CN104757930B - A kind of manipulation device that digests endoscope handle - Google Patents
A kind of manipulation device that digests endoscope handle Download PDFInfo
- Publication number
- CN104757930B CN104757930B CN201410001595.2A CN201410001595A CN104757930B CN 104757930 B CN104757930 B CN 104757930B CN 201410001595 A CN201410001595 A CN 201410001595A CN 104757930 B CN104757930 B CN 104757930B
- Authority
- CN
- China
- Prior art keywords
- sleeve
- lever
- shell
- driving wheel
- small driving
- 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.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00066—Proximal part of endoscope body, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Gastroenterology & Hepatology (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
The present invention relates to medical instruments field, specifically a kind of manipulation device that digests endoscope handle, comprise that rotating mechanism, large dial wheel mechanism, small driving wheel mechanism, button open and close switching mechanism and shell, wherein, described large dial wheel mechanism, small driving wheel mechanism and button open and close switching mechanism and are arranged in shell, rotating mechanism is connected with one end of shell, and the flexible end of digestion endoscope handle is stretched out by the other end of shell. Rotating mechanism drives shell by Bevel Gear Transmission and then drives the rotation of digestion endoscope handle. Large dial wheel mechanism and small driving wheel mechanism drive large dial wheel sleeve by toothed belt transmission respectively and small driving wheel sleeve is forward and reverse stirs large dial wheel and the small driving wheel of in digestion, peeping handle, and has limit function. Button opens and closes switching mechanism and is realized and sent the recovery operation of pressing of vapour button and attraction button to the water that send of digestion endoscope mobile phone by cylinder and lever. The present invention can replace doctor's manual operation, and realizes and controlling more accurately and safeguard protection.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of behaviour who digests endoscope handleVertical device.
Background technology
The digestion ESS of transmission is that doctor refers to by manual control digestion endoscopy reachingAllocation, as arrived in stomach or enteron aisle by manually controlling gastroscope or intestines mirror, then carries out phaseAnswer operation technique. This maneuverability pattern need to manually complete, and this will seek medical advice raw must appearanceAt operative site, and in a lot of situation, especially, in remote districts or when first aid, doctor veryDifficult appearance in time. In addition, operation technique is more the personal experience who relies on doctor, therefore handThe accuracy of art operation can be subject to the restriction of the factors such as doctors experience conventionally.
Summary of the invention
The object of the present invention is to provide a kind of manipulation device that digests endoscope handle, by coneGear drive, toothed belt transmission and pneumatic mode have realized respectively digestion endoscope handleRotate the unlatching closed procedure of operation, flexible end control and button, can replace doctor's peopleWork operation, can realize and control more accurately and safeguard protection simultaneously.
The object of the invention is to be achieved through the following technical solutions:
Digest a manipulation device for endoscope handle, comprise rotating mechanism, large dial wheel mechanism,Small driving wheel mechanism, button open and close switching mechanism and shell, wherein, and described large dial wheel mechanism, littleThumb wheel mechanism and button open and close switching mechanism and are arranged in described shell, and described shell comprises sidePlate, fixed head and air cylinder fixed plate, rotating mechanism is arranged at the outside of described shell and with describedThe side plate of shell one end is connected, and digestion endoscope handle is arranged in described shell, and described in disappearThe flexible end of changing endoscope handle is stretched out away from one end of described rotating mechanism by described shell;Small driving wheel mechanism comprises the second motor, the second transmission mechanism, built-in sleeve and small driving wheel sleeve,Described the second motor and built-in sleeve are arranged on the fixed head of described shell, described the second motorBe connected with one end of described built-in sleeve by the second transmission mechanism, another of described built-in sleeveEnd is affixed with small driving wheel sleeve, described small driving wheel sleeve and the small driving wheel card that digests endoscope handleClose; Described large dial wheel mechanism comprises the first motor, the first transmission mechanism, sleeve and large dial wheel coverCylinder, wherein, described sleeve is rotatably sleeved on the built-in sleeve of small driving wheel mechanism, described inThe first motor is connected with described sleeve by the first transmission mechanism, described sleeve and large dial wheel sleeveAffixed, described large dial wheel sleeve engages with the large dial wheel of digestion endoscope handle, in described shellBe provided with the motor center that is connected with described side plate and adjust plate, the first motor of described large dial wheel mechanismBeing arranged on described motor center adjusts on plate; Described button open and close switching mechanism be arranged on described outsideIn the air cylinder fixed plate of shell.
Described rotating mechanism comprise electric rotating machine, decelerator, transmission mechanism, rotating output shaft andRotating mechanism casing, wherein, electric rotating machine, decelerator and transmission mechanism are arranged at described rotationIn mechanism's casing and successively, connect, described transmission mechanism is connected with rotating output shaft, described rotationThe output of output shaft extend out to the outside of described rotating mechanism casing and the side plate of described shellAffixed or affixed by the side plate of Flexible Connector and described shell.
