CN108158659B

CN108158659B - Endoscope operation mechanical arm device

Info

Publication number: CN108158659B
Application number: CN201810177155.0A
Authority: CN
Inventors: 吕洪财; 其他发明人请求不公开姓名
Original assignee: Traditional Chinese Medical Co
Current assignee: Traditional Chinese Medical Co
Priority date: 2018-03-04
Filing date: 2018-03-04
Publication date: 2021-07-02
Anticipated expiration: 2038-03-04
Also published as: CN108158659A

Abstract

The invention discloses an endoscope operation mechanical arm device, which comprises an operation manipulator mechanism, cameras, supporting frameworks, a piston, an outer tube, a spiral tube and a push rod, wherein the operation manipulator mechanism is arranged at the front end of the outer tube, the three supporting frameworks are uniformly arranged on the outer side wall of the outer tube, the top ends of the three supporting frameworks are respectively provided with the camera, an air tube interface is connected with an external air compressor and communicated with the spiral tube, the spiral tube is communicated with the piston, the piston and the push rod are integrated into a whole, the push rod is arranged in the outer tube, and forms a moving pair with the outer tube, the push rod moves in the range of the push rod chamber, a piston sealing ring is arranged between the piston and the inner wall of the air storage chamber, under the drive of the air compressor, the piston and the push rod move backwards, so that the support framework is driven by the support rod to be opened to support tissues in a human body, and the operation manipulator mechanism is guided to perform operation under the image feedback of the camera.

Description

Endoscope operation mechanical arm device

Technical Field

The invention relates to the technical field of medical instrument auxiliary devices, in particular to an endoscope operation mechanical arm device.

Background

At present, medical surgical robot systems applied to clinical application are mostly based on the principle of endoscopic surgery and are divided into non-invasive surgery systems and minimally invasive surgery systems. In the non-invasive surgery System such as the American X2Robotic System, the surgical tools need to enter the body of a patient through a narrow and complicated natural orifice of the human body, and the operation difficulty is high. Therefore, the single-incision minimally invasive surgery is gradually accepted by more people in the fields of laparoscopic surgery and thoracoscopic surgery.

Currently, many research institutions in the world are dedicated to research and make certain progress on a single-hole endoscopic surgery system, for example, m.picrigallo et al propose an SPRINT system, which realizes torsional bending motion of a joint through a micro motor in a mechanical arm, and simulates the motion of a doctor arm to realize a six-degree-of-freedom single-hole endoscopic surgery system. The single-port laparoscope minimally invasive surgery robot system with the domestic patent application number of 201410206379.1 drives the mechanical arm to move in bending, stretching and the like through the nickel-titanium alloy driving wire to complete the spatial multi-degree-of-freedom movement operation. The endoscope operation mechanical arm device is complex in operation, the coordination control of the visual feedback unit and the operation unit is difficult, and the visual feedback unit and the operation unit can interfere with each other in a limited working space. In order to solve the problems of small operation space, poor operation field exposure and the like, reduce the operation difficulty, and generally adopt artificial pneumoperitoneum to expand the working space for laparoscopic operation. Artificial pneumoperitoneum is generally constructed by insufflating the abdominal cavity with carbon dioxide gas, which increases airway pressure and which dissolves in the blood circulation system leading to hypercapnia.

In order to solve the above problems, some pneumoperitoneum-free devices have appeared in the field of laparoscopic surgery. The peritoneoscope operation of domestic patent application number 201220523802.7 exempts from pneumoperitoneum eyelidretractor penetrates the abdominal cavity with many billet through the body surface incision, adjusts the billet camber, forms and supports domes to the great operation space of structure. However, the penetration process needs laparoscope guidance and is complex to operate. If the threading process is not properly treated, secondary damage may be caused. And in addition to the surgical incision for endoscopic surgery, two additional surgical incisions for penetrating the steel bars need to be added on both sides of the body. The consideration of safety and other problems is eliminated, and the pneumoperitoneum-free device can only be applied to laparoscopic surgery and cannot be used universally in the same narrow thoracoscopic surgery operation environment. Therefore, a novel mechanical arm device for endoscopic surgery is urgently needed to solve the existing problems.

Disclosure of Invention

The invention aims to provide an endoscopic surgery mechanical arm device which is simple in action, convenient to use and capable of avoiding mutual interference, safely and effectively expanding the working space of internal surgery, and does not cause hypercapnia and secondary damage to patients.

The technical scheme adopted by the invention is as follows: the utility model provides an endoscope operation arm device, includes operation operative handle mechanism, camera, supporting framework, vaulting pole, goes up parallel bar, preceding parallel bar, back parallel bar, piston sealing washer, piston, outer tube, spiral pipe, trachea interface, push rod sealing ring, push rod, its characterized in that: the outer tube appearance is cylindric structure, its inside is divided into two cavities, be close to the front end for push rod room, be close to the rear end for the reservoir, be equipped with the baffle between two cavities, the baffle center is equipped with the round hole, the equipartition is equipped with three empty window on the push rod room lateral wall, the piston is installed in the reservoir, and with the reservoir inner wall between install the piston sealing washer, piston rear end center is equipped with the blow vent, the front end is equipped with four blow vents, four blow vents of piston front end and a blow vent of its rear end realize the intercommunication in the piston is inside, push rod front end equipartition is equipped with three vaulting pole connecting seat, the push rod rear end links firmly as whole with the piston, the push rod is installed in the round hole at baffle.

