CN109008931B

CN109008931B - Flexible ureteroscope bending prevention mechanism operated by robot

Info

Publication number: CN109008931B
Application number: CN201810901471.8A
Authority: CN
Inventors: 王树新; 赵建厂; 李建民; 崔亮
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2018-08-09
Filing date: 2018-08-09
Publication date: 2019-12-31
Anticipated expiration: 2038-08-09
Also published as: CN109008931A

Abstract

The utility model provides a flexible ureteroscope bending prevention mechanism of robot operation, include: the device comprises a sliding sleeve, a sliding sleeve fixing piece, a polished rod, a ranging base plate, a ranging shaft, a ranging wheel, a first belt wheel, a linkage device and a clamping device; the sliding sleeve fixing piece is nested on the sliding sleeve; the polished rod is nested in one end of the sliding sleeve and is in sliding connection with the sliding sleeve; the distance measuring substrate is connected with the polish rod; the distance measuring shaft is connected with the distance measuring substrate; the distance measuring wheel is sleeved on the distance measuring shaft and is connected with the distance measuring substrate; the first pulley is sleeved on the ranging shaft and connected with the ranging substrate; the linkage device is connected with the distance measuring wheel and the sliding sleeve; the clamping device is connected with the first belt pulley through a synchronous belt. The flexible ureteroscope system has the advantages that the flexible ureteroscope is not bent in the pushing process, can be combined with a robot system, and is high in precision, stable in movement, safe and reliable.

Description

Flexible ureteroscope bending prevention mechanism operated by robot

Technical Field

The utility model relates to a flexible mirror bending prevention structure field especially relates to a flexible mirror bending prevention mechanism of ureter of robot operation.

Background

The soft ureteroscope operation is a natural cavity operation, and is characterized by that it utilizes the soft ureteroscope to pass through urethra-bladder-ureter-kidney and make related operation in kidney, such as utilizing laser to make kidney stone treatment and utilizing stone-covering basket to make stone-taking operation. Compared with percutaneous nephroscope surgery and open nephroscope surgery, the ureter soft-lens surgery has the advantages of less bleeding, small wound, short hospitalization time, quick postoperative recovery and the like, and is widely applied to clinical surgeries. With the development of science and technology, soft ureteroscopy has been widely developed at home and abroad in recent years. However, due to the characteristics of slender, large flexibility and nonlinearity of the flexible ureteroscope, the flexible ureteroscope is very difficult to operate, has a very long learning curve, and is not ergonomic in operation posture, so that operation fatigue is easily caused, bone diseases are caused, and the occupational life is shortened. These objective factors have limited further advances in soft ureteroscopy.

The robot-assisted minimally invasive surgery technology can effectively solve the problems. However, the flexible ureteroscope is soft and has extremely low bending rigidity, so that the flexible ureteroscope is very easy to bend when being pushed into a urinary system, and the flexible ureteroscope cannot be pushed. The effective solution is that a hard sleeve is additionally arranged outside the flexible ureteroscope, but the sleeve has a certain length, so that the effective working distance of the flexible ureteroscope is reduced. When the working distance is longer, the nesting of the multiple layers of sleeves can effectively reduce the reduction of the working distance, but the problem of the thickening of the outer diameter is caused, and the processing is complex. These problems have limited further development of robotic-assisted minimally invasive surgical techniques.

Disclosure of Invention

Technical problem to be solved

The present disclosure provides a robotically operated ureteroscope bend prevention mechanism to at least partially address the above-identified technical issues.

(II) technical scheme

According to an aspect of the present disclosure, there is provided a robot-operated ureteroscope bending prevention mechanism, including: the device comprises a sliding sleeve, a sliding sleeve fixing piece, a polished rod group, a ranging base plate, a ranging shaft, a ranging wheel, a first belt wheel, a linkage device and a clamping device; the sliding sleeve fixing piece is nested on the sliding sleeve; the lever group is nested in one end of the sliding sleeve and is connected with the sliding sleeve in a sliding manner; the distance measuring substrate is connected with the light bar group; the distance measuring shaft is connected with the distance measuring substrate; the distance measuring wheel is sleeved on the distance measuring shaft and is connected with the distance measuring substrate; the first pulley is sleeved on the ranging shaft and connected with the ranging substrate; the linkage device is connected with the distance measuring wheel and the sliding sleeve; the clamping device is connected with the first belt pulley through a synchronous belt.

In some embodiments of the present disclosure, the linkage comprises: a wire support and a transmission wire; the wire support is connected with the sliding sleeve; the transmission wire is wound on the distance measuring wheel, and two ends of the transmission wire are connected with the wire support.

