CN109528148A - Single wobbling pole hysteroscope clamping device - Google Patents
Single wobbling pole hysteroscope clamping device Download PDFInfo
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- CN109528148A CN109528148A CN201910058484.8A CN201910058484A CN109528148A CN 109528148 A CN109528148 A CN 109528148A CN 201910058484 A CN201910058484 A CN 201910058484A CN 109528148 A CN109528148 A CN 109528148A
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- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
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- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
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- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention discloses a kind of single wobbling pole hysteroscope clamping devices, and including host system and the single wobbling pole being matched therewith, hysteroscope is connect by least one dismountable clamp assemblies with single wobbling pole；Wherein, the first transmission component, the second transmission component are packaged in the host system, first transmission component is configured as being sequentially connected with swivel plate, to realize movement of the hysteroscope in X-axis, second transmission component is configured as being sequentially connected with the first swing arm for passing through swivel plate, realizes movement of the hysteroscope on Z axis；The swivel plate is provided with the second swing arm being spaced a predetermined distance with the first swing arm, and the third transmission component being connected with clamp assemblies is packaged in second swing arm, realizes movement of the hysteroscope in Y-axis.The present invention provides a kind of single wobbling pole hysteroscope clamping device, proposes the existing forms of the new kind of drive and change zoom modules, and utilize most simple and direct effective device, promote the reliability of manipulation and achieve the purpose that avoid operation risk.
Description
Technical field
The present invention relates to a kind of single wobbling pole hysteroscope clamping devices used in the case where surgery auxiliary surgical helps treatment condition.
Background technique
The field of invention relates generally to the means and method by endoscope user's simple manipulation endoscope.Back of the invention
Scape is in endoscopic surgery, and surgeon is performed the operation using long instrument by aperture, and is seen using wosap tv system
Examine internal anatomy.In conclusion since surgeon must with the hands perform the operation, so being held by the assistant that photographs
's.Surgical operation vision depend greatly on video camera shown relative to the position of instrument and display it is steady
Determine image；In addition, shown image must be correctly oriented.Main problem is that support staff is difficult to maintain the endoscope in
Correct spatial position, it is difficult to steadily hold endoscope, it is difficult to keep scene in the proper direction.In order to overcome these
Problem, we have developed several new technologies, when surgeon performs the operation, hold endoscope using robot, such as up to
Fragrant surprise operating robot etc..But these technical prices are expensive, difficult to install, and user (surgeon, operative doctor assistant) needs
Surgical dexterity is limited, and possess the physical size bigger than all operation tools by training for a long time.Relative to
Required action, they can also be increased considerably with several moving for arm.I am a kind of company's previous generation product [hysteroscope behaviour
Make hand and its operating method] patent No.: CN105030339B is shown in [attached drawing 11], and movement is to imitate to hold mirror assistant and act, by
Two axis complete to hold mirror movement around point (imitating wrist rotation) axis mobile (it is flexible to imitate arm).Scaling therein adjusts module
It is a direct kinematic system and electrical installation is integrated and hysteroscope is in a space, it is empty occupies the excessive operation of operative doctor
Between, influence its play and operation it is inconvenient, in the light equal Shortcomings for bringing image stabilization He holding mirror operator；It is another
Kind mechanical hand AUTOLAP (by M.S.T- medical surgery Technology Co., Ltd.) is described, patent application number in the U.S.
US14154225.It is one and sends knowing for reservation to mechanical hand using image recognition and tracking, voice or personal control
Zhi Ling not operate machine hand.The fan shape moving in two planes is done using the transmission device driving mechanical hand of two groups of teeth wheel composition,
The zoom modules for doing line style back and forth movement along its main longitudinal axis using the transmission device driving endoscope of one group of gear composition, utilize electricity
The active drive that machine adds gear or torsional spring to form provides a kind of reaction torque to over range torque caused by endoscope gravity, comes
Reach a surgical operation robot of constant dynamic equilibrium.The robot finds that zoom modules are still from foregoing description
Larger space is occupied, and center of gravity can generate huge torque to supporting point with zoom motion, when zoom mechanism is with hysteroscope system
When system moves to distalmost end, the deficiency of supporting point rigidity, which can bring wound, to be involved, and has irreversible injury etc. to by operator
Risk problem.In addition, the zoom modules of the invention can directly be contacted with endoscope, and it is not made into medical disposable material, even by
Disinfection, can not exclude the risk of cross-infection.The present invention is to propose new transmission to solve the problems in foregoing invention
Mode and the existing forms for changing zoom modules, and utilize most simple and direct effective device, promote the reliability of manipulation and reach
Avoid the purpose of operation risk.
Summary of the invention
It is excellent it is an object of the invention to solve at least the above problems and/or defect, and provide at least to will be described later
Point.
It is a still further object of the present invention to provide a kind of single wobbling pole hysteroscope clamping devices, propose the new kind of drive and change
Become the existing forms of zoom modules, and utilize most simple and direct effective device, promote the reliability of manipulation and reaches and avoid performing the operation
The purpose of risk, while being designed by the structure of single wobbling pole, so that it is in terms of existing technologies, structure is simple, can be used as
Medical disposable material reduces operation risk.
