CN207693678U - A kind of medical treatment device based on digestive endoscopy - Google Patents
A kind of medical treatment device based on digestive endoscopy Download PDFInfo
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- CN207693678U CN207693678U CN201720510898.6U CN201720510898U CN207693678U CN 207693678 U CN207693678 U CN 207693678U CN 201720510898 U CN201720510898 U CN 201720510898U CN 207693678 U CN207693678 U CN 207693678U
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- mechanical arm
- digestive endoscopy
- rotor
- flexible mechanical
- treatment device
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Abstract
The utility model is related to medical instruments fields, disclose a kind of medical treatment device based on digestive endoscopy, including digestive endoscopy, the flexible mechanical arm being connect with digestive endoscopy, several driving ropes being connect with flexible mechanical arm and the power module with driving rope connection；Wherein, driving rope can be driven by power module and be stretched, to draw flexible mechanical arm with respect to digestive endoscopy self-movement.The utility model is provided with flexible mechanical arm, flexible mechanical arm can be bent under the driving of power module towards different directions, to drive surgical instrument relative to digestive endoscopy self-movement, compared to the mode that digestive endoscopy drives surgical instrument movement, the flexible deflecting of surgical instrument may be implemented in the utility model, the kinematic accuracy for ensureing surgical instrument, can also reduce the space needed for surgical instrument movement, extend the scope of application of digestive endoscopy.
Description
Technical field
The utility model is related to medical instruments fields, are specifically related to a kind of machine using on digestive endoscopy and digestive endoscopy
Xie Beideng mechanisms carry out the operation device of human body diagnosis and treatment.
Background technology
With the development of technology, digestive endoscopy is increasingly used in the diagnosis of disease, treatment.Digestive endoscopy usually wraps
Light source, object lens and instrument channel are included, wherein object lens are for being imaged, and light source is for illuminating tissue, device when object lens are imaged
Tool channel is then used to guide surgical instrument (such as electric knife).In use, digestive endoscopy is stretched into patient's body along body cavities first
It is interior, then surgical instrument is inserted into the instrument channel of digestive endoscopy, and lesion locations are moved to along instrument channel.Due to operation
Instrument needs continually adjustment direction and angle in operation, and instrument itself does not have power, therefore adopts in the prior art
With the scheme for driving surgical instrument movement by the movement of digestive endoscopy, however such scheme is difficult to realize the flexible of surgical instrument
Deflecting, while precision is also difficult to ensure, in addition, digestive endoscopy movement needs larger space, is existed in actual use
More limitation.
Utility model content
In order to overcome the limitation of surgical instrument movement mode in the prior art, improves surgical instrument in the prior art and be difficult to
Realize that the problems such as flexible deflecting, kinematic accuracy are low, space hold is big, the utility model provide a kind of medical treatment based on digestive endoscopy
Device.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of medical treatment device based on digestive endoscopy, including digestive endoscopy, the flexible mechanical arm being connect with digestive endoscopy, with
Several driving ropes of flexible mechanical arm connection and the power module connected with driving rope；Wherein, driving rope can be by power module
It drives and stretches, to draw flexible mechanical arm with respect to digestive endoscopy self-movement.
As the mode that is further improved of said program, flexible mechanical arm includes several concatenated rotors, three or more
Driving restrict along the circumferentially distributed of rotor, and sequentially pass through rotor along series connection direction, and it is affixed with the rotor of least significant end；
With the flexible of driving rope, previous rotor can relatively latter rotor along at least one direction reciprocally swinging, and phase
The swaying direction of adjacent rotor is interlaced.
As the mode that is further improved of said program, the tail end of rotor, which is equipped with, carries outwardly projecting curved surface, rotation
The head end of body is equipped with plane, and the curved surface of previous rotor and the plane of latter rotor support.
As the mode that is further improved of said program, previous rotor can relatively latter rotor by curved surface along one
Direction is swung.
As the mode that is further improved of said program, curve form meets setting：It is contour everywhere along first direction, along with
The vertical second direction of first direction, intermediate position highest, and continuously decreased to both sides.