In some embodiments of the present disclosure, a clamping device comprises: the second belt wheel, the driving push wheel, the driven wheel, the rotating shaft, the driven shaft and the driven shaft screw; the second belt wheel is connected with the first belt wheel through a synchronous belt; the driving pushing wheel is coaxially connected with the second belt wheel through a pushing main shaft; the driven wheel is connected with the driving pushing wheel in a fitting manner; the first end of the rotating shaft is connected with the driven wheel, and the second end of the rotating shaft is connected with the bearing; the driven shaft is connected with the bearing inner ring; the driven shaft screw is in threaded connection with the driven shaft.

In some embodiments of the present disclosure, further comprising a position limiting device, the position limiting device comprises: the device comprises a light bar group support, a pushing support rod, a first translation limit, a second translation limit and a support rod; the light bar group is supported and nested on the light bar group; the first end of the pushing support rod is connected with the light bar group support; the first translation limit is connected with the second end of the pushing support rod; a first limiting opening is formed in the first translation limiting part; the second translational limit is connected with the first translational limit; a second limiting opening is formed in the second translational limiting part, and the first limiting opening is overlapped with the second limiting opening; the first end of the supporting rod is connected with the second translational limit, and the second end of the supporting rod is connected with the robot base.

In some embodiments of the present disclosure, the clamping device further comprises: and the elastic part is sleeved on the driven shaft, and two ends of the elastic part are respectively contacted with the bearing and the driven shaft screw.

In some embodiments of the present disclosure, the clamping device further comprises: and the pushing main shaft and the driven shaft are respectively connected with the inter-shaft positioning device through connecting holes, and the rotating shaft is connected with the inter-shaft positioning device through connecting slotted holes.

In some embodiments of the present disclosure, the support rod is an L-shaped rod structure.

In some embodiments of the present disclosure, the second translational limit is provided with a groove, and the first translational limit is embedded in the groove.

In some embodiments of the present disclosure, the sliding sleeve fixing member is provided with a connecting hole, and the sliding sleeve fixing member is connected to the mirror holding arm through the connecting hole.

In some embodiments of the present disclosure, the ranging wheel and the first pulley are disposed on both sides of the ranging substrate.

(III) advantageous effects

According to the technical scheme, the robot-operated flexible ureteroscope bending prevention mechanism has at least one or part of the following beneficial effects:

(1) the flexible ureteroscope is not bent in the pushing process, and meanwhile, the effective working distance of the flexible ureteroscope is not reduced.

(2) The flexible ureteroscope system can concentrate the torque for rotating the flexible ureteroscope at the joint of the active pushing rubber wheel and the flexible ureteroscope, and effectively reduces the torsional deformation of the flexible ureteroscope.

(3) The flexible ureteroscope bending prevention mechanism can be combined with a robot system, and is high in precision, stable in movement, safe and reliable.

Drawings

Fig. 1 is a schematic composition diagram of a flexible ureteroscope bending prevention mechanism operated by a robot according to an embodiment of the disclosure.

Fig. 2 is a schematic view of a connection structure related to the ranging substrate in fig. 1.

Fig. 3 is a schematic view of a part of the assembly structure of the clamping device in fig. 1.

Fig. 4 is an installation schematic diagram of the flexible ureteroscope bending prevention mechanism operated by the robot and the flexible ureteroscope robot in the embodiment of the disclosure.

[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure

1-sliding sleeve fixing piece; 2-a sliding sleeve;

3-a line support; 4-a tensioning screw;

5-a distance measuring substrate; 6-a first pulley;

7-synchronous belt; 8-a second pulley;

9-pushing the box; 10-pushing the main shaft;

11-a rotating shaft; 12-a driving push wheel;

13-a driven wheel; 14-first translational limit;

15-second translational limiting; 16-a driven shaft;

17-driven shaft screw; 18-a light bar group support;

19-a light bar group; 20-a distance measuring wheel;

21-a support bar; 22-a push strut;

23-distance measuring shaft 24-transmission thread;

25-an elastic member; 26-a bearing;

27-holding the mirror arm; 28-ureter soft lens;

29-robot base.

Detailed Description

The utility model provides a flexible ureteroscope bending prevention mechanism of robot operation, include: the device comprises a sliding sleeve, a sliding sleeve fixing piece, a polished rod group, a ranging base plate, a ranging shaft, a ranging wheel, a first belt wheel, a linkage device and a clamping device; the sliding sleeve fixing piece is nested on the sliding sleeve; the lever group is nested in one end of the sliding sleeve and is connected with the sliding sleeve in a sliding manner; the distance measuring substrate is connected with the light bar group; the distance measuring shaft is connected with the distance measuring substrate; the distance measuring wheel is sleeved on the distance measuring shaft and is connected with the distance measuring substrate; the first pulley is sleeved on the ranging shaft and connected with the ranging substrate; the linkage device is connected with the distance measuring wheel and the sliding sleeve; the clamping device is connected with the first belt pulley through a synchronous belt. The flexible ureteroscope system has the advantages that the flexible ureteroscope is not bent in the pushing process, can be combined with a robot system, and is high in precision, stable in movement, safe and reliable.

