CN112370007A - Colonoscope control device - Google Patents
Colonoscope control device Download PDFInfo
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- CN112370007A CN112370007A CN202011112968.5A CN202011112968A CN112370007A CN 112370007 A CN112370007 A CN 112370007A CN 202011112968 A CN202011112968 A CN 202011112968A CN 112370007 A CN112370007 A CN 112370007A
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 230000001681 protective effect Effects 0.000 claims description 34
- 238000013016 damping Methods 0.000 claims description 18
- 210000001072 colon Anatomy 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 7
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000000968 intestinal effect Effects 0.000 description 4
- 206010009944 Colon cancer Diseases 0.000 description 2
- 208000029742 colonic neoplasm Diseases 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000002052 colonoscopy Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000036210 malignancy Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—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 combined with photographic or television appliances
- A61B1/045—Control thereof
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Abstract
The invention relates to the technical field of medical instruments, and provides a colonoscope control device. This colonoscope controlling device includes: the operating mechanism comprises a track ball and a track acquisition assembly, and the track ball is connected with the track acquisition assembly; the control mechanism comprises a controller, and the input end of the controller is connected with the track acquisition assembly; and the output mechanism comprises a driving assembly and a colonoscope lens, the driving assembly is connected with the output end of the controller, and the driving end of the driving assembly is connected with the colonoscope lens. According to the embodiment of the invention, the operating mechanism, the control mechanism and the output mechanism are arranged, the track acquisition assembly acquires the rotation track information of the track ball, the controller receives the track information and converts the track information into the electric signal to be transmitted to the driving assembly, and the driving assembly drives the colonoscope lens to rotate, so that the colonoscope lens is controlled, the operation is simplified, the labor intensity is reduced, and the high efficiency, the safety and the accuracy of colon examination are realized.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a colonoscope control device.
Background
The traditional medical care industry faces the problems of long time, high load, quick turnover and the like of medical care personnel, and along with the aging of the population in China, the labor cost is obviously improved on one hand, and the social medical requirements are increased more and more on the other hand. Therefore, the automation and intelligence of the medical care industry are effective measures for solving the problems and are a necessary trend for the development of the industry. Wisdom medical treatment is as explaiing the cost, the effective solution of raising the efficiency, can greatly lower medical personnel's intensity of labour, improves operation efficiency and cure success rate. Colon cancer is the third malignancy of worldwide incidence, and colonoscopy is an effective tool for the discovery, prevention and treatment of colon cancer.
The existing colonoscope technology based on manual operation seriously depends on the experience and heavy physical labor of an operator, and cannot realize the high efficiency, safety and easy operability of colon examination.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides a colonoscope control device to solve the problems of complicated operation and low examination efficiency of the conventional colonoscope.
A colonoscope manipulation apparatus according to an embodiment of the present invention comprises:
the operation mechanism comprises a track ball and a track acquisition assembly, and the track ball is connected with the track acquisition assembly;
the control mechanism comprises a controller, and the input end of the controller is connected with the track acquisition assembly;
the output mechanism comprises a driving assembly and a colonoscope lens, the driving assembly is connected with the output end of the controller, and the driving end of the driving assembly is connected with the colonoscope lens.
According to the colonoscope control device provided by the embodiment of the invention, the operation mechanism, the control mechanism and the output mechanism are arranged, the track acquisition assembly acquires the rotation track information of the track ball, the controller receives the track information and converts the track information into the electric signal to transmit the electric signal to the driving assembly, and the driving assembly drives the colonoscope lens to rotate, so that the colonoscope lens is controlled, the operation is simplified, the labor intensity is reduced, and the high efficiency, the safety and the accuracy of colon examination are realized.
According to an embodiment of the present invention, the operating mechanism further includes a first protection box, the first protection box is provided with a first protection cover, a support base is arranged in the first protection box, the trackball is arranged on the support base, and the first protection cover is provided with an operating hole adapted to the trackball.
According to one embodiment of the invention, the track collection assembly is arranged in the first protection box and comprises a first friction shaft, a first encoder, a second friction shaft and a second encoder;
the first end of the first friction shaft is connected with a first bearing base fixed in the first protection box, the first friction shaft is tangent to the track ball, the second end of the first friction shaft is connected with the first encoder through a first coupler, and the first encoder is connected with the controller;
the first end of the second friction shaft is connected with a second bearing base fixed in the first protection box, the second friction shaft is tangent to the track ball, the second end of the second friction shaft is connected with the second encoder through a second coupler, and the second encoder is connected with the controller.