Further, operation handle mechanism install in the outer tube front end, the braced frame comprises last parallel bar, preceding parallel bar, back parallel bar, and three braced frame equipartition is installed on the outer tube, and every braced frame all constitutes parallelogram structure with the outer tube, and the vaulting pole all constitutes the revolute pair with vaulting pole connecting seat, preceding parallel bar respectively and is connected, preceding parallel bar respectively with the outer tube, go up the parallel bar and constitute the revolute pair and be connected, back parallel bar respectively with the outer tube, go up the parallel bar and constitute the revolute pair and be connected.

Furthermore, a camera is installed at the top end of each of the three support frameworks, and a camera accommodating groove corresponding to the camera is formed in the outer tube close to the front end of the outer tube.

Furthermore, the rear end of the outer pipe is provided with a gas pipe interface, one end of the gas pipe interface is communicated with the rear end of the spiral pipe, the other end of the gas pipe interface is communicated with an air compressor arranged outside, the spiral pipe is arranged in the gas storage chamber, the front end of the spiral pipe is connected with a gas vent at the rear end of the piston, and the rear end of the spiral pipe is communicated with the gas pipe interface.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the support frame of the present invention after it is opened.

FIG. 3 is a partial cross-sectional view of the present invention.

FIG. 4 is a schematic partial cross-sectional view of a pushrod and piston according to the invention.

Reference numerals: 1 operation manipulator mechanism, 2 outer tubes, 2.1 trachea interface, 2.2 camera accomodate groove, 2.3 empty windows, 2.4 baffles, 2.5 push rod room, 2.6 gas storage chambers, 3 preceding parallel bars, 4 back parallel bars, 5 last parallel bars, 6 cameras, 7 vaulting poles, 8 spiral pipes, 9.1 push rod, 9.2 pistons, 9.3 blow vent, 9.4 blow vent, 9.5 vaulting pole connecting seat, 10 piston seal circle.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1, 3 and 4, an endoscopic surgery mechanical arm device comprises a surgery manipulator mechanism 1, a camera 6, a brace rod 7, an upper parallel rod 5, a front parallel rod 3, a rear parallel rod 4, a piston seal ring 10, a piston 9.2, an outer tube 2, a spiral tube 8, a trachea interface 2.1 and a push rod 9.1, and is characterized in that: the outer tube 2 is of a cylindrical structure, the inner portion of the outer tube is divided into two chambers, the push rod chamber 2.5 is close to the front end, the air storage chamber 2.6 is close to the rear end, a partition plate 2.4 is arranged between the two chambers, a round hole is formed in the center of the partition plate 2.4, three hollow windows 2.3 are uniformly distributed on the side wall of the push rod chamber 2.5, a piston 9.2 is installed in the air storage chamber 2.6, a piston sealing ring 10 is installed between the piston 9.2 and the inner wall of the air storage chamber 2.6, a vent hole 9.4 is formed in the center of the rear end of the piston 9.2, four vent holes 9.3 in the front end of the piston 9.2 and one vent hole 9.4 in the rear end of the piston are communicated with each other inside the piston 9.2, three strut connecting seats 9.5 are uniformly distributed at the front end of the push rod 9.1, the rear end of the push rod 9.1 is fixedly connected with the piston 9.2 into a.

As shown in fig. 2, the surgical manipulator mechanism 1 is installed at the front end of the outer tube 2, the supporting framework is composed of an upper parallel rod 5, a front parallel rod 3 and a rear parallel rod 4, three supporting frameworks are uniformly distributed and installed on the outer tube 2, each supporting framework and the outer tube 2 form a parallelogram structure, the supporting rod 7 is respectively connected with a supporting rod connecting seat 9.5 and the front parallel rod 3 to form a revolute pair, the front parallel rod 3 is respectively connected with the outer tube 2 and the upper parallel rod 5 to form a revolute pair, and the rear parallel rod 4 is respectively connected with the outer tube 2 and the upper parallel rod 5 to form a revolute pair.

As shown in fig. 2, a camera 6 is mounted on the top of each of the three supporting frames, and a camera accommodating groove 2.2 corresponding to the camera 6 is formed in the outer tube 2 near the front end.

As shown in fig. 3, the rear end of the outer tube 2 is provided with an air tube connector 2.1, one end of the air tube connector 2.1 is communicated with the rear end of the spiral tube 8, the other end of the air tube connector is communicated with an air compressor arranged outside, the spiral tube 8 is arranged in the air storage chamber 2.6, the front end of the spiral tube is communicated with the air vent 9.4, and the rear end of the spiral tube 8 is communicated with the air tube connector 2.1.

