is socketed in above-mentioned first bourdon tube 161, the second bullet
The outside of reed pipe 162, the 3rd bourdon tube 163.
Reference picture 15, show the schematic perspective view of present invention control module one embodiment.As illustrated, control module
Including pedestal 31, control box 32, straight line power module 33, axle rotatory force module 34 and multiple driving rope power modules 35.
Straight line power module 33 preferably uses motor-screw rod transmission system in the present embodiment, specifically include slide rail 331,
Motor 332, travelling gear 333, screw mandrel 334, screw rodb base (not shown) and sliding block (not shown), slide rail 331 are fixed with motor 332
It is connected on pedestal 31, intermeshing two travelling gears 333 are fixed with the drive shaft of screw mandrel 334, motor 332 respectively to be connected
Connect, so that motor 332 can drive the synchronous axial system of screw mandrel 334.Screw rodb base is fixedly connected with a slide block on control box 32, screw rodb base
It is threadedly coupled with screw mandrel 334, sliding block is slidably connected with slide rail 331, and with the rotation of motor 332, control box 32 can be with respect to base
Seat 31 linearly moves.Certainly, straight line power module can also use other known technologies, for example pass through motor-same
Step band motion of drive control box 32 etc..
Axle rotatory force module 34, driving rope power module 35 are fixedly connected on control box 32, its axis rotatory force mould
Group 34 is used to drive mechanical arm 1 to rotate in mechanical arm sleeve pipe 4, and driving rope power module 35 is used to control the flexible of driving rope.
Axle rotatory force module 34 preferably uses motor-synchronization belt transmission system in the present embodiment, specifically includes driven pulley
341st, motor (not shown) and driving wheel (not shown), wherein driven pulley 341 are fixedly connected with the end of mechanical arm 1, driving wheel
It is fixedly connected with the drive shaft of motor, timing belt is around driving wheel is located at, on driven pulley 341, with the rotation of motor, mechanical arm 1
Can be with the rotation in mechanical arm sleeve pipe 4.Certainly, axle rotatory force module 34 can equally use other known technologies, such as logical
Cross motor-gear driving etc..
Driving rope power module 35 is equal with driving the logarithm of rope, specifically, in control box 32 is provided with 3 driving rope power
Module 35, independently control the driving rope of clamping device 11, the first arm section 12 and the second arm section 13.
The front end of pedestal 31 is also fixedly connected with support bar 36, for being supported fixation to the end of mechanical arm 1.
Reference picture 16, show the schematic perspective view of present invention driving rope power module one embodiment.As illustrated, drive
Running rope power module includes substrate 351, gear 352, rack 353 and motor 354.
Two toothed racks 352 be arranged in parallel, and are slidably connected between substrate 351 by slide rail.Gear 352 is fixed on motor
In 354 drive shaft, between two toothed rack 352, and engaged respectively with two toothed rack 352, control clamping device 11,
Two driving ropes of the first arm section 12 or the second arm section 13 are fixedly connected with two toothed racks 352 of corresponding power module 35 respectively,
In this way, with the rotation of motor 354, the synchronous backward of both sides rack 352 motion, so as to drive driving rope synchronous backward motion.
Preferably, bourdon tube fixed seat 355 is additionally provided with substrate 351, for fix above-mentioned bourdon tube be fixed it is spacing,
Bourdon tube fixed seat 355 includes base and pressing plate, and base is provided with the arc groove for being used for placing bourdon tube, and pressing plate passes through screw
It is fixedly connected with base, and crimping fixation is carried out to bourdon tube.
The control module of the present embodiment causes mechanical arm 1 to have a free degree on 5 directions, i.e., the opening and closing of clamping device,
The lifting up and down of mechanical arm, left and right lifting, the push of entering of the axial rotation of mechanical arm and mechanical arm of mechanical arm are moved so that machine
The motion of tool arm is more flexible.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (14)
1. a kind of digestive endoscopy structure with mechanical arm, including digestive endoscopy and mechanical arm, the digestive endoscopy has an end
End, it is characterised in that also including outer tube, the outer tube has an access opening, the mechanical arm and the termini in apposition
Set, the outer tube is socketed in the outside of the end and the mechanical arm, the mechanical arm is connected into the end
On.
