CN109965827A - The locking of endoscope power holds mirror system with regulating mechanism and endoscope - Google Patents
The locking of endoscope power holds mirror system with regulating mechanism and endoscope Download PDFInfo
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- CN109965827A CN109965827A CN201711451091.0A CN201711451091A CN109965827A CN 109965827 A CN109965827 A CN 109965827A CN 201711451091 A CN201711451091 A CN 201711451091A CN 109965827 A CN109965827 A CN 109965827A
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- endoscope
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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
- A61B1/00131—Accessories for endoscopes
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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Abstract
The present invention relates to a kind of locking of endoscope power and regulating mechanisms, including regulating device and power device, regulating device include: pedestal；Abutment sleeve；Guide part is movably disposed on the pedestal；Transmission mechanism, the power transmission structure including swing link guide, driving swing link guide rotation, driving guide part movement when swing link guide rotates；Return unit is arranged between the guide part and pedestal, to provide the elastic force for resetting guide part；Power device includes: the first motor to drive abutment sleeve to rotate, and to the second motor to power transmission structure transmitting driving force.Abutment sleeve is to fixed endoscope, when needing to adjust endoscope angle, discharges abutment sleeve by the second motor driven guide part, drives abutment sleeve rotation by first motor, and abutment sleeve then drives endoscope to rotate, and realizes fine-tuning for endoscope angle.Also propose that a kind of endoscope with the locking of this power and regulating mechanism holds mirror system.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of locking of endoscope power and regulating mechanism.Also
It is proposed that a kind of endoscope with the locking of this power and regulating mechanism holds mirror system.
Background technique
In recent years, more and more swift and violent using laparoscopic surgery as the development of the minimally invasive surgery technology of representative, in various big hospital
There is expansion.Minimally invasive surgery has the advantages that surgical wound is small compared with traditional open surgery；Patient's postoperative pain is light, restores
Fastly；Hospital stays is short；Therapeutic effect and abdominal are mutually same.But minimally invasive surgery is bringing the same of beneficial effect to patient
When, inconvenience but is brought to operation doctor in the course of surgery.Such as in the course of surgery, medical staff needs to peep in hand-held
Mirror observes internal situation, this process will cause following inconvenience: 1) endoscope penetrates body surface notch and enters human body, at this time in peep
The operation of mirror is similar to lever, that is, when needing to observe internal left-side images, needs to move right in vitro, and this reverse operating holds
Easily obscure medical staff；2) the shake meeting of medical staff's hand is so that endoscopic images are unstable；3) it needs to grow during surgery
Time hand-held endoscope, medical staff are easy to fatigue.Therefore endoscope producer develop it is matched hold mirror system, using automatic
Change equipment and replace manpower, endoscope is fixed on by operating bed, and can arbitrarily be adjusted.But the endoscope of presently relevant equipment is fixed
It is lower with regulation technology the degree of automation, typically endoscope is directly anchored on clamper using the form of buckle, is needed
When adjusting angle, endoscope need to be extracted and be readjusted again.
Summary of the invention
Based on this, it is necessary to adjust isogonal problem for endoscope, provide a kind of endoscope power locking and adjust
Save mechanism.Also propose that a kind of endoscope with this power locking and regulating mechanism holds mirror system.
A kind of locking of endoscope power and regulating mechanism, including regulating device and power device, the regulating device include:
Pedestal；
Abutment sleeve is installed in rotation on the pedestal；
Guide part is movably disposed on the pedestal, can the latched position for locking the abutment sleeve with release
It puts and is moved between the releasing position of the abutment sleeve；
Transmission mechanism, including being rotatably mounted to the swing link guide of the pedestal, driving the dynamic of the swing link guide rotation
Power transferring structure, the swing link guide is to drive the guide part to move to releasing position from the latched position；
Return unit is arranged between the guide part and pedestal, returns to the guide part from releasing position to provide
The elastic force of latched position, the guide part can drive the swing link guide return when returning to latched position from releasing position；
The power device includes: the first motor to drive abutment sleeve rotation, and to the power
Second motor of transferring structure transmitting driving force.
The guide part is driven to move along a straight line when the swing link guide rotates in one of the embodiments,.
It is equipped with what the guidance guide part moved along a straight line between the pedestal and guide part in one of the embodiments,
Pilot unit.
The pilot unit includes in one of them being arranged in pedestal and guide part in one of the embodiments,
The guiding groove on another is arranged in guide pin.
The swing link guide or guide part alternative one are equipped with guide channel in one of the embodiments, another is equipped with
Protrude into the tangent connecting pin of inner wall in the guide channel and with guide channel, when the swing link guide rotates, the connecting pin edge
The inner wall of the guide channel is opposite to be slided and the guide part is driven to move.
It in one of the embodiments, further include the pressing plate for being fixed on the pedestal, the pressing plate offers guide groove, institute
Swing link guide is stated between the pressing plate and guide part, the swing link guide is equipped with the guide channel, on the guide part
Equipped with the connecting pin, the connecting pin passes through the guide channel and protrudes into the guide groove.
The power transmission structure includes being rotatablely installed in the driving wheel of the pedestal, institute in one of the embodiments,
It states driving wheel to be rotated by second motor driven, the driving wheel drives swing link guide rotation, and the pedestal and pressing plate are common
Support the driving wheel.
The power transmission structure includes being rotatablely installed in the driving wheel of the pedestal, institute in one of the embodiments,
It states and is connected between driving wheel and swing link guide by flexible member, the driving wheel is rotated by second motor driven, described
Flexible member described in driving wheel wound upon rotation, to drive the swing link guide to rotate and drive the guide part by the lock
Positioning, which is set, moves to releasing position.
Driving gear is rotatably connected on the pedestal in one of the embodiments, and is driven by the driving gear and is revolved
The adjustment gear turned, the abutment sleeve are fixed on the adjustment gear.
