CN111012298A

CN111012298A - Ureteroscope tool and ureteroscope robot

Info

Publication number: CN111012298A
Application number: CN201911383475.2A
Authority: CN
Inventors: 刘培超; 叶伟智; 刘主福
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-04-17

Abstract

The invention discloses a ureteroscope jig which comprises a first mounting seat and a second mounting seat, wherein a first motor used for driving the second mounting seat to rotate is arranged on the first mounting seat, the output end of the first motor is connected with the second mounting seat, and a stirring piece used for stirring a knob and a second motor used for driving the stirring piece to swing are arranged on the second mounting seat. The ureteroscope jig can clamp the ureteroscope through the second mounting seat, so that the traditional operation mode of holding the ureteroscope in a standing posture is replaced, the manual stirring operation mode is replaced by the mode of stirring the knob through the stirring piece, the working strength of an operator is greatly reduced, the ureteroscope vibration caused by excessive fatigue of the operator is avoided, meanwhile, the operation difficulty of the operator can be greatly reduced, and the operator can conveniently perform more accurate stone crushing operation. In addition, the invention also discloses a ureteroscope robot.

Description

Ureteroscope tool and ureteroscope robot

Technical Field

The invention relates to the field of ureteroscope surgical instruments, in particular to a ureteroscope jig and a ureteroscope robot.

Background

Ureteroscopy is a well-known medical device for urological treatments, which mainly comprises a fiber optic catheter, a working channel and working accessories for various purposes.

In order to directionally treat the intrarenal diseases such as the kidney stone, the ureteral stone and the like, the ureteroscope is required to be used for interventional diagnosis and treatment through urethra, bladder, ureter and kidney so as to break the ureteral stone or the kidney stone and take out the ureteral stone or the kidney stone. The ureteroscope operation utilizes the natural urinary system cavity of the human body, does not need to make any incision on the human body, and is a pure urinary surgery endoscopic minimally invasive operation. Compared with open surgery, ureteroscope surgery has the advantages of small injury, light pain, quick recovery and the like.

However, in the existing ureteroscope operation process, an operator needs to stand and hold the ureteroscope for a long time and continuously adjust the position of the ureteroscope through a wrist, so that the working strength of the operator is high, the operator is easy to feel tired, the operation of the operator is easily affected, and the operation safety of a patient is threatened.

Disclosure of Invention

The invention mainly aims to provide a ureteroscope jig and aims to solve the technical problems of high working strength and high fatigue tendency of operators in the conventional handheld ureteroscope operation.

In order to solve the technical problems, the invention provides a ureteroscope jig, wherein the ureteroscope comprises an operating handle, a soft lens arranged in the operating handle and a knob arranged on the operating handle and used for adjusting the soft lens, the ureteroscope jig comprises a first mounting seat and a second mounting seat, a first motor used for driving the second mounting seat to rotate is arranged on the first mounting seat, the output end of the first motor is connected with the second mounting seat, and a stirring piece used for stirring the knob and a second motor used for driving the stirring piece to swing are arranged on the second mounting seat.

Preferably, the toggle piece comprises a connecting plate and a swinging plate which can be contacted with the knob, one end of the connecting plate is connected with the output shaft of the second motor, and the other end of the connecting plate is connected with the swinging plate.

Preferably, the swing plate is provided with a first groove for accommodating the knob.

Preferably, ureteroscope tool still including set up on the second mount pad, be used for to carry out spacing dog in the motion of stirring, the dog is located stir the both sides of piece.

Preferably, the second mounting base comprises a first mounting plate for mounting the second motor and the toggle piece and two ureteroscope fixing bases arranged on the first mounting plate at intervals, and a clamping hole for the ureteroscope to pass through is formed in each ureteroscope fixing base.

Preferably, ureteroscope tool still including set up on the first mounting panel, be used for adjusting the spout of ureteroscope fixing base position, correspond on the ureteroscope fixing base the spout is provided with first locking hole.

