CN109044261A - A kind of laparoscope manipulator - Google Patents
A kind of laparoscope manipulator Download PDFInfo
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- CN109044261A CN109044261A CN201811129025.6A CN201811129025A CN109044261A CN 109044261 A CN109044261 A CN 109044261A CN 201811129025 A CN201811129025 A CN 201811129025A CN 109044261 A CN109044261 A CN 109044261A
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- laparoscope
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- micromotor
- connecting rod
- telescopic rod
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- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 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 claims abstract description 15
- 230000008878 coupling Effects 0.000 claims description 28
- 238000010168 coupling process Methods 0.000 claims description 28
- 238000005859 coupling reaction Methods 0.000 claims description 28
- 102000011842 Serrate-Jagged Proteins Human genes 0.000 claims description 14
- 108010036039 Serrate-Jagged Proteins Proteins 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 9
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 210000001015 abdomen Anatomy 0.000 abstract description 14
- 238000002357 laparoscopic surgery Methods 0.000 abstract description 6
- 210000000683 abdominal cavity Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000011664 signaling Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of laparoscope manipulators, including pedestal；The support rod being fixedly connected with pedestal；First universal joint；The connecting rod being connect by the first universal joint with support rod；The telescopic rod being fixedly connected with the connecting rod；Second universal joint；The laparoscope being connect by the second universal joint with telescopic rod；And the control system for the movement of controls connecting rod, telescopic rod and laparoscope.The present invention passes through the movement using control system adjust automatically connecting rod, telescopic rod and laparoscope, so that when doing laparoscopic surgery, it can go deep into the depth and angle of abdomen with adjust automatically laparoscope, it is helped without being further added by medical staff, the stability of support is also added while having liberated manpower.
Description
Technical field
The present invention relates to field of medical auxiliary equipment, in particular to a kind of laparoscope manipulator.
Background technique
Laparoscope is mainly used for carrying out abdominal cavity detection to patient, and structure has generally comprised laparoscope and display, abdominal cavity
It is provided with the camera being connected with display in the insertion end of mirror, when detection, laparoscope is inserted into patient's abdomen by medical worker
In chamber, thus fed back the situation in abdominal cavity of patients onto display by camera, and then laparoscopic surgery convenient to carry out, but
Since traditional laparoscope lacks corresponding fixed device, during carrying out laparoscopic surgery, the laparoscope one
As be all the adjustment of angle etc., so not only waste of manpower to be carried out by medical worker, but also work as hand by the hand steered fixation of medical worker
When art overlong time, medical worker also easily generates fatigue, to influence hand steered stability.
Thus the prior art could be improved and improve.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of laparoscope manipulators, can
The angle of adjust automatically laparoscope, and do not need medical worker carry out it is hand steered, it is labor-saving while also having good steady
It is qualitative.
In order to achieve the above object, this invention takes following technical schemes:
A kind of laparoscope manipulator, comprising:
Pedestal；
The support rod being fixedly connected with pedestal；
First universal joint；
The connecting rod being connect by the first universal joint with support rod；
The telescopic rod being fixedly connected with the connecting rod；
Second universal joint；
The laparoscope being connect by the second universal joint with telescopic rod；And
Control system for the movement of controls connecting rod, telescopic rod and laparoscope.
In the laparoscope manipulator, first universal joint and the second universal joint include the first universal shaft
Section and the second universal coupling；First universal coupling is the shell of inner hollow, and the second universal coupling can extend into first
The inside of universal coupling；Multiple serrate slots are provided with along its cross-wise direction in the inside of the first universal coupling, the direction of serrate slot is hung down
Directly in the section of the first universal coupling, its section is provided with the gear teeth in the outside of second universal coupling, the gear teeth are corresponding
Insertion serrate slot inside and serrate slot cooperate.
In the laparoscope manipulator, the connecting rod is connect by spacer pin with the telescopic rod, the connecting rod
It is provided with several first positioning holes on surface, several and the first positioning hole pair are provided on the surface of the telescopic rod
The second location hole answered, the spacer pin are plugged in the first positioning hole and second location hole.
