CN101889871B - ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device - Google Patents
ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device Download PDFInfo
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- CN101889871B CN101889871B CN2010102443059A CN201010244305A CN101889871B CN 101889871 B CN101889871 B CN 101889871B CN 2010102443059 A CN2010102443059 A CN 2010102443059A CN 201010244305 A CN201010244305 A CN 201010244305A CN 101889871 B CN101889871 B CN 101889871B
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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
Technical field
The present invention relates to a kind of can assisting and finish the diagnosis and treatment mechanical automation device that various ERCP operate.
Background technology
ERCP is English initial letter (the Encoscopic RetrogradeCholangio-Pancreatography through endoscopic retrograde cholangiopancreatography, ERCP), be under scope, to inject contrast agent through the vater's papilla intubate, showing pancreaticobiliary shadowgraph technique thereby drive in the wrong direction, is the goldstandard of present diagnosis diseases of pancreaticobiliary duct of generally acknowledging.On the basis of ERCP, can carry out under vater's papilla sphincterotomy (EST), the scope under nose bile drainage (ENBD), the scope drainage interventional therapys such as (ERBD) in the bile, become the important means of clinical treatment.But in the process that is patient's diagnose and treat diseases, the medical personnel need be exposed under the irradiation of X line for a long time, and its health has been caused harm.Studies show that, be engaged in the personnel of intervention radiation work, body is subjected to the overdose ionizing radiation continuously or discontinuously in the long period, can produce various ill-effects, as: skin, crystalline lens, gonad and myeloid tissue.Document announcement is arranged, and X ray can make in the air gas excite ionization to produce harmful substances such as nitrogen oxide, ozone, free radical, and repeatedly contacting lonizing radiation on a small quantity can make gene accumulation damage so that carcinogenic or teratogenesis because of cumulative action.X ray can also cause dizziness, alopecia, organ impaired, suppress bone marrow hematogenesis, make leukopenia; The long-term low dose roentgenization can make the human lens muddiness, and can finally develop into radiational cataract.Therefore, how in the process of benefiting, and cause damage for medical personnel's health for the patient---be a generally acknowledged difficult problem.
Summary of the invention
The objective of the invention is the difficult problem that when operating medical personnel self health worked the mischief at traditional E RCP, a kind of mode of operation that the medical personnel is freed from the working environment of X ray is provided, promptly can Long-distance Control, finish robot device based on the various diagnosis and treatment operations of ERCP.
The technical solution adopted in the present invention is:
Form by duodenoscope control box, duodenoscope control box support, pressure transducer, private cable, control terminal.The duodenoscope control box is fixed on the duodenoscope control box support, the multiple electric motors in the duodenoscope control box respectively with lift pincers device, syringe, king bolt button, minor spiral button and be connected; Pressure transducer is electrically connected with motor.Control terminal is made up of master controller, man-machine interface, power-switching circuit, sensor signal conversion Acquisition Circuit, driving output circuit, and power-switching circuit is respectively conversion of signals Acquisition Circuit, master controller and the power supply of driving output circuit; Reach master controller after the conversion of signals of conversion of signals Acquisition Circuit with the duodenoscope control box, and be shown in man-machine interface; Operator then reach master controller behind the man-machine interface input control information, further reach to drive output circuit and control each component movement in the duodenoscope control box; Pressure transducer is connected with the driving output circuit of control terminal by private cable.
A. described duodenoscope control box: also connect six fine motion motors respectively and form by four fixed supports, six fixtures.
First, second fixed support, be two fixtures according to the duodenoscope size design, be used for fixing duodenoscope; The 3rd, the 4th support is multi-functional scalable fixture, is used for fixing as angiography catheter, stone extraction basket etc. various through duodenoscope pincers road apparatus.
