CN109528148B - Single swing rod endoscope clamping device - Google Patents
Single swing rod endoscope clamping device Download PDFInfo
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- CN109528148B CN109528148B CN201910058484.8A CN201910058484A CN109528148B CN 109528148 B CN109528148 B CN 109528148B CN 201910058484 A CN201910058484 A CN 201910058484A CN 109528148 B CN109528148 B CN 109528148B
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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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Abstract
The invention discloses a single swing rod cavity mirror clamping device which comprises a host system and a single swing rod matched with the host system, wherein a cavity mirror is connected with a single swing rod through at least one detachable clamping component; the first transmission component and the second transmission component are packaged in the host system, the first transmission component is configured to be in transmission connection with the rotating plate so as to realize the movement of the cavity mirror on the X axis, and the second transmission component is configured to be in transmission connection with the first swing arm penetrating through the rotating plate so as to realize the movement of the cavity mirror on the Z axis; the rotating plate is provided with a second swing arm at a preset distance from the first swing arm, and a third transmission assembly connected with the clamping assembly is packaged in the second swing arm to realize the movement of the cavity mirror on the Y axis. The invention provides a single swing rod endoscope clamping device, which provides a novel transmission mode, changes the existing form of a zooming module, and improves the reliability of operation and control and achieves the aim of avoiding operation risks by utilizing the simplest and effective device.
Description
Technical Field
The invention relates to a single swing rod endoscope clamping device used under the condition of surgical auxiliary treatment.
Background
The field of the invention relates generally to means and methods for simply manipulating an endoscope by an endoscope user. The background of the present invention is that in endoscopic surgery, a surgeon uses a long instrument to perform the surgery through a small hole and uses an endoscopic camera system to view the internal anatomy. In summary, since the surgeon must use both hands to perform the operation, it is conventionally held by a photographic assistant. The surgical vision of a surgeon depends to a large extent on the position of the camera relative to the instrument and the stable image displayed by the display; furthermore, the displayed image must be in the correct orientation. The main problem is that it is difficult for the assistant to hold the endoscope in the correct spatial position, to hold the endoscope stably, and to hold the scene in the correct orientation. To overcome these problems, we have developed several new techniques for using robots to hold endoscopes, such as da vinci surgical robots, etc., while the surgeon performs the surgery. However, these techniques are expensive, difficult to install, require long training by the user (surgeon, surgeon assistant), limit the dexterity of the surgeon, and have a physical size greater than that of all surgical tools. They also increase substantially with the movements of several arms with respect to the required actions. Previous generation products of our company [ an endoscope manipulator and an operation method thereof ] patent number: CN105030339B, see fig. 11, moves to simulate the action of a lens holding assistant, and the lens holding action is completed by two axes moving around a point (simulating wrist rotation) and one axis (simulating arm extension). The zoom adjustment module is characterized in that a motion system and an electrical device are directly integrated into a whole and the endoscope is arranged in a space, so that an excessive operation space of an operator is occupied, the display and the operation are affected, the inconvenience is brought to the operator, and the defects of image stability and portability of the operator holding the endoscope are brought; another robotic AUTOLAP (by m.s.t-medical surgical technologies limited) is described in the united states, patent application No. US14154225. It is a recognizable instruction to manipulate the robot by using image recognition and tracking, voice or manual controls to send a reservation to the robot. The driving device composed of two groups of gears is used for driving the manipulator to do fan-shaped movement on two planes, the driving device composed of one group of gears is used for driving the endoscope to do linear reciprocating movement along the main longitudinal axis of the endoscope, and the active driving device composed of a motor and gears or torsion springs is used for providing reactive torque for the out-of-range torque caused by the gravity of the endoscope, so that the surgical robot with constant dynamic balance is achieved. The robot discovers from the above description that the zoom module still occupies a large space, the gravity center can generate huge moment on the supporting point along with the zoom movement, and when the zoom mechanism moves to the farthest end with the endoscope system, the defect of rigidity of the supporting point can bring about the involvement of wounds, and the problems of irreversible injury and the like to an operated person exist. In addition, the zoom module of the invention can be in direct contact with the endoscope without being made into disposable consumables, and even through disinfection, the risk of cross infection cannot be eliminated. The invention aims to solve the problems in the invention, provides a new transmission mode, changes the existing form of a zooming module, and improves the reliability of operation and achieves the aim of avoiding operation risks by using the simplest and effective device.
Disclosure of Invention
It is an object of the present invention to address at least the above problems and/or disadvantages and to provide at least the advantages described below.
The invention also aims to provide a single swing rod type endoscope clamping device, which provides a novel transmission mode, changes the existing form of a zooming module, and improves the reliability of operation and achieves the purpose of avoiding surgical risks by using the simplest and effective device.