Described transmission mechanism is bevel gear transmission, comprise intermeshing the first bevel gear andThe second bevel gear, wherein, the second bevel gear is connected with the output shaft of decelerator, the first bevel gearThe one end that is positioned at rotating mechanism casing with rotating output shaft is connected.
Described button opens and closes switching mechanism and comprises the first cylinder, the second cylinder, the first lever and theTwo levers, wherein, the first cylinder and the second cylinder are fixed in described air cylinder fixed plate near instituteState a side of small driving wheel mechanism, described the first lever and the second lever are fixed by lever fixed headIn described air cylinder fixed plate away from a side of described small driving wheel mechanism; The actuating strut of the first cylinderWhen work through described air cylinder fixed plate, and with one end phase that can automatically reset the first leverSupport, the other end of described the first lever send the water button phase of supplying gas with digestion in endoscope handleSupport; Actuating strut when work of the second cylinder is through described air cylinder fixed plate, and with can automatically resetOne end of the second lever offset, in the other end of described the second lever and digestion endoscope handleThe water button of supplying gas that send offset.
Described lever fixed head is provided with lever fixed axis, and the first lever and the second lever are rotatableBe arranged on described lever fixed axis; On described lever fixed axis, be respectively equipped with and make the first leverTorsionspring with the second lever reset use.
The first transmission mechanism of described large dial wheel mechanism comprises the first driving pulley, the first Timing BeltWith the first driven pulley, wherein, the first driving pulley is connected with the output shaft of described the first motor,The first driven pulley is sleeved on described sleeve rotationally; Described motor center is adjusted on plate and is establishedBe useful on the translot of adjusting the first motor position.
Described the first driven pulley is provided with back-up ring, and described the first driven pulley is by described back-up ringBe fixed on described sleeve; Described back-up ring is provided with stop screw, described fixed head be provided withThe upper limit position switch that described stop screw matches and lower position switch.
The second transmission mechanism of described small driving wheel mechanism is synchronous belt drive mechanism, comprises that second drivesMovable belt pulley, the second Timing Belt and the second driven pulley, wherein, the second driving pulley and describedThe output shaft of two motors connects, and the second driven pulley is sleeved on described built-in sleeve rotationallyOn; Described fixed head is provided with the translot for adjusting the second motor position.
In described built-in sleeve, be provided with rotating fixed muffle, described small driving wheel mechanism also wrapsDraw together fixed disk, described fixed muffle extend out to described built-in away from one end of described small driving wheel sleeveOutside sleeve, and be connected with described fixed disk, described fixed disk by screw hole column be fixed on described outsideOn the fixed head of shell.
Described the second driving pulley is connected with spacing disk away from a side end face of the second motor, instituteState spacing disk and be provided with stop screw, described fixed head is provided with described stop screw and matchesThe left limit switch closing and right limit switch.
Advantage of the present invention and good effect are:
1, the present invention is simple to operation, and experience less paramedic also can complete,Thereby can substitute doctor's manual operation.
2, the present invention realizes respectively by Bevel Gear Transmission, toothed belt transmission and pneumatic modeThe closed behaviour of unlatching of rotation operation, flexible end control and the button to digestion endoscope handleDo, the accuracy of operation technique is higher, and is not subject to the restriction of the factors such as doctors experience.
3, the present invention has improved the security of operation, is conducive to patient's treatment.
Brief description of the drawings
Fig. 1 is stereogram of the present invention,
Fig. 2 is internal structure schematic diagram of the present invention,
Fig. 3 is the cutaway view of rotating mechanism in Fig. 2,
Fig. 4 is the structural perspective of rotating mechanism in Fig. 3,
Fig. 5 is Tu2Zhong large dial wheel mechanism and small driving wheel mechanism cutaway view,
Fig. 6 is I place enlarged drawing in Fig. 5,
Fig. 7 is the structural perspective of Tu5Zhong large dial wheel mechanism and small driving wheel mechanism,
Fig. 8 is the partial top view of Tu5Zhong large dial wheel mechanism and small driving wheel mechanism,
Fig. 9 is the structural perspective at Tu5Zhong large dial wheel mechanism and another visual angle of small driving wheel mechanism,
Figure 10 be the A of Tu5Zhong large dial wheel mechanism and small driving wheel mechanism to view,
Figure 11 is the structural perspective that in Fig. 2, button opens and closes switching mechanism,
Figure 12 is the structural perspective that in Figure 11, button opens and closes another visual angle of switching mechanism,
Figure 13 is II place enlarged drawing in Figure 11,
Figure 14 is the structural representation that rotating mechanism of the present invention is connected with shell by Flexible ConnectorFigure mono-,
Figure 15 is the structural representation that rotating mechanism of the present invention is connected with shell by Flexible ConnectorFigure bis-.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Fig. 1～2, the present invention includes rotating mechanism 2, large dial wheel mechanism 3, small driving wheelMechanism 4, button open and close switching mechanism 5 and shell 6, wherein, described large dial wheel mechanism 3,Small driving wheel mechanism 4 and button open and close switching mechanism 5 and are arranged in described shell 6, rotating mechanism2 are connected with one end of described shell 6, and the flexible end of digestion endoscope handle 1 is by describedThe other end of shell 6 stretches out.