According to an embodiment of the invention, the track collection assembly further comprises a first electromagnetic lock and a second electromagnetic lock which are both connected with the controller, the first electromagnetic lock is fixed in the first protection box through a first fixing base, and the end part of an output shaft of the first electromagnetic lock is in damping fit with the track ball;
the second electromagnetic lock is fixed in the first protection box through a second fixing base, and the end of an output shaft of the second electromagnetic lock is matched with the damping of the track ball.
According to an embodiment of the present invention, an axis of the first friction shaft is perpendicular to an axis of the second friction shaft, an axis of the output shaft of the first electromagnetic lock is perpendicular to an axis of the output shaft of the second electromagnetic lock, the first electromagnetic lock and the first electromagnetic lock are respectively disposed on two opposite sides of the trackball, and the second electromagnetic lock are respectively disposed on two opposite sides of the trackball.
According to one embodiment of the invention, a first damping sleeve is sleeved on the end portion of the output shaft of the first electromagnetic lock, and a second damping sleeve is sleeved on the end portion of the output shaft of the second electromagnetic lock.
According to one embodiment of the present invention, a first vibration sensor, a second vibration sensor, a third vibration sensor and a fourth vibration sensor are uniformly provided on the circumferential side of the trackball, and the first vibration sensor, the second vibration sensor, the third vibration sensor and the fourth vibration sensor are respectively provided on the inner wall of the first protection case.
According to an embodiment of the present invention, the output mechanism further includes a second protective box, the second protective box is provided with a second protective cover, the driving assembly includes an adjusting handle, a first gear, a second gear and an angle maintaining knob, a first end of the adjusting handle is connected to the colonoscope lens, the adjusting handle is sleeved with a first knob for sleeving the first gear and a second knob for sleeving the second gear, the angle maintaining knob is connected to a second end of the adjusting handle, the second protective cover is provided with a first through hole adapted to the angle maintaining knob, and a side wall of the second protective box is provided with a second through hole adapted to the colonoscope lens.
According to an embodiment of the present invention, the output mechanism further includes a first motor and a second motor both connected to the controller, an output end of the first motor is disposed in the second protection box in a penetrating manner, and a third gear is disposed, and the third gear is engaged with the second gear;
the output end of the second motor penetrates through the second protection box and is provided with a fourth gear, and the fourth gear is meshed with the first gear.
According to one embodiment of the invention, a first fixing plate and a second fixing plate are respectively sleeved on the adjusting handles on two sides of the first gear, and the first fixing plate and the second fixing plate are connected through a first bolt;
and a third fixing plate and a fourth fixing plate are sleeved on the adjusting handles on two sides of the second gear respectively and are connected through a second bolt.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a colonoscope manipulation apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the operating mechanism of the colonoscope manipulating device according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of an output mechanism of a colonoscope manipulating device according to an embodiment of the present invention.
Reference numerals:
1. an operating mechanism; 2. an output mechanism; 3. a first protective cover; 4. a first protective case; 5. an operation hole; 6. a trackball; 7. threading holes; 8. a second protective cover; 9. a second protection box; 10. a first through hole; 11. an angle retention knob; 12. a second through hole; 13. a colonoscope lens; 14. a first motor; 15. a second motor; 16. a support base; 17. a first friction shaft; 18. a first bearing base; 19. a first coupling; 20. a first mounting seat; 21. a first encoder; 22. a second friction shaft; 23. a second bearing base; 24. a second coupling; 25. a second mounting seat; 26. a second encoder; 27. a first electromagnetic lock; 28. a first fixed base; 29. a first damping sleeve; 30. a second electromagnetic lock; 31. a second fixed base; 32. a second damping sleeve; 33. a first vibration sensor; 34. a second vibration sensor; 35. a third vibration sensor; 36. a fourth vibration sensor; 37. an adjusting handle; 39. a third coupling; 40. a third gear; 41. a second gear; 42. a second knob; 43. a fourth fixing plate; 44. a third fixing plate; 46. a fourth coupling; 47. a fourth gear; 48. a first gear; 49. a first knob; 50. a second fixing plate; 51. a first fixing plate.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As shown in fig. 1 to 3, an embodiment of the present invention provides a colonoscope manipulating device, including:
the operation mechanism 1 comprises a track ball 6 and a track acquisition component, wherein the track ball 6 is connected with the track acquisition component;
the control mechanism comprises a controller, and the input end of the controller is connected with the track acquisition assembly;
and the output mechanism 2 comprises a driving component and a colonoscope lens 13, the driving component is connected with the output end of the controller, and the driving end of the driving component is connected with the colonoscope lens 13. It can be understood that the operating mechanism 1 is used as an input mechanism of control information of the control mechanism, and the control mechanism converts the control information into a control electric signal and transmits the control electric signal to the output mechanism 2, so as to control the colonoscope lens 13. Specifically, operating device 1 and output mechanism 2 independent setting, the convenience is independently operated operating device 1, and output mechanism 2 can independently carry out the rotation to colonoscope camera lens 13 simultaneously, improves the flexibility of controlling.