To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided a single swing link type endoscope clamping device including a host system and a single swing link coupled thereto, the endoscope being further coupled to the single swing link by at least one detachable clamping assembly, thereby enabling coupling with the host system;
the first transmission component and the second transmission component are packaged in the host system, the first transmission component is configured to be in transmission connection with the rotating plate so as to realize the movement of the cavity mirror on the X axis, and the second transmission component is configured to be in transmission connection with the first swing arm penetrating through the rotating plate so as to realize the movement of the cavity mirror on the Z axis;
the rotating plate is provided with a second swing arm at a preset distance from the first swing arm, and a third transmission assembly connected with the clamping assembly is packaged in the second swing arm to realize the movement of the cavity mirror on the Y axis;
the free ends of the second swing arm and the first swing arm are provided with connected parallel rods, so that the rotating plate, the second swing arm, the first swing arm and the parallel rods form a first parallelogram structure in space.
Preferably, the clamping assembly is configured to be matched with the first swing arm and the second swing arm, so that the first swing arm, the second swing arm, the rotating plate and the cavity mirror form a second parallelogram structure in space.
Preferably, the first transmission assembly and the second transmission assembly are configured to respectively include: the first motor is used for outputting power and is matched with the first transmission mechanism;
wherein the first transmission mechanism is configured to include:
a first primary synchronizing wheel matched with the power output shaft of the first motor;
a first slave synchronizing wheel cooperating with the rotating plate;
the first master synchronizing wheel and the first slave synchronizing wheel realize transmission through a synchronizing belt, and the synchronizing belt is tensioned through a tensioning wheel matched with the synchronizing belt.
Preferably, the third transmission assembly is configured to include: a second motor for power take off and a second transmission cooperating therewith, configured to include: a driving screw rod connected with the power output shaft of the second motor;
the driving sliding blocks are respectively matched with the screw rod and the clamping assembly;
a drive rail coupled to the drive slide;
the first swing arm is internally provided with a balancing weight matched with the second motor, and a driven sliding block and a driven guide rail which are respectively matched with the driving sliding block and the driving guide rail.
Preferably, the power output shaft of the second motor is also provided with a coupler matched with the fourth transmission assembly;
wherein the fourth transmission assembly is configured to include:
three first bevel gear sets with the same modulus are arranged in the second swing arm to be matched with the coupler;
two second bevel gear sets with the same modulus, which are arranged in the first swing arm and are driven by the first bevel gear set through a synchronous driving mechanism;
and a driven screw rod which is matched with the second bevel gear set and is used for realizing synchronous movement with the driving screw rod is arranged in the first swing arm.
Preferably, wherein the clamping assembly is configured to include:
the first connecting seat is respectively connected with the first swing arm and the second swing arm;
an L-shaped rotary joint which is matched with the first connecting seat so that the endoscope can rotate up and down;
the cylindrical rotary joint is arranged at the free end of the rotary joint so that the endoscope can rotate up and down, and a first limiting groove capable of accommodating the endoscope arm and a first adjusting knob matched with the first limiting groove to realize locking are arranged on the cylindrical rotary joint.
Preferably, wherein the clamping device is configured to comprise: the rotary table is respectively connected with the first swing arm and the second swing arm, and the second connecting seat is matched with the rotary table;
the second connecting seat is provided with a second limiting groove for accommodating the endoscope arm and a second adjusting knob matched with the second limiting groove for realizing locking;
and the universal mirror clamping arm is provided with a waist-shaped groove matched with the second limiting groove.
Preferably, wherein the clamping assembly is configured to include:
the third connecting seat is respectively connected with the first swing arm and the second swing arm;
a connecting fork matched with the third connecting seat;
the connecting fork is provided with a third limit groove at one side facing the endoscope arm, and a C-shaped fork matched with the endoscope arm and at least one third adjusting knob matched with the C-shaped fork for realizing locking are arranged in the third limit groove;
and a spring clip which is matched with the C-shaped fork to limit the endoscope arm is arranged in the C-shaped fork.
Preferably, the first connecting seat and the third connecting seat are detachably connected with the L-shaped rotary joint and the connecting fork respectively through the matched connecting mechanisms;
wherein the connection mechanism is configured to include:
the connecting cylinder body is internally provided with a telescopic rod, the free ends of the telescopic rod are respectively matched with the first connecting seat and the third connecting seat, and self-lubricating shaft sleeves are arranged at the matched positions of the first connecting seat and the third connecting seat;
the rotating shaft and the bearing are arranged in the inner cavity of the connecting cylinder body and are matched with the L-shaped rotating joint to realize connection.
Preferably, the connecting fork is further provided with a matched locking knob between the connecting fork and the connecting mechanism;
the locking knob is configured to be sleeved on the connecting fork, and a limiting groove matched with the connecting fork is formed in the locking knob;
the connecting fork is provided with a mounting groove which can be used for the connecting fork to extend into at one end matched with the rotating shaft;
and a taper sleeve matched with the rotating shaft to realize locking is arranged between the connecting fork and the rotating shaft.