In the laparoscope manipulator, the control system includes the connecting rod control list for controls connecting rod movement
Member, the abdominal cavity for controlling telescopic rod telescopic rod control unit flexible in the connecting rod and for controlling laparoscope rotation
Mirror control unit, the connecting rod control unit connect the first universal joint, and the telescopic rod control unit connection expansion link is described
Laparoscope control unit connects the second universal joint.
In the laparoscope manipulator, the connecting rod control unit includes first be set to inside the support rod
Micromotor, the first motor output shaft of the first micromotor of connection and the first universal joint are electrically connected with the first micromotor
First motor positive and reverse rotation control circuit, connect with first motor positive and reverse rotation control circuit first control chip, with first control
The first smart key that coremaking piece connects and the first electricity for powering to first micromotor and the first control chip
Source.
In the laparoscope manipulator, the telescopic rod control unit includes second be set to inside the connecting rod
Micromotor, connection the second micromotor and telescopic rod the second motor output shaft, be electrically connected with the second micromotor second
Motor positive inversion control circuit, second connect with the second motor positive inversion control circuit control chip, control chip with second
The second smart key connected and the second source for powering to second micromotor and the second control chip.
In the laparoscope manipulator, the laparoscope control unit includes be set to inside the telescopic rod
Three micromotors, the third motor output shaft of connection third micromotor and the second universal joint are electrically connected with third micromotor
The third motor positive inversion control circuit connect, the third connecting with third motor positive inversion control circuit control chip and third
Control the third smart key of chip connection and the third for powering to the third micromotor and third control chip
Power supply.
In the laparoscope manipulator, the first motor positive and reverse rotation control circuit, the control of the second motor positive and inverse
Circuit and third motor positive inversion control circuit include the first single-pole double-throw switch (SPDT) and the second single-pole double-throw switch (SPDT), and described first
The normally-closed contact of the normally-closed contact of single-pole double-throw switch (SPDT) and the second single-pole double-throw switch (SPDT) is all connected with the anode of power supply, and described first is single
The normally opened contact of the normally opened contact of double-pole double throw switch and the second single-pole double-throw switch (SPDT) is all connected with the cathode of power supply, first hilted broadsword
The common of commutator and the common of the second single-pole double-throw switch (SPDT) are separately connected the two poles of the earth of motor, first hilted broadsword
The control terminal of commutator and the control terminal of the second single-pole double-throw switch (SPDT) are all connected with control chip；
Wherein, the motor is the first micromotor in first motor positive and reverse rotation control circuit, and the control chip is first
It is the first control chip in motor positive inversion control circuit, the power supply is the first electricity in first motor positive and reverse rotation control circuit
Source；The motor in the second motor positive inversion control circuit be the second micromotor, the control chip the second motor just
It is the second control chip in reverse turn control circuit, the power supply is second source in the second motor positive inversion control circuit；Institute
It is third micromotor that motor, which is stated, in third motor positive inversion control circuit, and the control chip is in third motor positive and inverse control
Chip is controlled for third in circuit processed, the power supply is third power supply in third motor positive inversion control circuit.
In the laparoscope manipulator, the connecting rod control unit, telescopic rod control unit and laparoscope control are single
Member also includes the transmitting-receiving subelement of the bluetooth for being communicated with external remote control terminal and receives and dispatches what subelement was connect with bluetooth
Bluetooth antenna, wherein in the connecting rod control unit, the bluetooth transmitting-receiving subelement connection the first control chip, described
In telescopic rod control unit, the bluetooth transmitting-receiving subelement connection the second control chip, in the laparoscope control unit, institute
State bluetooth transmitting-receiving subelement connection third control chip.
In the laparoscope manipulator, the first control chip, the second control chip and third control chip
Model is STC12C5A60S2.
In the laparoscope manipulator, the bottom of the pedestal is provided with pulley.
Compared to the prior art, laparoscope manipulator provided by the invention, including pedestal；The branch being fixedly connected with pedestal
Strut；First universal joint；The connecting rod being connect by the first universal joint with support rod；What is be fixedly connected with the connecting rod is flexible
Bar；Second universal joint；The laparoscope being connect by the second universal joint with telescopic rod；And it is used for controls connecting rod, telescopic rod
With the control system of laparoscope movement.The present invention passes through the fortune using control system adjust automatically connecting rod, telescopic rod and laparoscope
It is dynamic, so that when doing laparoscopic surgery the depth and angle of abdomen can be goed deep into adjust automatically laparoscope, without being further added by medical care
Personnel help, and the stability of support is also added while having liberated manpower.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of laparoscope manipulator provided by the invention.