B. described six duodenoscope control box supports:
First is clipping fixture, is used for fixing to lift the pincers device, and clamps the motion of device by fine motion motor a console;
Second fixture is the internal diameter shape, is that fine motion motor b controls its rotation by belt according to the cylindrical nested fixture of duodenoscope minor spiral button design, and makes the motion of minor spiral button;
The 3rd fixture is the internal diameter shape, is the cylindrical nested fixture according to the design of duodenoscope king bolt button.Fine motion motor c controls its rotation by belt, and makes the motion of king bolt button;
The 4th fixture is positioned at nearly duodenoscope pincers road opening part, by the adjustable various apparatus seal wires that grip various through duodenoscope pincers road, and sends, releases seal wire by fine motion motor e control in duodenoscope pincers road;
The 5th fixture is adjustable clamping device, the fixing movable joint of multiple apparatuses such as angiography catheter, stone extraction basket, biopsy forceps, and control the motion of these apparatuses by fine motion motor f;
The 6th fixture, its similar microinfusion pump according to the syringe shape design, can be settled syringe, and its rear is a push jack, travels forward by fine motion motor g control push jack, thereby realizes injecting medicine.
This duodenoscope control box support is a platform support structure, is made of the support that comprises three movable joints and a moveable platform.The distal-most end of support is the duodenoscope control box fixedly; Three movable joints are equipped with the active device of fixing joint respectively, thereby can make the duodenoscope control box be fixed in the interior optional position of certain space scope.
Connect by private cable between duodenoscope control box and the control terminal.
C. described control terminal is made up of master controller, man-machine interface, power-switching circuit, sensor signal conversion Acquisition Circuit, driving output circuit etc.
Master controller is the core of control terminal, under software is supported, can judge the operation information of user's input, and the sensor information and the user's operation information that collect are carried out COMPREHENSIVE CALCULATING, processing, the output control signal is to realize the accurate control to operation control object.Under the prerequisite that satisfies the control function, master controller also possesses functions such as operation indicating, the control of control signal output violent change, possesses stronger device security defencive function.
Man-machine interface is a touch screen.Under the support of software, the movable information of duodenoscope can be shown on the screen.Operator can be by pushing the button on the touch screen, the motion of each motor of control duodenum control box.
Power-switching circuit in the control terminal is changed outside 220V Alternating Current Power Supply, offers master controller, man-machine interface, driving output circuit, the use of conversion of signals Acquisition Circuit respectively.
The conversion of signals Acquisition Circuit is finished the isolation of pressure transducer output signal conversion, offers the master controller judgement of sampling.
Drive output circuit, the control instruction of master controller being exported according to the driving requirement of motor drives amplification, is converted to motor drive signal and implements action to drive each motor.
The detection position of pressure transducer is connected in each duodenoscope button, seal wire with fine motion motor junction, by the resistance of each button of perception and seal wire, gives the conversion of signals Acquisition Circuit with signal feedback.
During use, need to connect a duodenoscope display in addition in operation room by extended line.The medical personnel inserts the duodenoscope front end in patient's duodenum earlier, makes the visual field over against vater's papilla, inserts various operating apparatuss as required in the pincers road.Regulate duodenoscope control box support, with the duodenoscope anchored in place in the duodenoscope control box, and with operating apparatus and (or) seal wire is fixed on relevant position in the duodenoscope control box.At this moment, the medical worker can withdraw to X line operation room, and by pushing the respective keys on the touch screen, the control duodenoscope is auxiliary to be finished as intubate, radiography, get the operating procedure that tradition needs the monitoring of X line to finish down in the various operating process such as stone, support placement.
The present invention is in the diagnosis and treatment process of ERCP, after the medical worker inserts the vater's papilla position with duodenoscope, fixedly duodenoscope, the medical worker can remote control duodenoscope outside machine room, auxiliaryly finishes intubate, injection of contrast medium, gets stone etc. and need the medical worker to be exposed to various operations under the X line usually.Thereby avoided the medical personnel carrying out in the process of diagnosis and treatment the injury that self is caused for the patient.
Description of drawings
Fig. 1 duodenoscope control box supporting structure sketch map;
Among the figure: the 1st, the duodenoscope control box; 2, the 3, the 4th, support Movable joint; 5, the 6,7, the 8th, rigid trestle; The 9th, platform; The 10th, wheel.
