CN112426236A - Microscope for intelligent micro neurosurgery operation - Google Patents
Microscope for intelligent micro neurosurgery operation Download PDFInfo
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- CN112426236A CN112426236A CN202011377528.2A CN202011377528A CN112426236A CN 112426236 A CN112426236 A CN 112426236A CN 202011377528 A CN202011377528 A CN 202011377528A CN 112426236 A CN112426236 A CN 112426236A
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 239000011521 glass Substances 0.000 claims abstract description 22
- 238000001356 surgical procedure Methods 0.000 claims description 6
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- 238000009423 ventilation Methods 0.000 claims description 3
- 238000001816 cooling Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 210000003128 head Anatomy 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 206010028980 Neoplasm Diseases 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 210000004243 sweat Anatomy 0.000 description 2
- 208000022211 Arteriovenous Malformations Diseases 0.000 description 1
- 208000006274 Brain Stem Neoplasms Diseases 0.000 description 1
- 201000008450 Intracranial aneurysm Diseases 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000005744 arteriovenous malformation Effects 0.000 description 1
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- 239000010839 body fluid Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004821 distillation Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000185 intracerebroventricular administration Methods 0.000 description 1
- 238000007917 intracranial administration Methods 0.000 description 1
- 238000001531 micro-dissection Methods 0.000 description 1
- 238000000386 microscopy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000250 revascularization Effects 0.000 description 1
- 208000015093 skull base neoplasm Diseases 0.000 description 1
- 206010062261 spinal cord neoplasm Diseases 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000035900 sweating Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/20—Surgical microscopes characterised by non-optical aspects
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
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Abstract
The invention discloses an intelligent microscope for a microneurosurgery operation, which has the technical scheme that: the glasses comprise VR glasses and a support frame, wherein a foot switch is arranged on one side of the support frame, a gyroscope is arranged in the VR glasses, a connecting rod is rotatably connected to the side wall of the support frame, and a sleeve is fixedly connected to one end, far away from the support frame, of the connecting rod, and the glasses have the beneficial effects that: through setting up gyroscope cooperation second actuating mechanism, can be when the main surgeon doctor operates, utilize the motion of gyroscope response main surgeon doctor head, thereby control second actuating mechanism and drive the removal of picture collection mechanism, the picture that makes the VR glasses present and the action phase-match that the main surgeon doctor removed the head, not only can improve microscope and main surgeon doctor's harmony, and reduce the training difficulty when this kind of medical instrument uses, the clinical utilization is effectual, and control is convenient, burden when can not increase the operation of main surgeon doctor.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an intelligent microscope for a microneurosurgery operation.
Background
Neurosurgery was introduced to the operation microscope in the early 60 s, and as the microscope has good illumination and high definition, pathological tissues and adjacent structures in the operative field are amplified, and a bipolar electrocoagulator, a microsurgical instrument, a laser knife, ultrasonic suction and the like are used in a matched manner, the operation precision and accuracy are better, the probability of damaging adjacent important structures is reduced, the operation treatment effect is obviously improved, and the operation complications, the operation death rate and the disability rate are obviously reduced. Because of the superiority, neurosurgery is quickly valued by neurosurgeons, and neurosurgery is in the age of microneurosurgery from under-flesh-eyes operation and under-glasses type magnifying glasses operation. And is generally accepted in western developed countries, and the application is gradually expanded to almost all neurosurgical operations, such as intracranial aneurysm, arteriovenous malformation, revascularization operation, intracerebroventricular tumor, saddle region tumor, skull base tumor, and brain stem tumor and spinal cord tumor which are considered to belong to operation forbidden regions in the past. Since the 60 s, many neurosurgeons have devoted themselves to the study of microneurosurgical techniques, microscopic instruments and intracranial microdissection, and have published monographs on microneurosurgical work.
In the course of a microneurosurgery operation, a microscope is adopted to cooperate with imaging equipment to observe an operation position in the whole course, so that the microscope is matched with a main surgeon to perform the operation, the conventional microscopy equipment is often used for fixing a plurality of cameras and shadowless lamps through a support to perform picture acquisition, the coordination with the main surgeon is insufficient, and meanwhile, the microscope is small in required objective focal length and large in mirror surface diameter; the eyepiece has a large focal length, a small mirror surface diameter and a long lens barrel length, requires a large space, is heavy to move, and is complex to operate.
Therefore, it is necessary to invent an intelligent microscope for the microneurosurgery operation.
Disclosure of Invention
The invention provides an intelligent microscope for microneurosurgery operation, which is characterized in that a gyroscope is arranged to be matched with a foot switch, so that the microscope can be matched with a main surgeon more closely when the main surgeon performs the operation, and the problem that the prior microscope equipment often performs picture acquisition by fixing a plurality of cameras and shadowless lamps through a support and has insufficient coordination with the main surgeon is solved.
