CN106562866A - Omnibearing mechanical arm with simulation palm, applied to neuro-endoscope - Google Patents
Omnibearing mechanical arm with simulation palm, applied to neuro-endoscope Download PDFInfo
- Publication number
- CN106562866A CN106562866A CN201610806119.7A CN201610806119A CN106562866A CN 106562866 A CN106562866 A CN 106562866A CN 201610806119 A CN201610806119 A CN 201610806119A CN 106562866 A CN106562866 A CN 106562866A
- Authority
- CN
- China
- Prior art keywords
- palm
- nerve endoscope
- endoscope
- band
- emulates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The invention discloses an omnibearing mechanical arm with a simulation palm, applied to a neuro-endoscope. The mechanical arm comprises a fixation base which can be fixed on an operation bed, a universal hose and an adjustment device capable of 360 DEG position adjustment, wherein the adjustment device is composed of a universal bass base and an universal ball; one end of the universal hose is fixed on the fixation base and the other end is connected to the bottom face of the universal ball base; one end of the universal ball is placed in the universal ball base, and the other end is connected to the simulation palm; the simulation palm comprises multiple fingers which are set to be bent into an arc shape; and clamping holes are formed in the fingers. The mechanical arm also comprises the neuro-endoscope, wherein one end part of the neuro-endoscope is placed on the simulation palm; a positioning part is disposed on the end part of the neuro-endoscope; and the simulation palm clamps the end part of the neuro-endoscope in a wine glass holding shape; and the positioning part is clamped by the clamping holes. The mechanical arm disclosed by the invention has the advantages that fixation effects of the neuro-endoscope are good; damage appearing in adjustment of the neuro-endoscope can be effectively avoided; and position adjustment is more accurate, omnibearing adjustment can be achieved, two hands can be relieved, and doctors' operation burdens can be relieved.
Description
Technical field
The present invention relates to medical domain surgical, entirely square with band emulation palm more particularly, to a kind of nerve endoscope
Position mechanical arm.
Background technology
With the development of neurosurgery equipment and technology, substantial amounts of skull base surgery is carried out, nerve endoscope it is wide
General application makes neurosurgery enter comprehensive minimally invasive field.Due to Surgery locating depth, working place is narrow and small, uses under nerve endoscope
Apparatus be the necessary means extended using both hands, and the maximum technical bottleneck that current basis cranii neurosurgery meets with.It is special
It is not that, with the development of nerve endoscope technology, a large amount of ranges of application for expanding intranasal approach are expanded, almost by double
The sclerotin at whole each position of basis cranii can be just opened in nostril, greatly reduce the wound of patient.But due to working place it is narrow
Little, operated by two people is difficult, due to needing mirror angle in constantly adjustment, operative doctor also to need to take a handss to consolidate in operation process
Determine scope, therefore operating often has surgical doctor one hand to carry out, operating difficulty is greatly improved, and operation technique scope is seriously received
Limit, operating time substantially increase, and operation safety is decreased obviously.
Per nasal operation technique narrow space, needs constantly adjustment nerve endoscope angle, and current mechanical arm is due to being a lot
Individual joint composition, when adjusting every time, each joint needs from new release to fix again, cannot be applied to per nasal nerve endoscope handss at all
Art, is so accomplished by taking one hands of operative doctor to hold mirror, causes doctor's one-handed performance operating theater instruments, in complicated, important knot
The intensive basis cranii of structure cannot be carried out at all, can only cooperate with operation by 2 operative doctors, not only take human resourcess, meanwhile,
Two operative doctors also need to coordinate very well through long-term break-in.
Still operation behaviour is increased without effective, easy easy-to-use, fixed and convenient operating theater instruments for adjusting at any time at present
The probability made, increase important feature damage risk, extend operating time, increased postoperative infection.Therefore, need badly one kind can within
Use under mirror, the fixed and operating theater instruments of convenient adjustment are realizing the extension of patient's both hands.
