CN111419296B - A foot operated control device for assisting scope biopsy - Google Patents
A foot operated control device for assisting scope biopsy Download PDFInfo
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- CN111419296B CN111419296B CN202010240608.7A CN202010240608A CN111419296B CN 111419296 B CN111419296 B CN 111419296B CN 202010240608 A CN202010240608 A CN 202010240608A CN 111419296 B CN111419296 B CN 111419296B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
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Abstract
The invention relates to the technical field of medical equipment, in particular to a pedal control device for assisting endoscope biopsy, which comprises a pedal device, a vertical supporting device, a fixing device and a biopsy forceps device, wherein a control cable is connected between the pedal device and the vertical supporting device, a wiring pipeline is arranged in the vertical supporting device, the vertical supporting device comprises a base, a vertical pipe and a flexible pipe supporting assembly, a balancing weight is arranged in the base, a screwing part is arranged at the top end of the vertical pipe, and the lower end of the flexible pipe supporting assembly is screwed and installed at the top end of the vertical pipe through the screwing part. The invention can enable a doctor to realize that a single person finishes the accurate biopsy taking process, and under the dynamic visual field environment influenced by respiration, heartbeat and digestive tract peristalsis, the two hands control the distal end lens end of the endoscope to enable the target taking area to be stable in the visual field, and the open and close time and degree of the biopsy forceps are controlled by pedals, and the ideal pathological tissues are obtained by matching hands, hands and feet.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a pedal control device for assisting endoscope biopsy.
Background
At present, the process of taking a biopsy by an endoscopic physician comprises the steps that the endoscopic physician obtains a good under-endoscope visual field by controlling the end of a distal endoscope lens of the endoscopic physician after determining a biopsy target area, a nurse inserts the biopsy forceps through a biopsy channel, the biopsy forceps are opened after the biopsy forceps reach the target area, the physician password and the nurse judge a pathological part under the endoscopic physician through medical care cooperation, the biopsy forceps are clamped at a proper time, and a proper amount of pathological tissues are obtained for examination. At present, a foot control device for assisting endoscope biopsy, which can be operated by a single person and can assist a doctor to obtain pathological tissues of an ideal part through the cooperation of hands and feet, is urgently needed.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a pedal control device for assisting endoscopic biopsy.
The invention aims to solve the technical problem by adopting the following technical scheme that the pedal control device for assisting endoscope biopsy comprises a pedal device, a vertical supporting device, a fixing device and a biopsy forceps device, wherein a control cable is connected between the pedal device and the vertical supporting device, a wiring pipeline is arranged in the vertical supporting device, the vertical supporting device comprises a base, a vertical pipe and a flexible pipe supporting assembly, a balancing weight is arranged in the base, a screwing part is arranged at the top end of the vertical pipe, the lower end of the flexible pipe supporting assembly is screwed and installed at the top end of the vertical pipe through the screwing part, the upper end of the flexible pipe supporting assembly is fixedly connected with the fixing device, the operating end of the biopsy forceps device is installed in the fixing device, the forceps end of the biopsy forceps is positioned outside the fixing device, and the remote control of the biopsy forceps device can be realized under the indirect control action of the fixing device through operating the pedal device Opening and closing of the end jaw.
Further, pedal device includes footboard, pivot and bottom plate, the footboard rotates through the pivot to be connected on the bottom plate, the inside motor reel mechanism that is equipped with of bottom plate, the tip of pivot is equipped with angle sensor, angle sensor with motor reel mechanism electric connection, be connected with pedal damping mechanism between footboard and the bottom plate, self-locking mechanism is installed to pedal device.
Further, self-locking mechanism includes the weight formula lifting hook, the front end coupler body of weight formula lifting hook is equipped with the direction inclined plane, the rear end of weight formula lifting hook is connected with the pendulum shaft, the weight formula lifting hook rotates through the pendulum shaft to be connected the front end border of footboard, the front end of bottom plate be equipped with the coupler body complex inclined plane hook groove of weight formula lifting hook.
Further, the output end of the motor reel mechanism is connected with a wire core of a control cable, and a wire pipe of the control cable is fixedly connected with the front end of the bottom plate.