Fig. 2 is the structural schematic diagram of the universal joint in laparoscope manipulator provided by the invention.
Fig. 3 is cross-sectional view of the Fig. 2 along the direction A-A.
Fig. 4 is the structural schematic diagram of the support rod in laparoscope manipulator provided by the invention.
Fig. 5 is the structural schematic diagram of the connecting rod and telescopic rod in laparoscope manipulator provided by the invention.
Fig. 6 is the schematic diagram of the motor positive/reverse rotation circuit in laparoscope manipulator provided by the invention.
Specific embodiment
The present invention provides a kind of laparoscope manipulator, for make the purpose of the present invention, technical solution and effect it is clearer,
Clear, the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should be appreciated that specific reality described herein
Example is applied only to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, laparoscope manipulator provided by the invention, comprising:
Pedestal 1；
The support rod 2 being fixedly connected with pedestal 1；
First universal joint 3；
The connecting rod 4 being connect by the first universal joint 3 with support rod 2；
The telescopic rod 5 being fixedly connected with the connecting rod 4；
Second universal joint 6；
The laparoscope 7 being connect by the second universal joint 6 with telescopic rod 5；And
Control system (not shown) for the movement of controls connecting rod 4, telescopic rod 5 and laparoscope 7.
Specifically, the pedestal 1 is used to support laparoscope manipulator, the connecting rod 4 by the first universal joint 3 around
The support rod 2 does universal movement, and laparoscope is allowed to carry out the adjustment of wide-angle；The telescopic rod 5 is used in the company
Stretching motion is done in bar 4, so that the extension elongation of laparoscope can according to need and be adjusted；The laparoscope 7 passes through second
Universal joint 6 does universal movement around the telescopic rod, and laparoscope is allowed to carry out the adjustment of low-angle in human abdomen；It is described
Control system is moved for controls connecting rod 4, telescopic rod 5 and laparoscope 7.
The present invention is by the movement using control system adjust automatically connecting rod, telescopic rod and laparoscope, so that doing abdominal cavity
When videoendoscopic surgery, the depth and angle of abdomen can be goed deep into adjust automatically laparoscope, helped without being further added by medical staff, solved
The stability of support is also added while having put manpower；When specifically used, the connecting rod 4 is adjusted according to the actual situation first
Angle, so that the laparoscope 7 is protruded into human abdomen under this angle, it is then flexible further according to the length adjustment of manipulator
Bar 5 makes laparoscope 7 slowly protrude into human abdomen by adjusting telescopic rod 5, finally further according to operation actual conditions, utilizes second
Universal joint does low-angle adjustment to laparoscope 7, allows doctor after low-angle adjusts, can be observed by display
To the required position seen, thus better implementation laparoscopic surgery.
Furthermore, it is understood that also referring to Fig. 1 to Fig. 3, first universal joint 3 and the second universal joint 6 include
First universal coupling 11 and the second universal coupling 12；The maximum cross-section area of second universal coupling 12 is less than the first universal coupling 11
The maximum cross-section area, the second universal coupling 12 can extend into the inside of the first universal coupling 11；In first universal coupling
11 inside is provided with multiple serrate slots 13, direction the cutting perpendicular to the first universal coupling 11 of serrate slot 13 along its cross-wise direction
Face is provided with the gear teeth 13 along its section in the outside of second universal coupling 12, and the gear teeth 13 are combined with serrate slot 14
Certain ulnar side gap, the inside of the corresponding insertion serrate slot 14 of the gear teeth 13 and serrate slot 14 cooperate, in the first universal coupling 11
It is each provided with axle sleeve 16 with the end of the second universal coupling 12, is provided with keyway inside axle sleeve 16, is turned round for connecting to need to transmit
Two axis of square, in the present embodiment, two axis of the first universal joint connection are respectively support rod 2 and connecting rod 4, the second Universal connector
Two axis of head connection are respectively telescopic rod 5 and laparoscope 7, and the gear teeth 13 can move in the gear teeth 13, movement
Direction is different, and second universal coupling 12 is allowed to make the rotation of different directions around first universal coupling 11, thus
The universal rotational of support rod 2 and connecting rod 4 and telescopic rod 5 and laparoscope 7 is realized, and due to corresponding to when transmitting torque
The gear teeth matched with serrate slot, significantly increase forced area, bigger torque can be transmitted, between the gear teeth and serrate slot
There are certain ulnar side gaps to reduce rate of breakdown so that universal joint can automatically adjust angle.