As the mode that is further improved of said program, power module includes the dynamic of several shafts and drive shaft rotation
Power apparatus is wound with two driving ropes in shaft, and the winding direction of this two driving ropes is opposite.
As the mode that is further improved of said program, power module further includes pedestal, and if being set on pedestal side by side
Dry casing, and casing is fixed on the pressing plate on pedestal, driving rope be each passed through after corresponding casing again with flexible mechanical arm
Connection.
It is further improved mode as said program, further includes the lantern ring being socketed on digestive endoscopy, flexible mechanical arm
It is connect with lantern ring, and lantern ring is equipped with cord hole, driving rope is connect with flexible mechanical arm again after corresponding cord hole.
It is further improved mode as said program, further includes the surgical instrument being connect with flexible mechanical arm.
As the mode that is further improved of said program, surgical instrument includes cutting dissection cutter, suture instruments, gripper clamp
One kind or combinations thereof in instrument processed, drawing class instrument.
As the mode that is further improved of said program, including two flexible mechanical arms, wherein a flexible mechanical arm with
Cutting dissection cutter connection, another flexible mechanical arm are clamped down on instrument with clamping and are connect.
The utility model has the beneficial effects that：
The utility model is provided with flexible mechanical arm, and flexible mechanical arm can be under the driving of power module towards different directions
Bending drives surgical instrument movement to drive surgical instrument relative to digestive endoscopy self-movement compared to digestive endoscopy
Mode, the utility model may be implemented the flexible deflecting of surgical instrument, ensure the kinematic accuracy of surgical instrument, can also reduce hand
Space needed for art apparatus work extends the scope of application of digestive endoscopy；
In the preferred embodiment of the utility model, coordinated by curved surface and plane between rotor, in addition to frictional force
Without the active force of other obstruction rotations, so as to realize the flexible rotating between rotor；
In the preferred embodiment of the utility model, robot further includes the surgical instrument for executing surgical procedure；
In the preferred embodiment of the utility model, drives electric knife to be moved with gripper clamp respectively using two mechanical arms, lead to
The step of combination crossed between different instruments can simplify surgical procedure, shortens operating time.
In the preferred embodiment of the utility model, swing in one direction two driving ropes of control flexible mechanical arm by
One shaft synchronizes driving, is conducive to the structure for simplifying power module, improves control accuracy.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the stereoscopic schematic diagram of the utility model one embodiment；
Fig. 2 is the stereoscopic schematic diagram of the utility model flexible mechanical arm one embodiment；
Fig. 3 is the stereoscopic schematic diagram of the utility model rotor one embodiment；
Fig. 4 is the front view of the utility model rotor one embodiment；
Fig. 5 is the side view of the utility model rotor one embodiment；
Fig. 6 is the stereoscopic schematic diagram of the utility model lantern ring one embodiment；
Fig. 7 is the stereoscopic schematic diagram that the utility model flexible mechanical arm is connect with digestive endoscopy, lantern ring, surgical instrument；
Fig. 8 is the stereoscopic schematic diagram of the utility model power module one embodiment；
Specific implementation mode
The technique effect of the design of the utility model, concrete structure and generation is carried out below with reference to embodiment and attached drawing
Clear, complete description, to be completely understood by the purpose of this utility model, scheme and effect.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " is in another feature,
It can directly fix, be connected in another feature, can also fix, be connected in another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in utility model are only the phase relative to each component part of the utility model in attached drawing
For mutual 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 normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the utility model.Term " and or " used herein includes appointing for one or more relevant Listed Items
The combination of meaning.
Referring to Fig.1, it shows the stereoscopic schematic diagram of the utility model medical treatment device one embodiment, is located on driving rope dynamic
Part between power module and flexible mechanical arm is hidden.As shown, medical treatment device includes digestive endoscopy 100, flexible mechanical
Arm 200, power module 300 and several driving ropes 400, flexible mechanical arm 200 are used to install the external agencies such as surgical instrument,
It is connect with digestive endoscopy 100, and human body can be entered with digestive endoscopy 100.Medium of the driving rope as passing power, point
It is not connect with flexible mechanical arm 200, power module 300, with the driving of power module 300, driving rope can pass through telescopic band
100 self-movement of opposite digestive endoscopy of dynamic flexible mechanical arm 200, compared to the mode that digestive endoscopy drives surgical instrument movement,
The flexible deflecting of surgical instrument may be implemented in the utility model, ensures the kinematic accuracy of surgical instrument, can also reduce surgical device
Space needed for tool movement, extends the scope of application of digestive endoscopy.