Further, the fixing device comprises a fixing body, a gland, a first sliding push plate, a second sliding push plate, a pulley assembly, a driving stay cord, an elastic assembly, a hand holding portion and a slide rail, the gland is hinged to the side portion of the fixing body, the inner sides of the fixing body and the gland are respectively provided with the slide rail, the first sliding push plate and the second sliding push plate are respectively and correspondingly installed on the fixing body and the gland through the slide rail, the pulley assembly is connected with the driving stay cord, the driving stay cord is connected with the rear portion of the first sliding push plate, the fixing body is provided with the elastic assembly, the elastic assembly is connected with the front portion of the first sliding push plate, the biopsy forceps device comprises a bracelet, a sliding column and a push block body, the bracelet is rotatably connected with the sliding column, the push block body is slidably sleeved on the outer side of the sliding column, the bracelet is fixedly installed on the fixing clamp body, and the push block body is fixed between the first, the outer surface of the fixing device is provided with a holding part, and the top surface of the gland is embedded with a transparent plate.
Furthermore, the wire core of the control cable passes through the wiring pipeline in the vertical supporting device and enters the fixing device, and the pulley assembly is connected with the wire core of the control cable.
Further, the outer surfaces of the first sliding push plate and the second sliding push plate are provided with installation clamping grooves, the installation clamping grooves are used for clamping the push block bodies, and pressing wheels used for reducing friction force are arranged on the inner extrusion surfaces of the installation clamping grooves.
Furthermore, a speed reduction motor driving system is arranged on the first sliding push plate and connected with a driving belt, and the driving belt is connected to the middle of the push block body in a sleeved mode.
Further, the speed reducing motor driving system is connected with a voice recognition control system.
Compared with the prior art, the invention has the following advantages:
the invention can enable a doctor to realize that a single person finishes the accurate biopsy taking process, and under the dynamic visual field environment influenced by respiration, heartbeat and digestive tract peristalsis, the two hands control the distal end lens end of the endoscope to enable the target taking area to be stable in the visual field, and the open and close time and degree of the biopsy forceps are controlled by foot pedal, and the ideal pathological tissue is obtained by the cooperation of hands, hands and feet; compared with a two-person operation mode, the invention utilizes the coordination of eyes, hands and feet with the maximum efficiency, avoids the results of biopsy times increase, time extension and the like caused by the experience of nurses and medical care matching factors, improves the clinical efficiency, has the characteristics of simple operation and good controllability, and has very high practical application value.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view showing the construction of the foothold 1 in accordance with the present invention;
FIG. 3 is a schematic view of the self-locking mechanism 16 of the present invention;
FIG. 4 is a schematic view showing the internal structure of the fixing device 3 of the present invention;
1-a pedal device, 11-a pedal, 12-a rotating shaft, 13-an angle sensor, 14-a motor reel mechanism, 15-a pedal damping mechanism, 16-a self-locking mechanism, 161-a weight type hook, 162-a swinging shaft, 17-a bottom plate, 171-a bevel hook groove, 18-a control cable, 2-a vertical supporting device, 21-a base, 22-a vertical pipe, 221-a screwing part, 23-a flexible pipe supporting component, 3-a fixing device, 31-a fixing body, 32-a pressing cover, 321-a transparent plate, 33-a first sliding push plate, 331-an installation clamping groove, 332-a pressing wheel, 333-a speed reduction motor driving system, 34-a second sliding push plate, 35-a pulley component, 36-a driving pull rope and 37-an elastic component, 38-hand grip, 39-slide rail, 4-biopsy forceps device, 41-hand ring, 42-push block body, 43-slide column.