CN111359081A

CN111359081A - Robot is controlled to hose class apparatus

Info

Publication number: CN111359081A
Application number: CN202010283294.9A
Authority: CN
Inventors: 张春霖
Original assignee: Suzhou Dianhe Medical Technology Co ltd
Current assignee: Suzhou Dianhe Medical Technology Co ltd
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2020-07-03

Abstract

The invention relates to a hose instrument control robot, which comprises a robot body, wherein the robot body is provided with a body fixing seat, and the body fixing seat is provided with a pillow plate and a head ring, wherein: the body fixing seat is provided with an X-direction moving guide rail, the X-direction moving guide rail is provided with a Y-direction moving guide rail, the Y-direction moving guide rail is provided with a Z-direction moving guide rail, the Z-direction moving guide rail is provided with a hose supporting reversing bent arm through a sliding block, the hose supporting reversing bent arm is connected with a hose propelling arm, the hose supporting reversing bent arm comprises a fixing plate, a reversing pipe and a regulating and controlling mechanism are arranged on the fixing plate, and the reversing pipe is connected with a bent pipe and a regulating and controlling mechanism. Therefore, the pillow plate and the head ring are arranged, the head of the patient can be stably positioned, and the use safety is ensured. The hose supporting and reversing bent arm is connected with a hose propelling arm and a rotating shaft control mechanism, so that the cooperative operation is realized, the better operation reliability is achieved, and the labor intensity of medical staff can be further reduced.

Description

Robot is controlled to hose class apparatus

Technical Field

The invention relates to a robot, in particular to a hose instrument operation and control robot.

Background

A human body has a plurality of natural cavities, such as respiratory tracts, digestive tracts and the like, and needs a plurality of hose medical instruments for diagnosis and treatment, such as rubber hoses of fiberoptic bronchoscopes, electronic gastroscopes, trachea, stomach tubes and the like, for specimen collection, diagnosis and treatment of respiratory tract and stomach diseases, and the like, and the manual control mode is mainly adopted for close-range operation in the past. In recent years, the outbreak of new coronavirus pneumonia epidemics has given us great caution: medical staff face very big occupational exposure in this way of close-range manual operation, for example, according to the diagnosis and treatment scheme of novel coronavirus infection pneumonia, to confirm the suspected case and diagnose, must possess the etiology evidence of respiratory track sample or blood sample, but respiratory track collection sample is a high risk and needs many times of repeated operations, needs to contact patient closely, can cause the patient to cough acutely, and the droplet splashes everywhere, and the infection risk is high. Therefore, there is a need to develop a new control device for flexible medical instruments, which avoids the occupational exposure risks to medical staff and prevents cross-infection.

In view of the above-mentioned drawbacks, the present designer is actively making research and innovation to create a flexible tube type robot for operating and controlling instruments, so that the robot has more industrial utility value.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a robot for operating and controlling a hose type instrument.

The invention relates to a hose instrument operation and control robot, which comprises a robot body, wherein the robot body is provided with a body fixing seat, the body fixing seat is provided with a pillow plate and a head ring, and the hose instrument operation and control robot comprises: be provided with X on the body fixing base to the motion guide rail, X is provided with Y on to the motion guide rail, Y is provided with Z on to the motion guide rail and supports the switching-over bent arm to the motion guide rail, Z is installed the hose on through the slider and is supported the switching-over bent arm, the hose supports the switching-over bent arm and is connected with hose propulsion arm, the hose supports the switching-over bent arm including the fixed plate, install switching-over pipe and regulation and control mechanism on the fixed plate, the intraductal bent pipe and the regulation and control mechanism that is.