Fig. 1 and Fig. 5 are please referred to, the connecting rod 4 is connect by spacer pin (not shown) with the telescopic rod 5, described
It is provided with several first positioning holes 41 on the surface of connecting rod 4, several and described are provided on the surface of the telescopic rod 5
The corresponding second location hole 51 of a positioning hole 41, the spacer pin are plugged in the first positioning hole 41 and second location hole 51
In, the diameter of the connecting rod 4 is greater than the diameter of the telescopic rod 5, and the telescopic rod 4 can be adjusted by the position of spacer pin
Length in its retraction connecting rod 4, the abdomen for further realizing laparoscope go deep into length adjustment, only need to will be described fixed in adjustment
Position pin adjusts in the first positioning hole 41 and second location hole 51 corresponding with first positioning hole 41 of different location, can be realized
Telescopic rod 5 gos deep into the adjustment of length, and structure is simple, and easy to adjust.
Furthermore, it is understood that the control system includes (not showing in figure for the connecting rod control unit that controls connecting rod 4 moves
Out), for control telescopic rod 5 in the connecting rod 4 stretch telescopic rod control unit (not shown) and for controlling
The laparoscope control unit (not shown) that laparoscope 7 rotates, the connecting rod control unit connect the first universal joint 3, institute
Telescopic rod control unit connection expansion link 5 is stated, the laparoscope control unit connects the second universal joint 6.
Specifically, the connecting rod control unit is rotated for controls connecting rod 4 around the support rod 2 in all directions, is used
Family can realize the control to connecting rod 4 by operator link control unit, and the connecting rod 4 also drives the telescopic rod 5 and abdominal cavity
Mirror 7 rotates, and laparoscope 7 is made to realize the adjustment of wide-angle；The telescopic rod control unit is for controlling telescopic rod 5 in the connecting rod
It stretches in 4, user can operate the telescopic rod control unit to realize the motion control to telescopic rod 5, so as to control abdomen
Hysteroscope extends into or out human abdomen；The laparoscope control unit is for controlling laparoscope 7 around the telescopic rod 5 along each side
To rotation, user can realize the control to laparoscope 7 by operation laparoscope control unit, so that laparoscope 7 can be with
The rotation that low-angle is realized in human abdomen, facilitates the observation of medical staff.
Furthermore, it is understood that referring to Fig. 4, the connecting rod control unit include be set to it is first micro- inside the support rod
The first motor output shaft 22 and the first micromotor 21 of type motor 21, the first micromotor 21 of connection and the first universal joint 3
The first motor positive and reverse rotation control circuit (being not shown in Fig. 4) of electrical connection, connect with first motor positive and reverse rotation control circuit
One control chip (being not shown in Fig. 4) controls the first smart key 23 and be used for described first that chip is connect with first
The first power supply (being not shown in Fig. 4) of micromotor 21 and the first control chip power supply.
Specifically, after the first control chip receives the push button signalling that the first smart key 23 is sent, judgement is electricity
Then the positive rotaring signal of machine or motor reversal signal make motor forward or reverse by controlling first motor positive and negative rotation circuit, the
After one micromotor 21 receives signal, connecting rod 4 is driven to turn around support rod 2 along all angles by first motor output shaft 22
It is dynamic, it is preferred that first smart key 23, which includes at least, rotates forward key and reverse button, and the first control chip can be used
The STC family chip of model STC12C5A60S2, it is at low cost, and also performance is stablized, certainly, and in other embodiments, institute
Stating the first control chip also can be used the chip of other models, and this is not limited by the present invention.