The invention at least comprises the following beneficial effects: firstly, the single swing rod structure design of the endoscope arm enables the structure to be simple and the volume to be controllable, so that the existing form of the zooming module is changed, the most simple and effective device is utilized, the reliability of operation is improved, and the purpose of avoiding operation risks is achieved; the detachable clamping structure design is matched with the structure design of the single swing rod, so that the endoscope clamp holder is made to be disposable, and the pathogen infection risk caused by incomplete repeated use and disinfection is avoided; in addition, the endoscope zooming driving mechanism is integrated and packaged into the second swing arm, the traditional zooming system is integrated to the host end, a novel transmission mode of the endoscope is provided, compared with the prior art, the novel transmission mode of the endoscope is used for effectively reducing the moment of a winding point of the endoscope when the endoscope moves, so that when the endoscope system moves to the farthest end, the supporting point cannot be involved in wounds due to insufficient rigidity, and the safety is higher.
Secondly, the motor is designed in the second swing arm, the balancing weight is matched with the first swing arm, and a tower crane type rear-mounted matching mechanism is formed for the fixed endoscope system, so that the gravity of the system is more balanced, the wound traction force is minimized, and the secondary injury to a patient is minimized;
thirdly, by adding the universal joint on the clamping component, the invention utilizes the universal joint to reduce errors of a system which can not be overlapped with a wound absolutely due to material deformation (the length of the universal clamp mirror arm is too long and the rigidity is changed) and focusing (the actual operation is difficult to be overlapped), and pull and tear caused by other artificial factors to the wound, thereby greatly reducing the operation risk of secondary injury to the wound of a patient due to the pulling force.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a single pendulum rod endoscope clamping device according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a host system according to another embodiment of the invention;
FIG. 3 is a schematic diagram of a dual swing device and a fourth transmission assembly in an embodiment of the present invention to achieve synchronous driving;
FIG. 4 is a schematic diagram of a dual swing device and a fourth transmission assembly in accordance with another embodiment of the present invention to achieve synchronous driving;
FIG. 5 is a schematic cross-sectional view of a portion of a fourth gear assembly according to another embodiment of the invention;
FIG. 6 is a schematic view of a gimbal clamp mirror and slider connection in accordance with another embodiment of the present invention;
FIG. 7 is a schematic view of the configuration of the adjustable kidney-shaped groove and turntable in accordance with another embodiment of the present invention;
FIG. 8 is a schematic diagram of a gimbal to endoscope system connection in accordance with one embodiment of the present invention;
FIG. 9 is a schematic view of the A-direction structure of FIG. 8;
FIG. 10 is a schematic view of a gimbal structure according to another embodiment of the present invention;
FIG. 11 is a schematic diagram of a prior art endoscope manipulator and a method of operation thereof.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
FIGS. 1-3 illustrate an implementation of a single swing rod endoscope holding device according to the present invention, comprising: the endoscope clamp comprises a host system 100 and a single swing rod 200, wherein the front end of the single swing rod is configured to have preset flexibility so that the single swing rod can deflect at an angle according to the requirement to form a universal clamp arm 300, the structure of the single swing rod is simple, the existing form of a zooming module is changed, the most simple and effective device is utilized to improve the reliability of operation and control, the single swing rod is made into a disposable product so as to achieve the aim of avoiding surgical risks, the endoscope is further connected with the single swing rod through at least one detachable clamping assembly 400, the matching connection with the host system is further realized, the detachable structure is designed to enable an endoscope clamp holder and the single swing rod to be matched to be disposable, the pathogen infection risk caused by incomplete repeated use and disinfection is avoided, and meanwhile, the clamping device is combined with the function of clamping the endoscope in a rotating manner around an OZ, and is characterized in that the fixed center of gravity of the clamping point of the endoscope can be kept unchanged, and the size is extremely small;
the swing arm part 500 is structurally designed as shown in fig. 2, a first transmission assembly 110 and a second transmission assembly 120 are packaged in the host system, the first transmission mechanism is configured to be in transmission connection with the rotating plate 130 so as to realize the movement of the cavity mirror on the X axis, the second power mechanism is configured to be in transmission connection with a first swing arm 510 penetrating through the rotating plate so as to realize the movement of the cavity mirror on the Z axis, the rotating plate of the host system is an up-and-down rotation part (rotating around OX), the host shell provides main body support, the rotating plate of the up-and-down rotation part also provides main body support for the swing arm mechanism (the second swing arm part provides linear reciprocating movement of OY, the first swing arm part provides rotational movement of OZ by the host), and meanwhile drives the swing arm part to jointly rotate up and down, and the first swing arm is connected with the cavity mirror through the clamping assembly so as to realize the up-and-down and horizontal rotation of the cavity mirror (the OX axis rotation as shown in the figure, the OZ axis rotation);