Further, foretell hose class apparatus control robot, wherein, switching-over pipe and regulation and control mechanism are including the switching-over pipe, be provided with the worm gear on the switching-over pipe, be connected with first motor on the worm gear, crooked pipe and regulation and control mechanism are including crooked pipe fixing base, be provided with the front end pivot on the crooked pipe fixing base, be provided with crooked pipe in the front end pivot, be connected with the steel wire on the crooked pipe, still install around wheel and reversing wheel on the hose supports the switching-over bent arm, the steel wire winding is on around wheel and reversing wheel, install the second motor on the wheel.

Furthermore, the robot is controlled to hose class apparatus, wherein, hose propulsion arm includes the connecting seat, install main propulsion wheel and vice propulsion wheel on the connecting seat, be provided with the hose on the connecting seat, the hose passes the clearance between main propulsion wheel and the vice propulsion wheel, be connected with the third motor on the main propulsion wheel, vice propulsion wheel passes through adjusting screw and links to each other with the connecting seat, adjusting screw's a pot head is equipped with the spring, and the other end is connected with the nut.

Furthermore, the robot for operating hose-like instruments is characterized in that the main propulsion wheel and the auxiliary propulsion wheel are both of sheave structures, a main groove matched with the hose is formed in the surface of the main propulsion wheel, an auxiliary groove matched with the hose is formed in the surface of the auxiliary propulsion wheel, and the main groove and the auxiliary groove form a hose guiding space.

Furthermore, the robot is controlled by a hose type instrument, wherein the hose is a fiberbronchoscope body; or the hose is a laser optical fiber, or the hose is a rubber hose.

Furthermore, foretell hose class apparatus control robot, wherein, be provided with pivot control mechanism on the hose propulsion arm, pivot control mechanism includes the pivot fixing base, install the gear on the pivot fixing base, the one end of gear is connected with the fourth motor, one side of pivot fixing base is provided with the stand pipe, it has the rack to distribute on the stand pipe, rack and gear engagement, wear to be equipped with the pivot control tube in the stand pipe.

Furthermore, the robot for operating and controlling the hose-like instruments is characterized in that the front end of the rotating shaft control tube is of a planar structure; or the front end of the rotating shaft control pipe is in a sharp inclined surface structure.

Still further, above-mentioned hose class apparatus operation and control robot, wherein, the head circle is including the head circle body, be provided with the position control hole on the head circle body, be provided with the fixed orifices on the body fixing base, wear to be equipped with set screw between regulation hole and the fixed orifices.

By the scheme, the invention at least has the following advantages:

1. the pillow plate and the head ring are configured, so that the head of the patient can be stably positioned, and the use safety is ensured.

2. The hose supporting and reversing bent arm is connected with a hose propelling arm and a rotating shaft control mechanism, so that the cooperative operation is realized, the better operation reliability is achieved, and the labor intensity of medical staff can be further reduced.

3. The endoscope head and the controller can be subsequently installed, local automatic operation is achieved, or remote control over different-ground hose instruments is achieved, and occupational exposure risks of medical staff are reduced.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a schematic overall structure diagram of the robot for operating and controlling the hose-like instrument.

Fig. 2 is a schematic front view of the bending tube and the adjusting mechanism.

Fig. 3 is a schematic side view of the bending tube and the adjustment mechanism.

Fig. 4 is a schematic front view of the overall structure of the bending tube and the regulating mechanism.

Fig. 5 is a schematic side view of the bending tube and the adjustment mechanism.

FIG. 6 is a schematic view showing the distribution of the main grooves and the sub grooves.

Fig. 7 is a schematic connection diagram of the gears.

Fig. 8 is a schematic structural view of the front end rotary shaft.

The meanings of the reference symbols in the drawings are as follows.