As shown in Fig. 3～4, described rotating mechanism 2 comprises that electric rotating machine 22, electric rotating machine are solidDetermine plate 20, decelerator 21, transmission mechanism 44, the axle collar 17, rotating output shaft 16 and rotationMechanism's casing 23, wherein, described transmission mechanism 44 is bevel gear transmission, comprises firstBevel gear 18 and the second bevel gear 19, described the first bevel gear 18, the second bevel gear 19,Decelerator 21 and electric rotating machine 22 are all arranged in described rotating mechanism casing 23. Electric rotatingIt is interior near shell 6 one sides that machine fixed head 20 is fixed by screws in described rotating mechanism casing 23Madial wall on, electric rotating machine 22 is connected with decelerator 21, the output shaft of decelerator 21 is wornAfter crossing described electric rotating machine fixed head 20, be connected with the second bevel gear 19, decelerator 21 passes throughScrew is arranged on described electric rotating machine fixed head 20, outside described rotating mechanism casing 23 is closeThe outer surface of shell 6 one sides is provided with seam, and the axle collar 17 is arranged in described seam and passes through screwBe fixed on described rotating mechanism casing 23. Shell 6 is near a side of described rotating mechanism 2Be provided with top board 15, the output of rotating output shaft 16 is fixed on described top by screw 80On plate 15, the other end is through passing through connecting key 46 and the first bevel gear after the described axle collar 1718 connect, and described the first bevel gear 18 is meshed with the second bevel gear 19.
In the time that electric rotating machine 22 is worked, by the first bevel gear 18 and the second bevel gear 19Transmission can drive shell 6 to rotate, and then realizes in all mechanisms and digestion that drive in shell 6Sight glass handle 1 rotates.
As shown in Figure 5, large dial wheel mechanism 3 comprise the first motor 13, the first transmission mechanism 47,Sleeve 26, back-up ring 29 and large dial wheel sleeve 24, wherein, the first transmission mechanism 47 is belt wheelTransmission mechanism, comprises the first driving pulley 43, the first Timing Belt 39 and the first driven pulley 27.As shown in Figure 7, on the top board 15 of shell 6, be provided with motor center and adjust plate 51, described electricityPlate 51 is adjusted by screw and described vertical connection of top board 15, described the first motor in machine center13 are fixed on described motor center by motor fixing plate 52 adjusts on plate 51. Described motorCenter is adjusted on plate 51 and is arranged with two translots in parallel, and described translot is being installed the first motor 13Time for adjusting the position of motor fixing plate 52, and then adjust the position of the first motor 13, fromAnd the tensile force of adjustment the first Timing Belt 39, after location positioning, screws bolt 54 and nut53 by fixing motor fixing plate 52. Shell 6 also comprises fixed head 31, described fixed head 31Be connected with top board 15 is vertical by fixed block 55. As shown in Figure 5, the first motor 13 is defeatedShaft is connected with the first driving pulley 43 after adjusting plate 51 through described motor center, and first drivesMovable belt pulley 43 is connected with the first driven pulley 27 by the first Timing Belt 39. As shown in Figure 6,Described the first driven pulley 27 is sleeved on sleeve 26, and back-up ring 29 spiral-locks are in the first driven beltWheel 27 on and together with described sleeve 26, the first driven pulley 27 is blocked fixing, described coverCylinder 26 is provided with seam, large dial wheel sleeve 24 away from the end face of the first driven pulley 27 1 sidesBe arranged in described seam large dial wheel sleeve 24 and the large dial wheel phase that digests endoscope handle 1Engaging, described back-up ring 29, the first driven pulley 27, sleeve 26 and large dial wheel sleeve 24 are logicalCrossing bolt connects.