the rotating plate is provided with a second swing arm 520 at a preset distance from the first swing arm, a third transmission assembly 530 connected with the clamping assembly is packaged in the second swing arm, so that the movement of the endoscope on the Y axis is realized, the second swing arm in the swing arm mechanism clamps the endoscope, and the telescopic swing arm drives the lower sliding block to drive the lower sliding block to reciprocate along the Y axis, and the rotating plate is characterized in that a traditional zooming system is integrated to a host end, a novel transmission mode of the endoscope is provided, and compared with the prior art, the novel transmission mode of the endoscope is provided, so that the moment of a winding point of the endoscope during movement is effectively reduced, and when the endoscope system moves to the farthest end, the supporting point cannot have insufficient rigidity to bring the wound into the wound;
the free ends of the second swing arm and the first swing arm are provided with a parallel rod 540 which is connected, so that the rotating plate, the second swing arm, the first swing arm and the parallel rod form a first parallelogram structure in space, the first swing arm transmits force to the second swing arm through the action of the parallel rod when in motion, so that the first swing arm and the second swing arm can realize synchronous linkage on a Y axis, further, the action of a cavity mirror in three directions is realized, the transmission synchronism is stronger, the cavity mirror is matched with actual operation, the stability is better, meanwhile, the structural stability of a swing arm mechanism is better through the action of the parallel rod, in addition, the most sufficient and free operation space adjustment is realized, the operation dead point of equipment is reduced, and the working space is enlarged;
when the single-swing-rod endoscope clamping device adopting the scheme is used for ensuring the movement of an endoscope, the structural movement also simulates the action of an endoscope-holding assistant, the two shafts move around a point (simulating wrist rotation) and one shaft moves (simulating arm extension) to finish the action of holding the endoscope, but when the movement of the endoscope can be ensured, the rotation of an OX shaft, the rotation of an OZ shaft and the reciprocating movement of an OY shaft can be always carried out by taking the opening point O of the belly as a center point, and the three coordinate movements of a host part drive the universal endoscope-clamping arm to clamp the endoscope to cause the O point to be very small or even negligible traction force, and the O point is the insertion puncture point of the endoscope. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 1, in another example, the clamping assembly is configured as two cooperating with the first swing arm, the second swing arm, such that the first swing arm, the second swing arm, the rotating plate, and the endoscope spatially form a second parallelogram structure. By adopting the scheme, after the clamping is completed, the endoscope arm with the universal rotation is provided with the advantages of strong structural stability, good implementation effect, strong operability, good adaptability and good controllability due to the exquisite structural design. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 2, in another example, the first and second transmission assemblies are configured to include: first motors 111, 121 for power output and first transmission mechanisms matched with the motors;
wherein the first transmission mechanism is configured to include:
first primary synchronizing wheels 112, 122 coupled to the first motor power take-off shaft;
first slave synchronizing wheels 113, 123 cooperating with the rotating plate;
the first master synchronizing wheel and the first slave synchronizing wheel are driven by synchronous belts 114 and 124, and the synchronous belts are tensioned by matched tensioning wheels 115 and 125. The driving device adopting the scheme comprises a motor, a synchronous belt, a synchronous wheel, a tensioning wheel, a transmission shaft and any combination thereof, realizes passive power transmission, avoids the defects of difficult adjustment of an engagement gap, large movement noise and lower reliability, reduces the noise, improves the reliability of mechanism movement, and has the advantages of simple structure, good stability, strong adaptability and good controllability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 3, in another example, the third transmission assembly is configured to include: a second motor 531 for power take off and a second transmission cooperating therewith, configured to include: a drive screw 532 coupled to the second motor power output shaft;
a driving slider 533 respectively engaged with the screw and the clamping assembly;
the driving guide rail 534 matched with the driving slide block integrates the movement module above the operation opening into the driving motor inside the left swing rod (namely the second swing arm) by utilizing the inner space of the swing rod to drive the coupler and the screw rod to rotate, the screw rod drives the slide block to do OY linear reciprocating motion on the guide rail, the lower end traction slide block, the turntable and the clamp mirror turntable fixing seat integrally traction the universal clamp mirror arm and the driven slide block in the right swing rod to do OY linear reciprocating motion, the traditional zooming mechanism is replaced by the lower end traction slide block, the turntable and the clamp mirror turntable fixing seat, the design of the structure greatly reduces the operation space, so that doctors obtain more effective operation range, the mechanism also solves the problem of wound traction force change caused by the force arm change formed by the traditional zooming mechanism around the fixing arm, and the fixing arm of the structure is fixed for the wound force arm of the human body and the center of gravity of the cavity mirror system, and the damage is minimal;