With reference to Fig. 2, the stereoscopic schematic diagram of the utility model flexible mechanical arm is shown.As shown, flexible mechanical arm
Agent structure includes several concatenated rotors 210.It can relatively rotate between rotor 210, preferably be connected by rolling pair, from
And the flexible rotating between rotor may be implemented, and then the flexible bending of mechanical arm may be implemented, the response of elevating mechanism arm
Speed.
With reference to Fig. 3 to Fig. 5, the stereoscopic schematic diagram, front view of the utility model rotor one embodiment are respectively illustrated
With side view.As shown, rotor 210 is generally cylindrical, for the rotation for realizing between adjacent rotated body 210, it is preferred that
There is the head end of rotor 210 plane 211, tail end there is outwardly projecting curved surface 212, the curved surface 212 to meet setting：Along Fig. 4
The direction of middle arrow is contour everywhere, the position highest among the direction of arrow along Fig. 5, and is continuously decreased to both sides, i.e. rotor
210 arrow direction can swing along Fig. 5.Instrument channel 214 is additionally provided on rotor 210, instrument channel 214 is along series connection direction
Through rotor 210, for guiding surgical instrument.
Several cord hole 213, the quantity pair of the quantity and driving rope 400 of cord hole 213 are preferably also provided on rotor 210
It answers, four cord hole 213 is preferably provided in the present embodiment, which is uniformly distributed along the circumferential direction of rotor 210.
With reference to Fig. 2, the series connection of several rotors 210, and the curved surface 212 of previous rotor 210 are flat with latter rotor 210
Face 211 supports, and due to being contacted for line between curved surface 212 and plane 211, does not have other to hinder the effect of rotation in addition to frictional force
Power, therefore the rotation between rotor 210 is very flexible.
To realize that the multi-direction bending of mechanical arm, the swaying direction of adjacent rotated body 210 are interlaced, it is preferred that this implementation
The swaying direction of adjacent rotated body 210 is mutually perpendicular in example.
Angle in the utility model between the quantity and rotor of rotor can be adjusted according to actual conditions, such as be turned
Angle between kinetoplast can be 30 °, 45 ° or 60 ° etc., and the utility model is not especially limited this.
Power source of the driving rope 400 as mechanical arm sequentially passes through corresponding rope on each rotor 210 along series connection direction
Hole 213, and it is affixed with the rotor of least significant end 210 (as shown in Fig. 2, the rotor of least significant end is the rotor of the top).
The utility model includes the driving rope of three or more (the utility model is so-called above including this number), it is preferred that corresponding flexible
Bending on mechanical arm four direction is preferably provided with four driving ropes on flexible mechanical arm, and opposite two driving ropes are one group.
When side driving rope 400 tenses the release of driving rope 400 of offside simultaneously, mechanical arm will be towards the curving that driving rope tenses.
Previous rotor is only capable of relatively latter rotor and swings in one direction in above-described embodiment, in addition to this, may be used also
To increase the degree of freedom between adjacent rotated body by adjusting the shape of curved surface 212, such as make the arrow direction along Fig. 4 of curved surface 212
Shape also as the shape of arrow direction in Fig. 5, intermediate position highest, and being continuously decreased to both sides, such previous rotation
Body can relatively latter rotor swing in both directions.
Flexible mechanical arm 200 is preferably connect by lantern ring 500 with digestive endoscopy 100 in the utility model, with reference to Fig. 6, is shown
The stereoscopic schematic diagram of the utility model lantern ring one embodiment is gone out.As shown, lantern ring includes collar body 510 and is set to
Boss 520 in 510 circumferential direction of collar body, collar body 510 are equipped with radial threaded hole 511, and boss 520 is equipped with cord hole
521 with instrument channel 522.Preferably, two boss 520 are arranged on collar body 510.Lantern ring 100 passes through collar body
510 are socketed on the end of digestive endoscopy 100, and preferably pass through threaded hole 511 on collar body 510 and corresponding spiral shell
Line fastener is locked.
