CN101889871B - ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device - Google Patents

ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device Download PDF

Info

Publication number
CN101889871B
CN101889871B CN 201010244305 CN201010244305A CN101889871B CN 101889871 B CN101889871 B CN 101889871B CN 201010244305 CN201010244305 CN 201010244305 CN 201010244305 A CN201010244305 A CN 201010244305A CN 101889871 B CN101889871 B CN 101889871B
Authority
CN
China
Prior art keywords
control
duodenoscopy
fixed
ercp
button
Prior art date
Application number
CN 201010244305
Other languages
Chinese (zh)
Other versions
CN101889871A (en
Inventor
刘阳
宋永春
曹罡
Original Assignee
刘阳
宋永春
曹罡
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 刘阳, 宋永春, 曹罡 filed Critical 刘阳
Priority to CN 201010244305 priority Critical patent/CN101889871B/en
Publication of CN101889871A publication Critical patent/CN101889871A/en
Application granted granted Critical
Publication of CN101889871B publication Critical patent/CN101889871B/en

Links

Abstract

The invention relates to an ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device which is a machinery automation device for assisting in completing various treatment operations based on ERCP. The ERCP auxiliary mechanical arm device is designed according to duodenoscope and various instruments, the duodenoscope is placed in a descending part of a duodenum, the duodenoscope and/or an assistant device is fixed on corresponding positions, remote control of movement of a mechanical device is realized by a control system, and operations of intubatton, radiography, stone removal, and the like are finished. Therefore, the damage of X ray to the health of medical staff in the process of curing patients is avoided. In the mechanical arm device, each button of the duodenoscope and various related devices are firmly fixed so that various operations with endoscopes are accurately completed, and in addition, the automation control technology is applied so that medical staff can control with long distance so as to avoid the damage of the X ray.

Description

ERCP辅助机械手装置 The auxiliary robot apparatus ERCP

技术领域 FIELD

[0001] 本发明涉及一种能够辅助完成各种ERCP操作的诊疗机械自动化装置。 [0001] The present invention relates to a secondary treatment to complete the various operations ERCP mechanical Automation. 背景技术 Background technique

[0002] ERCP是经内镜逆行胰胆管造影的英文首写字母(Encoscopic RetrogradeChola ngio-Pancreatography, ERCP),是在内镜下经十二指肠乳头插管注入照影剂,从而逆行显示胰胆管的造影技术,是目前公认的诊断胰胆管疾病的金标准。 [0002] ERCP is endoscopic retrograde cholangiopancreatography English initials (Encoscopic RetrogradeChola ngio-Pancreatography, ERCP), a duodenal cannula including endoscopic injected contrast agents, thereby displaying retrograde cholangiopancreatography the imaging technique, is widely recognized as the gold standard for diagnosis of pancreatic duct diseases. 在ERCP的基础上,可以进行十二指肠乳头括约肌切开术(EST)、内镜下鼻胆汁引流术(ENBD)、内镜下胆汁内引流术(ERBD)等介入治疗,成为临床治疗的重要手段。 On the basis of the ERCP can be performed duodenal sphincterotomy (EST), endoscopic nasal biliary drainage (ENBD), within endoscopic biliary drainage (ERBD) and other interventional treatment, become clinical treatment important means. 但是,在为患者诊治疾病的过程中,医务工作者需要长时间暴露于X线的照射下,对其身体造成了危害。 However, in the process of patient diagnosis and treatment of disease, health workers need to prolonged exposure to X-ray emission, causing harm to their bodies. 研究表明,从事介入放射工作的人员,机体在较长时间连续或间断地受到超剂量电离辐射,可产生各种有害效应,如:皮肤、晶状体、性腺和骨髓组织。 Studies have shown that interventional radiology personnel engaged in the work of the body or intermittently by a longer period lasts doses of ionizing radiation can produce harmful effects, such as: skin, lens, gonads and bone marrow. 有资料报道,X射线可使空气中气体激发电离产生氮氧化物、 臭氧、自由基等有害物质,少量多次接触放射线可因蓄积作用使遗传基因积累损伤以至致癌或致畸。 Data reported, X-rays can excite ionizable gas in the air nitrogen oxides, ozone, free radicals and other harmful substances, exposure to radiation may be due to a small number so that accumulative accumulated genetic damage and even carcinogenic or teratogenic. X射线还能导致头晕、脱发、器官受损、抑制骨髓造血、使白细胞减少;长期低剂量射线照射,能使人眼晶状体混浊,并可最终发展成为放射性白内障。 X-rays can also cause dizziness, hair loss, organ damage, bone marrow suppression, so neutropenia; chronic low-dose radiation exposure, can make the eye lens opacity, and eventually developed into radiation cataract. 因此,如何在为患者造福的过程中,而不给医务工作者的身体造成损害——是一个公认的难题。 So how in the process for the benefit of patients, without causing damage to the body health workers - is a recognized problem.