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.

In a first exemplary embodiment of the present disclosure, a robotically operated ureteroscope bend prevention mechanism is provided. Fig. 1 is a schematic composition diagram of a flexible ureteroscope bending prevention mechanism operated by a robot according to an embodiment of the disclosure. Fig. 2 is a partial schematic assembly view of the clamping device of fig. 1. Fig. 3 is a schematic view of a part of the limiting device in fig. 1. As shown in fig. 1 to 3, the robot-operated ureteroscope bending prevention mechanism of the present disclosure includes: the device comprises a sliding sleeve 2, a sliding sleeve fixing piece 1, a light lever group 19, a wire support 3, a distance measuring base plate 5, a distance measuring wheel 20, a transmission wire 24, a first belt wheel 6, a clamping device and a limiting device; the sliding sleeve fixing piece 1 is nested on the sliding sleeve 2, and the sliding sleeve fixing piece 1 is connected with the sliding sleeve 2 through a screw; the sliding sleeve fixing piece 1 is provided with a mounting hole, the sliding sleeve fixing piece 1 is connected with one side of a robot lens holding arm 27 through the mounting hole, and the other side of the lens holding arm 27 is connected with a flexible ureteroscope 28. Still be provided with on the sliding sleeve 2 and prop 3 with the line, the line props 3 and is connected through holding screw with sliding sleeve 2. The sliding sleeve 2 is connected with the light lever group 19 through a linear bearing. The optical lever group 19 is connected with the distance measuring substrate 5 through a set screw. The distance measuring base plate 5 is connected to the distance measuring shaft 23 via a rolling bearing. The two ends of the distance measuring shaft 23 are respectively connected with the distance measuring wheel 20 and the first belt wheel 6. The transmission wire 24 is wound on the distance measuring wheel 20, and two ends of the transmission wire 24 are connected with the wire support 3 through the tensioning screws 4.

The clamping device comprises: the device comprises a second belt wheel 8, a pushing main shaft 10, a driving pushing wheel 12, a driven wheel 13, a rotating shaft 11, a bearing 26, a pushing box 9, a driven shaft 16, a driven shaft screw 17 and an elastic part 25. The propelling movement main shaft 10 runs through the propelling movement box 9, and the first end of propelling movement main shaft 10 is connected with initiative propelling movement wheel 12, and propelling movement main shaft 10 second end is connected with second band pulley 8, and first band pulley 6 and second band pulley 8 pass through hold-in range 7 and link to each other. Initiative propelling movement wheel 12 links to each other with the laminating from driving wheel 13, and from driving wheel 13 and being connected with the first end of pivot 11, the pivot 11 second end is connected with the first end of driven shaft 16 through bearing 26, and the second end of driven shaft 16 passes propelling movement box 9, is connected with propelling movement box 9 through driven shaft screw 17. The driven shaft 16 is sleeved with an elastic member 25. The pushing box 9 is provided with a slotted hole connected with the rotating shaft 11.

Stop device includes: the device comprises a light bar group support 18, a pushing support rod 22, a first translation limit 14, a second translation limit 15 and a support rod 21; the light bar group support 18 and the light bar group 19 are connected by screw clamping. The first end of the pushing support rod 22 is in threaded connection with the optical lever group support 18, and two side surfaces of the second end of the pushing support rod 22 are in threaded connection with the pushing box 9 and the first translation limit 14 respectively. Two sides of the first translation limit 14 are respectively connected with the pushing box 9 and the second translation limit 15. The second translational limit 15 is connected with one end of the support rod 21. The other end of the support bar 21 is connected to a robot base 29. The second translational limit 15 is provided with a groove, and a first translational limit 14 is embedded in the groove. The support rod 21 has an L-shaped rod structure.