The drive shaft of the first motor is fixedly connected with the driving gear in one of the embodiments, and described
The drive shaft of two motors is fixedly connected with the driving wheel；Or the power device further includes motor mount, described first
Motor and the second motor are installed in the motor mount, and the first motor and driving gear clamping connect, described
Second motor and driving wheel clamping connect.
Annular portion is convexly equipped on the outer wall of the abutment sleeve in one of the embodiments, the annular portion, which is equipped with, to be held
Receive the guide part end spacing breach, when the guide part and spacing breach cooperate, the guide part limitation is described fixed
Position sleeve rotating；When in the annular portion, the guide part passes through described in friction power limit the end abutment of the guide part
Abutment sleeve rotation.
It is additionally provided with the first limiting section and the second limiting section on the outer wall of the abutment sleeve in one of the embodiments,
Wherein first limiting section has the obstruction part that can limit cooperation object moment, and second limiting section, which has to limit, matches
Close the obstruction part that object moves in the axial direction.
First limiting section is the notch on the barrel of the abutment sleeve in one of the embodiments, described the
Two limiting sections are recess or hole.
A kind of endoscope holds mirror system, including endoscope and power above-mentioned locking and regulating mechanism, wherein peeping in described
Mirror is driven by the abutment sleeve to be rotated.
The locking of endoscope power and the abutment sleeve of regulating mechanism are to fixed endoscope, when needing to adjust endoscope angle
When, abutment sleeve is discharged by the second motor driven guide part, abutment sleeve rotation is driven by first motor, abutment sleeve is then
Endoscope rotation is driven, fine-tuning for endoscope angle is realized, and after adjustment, using guide part again by positioning sleeve
Cylinder locking, the position of endoscope is kept without medical staff manually, easy to operate.
Detailed description of the invention
Fig. 1 is the schematic diagram that the endoscope of one embodiment of the invention holds the front end of mirror system；
Fig. 2 is the assembling schematic diagram that endoscope shown in Fig. 1 holds endoscope interface and endoscope in mirror system；
Fig. 3 is the top view of assembly shown in Fig. 2；
Fig. 4 is the structural schematic diagram that endoscope shown in Fig. 1 holds regulating device in mirror system；
Fig. 5 is the scheme of installation of endoscope and regulating device；
Fig. 6 is after endoscope is connect with regulating device, and regulating device is in the schematic diagram of initial position；
Fig. 7 is the schematic diagram of the Principles of Regulation of regulating device；
After Fig. 8 is endoscope angular adjustment, the latched position schematic diagram of regulating device；
Fig. 9 is the schematic diagram of the motion principle of swing link guide；
Figure 10 is the schematic diagram of the power device of an embodiment.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited by the specific embodiments disclosed below.
Referring to figs. 1 to Fig. 3, one embodiment of the present of invention provides a kind of endoscope interface 11.Endoscope interface 11 can
It is held in mirror mechanical arm or medical robotic system or individual endoscope holding mechanism with applying in endoscope, to connect
Endoscope 12.
As shown in Figure 1, endoscope interface 11 can be also fixedly connected with endoscope 12, endoscope assembly 10 is constituted.Endoscope
12 are installed by endoscope interface 11 to the locking of endoscope power and regulating mechanism, and the locking of endoscope power then connects with regulating mechanism
It is connected to endoscope and holds mirror mechanical arm or medical robotic system or individual endoscope holding mechanism, and then help to realize interior
The fine angle of sight glass 12 is adjusted and is fixed, and facilitates medical staff to adjust most suitable endoscope angle, and be not necessarily to medical care people
Member keeps the position of endoscope 12 manually, easy to operate.
With reference to Fig. 5, endoscope interface 11 includes ontology 110, which has axially extending inner cavity 111.Inner cavity
111 wall is equipped with the receiving hole 112 with 111 radial communication of inner cavity, furthermore also has positioning region 113 on the wall of inner cavity 111.
Locking member 114 is contained in receiving hole 112.Locking member 114 can be along the radial direction of inner cavity 111 in receiving hole 112
Movement, can be at least partially into inner cavity 111.Elastic component (not shown) is equipped between locking member 114 and ontology 110.
Elastic component is connected on locking member 114, for providing the bullet for having locking member 114 towards the movement tendency at 111 center of inner cavity
Property power.
Referring to figs. 2 and 5, endoscope interface 11 is in use, be to be fixedly connected between endoscope 12.The mirror of endoscope 12
Pipe 121 passes through inner cavity 111.Gap is equipped between mirror tube 121 and the wall of inner cavity 111, to accommodate the locking of endoscope power and adjust
Regulating element in mechanism.Regulating element is illustrated by taking the abutment sleeve 209 that can be rotated as an example herein.Abutment sleeve 209
It is inserted into inner cavity 111 and cooperates with locking member 114 and positioning region 113, to realize the fixation with endoscope interface 11, in turn
Realize the fixation to endoscope 12.
For example, the structure of abutment sleeve 209 as shown in fig. 6, which is provided with respectively with 114 phase of positioning region 113 and locking member
Corresponding first limiting section 2091 and the second limiting section 2092.When abutment sleeve 209 is inserted into inner cavity 111, in abutment sleeve
Under 209 compressing, locking member 114 is mobile far from inner cavity 111, is inserted into abutment sleeve 209 smoothly.Later, locking member 114 is in bullet
Property part elastic force effect it is lower reset and cooperate with the second limiting section 2092, the axial phase between abutment sleeve 209 and endoscope 12
Movement is limited.When positioning region 113 and the first limiting section 2091 also cooperate, between abutment sleeve 209 and endoscope 12
Relative rotation is limited.In this way, achieving a fixed connection between abutment sleeve 209 and endoscope 12.When needing abutment sleeve 209
When being separated with endoscope 12, it is only necessary to outward pull out abutment sleeve 209.As a result, abutment sleeve 209 and endoscope 12 it
Between realize and be detachably connected.