Further, the operating mechanism 1 includes a track ball 6 and a track collection assembly, the operator rotates and slides the track ball 6 by operating, and the track collection assembly collects the rotation motion track information of the track ball 6. The control mechanism comprises a controller, and the input end of the controller is connected with the track acquisition assembly and used for receiving the motion track information and calculating and converting the motion track information into an operation electric signal.
The output mechanism 2 comprises a driving component and a colonoscope lens 13, the output end of the controller is connected with the driving component to transmit the control electric signal to the driving component, the driving end of the driving component is connected with the colonoscope lens 13, the driving component outputs power according to the control electric signal and acts on the colonoscope lens 13 to enable the colonoscope lens 13 to rotate according to the requirements of colon examination, and the control of the colonoscope lens 13 is realized. That is, the control of the colonoscope lens 13 can be realized by operating the track ball 6.
According to the colonoscope control device provided by the embodiment of the invention, the operation mechanism 1, the control mechanism and the output mechanism 2 are arranged, the track acquisition assembly acquires the rotation track information of the track ball 6, the controller receives the track information and converts the track information into an electric signal to transmit the electric signal to the driving assembly, and the driving assembly drives the colonoscope lens 13 to rotate, so that the colonoscope lens 13 is controlled, the operation is simplified, the labor intensity is reduced, and the high efficiency, the safety and the accuracy of colon examination are realized.
According to an embodiment of the present invention, the operating mechanism 1 further includes a first protection box 4, the first protection box 4 is provided with a first protection cover 3, the first protection box 4 is provided with a support base 16, the trackball 6 is provided on the support base 16, and the first protection cover 3 is provided with an operating hole 5 adapted to the trackball 6. It can be understood that the upper side of the first protection box 4 is provided with the first protection cover 3, which forms a closed box body and realizes the protection of the components in the first protection box 4. A support base 16 is provided in the first protection case 4, the trackball 6 is provided on the support base 16, and the trackball 6 can freely roll on the support base 16. First protection cover 3 is equipped with the handle hole 5 with 6 looks adaptations of trackball, and the size of handle hole 5 is less than the diameter of trackball 6, but need guarantee that the upside of trackball 6 exposes in the outside of first protection box 4 through handle hole 5, guarantees that operating personnel can control trackball 6. It is to be noted that the size and weight of the first protective case 4 are sufficient to facilitate the grasping by the operator.
According to one embodiment of the present invention, the first protective case 4 has a threading hole 7 formed on a sidewall thereof for threading a power supply wire and a signal transmission wire.
According to one embodiment of the present invention, the track-collecting assembly is provided in the first protection box 4, and the track-collecting assembly includes a first friction shaft 17, a first encoder 21, a second friction shaft 22, and a second encoder 26; a first end of the first friction shaft 17 is connected with a first bearing base 18 fixed in the first protection box 4, the first friction shaft 17 is tangent to the track ball 6, a second end of the first friction shaft 17 is connected with the first encoder 21 through a first coupler 19, and the first encoder 21 is connected with the controller; a first end of the second friction shaft 22 is connected to a second bearing base 23 fixed in the first protection box 4, the second friction shaft 22 is tangent to the track ball 6, a second end of the second friction shaft 22 is connected to the second encoder 26 through a second coupling 24, and the second encoder 26 is connected to the controller. It can be understood that the track collection assembly is arranged in the first protection box 4, and the track collection assembly is protected. When the movement component of the track ball 6 in the axial direction of the first friction shaft 17 is not zero, the track ball 6 drives the first friction shaft 17 to rotate according to the diameter ratio of the track ball 6 to the first friction shaft 17, and when the first friction shaft 17 rotates, the first encoder 21 records the rotating angle and speed of the first friction shaft 17 through the first coupler 19 and transmits the information of the physical quantity to the controller in real time. When the movement component of the track ball 6 in the axial direction of the second friction shaft 22 is not zero, the track ball 6 drives the second friction shaft 22 to rotate according to the diameter ratio of the track ball 6 to the second friction shaft 22, and when the second friction shaft 22 rotates, the second encoder 26 records the rotating angle and speed of the second friction shaft 22 through the second coupler 24 and transmits the information of the physical quantity to the controller in real time.