wherein, the first swing arm is internally packaged with a balancing weight 521 matched with a second motor, so that the gravity center of the system stably reduces the torque, a driven sliding block 522 and a driven guide rail 523 which are respectively matched with a driving sliding block and a driving guide rail, and the motors and the balancing weights of the double swing rods form a tower crane type rear-mounted matching mechanism for a fixed endoscope system, thereby ensuring that the gravity of the system is more balanced, the traction force on wounds is minimized, and the secondary injury to patients is minimized. The counterweight device in the scheme is adopted to enable the gravity center of the system to stably reduce the torque, and the transmission mechanism integrated in the second swing arm replaces the traditional zooming mechanism, so that the operation space is greatly reduced, and the counterweight device has the advantages of good implementation effect, strong operability, good adaptability and good stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 3-5, in another example, the power output shaft of the second motor is further provided with a coupling 535 matched with the fourth transmission assembly, which is used for changing the torque transmission of the power output shaft, so that the force can be transmitted to the driven screw rod through the matched fourth transmission assembly, and the force can be linked with the driven screw rod;
wherein the fourth transmission assembly is configured to include:
three first bevel gear sets with the same modulus are arranged in the second swing arm to be matched with a coupler, and the first bevel gear sets comprise a first main bevel gear 536, a second main bevel gear 537 and a third main bevel gear 538, the coupler transmits the power output of a motor to the first main bevel gear and further drives the second main bevel gear and the third main bevel gear which are matched with the first bevel gear;
the two same-modulus second bevel gears are arranged in the first swing arm and are driven by the first bevel gear set through the synchronous transmission mechanism 550, the synchronous transmission mechanism comprises a first slave bevel gear (not shown) and a second master bevel gear (not shown), the synchronous transmission mechanism can be configured to be matched with the synchronous belt 551, the synchronous wheel 552 and the transmission shaft so as to transmit the force transmitted by the first bevel gear set to the second bevel gear set, the mode of combining the synchronous belt 551 and the synchronous wheel 552 can be replaced by the mode of fig. 4 and other matched modes, namely, the synchronous wheel above the second master bevel gear in the second swing arm is matched with the synchronous belt to drive the first slave bevel gear and the second slave bevel gear in the first swing arm, and the first slave bevel gear and the second slave bevel gear correspond to the installation phase of the second master bevel gear and the third master bevel gear so as to further transmit the moment to the driven screw rod to realize synchronous swing of the double screw rod, thereby avoiding the problem of driving clearance and further ensuring the controllable movement precision; a driven screw 524 is arranged in the first swing arm and is matched with the second bevel gear set so as to realize synchronous movement with the driving screw. The endoscope system adopting the scheme can be clamped by the left telescopic swing arm and the right telescopic swing arm on the double swing arms, the two lower sliding blocks of the double swing arms are further driven to reciprocate along the Y axis through the telescopic swing arms, meanwhile, the driving motor arranged in the second swing arms drives the coupler to act, the double-wire rods synchronously rotate, and the two sliding blocks are driven to reciprocate on the two guide rails in the OY linear mode, so that the problem of clamping the endoscope system in a driving gap is avoided, and the endoscope system has the advantages of better synchronism, stability in transmission and strong controllability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 6, 10, in another example, the clamping assembly is configured to include:
a first connection base 410 connected to the first swing arm and the second swing arm, respectively;
an L-shaped rotary joint 411 which is matched with the first connecting seat to enable the endoscope to rotate up and down;
the cylindrical rotary joint 412 which is arranged at the free end of the rotary joint and enables the endoscope to rotate up and down, the L-shaped rotary joint is matched with the cylindrical rotary joint to form a universal joint on the endoscope, so that the endoscope can be adjusted up and down and in the horizontal direction, and has better adaptability, the tail end of the endoscope is adjustable in length, the front end of the endoscope is provided with a universal clamp arm of the universal joint, the endoscope system can be aimed more freely, the requirements on each system are low (an infrared aiming system and other positioning systems are not needed), the manual requirements are low, the positioning is quick, and the wound injury is small; nor are various supports and positioners present before the wound (and are more susceptible to secondary infections). The integrated driving system component and the rear counterweight in the double swinging rods enable the system with larger operation space to be simpler (reduce the risk of the system due to the fact that the traditional module brings more external cable connectors or passive battery components), the gravity center is more stable, the operation is more free and convenient, a first limit groove capable of containing the cavity mirror arm is formed in the double swinging rods, and a first adjusting knob 413 matched with the first limit groove for realizing locking can be arranged on the first limit groove, and a matched shaft sleeve 414 can be designed on the first limit groove for ensuring the stability and the precision of the first limit groove. By adding the universal joint, the scheme reduces errors of a system which cannot be overlapped with wounds absolutely due to material deformation (overlength rigidity change of the universal clamp mirror arm) and focusing (the actual operation is difficult to overlap) and pulling caused by other artificial factors on the wounds by using the universal joint, greatly reduces the operation risk of secondary injury to the wounds of patients due to the pulling force, and has the advantages of good implementation effect, strong operability, good adaptability and good stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 5 and 7, in another example, the clamping device is configured to include: a turntable connected with the first swing arm and the second swing arm respectively, and a second connecting seat 420 matched with the turntable, namely a turntable seat, which can be matched with the turntable connecting seat 422;
wherein, the second connecting seat is provided with a second limit groove (not shown) for accommodating the endoscope arm and a second adjusting knob 421 matched with the second limit groove for realizing locking;