发明内容 SUMMARY

[0003] 本发明的目的是针对传统ERCP操作时容易使医务工作者自身健康造成危害的难题,提供一种将医务工作者从X射线的工作环境中解脱出来的操作方式,即能够远程控制, 完成基于ERCP的各种诊治操作的机械手装置。 [0003] The present invention is directed to a conventional ERCP easy to make when the medical workers operating their own health problems caused by hazards, provide a way to operate the medical workers freed from the X-ray work environment, that is, the ability to remotely control, ERCP complete robot apparatus based on the diagnosis and treatment of a variety of operations.

[0004] 本发明所采用的技术方案是: [0004] The technical proposal of the present invention is:

[0005] 由十二指肠镜控制盒、十二指肠镜控制盒支架、压力传感器、专用电缆、控制终端组成。 [0005] The mirror box is controlled by the duodenum, the duodenum mirror control box holder, a pressure sensor, a dedicated cable, the composition of the control terminal. 十二指肠镜控制盒固定在十二指肠镜控制盒支架上,十二指肠镜控制盒内的多台电机分别与抬钳器、注射器、大螺旋钮、小螺旋钮连接;压力传感器与电机电连接。 Duodenoscope control box fixed on the cartridge holder duodenoscopy control, control box duodenoscopy multiple motors respectively carry forceps, a syringe, a large coil button, knob connected small spiral; a pressure sensor electrically connected to the electrical and mechanical. 控制终端由主控制器、人机接口、电源转换电路、传感器信号转换采集电路、驱动输出电路组成,电源转换电路分别为信号转换采集电路、主控制器和驱动输出电路供电;信号转换采集电路将十二指肠镜控制盒的信号转换后传至主控制器,并显示于人机接口;操作人员则向人机接口输入控制信息后传至主控制器,进一步传至驱动输出电路而控制十二指肠镜控制盒内各部件运动;压力传感器通过专用电缆与控制终端的驱动输出电路连接。 Control terminal by the master controller, a human machine interface, the power conversion circuit converts the sensor signal acquisition circuit, the output of the drive circuit, power conversion circuit to convert the signal acquisition circuit, respectively, and the main controller drives the output circuitry; acquisition signal conversion circuit duodenum mirror control signal transmitted to the converter box main controller and displayed on the human-machine interface; the operator then inputs the control information transmitted to the main controller human machine interface, and is further transmitted to the drive control circuit outputs ten colonoscopy each finger member motion control box; pressure sensor is connected by a dedicated cable to the drive control circuit output terminal.

[0006] A.所述十二指肠镜控制盒:由四个固定支架、六个固定装置并分别连接六个微动电机组成。 [0006] A. The control box duodenoscopy: four fixing bracket, and securing means are connected to six six micro motor.

[0007] 第一个、第二个固定支架,为两个依据十二指肠镜尺寸设计的固定装置,用于固定十二指肠镜;第三个、第四个支架,为多功能可调节固定装置,用于固定如造影导管、取石网篮等各种经十二指肠镜钳道器械。 [0007] First, the second fixing bracket, two fixing devices according duodenoscopy dimensioned for fixing duodenoscopy; third, fourth stent as multifunctional adjusting fixing means for fixing such as angiography catheters, and other stone basket forceps channel through duodenoscope instrument.