Preferably, ureteroscope fixing base includes the first grip block of setting on the first mounting panel and movably setting up the second grip block on the first grip block, first grip block and second grip block enclose to close and form the centre gripping hole.

Preferably, ureteroscope tool still including set up second recess on the first grip block, set up on the lug on the second grip block and correspond the setting and be in second locking hole on first grip block and the second grip block.

Preferably, the first mounting base comprises a second mounting plate for mounting the first motor, a bearing seat arranged on the second mounting plate and a rotating shaft arranged in the bearing seat, one end of the rotating shaft is connected with the second mounting base, and the other end of the rotating shaft is connected with an output shaft of the first motor.

The invention also provides a ureteroscope robot, which comprises a machine table, a multi-shaft mechanical arm arranged on the machine table and a ureteroscope jig, wherein the ureteroscope jig is arranged at the tail end of the multi-shaft mechanical arm and comprises a first mounting seat and a second mounting seat, the first mounting seat is provided with a first motor for driving the second mounting seat to rotate, the output end of the first motor is connected with the second mounting seat, and the second mounting seat is provided with a stirring piece for stirring the knob and a second motor for driving the stirring piece to swing; the ureteroscope robot further comprises a display terminal used for displaying human body images and a control terminal used for controlling the multi-axis mechanical arm to move.

The embodiment of the invention has the beneficial effects that: the ureteroscope tool that this embodiment is related to can be connected with the multiaxis arm through first mount pad to by the business turn over of multiaxis arm control ureteroscope. When the ureteroscope is actually used, the ureteroscope is clamped by the second mounting seat, and the second motor drives the stirring piece to rotate so as to control the rotation of the ureteroscope knob; the rotation of ureteroscope knob can make the soft mirror take place to deform, still can be by the rotation of first motor control ureteroscope simultaneously to the realization is by ureteroscope tool cooperation multiaxis arm, carries out the purpose of rubble operation with cooperation art person. The ureteroscope jig can clamp the ureteroscope through the second mounting seat, so that the traditional operation mode of holding the ureteroscope in a standing posture is replaced, the manual stirring operation mode is replaced by the mode of stirring the knob through the stirring piece, the working strength of an operator is greatly reduced, the ureteroscope is prevented from vibrating due to excessive fatigue of the operator, the operation difficulty of the operator can be greatly reduced, and the operator can perform more accurate stone crushing operation.

Drawings

FIG. 1 is a schematic view of an assembly structure of a ureteroscope jig and a ureteroscope according to the present invention;

FIG. 2 is a schematic structural view of a prior art ureteroscope;

FIG. 3 is a schematic structural view of a ureteroscope tool according to an embodiment of the present invention;

fig. 4 is a schematic structural view of the ureteroscope fixing seat shown in fig. 3 at a viewing angle;

FIG. 5 is a schematic structural view of the ureteroscope fixing seat shown in FIG. 3 from another view angle;

fig. 6 is a schematic structural diagram of a ureteroscope robot according to an embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.

The invention provides a ureteroscope jig, and in one embodiment, referring to fig. 1 and 2, a ureteroscope 1 comprises an operating handle 11, a soft lens 12 arranged in the operating handle 11, and a knob 13 arranged on the operating handle 11 and used for adjusting the soft lens 12. In actual operation, the knob 13 is manually turned to deform, such as bend, the soft lens 12 so as to assist the doctor in diagnosing and treating the lithologic disease.

The ureteroscope tool that this embodiment relates to includes first mount pad 2 and second mount pad 3, is provided with the first motor 4 that is used for driving second mount pad 3 rotatory on the first mount pad 2, and the output and the second mount pad 3 of first motor 4 are connected, is provided with on the second mount pad 3 to be used for stirring the piece 5 of stirring 13 and be used for driving stirring the second motor 6 that 5 swung.