Fig. 2 duodenoscope control box structural representation;
Among the figure: the 11, the 12nd, duodenoscope shank fixture; 13, the 14th, various through pincers road apparatus fixture; The 15th, lift pincers device fixture and drive motors thereof; The 16th, minor spiral button control device and drive motors thereof; The 17th, king bolt button control device and drive motors thereof; The 18th, the seal wire fixture of apparatus and take out, send the action drives motor; The 19th, syringe fixture and drive motors thereof; The 20th, through pincers road apparatus stick fixture and drive motors thereof.
Fig. 3 settles the duodenum control box sketch map after the duodenoscope;
Among the figure: the 21st, lift the pincers device; The 22nd, the minor spiral button; The 23rd, the king bolt button; The 24th, duodenoscope; The 25th, the pincers road; The 26th, the seal wire of apparatus; The 27th, syringe; The 28th, the control assembly of apparatus; The 29th, through pincers road apparatus.
Fig. 4 unitary construction block diagram of the present invention;
Fig. 5 control terminal theory diagram.
The specific embodiment
Below in conjunction with embodiment of accompanying drawing narration, the present invention will be further described.
Fig. 1 shows duodenoscope control box supporting structure.Duodenum control box support is made up of duodenoscope control box 1, support Movable joint 2～4, rigid trestle 5～8, platform 9 and wheel 10.The platform 4 of bottom is installed wheel 5 in foot, and holder device can conveniently be moved.
Movable joint 5～8, design has locking device respectively.Wherein the joint 3,4, do longitudinally-moving for making adjacent rigid trestle 6,7 and 7,8; 2 in joint can make rigid trestle 5 move horizontally.Thereby make duodenoscope control box 1 can be fixed in optional position in the certain space scope.
Fig. 1,2,3 shows the structure of duodenoscope control box support and duodenoscope control box respectively.Duodenoscope control box 1 is a cuboid box, is fixed in duodenoscope control box support foremost.According to the shape of duodenoscope, fixed support 11～14 is installed in it, is connected with the fine motion motor 15～19 of fixture.
Fixed support 11,12 is used for duodenoscope 24 is fixed in the control box, and fixed support 13,14 is the multi-functional fixture of scalable, is used for fixing various apparatuses 29 through the pincers road.
The motion of seal wire 26, syringe 27 and the apparatus control assembly 28 of lifting pincers device 21, minor spiral button 22, king bolt button 23, apparatus is fixed and controlled to the fine motion motor 15,16,17,18,19,20 that is connected with fixture respectively.Thereby sequence of operations such as stone are assisted and are finished intubate, radiography, get in realization.
Fig. 4, Fig. 5 show present embodiment unitary construction and control terminal principle respectively.
The detection part of pressure inductor is installed between duodenoscope and apparatus and fine motion motor, and its detectable signal is fed back to control terminal.
All motors and pressure inductor in the control box are connected with control terminal by private cable.
In a control terminal arrangement and the remote-control box, include master controller, man-machine interface, power-switching circuit, sensor signal conversion Acquisition Circuit, drive output circuit.
After power-switching circuit is changed foreign current in the control terminal, offer master controller, man-machine interface, driving output circuit, the power supply of conversion of signals Acquisition Circuit respectively; The conversion of signals Acquisition Circuit is then changed amplification to the signal that pressure transducer is passed back, feeds back to master controller and judges; Man-machine interface is a touch display screen curtain, when information display functions such as gastroscope current location, angle, seal wire contact pressure are provided, also possess the function that the user operates input interface, be used to receive user's concrete operations information, pass to master controller and control with implementation and operation; The driving output circuit requires the control instruction of master controller output is driven amplification according to the driving of motor, is converted to motor drive signal and realizes the control of duodenoscope with each apparatus to drive each motor; Master controller can be judged the operation information of user's input, and the sensor information and the user's operation information that collect are carried out COMPREHENSIVE CALCULATING, processing under software kit is supported, the output control signal, thus operation control object is accurately controlled.