[0008] B.所述六个十二指肠镜控制盒支架:[0009] 第一个为夹持式固定装置,用于固定抬钳器,并通过微动电机a控制抬钳器的运动; [0008] B. The six control duodenoscopy cartridge holder: [0009] one of the first clamp fixing means for fixing the lifting clamp, a clamp and lift motor by a jog motion control ;

[0010] 第二个固定装置为内径形状,系依据十二指肠镜小螺旋钮设计的圆柱形嵌套固定装置,微动电机b通过皮带控制其旋转,而使小螺旋钮运动; [0010] The second fixing means for the inner-diameter shape, according to the Department of cylindrical design button duodenoscopy small coil nesting fixture, micro motor controlling its rotation through the belt b, the small button helical motion;

[0011] 第三个固定装置为内径形状,系依据十二指肠镜大螺旋钮设计的圆柱形嵌套固定装置。 [0011] The third means is fixed to the inner circumference shape, according to the Department of cylindrical design button duodenoscopy large coil nesting fixture. 微动电机C通过皮带控制其旋转,而使大螺旋钮运动; C micro motor controlling its rotation by a belt, the movement of the large coil button;

[0012] 第四个固定装置,位于近十二指肠镜钳道开口处,通过可调式夹持固定各种经十二指肠镜钳道的各种器械导丝,并通过微动电机e控制向十二指肠镜钳道内送进、推出导丝; [0012] The fourth fixing means, located near duodenoscopy clamp channel openings, fixed by various adjustable clamping jaw duodenoscopy various instruments guidewire channel, and through the jog motor e control feed channel to clamp the duodenoscope, Release guidewire;

[0013] 第五个固定装置,为可调节式夹持装置,可固定造影导管、取石网篮、活检钳等多种器械的运动关节,并通过微动电机f控制这些器械的运动; [0013] The fifth fixing means for adjustable clamping means, can be fixed angiography catheters, joint movement of the stone basket various instruments, like biopsy forceps, and the movement of these devices is controlled by a micro motor F;

[0014] 第六个固定装置,其结构类似微量输液泵,依据注射器形状设计,可安置注射器, 其后方为一推片,通过微动电机g控制推片向前运动,从而实现推注药物。 [0014] A sixth fixing means, which is similar to the structure of micro-infusion pump, a syringe according to the design shape, may be disposed a syringe, which is a rear push plate, the push plate is moved forward by the control micro motors g, in order to achieve a drug bolus.

[0015] 该十二指肠镜控制盒支架,为一平台支架结构,由包括三个可活动关节的支架以及一个可移动平台构成。 [0015] The control box duodenal mirror holder, is a platform support structure, is composed of a holder and a movable platform comprises three movable joints. 支架的最远端固定十二指肠镜控制盒;三个可活动关节处分别装有固定关节活动的装置,从而可使十二指肠镜控制盒固定于一定空间范围内的任意位置。 The most distal duodenum fixed mirror mount control box; means three fixed joint movement with movable joints respectively, thereby allowing control box duodenoscopy fixed at an arbitrary position within a spatial range.

[0016] 十二指肠镜控制盒以及控制终端之间通过专用电缆连接。 [0016] duodenoscopy connected by a dedicated cable between the control box and a control terminal.

[0017] C.所述控制终端,由主控制器、人机接口、电源转换电路、传感器信号转换采集电路、驱动输出电路等组成。 [0017] C. said control terminal, by the master controller, a human machine interface, the power conversion circuit converts the sensor signal acquisition circuit, the output of the drive circuit.

[0018] 主控制器为控制终端的核心,在软件支持下,可对用户输入的操作信息进行判断, 并将采集到的传感器信息与用户操作信息进行综合计算、处理,输出控制信号,以实现对操作控制对象的精确控制。 [0018] The main controller to control the core of the terminal, in software support, may be made to the operation information input by the user is determined, and the collected sensor information and user operation information comprehensive calculation, processing, output control signals to achieve precise control of the operation of the control object. 在满足控制功能的前提下,主控制器还具备操作提示、控制信号输出限幅控制等功能,具备较强的设备安全保护功能。 The premise of meeting the control function, the main controller further includes a prompt operation, the control signal output limiting control function, the apparatus comprising a strong security feature.

[0019] 人机接口为触摸屏幕。 [0019] man-machine interface is a touch screen. 在软件的支持下,十二指肠镜的运动信息可显示于屏幕上。 With the support of software, duodenoscopy motion information may be displayed on the screen. 操作人员可通过按压触摸屏上的按键,控制十二指肠控制盒各个电机的运动。 The operator by pressing a key on the touch screen, the controller controls movement of each motor duodenal cartridge.