In order to realize these purposes and other advantages according to the present invention, a kind of single wobbling pole hysteroscope clamping device is provided,
Including host system and the single wobbling pole being matched therewith, hysteroscope passes through at least one dismountable clamp assemblies and single wobbling pole
Connection, and then realize the cooperation with host system；
Wherein, the first transmission component, the second transmission component, the first transmission component quilt are packaged in the host system
It is configured to be sequentially connected with swivel plate, to realize movement of the hysteroscope in X-axis, second transmission component is configured as and passes through
First swing arm of swivel plate is sequentially connected, and realizes movement of the hysteroscope on Z axis；
The swivel plate is provided with the second swing arm being spaced a predetermined distance with the first swing arm, is packaged in second swing arm
The third transmission component being connected with clamp assemblies realizes movement of the hysteroscope in Y-axis；
Second swing arm, the first swing arm free end be provided with the parallel bar of connection so that swivel plate, the second swing arm,
First swing arm and parallel bar spatially form the first parallelogram sturcutre.
Preferably, wherein the clamp assemblies are configured as two matched with the first swing arm, the second swing arm, with
The first swing arm, the second swing arm, swivel plate and hysteroscope is set spatially to form the second parallelogram sturcutre.
Preferably, wherein first transmission component, the second transmission component are configured to include: for power
The first motor of output and the first transmission mechanism being matched therewith；
Wherein, first transmission mechanism is configured to include:
The the first main synchronizing wheel matched with first motor power output shaft；
First matched with swivel plate is from synchronizing wheel；
The first main synchronizing wheel and first realizes transmission by synchronous belt from synchronizing wheel, and the synchronous belt passes through phase
The tensioning wheel of cooperation is tensioned in turn.
Preferably, wherein the third transmission component is configured to include: for power output the second motor and
The second transmission mechanism being matched therewith, is configured to include: the driving screw rod coupled with the second motor power output shaft；
The driving sliding block matched respectively with screw rod and clamp assemblies；
The driving guide rail matched with driving sliding block；
Wherein, be packaged with the clump weight matched with the second motor in first swing arm, and with driving sliding block, driving
Driven sliding block that guide rail matches respectively, driven guide rail.
Preferably, wherein be additionally provided on the power output shaft of second motor and matched with the 4th transmission component
Shaft coupling；
Wherein, the 4th transmission component is configured to include:
It is arranged in the second swing arm with matched with shaft coupling three with modulus the first bevel gear group；
Be arranged in the first swing arm with by synchronous drive mechanism and the first bevel gear group transmission two with modulus second
Bevel gear group；
Setting is provided in the first swing arm to be matched with the second bevel gear group, to realize fortune synchronous with screw rod is driven
Dynamic driven screw rod.
Preferably, wherein the clamp assemblies are configured to include:
The first attachment base being connect respectively with the first swing arm, the second swing arm；
It is matched with the first attachment base so that the L shape rotary joint that hysteroscope can be rotated up and down；
It is arranged in rotary joint free end, so that the cylindricality rotary joint that hysteroscope can be rotated up and down, being provided with can hold
Receive the first limiting slot of hysteroscope arm, and the first adjusting knob being matched therewith to realize locking.
Preferably, wherein the clamping device is configured to include: being connect respectively with the first swing arm, the second swing arm
Turntable and the second attachment base being matched therewith；
Wherein, it is provided with the second limiting slot of accommodating chamber handel on second attachment base, and be matched therewith with reality
The second adjusting knob now locked；
The kidney slot matched with the second limiting slot is provided on the Universal clamp handel.
Preferably, wherein the clamp assemblies are configured to include:
The third attachment base being connect respectively with the first swing arm, the second swing arm；
The connecting fork matched with third attachment base；
Wherein, the connecting fork is provided with third limiting slot in the side towards hysteroscope arm, sets in the third limiting slot
It is equipped with the c-type fork matched with hysteroscope arm, and at least one being matched therewith realizes the third adjusting knob of locking；
It, which is provided with, in the c-type fork matches the Spring sheet clip being defined to hysteroscope arm.
Preferably, wherein the first attachment base, third attachment base pass through the bindiny mechanism matched respectively, and then respectively
It is detachably connected with L shape rotary joint, connecting fork realization；
Wherein, the bindiny mechanism is configured to include:
Connector drum, in the intracavitary telescopic rod being provided with, free end respectively with the first attachment base, third attachment base phase
Cooperation, and with axle sleeve that self-lubricating is provided on the position of the first attachment base, third attachment base matched；
It is arranged in connector drum inner cavity, and matches the shaft and bearing for realizing connection with L shape rotary joint.
Preferably, wherein connecting fork is additionally provided with the locking knob matched between bindiny mechanism；
Wherein, locking knob is configured as being set in connecting fork, and the restriction slot matched with connecting fork is arranged inside；
The connecting fork is provided with the mounting groove protruded into for it in the one end matched with shaft；
The tapered sleeve for matching and realizing locking is provided between the connecting fork and shaft.