1 body fixing seat and 2 pillow plates

3 head ring 4 adjusting hole

5X-direction moving guide rail and 6Y-direction moving guide rail

7Z-direction movement guide rail 8 slide block

9 hose supporting reversing bent arm and 10 hose propelling arm

11 fixed plate 12 reversing tube and regulating mechanism

13 bending tube and 14 reversing tube of regulating mechanism

15 worm gear 16 first motor

17 bending tube fixing seat 18 bending tube

19 front end rotating shaft 20 steel wire

21 winding wheel 22 reversing wheel

23 second motor 24 connecting seat

25 hose 26 main propulsion wheel

27 third motor 28 auxiliary propelling wheel

29 spring 30 adjusting screw

31 nut 32 main groove

33 auxiliary groove 34 rotating shaft control mechanism

35 rotating shaft fixing seat 36 guide pipe

37-spindle control tube 38 rack

39 gear 40 fourth motor

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As a hose class apparatus of fig. 1 to 8 controls robot, including the robot, the robot is provided with body fixing base 1, is provided with pillow board 2 and head circle 3 on the body fixing base 1, and its distinctive part lies in: in order to meet the requirement of stable three-axis adjustment, an X-direction moving guide rail 5 is arranged on a body fixing seat 1, a Y-direction moving guide rail 6 is arranged on the X-direction moving guide rail 5, and a Z-direction moving guide rail 7 is arranged on the Y-direction moving guide rail 6. Meanwhile, in order to meet the requirements of different height adjustment in the Z direction and adapt to different use requirements of patients, the Z-direction movement guide rail 7 is provided with a hose supporting reversing bent arm 9 through a sliding block 8. A hose pushing arm 10 is connected to the hose support reversing arm 9, and can achieve appropriate guidance. Specifically, the hose supporting reversing bent arm 9 comprises a fixing plate 11, a reversing pipe and a regulating mechanism 12 are mounted on the fixing plate 11, and a bent pipe and a regulating mechanism 13 are connected in the reversing pipe 14.

In a preferred embodiment of the present invention, the reversing tube and regulating mechanism 12 includes a reversing tube 14, a worm gear 15 is disposed on the reversing tube 14, and a first motor 16 is connected to the worm gear 15. Meanwhile, the adopted bending tube and regulating mechanism 13 comprises a bending tube fixing seat 17, a front end rotating shaft 19 is arranged on the bending tube fixing seat 17, and a bendable tube 18 is arranged in the front end rotating shaft 19. In order to satisfy the operational adjustment of the bendable pipe 18 in connection with practical implementation, a steel wire 20 is connected to the bendable pipe 18. Specifically, the hose supporting reversing bent arm 9 is further provided with a winding wheel 21 and a reversing wheel 22, and the steel wire 20 is wound on the winding wheel 21 and the reversing wheel 22. Also, a second motor 23 is mounted on the winding wheel 21 in consideration of the need for independent driving of the winding wheel 21.

Further, the hose propelling arm 10 includes a connecting base 24, and a main propelling wheel 26 and a sub propelling wheel 28 are mounted on the connecting base 24. Meanwhile, the connecting seat 24 is provided with a hose 25, and the hose 25 passes through a gap between the main propulsion wheel 26 and the auxiliary propulsion wheel 28 to guide the movement of the hose 25. In consideration of efficient driving, the third motor 27 is connected to the main propulsion wheel 26. In order to achieve a suitable limited movement guidance and to avoid too large a gap between the hose 25 and the secondary propulsion wheel 28 during movement, the secondary propulsion wheel 28 is connected to the connecting base 24 by means of an adjusting screw 30, which adjusting screw 30 is provided with a spring 29 at one end and a nut 31 at the other end.

In order to guide the hose 25 without damage in practical terms, the main impeller 26 and the sub impeller 28 are both of a sheave structure, a main groove 32 that fits the hose 25 is provided on the surface of the main impeller 26, a sub groove 33 that fits the hose 25 is provided on the surface of the sub impeller 28, and the main groove 32 and the sub groove 33 form a hose guide space. Meanwhile, aiming at different use requirements, the hose 25 adopted by the invention is a fiber bronchoscope body and can also be a laser optical fiber. Of course, the hose 25 may be formed of another rubber hose for the purpose of enhancing expandability. Specifically, during use, the spring 29, the adjusting screw 30 and the nut 31 are mutually matched, so that the pressure between the auxiliary propulsion wheel 28 and the main propulsion wheel 26 on the hose 25 can be adjusted, the main propulsion wheel 26 and the auxiliary propulsion wheel 28 can rotate oppositely, and a certain thrust can be generated. Thus, the hose 25 is reliably pushed forward or backward without damaging the hose 25, and the diagnosis operation is completed at the desired position.