[0020] 控制终端内电源转换电路,对外部220V交流供电进行转换,分别提供给主控制器、人机接口、驱动输出电路、信号转换采集电路使用。 [0020] The power conversion circuit within the control terminal, the external power supply converts AC 220V, respectively, to the main controller, a human machine interface, the output driver circuit, the signal conversion acquisition circuitry.

[0021] 信号转换采集电路,完成对压力传感器输出信号的隔离转换,提供给主控制器进行采样判断。 [0021] converting the signal acquisition circuit, complete conversion of the isolated pressure sensor output signal is provided to the main controller determines sampling.

[0022] 驱动输出电路,根据电机的驱动要求对主控制器输出的控制指令进行驱动放大, 转换为电机驱动信号以驱动各电机实施动作。 [0022] The output drive circuit, the drive motor according to the requirements of a control command outputted from the main controller driver amplifier, converted to motor drive signals for driving the motors operation embodiments.

[0023] 压力传感器的检测部位连接于各十二指肠镜按键、导丝同微动电机连接处,通过感知各按键以及导丝的阻力,将信号反馈给信号转换采集电路。 Detection site [0023] The pressure sensor is connected to each of the keys duodenoscopy guidewire with fine movement motor connection, and the resistance of each key by sensing the guidewire, converting the signal back to the signal acquisition circuit.

[0024] 使用时,需通过延长线另外接一台十二指肠镜显示器于操作间内。 [0024] In use, the extra access through a duodenoscope display extension line in the operating room. 医务工作者先将十二指肠镜前端置入患者十二指肠内,使视野正对十二指肠乳头,根据需要向钳道内置入各种操作器械。 First distal medical workers duodenoscope into the duodenum within a patient, positive field of view of the duodenal papilla, built into the operation of the instrument to the forceps channel variety as required. 调节十二指肠镜控制盒支架,将十二指肠镜原位固定于十二指肠镜控制盒内,并将操作器械和(或)导丝固定在十二指肠镜控制盒内相应位置。 Duodenoscope adjusting control box holder, fixed to the duodenum in situ duodenoscopy mirror control box, and the operation of the instrument, and (or) fixed to a respective wire in the control box duodenoscopy position. 此时,医务人员可退出至X线操作间内,通过按压触摸屏幕上的相应按键,控制十二指肠镜辅助完成如插管、 造影、取石、支架放置等各种操作过程中传统需X线监测下完成的操作步骤。 At this time, medical personnel can withdraw into the X-ray room operation, by pressing the appropriate key on the touch screen, the auxiliary control duodenoscopy complete cannula, angiography, stone, stent placement and other conventional operations required during X Procedure to monitor completion of the line.

4[0025] 本发明在ERCP的诊疗过程中,当医务人员将十二指肠镜置入十二指肠乳头位置后,固定十二指肠镜,医务人员能够在机房外远程操控十二指肠镜,辅助完成插管、注射造影剂、取石等通常需要医务人员暴露于X线下的各种操作。 4 [0025] The present invention is in the treatment process ERCP, the medical staff when the duodenal papilla into the duodenum mirror position, the fixed mirror duodenum, medical personnel to remotely control room outside the duodenum colonoscopy, assisted intubation, the injection of contrast agents, stone and the like often require medical personnel exposed to various operations in the X-ray. 从而避免了医务工作者在为患者进行诊疗的过程中,对自身造成的伤害。 Thus avoiding damage to medical workers in the process of diagnosis and treatment for patients in their own cause.

附图说明 BRIEF DESCRIPTION

[0026] 图1十二指肠镜控制盒支架结构示意图; A schematic view of the cartridge support structure [0026] FIG 1 duodenoscopy control;

[0027] 图中:1是十二指肠镜控制盒;2、3、4是支架活动关节;5、6、7、8是钢性支架;9是平台;10是车轮。 [0027] FIG: 1 is a duodenoscope control box; 2,3,4 holder is movable joint; 5,6,7,8 steel scaffold; internet 9; 10 a wheel.