The present invention is include at least the following beneficial effects: first, the single pendulum rod structure of transit chamber handel of the present invention designs, so that
Its structure is simple, volume is controllable, and then changes the existing forms of zoom modules, and the most simple and direct effective device of utilization promotes manipulation
Reliability and achieve the purpose that avoid operation risk；It is set by the structure that dismountable clamp structure designs cooperation single wobbling pole
Meter so that its endoscope clamper be made into it is disposable, avoid because Reusability disinfection is not thorough bring germ infection risk；
In addition traditional zoom system, pancreatic system is integrated into host side, mentioned by hysteroscope scaling driving mechanism integration packaging into the second swing arm
Gone out the new kind of drive of hysteroscope so that its in terms of existing technologies, effectively reduce hysteroscope when moving around power
Square, therefore cavity mirror system, when moving to distalmost end, supporting point is not in rigidity deficiency and brings and involve to wound, and safety is more
It is high.
Second, the present invention is in the second swing arm by designing motor, and the matching design clump weight in the first swing arm, for
Fixed cavity mirror system forms the postposition matching mechanism of a tower crane type, balances system gravity more, reaches to wound involve power
To minimum, the secondary injury caused by patient is minimized；
Third, the present invention by increasing gimbal suspension on clamp assemblies, is reduced using gimbal suspension because of material deformation (ten thousand
To the folder too long variation in rigidity of handel length) and focus and cannot absolutely be overlapped the error of (practical operation is difficult to be overlapped) system with wound
It is pullled caused by wound with artificial other factors, the hand of secondary injury caused by greatly reducing because of involve power to patient's wound
Art risk.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of single wobbling pole hysteroscope clamping device in one embodiment of the present of invention；
Fig. 2 is the structural schematic diagram of host system in another embodiment of the invention；
Fig. 3 is that realization is matched with the 4th transmission component is synchronously driven for double pendulous devices in one embodiment of the present of invention
Structural schematic diagram；
Fig. 4 is that double pendulous devices match that realization is synchronous to be driven with the 4th transmission component in another embodiment of the invention
Structural schematic diagram；
Fig. 5 is the partial cross section structural schematic diagram of the 4th transmission component in another embodiment of the invention；
Fig. 6 is the structural schematic diagram that Universal clamp mirror is connect with sliding block in another embodiment of the invention；
Fig. 7 is the structural schematic diagram of adjustable kidney slot and turntable cooperation in another embodiment of the invention；
Fig. 8 is the structural schematic diagram that gimbal suspension is connect with cavity mirror system in one embodiment of the present of invention；
Fig. 9 is the A of Fig. 8 to structural schematic diagram；
Figure 10 is the structural schematic diagram of gimbal suspension structure in another embodiment of the invention；
Figure 11 is the structural schematic diagram of a kind of hysteroscope manipulator and its operating method in the prior art.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Fig. 1-3 shows a kind of way of realization of single wobbling pole hysteroscope clamping device according to the present invention, including: including
Host system 100 and single wobbling pole 200, wherein the single wobbling pole front end is configured with predetermined flexibility, so that it can basis
It needs to carry out angular deflection and forms Universal clamp handel 300, with the structure design for crossing single wobbling pole, so that its structure is simple, Jin Ergai
Become the existing forms of zoom modules, the most simple and direct effective device of utilization promotes the reliability of manipulation, while it is made into once
Property product to achieve the purpose that avoid operation risk, hysteroscope passes through at least one dismountable clamp assemblies 400 and list
Swing rod connection, so realize with the mating connection of host system, dismountable structure design, to by endoscope clamper with
Single wobbling pole match be made into it is disposable, avoid because Reusability disinfection is not thorough bring germ infection risk, in combination with
Match around OZ rotating dress and have holding chamber mirror function, it is characterized in that clamping device center of gravity fixed for hysteroscope bite can be kept not
Become, volume is minimum；
Wherein, the design of 500 structure of swing arm part is such as Fig. 2, and the first transmission component 110, the are packaged in the host system
Two transmission components 120, first transmission mechanism is configured as being sequentially connected with swivel plate 130, to realize hysteroscope in X-axis
Movement, second power mechanism are configured as being sequentially connected with the first swing arm 510 for passing through swivel plate, realize hysteroscope in Z axis
On movement, the swivel plate of host system is to be rotated up and down part (rotate around OX), and host shell provider supports, and upper and lower
The swivel plate of rotating part again for oscillating arm mechanisms (the second swing arm part provides the straight reciprocating motion of OY, the first swing arm part by
The rotary motion of host offer OZ) provider's support, while swing arm part being driven to be rotated up and down jointly up and down, the first swing arm is logical
It crosses folder group component to connect with hysteroscope, and then realizes in hysteroscope in vertical and horizontal rotation (OX axis rotation as shown in Figure, OZ axis
Rotation)；
The swivel plate is provided with the second swing arm 520 being spaced a predetermined distance with the first swing arm, envelope in second swing arm
Equipped with the third transmission component 530 being connected with clamp assemblies, movement of the hysteroscope in Y-axis is realized, by oscillating arm mechanisms
Second swing arm clamping, flexible swing arm driving sliding block drives it to move reciprocatingly along Y-axis, it is characterized in that making traditional zoom system
System is integrated into host side, the new kind of drive of hysteroscope is proposed, so that it in terms of existing technologies, effectively reduces chamber
Mirror when moving around torque, therefore cavity mirror system is when moving to distalmost end, supporting point be not in rigidity it is insufficient and to wound
Mouth, which is brought, to be involved；