2. a kind of digestive endoscopy structure with mechanical arm, including digestive endoscopy and mechanical arm, the digestive endoscopy has an end
End, it is characterised in that also there is an access opening, the mechanical arm set including outer tube and mechanical arm sleeve pipe, the outer tube
Pipe is set with the termini in apposition, and the outer tube is socketed in the outside of the mechanical arm sleeve pipe and the end, by described in
Mechanical arm sleeve pipe connection is on the end, and the mechanical arm is fixed in mechanical arm sleeve pipe or the mechanical arm can be along institute
State the axial movement of mechanical arm sleeve pipe.
3. the digestive endoscopy structure according to claim 1 or 2 with mechanical arm, it is characterised in that the outer tube is
Heat-shrink plastic's sleeve pipe, dimensional contraction can occur in the case of heated.
4. the digestive endoscopy structure according to claim 3 with mechanical arm, it is characterised in that the mechanical arm include according to
The clamping device of secondary connection, the first arm section, the arm sections of the second arm Duan Yu tri-, and the clamping device, the first arm are driven respectively
The paired driving rope of section and the second arm section, wherein, under the driving of the corresponding driving rope, the clamping device is reciprocally
Opened/closed, the first arm section can drive the clamping device to be rotated relative to the second arm section, and the second arm section can band
The first arm section is moved to rotate relative to the 3rd arm section, and the rotation direction phase of the first arm section and the second arm section
It is different.
5. the digestive endoscopy structure according to claim 4 with mechanical arm, it is characterised in that the clamping device includes
Stationary jaw and movable jaw, the driving rope include the first driving rope and restricted with the second driving, the stationary jaw and described the
One arm section is fixedly connected, and the movable jaw is rotatablely connected with the first arm section, and the first driving rope is restricted with the second driving
The both sides of the movable jaw are respectively in along the rotation direction of the movable jaw, to drive the movable jaw relatively described solid
Clamp pawl carries out clamping movement.
6. the digestive endoscopy structure according to claim 5 with mechanical arm, it is characterised in that the clamping device also wraps
Rotating shaft and pulley are included, the first driving rope, the second driving rope are fixedly connected with the pulley respectively；
The surface of the pulley is provided with grooving arranged side by side, and the end of the grooving is provided with buckling groove, the first driving rope, second
Driving rope is embedded in the corresponding grooving respectively, and the first driving rope, the end of the second driving rope are respectively provided with clamping block,
The clamping block is embedded in the buckling groove of the corresponding grooving；
The movable jaw is fixedly connected with pulley, and the pulley is connected with the axis of rotation, the rotating shaft and described first
Arm section is fixedly connected；
Or the pulley is fixedly connected with the rotating shaft, the rotating shaft is rotatablely connected with the first arm section.
7. the digestive endoscopy structure with mechanical arm according to any one of claim 4 to 6, it is characterised in that described
Driving rope also includes the 3rd driving rope being fixedly connected with the first arm section and 4 wheel driven running rope, the 3rd driving rope and the
Rotation direction of the 4 wheel driven running rope along the first arm section is respectively in the both sides of the first arm section；
One end of the neighbouring second arm section is provided with cambered surface in the first arm section, adjacent to first arm in the second arm section
One end of section is provided with plane；Or one end of the neighbouring second arm section is provided with plane, second arm in the first arm section
One end of the neighbouring first arm section is provided with cambered surface in section；
Supported and contacted with the plane by the cambered surface between the first arm section and the second arm section.
8. the digestive endoscopy structure according to claim 7 with mechanical arm, it is characterised in that the first arm Duan Shanglin
The end face of the nearly clamping device is provided with hinged seat, and the hinged seat is provided with shaft hole；
Axial centre bore is additionally provided with the end face, is arranged with groove on the hole wall of the centre bore, the groove is along axle
Unidirectionally penetrate the first arm section to the direction towards the end face, the bottom land of the groove be provided with axially through driving rope connect
The end of hole, the 3rd driving rope and 4 wheel driven running rope is respectively provided with clamping block, and the 3rd driving rope is worn with 4 wheel driven running rope
It is located in the corresponding driving rope connecting hole, the clamping block is contained in the centre bore, and the size of the clamping block is big
In the diameter of the corresponding groove；
Be additionally provided with the first arm section axially through driving rope via.