Still further, the present invention employs a hose propelling arm 10 having a pivot control mechanism 34 disposed thereon. Specifically, the rotating shaft control mechanism 34 includes a rotating shaft fixing seat 35, a gear 39 is installed on the rotating shaft fixing seat 35, and one end of the gear is connected with a fourth motor 40. Meanwhile, one side of the rotating shaft fixing seat 35 is provided with a guide pipe 36, racks 38 are distributed on the guide pipe 36, and the racks 38 are meshed with the gear 39. A rotating shaft control pipe 37 is inserted into the guide pipe 36. Of course, the front end of the shaft control tube 37 may be of a flat or a sharp-angled configuration for different applications.

Simultaneously, in order to adapt to different patient's sizes, satisfy the preferred location of head, head circle 3 is provided with position control hole 4 including the head circle body on the head circle body, be provided with the fixed orifices on the body fixing base 1, wears to be equipped with set screw between regulation hole 4 and the fixed orifices. Thus, the positioning can be adjusted according to different body types, heights and the like.

The working principle of the invention is as follows:

example one

Taking the use of a fiberoptic bronchoscope as an example, the patient lies on his back, the head is placed on the pillow plate 2, and the head is extended into the head circle 3 to realize the head positioning. The X-direction motion guide rail 5 and the Y-direction motion guide rail 6 move to enable the bendable pipe 18 and the rotating shaft control pipe 37 to be aligned with the oral cavity of a patient, the sliding block 8 of the Z-direction motion guide rail 7 descends to a certain depth in the oral cavity to observe the tracheal opening, at the moment, the third motor 27 works, and the main propulsion wheel 26 and the auxiliary propulsion wheel 28 rotate oppositely to push the hose 25 to extend out of the front end of the bendable pipe 18 and enter the tracheal opening.

When encountering the air pipe bifurcation corner, the second motor 23 works to bend the bendable pipe 19 in accordance with the air pipe bifurcation corner through the steel wire 20, the front end rotating shaft 19, the reversing wheel 22 and the winding wheel 21. Meanwhile, the first motor 16 drives the worm and gear 15 and the reversing tube 14 to rotate properly, so that the bendable tube 19 is consistent with the bend of the branched bend of the air tube. During this time, if the bendable tube 19 is not bent enough to branch off the trachea, the fourth motor 40 is operated, which in turn moves the rack 38 and gear 39. Thus, the rotation shaft control tube 37 can adjust the height to provide support for the front rotation shaft 19 at different positions, so that the bendable tube 19 can generate more ideal change for adapting to the bifurcation turn of the trachea. At this time, the third motor 26 continues to work, the flexible tube 25 formed by the bronchofiberscope body is continuously extended, and under the guidance of the tracheal tube wall, the stiffness of the bronchofiberscope body can be gradually reached to an ideal position, and corresponding observation and treatment can be carried out on the pathological changes. Moreover, the whole process can be safe and effective.

The invention has the following advantages by the aid of the character expression and the accompanying drawings:

Furthermore, the indication of the orientation or the positional relationship described in the present invention is based on the orientation or the positional relationship shown in the drawings, and is only for convenience of describing the present invention and simplifying the description, but does not indicate or imply that the indicated device or configuration must have a specific orientation or be operated in a specific orientation configuration, and thus, should not be construed as limiting the present invention.