Referring to Figure 6 together, the first motor positive and reverse rotation control circuit includes the first single-pole double-throw switch (SPDT) K1 and second
Single-pole double-throw switch (SPDT) K2, the normally-closed contact of the first single-pole double-throw switch (SPDT) K1 and the normally-closed contact of the second single-pole double-throw switch (SPDT) K2
It is all connected with the anode of the first power supply, the normally opened contact of the first single-pole double-throw switch (SPDT) K1 and the second single-pole double-throw switch (SPDT) K2's is normal
Open the cathode that contact is all connected with the first power supply, the common and the second single-pole double-throw switch (SPDT) of the first single-pole double-throw switch (SPDT) K1
The common of K2 is separately connected the two poles of the earth of the first micromotor 21, the control terminal of first single-pole double-throw switch (SPDT) and the second list
The control terminal of double-pole double throw switch is all connected with the first control chip U1.
Specifically, when the first control chip U1 controls normally opened contact conducting, the second list of the first single-pole double-throw switch (SPDT) K1
When the normally-closed contact conducting of double-pole double throw switch K2, positive normally closed touching through second single-pole double-throw switch (SPDT) K2 of the electric current from the first power supply
Point, the end B of the first micromotor 21, the end A of the first micromotor 21, the first single-pole double-throw switch (SPDT) K1 normally opened contact to first
The cathode of power supply, the reversion of the first micromotor 21；When the first control chip U1 controls the normally closed touching of the first single-pole double-throw switch (SPDT) K1
Point conducting, the second single-pole double-throw switch (SPDT) K2 normally opened contact conducting when, electric current from the first power supply anode through the first single-pole double throw
The normally-closed contact of switch K1, the end A of the first micromotor 21, the end B of the first micromotor 21, the second single-pole double-throw switch (SPDT) K2
To the cathode of the first power supply, the first micromotor 21 rotates forward normally opened contact, so that it is positive and negative to realize the first micromotor 21 of control
The function of turning achievees the purpose that controls connecting rod 4 is rotated in different angle.
Please continue to refer to Fig. 5, the telescopic rod control unit includes the second micromotor being set to inside the connecting rod 4
42, second for connecting the second motor output shaft 43 of the second micromotor 42 and telescopic rod 5, being electrically connected with the second micromotor 43
Motor positive inversion control circuit (being not shown in Fig. 5), second connect with the second motor positive inversion control circuit control chip (figure
Be not shown in 5), with second the second smart key 44 for connect of control chip and be used for second micromotor 42 and the
The second source (being not shown in Fig. 5) of two control chip power supplies.
Specifically, after the second control chip receives the push button signalling that the second smart key 44 is sent, judgement is electricity
Then the positive rotaring signal of machine or motor reversal signal make motor forward or reverse by controlling the second motor positive/reverse rotation circuit, the
After two micromotors 42 receive signal, drives telescopic rod 5 to stretch in the connecting rod 4 by the second motor output shaft 43 and transport
It is dynamic, it is preferred that second smart key 44, which includes at least, rotates forward key and reverse button, and the second control chip can be used
The STC family chip of model STC12C5A60S2, it is at low cost, and also performance is stablized, certainly, and in other embodiments, institute
Stating the second control chip also can be used the chip of other models, and this is not limited by the present invention.
Referring to Figure 6 together, second motor positive inversion control circuit includes the first single-pole double-throw switch (SPDT) K1 and second
Single-pole double-throw switch (SPDT) K2, the normally-closed contact of the first single-pole double-throw switch (SPDT) K1 and the normally-closed contact of the second single-pole double-throw switch (SPDT) K2
It is all connected with the anode of second source, the normally opened contact of the first single-pole double-throw switch (SPDT) K1 and the second single-pole double-throw switch (SPDT) K2's is normal
Open the cathode that contact is all connected with second source, the common and the second single-pole double-throw switch (SPDT) of the first single-pole double-throw switch (SPDT) K1
The common of K2 is separately connected the two poles of the earth of the second micromotor 42, the control terminal of first single-pole double-throw switch (SPDT) and the second list
The control terminal of double-pole double throw switch is all connected with the second control chip U2.