When abutment sleeve 209 is inserted into, positioning region 113 and locking member 114 and the first limiting section 2091 and the second limiting section
2092 angle in a circumferential direction is consistent.If there is deviation, can turn an angle during insertion into
Row adjustment.
When adjusting the angle of endoscope 12, since abutment sleeve 209 has passed through endoscope interface 11 and endoscope 12
It is fixed together, abutment sleeve 209 need to only be made to drive endoscope interface 11 and the rotation of endoscope 12 that adjustment purpose, nothing can be realized
Operator is needed to keep endoscope 12 manually, it is easy to operate.Also, the rotation of abutment sleeve 209 can use motor control with
Precise controlling is realized, so that the angle adjustment of endoscope 12 may be implemented to fine-tune.
In one embodiment, positioning region 113 is the positioning convex platform being arranged on the wall of inner cavity 111.The quantity of positioning region 113 is extremely
One is arranged less.Correspondingly, the first limiting section 2091 at this time on abutment sleeve 209 is set as notch as shown in FIG. 6.This reality
It applies in example, the shape of positioning convex platform does not make specific requirement, can be realized the purpose matched with notch.When practical application,
Positioning convex platform can be further arranged to arc at 111 port of inner cavity, be inserted into convenient for guidance abutment sleeve 209.Abutment sleeve
209 go deep into during inner cavity 111, and when notch reaches positioning convex platform position, positioning convex platform initially enters notch, works as abutment sleeve
209 continue deeper into inner cavity 111, and positioning convex platform is i.e. completely into groove.
The notch that positioning region 113 is also possible to be arranged on the wall of inner cavity 111.The first limit on abutment sleeve 209 at this time
Position portion 2091 is set as positioning convex platform.
In one embodiment, locking member 114 is sphere or cylinder.Locking member 114 is dimensioned at least partly
It enters in inner cavity 111, so as to cooperate with the second limiting section 2092 on abutment sleeve 209.Second limiting section 2092 can
Think recess, such as circular hole.When locking member 114 is entered in groove, the axially opposing shifting of endoscope 12 and abutment sleeve 209 is limited
It is dynamic.It is radially compressed against on abutment sleeve 209 in addition, locking member 114 can also be, can equally limit endoscope 12 and abutment sleeve
209 axially opposing movement.It is not provided with being recessed on abutment sleeve 209 at this time.At this point, locking member 114 and abutment sleeve 209 it
Between can be contacted with cambered surface, increase frictional force.
Preferably, locking member 114 uses sphere.Receiving hole 112 is sized to the diameter less than sphere, but allows ball
Physical efficiency part enters inner cavity 111.Sphere has under the action of elastic force the trend along 111 radial inward movement of inner cavity and is close to
In receiving hole 112.
The quantity of locking member 114 can be set multiple.In one embodiment, locking member 114 uses sphere, and there are three settings.
Three locking members 114 are uniformly distributed in a circumferential direction.
In one embodiment, it is spring or elastic rubbery body that elastic component is (not shown).Elastic component has elastic force, which makes
Locking member 114 is tightly attached to receiving hole 112.
In one embodiment, ontology 110 is cylindrical, has the installation end face 116 born against for endoscope 12.Ontology 110
Outer diameter be set as consistent with the outer diameter of endoscope 12.
One embodiment of the present of invention also proposes a kind of endoscope assembly 10, as depicted in figs. 1 and 2, including endoscope 12
And the endoscope interface 11 of previous embodiment.
Endoscope interface 11 is fixedly connected with endoscope 12, forms endoscope assembly 10.In use, endoscope assembly 10 can
To be connected to the locking of endoscope power and regulating mechanism, to be locked and be adjusted by endoscope power when endoscope 12 works
Mechanism realization is saved to the angular adjustment of endoscope 12.
In one embodiment, it is connected by screw to, or is bonded together between endoscope interface 11 and endoscope 12, or is logical
Buckle structure is crossed to be grouped together.Buckle structure can be the flexible hook and groove that can cooperate.
One embodiment of the present of invention also proposes that a kind of endoscope holds mirror system, as shown in Figure 1, including previous embodiment
Endoscope assembly 10 and the locking of endoscope power and regulating mechanism.As shown in fig. 6, the locking of endoscope power and regulating mechanism packet
Include regulating device 20.Regulating device 20 includes rotary abutment sleeve 209.Abutment sleeve 209 be inserted into inner cavity 111 in and with
The cooperation of positioning region 113 to limit the relative rotation of abutment sleeve 209 Yu endoscope 12, abutment sleeve 209 at the same with locking member 114
Cooperation is to limit moving to axial for abutment sleeve 209 and endoscope 12.
Above-mentioned endoscope assembly 10 and the locking of endoscope power and regulating mechanism, can connect to endoscope and hold illuminating apparatus
Tool arm or medical robotic system or individual endoscope holding mechanism, and then help to realize the fine angle of endoscope 12
It adjusts and fixed, facilitates medical staff to adjust most suitable endoscope angle, and keep endoscope manually without medical staff
Position, it is easy to operate.
In one embodiment, it further includes mechanical arm that endoscope, which holds mirror system,.Above-mentioned endoscope assembly 10 and adjusting
Device 20 is mounted on mechanical arm.Mechanical arm can then move under the control of automatic control system.Wherein, regulating device
20 are mounted on mechanical arm.
In one embodiment, the locking of endoscope power and regulating mechanism further include the power for driving abutment sleeve 209 to rotate
Device 30.Power device 30 can be fixed together with regulating device 20, and the two forms unitary elements, directly match with endoscope 12
To using.