The terms "primary" and "secondary" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "primary" or "secondary" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Also, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "disposed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other or mutually interacted. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. And it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings, which are used for convenience in describing the invention and to simplify the description, and do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a hose class apparatus operation and control robot, including the robot, the robot is provided with body fixing base (1), be provided with pillow board (2) and head circle (3) on body fixing base (1), its characterized in that: be provided with X on body fixing base (1) to motion guide rail (5), X is provided with Y to motion guide rail (6) on to motion guide rail (5), Y is provided with Z to motion guide rail (7) on to motion guide rail (6), Z is installed hose support switching-over bent arm (9) on through slider (8) to motion guide rail (7), hose support switching-over bent arm (9) are connected with hose propulsion arm (10), hose support switching-over bent arm (9) are including fixed plate (11), install switching-over pipe and regulation and control mechanism (12) on fixed plate (11), switching-over pipe (14) in-connection has bent pipe and regulation and control mechanism (13).

2. The robot for operating and controlling hose type instruments according to claim 1, wherein: reversing tube and regulation and control mechanism (12) are including reversing tube (14), be provided with worm gear (15) on reversing tube (14), be connected with first motor (16) on worm gear (15), crooked pipe and regulation and control mechanism (13) are including crooked pipe fixing base (17), be provided with front end pivot (19) on crooked pipe fixing base (17), be provided with in front end pivot (19) and bend pipe (18), be connected with steel wire (20) on crooked pipe (18), still install on hose support switching-over bent arm (9) around wheel (21) and directive wheel (22), steel wire (20) winding is on around wheel (21) and directive wheel (22), install second motor (23) on around wheel (21).

3. The robot for operating and controlling hose type instruments according to claim 1, wherein: hose propulsion arm (10) is including connecting seat (24), install main propulsion wheel (26) and vice propulsion wheel (28) on connecting seat (24), be provided with hose (25) on connecting seat (24), hose (25) pass main propulsion wheel (26) and vice propulsion wheel (28) between the clearance, be connected with third motor (27) on main propulsion wheel (26), vice propulsion wheel (28) link to each other with connecting seat (24) through adjusting screw (30), the pot head of adjusting screw (30) is equipped with spring (29), and the other end is connected with nut (31).

4. The robot for operating and controlling hose type instruments according to claim 3, wherein: the main propelling wheel (26) and the auxiliary propelling wheel (28) are both of a grooved wheel structure, a main groove (32) which is matched with the hose (25) is formed in the surface of the main propelling wheel (26), an auxiliary groove (33) which is matched with the hose (25) is formed in the surface of the auxiliary propelling wheel (28), and the main groove (32) and the auxiliary groove (33) form a hose guide space.

5. The robot for operating and controlling hose type instruments according to claim 3, wherein: the hose (25) is a fiberbronchoscope body; or the hose (25) is a laser fiber; or the hose (25) is a rubber hose.

6. The robot for operating and controlling hose type instruments according to claim 1, wherein: be provided with pivot control mechanism (34) on hose propulsion arm (10), pivot control mechanism (34) are including pivot fixing base (35), install gear (39) on pivot fixing base (35), the one end of gear is connected with fourth motor (40), one side of pivot fixing base (35) is provided with stand pipe (36), it has rack (38) to distribute on stand pipe (36), rack (38) and gear (39) meshing, wear to be equipped with pivot control tube (37) in stand pipe (36).

7. The robot for operating and controlling hose type instruments according to claim 6, wherein: the front end of the rotating shaft control pipe (37) is of a plane structure; or the front end of the rotating shaft control pipe (37) is in a sharp inclined surface structure.

8. The robot for operating and controlling hose type instruments according to claim 1, wherein: the head ring (3) comprises a head ring body, a position adjusting hole (4) is formed in the head ring body, a fixing hole is formed in the body fixing seat (1), and a fixing screw penetrates through the position adjusting hole (4) and the fixing hole.