CN110507427A - One kind is snakelike to be mechanically fixed arm - Google Patents
One kind is snakelike to be mechanically fixed arm Download PDFInfo
- Publication number
- CN110507427A CN110507427A CN201910845594.9A CN201910845594A CN110507427A CN 110507427 A CN110507427 A CN 110507427A CN 201910845594 A CN201910845594 A CN 201910845594A CN 110507427 A CN110507427 A CN 110507427A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- ball
- snakelike
- shell
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
-
- 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
Abstract
The present invention relates to the field of medical instrument technology, it is suitable for operation endoscope fixed arm, more particularly to a kind of snakelike is mechanically fixed arm.The snakelike arm that is mechanically fixed of one kind includes: snakelike arm, driving device, air valve, shell, clamping manipulator, and the snakelike arm tail portion connects driving device by shell, and the snakelike arm end is equipped with air valve and clamping manipulator.One kind provided by the invention is snakelike to be mechanically fixed arm, and any angle directly reaches designated position, while easy to adjust, can not interfered by any external world, complete substitution manually support in comprehensive freedom degree, bent position arrival indication operating point arbitrarily；Solve the problems, such as that existing curved boom structure adjustable range is restricted, while effectively to save space resources in natively very nervous operating room.
Description
Technical field
The present invention relates to the field of medical instrument technology, it is suitable for operation endoscope fixed arm, more particularly to a kind of snakelike
It is mechanically fixed arm.
Background technique
In current surgical procedure, endoscope is usually to help by a special assistant or with curved boom.Manually hold mirror
It will increase the indoor number of operation, so that original space is with regard to more crowded inside limited operating room；In addition, human hand held mirror is difficult
The longer major surgery of adaptation time, because muscular fatigue, the hand for holding mirror can shake, and patient is difficult to see if the time is slightly grown
To steady and audible image.Furthermore it is exactly the curved boom structure of present most of operating room, adjustable range is restricted, or
It adjusts step by step, clinical application requirement is extremely difficult in terms of fine tuning.
Summary of the invention
In view of the above drawbacks of the prior art, one kind provided by the invention is snakelike is mechanically fixed arm, and any angle directly arrives
Up to designated position, can any comprehensive freedom degree, bent position, which reaches, gives directions operating point, while easy to adjust, not by any external world
Interference replaces artificial help completely.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of snakelike arm that is mechanically fixed includes: snakelike arm, driving device, air valve, shell, clamping manipulator, described snakelike
Arm tail portion connects driving device by shell, and the snakelike arm end is equipped with air valve and clamping manipulator；
The snakelike arm includes: steel wire, bar tail, multiple is sequentially connected end to end the hollow support section being connected on steel wire；Often
A support section includes: the ball head connecting rod I and ball-and-socket connecting rod of head and the tail connection, and the bar tail includes: ball head connecting rod II and connection
Seat；
Ball head connecting rod I and ball-and-socket connecting rod between each support section are connected with each other, the bar tail bulb connecting rod II connection ball-and-socket
Connecting rod, attachment base are fixedly connected with the casing, and described steel wire one end connects clamping manipulator and through support section and foot piece, another
End is connect in the inside of shell with the driving device of scalable movement.
Wherein, the diameter of bore of the support section and bar tail is 4.5-5.5mm, steel wire diameter 4-5mm.
Wherein, the bar tail attachment base outer diameter is 36mm, and the ball head connecting rod I outer diameter of the support section successively becomes smaller.
Wherein, the driving device is cylinder driving or hydraulic-driven.
Wherein, the clamping manipulator includes clamping device for clamping operation tool and solid for auxiliary holding device
Determine the bolt fixing end of operation tool, the clamping device is two pieces of relatively parallel fixed blocks, and two pieces of fixed blocks are by perforative
Telescopic rod is connected, wherein a fixed block is fixed in bolt fixing end, another fixed block follows telescopic rod mobile.
Wherein, the ball head connecting rod I and ball-and-socket connecting rod are an integral structure, ball head connecting rod I and ball-and-socket connecting rod connecting place four
Week concaves, and interior recess has certain radian, and the ball head connecting rod I is that elliptical internal is equipped with the inner hole walked for steel wire,
The ball-and-socket connecting rod is ball-and-socket shape, and the through-hole I being equipped at the top of ball-and-socket connecting rod is identical as ball head connecting rod I diameter of bore and phase
Logical, the tail portion surrounding outer wall of the ball-and-socket connecting rod is vertical with the bottom of ball-and-socket connecting rod.