9. the digestive endoscopy structure with mechanical arm according to any one of claim 4 to 6, it is characterised in that described
The 5th driving rope that driving rope also includes being fixedly connected with the second arm section is restricted with the 6th driving, the 5th driving rope and the
Six driving ropes are respectively in the both sides of the second arm section along the rotation direction of the second arm section；
One end of the neighbouring 3rd arm section is provided with cambered surface in the second arm section, adjacent to second arm in the 3rd arm section
One end of section is provided with plane；Or one end of the neighbouring 3rd arm section is provided with plane, the 3rd arm in the second arm section
One end of the neighbouring second arm section is provided with cambered surface in section；
Supported and contacted with the plane by the cambered surface between the second arm section and the 3rd arm section.
10. the digestive endoscopy structure according to claim 9 with mechanical arm, it is characterised in that the second arm section is adjacent
The end face of the nearly first arm section is provided with the centre bore of axial direction, and groove is arranged with the hole wall of the centre bore, described recessed
Groove unidirectionally penetrates the second arm section axially towards the direction of the end face, the bottom land of the groove be provided with axially through driving
Rope connecting hole, the end that the 5th driving rope is restricted with the 6th driving are respectively provided with clamping block, and the 5th driving rope drives with the 6th
Dynamic to be located in the corresponding driving rope connecting hole, the clamping block is contained in the centre bore, and the chi of the clamping block
The very little diameter for being more than the corresponding groove；
Be additionally provided with the arm sections of second arm Duan Yu tri- axially through driving rope via.
11. the digestive endoscopy structure with mechanical arm according to any one of claim 4 to 6, it is characterised in that described
Mechanical arm also includes the first bourdon tube, second spring pipe, the 3rd bourdon tube and the 4th bourdon tube, wherein
First bourdon tube is socketed in the outside for the driving rope for driving the clamp structure opening and closing, and first spring
One end of pipe is fixedly connected with the first arm section；
The second spring pipe sleeve is connected on the outside for the driving rope for driving the first arm section to rotate, and the second spring
One end of pipe is fixedly connected with the second arm section；
3rd bourdon tube is socketed in the outside for the driving rope for driving the second arm section to rotate, and the 3rd spring
One end of pipe is fixedly connected with the 3rd arm section；
4th bourdon tube is socketed in first bourdon tube, the outside of the bourdon tubes of second spring Guan Yu tri-.
12. a kind of digestive endoscopy platform with mechanical arm, it is characterised in that including in control module and claim 1 to 11
The digestive endoscopy structure with mechanical arm described in any one, the control module are used to control the manipulator motion.
13. the digestive endoscopy platform according to claim 12 with mechanical arm, it is characterised in that the control module bag
Axle rotatory force module is included, the axle rotatory force module is used to drive the mechanical arm to rotate around Pivot Point Center.
14. the digestive endoscopy platform with mechanical arm according to claim 12 or 13, it is characterised in that the control mould
Group includes the driving rope power module for corresponding to the clamping device respectively, the first arm section is set with the second arm section, the driving rope
Power module includes substrate, wheel and rack, and two racks be arranged in parallel, and are slidably connected with the substrate, the tooth
Wheel is located between two toothed rack, and engage respectively with two toothed rack, and the paired driving rope described moves with corresponding respectively
Two racks of power module are fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710676874.2A CN107411695A (en) | 2017-08-09 | 2017-08-09 | A kind of digestive endoscopy structure with mechanical arm and digestive endoscopy platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710676874.2A CN107411695A (en) | 2017-08-09 | 2017-08-09 | A kind of digestive endoscopy structure with mechanical arm and digestive endoscopy platform |
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| CN201710676874.2A Pending CN107411695A (en) | 2017-08-09 | 2017-08-09 | A kind of digestive endoscopy structure with mechanical arm and digestive endoscopy platform |
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Effective date of registration: 20180129 Address after: Nanshan District Guangdong streets, Shenzhen city 518000 Guangdong Province Road No. 3, No. 1 building, the Great Wall computer building 2 floor C 201 Applicant after: SHENZHEN ROBO MEDICAL TECHNOLOGY CO., LTD. Address before: 2, C building, building 1, building 3, the Great Wall computer tower, No. 518000, FA FA Road, Shenzhen, Guangdong, Nanshan District Applicant before: Shenzhen rob Medical Robot Research Institute |