Second swing arm, the first swing arm free end be provided with the parallel bar 540 of connection so that swivel plate, second pendulum
Arm, the first swing arm and parallel bar spatially form the first parallelogram sturcutre, and by the design of structure, the first swing arm exists
When movement, the second swing arm is transmitted the force to by the effect of parallel bar, so that the first swing arm and the second swing arm may be implemented in Y-axis
Synchronous interaction, and then realize hysteroscope movement in three directions, the synchronism of transmission is stronger, so that itself and practical operation phase
Cooperation, stability is more preferable, while in addition accomplishing most to fill so that the structural stability of oscillating arm mechanisms is more preferable by the effect of parallel bar
Divide free operating space to adjust, reduce the operation dead point of equipment, increases working space；
Using the single wobbling pole hysteroscope clamping device of this scheme when guaranteeing endoscope movement, this structure motion is also to imitate
Mirror assistant movement is held, completes to hold mirror movement around point (imitating wrist rotation) axis mobile (it is flexible to imitate arm) by two axis,
But when can guarantee endoscope movement, the rotation of OX axis, the rotation of OZ axis and OY can be carried out using belly tapping point O as centre point always
When axis moves back and forth, three coordinate motions driving Universal clamp handel clamping hysteroscope of host machine part results only in O point very small very
To can be ignored tractive force, and O point is that endoscope is inserted into point of puncture, while its structure designs so that its compact structure, passes
Flowing mode is simple and reliable, solves blocking and interference problem because module volume is big, to surgical procedure, solves conventional module
Gravity center shift damages problem to wound, has implementable effect good, strong operability, adaptability is good, and stability is strong, reliably
Good, the highly-safe benefit of property.Also, this mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.?
When implementing the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
As shown in Figure 1, the clamp assemblies are configured as matching with the first swing arm, the second swing arm in another example
Two closed, so that the first swing arm, the second swing arm, swivel plate and hysteroscope spatially form the second parallelogram sturcutre.
Make the hysteroscope arm with universal rotational using this scheme, complete clamping after, because its structure design it is elegance, have knot
Structure stability is strong, and implementable effect is good, strong operability, and adaptability is good, the good benefit of controllability.Also, this mode
A kind of only explanation of preferred embodiments, however, it is not limited to this.In carrying out the present invention, it can be fitted according to user's demand
When replacement and/or modification.
As shown in Fig. 2, first transmission component, the second transmission component are configured to wrap in another example
It includes: the first motor 111,121 for power output and the first transmission mechanism for being matched therewith；
Wherein, first transmission mechanism is configured to include:
The main synchronizing wheel 112,122 of first matched with first motor power output shaft；
First matched with swivel plate is from synchronizing wheel 113,123；
The first main synchronizing wheel realizes transmission, the synchronization by synchronous belt 114,124 from synchronizing wheel with first
Band is tensioned and then tensioning wheel 115,125 matched.Driving device using this scheme includes motor, synchronous belt, same
Wheel, tensioning wheel, transmission shaft and any combination thereof are walked, realizes passive power transmission, interocclusal clearance is avoided and is not easy adjustment, moves and make an uproar
The disadvantage that sound is big, reliability is lower reduces noise, improves the reliability of mechanism kinematic, has structure simple, stability
It is good, adaptable, the good benefit of controllability.Also, this mode is a kind of explanation of preferred embodiments, but is not limited to
In this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
As shown in figure 3, the third transmission component is configured to include: for power output in another example
Second motor 531 and the second transmission mechanism being matched therewith, are configured to include: joining with the second motor power output shaft
The driving screw rod 532 connect；
The driving sliding block 533 matched respectively with screw rod and clamp assemblies；
With the driving guide rail 534 that matches of driving sliding block, using oscillating rod inner space originally above mouth of performing the operation
Motion module be integrated into left swing lever (i.e. the second swing arm) internal drive motor drive shaft coupling and screw rod rotation, screw rod driving
Sliding block does OY straight reciprocating motion on guide rail, allows lower end traction sliding block and turntable and folder mirror turntable fixing seat integrally to draw universal
Folder handel and the driven sliding block in right oscillating rod do OY straight reciprocating motion, and both traditional zoom mechanism was by its replacement, this knot
The design of structure is greatly reduced operating space, and doctor is made to obtain more more efficient operation ranges, this mechanism also solves
The problem of caused by one traditional zoom mechanism around the arm of force variation bring wound tractive force variation that fixed arm is formed, this structure
Fixed arm is the fixed wound arm of force for human body for cavity mirror system center of gravity and is fixed, therefore it is the smallest for injuring；
Wherein, it is packaged with the clump weight 521 matched with the second motor in first swing arm, subtracts system gravity stabilization
Small torque, and with driving sliding block, driving guide rail match respectively driven sliding block 522, driven guide rail 523, double pendulum lever
Motor and clump weight form fixed cavity mirror system the postposition matching mechanism of one tower crane type, keep system gravity more flat
Weighing apparatus reaches minimum to wound involve power, and the secondary injury caused by patient is minimized.Using the counter weight device in this scheme
Stablize system gravity and reduces torque, and the transmission mechanism being incorporated into the second swing arm makes it instead of traditional zoom machine
Structure is greatly reduced operating space, have implementable effect it is good, strong operability, adaptability is good, stability it is good it is advantageous it
Place.Also, this mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.It in carrying out the present invention, can basis
User's demand carries out replacement and/or modification appropriate.