The first encoder 21 is mounted in the first protective case 4 through the first mounting base 20, and the second encoder 26 is mounted in the first protective case 4 through the second mounting base 25.
According to an embodiment of the present invention, the trajectory acquisition assembly further comprises a first electromagnetic lock 27 and a second electromagnetic lock 30 both connected to the controller, the first electromagnetic lock 27 is fixed in the first protection box 4 by a first fixing base 28, and an end of an output shaft of the first electromagnetic lock 27 is in damping fit with the trackball 6; the second electromagnetic lock 30 is fixed in the first protection box 4 through a second fixing base 31, and the end of the output shaft of the second electromagnetic lock 30 is in damping fit with the trackball 6.
According to one embodiment of the invention, the end of the output shaft of the first electromagnetic lock 27 is sleeved with a first damping sleeve 29, and the end of the output shaft of the second electromagnetic lock 30 is sleeved with a second damping sleeve 32. It will be appreciated that the centre of the trackball 6 is located on the axis of the output shaft of the first electromagnetic lock 27 and the axis of the output shaft of the second electromagnetic lock 30. When the output shaft of the first electromagnetic lock 27 is extended automatically to make the first damping sleeve 29 on the output shaft contact with the trackball 6 when the output shaft of the first electromagnetic lock 27 is rotated continuously in the direction perpendicular to the output shaft, so that the damping of the rotation of the trackball 6 is increased, and the operator is reminded to reduce the operation amount in the direction to prevent the intestinal wall from being punctured; when there is a risk of piercing the intestinal wall while continuing to rotate in a direction perpendicular to the output shaft of the second electromagnetic lock 30, the output shaft of the second electromagnetic lock 30 automatically elongates, causing the second damping sleeve 32 on the output shaft thereof to contact the trackball 6, increasing the damping when the trackball 6 rotates, thereby alerting the operator to reduce the amount of manipulation in that direction to prevent piercing the intestinal wall.
According to an embodiment of the present invention, the axis of the first friction shaft 17 is perpendicular to the axis of the second friction shaft 22, the axis of the output shaft of the first electromagnetic lock 27 is perpendicular to the axis of the output shaft of the second electromagnetic lock 30, the first electromagnetic lock 27 and the first electromagnetic lock 27 are respectively disposed on two opposite sides of the trackball 6, and the second electromagnetic lock 30 are respectively disposed on two opposite sides of the trackball 6. It is understood that, as shown in fig. 2, the first friction shaft 17 is provided on the rear side of the trackball 6, the first electromagnetic lock 27 is provided on the front side of the trackball 6, and the axis of the output shaft of the first electromagnetic lock 27 is perpendicular to the axis of the first friction shaft 17; the second friction shaft 22 is arranged on the left side of the track ball 6, the second electromagnetic lock 30 is arranged on the right side of the track ball 6, and the axis of the output shaft of the second electromagnetic lock 30 is perpendicular to the axis of the second friction shaft 22; the axis of the output shaft of the first electromagnetic lock 27 is perpendicular to the axis of the output shaft of the second electromagnetic lock 30, and the axis of the first friction shaft 17 is perpendicular to the axis of the second friction shaft 22.
According to an embodiment of the present invention, the first vibration sensor 33, the second vibration sensor 34, the third vibration sensor 35, and the fourth vibration sensor 36 are uniformly provided on the circumferential side of the trackball 6, and the first vibration sensor 33, the second vibration sensor 34, the third vibration sensor 35, and the fourth vibration sensor 36 are respectively provided on the inner wall of the first protection case 4. It is to be understood that the first vibration sensor 33 is provided on the rear side wall of the first protective case 4, the second vibration sensor 34 is provided on the right side wall of the first protective case 4, the third vibration sensor 35 is provided on the front side wall of the first protective case 4, and the fourth vibration sensor 36 is provided on the left side wall of the first protective case 4. When the operator continues to manipulate the trackball 6 in a certain direction with the risk of piercing the intestinal wall, the vibration sensor of the corresponding direction starts to vibrate, and the higher the risk, the higher the vibration frequency of the corresponding vibration sensor.
