CN111658153A

CN111658153A - Force sensing colonoscope conveying device based on UR mechanical arm

Info

Publication number: CN111658153A
Application number: CN202010718956.0A
Authority: CN
Inventors: 张永德; 高英博; 赵梓汐; 姜金刚
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2020-09-15

Abstract

The invention discloses a force sensing colonoscope conveying device based on a UR mechanical arm. The mode that the doctor manually propels the colonoscope and rotates the scope body to observe the intestinal lumen focus and carry out the colon examination is improved, the doctor is liberated from the tedious and repeated work, the colonoscope conveying device can be matched with the doctor to complete the whole process of the colon examination operation of the patient, and the device is provided with the torque sensor and the force sensor to sense the force action between the colonoscope and the intestinal wall, so that the intestinal perforation is guaranteed. Compared with the traditional doctor colon examination operation mode, the colonoscope conveying device provided by the invention assists a doctor in positioning the colon examination accurately, has strong flexibility and high reliability, is applied to clinic, improves the diagnosis efficiency and reduces the pain of patients, and simultaneously provides a safer operation mode for the doctor.

Description

Force sensing colonoscope conveying device based on UR mechanical arm

Technical Field

The invention belongs to the field of endoscope operation medical robots, and particularly relates to an operation mode of a colonoscope in a colon examination process of a doctor.

Background

Global cancer statistics morbidity and mortality for 36 cancers in 185 countries worldwide, data indicate approximately 1810 million new cases, 960 ten thousand cancer deaths, with colorectal cancer morbidity and mortality accounting for 10.2% and 9.2%, respectively, with ranks ranking third and second for cancer. While 80% of colorectal cancers are transformed by benign colorectal polyps, the survival rate would be significantly improved if colorectal cancers could be detected and treated at an early stage. Therefore, the key to preventing colorectal cancer is to find and clear polyps as soon as possible.

Enteroscopy is a kind of endoscope used for examining, diagnosing and treating inflammatory ulcer, polyp, tumor, etc. of mucosa and submucosa of colon and rectum intestinal wall. Colorectal diseases are difficult to be diagnosed accurately and comprehensively through medical history and physical signs. At present, colorectal and other digestive system-related diseases are examined mainly using endoscopic techniques in clinical practice.

Because colonoscopy needs to carry out interventional operation through human natural orifice, the intestinal lumen inner space environment is narrow and small, crooked complicated, intestinal wall abdominal fold and have certain extension characteristic, it is complicated to have the environment compared with other operations, the operation degree of difficulty is big and the characteristics that the risk is high, consequently, higher requirement has been proposed to the doctor of enteroscopy, the doctor needs the rotation of long-time repetitive one-hand control size thumb wheel, cooperate another hand to impel and rotatory mirror body observation intestinal lumen focus, frequent operation can arouse the doctor discomfort, decentralized attention makes the operation be difficult to reach best effect, and simultaneously, long-time colon inspection operation, cause very big injury to doctor's shoulder.

In order to solve the technical problems, the invention provides a force sensing colonoscope conveying device based on a UR mechanical arm, which comprises a hand lever, an adapter plate, a slide rail frame, a shell, a fixing plate, a hanging rod, a spring, a roller, a gear, a torque sensor and a three-dimensional force sensor. Improves the mode that a doctor manually pushes the colonoscope and rotates the scope body to observe the intestinal cavity focus to carry out colon examination, relieves the doctor from the fussy and repeated work, meanwhile, the cooperation of an assistant is not needed any more, the colonoscope robot system can be matched with a doctor, the doctor can independently complete the whole process of the whole colon examination operation of the patient, and the device is provided with a torque sensor and a force sensor for sensing the force action between the colonoscope and the intestinal wall, thereby providing guarantee for intestinal perforation, compared with the traditional doctor colon examination operation mode, the force sensing colonoscope conveying device based on the UR mechanical arm provided by the invention assists a doctor in accurate positioning, strong flexibility and high reliability of colon examination, is applied to clinic, improves diagnosis efficiency and reduces pain of patients, and simultaneously provides a safer operation mode for the doctor.

Disclosure of Invention

The invention aims to provide a force sensing colonoscope conveying device based on a UR mechanical arm, which aims to enable a doctor to operate autonomously as much as possible under the condition of ensuring the accuracy of an examination result and reduce the burden of the doctor.