Wherein, the attachment base bottom is equipped with for bar tail to be fixed on the inner groovy on shell, above the groove
Connection seating portion extends outward to form a taper, is circle outside the ball head connecting rod II, the diameter of ball head connecting rod II is smaller
In the diameter of ball-and-socket in ball-and-socket connecting rod, the through-hole II of ball head connecting rod II top end surface and the through-hole I diameter of ball-and-socket connecting rod are identical, ball
Through-hole II inside head connecting rod II is the through-hole of variable diameter, and the ball head connecting rod II is an integral structure with attachment base, and internal is logical
Hole II diameter is greater than the diameter of through-hole I.
Wherein, the surface of shell of the attachment base connection is that a plane is bonded with attachment base, the opposite another side of shell
Protrusion, the interior channel being equipped with for steel wire walking of hollow shell.
Wherein, the shell is open at one end, and a part of driving device is goed deep into shell, the other end closing of shell.
The beneficial effects of the present invention are: one kind provided by the invention is snakelike to be mechanically fixed arm, any angle, which directly reaches, to be referred to
Positioning is set, and while easy to adjust, can not interfered by any external world in comprehensive freedom degree, bent position arrival indication operating point arbitrarily,
Replace artificial help completely；It effectively solves the problems, such as that existing curved boom structure adjustable range is restricted, while being natively very nervous
Operating room in save space resources.
For further understanding of the features and technical contents of the present invention, it please refers to below in connection with of the invention detailed
Illustrate and attached drawing, however, the drawings only provide reference and explanation, is not intended to limit the present invention.
Detailed description of the invention
With reference to the accompanying drawing, by the way that detailed description of specific embodiments of the present invention, technical solution of the present invention will be made
And other beneficial effects are apparent.
Fig. 1 is a kind of snakelike structural schematic diagram for being mechanically fixed arm of the invention；
Fig. 2 is a kind of snakelike support section structure schematic diagram for being mechanically fixed arm of the invention；
Fig. 3 is a kind of snakelike bar stern construction schematic diagram for being mechanically fixed arm of the invention.
Specific embodiment
Further to illustrate technological means and its effect adopted by the present invention, below in conjunction with preferred implementation of the invention
Example and its attached drawing are described in detail.
In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " front end ", " rear end ",
The orientation or positional relationship of the instructions such as " both ends ", " one end ", " other end " is to be based on the orientation or positional relationship shown in the drawings, only
It is that for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specifically
Orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Be equipped with ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Referring to Fig. 1, a kind of snakelike arm that is mechanically fixed includes: snakelike arm, driving device 2, air valve 3, shell 1, clamping machine
Tool hand 4, the snakelike arm tail portion connect driving device 2 by shell 1, and the snakelike arm end is equipped with air valve 3 and clamping machine
Hand 4, the snakelike arm include: steel wire (being not marked in figure), bar tail 5, it is multiple be sequentially connected end to end be connected on it is hollow on steel wire
Support section；Each support section includes: the ball head connecting rod I10 and ball-and-socket connecting rod 9 of head and the tail connection, and the bar tail 5 includes: bulb
Connecting rod II13 and attachment base 15,
Ball head connecting rod 10 and ball-and-socket connecting rod 9 between each support section are connected with each other, 13 connected ball of bar tail bulb connecting rod
Nest connecting rod 9, attachment base 14 are fixedly connected with shell 1, and described steel wire one end connects clamping manipulator 4 and through support section and tail
Bar 5, the other end are connect in the inside of shell 1 with the driving device 2 of scalable movement.
Specifically, the diameter of bore of support section and bar tail 5 is 4.5-5.5mm, steel wire diameter 4-5mm.
Specifically, 14 outer diameter of bar tail attachment base is 36mm, the ball head connecting rod I10 outer diameter of section is supported successively to become smaller, the branch
The ball head connecting rod I outer diameter of support section I6 is 25.5mm in support section, and the ball head connecting rod I outer diameter of support section II7 is 24mm, support section
The ball head connecting rod I outer diameter of III8 is 22mm.