[0028] 图2十二指肠镜控制盒结构示意图; A schematic view of the box structure [0028] FIG. 2 duodenoscopy control;

[0029] 图中:11、12是十二指肠镜镜身固定装置;13、14是各种经钳道器械固定装置;15 是抬钳器固定装置及其驱动电机;16是小螺旋钮控制装置及其驱动电机;17是大螺旋钮控制装置及其驱动电机;18是器械的导丝固定装置及抽、送动作驱动电机;19是注射器固定装置及其驱动电机;20是经钳道器械操纵杆固定装置及其驱动电机。 [0029] FIG: 11 is a lens barrel fixing means duodenum; 13, 14 via various channels instrument clamp fixture; fixing clamp 15 is lifted and the drive motor means; button 16 is a small helical and a driving motor control means; a control knob 17 is large coil device and a drive motor; guidewire 18 fixtures and pumping equipment, feeding operation of the drive motor; fixing means 19 is a syringe and the drive motor; clamp 20 is via channel lever means and the fixing device drive motor.

[0030] 图3安置十二指肠镜后的十二指肠控制盒示意图; After placement of the duodenoscope duodenum [0030] Fig 3 a schematic view of a control box;

[0031] 图中:21是抬钳器;22是小螺旋钮;23是大螺旋钮;对是十二指肠镜;25是钳道; 26是器械的导丝;27是注射器;观是器械的控制部件;四是经钳道器械。 [0031] FIG: 21 is lifted caliper; a knob 22 is small coil; button 23 is large coil; pair is duodenoscopy; channel 25 is jaw; guidewire instrument 26; 27 is a syringe; concept is instrument control means; Fourth by forceps instrument channel.

[0032] 图4本发明整体构造框图; [0032] FIG 4 a block diagram of the overall configuration of the invention;

[0033] 图5控制终端原理框图。 [0033] FIG. 5 a control block diagram of a terminal.

具体实施方式 Detailed ways

[0034] 下面结合附图叙述一个实施例,对本发明做进一步说明。 [0034] The following describes an embodiment in conjunction with the accompanying drawings, the present invention will be further described.

[0035] 图1显示十二指肠镜控制盒支架结构。 [0035] Figure 1 shows the structure of the cartridge holder control duodenoscope. 十二指肠控制盒支架由十二指肠镜控制盒1、支架活动关节2〜4、钢性支架5〜8、平台9以及车轮10组成。 The cartridge holder is controlled by a control duodenal duodenoscopy cartridge 1, the holder joint activities ~ 4, 5 ~ 8 steel stent, the platform 9 and a wheel 10 components. 底部的平台4,于脚部安装车轮5,使支架装置可方便移动。 The bottom of the platform 4, the wheel mounting leg portions 5, so that the stent device can be easily moved.

[0036] 活动关节5〜8,分别设计有锁死装置。 [0036] 5 ~ 8 movable joints, are designed with a locking means. 其中关节3、4,为可使相邻钢性支架6、7 以及7、8做纵向活动;关节2则可使钢性支架5做水平方向移动。 Wherein the joint 3,4, 6,7, and adjacent steel stent longitudinal activities can be 7,8; ​​2 joint holder 5 made of steel can be moved in the horizontal direction. 从而使十二指肠镜控制盒1可固定于一定空间范围内任意位置。 Duodenoscope so that the control box can be fixed in a certain space within an arbitrary position.

[0037] 图1、2、3分别显示十二指肠镜控制盒支架和十二指肠镜控制盒的结构。 [0037] FIGS. 1,2,3 show the cartridge holder duodenoscopy control structure and a control box duodenoscopy. 十二指肠镜控制盒1为一长方体盒,固定于十二指肠镜控制盒支架的最前端。 Duodenoscope control box 1 is a rectangular box, fixed to the most distal duodenum mirror control cartridge holder. 其内根据十二指肠镜的形状,安装有固定支架11〜14,连接有固定装置的微动电机15〜19。 The inner shape of the duodenum mirror mounting bracket is attached to 11~14, 15~19 connected inching motor fixation device.

[0038] 固定支架11、12用于将十二指肠镜M固定于控制盒内,固定支架13、14为可调节多功能固定装置,用于固定各种经钳道的器械四。 [0038] The fixing bracket 11 is fixed to the duodenal mirror M to the control box, fixed fence 13 and 14 to be adjustable multifunctional fixation device for fixing various equipment via four clamp Road.