The ureteroscope jig related to this embodiment is designed based on current ureteroscope 1, and it is mainly used for centre gripping ureteroscope 1 to replace the operation mode of handheld ureteroscope 1 by the operator. Now this embodiment drives through second motor 6 and dials 5 and rotates, and rethread dials 5 and dials knob 13 to realize the automated control of knob 13, can reduce art person's working strength. Specifically, the ureteroscope tool related to this embodiment can be connected with the multiaxis arm through first mount pad 2 to the business turn over of ureteroscope 1 is controlled by the multiaxis arm. When the ureteroscope 1 is actually used, the ureteroscope 1 is clamped through the second mounting seat 3, and the second motor 6 drives the stirring piece 5 to rotate so as to control the rotation of the knob 13 of the ureteroscope 1; the rotation of the knob 13 of ureteroscope 1 can make the soft mirror 12 take place deformation, still can be by the rotation of first motor 4 control ureteroscope 1 simultaneously to the realization is by ureteroscope tool cooperation multiaxis arm, carries out the purpose of rubble operation with cooperation art person.

In a preferred embodiment, referring to fig. 3, the toggle member 5 includes a connecting plate 51 and a swinging plate 52 contactable with the knob 13, one end of the connecting plate 51 is connected to the output shaft of the second motor, and the other end of the connecting plate 51 is connected to the swinging plate. In this embodiment, a connection hole is formed in the connection plate 51, and the output shaft of the second motor 6 penetrates through the connection hole and is in a fixed state, that is, the second motor 6 drives the connection plate 51 to swing when rotating. The bottom end of the connecting plate 51 is provided with a swing plate 52, and the main function of the swing plate 52 is to drive the knob 13 of the ureteroscope 1 to swing back and forth so as to realize automatic control on the knob 13 of the ureteroscope 1. It should be noted that the specific structural design of the swing plate 52 can be set according to the actual situation, for example, two opposite clamping pieces can be set on the swing plate 52 at intervals, so that the knob 13 of the ureteroscope 1 is clamped in the clamping space formed by the swing plate; alternatively, a first groove 343 may be provided on the swing plate 52 to hold the knob 13 of the ureteroscope 1 by both opposite side walls of the first groove. Preferably, the present embodiment provides the first groove 343 on the swing plate 52. It can be understood that after the ureteroscope 1 is installed on the second installation seat 3, the knob 13 of the ureteroscope 1 is placed in the first groove 343, when the second motor 6 drives the connecting plate 51 to swing, the swing plate 52 swings under the driving of the connecting plate 51, and since the knob 13 of the ureteroscope 1 is placed in the first groove 343, the swing plate 52 can clamp the knob 13 of the ureteroscope 1 through two opposite side walls of the first groove 343, so as to drive the swing of the knob 13, and thus, the automatic control of the knob 13 of the ureteroscope 1 is realized.

In another preferred embodiment, the ureteroscope jig according to the present invention further includes a stopper 7 disposed on the second mounting seat 3 for limiting the toggle 5 to swing within a preset range, and the stoppers 7 are disposed on two sides of the toggle 5. In the embodiment, considering that the rotation of the knob 13 of the ureteroscope 1 has a certain range, if the second motor 6 has an excessively large rotation range, the rotation of the knob 13 of the ureteroscope 1 is caused to exceed the normal rotatable range, so that the knob 13 of the ureteroscope 1 is damaged, the service life of the ureteroscope 1 is shortened, and the operation cost of the ureteroscope 1 is increased. It can be understood that when the knob 13 of the ureteroscope 1 collides with one of the stoppers 7 positioned at both sides of the ureteroscope 1, the output torque of the second motor 6 suddenly increases and exceeds a preset first torque value, which indicates that the knob 13 of the ureteroscope 1 is about to exceed the normal rotation range, and the second motor 6 needs to be controlled to rotate reversely immediately to avoid damaging the knob 13 of the ureteroscope 1 due to exceeding the normal rotation range. Or, when the output torque of the second motor 6 exceeds the preset second torque value, in order to ensure the safety of the patient and the equipment, the second motor 6 needs to be immediately controlled to stop rotating and send out an acousto-optic alarm to remind the operator of paying attention. It should be noted that the second motor 6 proposed in the present embodiment is preset with a rotation range that is set based on the rotation range of the knob 13 of the ureteroscope 1 to avoid the ureteroscope 1 from exceeding its normal rotation range during surgery.