As shown in Fig. 8～9, upper limit position switch 11 and lower position switch 50 are opened by upper limitClosing fixed head 12 and lower position switch fixed head 49 is fixed on described fixed head 31. Back-up ring29 are provided with a stop screw 10, in the time that the first driven pulley 27 rotates, with described firstThe back-up ring 29 that driven pulley 27 connects is together rotation also, and then drives stop screw 10 to rotate,In the time that stop screw 10 rotates to high-low limit position, open with upper limit position switch 11 and lower limitClose 50 contacts, realize limit function. Described upper limit position switch 11 and lower position switch 50Model is SS-5GL, and producer is Omron.
As shown in Figure 5, small driving wheel mechanism 4 comprise the second motor 14, the second transmission mechanism 45,Built-in sleeve 34, fixing end cap 35, fixed disk 36, fixed muffle 37 and small driving wheel sleeve25, wherein, the second transmission mechanism 45 is belt wheel transmission mechanism, comprise the second driving pulley 41,The second Timing Belt 40 and the second driven pulley 33. As shown in Figure 7, the second motor 14 passes throughMotor fixing plate 56 is connected with fixed head 31, is arranged with two horizontal strokes on fixed head 31 in parallelGroove, described translot is used for adjusting the position of motor fixing plate 56 in the time that the second motor 14 is installed,And then the position of adjustment the second motor 14, thereby the tensile force of adjustment the second Timing Belt 40. AsShown in Fig. 5, the output shaft of the second motor 14 is rear and the second rotating band through described fixed head 31Wheel 41 connects, and the second driving pulley 41 is by the second Timing Belt 40 and the second driven pulley 33Connect. As shown in Figure 6, the second driven pulley 33 is sleeved on one end of built-in sleeve 34, andDescribed the second driven pulley 33 and built-in sleeve 34 are interference assembling, built-in sleeve 34 anotherOne end extend in sleeve 26 and is connected with small driving wheel sleeve 25 by screw, small driving wheel coverCylinder 25 fastens with the small driving wheel of digestion endoscope handle 1. At built-in sleeve 34 and sleeveBetween 26, be provided with bearing 28, built-in sleeve 34 near one end of small driving wheel sleeve 25 outsidePeriphery is provided with seam, the built-in sleeve between bearing 28 and the second driven pulley 33On 34, be set with spacer 30, described bearing 28 is by described seam, back-up ring 29 and spacer 30Fixing, fixing end cap 35 is fixed by screws in described built-in sleeve 34 away from small driving wheel sleeveOne end of 25, and fix from both sides by the second driven pulley 33 with described spacer 30. FixingSleeve 37 is arranged in built-in sleeve 34, the outer circumference face of fixed muffle 37 and built-in coverBetween the inside circumference face of cylinder 34, be provided with rolling bearing 38, described fixed muffle 37 is away from littleOne end of thumb wheel sleeve 25 extend out to outside described built-in sleeve 34, and by screw and fixed disk36 are connected. The fixed head 31 of shell 6 is provided with screw hole column 32 away from one end of top board 15,Fixed disk 36 is fixed on described screw hole column 32 by screw.
The second driving pulley 41 is provided with a spacing disk away from a side end face of the second motor 1442, as shown in figure 10, described spacing disk 42 is provided with a stop screw 7, fixingPlate 31 is provided with limit switch fixed head 48, on described limit switch fixed head 48, is connected withLeft limit switch 8 and right limit switch 9. In the time that the second driving pulley 41 rotates, spacing circleDish 42 is together rotation also, and then drives stop screw 7 to rotate, when stop screw 7 rotates toLeft and right extreme position time, contact with right limit switch 9 with left limit switch 8, realize spacingFunction. The model of described left limit switch 8 and right limit switch 9 is SS-5GL, and producer isOmron.
As shown in Figure 11～13, button opens and closes switching mechanism 5 and comprises the first cylinder 58, secondCylinder 59, the first lever 73 and the second lever 68. As shown in figure 11, shell 6 comprises gasCylinder fixed head 64, described air cylinder fixed plate 64 is connected with top board 15 is vertical by fixed block 57,Described air cylinder fixed plate 64 is also connected with fixed head 31 by connecting plate 79, the first cylinder 58,The second cylinder 59 is fixed in described air cylinder fixed plate 64. On the first cylinder 58, be connected with and connectFirst 60 and joint 2 61, described joint 1 and joint 2 61 are by pipeline and source of the gas phaseConnect. On the second cylinder 59, be connected with joint 3 62 and joint 4 63, described joint 3 62Be connected with source of the gas by pipeline with joint 4 63.