The content of the invention
It is an object of the invention to overcome fixed difficult, operation inconvenience, the operating theater instruments that cannot be adjusted in time, it is impossible to real
Realize the both hands liberation of operative doctor, there is provided more preferably, multi-angle adjusts and is not required to repeat solid mechanical arm a kind of fixed effect at any time
Joint, while can also liberate the nerve endoscope band emulation palm All-dimensional manipulator arm of doctor's both hands.
To realize object above, following technical scheme is this invention takes：
Nerve endoscope band emulation palm All-dimensional manipulator arm, including the firm banking of operation table, universal can be fixed on
Flexible pipe, can 360 degree of adjusting positions adjusting means, the adjusting means is made up of multi-directional ball base, multi-directional ball, described universal soft
Pipe one end is fixed on firm banking, its other end is connected with multi-directional ball base end face, and described multi-directional ball one end is placed in multi-directional ball
In base, the other end is connected with emulation palm, and the Simulated hand palm includes some handss for being set to arbitrarily bend camber
Refer to, the finger offers bayonet socket, and also including nerve endoscope, the nerve endoscope one end is placed in Simulated hand palm, the god
The Jing scopes end is provided with keeper, and the emulation palm is in end goblet shape clamping nerve endoscope end, and the bayonet socket
Block the keeper.
Described direction flexible one end is fixed on firm banking, its other end is connected with multi-directional ball base end face, will be fixed
Base is fixed on operating-table, is capable of achieving quick regulation using direction flexible, is carried out 360 degree to adjusting means by direction flexible
Adjusting position；The nerve endoscope one end is placed in Simulated hand palm, and the emulation palm is in end goblet shape clamping nerve endoscope
The end, after 360 degree adjusting position is carried out to adjusting means using direction flexible, the Simulated hand palm includes some settings
Can arbitrarily to bend the finger of camber, the finger that can arbitrarily bend camber possesses sufficient intensity and activeness, by imitative
True palm is set to clamp the end of nerve endoscope in end goblet shape, and the finger offers bayonet socket, the nerve endoscope end
Portion is provided with keeper, and the bayonet socket blocks the keeper, in operation process, blocks keeper using bayonet socket, can cause
The simulated palm clamping in the end of nerve endoscope, it is better by the fixed effect for emulating palm clamping nerve endoscope, also not
Easily there is skew or fall, even if damaging occurs in certain finger in emulation palm also normally can use, be not result in nerve
There is skew or falls causing operation not smooth from Simulated hand palm in scope；Described multi-directional ball one end is placed in multi-directional ball base,
The other end is connected with emulation palm, and nerve endoscope is placed in after Simulated hand palm is fixed, then by adjusting means to emulation
Palm carries out 360 degree of adjusting positions, when using adjusting means, nerve endoscope is placed in emulation palm and is fixed, can be had
Effect ground reduces the situation that damaging occurs in the nerve endoscope in 360 degree of adjusting positions, while also can be more accurate using adjusting means
It is adjusted to suitable position, it is to avoid error occur, affects procedure, when nerve endoscope needs to re-start positioning, need not
Direction flexible is carried out readjusting positioning, adjusting means need to be only utilized, is conducive to mitigating the work of operative doctor.
Further, the firm banking is to hold clutch.
Further, in order to make the regulating effect of direction flexible more preferable, the direction flexible is soft for the magnalium of stiffened
Pipe.
Further, in order to avoid multi-directional ball occurs sliding on multi-directional ball base, procedure, the multi-directional ball are affected
Damping piece is provided between base and multi-directional ball.
Further, the emulation palm is by made by the silica gel of embedded titanium mesh to emulate palm.
Further, for protection simulation palm, palm is emulated in preventing operation process and occurs damaging, the emulation palm
It is provided with the protective pad of elastic silica gel.
Further, the finger is silica gel tube.