In a further preferred embodiment, the second mounting seat 3 comprises a first mounting plate 31 for mounting the second motor 6 and the toggle member 5, and two ureteroscope fixing seats 32 arranged on the first mounting plate 31 at intervals, wherein the ureteroscope fixing seats 32 are provided with clamping holes 33 for the ureteroscope 1 to pass through. In this embodiment, the second motor 6 is disposed outside the first mounting plate 31, the toggle member 5 is disposed inside the first mounting plate 31 and corresponds to the position of the output shaft of the second motor 6, and the output shaft of the second motor 6 penetrates through the first mounting plate 31 and is disposed on the toggle member 5, so that the second motor 6 drives the toggle member 5 to swing. The ureteroscope fixing seat 32 is mainly used for holding the ureteroscope 1, and in particular, referring to fig. 2, the front end and the rear end of the operating handle 11 of the ureteroscope 1 are respectively held on the ureteroscope fixing seat 32 arranged at the front end and the rear end at intervals so as to fix the ureteroscope 1. It can be understood that the holding hole 33 provided on the ureteroscope fixing seat 32 is designed based on the structure of the operating handle 11 of the ureteroscope 1, and can be matched with the operating handle 11 of the ureteroscope 1.

In a further preferred embodiment, referring to fig. 3 and 4, the ureteroscope jig according to the present invention further includes a sliding groove 8 disposed on the first mounting plate 31 for adjusting the position of the ureteroscope fixing seat 32, and the ureteroscope fixing seat 32 is provided with a first locking hole 9 corresponding to the sliding groove 8. In this embodiment, in consideration of compatibility with ureteroscopes 1 of different sizes, the position of the ureteroscopy fixing seat 32 on the sliding groove 8 can be adjusted, so that the ureteroscopy jig according to this embodiment can be applied to ureteroscopes 1 of different sizes, thereby improving the versatility of the ureteroscopy robot according to the present invention. Specifically, according to the actual size of the ureteroscope 1, the position of the ureteroscope fixing seat 32 on the first mounting plate 31 is adjusted, the first locking hole 9 in the ureteroscope fixing seat 32 is aligned with the sliding groove 8, and finally, a bolt is inserted through the sliding groove 8 and the locking hole to fix the ureteroscope fixing seat 32 at the position. It should be noted that, the sliding grooves 8 for adjusting the position may be respectively provided corresponding to the two ureteroscope fixing seats 32, or the sliding groove 8 may be provided only for one of the two ureteroscope fixing seats 32. In a specific embodiment of the invention, referring to fig. 4, the ureteroscope fixing seat 32 near the toggle piece 5 is provided with a sliding slot 8 for adjusting the position thereof on the first mounting plate 31, and the other ureteroscope fixing seat 32 is spaced apart from the ureteroscope fixing seat 32 and is arranged at the front end of the second mounting plate 3, and the mounting position thereof is not adjustable.

In a further preferred embodiment, referring to fig. 5, the ureteroscope fixing base 32 comprises a first holding plate 321 disposed on the first mounting plate 31 and a second holding plate 322 movably disposed on the first holding plate 321, and the first holding plate 321 and the second holding plate 322 enclose to form a holding hole 33. In this embodiment, in consideration of the convenience of mounting and dismounting the ureteroscope 1, the second holding plate 322 may be moved relative to the first holding plate 321 by moving the second holding plate 322, so that the size of the holding hole 33 defined by the first holding plate 321 and the second holding plate 322 may be adjusted at a proper time. For example, when the ureteroscope 1 needs to be mounted on the ureteroscope fixing seat 32, the second clamping plate 322 can be moved outward relative to the first clamping plate 321, and since the first clamping plate 321 is fixed on the first mounting plate 31, in the process of moving outward the second clamping plate 322, the clamping hole 33 can be gradually enlarged, and even the second clamping plate 322 can be separated from the first clamping plate 321, the ureteroscope 1 is placed in the clamping space of the first clamping plate 321, and then the second clamping plate 322 is moved inward relative to the first clamping plate 321, so that the clamping hole 33 is gradually reduced until the ureteroscope 1 is completely clamped and fixed. When the ureteroscope 1 needs to be detached from the ureteroscope fixing seat 32, the operation is also realized by operating the second clamping plate 322, the specific operation process is the same as the above-mentioned operation, and only the operation sequence is opposite, so the description is omitted here. It should be noted that, when the ureteroscope 1 is installed, if the second clamping plate 322 is moved to the clamping position and then needs to be fixed at the clamping position by the locking member, a fixing manner such as a bolt and a screw may be adopted, including but not limited to this.