Specifically, when the second control chip U2 controls normally opened contact conducting, the second list of the first single-pole double-throw switch (SPDT) K1
When the normally-closed contact conducting of double-pole double throw switch K2, positive normally closed touching through second single-pole double-throw switch (SPDT) K2 of the electric current from second source
Point, the end B of the second micromotor 42, the end A of the second micromotor 42, the first single-pole double-throw switch (SPDT) K1 normally opened contact to second
The cathode of power supply, the reversion of the second micromotor 42；When the second control chip U2 controls the normally closed touching of the first single-pole double-throw switch (SPDT) K1
Point conducting, the second single-pole double-throw switch (SPDT) K2 normally opened contact conducting when, electric current from second source anode through the first single-pole double throw
The normally-closed contact of switch K1, the end A of the second micromotor 42, the end B of the second micromotor 42, the second single-pole double-throw switch (SPDT) K2
To the cathode of second source, the second micromotor 42 rotates forward normally opened contact, so that it is positive and negative to realize the second micromotor 42 of control
The function of turning achievees the purpose that control the stretching motion in connecting rod 4 of telescopic rod 5.
Please continue to refer to Fig. 5, the laparoscope control unit includes the third micro electric being set to inside the telescopic rod 5
Machine 52, the third motor output shaft 53 of connection third micromotor 52 and the second universal joint 6 are electrically connected with third micromotor 52
The third motor positive inversion control circuit (being not shown in Fig. 5) connect, the third control being connect with third motor positive inversion control circuit
Coremaking piece (being not shown in Fig. 5) controls the third smart key 54 and be used for miniature to the third that chip is connect with third
The third power supply (being not shown in Fig. 5) of motor and third control chip power supply.
Specifically, after the third control chip receives the push button signalling that third smart key 23 is sent, judgement is electricity
Then the positive rotaring signal of machine or motor reversal signal make motor forward or reverse by controlling third motor positive/reverse rotation circuit, the
After three micromotors 52 receive signal, laparoscope 7 is driven to turn around telescopic rod 5 along all angles by third motor output shaft 53
It is dynamic, it is preferred that the third smart key 54, which includes at least, rotates forward key and reverse button, and the third control chip can be used
The STC family chip of model STC12C5A60S2, it is at low cost, and also performance is stablized, certainly, and in other embodiments, institute
Stating third control chip also can be used the chip of other models, and this is not limited by the present invention.
Referring to Figure 6 together, the third motor positive inversion control circuit includes the first single-pole double-throw switch (SPDT) K1 and second
Single-pole double-throw switch (SPDT) K2, the normally-closed contact of the first single-pole double-throw switch (SPDT) K1 and the normally-closed contact of the second single-pole double-throw switch (SPDT) K2
It is all connected with the anode of third power supply, the normally opened contact of the first single-pole double-throw switch (SPDT) K1 and the second single-pole double-throw switch (SPDT) K2's is normal
Open the cathode that contact is all connected with third power supply, the common and the second single-pole double-throw switch (SPDT) of the first single-pole double-throw switch (SPDT) K1
The common of K2 is separately connected the two poles of the earth of third micromotor 52, the control terminal of first single-pole double-throw switch (SPDT) and the second list
The control terminal of double-pole double throw switch is all connected with third control chip U3.
Specifically, when third control chip U3 controls normally opened contact conducting, the second list of the first single-pole double-throw switch (SPDT) K1
When the normally-closed contact conducting of double-pole double throw switch K2, positive normally closed touching through second single-pole double-throw switch (SPDT) K2 of the electric current from third power supply
Point, the end B of third micromotor 52, the end A of third micromotor 52, the first single-pole double-throw switch (SPDT) K1 normally opened contact to third
The cathode of power supply, third micromotor 52 invert；When third control chip U3 controls the normally closed touching of the first single-pole double-throw switch (SPDT) K1
Point conducting, the second single-pole double-throw switch (SPDT) K2 normally opened contact conducting when, electric current from third power supply anode through the first single-pole double throw
The normally-closed contact of switch K1, the end A of third micromotor 52, the end B of third micromotor 52, the second single-pole double-throw switch (SPDT) K2
To the cathode of third power supply, third micromotor 52 rotates forward normally opened contact, so that it is positive and negative to realize control third micromotor 52
The function of turning achievees the purpose that control laparoscope 7 rotates in different angle.