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, the present invention discloses a pedal control device for assisting endoscopic biopsy, which includes a pedal device 1, a vertical support device 2, a fixing device 3 and a biopsy forceps device 4, wherein a control cable 18 is connected between the pedal device 1 and the vertical support device 2, a routing pipeline is arranged inside the vertical support device 2, the vertical support device 2 includes a base 21, a vertical tube 22 and a flexible tube support assembly 23, a counterweight is arranged inside the base 21, a screwing portion 221 is arranged at the top end of the vertical tube 22, the lower end of the flexible tube support assembly 23 is screwed and installed at the top end of the vertical tube 22 through the screwing portion 221, the upper end of the flexible tube support assembly 23 is fixedly connected with the fixing device 3, the operating end of the biopsy forceps device 4 is installed inside the fixing device 3, and the forceps end of the biopsy forceps is located outside the fixing device 3, the pedal device 1 is operated to open and close the distal jaws of the biopsy forceps device 4 under the indirect control of the fixing device 3. Pedal device 1 includes footboard 11, pivot 12 and bottom plate 17, footboard 11 rotates through pivot 12 to be connected on the bottom plate 17, bottom plate 17 is inside to be equipped with motor reel mechanism 14, the tip of pivot 12 is equipped with angle sensor 13, angle sensor 13 with 14 electric connection of motor reel mechanism, be connected with pedal damping mechanism 15 between footboard 11 and the bottom plate 17, self-locking mechanism 16 is installed to pedal device 1. The self-locking mechanism 16 comprises a weight type lifting hook 161, a front end hook body of the weight type lifting hook 161 is provided with a guide inclined plane, the rear end of the weight type lifting hook 161 is connected with a swing shaft 162, the weight type lifting hook 161 is rotatably connected to the front end edge of the pedal 11 through the swing shaft 162, the front end of the bottom plate 17 is provided with an inclined plane hook groove 171 matched with the hook body of the weight type lifting hook 161, when the pedal 11 is stepped down to the bottom end, the weight type lifting hook 161 at the front end of the pedal 11 is matched with the inclined plane hook groove 171 to form locking, a doctor can release the pedal 11 without keeping a stepping state all the time, and a tail end jaw of the biopsy forceps device 4 is in a closed state at the moment; when the jaws need to be loosened, the user can quickly step downwards, the inclined plane on the weight type lifting hook 161 and the inclined plane hook groove 171 move mutually, the weight type lifting hook 161 is quickly separated from the inclined plane hook groove 171 at a certain initial speed under the action of external force, the weight type lifting hook 161 is separated and continuously overturned outwards due to inertia, at the moment, the pedal 11 is also overturned upwards at the same time, the two motions are matched with each other, the locking releasing effect is formed, and accordingly the jaws are loosened. In addition, in the aspect of force transmission, the output end of the motor reel mechanism 14 is connected with the wire core of the control cable 18, the wire pipe of the control cable 18 is fixedly connected with the front end of the bottom plate 17, and the force transmission process of the pedal device 1 is realized through the drawing movement of the wire core.
For the design of the pressing wheel 332, when the pressing wheel is driven by the pedal device 1, the distance between the bracelet 41 and the pushing block body 42 is shortened, at this time, because the pressing wheel 332 is arranged between the end surface of the pushing block body 42 and the side surface of the groove body of the installation clamping groove 331, direct extrusion between the end surface of the pushing block body 42 and the side surface of the groove body of the installation clamping groove 331 can be avoided, so that a condition is provided for the pushing block body 42 to rotate around the axis of the pushing block body in the space between the first sliding plate 33 and the second sliding plate 34, the original sliding friction is converted into rolling friction by the installation of the pressing wheel 332, and under the action of the speed reducing motor driving system 333, the rotating motion is realized while the pushing block body 42 performs translational motion, so that the purpose of indirectly and slowly adjusting the posture of the far end of the biopsy forceps device 4. Moreover, the voice recognition control system is connected to the reduction motor driving system 333, and a doctor can directly control the rotation posture of the distal end jaw of the biopsy forceps device 4 by voice through the voice recognition control system, but it is also easily conceivable by those skilled in the art to control the movement of the reduction motor driving system 333 by providing another operating mechanism, for example, a rotary disk device may be provided in parallel to the pedal device 1, and the movement of the reduction motor driving system 333 is controlled by a rotation signal, so that the purpose of adjusting the posture of the distal end jaw of the biopsy forceps device 4 is achieved.