Claims (4)
1. an ERCP Aided Machine arm device is characterized in that: be made up of duodenoscope control box, duodenoscope control box support, pressure transducer, private cable, control terminal; The duodenoscope control box is fixed on the duodenoscope control box support, the multiple electric motors in the duodenoscope control box respectively with lift pincers device, syringe, king bolt button, minor spiral button and be connected, pressure transducer is electrically connected with motor; Control terminal is made up of master controller, man-machine interface, power-switching circuit, sensor signal conversion Acquisition Circuit, driving output circuit, and power-switching circuit is respectively sensor signal conversion Acquisition Circuit, master controller and the power supply of driving output circuit; Reach master controller after the conversion of signals of sensor signal conversion Acquisition Circuit with the duodenoscope control box, and be shown in man-machine interface; Operator reach master controller behind the man-machine interface input control information, further reach to drive output circuit and control each component movement in the duodenoscope control box; Pressure transducer is connected with the driving output circuit of control terminal by private cable.
2. according to the described ERCP Aided Machine of claim 1 arm device, it is characterized in that: said duodenoscope control box is fixed with the fixedly device of fine motion motor of four fixed supports and six; Wherein two fixed supports are used for duodenoscope is fixed in the control box, and two other fixed support is multi-functional scalable fixture, are used for fixing angiography catheter, stone extraction basket through duodenoscope pincers road apparatus; And other six fixedly the device of fine motion motor be respectively applied for fixing and control king bolt button, minor spiral button, lift the pincers device, duodenoscope pincers road apparatus, seal wire and syringe.
3. according to the described ERCP Aided Machine of claim 1 arm device, it is characterized in that said duodenoscope control box support comprises six fixtures:
First is clipping fixture, is used for fixing to lift the pincers device, and clamps the motion of device by fine motion motor a console;
Second fixture is the internal diameter shape, is that fine motion motor b controls its rotation by belt according to the cylindrical nested fixture of duodenoscope minor spiral button design, and makes the motion of minor spiral button;
The 3rd fixture is the internal diameter shape, is that fine motion motor c controls its rotation by belt according to the cylindrical nested fixture of duodenoscope king bolt button design, and makes the motion of king bolt button;
The 4th fixture is positioned at nearly duodenoscope pincers road opening part, by the adjustable various apparatus seal wires that grip various through duodenoscope pincers road, and sends, releases seal wire by fine motion motor e control in duodenoscope pincers road;
The 5th fixture is adjustable clamping device, the fixing movable joint of angiography catheter, stone extraction basket, biopsy forceps, and control the motion of these apparatuses by fine motion motor f;
The 6th fixture, its similar microinfusion pump according to the syringe shape design, can be settled syringe, and its rear is a push jack, travels forward by fine motion motor g control push jack, thereby realizes injecting medicine.
4. according to the described ERCP Aided Machine of claim 3 arm device, it is characterized in that said duodenoscope control box support also comprises a platform support structure, constitute by the support and a moveable platform in three movable joints; The distal-most end of platform support is the duodenoscope control box fixedly; Three movable joints are equipped with the active device of fixing joint respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102443059A CN101889871B (en) | 2010-08-02 | 2010-08-02 | ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102443059A CN101889871B (en) | 2010-08-02 | 2010-08-02 | ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device |
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| CN101889871A CN101889871A (en) | 2010-11-24 |
| CN101889871B true CN101889871B (en) | 2011-12-07 |
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| CN2010102443059A Expired - Fee Related CN101889871B (en) | 2010-08-02 | 2010-08-02 | ERCP (Endoscopic Retrograde Cholangiopancreatography) auxiliary mechanical arm device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| BR112015020589B8 (en) * | 2013-02-26 | 2022-03-22 | Sinan Kabakci Ahmet | robotic 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 | Automate colonoscopy servicing unit |
| CN114145850A (en) * | 2021-12-03 | 2022-03-08 | 张继军 | Intelligent ERCP auxiliary device and automatic control method |
| CN114831737A (en) * | 2022-05-23 | 2022-08-02 | 上海奥朋医疗科技有限公司 | Operating system and method for ERCP surgical robot |
| CN115919474B (en) * | 2023-01-09 | 2023-06-16 | 北京云力境安科技有限公司 | Soft endoscope control robot system |
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| 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 |
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