[0039] 连接有固定装置的微动电机15、16、17、18、19、20分别固定并操控抬钳器21、小螺旋钮22、大螺旋钮23、器械的导丝沈、注射器27以及器械控制部件观的运动。 [0039] The motor is connected to the jog 15,16,17,18,19,20 fixing means are fixed jaw 21 and lift control, small spiral knob 22, button 23 large coil, the instrument guidewire sink, and the syringe 27 View instrument control member movement. 从而实现辅助完成插管、造影、取石等一系列操作。 Thereby realizing auxiliary intubation, contrast media, stone and a series of operations.

[0040] 图4、图5分别显示本实施例整体构造和控制终端原理。 [0040] FIG 4, FIG 5 show the overall configuration of embodiments of the present embodiment and the principles of the control terminal.

[0041] 在十二指肠镜及其器械与微动电机之间安装有压力感应器的检测部件,并将其探测信号反馈至控制终端。 [0041] between the instrument and the duodenoscope jog the motor mounting member for detecting a pressure sensor, which detects and signals back to the control terminal. [0042] 控制盒内的所有电机以及压力感应器通过专用电缆与控制终端相连接。 [0042] The control box of all the motors and a pressure sensor connected by a dedicated cable from the control terminal.

[0043] 控制终端安置与一遥控盒内,内含主控制器、人机接口、电源转换电路、传感器信号转换采集电路、驱动输出电路。 [0043] The remote control terminal is disposed with a box, containing a main controller, a human machine interface, the power conversion circuit converts the sensor signal acquisition circuit, the output of the drive circuit.

[0044] 控制终端内电源转换电路将外部电流转换后,分别提供给主控制器、人机接口、驱动输出电路、信号转换采集电路供电;信号转换采集电路则对压力传感器传回的信号进行转换放大,反馈至主控制器进行判断;人机接口为一触摸显示屏幕,提供胃镜当前位置、角度、导丝接触压力等信息显示功能的同时,还具备用户操作输入接口的功能,用于接收用户的具体操作信息,传递给主控制器以实施操作控制;驱动输出电路根据电机的驱动要求对主控制器输出的控制指令进行驱动放大,转换为电机驱动信号以驱动各电机实现对十二指肠镜以各器械的控制;主控制器在配套软件支持下,可对用户输入的操作信息进行判断,并将采集到的传感器信息与用户操作信息进行综合计算、处理,输出控制信号,从而对操作控制对象进行精确控制。 After [0044] the control terminal power conversion circuit converts the external current, respectively, to the main controller, a human machine interface, the output driver circuit, the signal conversion circuitry acquisition; acquisition signal converting circuit is returned to the pressure sensor signal conversion amplifying the feedback to the master controller determines; man-machine interface is a touch-screen display, providing gastroscope current position, angle, the contact pressure of the guidewire information display function, but also have the function of a user operation input interface for receiving a user specific operation information is transmitted to the main controller to control the operation of embodiment; drive output circuit according to the requirements of the drive motor control command output from the main controller to drive amplification, conversion into a motor driving signal to drive each of the motors to achieve the duodenum controlling each mirror in the instrument; sensor information and user operation information in the master controller supporting software support, it may be determined on the operation information input by the user, and the acquired comprehensive calculation, processing, output a control signal to the operation precise control of the control object.

Claims (4)