Further, in order to be able to making fixed effect of the keeper on nerve endoscope on bayonet socket more preferable, it is to avoid in nerve
There is skew or falls in mirror, and some clamping pieces in fish bone structure distribution are provided with the bayonet socket.
Further, in order to be able to more accurately adjust nerve endoscope to suitable position, the Simulated hand being connected with multi-directional ball
Palm one end is provided with the regulation button that position and angle that can be to emulating palm is finely adjusted.
During use, 360 degree of adjusting positions are carried out by direction flexible to multi-directional ball base, when using direction flexible to universal
After ball base carries out 360 degree of adjusting positions, the end of nerve endoscope is clamped by simulated palm, while bayonet socket is blocked determining
Position part, makes nerve endoscope be fixed on Simulated hand palm, then carries out 360 degree adjusting positions to emulating palm by adjusting means, from
And cause nerve endoscope to be adjusted to suitable position, when needing to position nerve endoscope again, without the need for entering to direction flexible
Row readjusts positioning, need to only utilize adjusting means, when needing to be finely adjusted nerve endoscope, using regulation button
Precise fine-adjustment is carried out to nerve endoscope.
It is an advantage of the invention that：First time positioning is carried out to adjusting means by direction flexible；After first time positions,
Nerve endoscope is placed in Simulated hand palm to be fixed, the end of nerve endoscope is clamped by simulated palm, while card
Mouth blocks keeper, and the fixed effect of nerve endoscope is better, is also not easy skew occur or falls, even if in emulation palm
There is damage and also normally can use in certain finger, and is not result in that nerve endoscope falls from Simulated hand palm and causes operation not smooth；
Second positioning is carried out to emulating palm by adjusting means again, the nerve endoscope in 360 degree of adjusting positions can be effectively reduced
There is situation about damaging, while suitable position also can be more accurately adjusted to using adjusting means, it is to avoid error occur, need
When positioning to nerve endoscope again, adjusting means need to be only utilized, comprehensive regulation can be realized, both hands can be also realized
Liberation, mitigates the operation burden of doctor.
Description of the drawings
Structural representations of the Fig. 1 for the embodiment of the present invention；
Structure sectional views of the Fig. 2 for embodiment of the present invention adjusting means；
Fig. 3 is the structural representation that the embodiment of the present invention emulates palm；
Structural representations of the Fig. 4 for embodiment of the present invention finger；
Structural representations of the Fig. 5 for embodiment of the present invention nerve endoscope；
Labelling implication in figure：1st, firm banking；2nd, direction flexible；3rd, adjusting means；4th, multi-directional ball base；5th, multi-directional ball；
6th, emulate palm；7th, finger；8th, bayonet socket；9th, nerve endoscope；10th, keeper；11st, damping piece；12nd, protective pad；13rd, clamping piece；
14th, adjust button.
Specific embodiment
With reference to the accompanying drawings and detailed description present disclosure is described in further details.
Embodiment
Refering to Fig. 1 to Fig. 5, nerve endoscope band emulation palm All-dimensional manipulator arm, including operation table can be fixed on
Firm banking 1, direction flexible 2, can 360 degree of adjusting positions adjusting means 3, adjusting means 3 is by multi-directional ball base 4, multi-directional ball 5
Composition, 2 one end of direction flexible is fixed on firm banking 1, its other end is connected with 4 bottom surface of multi-directional ball base, 5 one end of multi-directional ball
It is placed in multi-directional ball base 4, the other end is connected with emulation palm 6, is set to arbitrarily to bend to including some on emulation palm 6
The finger 7 of arc, finger 7 offer bayonet socket 8, and also including nerve endoscope 9,9 one end of nerve endoscope is placed on emulation palm 6,
The end of nerve endoscope 9 is provided with keeper 10, and emulation palm 6 is in end goblet shape clamping nerve endoscope 9 end, and bayonet socket 8
Block keeper 10.