Specifically, driving device 2 is cylinder driving or hydraulic-driven.
Specifically, clamping manipulator 4 includes clamping device for clamping operation tool and solid for auxiliary holding device
Determine the bolt fixing end of operation tool.
Clamping device is two pieces of parallel fixed blocks, and two pieces of relatively fixed blocks are connected by perforative telescopic rod, one of them
Fixed block is fixed in bolt fixing end；Another fixed block follows telescopic rod mobile.The mobile fixed block of telescopic rod is removable
Unload fixed block.The fixation convenient for clamping medical appliance or medical equipment is equipped on two parallel fixed blocks on clamping device
Slot, the fixing groove are equipped with non-slip mat.
Referring to Fig. 2, specifically, ball head connecting rod I10 and ball-and-socket connecting rod 9 are an integral structure, ball head connecting rod I10 and ball-and-socket
9 connecting place surrounding of connecting rod concaves 12, has certain radian at indent 12, and ball head connecting rod I10 is that elliptical internal is equipped with and is used for
The inner hole 11 of steel wire walking, ball-and-socket connecting rod 9 are ball-and-socket shape, the through-hole I and ball head connecting rod I inner hole being equipped at the top of ball-and-socket connecting rod 9
11 diameters are identical and communicate, and the tail portion surrounding outer wall of ball-and-socket connecting rod is vertical with the bottom of ball-and-socket connecting rod.
The shape of the tail portion surrounding outer wall of ball-and-socket connecting rod is convenient for connected two supports section connection and swings.
Referring to Fig. 3, specifically, 14 bottom of attachment base is equipped with inner groovy 15 for being fixed on bar tail on shell, it is recessed
The connection seating portion of 15 top of slot extends outward to form a taper, is circle, ball head connecting rod II13 outside ball head connecting rod II13
Diameter be slightly less than the diameter of ball-and-socket in ball-and-socket connecting rod 9, the through-hole II16 of ball head connecting rod II13 top end surface and ball-and-socket connecting rod
Through-hole I11 diameter is identical, and the through-hole II16 inside ball head connecting rod II13 is the through-hole of variable diameter, ball head connecting rod II13 and attachment base 14
It is an integral structure, internal through-hole II16 diameter is greater than the diameter of through-hole I17.
Specifically, the surface of shell of attachment base connection is that a plane is bonded with attachment base, the opposite another side of shell is convex
It rises, the channel for steel wire walking is equipped in hollow shell.
Specifically, shell is open at one end, a part of driving device is goed deep into shell, the other end closing of shell.
Working principle:
In the actual use process, doctor will need the medical equipment, such as endoscope etc. that clamp to be placed on folder with hand
Hold on device, snakelike arm put into suitable position, start driving device locking steel wire, support section is saved with support, support section with
The fixed snakelike arm of frictional force between bar tail, doctor, which can use, at this time snakelike is mechanically fixed medical equipment that arm is fixed to trouble
Person treats.Assembling between snakelike arm, air valve and shell:
Snakelike arm is connect with air valve by ball head connecting rod I, it is multiple support section in one support section ball head connecting rod I with it is another
The ball-and-socket connecting rod 9 of a support section connects, and multiple support sections are so connected with each other, the ball-and-socket connecting rod 9 of snakelike arm bottommost support section
It is connected with the ball head connecting rod II12 on bar tail 5, the inner groovy on attachment base 11 is caught on the mounting hole reserved on shell, due to even
It is taper above the inner groovy of joint chair 11, increases the stability of attachment base, the through-hole II diameter in attachment base 11 is greater than through-hole I
Diameter certain frame amount is provided for the steel wire at attachment base so that steel wire is hardly damaged.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. one kind is snakelike to be mechanically fixed arm characterized by comprising snakelike arm, driving device, air valve, shell, clamping machine
Hand, the snakelike arm tail portion connect driving device by shell, and the snakelike arm end is equipped with air valve and clamping manipulator；
The snakelike arm includes: steel wire, bar tail, multiple is sequentially connected end to end the hollow support section being connected on steel wire；Each institute
The ball head connecting rod I and ball-and-socket connecting rod that support section includes: head and the tail connection are stated, the bar tail includes: ball head connecting rod II and attachment base；
Ball head connecting rod I and ball-and-socket connecting rod between each support section are connected with each other, the bar tail bulb connecting rod II connection ball-and-socket connecting rod,
Attachment base is fixedly connected with the casing, and described steel wire one end connects clamping manipulator and exists through support section and foot piece, the other end
The inside of shell is connect with the driving device of scalable movement.
2. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the inner hole of the support section and bar tail
Diameter is 4.5-5.5mm, steel wire diameter 4-5mm.
3. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the bar tail attachment base outer diameter is
The ball head connecting rod I outer diameter of 36mm, the support section successively become smaller.
4. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the driving device is cylinder driving
Or hydraulic-driven.
5. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the clamping manipulator includes being used for
Clamp the clamping device of operation tool and the bolt fixing end for the fixed operation tool of auxiliary holding device, the clamping device
For two pieces of relatively parallel fixed blocks, two pieces of fixed blocks are connected by perforative telescopic rod, and one of fixed block is fixed on bolt
In fixing end, another fixed block follows telescopic rod mobile.
6. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the ball head connecting rod I and ball-and-socket connect
Bar is an integral structure, and ball head connecting rod I and ball-and-socket connecting rod connecting place surrounding concave, and interior recess has certain radian, the ball
Head connecting rod I is equipped with the inner hole for steel wire walking for elliptical internal, and the ball-and-socket connecting rod is ball-and-socket shape, ball-and-socket connecting rod top
The through-hole I being equipped with is identical as ball head connecting rod I diameter of bore and communicates, and the tail portion surrounding outer wall and ball-and-socket of the ball-and-socket connecting rod connect
The bottom of bar is vertical.
7. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the attachment base bottom is equipped with and is used for
Bar tail is fixed on the inner groovy on shell, the connection seating portion above the groove extends outward to form a taper, described
It is circle outside ball head connecting rod II, the diameter of ball head connecting rod II is slightly less than the diameter of ball-and-socket in ball-and-socket connecting rod, the top ball head connecting rod II
The through-hole II of end surface and the through-hole I diameter of ball-and-socket connecting rod are identical, and the through-hole II inside ball head connecting rod II is the through-hole of variable diameter, institute
It states ball head connecting rod II to be an integral structure with attachment base, internal through-hole II diameter is greater than the diameter of through-hole I.
8. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the shell table of the attachment base connection
Face is that a plane is bonded with attachment base, the opposite another side protrusion of shell, is equipped in hollow shell for steel wire walking
Channel.
9. one kind according to claim 1 is snakelike to be mechanically fixed arm, which is characterized in that the shell is open at one end, driving
A part of device is goed deep into shell, the other end closing of shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910845594.9A CN110507427A (en) | 2019-09-02 | 2019-09-02 | One kind is snakelike to be mechanically fixed arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910845594.9A CN110507427A (en) | 2019-09-02 | 2019-09-02 | One kind is snakelike to be mechanically fixed arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110507427A true CN110507427A (en) | 2019-11-29 |
Family
ID=68630164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910845594.9A Pending CN110507427A (en) | 2019-09-02 | 2019-09-02 | One kind is snakelike to be mechanically fixed arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110507427A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012610A (en) * | 2019-12-29 | 2020-04-17 | 艺创医疗科技(辽宁)有限公司 | Snake-shaped surgical instrument and endoscope holder |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3858578A (en) * | 1974-01-21 | 1975-01-07 | Pravel Wilson & Matthews | Surgical retaining device |