In another preferred embodiment, referring to fig. 6, the ureteroscope jig according to the present invention further includes a second groove 323 disposed on the first holding plate 321, a protrusion 324 disposed on the second holding plate 322, and a second locking hole 325 disposed on the first holding plate 321 and the second holding plate 322. In this embodiment, the protrusion 324 is engaged with the second groove 323, so that the second holding plate 322 can slide relative to the first holding plate 321, thereby facilitating the detachment of the ureteroscope 1. In addition, after the second clamping plate 322 moves inward to the clamping position relative to the first clamping plate 321, the second clamping plate 322 and the first clamping plate 321 are fixed by the screws engaged with the second locking holes 325. Of course, other fixing manners are also possible, and the foregoing examples are merely illustrative and not restrictive, and only need to be able to fix the second clamping plate 322 and the first clamping plate 321. In a specific embodiment of the present invention, the fixation is preferably performed by means of a screw hole, and a rotating handle for an operator to twist is provided at the tip of the screw in consideration of the convenience of the operation.

In a further preferred embodiment, the first mounting block 2 comprises a second mounting plate 21 for mounting the first motor 4, a bearing block 22 provided on the second mounting plate 21, and a rotating shaft 23 provided in the bearing block 22, one end of the rotating shaft 23 being connected to the second mounting block 3, and the other end being connected to the output shaft of the first motor 4. In this embodiment, a through hole through which an output shaft of the first motor 4 can pass is disposed on the first mounting plate 31, and the output shaft of the first motor 4 is connected to the rotating shaft 23 through a coupling, so as to drive the rotating shaft 23 to rotate through the first motor 4. The rotating shaft 23 is disposed in the bearing seat 22 and fixed by a locking nut, one end of the rotating shaft 23 is connected to the first motor 4, and the other end is connected to the second mounting seat 3 to drive the second mounting seat 3 to rotate.

In a further preferred embodiment, the ureteroscope jig according to the present invention further includes a lightening hole 10 provided in the first mounting seat 2 and/or the second mounting seat 3. In this embodiment, through setting up lightening hole 10, can alleviate the whole weight of ureteroscope tool under the prerequisite of guaranteeing ureteroscope tool whole rigidity and stability to reduce the output torque of motor, reduce the running cost of ureteroscope robot. It should be noted that the shape and size of the lightening hole can be designed according to practical situations, and is not limited in any way.

The ureteroscope robot further provided by the present invention includes a machine 100, a multi-axis mechanical arm 200 disposed on the machine 100, and a ureteroscope fixture 300, and the specific structure of the ureteroscope fixture 300 refers to the above embodiments, and since the ureteroscope robot adopts all technical solutions of all the above embodiments, the ureteroscope robot at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated here. Wherein, ureteroscope tool 300 sets up the terminal at multiaxis arm 200.

The machine table 100 related to the embodiment is mainly used for placing the multi-axis mechanical arm 200 to form a tabletop-level ureteroscopy cooperative robot, so that a surgeon is assisted in directionally diagnosing and treating a stone patient. In order to facilitate the use of the ureteroscope robot, a plurality of rollers may be provided at the bottom of the machine table 100 to move the ureteroscope robot to a designated position using the rollers. It should be noted that the rollers may all be one-way wheels, may also all be universal wheels, and may also be one-way wheels + universal wheels, and those skilled in the art may design according to actual situations. In addition, considering the operation stability of the ureteroscope robot in the operation process, after the machine table 100 is moved to a designated position, the rollers arranged at the bottom of the machine table 100 are fixed through the locking mechanism, so that the phenomenon that the machine table 100 moves in the operation process to influence the operation of an operator on the ureteroscope operation is avoided.