1. 一种ERCP辅助机械手装置,其特征在于:由十二指肠镜控制盒、十二指肠镜控制盒支架、压力传感器、专用电缆、控制终端组成;十二指肠镜控制盒固定在十二指肠镜控制盒支架上,十二指肠镜控制盒内的多台电机分别与抬钳器、注射器、大螺旋钮、小螺旋钮连接, 压力传感器与电机电连接;控制终端由主控制器、人机接口、电源转换电路、传感器信号转换采集电路、驱动输出电路组成,电源转换电路分别为传感器信号转换采集电路、主控制器和驱动输出电路供电;传感器信号转换采集电路将十二指肠镜控制盒的信号转换后传至主控制器,并显示于人机接口;操作人员向人机接口输入控制信息后传至主控制器,进一步传至驱动输出电路而控制十二指肠镜控制盒内各部件运动;压力传感器通过专用电缆与控制终端的驱动输出电路连接。 An ERCP auxiliary robot apparatus, comprising: a mirror box is controlled by the duodenum, the duodenum mirror control box holder, a pressure sensor, a dedicated cable, the composition of the control terminal; duodenoscopy control box fixed duodenoscope control cartridge holder, the control box duodenoscopy multiple motors respectively carry forceps, a syringe, a large coil button, small spiral button connection, a pressure sensor is electrically connected to electromechanical; by the main control terminal controller, a human machine interface, the power conversion circuit converts the sensor signal acquisition circuit, the output of the drive circuit, power conversion circuits to convert the sensor signal acquisition circuit, the main circuit power controller and the drive output; converting sensor signal acquisition circuit Twelve control signal converting means after colonoscopy is transmitted to the main controller box, and displays the human-machine interface; the operator input control information transmitted to the main controller human machine interface, and is further transmitted to the drive control circuit outputs the duodenum each mirror control box member movement; pressure sensor is connected by a dedicated cable to the drive control circuit output terminal.
2.根据权利要求1所述ERCP辅助机械手装置,其特征在于:所说的十二指肠镜控制盒,固定有四个固定支架和六个固定微动电机的装置;其中两个固定支架用于将十二指肠镜固定于控制盒内,另外两个固定支架为多功能可调节固定装置,用于固定造影导管、取石网篮经十二指肠镜钳道器械;而另外六个固定微动电机的装置分别用于固定并操控大螺旋钮、小螺旋钮、抬钳器、十二指肠镜钳道器械、导丝以及注射器。 2. The robot apparatus 1 ERCP auxiliary claim, wherein: said control box duodenoscope, four fixed mounting bracket and fixing means six micro motor; wherein the mounting bracket with two the mirror is fixed to the duodenum in the control box, the other two is a multifunctional mounting bracket adjustable fixing means for fixing angiography catheter, stone basket forceps channel through duodenoscope device; and the other six fixed micro motor means for respectively fixing and manipulating large coil button, small spiral button, lifting clamp, a clamp Road duodenoscopy instrument, guide wire and a syringe.
3.根据权利要求1所述ERCP辅助机械手装置,其特征在于,所说十二指肠镜控制盒支架包括六个固定装置:第一个为夹持式固定装置,用于固定抬钳器,并通过微动电机a控制抬钳器的运动; 第二个固定装置为内径形状,系依据十二指肠镜小螺旋钮设计的圆柱形嵌套固定装置,微动电机b通过皮带控制其旋转,而使小螺旋钮运动;第三个固定装置为内径形状,系依据十二指肠镜大螺旋钮设计的圆柱形嵌套固定装置,微动电机c通过皮带控制其旋转,而使大螺旋钮运动;第四个固定装置,位于近十二指肠镜钳道开口处,通过可调式夹持固定各种经十二指肠镜钳道的各种器械导丝,并通过微动电机e控制向十二指肠镜钳道内送进、推出导丝;第五个固定装置,为可调节式夹持装置,可固定造影导管、取石网篮、活检钳的运动关节,并通过微动电机f控制这些器械 3. The robot 1 ERCP auxiliary device according to claim, wherein said cassette holder comprises a control duodenoscopy six fixing means: the first is a clamp-type fixing means for fixing the clamp lift device, and carrying tongs is controlled by the jog motion motor a; the second fixing means for the inner-diameter shape, according to the Department of cylindrical design button duodenoscopy small coil nesting fixture, micro motor controlling its rotation through a belt b , the small spiral motion button; the inner diameter of the third fixing means is shaped, according to the Department of cylindrical design button duodenoscopy large coil nesting fixture, c jog motor controlling its rotation by a belt, the large coil button movement; fourth fixing means, located near duodenoscopy clamp channel openings, fixed by various adjustable clamping jaw duodenoscopy various instruments guidewire channel, and through the jog motor e fed into the control channel duodenoscopy clamp, introduced guidewire; fifth fixing means for adjustable clamping means, can be fixed angiography catheters, stone baskets, biopsy forceps joint movement, and the motor through the jog f control these devices 的运动;第六个固定装置,其结构类似微量输液泵,依据注射器形状设计,可安置注射器,其后方为一推片,通过微动电机g控制推片向前运动,从而实现推注药物。 Motion; sixth fixing means, which is similar to the structure of micro-infusion pump, a syringe according to the design shape, may be disposed a syringe, which is a push plate backward, forward movement of the sheet by pushing the jog control motors g, in order to achieve a drug bolus.
4.根据权利要求3所述ERCP辅助机械手装置,其特征在于,所说十二指肠镜控制盒支架还包括一平台支架结构,由三个可活动关节的支架以及一个可移动平台构成;平台支架的最远端固定十二指肠镜控制盒;三个可活动关节处分别装有固定关节活动的装置。 According to claim 3 ERCP the auxiliary manipulator unit, characterized in that said cassette holder duodenoscopy control platform further comprises a support structure, composed of a holder and a movable platform can be three joint activities; platform the most distal duodenum fixed mirror mount control box; means three fixed joint movement are respectively provided with movable joints.
CN 201010244305 2010-08-02 2010-08-02 ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device CN101889871B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010244305 CN101889871B (en) 2010-08-02 2010-08-02 ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201010244305 CN101889871B (en) 2010-08-02 2010-08-02 ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device