| DE8702192U1 (en) * | 1986-11-04 | 1987-06-25 | Patentico Ltd., St. Helier, Je | |
| US5899425A (en) * | 1997-05-02 | 1999-05-04 | Medtronic, Inc. | Adjustable supporting bracket having plural ball and socket joints |
| WO2001078617A2 (en) * | 2000-04-19 | 2001-10-25 | Karl Storz Gmbh & Co. Kg | Flexible tensioning device, especially for medical purposes |
| DE20318312U1 (en) * | 2003-11-19 | 2004-02-12 | Aesculap Ag & Co. Kg | Surgical instrument holder has jointed links with grooved ball faces to increase force when tensioned using internal cord |
| FR2896402A1 (en) * | 2006-01-24 | 2007-07-27 | Mathias Lubin | Articulated arm for holding a surgical instrument has series of articulated elements that lock together when pressure is applied by central cable |
| US20100152749A1 (en) * | 2008-12-12 | 2010-06-17 | Von Pechmann Walter | Table-mounted surgical instrument stabilizers with single-handed or voice activated maneuverability |
| US20130099081A1 (en) * | 2011-10-21 | 2013-04-25 | Codman & Shurtleff, Inc. | Universal arm system |
| JP2015198933A (en) * | 2014-03-31 | 2015-11-12 | 学校法人慶應義塾 | Medical treatment instrument holding device |
| CN105578944A (en) * | 2013-12-12 | 2016-05-11 | 捷锐士阿希迈公司 | Endoscope tool position holder |
| EP3025668A1 (en) * | 2014-11-28 | 2016-06-01 | Mitaka Kohki Co., Ltd. | Tool holding articulated arm |
| CN105832423A (en) * | 2016-06-13 | 2016-08-10 | 傅强 | Endoscope fixing arm for operation |
| WO2018144820A1 (en) * | 2017-02-02 | 2018-08-09 | University Of Pittsburgh - Of The Commonwealth System Of Higher Education | Adjustable retaining arm system |
| WO2018158388A2 (en) * | 2017-03-01 | 2018-09-07 | SAMA GmbH | Device having a plurality of joint bodies which are arranged next to one another |
| CN211484983U (en) * | 2019-09-02 | 2020-09-15 | 王兴国 | Snakelike mechanical fixed arm |
-
2019
- 2019-09-02 CN CN201910845594.9A patent/CN110507427A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3858578A (en) * | 1974-01-21 | 1975-01-07 | Pravel Wilson & Matthews | Surgical retaining device |
| DE8702192U1 (en) * | 1986-11-04 | 1987-06-25 | Patentico Ltd., St. Helier, Je | |
| US5899425A (en) * | 1997-05-02 | 1999-05-04 | Medtronic, Inc. | Adjustable supporting bracket having plural ball and socket joints |
| WO2001078617A2 (en) * | 2000-04-19 | 2001-10-25 | Karl Storz Gmbh & Co. Kg | Flexible tensioning device, especially for medical purposes |
| DE20318312U1 (en) * | 2003-11-19 | 2004-02-12 | Aesculap Ag & Co. Kg | Surgical instrument holder has jointed links with grooved ball faces to increase force when tensioned using internal cord |
| FR2896402A1 (en) * | 2006-01-24 | 2007-07-27 | Mathias Lubin | Articulated arm for holding a surgical instrument has series of articulated elements that lock together when pressure is applied by central cable |
| US20100152749A1 (en) * | 2008-12-12 | 2010-06-17 | Von Pechmann Walter | Table-mounted surgical instrument stabilizers with single-handed or voice activated maneuverability |
| US20130099081A1 (en) * | 2011-10-21 | 2013-04-25 | Codman & Shurtleff, Inc. | Universal arm system |
| CN105578944A (en) * | 2013-12-12 | 2016-05-11 | 捷锐士阿希迈公司 | Endoscope tool position holder |
| JP2015198933A (en) * | 2014-03-31 | 2015-11-12 | 学校法人慶應義塾 | Medical treatment instrument holding device |
| EP3025668A1 (en) * | 2014-11-28 | 2016-06-01 | Mitaka Kohki Co., Ltd. | Tool holding articulated arm |
| CN105832423A (en) * | 2016-06-13 | 2016-08-10 | 傅强 | Endoscope fixing arm for operation |
| WO2018144820A1 (en) * | 2017-02-02 | 2018-08-09 | University Of Pittsburgh - Of The Commonwealth System Of Higher Education | Adjustable retaining arm system |
| WO2018158388A2 (en) * | 2017-03-01 | 2018-09-07 | SAMA GmbH | Device having a plurality of joint bodies which are arranged next to one another |
| CN211484983U (en) * | 2019-09-02 | 2020-09-15 | 王兴国 | Snakelike mechanical fixed arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012610A (en) * | 2019-12-29 | 2020-04-17 | 艺创医疗科技(辽宁)有限公司 | Snake-shaped surgical instrument and endoscope holder |
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