In practical operation, the use method of the pedal control device for assisting endoscopic biopsy comprises the following steps:
(1) the control end of the near end of the endoscope biopsy forceps device 4 is fixedly arranged in the fixing device 3, the pedal device 1 is used for controlling the movement of the wire core, the stroke of the push block body 42 of the biopsy forceps device 4 on the fixing device 3 is controlled through the vertical supporting device 2, and then the jaw of the far end of the biopsy forceps device 4 is closed;
(2) the nurse sends the closed jaws of the biopsy forceps device 4 into the endoscope along the biopsy channel, and selects proper protruding length and direction;
(3) a doctor adjusts two hands to enable a target biopsy area to be stable in a visual field, the jaws are opened by lifting the pedal 11, the openings of the jaws are close to target tissues by matching of hands and feet, and the jaws of the biopsy forceps device 4 are clamped and closed by downwards stepping the pedal 11 so as to finish biopsy;
(4) the nurse takes out the biopsy forceps device 4, smears and fixes the pathological tissue.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A foot control device for assisting endoscope biopsy is characterized in that: the biopsy forceps comprise a pedal device, a vertical supporting device, a fixing device and a biopsy forceps device, wherein a control cable is connected between the pedal device and the vertical supporting device, a wiring pipeline is arranged inside the vertical supporting device, the vertical supporting device comprises a base, a vertical pipe and a flexible pipe supporting component, a balancing weight is arranged inside the base, a screwing part is arranged at the top end of the vertical pipe, the lower end of the flexible pipe supporting component is screwed and installed at the top end of the vertical pipe through the screwing part, the upper end of the flexible pipe supporting component is fixedly connected with the fixing device, the operating end of the biopsy forceps device is installed inside the fixing device, the forceps end of the biopsy forceps is positioned outside the fixing device, the fixing device comprises a fixing body, a gland, a first sliding push plate, a second sliding push plate, a pulley component, a driving pull rope, an elastic component, a holding part and a slide rail, the gland articulates the lateral part of fixed body, fixed body and gland inboard all are equipped with the slide rail, the smooth push pedal of first smooth push pedal and second corresponds respectively through the slide rail and installs on fixed body and gland, loose pulley assembly is connected with the drive stay cord, the drive stay cord is connected with the rear portion of first smooth push pedal, be equipped with elastic component on the fixed body, elastic component is connected with the front portion of first smooth push pedal, biopsy forceps device includes bracelet, traveller and pushes away the block body, the bracelet rotates with the traveller to be connected, it slips the suit in the traveller outside to push away the block body, bracelet fixed mounting be in on the fixed body, it is in to push away the block body fixation clamp first smooth push pedal with between the smooth push pedal of second, fixing device's surface is equipped with the portion of holding, the top surface of gland inlays and is equipped with the transparent plate, through the operation pedal device can realize under fixing device's indirect control action biopsy forceps device Opening and closing of the distal jaw.
2. A foot control device for assisting endoscopic biopsy according to claim 1, wherein: the pedal device comprises a pedal, a rotating shaft and a bottom plate, the pedal is rotatably connected onto the bottom plate through the rotating shaft, a motor reel mechanism is arranged inside the bottom plate, an angle sensor is arranged at the end of the rotating shaft and electrically connected with the motor reel mechanism, a pedal damping mechanism is connected between the pedal and the bottom plate, and a self-locking mechanism is installed on the pedal device.
3. A foot control device for assisting endoscopic biopsy according to claim 2, characterized in that: the self-locking mechanism comprises a weight type lifting hook, a guide inclined plane is arranged at the front end hook body of the weight type lifting hook, a swing shaft is connected to the rear end of the weight type lifting hook, the weight type lifting hook is rotatably connected to the front end edge of the pedal through the swing shaft, and an inclined plane hook groove matched with the hook body of the weight type lifting hook is arranged at the front end of the bottom plate.
4. A foot control device for assisting endoscopic biopsy according to claim 2, characterized in that: the output end of the motor drum mechanism is connected with a wire core of a control cable, and a wire pipe of the control cable is fixedly connected with the front end of the bottom plate.
5. A foot control device for assisting endoscopic biopsy according to claim 1, wherein: the cable core of the control cable penetrates through a wiring pipeline in the vertical supporting device to enter the fixing device, and the pulley assembly is connected with the cable core of the control cable.
6. A foot control device for assisting endoscopic biopsy according to claim 1, wherein: the outer surfaces of the first sliding push plate and the second sliding push plate are respectively provided with an installation clamping groove, the installation clamping grooves are used for clamping the push block bodies, and the inner extrusion surfaces of the installation clamping grooves are provided with pressing wheels used for reducing friction force.
7. A foot control device for assisting endoscopic biopsy according to claim 6, wherein: the first sliding push plate is provided with a speed reducing motor driving system, the speed reducing motor driving system is connected with a driving belt, and the driving belt is connected to the middle of the block pushing body in a sleeved mode.
8. A foot control device for assisting endoscopic biopsy according to claim 7, wherein: the speed reducing motor driving system is connected with a voice recognition control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010240608.7A CN111419296B (en) | 2020-03-31 | 2020-03-31 | A foot operated control device for assisting scope biopsy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010240608.7A CN111419296B (en) | 2020-03-31 | 2020-03-31 | A foot operated control device for assisting scope biopsy |
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| CN111419296A CN111419296A (en) | 2020-07-17 |
| CN111419296B true CN111419296B (en) | 2021-07-02 |
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| CN201163372Y (en) * | 2007-10-10 | 2008-12-10 | 张铁军 | Foot-actuated data collector |
| CN202649863U (en) * | 2012-05-25 | 2013-01-02 | 成都威诺电子设备制造有限责任公司 | Control board with foot pedal |
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