The embodiment of the invention comprises the following steps:

as shown in fig. 3, the endoscopic surgery mechanical arm device (the invention) is in a folded state when entering the body of a patient, and after reaching the surgical position, the air compressor starts to work, so that compressed air enters the spiral tube 8 through the air tube connector 2.1 and then enters the air storage chamber 2.6 through the four vent holes 9.3 at the front end of the piston 9.2, the air pressure in the air storage chamber 2.6 rises, and the high-pressure air pushes the piston 9.2 and the push rod 9.1 to move backwards, so that the linkage of the stay bar 7, the upper parallel bar 5, the front parallel bar 3 and the rear parallel bar 4 is realized, and thus the three support frameworks are opened, and an operative space is provided for the surgical operation hand mechanism 1 in the body of the patient. The working space of the operation manipulator mechanism 1 and the visual field range of the camera 6 can be adjusted by controlling the volume of the air in the air storage chamber 2.6, so that doctors can obtain ideal visual image feedback, and the operation can be smoothly finished. After the operation is finished, the supporting framework is folded, and the doctor operates the invention to withdraw the supporting framework from the body of the patient.

Claims

1. The utility model provides an endoscope operation arm device, includes operation operative hand mechanism (1), camera (6), vaulting pole (7), goes up parallel bar (5), preceding parallel bar (3), back parallel bar (4), piston seal circle (10), piston (9.2), outer tube (2), spiral pipe (8), trachea interface (2.1), push rod (9.1), its characterized in that: the outer tube (2) is of a cylindrical structure, the inner part of the outer tube is divided into two chambers, a push rod chamber (2.5) is close to the front end, an air storage chamber (2.6) is close to the rear end, a partition plate (2.4) is arranged between the two chambers, a round hole is formed in the center of the partition plate (2.4), three hollow windows (2.3) are uniformly distributed on the side wall of the push rod chamber (2.5), a piston (9.2) is arranged in the air storage chamber (2.6), a piston sealing ring (10) is arranged between the piston and the inner wall of the air storage chamber (2.6), a vent hole (9.4) is formed in the center of the rear end of the piston (9.2), four vent holes (9.3) in the front end of the piston (9.2) are communicated with one vent hole (9.4) in the rear end of the piston (9.2), three support rod connecting seats (9.5) are uniformly distributed at the front end of the push rod (9.1), the rear end of the push rod (9.1) is fixedly connected with the piston (9.2), and the push rod (9, and a sealing ring is arranged between the round hole and the inner wall of the round hole; the rear end of the outer pipe (2) is provided with an air pipe connector (2.1), one end of the air pipe connector (2.1) is communicated with the rear end of the spiral pipe (8), the other end of the air pipe connector is communicated with an air compressor arranged outside, the spiral pipe (8) is arranged in the air storage chamber (2.6), the front end of the spiral pipe is communicated with an air vent (9.4) at the rear end of the piston (9.2), and the rear end of the spiral pipe (8) is communicated with the air pipe connector (2.1);

the surgical manipulator mechanism (1) is installed at the front end of the outer tube (2), the supporting frameworks consist of an upper parallel rod (5), a front parallel rod (3) and a rear parallel rod (4), the three supporting frameworks are uniformly installed on the outer tube (2), each supporting framework and the outer tube (2) form a parallelogram structure, the supporting rods (7) respectively form revolute pair connections with the supporting rod connecting seats (9.5) and the front parallel rod (3), the front parallel rod (3) respectively forms revolute pair connections with the outer tube (2) and the upper parallel rod (5), and the rear parallel rod (4) respectively forms revolute pair connections with the outer tube (2) and the upper parallel rod (5);

a camera (6) is arranged at the top ends of the three supporting frameworks, and a camera accommodating groove (2.2) corresponding to the camera (6) is formed in the outer tube (2) close to the front end;

the endoscope operation mechanical arm device is in a furled state when entering a patient body, and after the endoscope operation mechanical arm device reaches an operation position, the air compressor starts to work, so that compressed air enters the spiral tube (8) through the air tube connector (2.1) and then enters the air storage chamber (2.6) through the four air vents (9.3) at the front end of the piston (9.2), the air pressure in the air storage chamber (2.6) is increased, high-pressure air pushes the piston (9.2) and the push rod (9.1) to move backwards, and the linkage of the support rod (7), the upper parallel rod (5), the front parallel rod (3) and the rear parallel rod (4) is realized, so that the three support frameworks are opened, and an operation space is provided for the operation hand mechanism (1) in the patient body; by controlling the volume of air in the air storage chamber (2.6), the working space of the surgical manipulator mechanism (1) and the visual field range of the camera (6) can be adjusted, so that a doctor can obtain ideal visual image feedback, and surgical operation can be smoothly completed; after the operation is finished, the supporting framework is folded, and the doctor operates the endoscope operation mechanical arm device to enable the endoscope operation mechanical arm device to be withdrawn from the body of the patient.