Fig. 4 is an installation schematic diagram of the flexible ureteroscope bending prevention mechanism operated by the robot and the flexible ureteroscope robot in the embodiment of the disclosure. As shown in fig. 4, when the flexible ureteroscope 28 is pushed forward by the scope holding arm 27, the sliding sleeve fixing piece 1, the sliding sleeve 2 and the wire support 3 can move in a translational way along with the scope holding arm 27; the support rod 21 and the second translation limit 15 are fixed relative to the robot base 29, the first translation limit 14 is connected with the second translation limit 15 in a rotating mode, and cannot move in the same direction as the translation direction of the mirror holding arm 27, and the movement conditions of the optical lever group 19, the optical lever group support 18, the pushing support rod 22, the pushing box 9 and the distance measuring substrate 5 are the same as those of the first translation limit 14. The thread support 3 is connected with the distance measuring wheel 20 through the transmission wire 24, so that the thread support 3 generates relative displacement and is converted into the rotation of the distance measuring wheel 20. The distance measuring wheel 20 is fixed relative to the distance measuring shaft and the first pulley 6, and therefore the rotation angles of the distance measuring wheel and the first pulley are the same. The relative positions of the first belt wheel 6 and the second belt wheel 8 are fixed due to the same structural parameters, and the rotation angles of the first belt wheel and the second belt wheel are the same. The driving pushing wheel 12 is relatively fixed with the second belt wheel 8 and the pushing main shaft 10, and the rotation angles are the same. The driving pushing wheel 12 and the driven wheel 13 interact to clamp the flexible ureteroscope 28, and the rotation of the driving pushing wheel 12 is converted into the forward pushing of the flexible ureteroscope 28 under the action of friction force. The outer diameter of the active pushing wheel 12 is the same as that of the distance measuring wheel 20, so that the wire support 3 is pushed forward at a speed equal to the peripheral speed of the active pushing rubber wheel 12.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.

From the above description, those skilled in the art should have a clear understanding of the present disclosure of a robotically operated ureteroscope bend prevention mechanism.

In conclusion, the flexible ureteroscope is not bent in the pushing process, the effective working distance of the flexible ureteroscope is not reduced, the torque for rotating the flexible ureteroscope is concentrated at the joint of the active pushing rubber wheel and the flexible ureteroscope, the torsional deformation of the flexible ureteroscope is effectively reduced, and the flexible ureteroscope is high in precision, stable in motion, safe and reliable.

It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.

And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A flexible ureteroscope bending prevention mechanism for robot operation comprises:

a sliding sleeve;

the sliding sleeve fixing piece is nested on the sliding sleeve;

the optical lever group is nested in one end of the sliding sleeve and is in sliding connection with the sliding sleeve;

the distance measuring substrate is connected with the light bar group;

the distance measuring shaft is connected with the distance measuring substrate;

the distance measuring wheel is sleeved on the distance measuring shaft and is connected with the distance measuring substrate;

the first belt wheel is sleeved on the distance measuring shaft and is connected with the distance measuring substrate;

the linkage device is used for connecting the distance measuring wheel and the sliding sleeve;

the clamping device is connected with the first belt pulley through a synchronous belt;

stop device, stop device includes:

the light bar group support is nested on the light bar group;

the first end of the pushing support rod is connected with the light bar group support;

the first translation limiting device is connected with the second end of the pushing support rod; a first limiting opening is formed in the first translation limiting part;

the second translational limit is connected with the first translational limit; a second limiting opening is formed in the second translational limiting part, and the first limiting opening is overlapped with the second limiting opening;

and the first end of the supporting rod is connected with the second translational limit, and the second end of the supporting rod is connected with the robot base.

2. The robotically operated flexible ureteroscope bend prevention mechanism of claim 1, the linkage comprising:

the wire support is connected with the sliding sleeve;

and the transmission wire is wound on the distance measuring wheel, and two ends of the transmission wire are connected with the wire support.

3. The robotically operated ureteroscope bend-preventing mechanism of claim 1, the clamping device comprising:

the second belt wheel is connected with the first belt wheel through a synchronous belt;

the driving pushing wheel is coaxially connected with the second belt wheel through a pushing main shaft;

a driven wheel; the driving pushing wheel is jointed and connected with the driving pushing wheel;

the first end of the rotating shaft is connected with the driven wheel, and the second end of the rotating shaft is connected with the bearing;

the driven shaft is connected with the bearing inner ring;

and the driven shaft screw is in threaded connection with the driven shaft.

4. The robotically operated ureteroscope bend-prevention mechanism of claim 3, the clamping device further comprising: and the elastic part is sleeved on the driven shaft, and two ends of the elastic part are respectively contacted with the bearing and the driven shaft screw.

5. The robotically operated ureteroscope bend-prevention mechanism of claim 3, the clamping device further comprising: and the pushing main shaft and the driven shaft are respectively connected with the inter-shaft positioning device through connecting holes, and the rotating shaft is connected with the inter-shaft positioning device through a connecting slotted hole.

6. The flexible ureteroscope bending prevention mechanism according to claim 1, wherein the support rod is an L-shaped rod structure.

7. The flexible ureteroscope bending prevention mechanism according to claim 1, wherein a groove is formed in the second translational limit, and the first translational limit is embedded in the groove.

8. The robot-operated ureteroscope bending prevention mechanism according to any one of claims 1 to 5, wherein a connection hole is formed in the sliding sleeve fixing piece, and the sliding sleeve fixing piece is connected with the scope holding arm through the connection hole.

9. The robotically operated ureteroscope bending prevention mechanism of any of claims 1 to 5, the ranging wheel and the first pulley being disposed on both sides of the ranging substrate.