The multi-axis robot 200 according to the present embodiment is mainly used for controlling the insertion and extraction operation of the ureteroscope 1, and the multi-axis robot 200 may be a robot having a plurality of joints or a single-joint robot movable along a multi-axis direction, and it is only necessary that the robot can control the insertion and extraction operation of the ureteroscope 1. In an embodiment of the present invention, the multi-axis mechanical arm 200 is preferably a multi-joint mechanical arm to control the ureteroscope 1 to translate along the axis of the scope body through the multi-axis mechanical arm 200.

The ureteroscope robot further comprises a display terminal 400 arranged on the machine 100 and used for displaying human body images, and a control terminal 500 arranged on the machine 100 and used for controlling the movement of the multi-axis mechanical arm 200. In this embodiment, can make things convenient for the control of art person to the operation of inserting and extracting of ureteroscope 1 through control terminal 500, and can make ureteroscope 1 visual in the inside operation of human body through display terminal 400 to supplementary art person diagnoses to the orientation of calculus disease, thereby is convenient for art person to carry out more accurate rubble operation.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a ureteroscope tool, ureteroscope includes operating handle, sets up the soft mirror in operating handle and sets up on operating handle, is used for adjusting the knob of soft mirror, a serial communication port, ureteroscope tool includes first mount pad and second mount pad, be provided with on the first mount pad and be used for the drive the rotatory first motor of second mount pad, the output and the second mount pad of first motor are connected, be provided with on the second mount pad and be used for stirring the piece is stirred with being used for the drive of knob stir a wobbling second motor.

2. The ureteroscope tool of claim 1, wherein the toggle member comprises a connecting plate and an oscillating plate which can be in contact with the knob, one end of the connecting plate is connected with the output shaft of the second motor, and the other end of the connecting plate is connected with the oscillating plate.

3. The ureteroscope tool of claim 2, wherein the oscillating plate is provided with a first groove for receiving the knob.

4. The ureteroscope tool of claim 1, further comprising stops disposed on the second mounting base for limiting movement of the toggle member, wherein the stops are located on two sides of the toggle member.

5. The ureteroscope tool of claim 1, wherein the second mounting base comprises a first mounting plate for mounting the second motor and the toggle member, and two ureteroscope fixing bases arranged on the first mounting plate at intervals, and each ureteroscope fixing base is provided with a clamping hole through which the ureteroscope can pass.

6. The ureteroscope tool of claim 5, further comprising a sliding groove formed in the first mounting plate and used for adjusting the position of the ureteroscope fixing seat, wherein a first locking hole is formed in the ureteroscope fixing seat corresponding to the sliding groove.

7. The ureteroscope tool of claim 5, wherein the ureteroscope fixing base comprises a first clamping plate disposed on the first mounting plate and a second clamping plate movably disposed on the first clamping plate, and the first clamping plate and the second clamping plate enclose to form the clamping hole.

8. The ureteroscope tool of claim 7, further comprising a second groove disposed on the first clamping plate, a projection disposed on the second clamping plate, and a second locking hole disposed on the first and second clamping plates.

9. The ureteroscope tool of claim 1, wherein the first mounting plate comprises a second mounting plate for mounting a first motor, a bearing seat arranged on the second mounting plate, and a rotating shaft arranged in the bearing seat, one end of the rotating shaft is connected with the second mounting plate, and the other end of the rotating shaft is connected with an output shaft of the first motor.

10. A ureteroscope robot, characterized by, include board, set up multiaxis arm on the board and the ureteroscope tool of any of claims 1 to 9, ureteroscope tool sets up the terminal of multiaxis arm, ureteroscope robot still includes the control terminal that is used for showing human image and is used for controlling the motion of multiaxis arm.