Flexible mechanical arm 200 is mounted on corresponding boss 520, the instrument channel 214 on rotor 210 and boss 520
On instrument channel 522 be connected to, driving rope 400 pass through be then passed through after corresponding cord hole 521 on boss 520 it is right on rotor 210
The cord hole 213 answered, to realize the connection of flexible mechanical arm 200 and lantern ring 100.
With reference to Fig. 7, the solid that the utility model flexible mechanical arm is connect with digestive endoscopy, lantern ring, surgical instrument is shown
Schematic diagram.The so-called surgical instrument of the utility model includes but is not limited to cutting dissection cutter (such as electric knife, laser knife), stitching unstrument
Tool, clamping clamp down on instrument (such as gripper clamp), drawing class instrument (such as sucker) etc., and can voluntarily arrange in pairs or groups selection as needed.It is excellent
Choosing, the present embodiment includes two flexible mechanical arms, wherein a flexible mechanical arm is connect with cutting dissection cutter, it is another
Flexible mechanical arm described in item is clamped down on instrument with clamping and is connect.It is furthermore preferred that cutting dissection cutter uses electric knife 610, it is specific to connect
Mode is that electric knife 610 is plugged in the instrument channel of mechanical arm；Clamping clamps down on instrument and uses gripper clamp 620, specific connection side
Formula is to be provided with the connector 630 of hinged seat in the end of the flexible mechanical arm, and gripper clamp 620 is hinged on the connector 630
On.Wherein electric knife 610 is for cutting pathological tissues, and for gripper clamp 620 for being lifted to pathological tissues, the tissue after stripping can
Directly to be taken out of by gripper clamp, i.e., the present embodiment can allow two surgical instruments and meanwhile enter human body, by different instruments it
Between combination the step of can simplifying surgical procedure, shorten operating time.
With reference to Fig. 8, shows the stereoscopic schematic diagram of the utility model power module one embodiment, power is concealed in figure
The shell and control device of module.It is rotated as shown, power module includes the shaft 310 of several groups and drive shaft 310
Power plant, power plant can be motor, rotary cylinder etc., and motor 320 is preferably used in the present embodiment.The circle of shaft 310
All upper edges are axially arranged with the parallel groove of twice, and the diameter of groove slot bottom is preferably equal.Driving rope 400 is wound in groove, and
The winding direction of driving rope in upper and lower groove on the contrary, in this way, when shaft 310 rotates in one direction, winding direction with turn
Identical 400 contraction of driving rope of 310 rotation direction of axis, the winding direction driving rope 400 opposite with 310 rotation direction of shaft are synchronous
It stretches out, and contracted length is preferably equal with extension elongation, to control the bending of flexible mechanical arm.
One shaft 310 can control one group of driving rope 400, and single flexible mechanical arm 200 needs two in the utility model
Group driving rope 400 is controlled, while gripper clamp 620 needs one group of control folding of driving rope 400, therefore the utility model is preferred
If there are five the motors of shaft and respective numbers.
Preferably, in order to realize the ordered arrangement of driving rope 400, power module further includes pedestal 330 and pressing plate 340, base
Corresponding driving rope 400 is equipped with several grooves side by side on the top surface of seat 330, is equipped with casing 350 in groove, pressing plate 340 passes through spiral shell
Nail is fixed on the top of pedestal 330, and carries out crimping fixation to casing 350, and driving rope 400 is each passed through corresponding casing 350
It is connect again with flexible mechanical arm afterwards.
It is to be illustrated to the preferable implementation of the utility model, but the invention is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent variations without departing from the spirit of the present invention
Or replace, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of medical treatment device based on digestive endoscopy, which is characterized in that including digestive endoscopy, connect with the digestive endoscopy
Flexible mechanical arm, several driving ropes being connect with the flexible mechanical arm and the power module with the driving rope connection；Its
In, the driving rope can be driven by the power module and be stretched, and to draw, the flexible mechanical arm is relatively described to disappear
Change scope self-movement.