With reference to Fig. 4 to Fig. 9, one embodiment of the application additionally provides a kind of locking of endoscope power and regulating mechanism,
It can be used to adjust the angle of endoscope 12.The locking of endoscope power and regulating mechanism include: regulating device 20 and power device 30.
Regulating device 20 includes pedestal 201, abutment sleeve 209, guide part 207, transmission mechanism and return unit 210.Wherein
Pedestal 201 is the support installing component of the other elements of regulating device 20.
Abutment sleeve 209 is installed in rotation on pedestal 201.When abutment sleeve 209 is driven to rotate, be able to drive with
The endoscope 12 that abutment sleeve 209 is fixedly connected rotates, and realizes the angular adjustment of endoscope 12.Hereinafter will with aforementioned implementation
For the endoscope interface 11 of example cooperates, illustrate the structure of abutment sleeve 209.It will be appreciated, however, that the knot of abutment sleeve 209
Structure should not limit to and this, as long as can realize with endoscope 12 fixed to be able to drive the rotation of endoscope 12.
Guide part 207 is movably arranged on pedestal 201, can be in the latched position and release of locking positioning sleeve 209
It is moved between the releasing position of the locking positioning sleeve 209.As shown in fig. 6, guide part 207 is in locking positioning sleeve 209
To limit the latched position of the rotation of abutment sleeve 209.As shown in fig. 7, guide part 207, which is in, does not limit the rotation of abutment sleeve 209
Releasing position.
207 locking positioning sleeve 209 of guide part at least two ways is realized.Mode one: as shown in fig. 7, abutment sleeve
Annular portion 2093 is convexly equipped on outer wall on 209.Annular portion 2093 is equipped with the spacing breach 2094 for accommodating 207 end of guide part.
The end of guide part 207 is contained in spacing breach 2094, and guide part 207 limits abutment sleeve 209 and rotates.Can by
The mode that rotation direction (i.e. circumferencial direction) is placed obstacles realize to abutment sleeve 209 rotate limitation.The spacing breach
2094 depth (radial depth being recessed inwardly from the circumference of annular portion 2093) is 1-3mm, is less than notch mistake if 1mm
Shallowly, it is difficult to which the rotation for limiting abutment sleeve securely has then been more than the width of annular portion 2093, and make to be oriented to greater than 3mm
The design of the motion profile of part 207 is more difficult.Mode two: the end abutment of guide part 207 is when in annular portion 2093, guiding
Part 207 is rotated by friction power limit abutment sleeve 209.Can be contacted by end face, prevent to position using frictional force
Sleeve 209 rotates.It is exited from spacing breach 2094 as shown in fig. 7, guide part 207 is moved right to end, at this time releasing pair
The locking of abutment sleeve 209.
Transmission mechanism, including being rotatably mounted to the swing link guide 206 of pedestal 201, driving the dynamic of the rotation of swing link guide 206
Power transferring structure, wherein swing link guide 206 is set to band 207 lock-bit of lower moving guide and moves to releasing position, so that guiding
Part 207 discharges abutment sleeve 209.
Return unit 210 is equipped between guide part 207 and pedestal 201.Return unit 210 releases that guide part 207 certainly to provide
Put the elastic force that position returns to latched position, that is, in the case of fig. 7, provide thrust to the left.Guide part 207 is from release position
206 return of energy band action-oriented swing rod when putting back into latched position.Spring or spring washer can be used in return unit 210, such as springy
Rubber pad.It selects to consider to be equal to the depth (guide part of spacing breach 2094 in compression or elongation when return unit 210
207 move back and forth distances) when be capable of providing enough elastic force generate overcome annular portion 2093 rotate frictional force.
Power device 30 includes: the first motor 301 to drive abutment sleeve 209 to rotate, and to transmit to power
Second motor 302 of structure transmitting driving force.
After endoscope 12 is fixed to abutment sleeve 209, guide part 207 is under the action of return unit 210 by abutment sleeve 209
Locking.When needing to adjust the angle of endoscope 12, the work of the second motor 302 swings swing link guide 206, swing link guide 206
Band lower moving guide 207 moves right when swing, discharges abutment sleeve 209.Then first motor 301 works, and drives abutment sleeve
209 rotate and endoscope 12 are driven to rotate.After 12 angle of endoscope is adjusted in place, first motor 301 and the second motor 302 are lost
Electricity, the return to the left under the action of return unit 210 of guide part 207, again locks abutment sleeve 209.Thus endoscope is completed
12 angle adjustment.During above-mentioned adjustment, first motor 301 can realize the fine angle adjustment of endoscope and fix, convenient
Medical staff adjusts most suitable endoscope angle, and keeps the position of endoscope manually without medical staff, easy to operate
It is laborsaving.
In one embodiment, the guide part 207 is driven to move along a straight line when swing link guide 206 rotates.
Further, the pilot unit that guidance guide part 207 moves along a straight line is equipped between pedestal 201 and guide part 207.
Under the guidance of pilot unit, guide part 207 can only be separate along straight path or close to abutment sleeve 209.
Further, the pilot unit includes the guiding in one of them being arranged in pedestal 201 and guide part 207
The guiding groove on another is arranged in pin shaft.Pass through the rail of guide pin and the fiting constraint guide part 207 of guiding groove
Mark.
Fig. 7 illustrates a kind of specific set-up mode of pilot unit.It wherein is further fixed on guide holder 205 on pedestal 201,
Middle guide holder 205 is equipped with accommodating groove 2051.Guide part 207, which is located to control in accommodating groove 2051, to be moved freely.Guide part
207 left part (close to the part of abutment sleeve 209) is equipped with guiding groove 2071.At least two are provided in accommodating groove 2051
A guide pin 2052 for protruding into guiding groove 2071.On the one hand guide pin 2052 constrains the direction of motion of guide part 207, separately
On the one hand it can also play the role of the displacement of restricted guidance part 207.Guide part 207 is placed in the accommodating groove 2051 of guide holder 205
In, reduce the size in regulating device short transverse.