2 one end of direction flexible is fixed on firm banking 1, its other end is connected with 4 bottom surface of multi-directional ball base, will fixed bottom
Seat 1 is fixed on operating-table, is capable of achieving quick regulation using direction flexible 2, is carried out 360 to adjusting means 3 by direction flexible 2
Degree adjusting position；9 one end of nerve endoscope is placed on emulation palm 6, and emulation palm 6 should in end goblet shape clamping nerve endoscope 9
End, after 360 degree adjusting position is carried out to adjusting means 3 using direction flexible 2, includes some being set on emulation palm 6
The finger 7 of camber can be arbitrarily bent, the finger 7 that can arbitrarily bend camber possesses sufficient intensity and activeness, by imitative
True palm 6 is set to clamp the end of nerve endoscope 9 in end goblet shape, and finger 7 offers bayonet socket 8, the end of nerve endoscope 9
Portion is provided with keeper 10, and bayonet socket 8 blocks keeper 10, in operation process, blocks keeper 10 using bayonet socket 8, can cause
The simulated palm in the end of nerve endoscope 96 is clamped, by emulate palm 6 clamp nerve endoscope 9 fixed effect it is better,
Also it is not easy skew occur or falls, even if damaging occurs in certain finger 7 in emulation palm 6 also normally can use, will not leads
Nerve endoscope 9 is caused skew occur or fall causing operation not smooth from emulation palm 6；5 one end of multi-directional ball is placed in multi-directional ball bottom
In seat 4, the other end is connected with emulation palm 6, nerve endoscope 9 is placed in after being fixed on emulation palm 6, then by adjusting dress
Putting 3 pairs of emulation palms 6 carries out 360 degree of adjusting positions, when using adjusting means 3, nerve endoscope 9 is placed in emulation palm 6
It is fixed, the situation that damaging occurs in the nerve endoscope 9 in 360 degree of adjusting positions can be effectively reduced, while is filled using adjusting
Put 3 and also can more accurately be adjusted to suitable position, it is to avoid error occur, affect procedure, when nerve endoscope 9 needs again
When being positioned, without the need for carrying out readjusting positioning to direction flexible 2, adjusting means 3 need to be only utilized, is conducive to mitigating handss
The work of art doctor.
Further, firm banking 1 is to hold clutch.
Further, in order to make the regulating effect of direction flexible 2 more preferable, magnalium flexible pipe of the direction flexible 2 for stiffened.
Further, in order to avoid multi-directional ball 5 occurs sliding on multi-directional ball base 4, procedure, multi-directional ball bottom are affected
Damping piece 11 is provided between seat 4 and multi-directional ball 5.
Further, it is by made by the silica gel of embedded titanium mesh to emulate palm to emulate palm 6.
Further, for protection simulation palm 6, palm 6 is emulated in preventing operation process and occurs damaging, emulate palm 6
It is provided with the protective pad 12 of elastic silica gel.
Further, finger 7 is silica gel tube.
Further, in order to be able to making fixed effect of the keeper 10 on nerve endoscope 9 on bayonet socket 8 more preferable, it is to avoid god
There is skew or fall in Jing scopes 9, and some clamping pieces 13 in fish bone structure distribution are provided with bayonet socket 8.
Further, suitable position, the emulation being connected with multi-directional ball 5 are arrived in order to be able to more accurately adjust nerve endoscope 9
6 one end of palm is provided with the regulation button 14 that position and angle that can be to emulating palm 6 is finely adjusted.
During use, 360 degree of adjusting positions are carried out to multi-directional ball base 4 by direction flexible 2, when using direction flexible 2 pairs
After multi-directional ball base 4 carries out 360 degree of adjusting positions, the end of nerve endoscope 9 is clamped by simulated palm 6, while card
Mouth 8 blocks keeper 10, nerve endoscope 9 is fixed on emulation palm 6, then is carried out by 3 pairs of emulation palms 6 of adjusting means
360 degree of adjusting positions, so that nerve endoscope 9 is adjusted to suitable position, need to position nerve endoscope 9 again
When, without the need for carrying out readjusting positioning to direction flexible 2, adjusting means 3 need to be only utilized, needs to carry out nerve endoscope 9
During fine setting, precise fine-adjustment can be carried out to nerve endoscope 9 using button 14 is adjusted.