Furthermore, it is understood that the connecting rod control unit, telescopic rod control unit and laparoscope control unit also include use
Receive and dispatch what subelement was connect in the bluetooth transmitting-receiving subelement (not shown) communicated with external remote control terminal and with bluetooth
Bluetooth antenna (not shown) facilitates medical staff and controls using remote control device the movement of each mould group, to realize abdomen
The remote control of hysteroscope manipulator, wherein in the connecting rod control unit, the first control of the bluetooth transmitting-receiving subelement connection
Coremaking piece U1, in the telescopic rod control unit, the bluetooth transmitting-receiving subelement connection the second control chip U2, in the abdomen
In hysteroscope control unit, the bluetooth transmitting-receiving subelement connection third controls chip U3, and the bluetooth transmitting-receiving subelement receives
After the control instruction of external remote control terminal, corresponding motor is controlled according to instruction and is moved accordingly, to realize each
Move the remote control operation of mould group；Wherein, the intelligence that the remote terminal can have Bluetooth function for mobile phone, plate etc. is set
Standby, the physical circuit principle of the bluetooth transmitting-receiving subelement is the prior art, and the present invention is not described in detail herein.
Please continue to refer to Fig. 1, in laparoscope manipulator provided by the invention, the bottom of the pedestal 1 is provided with pulley
8, the laparoscope manipulator is pushed for staff, the pulley 8 has self-locking device, is needing to fix
When, self-locking device is opened, prevents the pulley 8 from rolling, not only facilitates the movement of laparoscope manipulator, but also conveniently performing the operation
When be fixed.
In conclusion laparoscope manipulator provided by the invention, including pedestal；The support rod being fixedly connected with pedestal；
First universal joint；The connecting rod being connect by the first universal joint with support rod；The telescopic rod being fixedly connected with the connecting rod；The
Two universal joints；The laparoscope being connect by the second universal joint with telescopic rod；And it is used for controls connecting rod, telescopic rod and abdominal cavity
The control system of mirror movement.The present invention by utilize control system adjust automatically connecting rod, telescopic rod and laparoscope movement so that
When doing laparoscopic surgery, the depth and angle of abdomen can be goed deep into adjust automatically laparoscope, without be further added by medical staff into
Row is helped, and the stability of support is also added while having liberated manpower.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (10)
1. a kind of laparoscope manipulator characterized by comprising
Pedestal；
The support rod being fixedly connected with pedestal；
First universal joint；
The connecting rod being connect by the first universal joint with support rod；
The telescopic rod being fixedly connected with the connecting rod；
Second universal joint；
The laparoscope being connect by the second universal joint with telescopic rod；And
Control system for the movement of controls connecting rod, telescopic rod and laparoscope.
2. laparoscope manipulator according to claim 1, which is characterized in that first universal joint and second universal
Connector includes the first universal coupling and the second universal coupling；First universal coupling be inner hollow shell, second
Universal coupling can extend into the inside of the first universal coupling；Multiple teeth are provided with along its cross-wise direction in the inside of the first universal coupling
Shape slot, the direction of serrate slot perpendicular to the first universal coupling section, in the outside of second universal coupling along its section
The gear teeth are provided with, the inside of the corresponding insertion serrate slot of the gear teeth and serrate slot cooperate.
3. laparoscope manipulator according to claim 2, which is characterized in that the connecting rod is stretched by spacer pin with described
Contracting bar connects, and is provided with several first positioning holes on the surface of the connecting rod, is provided on the surface of the telescopic rod several
A second location hole corresponding with the first positioning hole, the spacer pin is plugged on to be positioned in the first positioning hole and second
Kong Zhong.
4. laparoscope manipulator according to claim 3, which is characterized in that the control system includes for the company of control
Bar movement connecting rod control unit, for control telescopic rod in the connecting rod stretch telescopic rod control unit and for controlling
The laparoscope control unit of laparoscope rotation processed, the connecting rod control unit connect the first universal joint, the telescopic rod control
Unit connection expansion link, the laparoscope control unit connect the second universal joint.
5. laparoscope manipulator according to claim 4, which is characterized in that the connecting rod control unit includes being set to
The first motor output shaft of the first micromotor, the first micromotor of connection and the first universal joint inside the support rod,
With the first motor positive and reverse rotation control circuit of the first micromotor electrical connection, connect with first motor positive and reverse rotation control circuit the
One control chip controls the first smart key and be used to control to first micromotor and first that chip is connect with first
First power supply of coremaking piece power supply.