The purpose of the invention is realized as follows: including hand lever, switching dish, slide rail frame, shell, fixed plate, jib, spring, roller, gear, torque sensor, three-dimensional force transducer, the shell left and right sides all with slide rail I, slide rail II, hole I and hole II, hole III and hole IV are attached to both sides around the shell, the fixed axle passes hole I and hole II of shell, slide rail I and slide rail II of shell are passed to the sliding shaft, the left side at the shell is installed to the gear fender bracket, three-dimensional force transducer places the front end at the shell, hole III's center aligns on its three-dimensional force transducer's the center and the shell, the front end at the shell is installed to the sensor mount, the upper end at the shell is installed to the fixed plate.

As a further optimization of the technical scheme, the motor, the roller I and the gear I are sequentially arranged on the fixed shaft, the suspension ring I, the torque sensor, the roller II, the suspension ring II and the gear II are sequentially arranged on the sliding shaft, one end of the suspension rod I is arranged on the suspension ring I, the other end of the suspension rod I penetrates through the spring I and the hole V of the fixed plate and then is arranged at one end of the hand lever, one end of the suspension rod II is arranged on the suspension ring II, and the other end of the suspension rod II penetrates through the spring II and the hole VI of the fixed plate and then is arranged at one end of the.

As a further optimization of the technical scheme, the slide rail frame is attached with a slide rail, the inner surface of the slide rail is attached to the outer surface of one end of the slide shaft, the slide rail frame is fixed on the right side of the shell, the adapter plate is fixed on the slide rail frame, and the adapter plate can be fixed on a rotary joint at the tail end of the UR mechanical arm.

The invention has the beneficial effects that:

1. the device is connected to the tail end of the UR mechanical arm, the position and the rotating angle of the device can be controlled through the UR mechanical arm, the colonoscope body can be conveyed to the inside of the intestinal tract of a human body through the roller mechanism, the right hand of a doctor can be replaced perfectly, and the labor intensity of the doctor is relieved.

2. The hand-pulling rod is lifted, the rollers on the upper side are lifted, the colonoscope penetrates through the holes on the front side and the rear side of the shell, the front end of the colonoscope can be prevented from being elastically deformed by the acting force of the two rollers, the colonoscope can be effectively clamped under the action of the spring, slipping is prevented, and the conveying precision of the colonoscope is guaranteed.

3. The transmission efficiency of the motor output can be guaranteed through gear meshing, meanwhile, the stress condition of the colonoscope when entering the intestinal tract is sensed according to the torque sensor on the sliding shaft, safety guarantee is provided for the conveying of the colonoscope, and perforation caused by overlarge stress of the intestinal tract is prevented.

Drawings

For the purpose of illustration, the invention is described in detail below with reference to the following detailed description and the accompanying drawings.

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic diagram of the general construction of a UR robotic arm based force sensing colonoscope transport apparatus of the present invention;

FIG. 2 is a schematic view of a UR robotic arm based force sensing colonoscope transport apparatus of the present invention mounted on the UR robotic arm;

FIG. 3 is a schematic view of a force sensing colonoscope transport apparatus of the present invention based on UR robotic arms with the housing removed;

FIG. 4 is a schematic structural view of the housing of a force sensing colonoscope delivery apparatus based on UR robotic arms of the present invention;

FIG. 5 is a schematic drawing showing the right side of a force sensing colonoscope transport apparatus of the present invention with the housing removed and based on a UR robot arm;

in the above drawings: 1. the hand lever, 2, a fixed plate, 3, a gear protection frame, 4, a shell, 5, a sliding rail frame, 6, an adapter plate, 7, a three-dimensional force sensor, 8, a sensor fixing frame, 9, a spring I, 10, a spring II, 11, a hanging rod II, 12, a hanging rod I, 13, a hanging ring I, 14, a hanging ring II, 15, a roller I, 16, a sliding shaft, 17, a gear I, 18, a gear II, 19, a fixed shaft, 20, a roller II, 21, a motor, 22, a torque sensor, 23UR mechanical arm, 4-1, a sliding rail II, 4-2, a sliding rail I, 4-3, a hole II, 4-4, a hole I, 4-5, a hole IV, 4-6, a hole III, 4-7, a hole V and 4-8 holes VI.