As shown in figure 12, the two ends of the first lever 73 are respectively equipped with square contact block, the first gasAfter passing air cylinder fixed plate 64 when the actuating strut of cylinder 58 is worked and described first lever 73 one endSquare contact block offset, the square contact block of described first lever 73 other ends for pressFirmly digest and send the water button 77 of supplying gas in endoscope handle 1. The two ends of the second lever 68 are also dividedBe not provided with square contact block, when the actuating strut of the second cylinder 59 is worked, pass air cylinder fixed plate 64Offset with the square contact block of described second lever 68 one end afterwards, described the second lever 68 anotherThe square contact block of end is for pushing down the attraction button 78 in digestion endoscope handle 1.
As shown in figure 13, described the first lever 73 and the second lever 68 are by lever fixed head75 are fixed on the outer surface of described air cylinder fixed plate 64, on described lever fixed head 75Be provided with two earrings, the first lever 73 and the second lever 68 are arranged between described two earrings,The middle part of described the first lever 73 and the second lever 68 is provided with annular shaft bearing, the first lever shaftHold 74 and second lever bearing 67 be arranged at respectively in described annular shaft bearing, lever fixed axis76 successively through earrings and described the first lever 73 and second on described lever fixed head 75Annular shaft bearing on lever 68, in two earrings outsides of described lever fixed head 75,Described lever fixed axis 76 two ends are separately installed with end cap 66 and nut 65, lever fixed axis76 are threaded with described nut 65. Between two earrings of lever fixed head 75,On described lever fixed axis 76, be set with the first spring 71 and second spring 69 of reset use,Described the first spring 71 and the second spring 69 are torsionspring, on the first lever 73, are provided withThe first lever pin 72 is provided with the second lever pin 70, the first springs on the second lever 68One end of 71 is fixed in air cylinder fixed plate 64, and the other end is by described the first lever pin 72Push down, one end of described the second spring 69 is fixed in air cylinder fixed plate 64, and the other end is by instituteStating the second lever pin 70 pushes down.
As shown in Figure 14～15, between rotating mechanism 2 of the present invention and shell 6, also can lead toCross Flexible Connector 82 and be connected, described Flexible Connector 82 two ends are respectively equipped with the circle of fixing useDish, the rotating output shaft 16 of described Flexible Connector 82 one end and rotating mechanism 2 is connected, anotherThe side plate of one end and shell 6 is connected. The material of described Flexible Connector 82 is 40Cr.
Operation principle of the present invention is:
When the electric rotating machine 22 of rotating mechanism 2 is worked, by the first bevel gear 18 and the second coneThe transmission of gear 19 drives shell 6 to rotate, and then drives all mechanisms in shell 6 and disappearChanging endoscope handle 1 rotates.
Large dial wheel mechanism 3, in the time that the first motor 13 is installed, adjusts on plate 51 by motor centerTranslot adjust the position of motor fixing plate 52 and the first motor 13, and then adjust first withStep with 39 tensile force to OK range. The first motor 13 drives the first driving pulley 43 to revolveTurn, and drive the first driven pulley 27 to rotate by the transmission of the first Timing Belt 39, and then bandMoving sleeve 26 rotates, and realizes the rotation of large dial wheel sleeve 24 by sleeve 26, and it is right to completeThe both forward and reverse directions rotation operation of the large dial wheel of digestion endoscope handle 1. When the first driven pulleyWhen 27 rotation, coupled back-up ring 29 is together rotation also, and then drive is arranged on described gearStop screw 10 on circle 29 rotates, when stop screw 10 rotates to upper and lower extreme positionTime, contact with lower position switch 50 with upper limit position switch 11, realize limit function.
Small driving wheel mechanism 4, in the time that the second motor 14 is installed, comes by the translot on fixed head 31Adjust the position of the second motor 14, and then the tensile force of adjusting the second Timing Belt 40 is to suitable modelEnclose. The second motor 14 drives the second driving pulley 41 to rotate, and by the second Timing Belt 40Transmission drive the second driven pulley 33 to rotate, and then drive built-in sleeve 34 to rotate, and logicalCross built-in sleeve 34 and realize the rotation of small driving wheel sleeve 25, complete digestion endoscope handle 1The both forward and reverse directions rotation operation of small driving wheel. In the time that the second driving pulley 41 rotates, with its phaseSpacing disk 42 also together rotation, and then drive be arranged on described spacing disk 42Stop screw 7 rotates, in the time that stop screw 7 rotates to the extreme position of left and right, with left limitSwitch 8 contacts with right limit switch 9, realizes limit function.