Above-listed detailed description is illustrating for possible embodiments of the present invention, and the embodiment simultaneously is not used to limit this
Bright the scope of the claims, all equivalence enforcements or change without departing from carried out by the present invention, is intended to be limited solely by the scope of the claims of this case.
Claims (9)
1. nerve endoscope emulates palm All-dimensional manipulator arm with band, it is characterised in that：Including the fixation that can be fixed on operation table
Base (1), direction flexible (2), can 360 degree of adjusting positions adjusting means (3), the adjusting means (3) is by multi-directional ball base
(4), multi-directional ball (5) composition, described direction flexible (2) one end is fixed on firm banking (1), its other end and multi-directional ball base
(4) bottom surface connection, described multi-directional ball (5) one end are placed in multi-directional ball base (4), and the other end is connected with emulation palm (6), described
Include some fingers (7) for being set to arbitrarily bend camber in emulation palm (6), the finger (7) offers bayonet socket
(8), also including nerve endoscope (9), nerve endoscope (9) one end is placed in emulation palm (6), the nerve endoscope (9)
The end is provided with keeper (10), and emulation palm (6) is in end goblet shape clamping nerve endoscope (9) end and described
Bayonet socket (8) blocks the keeper (10).
2. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：It is described solid
Base (1) is determined to hold clutch.
3. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：Described ten thousand
To flexible pipe (2) for stiffened magnalium flexible pipe.
4. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：Described ten thousand
To damping piece (11) is provided between ball base (4) and multi-directional ball (5).
5. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：It is described imitative
True palm (6) is by made by the silica gel of embedded titanium mesh to emulate palm.
6. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：It is described imitative
True palm (6) is provided with the protective pad (12) of elastic silica gel.
7. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：The handss
Refer to that (7) are silica gel tube.
8. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：The card
Some clamping pieces (13) in fish bone structure distribution are installed in mouth (8).
9. nerve endoscope according to claim 1 emulates palm All-dimensional manipulator arm with band, it is characterised in that：With it is universal
Emulation palm (6) one end that ball (5) connects is provided with the regulation button that position and angle that can be to emulating palm (6) is finely adjusted
(14)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806119.7A CN106562866B (en) | 2016-09-06 | 2016-09-06 | Nerve endoscope band emulation palm All-dimensional manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806119.7A CN106562866B (en) | 2016-09-06 | 2016-09-06 | Nerve endoscope band emulation palm All-dimensional manipulator arm |
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| Publication Number | Publication Date |
|---|---|
| CN106562866A true CN106562866A (en) | 2017-04-19 |
| CN106562866B CN106562866B (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610806119.7A Active CN106562866B (en) | 2016-09-06 | 2016-09-06 | Nerve endoscope band emulation palm All-dimensional manipulator arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309442A (en) * | 2018-03-28 | 2018-07-24 | 中国人民解放军火箭军总医院 | A kind of needle holder and its application method for radio-frequency ablation electrode needle |
| CN114917003A (en) * | 2022-07-20 | 2022-08-19 | 珠海康弘医疗科技有限公司 | Percutaneous spine endoscope robot scope sheath drainage device that catchments |
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| CN108309442A (en) * | 2018-03-28 | 2018-07-24 | 中国人民解放军火箭军总医院 | A kind of needle holder and its application method for radio-frequency ablation electrode needle |
| CN114917003A (en) * | 2022-07-20 | 2022-08-19 | 珠海康弘医疗科技有限公司 | Percutaneous spine endoscope robot scope sheath drainage device that catchments |
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|---|---|
| CN106562866B (en) | 2018-05-11 |
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