Publications (2)

Publication Number Publication Date
CN101889871A CN101889871A (en) 2010-11-24
CN101889871B true CN101889871B (en) 2011-12-07

Family

ID=43099345

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201010244305 CN101889871B (en) 2010-08-02 2010-08-02 ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device

Country Status (1)

Country Link
CN (1) CN101889871B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6251756B2 (en) * 2013-02-26 2017-12-20 アーメット・シナン・カバクチュAhmet Sinan KABAKCI Robot manipulator system
CN105030332A (en) * 2015-04-29 2015-11-11 郑步峰 ERCP auxiliary manipulator device
CN105411685B (en) * 2016-01-19 2017-08-29 吉林大学 Automation colonoscopy assisting device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN88212752U (en) * 1988-02-02 1988-11-30 陈长江 Multifunctional device for abdominal operation
US7763015B2 (en) * 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
CN101690674B (en) * 2009-09-30 2011-04-06 哈尔滨工业大学 Abdominal minimally invasive surgery instrument clamping manipulator

Also Published As

Publication number Publication date
CN101889871A (en) 2010-11-24

Similar Documents

Publication Publication Date Title
CN100500095C (en) X-ray diagnostic apparatus
JP5285270B2 (en) Automatic guide wire operating system
JP4161061B2 (en) Catheter treatment for simulation equipment
US20090177032A1 (en) Method and apparatus for magnetically controlling endoscopes in body lumens and cavities
CN1229079C (en) Dual stage telescoping imaging table
EP1896114B1 (en) User interface for remote control catheterization
CN100438826C (en) Apparatus and method for catheter guidance control and imaging
US6096004A (en) Master/slave system for the manipulation of tubular medical tools
JP5236502B2 (en) System and apparatus for measuring distal force of the working instrument
EP2376175B1 (en) Remote catheter procedure system
CN103251455B (en) The auxiliary image on the medical robot system and a computer display screen manipulation
EP1755727B1 (en) Transmission for a remote catheterization system
US20040161076A1 (en) Radiation protection system
JP4580628B2 (en) X-ray image diagnostic apparatus and an image data generating method
US7640053B2 (en) Catheterization method and system for controlling tip displacement
US20070066983A1 (en) Device for carrying out rotablation
CN101732082B (en) Soft and hard son-mother gall bladder and choledochoscope system
EP1925262A1 (en) System and method for navigating a surgical needle toward an organ of the body of a patient
US20160338783A1 (en) Low friction instrument driver interface for robotic systems
US20060046226A1 (en) Dental imaging system and method of use
US20060146010A1 (en) Computer assisted manipulation of catheters and guide wires
KR101621603B1 (en) Radiation control and minimization system and method
JP2005519688A (en) Pseudo simultaneous multi-planar x-ray imaging system and method
WO2013074800A1 (en) Medical measuring system and method
JP2010069314A (en) Apparatus for performing transluminal and other procedures

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
C14 Grant of patent or utility model
EXPY Termination of patent right or utility model