When button switching switching mechanism 5 is worked, the actuating strut of the first cylinder 58 stretches out through gasAfter cylinder fixed head 64, offset with the square contact block of first lever 73 one end, and promote the first thick stickBar 73 rotates around lever fixed axis 76, and the square contact block of first lever 73 other ends is pressedFirmly send the water button 77 of supplying gas, thus realize digestion endoscope handle 1 send the water function of supplying gas,Now the first spring 71 is in rotary compression state, when the first cylinder 58 is during in off working state,The actuating strut of the first cylinder 58 is retracted, and under the first spring 71 effects, the first lever 73 is extensiveReposition, no longer pushes down and send the water button 77 of supplying gas. In working order time, the second cylinder 59Actuating strut stretches out square contact block phases rear through air cylinder fixed plate 64 and second lever 68 one endSupport, and promote the second lever 68 and rotate around described lever fixed axis 76, make the second lever 68The square contact block of the other end is pushed down and is attracted button 78, thereby realizes digestion endoscope handle 1Suction function, now the second spring 69 is in rotary compression state. When the second cylinder 59 existsWhen off working state, the actuating strut of the second cylinder 59 is retracted, under the second spring 69 effects,The second lever 68 sets back, and no longer pushes down and attracts button 78.
Claims (10)
1. a manipulation device that digests endoscope handle, is characterized in that: comprise whirlerStructure (2), large dial wheel mechanism (3), small driving wheel mechanism (4), button open and close switching mechanism (5)And shell (6), wherein, described large dial wheel mechanism (3), small driving wheel mechanism (4) and buttonOpen and close switching mechanism (5) and be arranged in described shell (6), described shell (6) comprises sidePlate (15), fixed head (31) and air cylinder fixed plate (64), rotating mechanism (2) is arranged atThe outside of described shell (6) is also connected with the side plate (15) of described shell (6) one end, disappearsChange endoscope handle (1) and be arranged in described shell (6), and described digestion endoscope handle(1) flexible end is stretched away from one end of described rotating mechanism (2) by described shell (6)Go out; Small driving wheel mechanism (4) comprise the second motor (14), the second transmission mechanism (45), inPut sleeve (34) and small driving wheel sleeve (25), described the second motor (14) and built-in sleeve(34) be arranged on the fixed head (31) of described shell (6) described the second motor (14)Be connected with one end of described built-in sleeve (34) by the second transmission mechanism (45), described inThe other end and the small driving wheel sleeve (25) of putting sleeve (34) are affixed, described small driving wheel sleeve (25)Engage with the small driving wheel of digestion endoscope handle (1); Described large dial wheel mechanism (3) comprisesOne motor (13), the first transmission mechanism (47), sleeve (26) and large dial wheel sleeve (24),Wherein, described sleeve (26) is rotatably sleeved on the built-in sleeve of small driving wheel mechanism (4)(34) upper, described the first motor (13) is by the first transmission mechanism (47) and described sleeve(26) be connected, described sleeve (26) is affixed with large dial wheel sleeve (24), described large dial wheelSleeve (24) engages with the large dial wheel of digestion endoscope handle (1), in described shell (6)Be provided with the motor center being connected with described side plate (15) and adjust plate (51), described large dial wheel machineFirst motor (13) of structure (3) is arranged on described motor center and adjusts on plate (51); InstituteState the air cylinder fixed plate (64) that button switching switching mechanism (5) is arranged on described shell (6)On.
2. the manipulation device of digestion endoscope handle according to claim 1, its featureBe: described rotating mechanism (2) comprises electric rotating machine (22), decelerator (21), transmissionMechanism (44), rotating output shaft (16) and rotating mechanism casing (23), wherein, electric rotatingMachine (22), decelerator (21) and transmission mechanism (44) are arranged at described rotating mechanism casing(23) in and successively, connect, described transmission mechanism (44) is connected with rotating output shaft (16),The output of described rotating output shaft (16) extend out to described rotating mechanism casing (23) outsideThe side plate (15) of portion and described shell (6) is affixed or by Flexible Connector (82) and instituteThe side plate (15) of stating shell (6) is affixed.
3. the manipulation device of digestion endoscope handle according to claim 2, its featureBe: described transmission mechanism (44) is bevel gear transmission, comprises intermeshing firstBevel gear (18) and the second bevel gear (19), wherein, the second bevel gear (19) and decelerationThe output shaft of device (21) is connected, and the first bevel gear (18) is positioned at rotating output shaft (16)One end in rotating mechanism casing (23) is connected.
4. the manipulation device of digestion endoscope handle according to claim 1, its featureBe: described button open and close switching mechanism (5) comprise the first cylinder (58), the second cylinder (59),The first lever (73) and the second lever (68), wherein, the first cylinder (58) and the second gasIt is upper near described small driving wheel mechanism (4) that cylinder (59) is fixed on described air cylinder fixed plate (64)A side, described the first lever (73) and the second lever (68) are by lever fixed head (75)Be fixed on the upper side away from described small driving wheel mechanism (4) of described air cylinder fixed plate (64);Actuating strut when work of the first cylinder (58) is through described air cylinder fixed plate (64), and with canOne end of automatically reset the first lever (73) offsets, another of described the first lever (73)The water button (77) of supplying gas that send in end and digestion endoscope handle (1) offsets; The second cylinder(59) when the work of actuating strut through described air cylinder fixed plate (64), and with can automatically resetOne end of the second lever (68) offset, the other end and the digestion of described the second lever (68)Attraction button (78) in endoscope handle (1) offsets.