the universal mirror clamping arm is provided with a waist-shaped groove 310 matched with the second limiting groove. One end of the universal mirror clamping arm adopting the scheme is matched with a mirror clamping turntable fixing seat (namely a second connecting seat) through a waist-shaped groove, the rotation and the adjustment length are limited through an adjusting knob, the waist-shaped groove is arranged at one end of the universal mirror clamping arm, the most sufficient and free operation space adjustment is realized under the condition that the structure is allowed, the operation dead points of equipment are reduced, the working space is enlarged, the adjustable universal mirror clamping arm is provided with a waist-shaped groove which can not rotate and can move along the groove; compared with the traditional structure, the structure is exquisite, so that the structure can greatly reduce the size, can solve the problems of blocking and interference in the operation process, enlarges the working space, reduces the operation dead points of equipment and secondary injury to human bodies by the universal joint at the other end, and has the advantages of strong operability, good adaptability, good implementation effect and good stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 8, in another example, the clamping assembly is configured to include:
a third connecting seat 430 connected to the first swing arm and the second swing arm, respectively;
a connection fork 431 matched with the third connection seat and used for connecting the endoscope to the third connection seat;
wherein, a third limit groove 432 is arranged on one side of the connecting fork facing the endoscope arm and is used for providing a limit installation position, and a C-shaped fork 433 matched with the endoscope arm and at least one third adjusting knob 434 matched with the C-shaped fork 433 for realizing locking are arranged in the third limit groove;
the C-shaped fork is internally provided with the elastic sheet clamp 435 which is matched with the C-shaped fork to limit the endoscope arm, the C-shaped fork, the elastic sheet clamp and the third adjusting knob are designed to fix the universal endoscope arm, and after the initial pressing force is provided through the action of the elastic sheet clamp, the combination stability is better through the action of the adjusting knob. The scheme has the advantages of better reliability, better stability, strong operability and good adaptability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 8-10, in another example, the first connection seat and the third connection seat respectively pass through the matched connection mechanism 440, and then respectively realize detachable connection with the L-shaped rotary joint and the connection fork, which has the functions of realizing the connection of the first connection seat and the third connection seat and realizing quick detachment, so that the clamping device can be realized for one time, and the clamping device is ensured not to be polluted by secondary pollution;
wherein the connection mechanism is configured to include:
the connecting cylinder 441 has a telescopic rod 442 arranged in the inner cavity, so that the structural length of the connecting cylinder 442 can be adjusted according to the requirement to have stronger adaptability, the free ends of the connecting cylinder 441 are respectively matched with the first connecting seat and the third connecting seat, and self-lubricating shaft sleeves 443 are arranged at the matched positions of the connecting cylinder 441 and the third connecting seat, so that the connecting effect between the connecting cylinder 441 and the third connecting seat is better, and the connecting cylinder is convenient to operate;
the rotating shaft 444 and the bearing 445 are arranged in the inner cavity of the connecting cylinder body and are matched with the L-shaped rotating joint to realize connection, so that the angle of the rotating shaft 444 and the bearing 445 is adjusted according to the requirement, and meanwhile, the connection performance of the structure of the rotating shaft is ensured. By adopting the scheme, through the design of each structure, the L-shaped rotary joint is connected with the rotating shaft through the screw 449, the detachable connection of the clamping mechanism and the first connecting seat is realized, the connection of the connecting fork and the rotating shaft is realized, the detachable connection of the clamping mechanism and the third connecting seat is realized, and the device has the advantages of good implementation effect, strong operability and good adaptability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 9, in another example, the connecting fork is further provided with a locking knob 446 matched with the connecting mechanism, and the locking knob is used for realizing connection between the connecting fork and the connecting mechanism quickly through structural design, so that the connecting fork is better in structural stability;
wherein, the locking knob is configured to be sleeved on the connecting fork, and a limiting groove 447 matched with the connecting fork is arranged in the locking knob and is used for ensuring that the locking knob and the connecting fork are more tightly matched through structural design;
the connecting fork is provided with a mounting groove 436 at one end matched with the rotating shaft for the connecting fork to extend into;
the taper sleeve 448 which is matched with the rotating shaft to realize locking is arranged between the connecting fork and the rotating shaft, so that the stability of structural combination is better, and the connection reliability is high. The scheme has the advantages of good implementation effect, strong operability and good adaptability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