2. the medical treatment device according to claim 1 based on digestive endoscopy, which is characterized in that the flexible mechanical arm includes
Several concatenated rotors, three or more the driving ropes along the circumferentially distributed of the rotor, and along series connection direction successively
Across the rotor, and it is affixed with the rotor of least significant end；
With the flexible of the driving rope, the previous rotor can relatively latter rotor along at least one direction reciprocally swinging,
And the swaying direction of the adjacent rotor is interlaced.
3. the medical treatment device according to claim 2 based on digestive endoscopy, which is characterized in that the tail end of the rotor is set
Have and carry outwardly projecting curved surface, the curved surface of the previous rotor and the head end of the latter rotor support.
4. the medical treatment device according to claim 3 based on digestive endoscopy, which is characterized in that the previous rotor can phase
The latter rotor is swung in one direction by the curved surface.
5. the medical treatment device according to claim 4 based on digestive endoscopy, which is characterized in that the curve form satisfaction is set
It sets：It is contour everywhere along first direction, along the second direction vertical with the first direction, intermediate position highest, and to both sides by
Gradually reduce.
6. the medical treatment device according to claim 1 based on digestive endoscopy, which is characterized in that if the power module includes
Shaft and the power plant of the driving shaft rotation are done, two drivings ropes, and this two are wound in the shaft
Drive the winding direction of rope opposite.
7. the medical treatment device according to claim 6 based on digestive endoscopy, which is characterized in that the power module further includes
Pedestal, and several casings on the pedestal side by side, and described sleeve pipe is fixed on the pressing plate on the pedestal, it is described
Driving rope is each passed through after corresponding described sleeve pipe to be connect with the flexible mechanical arm again.
8. the medical treatment device according to any one of claim 1 to 7 based on digestive endoscopy, which is characterized in that further include
The lantern ring being socketed on the digestive endoscopy, the flexible mechanical arm are connect with the lantern ring, and the lantern ring is equipped with several
Cord hole, the driving rope are connect with the flexible mechanical arm again after the corresponding cord hole.
9. the medical treatment device according to any one of claim 1 to 7 based on digestive endoscopy, which is characterized in that further include
The surgical instrument being connect with the flexible mechanical arm, the surgical instrument are clamped down on including cutting dissection cutter, suture instruments, clamping
One kind or combinations thereof in instrument, drawing class instrument.
10. the medical treatment device according to claim 9 based on digestive endoscopy, which is characterized in that including two flexibilities
Mechanical arm, wherein a flexible mechanical arm is connect with cutting dissection cutter, another flexible mechanical arm and institute
It states clamping and clamps down on instrument connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720510898.6U CN207693678U (en) | 2017-05-09 | 2017-05-09 | A kind of medical treatment device based on digestive endoscopy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720510898.6U CN207693678U (en) | 2017-05-09 | 2017-05-09 | A kind of medical treatment device based on digestive endoscopy |
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| Publication Number | Publication Date |
|---|---|
| CN207693678U true CN207693678U (en) | 2018-08-07 |
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| CN201720510898.6U Active CN207693678U (en) | 2017-05-09 | 2017-05-09 | A kind of medical treatment device based on digestive endoscopy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049494A (en) * | 2017-05-09 | 2017-08-18 | 深圳市罗伯医疗机器人研究所 | A kind of medical treatment device based on digestive endoscopy |
-
2017
- 2017-05-09 CN CN201720510898.6U patent/CN207693678U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049494A (en) * | 2017-05-09 | 2017-08-18 | 深圳市罗伯医疗机器人研究所 | A kind of medical treatment device based on digestive endoscopy |
| CN107049494B (en) * | 2017-05-09 | 2024-01-26 | 深圳市罗伯医疗科技有限公司 | Medical device based on digestive endoscope |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191015 Address after: 518000 1001-A, G2 Building, TCL International E City, 1001 Zhongshan Garden Road, Xili Street, Nanshan District, Shenzhen City, Guangdong Province Patentee 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 Patentee before: Shenzhen rob Medical Robot Research Institute |