Detailed Description

The embodiment is described below with reference to fig. 1, 2, 3, 4, and 5, the present invention relates to the field of medical robots for endoscopic surgery, and more particularly to the way in which a doctor performs a colon examination operation, including 1. a hand lever, 2. a fixing plate, 3. a gear protection bracket, 4. a housing, 5. a slide rail bracket, 6. an adapter plate, 7. a three-dimensional force sensor, 8. a sensor fixing bracket, 9. a spring I, 10. a spring II, 11. a suspension rod II, 12. a suspension rod I, 13. a suspension ring I, 14. a suspension ring II, 15. a roller I, 16. a sliding shaft, 17. a gear I, 18. a gear II, 19. a fixing shaft, 20. a roller II, 21. a motor, 22. a torque sensor, and 23UR mechanical arms. The preparation work is that the adapter plate 6 is fixed at the tail end of the UR mechanical arm 23, the UR mechanical arm 23 is driven to enable the device to be located at a proper position away from the anus of a patient, the hand lever 1 is pulled, the colonoscope passes through the gap between the hole III4-6 of the shell 4, the roller I15 and the roller II20 and the hole IV4-5 of the shell 4 at one time, the hand lever 1 is loosened, the hand lever 1 is reset under the action of the spring I9 and the spring II10, the colonoscope is clamped by the roller I15 and the roller II16, a doctor rotates the device by a proper driving angle through driving the tail end rotating joint of the UR mechanical arm 23, then the front end of the colonoscope reaches the anus of the patient, the UR mechanical arm 23 is fixed, and the preparation work. The doctor drives the motor 21, the roller II20 and the gear II18 on the fixed shaft 19 rotate, the gear II18 and the gear I17 are meshed, the gear I17 and the roller I15 on the sliding shaft 16 rotate in the opposite direction to the rotation direction of the roller II20 and the gear II18 on the fixed shaft 19, when the roller I15 and the roller II20 rotate, the colonoscope is conveyed to the intestinal canal of the patient by the friction force between the roller I15, the roller II20 and the colonoscope body, the torque sensor 22 can sense the conveying force of the colonoscope at any time, if the conveying force is too large, the motor 21 can move reversely for a period of time and then stops running, safety guarantee is provided for preventing intestinal perforation, when a doctor operates a handle of the colonoscope, the three-dimensional force sensor 7 can sense the force condition of the bending of the colonoscope acting on the intestinal wall, if the stress of the intestinal wall is too large, the motor 21 still moves reversely for a period of time and then stops running, so that the problem of perforation of the intestinal wall is avoided to a certain extent.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. A force sensing colonoscope conveying device based on a UR mechanical arm comprises a hand lever (1), an adapter plate (6), a sliding rail frame (5), a shell (4), a fixing plate (2), a hanging rod I (12), a hanging rod II (11), a roller I (15), a roller II (20), a gear I (17), a gear II (18), a torque sensor (22) and a three-dimensional force sensor (7), wherein sliding rails I (4-2), sliding rails II (4-1), holes I (4-4) and holes II (4-3) are attached to the left side and the right side of the shell, holes III (4-6) and holes IV (4-5) are attached to the front side and the rear side of the shell, a fixing shaft penetrates through the holes I (4-4) and the holes II (4-3) of the shell, and the sliding shaft penetrates through the sliding rails I (4-2) and the sliding rails II (4-1) of the shell, the gear protection frame (3) is installed on the left side of the shell (4), the three-dimensional force sensor (7) is placed at the front end of the shell (4), the center of the three-dimensional force sensor (7) is aligned with the center of the hole III (4-6) in the shell, the sensor fixing frame (8) is installed at the front end of the shell (4), and the fixing plate (2) is installed at the upper end of the shell (4).

2. A UR robotic arm based force sensing colonoscope transport apparatus as claimed in claim 1 wherein: the hand lever is characterized in that the motor (21), the roller I (15) and the gear I (17) are sequentially installed on the fixed shaft (19), the hanging ring I (13), the torque sensor (22), the roller II (20), the hanging ring II (14) and the gear II (18) are sequentially installed on the sliding shaft (16), one end of the hanging rod I (12) is installed on the hanging ring I (13), the other end of the hanging rod I (13) penetrates through the spring I (9), one end of the hand lever (1) is installed behind the hole V (4-7) of the fixed plate (2), one end of the hanging rod II (11) is installed on the hanging ring II (14), the other end of the hanging rod II (11) penetrates through the spring II (10), and one end of the hand lever (1) is installed behind the hole VI (4-8) of the fixed.

3. A UR robotic arm based force sensing colonoscope transport apparatus as claimed in claim 1 wherein: the sliding rail frame (5) is attached with a sliding rail, the inner surface of the sliding rail is attached to the outer surface of one end of the sliding shaft (16), the sliding rail frame (5) is fixed on the right side of the shell (4), the switching disc (6) is fixed on the sliding rail frame (5), and the switching disc (6) can be fixed on a rotary joint at the tail end of the UR mechanical arm (23).