As in Figure 3-5, it in another example, is additionally provided on the power output shaft of second motor and is passed with the 4th
The torque transmission of the shaft coupling 535 that dynamic component matches, the axis that is used to output power is changed, so that it can pass through power
The 4th transmission component matched passes to driven screw rod, realizes the linkage of the two；
Wherein, the 4th transmission component is configured to include:
It is arranged in the second swing arm with matched with shaft coupling three with modulus the first bevel gear group comprising first is main
Motor power output is passed to the first main chute by bevel gear 536, the second master bevel gear 537, third master bevel gear 538, shaft coupling
Gear further drives the second master bevel gear, the third master bevel gear matched with the first bevel gear；
Be arranged in the first swing arm with by two of synchronous drive mechanism 550 and the transmission of the first bevel gear group with modulus the
Two bevel gear groups comprising first from bevel gear (not shown), the second master bevel gear (not shown), and synchronous drive mechanism can quilt
It is configured to the synchronous belt 551 matched, synchronizing wheel 552, transmission shaft, the power that the first bevel gear group passes over is passed to
Two bevel gear groups, and the mode that synchronous belt 551, synchronizing wheel 552 combine can also be replaced with Fig. 4 and other modes matched
It changes, i.e. synchronizing wheel in the second swing arm above the second master bevel gear and synchronous belt cooperate, and drive first in the first swing arm from umbrella
Gear, second are from bevel gear, and first here is from bevel gear, second from bevel gear and the second master bevel gear, third master bevel gear
Installation position it is corresponding, torque is further passed to driven screw rod, to realize double lead synchronous hunting, avoids driving
Gap hair fastener problem, and then guarantee that its kinematic accuracy is controllable；Setting is provided with and the second bevel gear group in the first swing arm
It matches, with the driven screw rod 524 for realizing and driving screw rod to move synchronously.It can be passed through using the cavity mirror system of this scheme
Left and right scalable swing arm clamping, further drives two sliding blocks of double-pendulum arms to drive simultaneously by flexible swing arm in double-pendulum arms
It moves reciprocatingly along Y-axis, while the driving motor being arranged inside the second swing arm drives shaft coupling movement, and double lead is synchronous to be turned
It is dynamic, and two sliding blocks is driven to do OY straight reciprocating motion simultaneously on two guide rails, avoid driving gap hair fastener problem so that its
With better synchronism, the stability of transmission, the strong benefit of controllability.Also, this mode is a kind of preferable reality
The explanation of example, however, it is not limited to this.In carrying out the present invention, can according to user's demand carry out it is appropriate replacement and/or
Modification.
As shown in Fig. 6,10, in another example, the clamp assemblies are configured to include:
The first attachment base 410 being connect respectively with the first swing arm, the second swing arm；
It is matched with the first attachment base so that the L shape rotary joint 411 that hysteroscope can be rotated up and down；
It is arranged in rotary joint free end, so that the cylindricality rotary joint 412 that hysteroscope can be rotated up and down, is rotated by L shape
The cooperation in joint and cylindricality rotary joint, constitutes gimbal suspension in hysteroscope, realizes hysteroscope up and down and in horizontal direction
It adjusts, to make it have better adaptability, therefore there are the ten thousand of gimbal suspension in the tail end adjustable-length that such hysteroscope has, front end
To folder handel, aim at cavity mirror system freer, it is low to each system requirements (not need by infrared target system and other
Positioning system), the low positioning of manual request is fast, and wound damage is small；Before will not there is wound various supports and locating piece (and
It is easier to cause superinfection).Integrated driving system component and postposition counterweight make the bigger system in operating space more in double swing-bar
Simply (reduces because conventional module brings more external cables to connect connector or passive battery component, reduce system
Risk), center of gravity is more stable, operation more freely it is convenient, be provided with can accommodating chamber handel the first limiting slot, Yi Jiyu
It matches the first adjusting knob 413 to realize locking, can design the axle sleeve 414 matched, thereon to guarantee its stabilization
Degree and precision.Using this scheme by increasing gimbal suspension, reduced using gimbal suspension because (Universal clamp handel is long for material deformation
Spend long variation in rigidity) and focusing cannot be absolutely overlapped with wound (practical operation is difficult to be overlapped) system error and artificially its
Its factor is pullled caused by wound, the operation risk of secondary injury caused by greatly reducing because of involve power to patient's wound, tool
There is implementable effect good, strong operability, adaptability is good, the good benefit of stability.Also, this mode be it is a kind of compared with
The explanation of good example, however, it is not limited to this.In carrying out the present invention, replacement appropriate can be carried out according to user's demand
And/or modification.