According to an embodiment of the present invention, the output mechanism 2 further includes a second protective box 9, the second protective box 9 is provided with a second protective cover 8, the driving assembly includes an adjusting handle 37, a first gear 48, a second gear 41 and an angle maintaining knob 11, a first end of the adjusting handle 37 is connected to the colonoscope lens 13, the adjusting handle 37 is sleeved with a first knob 49 for sleeving the first gear 48 and a second knob 42 for sleeving the second gear 41, the angle maintaining knob 11 is connected to a second end of the adjusting handle 37, the second protective cover 8 is provided with a first through hole 10 adapted to the angle maintaining knob 11, and a side wall of the second protective box 9 is provided with a second through hole 12 adapted to the colonoscope lens 13.
According to an embodiment of the present invention, the output mechanism 2 further includes a first motor 14 and a second motor 15 both connected to the controller, an output end of the first motor 14 is disposed through the second protection box 9 and is provided with a third gear 40, and the third gear 40 is engaged with the second gear 41; the output end of the second motor 15 penetrates through the second protection box 9, and a fourth gear 47 is arranged, and the fourth gear 47 is meshed with the first gear 48. It can be understood that the first motor 14 moves to a designated position at a specific speed according to a control command by receiving a control signal transmitted from the controller, the third gear 40 drives the second gear 41 engaged with the first gear, the second gear 41 drives the second knob 42, and further drives the adjusting handle 37 to rotate, so as to rotate the colonoscope lens 13, thereby completing the whole movement of the colonoscope and completing the colon examination work in a matching manner, meanwhile, the first motor 14 records the rotation angle and rotation speed of the first motor 14 in real time through the third coupling 39 and transmits the rotation angle and rotation speed to the controller, and the controller records the current loop of the first motor 14 and calculates the output torque through dynamics. The second motor 15 moves to a designated position at a specific speed according to a control command by receiving a control signal transmitted by the controller, the fourth gear 47 drives the first gear 48 meshed with the second motor, the first gear 48 drives the first knob 49, and further drives the adjusting handle 37 to rotate, so that the lens 13 of the colonoscope rotates, the colonoscope completes all movements and completes colon examination work in a matching manner, meanwhile, the second motor 15 records the rotating angle and the rotating speed of the second motor 15 in real time through the fourth coupler 46 and transmits the rotating angle and the rotating speed to the controller, and the controller records the current loop of the second motor 15 and calculates the output torque through dynamics.
According to an embodiment of the present invention, the adjusting handles 37 at two sides of the first gear 48 are respectively sleeved with a first fixing plate 51 and a second fixing plate 50, and the first fixing plate 51 and the second fixing plate 50 are connected by a first bolt; the adjusting handles 37 on two sides of the second gear 41 are respectively sleeved with a third fixing plate 44 and a fourth fixing plate 43, and the third fixing plate 44 and the fourth fixing plate 43 are connected by a second bolt. It can be understood that the first knob 49 is sleeved in the first sleeve hole of the first gear 48, the first knob 49 and the first gear 48 are arranged between the first fixing plate 51 and the second fixing plate 50, and the first fixing plate 51 and the second fixing plate 50 are fixedly connected through 5 uniformly distributed first bolts. The second knob 42 is sleeved in the second sleeve hole of the second gear 41, the second knob 42 and the second gear 41 are arranged between the third fixing plate 44 and the fourth fixing plate 43, and the third fixing plate 44 and the fourth fixing plate 43 are fixedly connected through 6 uniformly distributed second bolts. An angle maintaining knob 11 is connected to a second end of the adjusting handle 37 to manually maintain the angle of the colonoscope lens 13.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (10)
1. A colonoscope manipulation device, comprising:
the operation mechanism comprises a track ball and a track acquisition assembly, and the track ball is connected with the track acquisition assembly;
the control mechanism comprises a controller, and the input end of the controller is connected with the track acquisition assembly;
the output mechanism comprises a driving assembly and a colonoscope lens, the driving assembly is connected with the output end of the controller, and the driving end of the driving assembly is connected with the colonoscope lens.