When accommodating groove 2051 is arranged in guide holder 205, return unit 210 can be placed in accommodating groove 2051.For example, resetting
Part 210 is spring, and end wall of the both ends of spring respectively with guide part 207 and accommodating groove 2051 is fixed.In addition, return unit 210 can
Being merely positioned in accommodating groove 2051, for example, positioning column is opened up on the end wall of accommodating groove 2051, by spring pocket in positioning column
Above and with guide part 207 abut against.
Guide holder 205 is added on pedestal 201 to constrain guide part 207, simplify the structure of pedestal 201, so that pedestal
201 shape and structure need be not excessively complexity.But guide holder 205 and pedestal 201 still can be integral type element, be equivalent at this time straight
It connects and is equipped with accommodating groove 2051 and guide pin 2052 on pedestal 201.
In a kind of specific structure of guide part 207 as shown in Figure 6 to 8, the substantially strip of guide part 207 is corresponding
Accommodating groove 2051 is set as strip.
Pilot unit is also not necessarily limited to set-up mode shown in Fig. 7.It is slided for example, guiding can be arranged directly on pedestal 201
Slot, guide part 207 bear against pedestal 201 and are provided with the sliding block being slidably matched with guide chute.Pass through matching for sliding block and sliding slot
The direction of motion of contract beam guide part 207.
In one embodiment, swing link guide 206 or 207 alternative one of guide part are equipped with guide channel, another is equipped with and protrudes into
The tangent connecting pin of inner wall in guide channel and with guide channel, when swing link guide 206 rotates, inner wall phase of the connecting pin along guide channel
It is moved to sliding and with lower moving guide 207.
As shown in fig. 7, swing link guide 206 has certain length, one end and pedestal 201 in a specific structure
It is rotatablely connected by pivot 2011.Swing link guide 206 is rotated around its pivot 2011.The middle part of swing link guide 206 offers guiding
Slot 2061.The right end of guide part 207 is equipped with connecting pin 2072.Connecting pin 2072 extend into the guide channel 2061 of swing link guide 206
It is interior.After connecting pin 2072 extend into guide channel 2061 of swing link guide 206, the inner wall phase of connecting pin 2072 and guide channel 2061
It cuts.When guide part 207 is moved along a straight line (as in horizontal linear direction), connecting pin 2072 is able to drive the rotation of swing link guide 206.
Swing link guide 206 generates displacement component in the vertical direction when rotating, the length of guide channel 2061 needs to be greater than swing link guide 206
Rotary motion makes connecting pin 2072 have enough activities empty in guide channel 2061 in the displacement component length of vertical direction
Between.In one embodiment, the shape of guide channel 2061 is the rectangle that both ends are circular arc, with the corresponding center of circle of the circular arc at both ends it
Between distance indicate guide channel 2061 length when, preferably 1.8-2.5mm.
Further, the motion principle of swing link guide 206 is as shown in Figure 9.Spacing breach 2094 in one embodiment
Depth dimensions are 2.4mm, therefore shift length has to be larger than equal to 2.4mm guide part 207 in the horizontal direction, and it is fixed just to may be implemented
The release and insertion of position sleeve 209 are fixed.Swing link guide 206 the center that rotates around it i.e. pivot 2011 rotate when by with connection
The tangent drive connecting pin 2072 of pin 2072 moves in guide channel 2061, and it is one that motion profile, which is embodied on swing link guide 206,
Section circular arc.With reference to Fig. 9, in one embodiment, swing link guide 206 is axis with pivot 2011, deviates its center of rotation i.e. pivot
When the angle of the axis L of 2011 and 204 center of rotation a of driving wheel composition is 30 °, the displacement of connecting pin 2072 is in the horizontal direction
Component X be 2.4mm, component Y in vertical direction is 1.722mm.It should be noted that the numerical value in Fig. 9 is a reality
The data in example are applied, are only used as example, are not provided constraints to the scope of the present invention.
In general, the displacement component Y in the vertical direction is smaller, opposite between swing link guide 206 and connecting pin 2072
Sliding distance is preferred so as to reduce friction and wear between the two with regard to smaller.Displacement component in vertical direction
Y is related with the radius of gyration of connecting pin 2072, which refers to the distance between connecting pin 2072 and pivot 2011.It should be away from
From bigger, then the vertical displacement components Y in the motion profile of connecting pin 2072 is smaller.In view of factors above and driving wheel
204 size, the distance between connecting pin 2072 and pivot 2011 are preferably 16-24mm, and correspondingly, swing link guide 206 is with pivot
Axis 2011 is axis, and the angle for the axis L that pivot axis 2011 and 204 center of rotation a of driving wheel are formed is preferably 25-40 °.
Further, with reference to Fig. 4 and Fig. 7, when the right end of guide part 207 is equipped with connecting pin 2072, on swing link guide 206
Side is additionally provided with the pressing plate 208 being fixed on pedestal 201.Guide groove 2081 is offered on pressing plate 208.Connecting pin 2072 passes through guiding
Slot 2061 simultaneously protrudes into guide groove 2081.Pressing plate 208 constrains guide part 207 above swing link guide 206, improves guiding
Part 207 move stability with can high property.
In one embodiment, with reference to Fig. 8 and Fig. 9, power transfer mechanism includes being rotatablely installed in the driving wheel of pedestal 201
204.It is connected between driving wheel 204 and swing link guide 206 by the flexible member 211 that can be wound, driving wheel 204 is by the second electricity
The driving rotation of machine 302.204 wound upon rotation flexible member 211 of driving wheel, to drive swing link guide 206 around its pivot 2011
It rotates and guide part 207 is driven to move to releasing position by latched position.