As shown in Fig. 5,7, in another example, the clamping device is configured to include: respectively with the first swing arm,
The turntable of two swing arms connection and the second attachment base 420 being matched therewith, i.e. turntable seat, can be with turntable attachment base 422
It matches；
Wherein, be provided with the second limiting slot (not shown) of accommodating chamber handel on second attachment base, and with its phase
Cooperate the second adjusting knob 421 to realize locking；
The kidney slot 310 matched with the second limiting slot is provided on the Universal clamp handel.Using the ten thousand of this scheme
To folder handel one end with kidney slot and folder mirror turntable fixing seat (i.e. the second attachment base) cooperation, is limited and turned with adjusting knob
Dynamic and adjustment length, one end design of Universal clamp handel have kidney slot to accomplish most sufficiently free behaviour in the case where structure allows
Make Space adjustment, reduce the operation dead point of equipment, increases working space, adjustable Universal clamp handel, kidney slot can make thereon
It, which is not rotated, so that it is moved along slot；Its exquisite structure greatly reduces it than traditional volume, can solve pair
The blocking of surgical procedure and interference problem, increase working space, the gimbal suspension of the other end reduce equipment operation dead point and
To the secondary injury of human body, there is strong operability, adaptability is good, and implementable effect is good, the good benefit of stability.And
And this mode is a kind of explanation of preferred embodiments, however, it is not limited to this.It in carrying out the present invention, can be according to using
Person's demand carries out replacement and/or modification appropriate.
As shown in figure 8, the clamp assemblies are configured to include in another example:
The third attachment base 430 being connect respectively with the first swing arm, the second swing arm；
The connecting fork 431 matched with third attachment base is used to for hysteroscope to be connected to third attachment base；
Wherein, the connecting fork is provided with third limiting slot 432 in the side towards hysteroscope arm, is used to provide a limit
Position installation position is provided with the c-type fork 433 matched with hysteroscope arm in the third limiting slot, and is matched therewith at least
One is realized the third adjusting knob 434 of locking；
It is provided in the c-type fork and matches the Spring sheet clip 435 being defined to hysteroscope arm, passes through c-type fork, elastic slice
The design of folder and third adjusting knob, is fixed universal hysteroscope arm, and provides initial pressing force by the effect of Spring sheet clip
Afterwards, acting on so that the stability combined is more preferable then by adjusting knob.There is better reliability, stability using this scheme
More preferably, strong operability, the good benefit of adaptability.Also, this mode is a kind of explanation of preferred embodiments, but not
It is confined to this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
As seen in figs. 8-10, in another example, the first attachment base, third attachment base pass through the connection matched respectively
Mechanism 440, and then be respectively detachably connected with L shape rotary joint, connecting fork realization, it acts on and is to realize holding for the two
It connects, and realizes fast quick-detach, so that clamping device can be realized disposably, guarantee it not by secondary pollution；
Wherein, the bindiny mechanism is configured to include:
Connector drum 441, the interior intracavitary telescopic rod 442 being provided with, carry out its structure length can as needed
Adjustment, with stronger adaptability, free end is matched with the first attachment base, third attachment base respectively, and with first
Attachment base, third attachment base the position matched on be provided with the axle sleeve 443 of self-lubricating, combination between the two is imitated
Fruit is more preferable, convenient for operation；
It is arranged in connector drum inner cavity, and matches the shaft 444 and bearing 445 for realizing connection with L shape rotary joint,
It makes it carry out angle adjustment as needed, while guaranteeing the switching performance of its structure.Each structure is passed through using this scheme
Design, L shape rotary joint is connect with shaft by screw 449, realize clamping device removably connect with the first attachment base
It connects, the connection of connecting fork and shaft, realizes that clamping device is removably connect with third attachment base, have implementable effect good,
Strong operability, the good benefit of adaptability.Also, this mode is a kind of explanation of preferred embodiments, but is not limited to
In this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
As shown in figure 9, connecting fork is additionally provided with the locking rotating matched between bindiny mechanism in another example
Button 446 is used to design by structure, so that can fast implement connection between the two, and structural stability is more preferable；
Wherein, locking knob is configured as being set in connecting fork, and the restriction slot matched with connecting fork is arranged inside
447, it is used to design by structure, so that the cooperation of the two is even closer；
The connecting fork is provided with the mounting groove 436 protruded into for it in the one end matched with shaft；
It is provided with the tapered sleeve 448 for matching and realizing locking between the connecting fork and shaft, is used for so that structure combines
Stability it is more preferable, connection reliability reason is high.Using this scheme, with implementable effect, good, strong operability, adaptability are good
Benefit.Also, this mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.In carrying out the present invention,
Replacement and/or modification appropriate can be carried out according to user's demand.