2. A colonoscope manipulation device according to claim 1, wherein said manipulation mechanism further comprises a first protective case having a first protective cap, said first protective case having a support base therein, said trackball being disposed on said support base, said first protective cap having a manipulation hole adapted to said trackball.
3. A colonoscope manipulation device according to claim 2, wherein said trajectory acquisition assembly is disposed within said first protective case, said trajectory acquisition assembly comprising a first friction shaft, a first encoder, a second friction shaft, and a second encoder;
the first end of the first friction shaft is connected with a first bearing base fixed in the first protection box, the first friction shaft is tangent to the track ball, the second end of the first friction shaft is connected with the first encoder through a first coupler, and the first encoder is connected with the controller;
the first end of the second friction shaft is connected with a second bearing base fixed in the first protection box, the second friction shaft is tangent to the track ball, the second end of the second friction shaft is connected with the second encoder through a second coupler, and the second encoder is connected with the controller.
4. A colonoscope manipulation device according to claim 3, wherein said trajectory acquisition assembly further comprises a first electromagnetic lock and a second electromagnetic lock both connected to said controller, said first electromagnetic lock being secured within said first protective case by a first securing base, an end of an output shaft of said first electromagnetic lock being adapted to said trackball damping;
the second electromagnetic lock is fixed in the first protection box through a second fixing base, and the end of an output shaft of the second electromagnetic lock is matched with the damping of the track ball.
5. A colonoscope manipulation device according to claim 4, wherein said first friction shaft is substantially perpendicular to said second friction shaft, said first electromagnetic lock has an output shaft substantially perpendicular to said second electromagnetic lock, said first and second electromagnetic locks are disposed on opposite sides of said trackball, and said second and second electromagnetic locks are disposed on opposite sides of said trackball.
6. A colonoscope manipulation device according to claim 4 and wherein said first electromagnetic lock has an output shaft which is sleeved at an end thereof with a first damping sleeve and said second electromagnetic lock has an output shaft which is sleeved at an end thereof with a second damping sleeve.
7. A colonoscope manipulation device according to claim 2, wherein said trackball is provided with a first vibration sensor, a second vibration sensor, a third vibration sensor and a fourth vibration sensor at the periphery thereof, said first vibration sensor, said second vibration sensor, said third vibration sensor and said fourth vibration sensor being respectively provided on the inner wall of said first protective case.
8. The colonoscope manipulation device according to claim 1, wherein the output mechanism further comprises a second protective box, the second protective box is provided with a second protective cover, the driving assembly comprises an adjusting handle, a first gear, a second gear and an angle maintaining knob, a first end of the adjusting handle is connected with the colonoscope lens, the adjusting handle is sleeved with a first knob for sleeving the first gear and a second knob for sleeving the second gear, the angle maintaining knob is connected with a second end of the adjusting handle, the second protective cover is provided with a first through hole matched with the angle maintaining knob, and a side wall of the second protective box is provided with a second through hole matched with the colonoscope lens.
9. A colonoscope manipulation device according to claim 8, wherein said output mechanism further comprises a first motor and a second motor both connected to said controller, an output end of said first motor is disposed through said second protective box and provided with a third gear, said third gear is engaged with said second gear;
the output end of the second motor penetrates through the second protection box and is provided with a fourth gear, and the fourth gear is meshed with the first gear.
10. A colonoscope manipulation device according to claim 8, wherein a first fixing plate and a second fixing plate are respectively sleeved on the adjustment handles at both sides of the first gear, and the first fixing plate and the second fixing plate are connected by a first bolt;
and a third fixing plate and a fourth fixing plate are sleeved on the adjusting handles on two sides of the second gear respectively and are connected through a second bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011112968.5A CN112370007B (en) | 2020-10-16 | 2020-10-16 | Colonoscope control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011112968.5A CN112370007B (en) | 2020-10-16 | 2020-10-16 | Colonoscope control device |
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| CN112370007A true CN112370007A (en) | 2021-02-19 |
| CN112370007B CN112370007B (en) | 2024-04-16 |
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| CN202011112968.5A Active CN112370007B (en) | 2020-10-16 | 2020-10-16 | Colonoscope control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115399726A (en) * | 2022-11-01 | 2022-11-29 | 吉林大学 | System for assisting colonoscopy |
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