Flexible member 211 can be using steel wire etc. convenient for the element of winding.When second motor 302 works, flexible member 211
It is constantly wrapped on driving wheel 204, length of the flexible member 211 between driving wheel 204 and swing link guide 206 will constantly subtract
It is small, so that swing link guide 206 be affected to rotate.When the second motor 302 stops working, elastic force of the guide part 207 in return unit 210
Drive lower return, the backswing therewith of swing link guide 206, length of the flexible member 211 between driving wheel 204 and swing link guide 206
Again increase.
It can also be other power transfer modes between driving wheel 204 and swing link guide 206.For example, driving wheel 204 has
Toothing simultaneously drives a pinion rotation, and pinion gear is then fixedly connected with swing link guide 206, and band action-oriented is put when pinion rotation
Bar 206 rotates.
When power transfer mechanism includes the driving wheel 204 being rotatablely installed in pedestal 201, and 206 top of swing link guide is also set
When having the pressing plate 208 being fixed on pedestal 201, pressing plate 208 and pedestal 201 are provided commonly for support driving wheel 204, improve driving wheel
204 stability.Specifically, the support shaft of driving wheel 204 passes through bearing support in pedestal 201, and by bearing support in pressure
Plate 208.
In one embodiment, driving gear 202 is rotatably connected to reference to Fig. 6-8, on pedestal 201 and by driving gear 202
Drive the adjustment gear 203 of rotation.Abutment sleeve 209 is fixedly and coaxially connected with adjustment gear 203, and can be synchronous around common axis line
Rotation.First motor 301 is to drive driving gear 202 to rotate.This embodiment can include driving wheel with power transfer mechanism
204 and the embodiment of flexible member 211 be applied in combination, can also respectively be used alone.
Further, with reference to Figure 10, when power device 30 is connect with regulating device 20, the drive shaft of first motor 301 with
Driving gear 202 is fixedly connected, and the drive shaft of the second motor 302 is then fixed with driving wheel 204 directly or through shaft coupling
Connection.In this way, power device 30 is integral with regulating device 20.
In another embodiment, still referring to FIG. 10, power device 30 and regulating device 20 be it is split type, between the two
Connection type be detachable connection method.Wherein, power device further includes motor mount 303, first motor 301 and second
Motor 302 is installed in one independent element of composition in motor mount 303.At this point, regulating device 20 and power device 30
Modularization, when use, only need to be performed assembling, improve packaging efficiency.
For example, first motor 301 and driving gear 202 are clamped after power device 30 is connect with the regulating device 20
Connection；Second motor 302 is connected with the clamping of driving wheel 204.After power device 30 and regulating device 20 disconnect, power dress
It is the component unit to work independently that 30, which are set, with regulating device 20.
Clamping can be annular clamping, such as the mode between the penholder and pen cap of certain form of pen.It can also be it
The clamping of his type is used and is snapped connection with the realization of elastically-deformable cantilever if cantilever is clamped.Such as battery cover and battery case
Between fit system.
In one embodiment, as shown in fig. 7, being convexly equipped with annular portion 2093 on the outer wall of abutment sleeve 209.Annular portion 2093
It is equipped with the spacing breach 2094 to match with 207 end of guide part.Guide part when guide part 207 and spacing breach 2094 cooperate
207 limitation abutment sleeves 209 rotate.In addition, the end abutment of guide part 207 is when in the annular portion 2093, guide part 207
Abutment sleeve 209 can also be limited by frictional force to rotate.In the present embodiment, both the above locking mode different opportunitys by with
It arrives.
Spacing breach 2094 is also to the mark as endoscope initial position.When spacing breach 2094 accommodates guide part
When 207 left end, the position where endoscope 12 is set as the initial position of endoscope, is set as the image of endoscope 12 into level
State.It sets are as follows: 207 left end of guide part protrudes into spacing breach 2094 and do not drive the locking of abutment sleeve 209, first motor 301
When dynamic abutment sleeve 209 rotates, the image of endoscope 12 is horizontal image.Guide part 207 is located at 12 two mirrors of endoscope at this time
On the perpendicular bisector of first 122 (in conjunction with Fig. 3) circle center line connecting.
Further, the structure setting of abutment sleeve 209 is that can cooperate with the endoscope interface 11 in previous embodiment,
To which endoscope 12 is fixed.Specifically, with reference to Fig. 6, the first limiting section 2091 and are additionally provided on the outer wall of abutment sleeve 209
Two limiting sections 2092, wherein the first limiting section 2091 has the obstruction part that can limit cooperation object moment, the second limiting section
2092 have and can limit the obstruction part moved in the axial direction of cooperation object.
One optional set-up mode are as follows: the first limiting section 2091 is the notch on the barrel of abutment sleeve 209 (with reference to figure
6), to cooperate with the positioning region 113 of endoscope interface 11.The inner wall of notch constitutes the obstruction part for hindering positioning region 113 to rotate.
Second limiting section 2092 is recess, the circular hole in particular Fig. 6, to cooperate with locking member 114.The inner wall of circular hole is construed as limiting
The obstruction part that locking member 114 moves axially.At this point, the positioning region 113 of endoscope interface 11 is positioning convex platform, and locking member
114 can be sphere.
Fig. 5 and Fig. 6 illustrate abutment sleeve 209 in a specific structure, on abutment sleeve 209 tool there are three
The circular hole of circumference array is determined on locking member 114 and a receiving endoscope interface 11 on endoscope interface 11 with accommodating
The notch (i.e. the first limiting section 2091) in position portion 113.209 lower part of abutment sleeve is equipped with an annular portion 2093.Annular portion 2093 with
Abutment sleeve 209 is fixedly and coaxially connected, and annular portion 2093 is equipped with spacing breach 2094, in order to match with guide part 207
Close with stationary positioned sleeve 209 and can be used to the position of the first limiting section of label 2091.The shape of annulus spacing breach 2094 with
The left end of guide part 207 matches.