5. the manipulation device of digestion endoscope handle according to claim 4, its featureBe: described lever fixed head (75) is provided with lever fixed axis (76) the first lever (73)Be rotatably installed on described lever fixed axis (76) with the second lever (68); Described thick stickOn bar fixed axis (76), be respectively equipped with the first lever (73) and the second lever (68) are resettedWith torsionspring.
6. the manipulation device of digestion endoscope handle according to claim 1, its featureBe: first transmission mechanism (47) of described large dial wheel mechanism (3) comprises the first rotating bandWheel (43), the first Timing Belt (39) and the first driven pulley (27), wherein, first drivesBelt wheel (43) is connected with the output shaft of described the first motor (13), the first driven pulley (27)Be sleeved on rotationally on described sleeve (26); Described motor center is adjusted on plate (51) and is establishedBe useful on the translot of adjusting the first motor (13) position.
7. the manipulation device of digestion endoscope handle according to claim 6, its featureBe: described the first driven pulley (27) is provided with back-up ring (29) described the first driven beltWheel (27) is fixed on described sleeve (26) by described back-up ring (29); Described back-up ring (29)Be provided with stop screw (10), described fixed head (31) is provided with and described stop screw (10)The upper limit position switch (11) matching and lower position switch (50).
8. the manipulation device of digestion endoscope handle according to claim 1, its featureBe: second transmission mechanism (45) of described small driving wheel mechanism (4) is toothed belt transmission machineStructure, comprises the second driving pulley (41), the second Timing Belt (40) and the second driven pulley (33),Wherein, the second driving pulley (41) is connected with the output shaft of described the second motor (14), theTwo driven pulleys (33) are sleeved on described built-in sleeve (34) rotationally; Described fixingPlate (31) is provided with the translot for adjusting the second motor (14) position.
9. according to the manipulation device of the digestion endoscope handle described in claim 1 or 8, itsBe characterised in that: in described built-in sleeve (34), be provided with rotating fixed muffle (37), instituteState small driving wheel mechanism (4) and also comprise fixed disk (36), described fixed muffle (37) is away from instituteOne end of stating small driving wheel sleeve (25) extend out to outside described built-in sleeve (34), and with describedFixed disk (36) is connected, described in described fixed disk (36) is fixed on by screw hole column (32)On the fixed head (31) of shell (6).
10. the manipulation device of digestion endoscope handle according to claim 8, its featureBe: described the second driving pulley (41) connects away from a side end face of the second motor (14)Limited location disk (42), described spacing disk (42) is provided with stop screw (7), described inFixed head (31) is provided with the left limit switch (8) matching with described stop screw (7)With right limit switch (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410001595.2A CN104757930B (en) | 2014-01-02 | 2014-01-02 | A kind of manipulation device that digests endoscope handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410001595.2A CN104757930B (en) | 2014-01-02 | 2014-01-02 | A kind of manipulation device that digests endoscope handle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104757930A CN104757930A (en) | 2015-07-08 |
| CN104757930B true CN104757930B (en) | 2016-05-11 |
Family
ID=53640288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410001595.2A Active CN104757930B (en) | 2014-01-02 | 2014-01-02 | A kind of manipulation device that digests endoscope handle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104757930B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2555111A (en) * | 2016-10-18 | 2018-04-25 | Collins Paul | Appartus for remote operation of an endoscopy device |
| CN112807095B (en) * | 2019-03-16 | 2022-08-19 | 威海劲变信息科技有限公司 | Second fixing member and shaft adjusting member with the same |
| CN110367909B (en) * | 2019-08-23 | 2021-07-06 | 哈尔滨工业大学 | Novel digestive endoscopy feeding device |
| CN111494011A (en) * | 2020-04-25 | 2020-08-07 | 哈尔滨理工大学 | Colonoscope handle manipulator for assisting doctor in colonoscopy |
| CN113208545B (en) * | 2021-03-25 | 2022-04-01 | 北京大学 | Endoscope device |