6. laparoscope manipulator according to claim 5, which is characterized in that the telescopic rod control unit includes setting
The second motor output shaft and second of the second micromotor, the second micromotor of connection and telescopic rod inside the connecting rod
Second motor positive inversion control circuit of micromotor electrical connection, the second control being connect with the second motor positive inversion control circuit
Chip controls the second smart key and be used for second micromotor and the second control chip that chip is connect with second
The second source of power supply.
7. laparoscope manipulator according to claim 6, which is characterized in that the laparoscope control unit includes setting
The third motor output of third micromotor, connection third micromotor and the second universal joint inside the telescopic rod
Axis is connect with the third motor positive inversion control circuit of third micromotor electrical connection, with third motor positive inversion control circuit
Third control chip, with the third third smart key that connect of control chip and be used for the third micromotor and the
The third power supply of three control chip power supplies.
8. laparoscope manipulator according to claim 7, which is characterized in that the first motor positive and negative rotation control electricity
Road, the second motor positive inversion control circuit and third motor positive inversion control circuit include the first single-pole double-throw switch (SPDT) and second
Single-pole double-throw switch (SPDT), the normally-closed contact of first single-pole double-throw switch (SPDT) and the normally-closed contact of the second single-pole double-throw switch (SPDT) are all connected with
The anode of power supply, the normally opened contact of first single-pole double-throw switch (SPDT) and the normally opened contact of the second single-pole double-throw switch (SPDT) are all connected with electricity
The cathode in source, the common of first single-pole double-throw switch (SPDT) and the common of the second single-pole double-throw switch (SPDT) are separately connected electricity
The two poles of the earth of machine, the control terminal of first single-pole double-throw switch (SPDT) and the control terminal of the second single-pole double-throw switch (SPDT) are all connected with control core
Piece；
Wherein, the motor is the first micromotor in first motor positive and reverse rotation control circuit, and the control chip is first
It is the first control chip in motor positive inversion control circuit, the power supply is the first electricity in first motor positive and reverse rotation control circuit
Source；The motor in the second motor positive inversion control circuit be the second micromotor, the control chip the second motor just
It is the second control chip in reverse turn control circuit, the power supply is second source in the second motor positive inversion control circuit；Institute
It is third micromotor that motor, which is stated, in third motor positive inversion control circuit, and the control chip is in third motor positive and inverse control
Chip is controlled for third in circuit processed, the power supply is third power supply in third motor positive inversion control circuit.
9. laparoscope manipulator according to claim 8, which is characterized in that the connecting rod control unit, telescopic rod control
Unit and laparoscope control unit processed also include the bluetooth for being communicated with external remote control terminal transmitting-receiving subelement and with
Bluetooth receives and dispatches the Bluetooth antenna of subelement connection, wherein in the connecting rod control unit, the bluetooth transmitting-receiving subelement connection
First control chip, in the telescopic rod control unit, the bluetooth transmitting-receiving subelement connection the second control chip, described
In laparoscope control unit, the bluetooth transmitting-receiving subelement connection third controls chip.
10. laparoscope manipulator according to claim 9, which is characterized in that the first control chip, the second control
The model of chip and third control chip is STC12C5A60S2.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811129025.6A CN109044261A (en) | 2018-09-27 | 2018-09-27 | A kind of laparoscope manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811129025.6A CN109044261A (en) | 2018-09-27 | 2018-09-27 | A kind of laparoscope manipulator |
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Family
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| CN201811129025.6A Pending CN109044261A (en) | 2018-09-27 | 2018-09-27 | A kind of laparoscope manipulator |
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| CN109938686A (en) * | 2019-03-04 | 2019-06-28 | 张朝阳 | A kind of adjustable-angle laparoscope having eyeglass anti-pollution function |
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| CN111227779A (en) * | 2020-03-07 | 2020-06-05 | 山东山大附属生殖医院有限公司 | Manipulator for laparoscope |
| CN113478491A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Method and system for controlling position of mechanical arm, robot and storage medium |
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