The invention is further described with reference to the accompanying drawings: as shown in fig. 1, the left-right rotation and OZ rotation, up-down rotation and OX rotation, expansion and contraction and OY reciprocation are performed around the belly opening point O; when the endoscope moves, the belly opening point O is always used as a center point, the OX shaft rotation, the OZ shaft rotation and the OY shaft reciprocating movement can be carried out, the three coordinates of the main machine part move, and the independent three driving motors are used for controlling and completing the respective driving movements. The up-and-down rotating part drives the turntable to rotate around the OX shaft through a host motor (drives the cavity mirror system 400 to simultaneously rotate up and down); a horizontal rotation part, which drives the OZ shaft to rotate through a host motor (drives the double swing arms to rotate left and right to drive the cavity mirror system 400 to rotate left and right simultaneously); the telescopic part is characterized in that the telescopic driving motor drives the coupler to enable the screw rod to conduct rotary motion, the rotary motion of the screw rod enables the driving sliding block to conduct linear motion to drive the guide rail sliding block, the turntable and the turntable fixing seat to conduct linear motion simultaneously, and the universal mirror clamping arm also enables the driven guide rail sliding block to conduct linear motion simultaneously, so that the cavity mirror system also conducts linear motion to form a telescopic function. The double swinging rods, the parallel rods and the upper and lower shells form a parallelogram to ensure that the structure is stable, and the cavity mirror system always moves left and right in parallel; the gravity centers of the double swinging rods and the cavity mirror system are biased towards the OY direction, so that the rear end of the double swinging rods is provided with a counterweight, and the gravity centers of the motors are arranged at the rear ends of the double swinging rods in a rear-mounted mode, so that the gravity centers of the double swinging rods are more stable.
The zoom motion and the horizontal rotation of the endoscope system are realized through the structures of fig. 2-3, the driving slide block and the guide rail slide block turntable are connected into a whole through screws, the turntable is driven by a motor in fig. 3 to make the turntable move on the guide rail, the turntable fixing seats can rotate along the turntable and also can make the turntable fixing seats move along the turntable linearly, as in fig. 7, when the two turntable fixing seats and the universal clamp mirror arm are fixed and locked into the kidney-shaped groove through the adjusting knob, the two turntable fixing seats and the universal clamp mirror arm can make the linear motion at the same time and keep the two turntable fixing seats not rotating, and the universal joint (fig. 6) at the other end of the universal clamp mirror arm can reduce the deformation of materials (the overlength rigidity change of the universal clamp mirror arm) and the incapacity of focusing to coincide with wounds absolutely (the actual operation is difficult to coincide with the wounds), and the errors of the system and the pulling caused by other factors of people can also be reduced to the minimum by the universal joint.
The synchronous driving integrated design of the double swing arms comprises a telescopic driving unit, two synchronous wheels and 3 same-modulus bevel gear sets (the problem that the two swing arms synchronously drive two screw rods and do not interfere with a left-right swing mechanism is solved), the two screw rods can simultaneously drive a driving guide rail sliding block and a driven guide rail sliding block, a turntable connecting seat and two turntable bases, so that the two turntable bases can simultaneously do linear and rotary motions.
The number of equipment and the scale of processing described herein are intended to simplify the description of the present invention. The application, modification and variation of the single pendulum rod endoscope clamping device of the present invention will be apparent to those skilled in the art.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (8)
1. The single swing rod cavity mirror clamping device is characterized by comprising a host system and a single swing rod matched with the host system, wherein a cavity mirror is further connected with a single swing rod through at least one detachable clamping component so as to be matched with the host system, and the front end of the single swing rod is configured to have preset flexibility so as to enable the single swing rod to deflect at an angle according to requirements to form a universal mirror clamping arm;
the first transmission component and the second transmission component are packaged in the host system, the first transmission component is configured to be in transmission connection with the rotating plate so as to realize the movement of the cavity mirror on the X axis, and the second transmission component is configured to be in transmission connection with the first swing arm penetrating through the rotating plate so as to realize the movement of the cavity mirror on the Z axis;
the rotating plate is provided with a second swing arm at a preset distance from the first swing arm, and a third transmission assembly connected with the clamping assembly is packaged in the second swing arm to realize the movement of the cavity mirror on the Y axis;
the free ends of the second swing arm and the first swing arm are provided with connected parallel rods so that the rotating plate, the second swing arm, the first swing arm and the parallel rods form a first parallelogram structure in space;
the third transmission assembly is configured to include: a second motor for power take off and a second transmission cooperating therewith, configured to include: a driving screw rod connected with the power output shaft of the second motor;
the driving sliding blocks are respectively matched with the screw rod and the clamping assembly;
a drive rail coupled to the drive slide;
the first swing arm is internally provided with a balancing weight matched with the second motor, and a driven sliding block and a driven guide rail respectively matched with the driving sliding block and the driving guide rail;
a coupler matched with the fourth transmission assembly is further arranged on the power output shaft of the second motor;
wherein the fourth transmission assembly is configured to include:
three first bevel gear sets with the same modulus are arranged in the second swing arm to be matched with the coupler;
two second bevel gear sets with the same modulus, which are arranged in the first swing arm and are driven by the first bevel gear set through a synchronous driving mechanism;
and a driven screw rod which is matched with the second bevel gear set and is used for realizing synchronous movement with the driving screw rod is arranged in the first swing arm.