| CN113952038A (en) * | 2021-10-22 | 2022-01-21 | 哈尔滨理工大学 | Colonoscope robot system with enteroscope following function |
| WO2023230129A1 (en) * | 2022-05-25 | 2023-11-30 | Boston Scientific Scimed, Inc. | Attachment mechanism for using an endoscope with a surgical robot |
| CN115105212B (en) * | 2022-06-17 | 2024-08-27 | 天津大学 | Flexible endoscope control platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101011292A (en) * | 2007-02-02 | 2007-08-08 | 天津大学 | Multi-freedom micro-mechanical arm for minimally invasive operation |
| CN101708129A (en) * | 2009-11-04 | 2010-05-19 | 温州医学院 | Remote-control apparatus for alimentary tract endoscope interventional treatment |
| CN102293626A (en) * | 2011-09-24 | 2011-12-28 | 天津博朗科技发展有限公司 | Endoscope clamping mechanical arm |
| CN102469919A (en) * | 2010-07-29 | 2012-05-23 | 奥林巴斯医疗株式会社 | Bending mechanism |
| CN203647320U (en) * | 2014-01-02 | 2014-06-18 | 中国科学院沈阳自动化研究所 | Manipulation device for digestive endoscopic handle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6902560B1 (en) * | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
| ATE488194T1 (en) * | 2007-02-15 | 2010-12-15 | Hansen Medical Inc | MEDICAL ROBOT INSTRUMENT SYSTEM |
| US8083687B2 (en) * | 2008-12-18 | 2011-12-27 | Devicor Medical Products, Inc. | Tissue biopsy device with rotatably linked thumbwheel and tissue sample holder |
-
2014
- 2014-01-02 CN CN201410001595.2A patent/CN104757930B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101011292A (en) * | 2007-02-02 | 2007-08-08 | 天津大学 | Multi-freedom micro-mechanical arm for minimally invasive operation |
| CN101708129A (en) * | 2009-11-04 | 2010-05-19 | 温州医学院 | Remote-control apparatus for alimentary tract endoscope interventional treatment |
| CN102469919A (en) * | 2010-07-29 | 2012-05-23 | 奥林巴斯医疗株式会社 | Bending mechanism |
| CN102293626A (en) * | 2011-09-24 | 2011-12-28 | 天津博朗科技发展有限公司 | Endoscope clamping mechanical arm |
| CN203647320U (en) * | 2014-01-02 | 2014-06-18 | 中国科学院沈阳自动化研究所 | Manipulation device for digestive endoscopic handle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104757930A (en) | 2015-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104757930B (en) | A kind of manipulation device that digests endoscope handle | |
| CN107233188B (en) | A kind of flexible hand function rehabilitation training device | |
| CN104367405A (en) | Humanoid type myoelectricity artificial hand | |
| CN109737287A (en) | A kind of marketing training and teaching portable projection device | |
| CN109128765A (en) | A kind of full-automatic assembling parts machine | |
| CN205558525U (en) | Take emergent opening device's of flexible axle electromagnetic shielding door | |
| CN106555815A (en) | Variable rotary torsion twin shaft is with dynamic turning gear | |
| CN207847474U (en) | A kind of electronic information antitheft door | |
| CN203647320U (en) | Manipulation device for digestive endoscopic handle | |
| HRP20080572T3 (en) | Fitting transmission for a window, a door or the like, and method for actuating the transmission | |
| CN102226360B (en) | Axially driven clutch type electronic door lock clutch | |
| CN207934181U (en) | A kind of activity balcony | |
| WO2020088019A1 (en) | Mechanical hand exoskeleton apparatus and exoskeleton device | |
| CN108784892B (en) | Mechanical transmission type artificial limb arm | |
| CN204533736U (en) | Electric-controlled gas valve | |
| CN208318998U (en) | A kind of cooking apparatus facilitating folding | |
| CN206880827U (en) | Novel portable hand exoskeleton rehabilitation device | |
| CN209269993U (en) | A kind of mechanical transmission-type artificial limb arm | |
| CN207586944U (en) | The high iris identification equipment of accuracy of identification | |
| CN209172874U (en) | A kind of rollery massager | |
| CN207994820U (en) | Transmission mechanism and food cooking machine | |
| CN208287021U (en) | The percussion device of dynamics is adjusted in a kind of medical tcm internal medicine | |
| CN108952477A (en) | A kind of intelligence door switch unit | |
| CN209865155U (en) | Shoulder joint training device for elderly patients | |
| CN103083118B (en) | Drive-by-cable type mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Hao Inventor after: Gao Anzhu Inventor after: Li Guixiang Inventor after: Yan Jie Inventor after: Zhang Xiuli Inventor after: Yang Yunsheng Inventor after: Li Hongyi Inventor before: Li Guixiang Inventor before: Gao Anzhu Inventor before: Liu Hao Inventor before: Yan Jie Inventor before: Zhang Xiuli Inventor before: Yang Yunsheng Inventor before: Li Hongyi |
|
| COR | Change of bibliographic data |