Preferably, the spacing breach 2094 in annular portion 2093 and the first limiting section 2091 are located at certain of abutment sleeve 209
The two sides in the center of circle of cross section.It is highly preferred that in a straight line with the center of circle of abutment sleeve 209.
It is below that can match to be combined into the endoscope interface 11 in previous embodiment with the structure setting of abutment sleeve 209
Example illustrates the usage mode of endoscope the power locking and regulating mechanism of above-described embodiment.
Referring to FIG. 5, its endoscope 12 and 20 scheme of installation of regulating device for one embodiment.As medical care people
When member is needed using endoscope 12, endoscope 12 is inserted into the abutment sleeve 209 of regulating device 20, and make 12 interface of endoscope
On positioning convex platform 113 be aligned with the notch (the first limiting section 2091) on abutment sleeve 209, with limit endoscope 12 occur phase
To rotation；After endoscope 12 is inserted into abutment sleeve 209, three locking members 114 on 12 mounting surface of endoscope will squeeze into positioning
In three circular holes (the second limiting section 2092) on sleeve 209, moved axially with limiting endoscope 12.Endoscope as a result,
12 are detachably connected with the realization of abutment sleeve 209.
Referring to FIG. 6, regulating device 20 is in the signal of initial position after it connect for endoscope 12 with regulating device 20
Figure.After endoscope 12 is inserted into abutment sleeve 209, three locking members 114 on 12 mounting surface of endoscope will squeeze into positioning sleeve
In three circular holes on cylinder 209, the left end of guide part 207 is contained in the spacing breach 2094 on abutment sleeve 209, endoscope
12 will be fixed on initial position.
Referring to FIG. 7, it is 20 Principles of Regulation schematic diagram of regulating device of the present invention.If desired the rotation of endoscope 12 is adjusted
Angle first rotates the second motor 302, drives swing link guide 206 around its axis side-sway to the right by the rotation of driving wheel 204
It is dynamic, so that the elastic force for making guide part 207 overcome return unit 210 moves to the right, make left end and the abutment sleeve of guide part 207
209 spacing breach 2094 is detached from, and the rotation condition of abutment sleeve 209 is released from.Then first motor 301 acts, the first electricity
The rotation of machine 301 will drive driving gear 202 to rotate with adjustment gear 203, and drive abutment sleeve 209 and endoscope 12 common
Rotation.
Referring to FIG. 8, after it is 12 angular adjustment of endoscope in endoscope power of the present invention locking and regulating mechanism,
The status diagram of regulating device 20.When endoscope 12 rotates to specified angle, while making first motor 301 and the second motor
302 power loss, guide part 207 is under the elastic force effect of return unit 210, and side direction moves to the left, until the left end end of guide part 207
Portion is contacted with abutment sleeve 209.Pass through the anti-drive of frictional force and first motor 301 between guide part 207 and abutment sleeve 209
The collective effect of resistance can make the endoscope 12 be fixed on designated position.
When needing again to adjust endoscope 12 to initial position, first motor 301 can only be made to drive abutment sleeve
209 rotations, abutment sleeve 209 will overcome its frictional force between guide part 207 and then rotate, when rotating to initial position
When, under the action of return unit 210 of 207 right end of guide part, the left side of guide part 207 will reenter abutment sleeve 209
In spacing breach 2094, so that endoscope 12 is fixed on initial position again.It is of course also possible to first drive the second motor
302, which make guide part 207 move right, discharges abutment sleeve 209, then makes first motor 301 that abutment sleeve 209 be driven to rotate again
Endoscope 12 is set to return to initial position, it is then using guide part 207 that endoscope 12 is fixed.
One embodiment of the present of invention additionally provides a kind of endoscope and holds mirror system, the power locking including previous embodiment
With regulating mechanism and endoscope 12, wherein endoscope 12 is driven by abutment sleeve 209 and is rotated.
The structure of abutment sleeve 209 may be configured as to connect the endoscope interface 11 of previous embodiment, pass through endoscope
11 fixed endoscope of interface.However, the structure of abutment sleeve 209 is not limited to that above-mentioned endoscope interface 11 can be connected.For example,
Abutment sleeve 209 can also be used for the fixation and adjusting with the Interference fit of other structures for other instruments.In addition, positioning
Sleeve 209 can also unremovably be connect with endoscope 209, i.e., directly integrated with endoscope 12.In these cases, lead to
Cross make guide part 207 move back and forth, can locking positioning sleeve 209, or release abutment sleeve 209 so as to adjust endoscope
12 or other instruments angle.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (13)
1. a kind of endoscope power locking and regulating mechanism, which is characterized in that including regulating device and power device, the adjusting
Device includes:
Pedestal；
Abutment sleeve is installed in rotation on the pedestal；
Guide part is movably disposed on the pedestal, can be in the latched position and release institute for locking the abutment sleeve
It states and is moved between the releasing position of abutment sleeve；
Transmission mechanism, including being rotatably mounted to the swing link guide of the pedestal, the power biography of the driving swing link guide rotation
Structure is passed, the swing link guide is to drive the guide part to move to releasing position from the latched position；
Return unit is arranged between the guide part and pedestal, so that the guide part is returned to locking from releasing position to provide
The elastic force of position, the guide part can drive the swing link guide return when returning to latched position from releasing position；
The power device includes: the first motor to drive the abutment sleeve rotation, and to transmit to the power
Second motor of structure transmitting driving force.
2. endoscope power locking according to claim 1 and regulating mechanism, which is characterized in that the pedestal and guide part
Between be equipped with the pilot unit for guiding the guide part to move along a straight line.