Following further describes the present invention with reference to the drawings: as Fig. 1 around belly tapping point O do left-right rotation and
OZ axis rotary motion, is rotated up and down movement and OX axis rotary motion, and stretching motion and OY axis move back and forth；Guarantee endoscope movement
When, it can carry out the rotation of OX axis, the rotation of OZ axis and OY axis using belly tapping point O as centre point always and move back and forth, host portion
Three coordinate motions divided are controlled respectively by independent three driving motors and complete respective driving movement.Rotate upwardly and downwardly part
It drives turntable to do it by main motor (to drive cavity mirror system 400 around the rotation of OX axis while rotating upwardly and downwardly)；Horizontally rotate
Part, driving the rotation of OZ axis by main motor, (driving double-pendulum arms left-right rotation drives cavity mirror system 400 to do left/right rotation simultaneously
It is dynamic)；Telescopic section drives shaft coupling that screw rod is made to make rotating motion by telescopic drive motor, and the rotary motion of screw rod slides driving
Block, which moves in a straight line, drives guide rail slide block and turntable and turntable fixing seat for linear motion simultaneously, drives also by Universal clamp handel
Driven guide rail slide block is for linear motion simultaneously, and cavity mirror system is made also to be followed by formation Telescopic for linear motion.Double pendulum lever
Constituting parallelogram with parallel bar and upper-lower casing makes its stable structure, and cavity mirror system is made to do left and right parallel motion always；It is double
Oscillating rod and cavity mirror system center of gravity are biased to the direction OY, so installing after double pendulum lever rear end is provided with counterweight and motor center of gravity
Meter, keeps its system gravity more stable.
The scaling of cavity mirror system moves and horizontally rotates and realized by Fig. 2-3 structure, by the driving sliding block in Fig. 3 and leads
Rail sliding block turntable is linked into an integrated entity with screw, moves in a straight line it on guide rail by the motor driven in Fig. 3, turntable is fixed
Seat can rotate or for linear motion together along turntable, such as Fig. 7 when two turntable fixing seats and Universal clamp handel are fixed logical
Overregulate knob be locked in kidney slot can simultaneously it is for linear motion and keep do not rotate, the universal pass of the Universal clamp handel other end
It saves (Fig. 6), using being rotated up and down joint and rotating horizontally joint, reduces because material deforms (the too long rigidity of Universal clamp handel length
Variation) and focusing cannot absolutely be overlapped (practical operation is difficult to be overlapped with wound) with wound, in addition the error of system with artificially
Other factors are pullled caused by wound to be minimized by gimbal suspension.
The synchronous driving Integrated design of double pendulum swing arm includes flexible driving unit, and two synchronizing wheels and 3 are the same as modulus bevel gear
Group (solves two swing arms, two screw rods of synchronous driving and does not interfere with left-right swinging mechanism), and two screw rods can drive simultaneously principal and subordinate to move guide rail
Sliding block, turntable attachment base and two turntable seats, make two turntables that can make straight line and rotary motion simultaneously.
Number of devices and treatment scale described herein are for simplifying explanation of the invention.To single wobbling pole of the invention
The application of hysteroscope clamping device, modifications and variations will be readily apparent to persons skilled in the art.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With.It can be applied to various suitable the field of the invention completely.It for those skilled in the art, can be easily
Realize other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of single wobbling pole hysteroscope clamping device, which is characterized in that including host system and the single wobbling pole being matched therewith, hysteroscope
It is connect by least one dismountable clamp assemblies with single wobbling pole, and then realizes the cooperation with host system；
Wherein, the first transmission component, the second transmission component are packaged in the host system, first transmission component is configured
To be sequentially connected with swivel plate, to realize movement of the hysteroscope in X-axis, second transmission component is configured as and passes through rotation
First swing arm of plate is sequentially connected, and realizes movement of the hysteroscope on Z axis；
The swivel plate is provided with the second swing arm being spaced a predetermined distance with the first swing arm, is packaged with and presss from both sides in second swing arm
The third transmission component that component is connected is held, realizes movement of the hysteroscope in Y-axis；
Second swing arm, the first swing arm free end be provided with the parallel bar of connection so that swivel plate, the second swing arm, first
Swing arm and parallel bar spatially form the first parallelogram sturcutre.
2. single wobbling pole hysteroscope clamping device as described in claim 1, which is characterized in that the clamp assemblies are configured as and the
Match two of one swing arm, the second swing arm, so that the first swing arm, the second swing arm, swivel plate and hysteroscope are spatially formed
Second parallelogram sturcutre.