2. The single pendulum rod endoscope clamping device of claim 1, wherein said clamping assembly is configured as two cooperating with a first swing arm, a second swing arm such that the first swing arm, the second swing arm, the rotating plate and the endoscope spatially form a second parallelogram structure.
3. The single pendulum rod endoscope clamping device of claim 1, wherein said first transmission assembly and second transmission assembly are configured to include: the first motor is used for outputting power and is matched with the first transmission mechanism;
wherein the first transmission mechanism is configured to include:
a first primary synchronizing wheel matched with the power output shaft of the first motor;
a first slave synchronizing wheel cooperating with the rotating plate;
the first master synchronizing wheel and the first slave synchronizing wheel realize transmission through a synchronizing belt, and the synchronizing belt is tensioned through a tensioning wheel matched with the synchronizing belt.
4. The single pendulum rod endoscope clamping device of claim 1, wherein said clamping assembly is configured to include:
the first connecting seat is respectively connected with the first swing arm and the second swing arm;
an L-shaped rotary joint which is matched with the first connecting seat so that the endoscope can rotate up and down;
the cylindrical rotary joint is arranged at the free end of the rotary joint so that the endoscope can rotate up and down, and a first limiting groove capable of accommodating the endoscope arm and a first adjusting knob matched with the first limiting groove to realize locking are arranged on the cylindrical rotary joint.
5. The single pendulum rod endoscope clamping device of claim 1, wherein said clamping device is configured to include: the rotary table is respectively connected with the first swing arm and the second swing arm, and the second connecting seat is matched with the rotary table;
the second connecting seat is provided with a second limiting groove for accommodating the endoscope arm and a second adjusting knob matched with the second limiting groove for realizing locking;
and the universal mirror clamping arm is provided with a waist-shaped groove matched with the second limiting groove.
6. The single pendulum rod endoscope clamping device of claim 1, wherein said clamping assembly is configured to include:
the third connecting seat is respectively connected with the first swing arm and the second swing arm;
a connecting fork matched with the third connecting seat;
the connecting fork is provided with a third limit groove at one side facing the endoscope arm, and a C-shaped fork matched with the endoscope arm and at least one third adjusting knob matched with the C-shaped fork for realizing locking are arranged in the third limit groove;
and a spring clip which is matched with the C-shaped fork to limit the endoscope arm is arranged in the C-shaped fork.
7. The single swing rod endoscope holding device according to claim 4 or 6, wherein the first connecting seat and the third connecting seat are detachably connected with the L-shaped rotary joint and the connecting fork respectively through matched connecting mechanisms;
wherein the connection mechanism is configured to include:
the connecting cylinder body is internally provided with a telescopic rod, the free ends of the telescopic rod are respectively matched with the first connecting seat and the third connecting seat, and self-lubricating shaft sleeves are arranged at the matched positions of the first connecting seat and the third connecting seat;
the rotating shaft and the bearing are arranged in the inner cavity of the connecting cylinder body and are matched with the L-shaped rotating joint to realize connection.
8. The single pendulum rod endoscope clamping device according to claim 7, wherein the connecting fork is further provided with a locking knob matched with the connecting mechanism;
the locking knob is configured to be sleeved on the connecting fork, and a limiting groove matched with the connecting fork is formed in the locking knob;
the connecting fork is provided with a mounting groove which can be used for the connecting fork to extend into at one end matched with the rotating shaft;
and a taper sleeve matched with the rotating shaft to realize locking is arranged between the connecting fork and the rotating 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 |
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| CN109528148A CN109528148A (en) | 2019-03-29 |
| CN109528148B true CN109528148B (en) | 2023-09-26 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110037799B (en) * | 2019-04-30 | 2024-04-26 | 深圳市海西高科有限公司 | Electric turntable for operation navigation equipment and operation navigation equipment |
| 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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| CN109528148A (en) | 2019-03-29 |
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