3. endoscope power according to claim 2 locking and regulating mechanism, which is characterized in that the pilot unit includes
Guide pin in one of them in pedestal and guide part is set, the guiding groove on another is set.
4. endoscope power locking according to claim 1 and regulating mechanism, which is characterized in that the swing link guide is led
It is equipped with guide channel to part alternative one, another, which is equipped with, protrudes into the tangent connection of the inner wall in the guide channel and with guide channel
Pin, when the swing link guide rotates, the connecting pin slides relatively along the inner wall of the guide channel and the guide part is driven to transport
It is dynamic.
5. endoscope power according to claim 4 locking and regulating mechanism, which is characterized in that further include be fixed on it is described
The pressing plate of pedestal, the pressing plate offer guide groove, and the swing link guide is between the pressing plate and guide part, the guiding
Swing rod is equipped with the guide channel, and the guide part is equipped with the connecting pin, and the connecting pin passes through the guide channel and stretches
Enter in the guide groove.
6. endoscope power locking according to claim 5 and regulating mechanism, which is characterized in that the power transmission structure
Including being rotatablely installed in the driving wheel of the pedestal, the driving wheel is rotated by second motor driven, the driving wheel band
The rotation of action-oriented swing rod, the pedestal and pressing plate support the driving wheel jointly.
7. endoscope power locking according to claim 1 and regulating mechanism, which is characterized in that the power transmission structure
It is connected between the driving wheel of the pedestal, the driving wheel and swing link guide by flexible member including being rotatablely installed, it is described
Driving wheel is rotated by second motor driven, flexible member described in the driving wheel wound upon rotation, to lead described in driving
It is rotated to swing rod and the guide part is driven to move to releasing position by the latched position.
8. endoscope power locking according to claim 7 and regulating mechanism, which is characterized in that the company of rotation on the pedestal
It is connected to driving gear and the adjustment gear by driving gear driving rotation, the abutment sleeve is fixed on the adjusting tooth
Wheel.
9. endoscope power locking according to claim 8 and regulating mechanism, which is characterized in that the drive of the first motor
Moving axis is fixedly connected with the driving gear, and the drive shaft of second motor is fixedly connected with the driving wheel；Or it is described
Power device further includes motor mount, and the first motor and the second motor are installed in the motor mount, and described
One motor and driving gear clamping connect, and second motor and driving wheel clamping connect.
10. endoscope power locking according to claim 1 and regulating mechanism, which is characterized in that the abutment sleeve
Be convexly equipped with annular portion on outer wall, the annular portion is equipped with the spacing breach for accommodating the end of the guide part, the guide part with
When spacing breach cooperates, the guide part limits the abutment sleeve rotation；The end abutment of the guide part is in the annulus
When in portion, the guide part passes through abutment sleeve rotation described in friction power limit.
11. endoscope power locking according to claim 1 and regulating mechanism, which is characterized in that the abutment sleeve
The first limiting section and the second limiting section are additionally provided on outer wall, wherein first limiting section, which has, can limit cooperation object moment
Hinder part, second limiting section has and can limit the obstruction part moved in the axial direction of cooperation object.
12. endoscope power locking according to claim 11 and regulating mechanism, which is characterized in that first limiting section
For the notch on the barrel of the abutment sleeve, second limiting section is recess or hole.
13. a kind of endoscope holds mirror system, which is characterized in that including endoscope and as claim 1-12 is described in any item dynamic
Power locking and regulating mechanism, rotate wherein the endoscope is driven by the abutment sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451091.0A CN109965827B (en) | 2017-12-27 | 2017-12-27 | Endoscope power locking and adjusting mechanism and endoscope holding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451091.0A CN109965827B (en) | 2017-12-27 | 2017-12-27 | Endoscope power locking and adjusting mechanism and endoscope holding system |
Publications (2)
| Publication Number | Publication Date |
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| CN109965827A true CN109965827A (en) | 2019-07-05 |
| CN109965827B CN109965827B (en) | 2021-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711451091.0A Active CN109965827B (en) | 2017-12-27 | 2017-12-27 | Endoscope power locking and adjusting mechanism and endoscope holding system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112617729A (en) * | 2020-12-07 | 2021-04-09 | 苏州法兰克曼医疗器械有限公司 | Digestive endoscope conveying mechanism |
| CN114305693A (en) * | 2021-11-12 | 2022-04-12 | 上海微创医疗机器人（集团）股份有限公司 | Endoscope locking device, endoscope switching device, and endoscope holding system |
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| US20100076266A1 (en) * | 2003-04-01 | 2010-03-25 | Boston Scientific Scimed, Inc | Articulation joint for video endoscope |
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| CN104936500A (en) * | 2013-01-11 | 2015-09-23 | 奥林巴斯株式会社 | Bending angle adjustment mechanism of endoscope |
| CN206120287U (en) * | 2016-02-18 | 2017-04-26 | 深圳市先赞科技有限公司 | Disposable medical endoscope |
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| US20100076266A1 (en) * | 2003-04-01 | 2010-03-25 | Boston Scientific Scimed, Inc | Articulation joint for video endoscope |
| JP2009273879A (en) * | 2008-05-13 | 2009-11-26 | Olympus Medical Systems Corp | Medical operation device |
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| CN112617729A (en) * | 2020-12-07 | 2021-04-09 | 苏州法兰克曼医疗器械有限公司 | Digestive endoscope conveying mechanism |
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| CN114305693A (en) * | 2021-11-12 | 2022-04-12 | 上海微创医疗机器人（集团）股份有限公司 | Endoscope locking device, endoscope switching device, and endoscope holding system |
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|---|---|
| CN109965827B (en) | 2021-06-08 |
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Address after: Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area pilot Free Trade Zone, Shanghai 200135 Applicant after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area pilot Free Trade Zone, Shanghai 200135 Applicant before: Microport (Shanghai) Medbot Co.,Ltd. |
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