3. single wobbling pole hysteroscope clamping device as described in claim 1, which is characterized in that first transmission component, second pass
Dynamic component is configured to include: the first motor for power output and the first transmission mechanism being matched therewith；
Wherein, first transmission mechanism is configured to include:
The the first main synchronizing wheel matched with first motor power output shaft；
First matched with swivel plate is from synchronizing wheel；
The first main synchronizing wheel realizes transmission by synchronous belt from synchronizing wheel with first, and the synchronous belt is by matching
Tensioning wheel so that be tensioned.
4. single wobbling pole hysteroscope clamping device as described in claim 1, which is characterized in that the third transmission component is configured as
The second transmission mechanism for including: the second motor for power output and being matched therewith, is configured to include: with second
The driving screw rod of motor power output shaft connection；
The driving sliding block matched respectively with screw rod and clamp assemblies；
The driving guide rail matched with driving sliding block；
Wherein, be packaged with the clump weight matched with the second motor in first swing arm, and with driving sliding block, driving guide rail
The driven sliding block that matches respectively, driven guide rail.
5. single wobbling pole hysteroscope clamping device as claimed in claim 4, which is characterized in that the power output shaft of second motor
On be additionally provided with the shaft coupling matched with the 4th transmission component；
Wherein, the 4th transmission component is configured to include:
It is arranged in the second swing arm with matched with shaft coupling three with modulus the first bevel gear group；
Be arranged in the first swing arm with by synchronous drive mechanism and the first bevel gear group transmission two with the second umbrella tooth of modulus
Wheel group；
Setting is provided in the first swing arm to be matched with the second bevel gear group, to realize and screw rod is driven to move synchronously
Driven screw rod.
6. single wobbling pole hysteroscope clamping device as described in claim 1, which is characterized in that the clamp assemblies are configured as wrapping
It includes:
The first attachment base being connect respectively with the first swing arm, the second swing arm；
It is matched with the first attachment base so that the L shape rotary joint that hysteroscope can be rotated up and down；
It is arranged in rotary joint free end, so that the cylindricality rotary joint that hysteroscope can be rotated up and down, being provided with can accommodating chamber
First limiting slot of handel, and the first adjusting knob being matched therewith to realize locking.
7. single wobbling pole hysteroscope clamping device as described in claim 1, which is characterized in that the clamping device is configured as wrapping
It includes: the turntable being connect respectively with the first swing arm, the second swing arm and the second attachment base being matched therewith；
Wherein, it is provided with the second limiting slot of accommodating chamber handel on second attachment base, and be matched therewith to realize lock
The second tight adjusting knob；
The kidney slot matched with the second limiting slot is provided on the Universal clamp handel.
8. single wobbling pole hysteroscope clamping device as described in claim 1, which is characterized in that the clamp assemblies are configured as wrapping
It includes:
The third attachment base being connect respectively with the first swing arm, the second swing arm；
The connecting fork matched with third attachment base；
Wherein, the connecting fork is provided with third limiting slot in the side towards hysteroscope arm, is provided in the third limiting slot
The c-type matched with hysteroscope arm is pitched, and at least one being matched therewith realizes the third adjusting knob of locking；
It, which is provided with, in the c-type fork matches the Spring sheet clip being defined to hysteroscope arm.
9. the single wobbling pole hysteroscope clamping device as described in claim 6 or 8, which is characterized in that the first attachment base, third attachment base
Respectively by the bindiny mechanism matched, and then respectively it is detachably connected with L shape rotary joint, connecting fork realization；
Wherein, the bindiny mechanism is configured to include:
Connector drum, the interior intracavitary telescopic rod being provided with, free end match with the first attachment base, third attachment base respectively
Close, and with axle sleeve that self-lubricating is provided on the position of the first attachment base, third attachment base matched；
It is arranged in connector drum inner cavity, and matches the shaft and bearing for realizing connection with L shape rotary joint.
10. single wobbling pole hysteroscope clamping device as claimed in claim 9, which is characterized in that connecting fork is between bindiny mechanism
It is additionally provided with the locking knob matched；
Wherein, locking knob is configured as being set in connecting fork, and the restriction slot matched with connecting fork is arranged inside；
The connecting fork is provided with the mounting groove protruded into for it in the one end matched with shaft；
The tapered sleeve for matching and realizing locking is provided between the connecting fork and shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058484.8A CN109528148B (en) | 2019-01-22 | 2019-01-22 | Single swing rod endoscope clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058484.8A CN109528148B (en) | 2019-01-22 | 2019-01-22 | Single swing rod endoscope clamping device |
Publications (2)
| Publication Number | Publication Date |
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| CN109528148A true CN109528148A (en) | 2019-03-29 |
| CN109528148B CN109528148B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910058484.8A Active CN109528148B (en) | 2019-01-22 | 2019-01-22 | Single swing rod endoscope clamping device |
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| CN116650105A (en) * | 2023-06-06 | 2023-08-29 | 绵阳美科电子设备有限责任公司 | Endoscope robot arm for realizing real telecentric point fixing by utilizing multi-parallel link mechanism |
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| CN109528148B (en) | 2023-09-26 |
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