In order to achieve the above purpose, the invention provides the following technical scheme: an intelligent microscope for a microneurosurgery operation comprises VR glasses and a support frame, wherein a foot switch is arranged on one side of the support frame, a gyroscope is arranged in the VR glasses, the side wall of the support frame is rotatably connected with a connecting rod, a sleeve is fixedly connected to one end, away from the support frame, of the connecting rod, a first driving mechanism is arranged on the sleeve, and the inner wall of the sleeve is slidably connected with an upper sliding rod;
the first driving mechanism comprises a first servo motor, the first servo motor is fixedly connected with the side wall of the sleeve, the output end of the first servo motor is fixedly connected with a driving gear, the lower end of the sleeve is rotatably connected with a threaded sleeve, the side wall of the threaded sleeve is provided with a tooth socket matched with the driving gear, the threaded sleeve is internally and threadedly connected with a lower sliding rod, the side walls of the upper sliding rod and the lower sliding rod are fixedly connected with limit blocks, a sliding groove matched with the limit blocks is formed in the sleeve, and one end, away from each other, of the upper sliding rod and the lower sliding rod is provided with a second driving mechanism;
the second driving mechanism comprises a second servo motor, the second servo motor is respectively fixedly connected with the inner walls of the upper sliding rod and the lower sliding rod, the output end of the second servo motor is fixedly connected with a sun gear, the inner walls of the upper sliding rod and the lower sliding rod are respectively fixedly connected with an inner gear, a plurality of planet gears are arranged between the sun gear and the inner gear, the planet gears are rotatably connected with the connecting frame, the connecting frame is rotatably connected with a limiting frame, the limiting frame is fixedly connected with the inner walls of the upper sliding rod and the lower sliding rod, the upper end of the connecting frame is fixedly connected with a rotating rod, a T-shaped groove is formed in the side wall of the rotating rod, a rack is fixedly connected with the inner side wall of the T-shaped groove, a T-shaped sliding block is slidably connected in the T-shaped groove, a third servo motor is fixedly connected in the T-shaped, the walking gear is meshed with the rack, the side wall of the T-shaped sliding block, far away from the T-shaped groove, is fixedly connected with a spherical sleeve, and a picture acquisition mechanism is connected in the spherical sleeve in a sliding manner;
the picture collection mechanism comprises an objective lens sleeve and an eyepiece lens sleeve, wherein an objective lens and an eyepiece lens are respectively arranged in the objective lens sleeve and the eyepiece lens sleeve, the upper end of the eyepiece lens sleeve is fixedly connected with a shell, a camera is fixedly connected with the shell in the shell, a cooling fan is embedded at the upper end of the shell, sliding sleeves matched with spherical sleeves are fixedly connected with the side walls of the objective lens sleeve and the eyepiece lens sleeve, ventilation holes are formed in the objective lens sleeve and the eyepiece lens sleeve, a plurality of illuminating lamps are embedded at the lower end of the objective lens sleeve, and an air guide ring is fixedly connected with the lower end of the objective.
The telescopic upper end lateral wall fixedly connected with electric putter, the sheathed tube lower extreme lateral wall fixedly connected with second electric putter of eyepiece.
Preferably, the gyroscope and the foot switch are electrically connected with a controller through leads, and the controller is electrically connected with the first servo motor, the second servo motor, the third servo motor, the first electric push rod and the second electric push rod through leads.
Preferably, one side fixedly connected with vice display screen of support frame, and vice display screen passes through wire and camera electric connection.
Preferably, the number of the planet wheels is at least three, and the number of teeth of the planet wheels is greater than that of the sun gear.
Preferably, the movable ends of the first electric push rod and the second electric push rod are fixedly connected with rubber pads.
Preferably, the foot switch comprises a bottom plate, the upper surface of the bottom plate is fixedly connected with a protective cover, the upper surface of the bottom plate is rotatably connected with a pedal, a two-way switch is arranged in the bottom plate, and one end of the two-way switch is fixedly connected with a clamping ring.
The invention has the beneficial effects that:
1. according to the medical instrument, the gyroscope is matched with the second driving mechanism, so that when a doctor knife performs an operation, the motion of the head of the doctor knife can be sensed by the gyroscope, the second driving mechanism is controlled to drive the picture collecting mechanism to move, pictures displayed by the VR glasses are matched with the motion of the head of the doctor knife, the coordination between the microscope and the doctor knife can be improved, the training difficulty of the medical instrument during use is reduced, the clinical utilization effect is good, the control is convenient, and the burden of the doctor knife during the operation can not be increased;
2. according to the invention, by arranging the foot switch, the first driving mechanism, the first electric push rod and the second electric push rod, the focus of the image acquisition mechanism can be conveniently controlled by a main surgeon in the operation process, so that the operation of the main surgeon is facilitated, and the adjustment is convenient and accurate while the operation and control are convenient without the cooperation of two hands or other people.
Drawings
FIG. 1 is a schematic view of the overall structure provided by the present invention;
FIG. 2 is a schematic view of a partial structure provided by the present invention;
FIG. 3 is a schematic view of a rotating rod structure provided by the present invention;
FIG. 4 is a schematic cross-sectional view of a second drive mechanism provided in accordance with the present invention;
FIG. 5 is a schematic top view of a second driving mechanism provided in the present invention;
FIG. 6 is a schematic structural diagram of a picture collection mechanism according to the present invention;
FIG. 7 is a schematic view of the structure of the foot switch of the present invention
In the figure: 1. VR glasses; 2. a foot switch; 201. a base plate; 202. a shield; 203. a pedal; 204. a bi-directional switch; 205. a snap ring; 3. a support frame; 4. a gyroscope; 5. a connecting rod; 6. a sleeve; 7. a sliding rod is arranged; 8. a first servo motor; 9. a drive gear; 10. a threaded sleeve; 11. a lower sliding rod; 12. a limiting block; 13. a second drive mechanism; 131. a second servo motor; 132. a sun gear; 133. an internal gear; 134. a planet wheel; 135. a connecting frame; 14. rotating the rod; 15. a rack; 16. a T-shaped slider; 17. a third servo motor; 18. a traveling gear; 19. a spherical sleeve; 20. an objective lens sleeve; 21. an eyepiece sleeve; 22. an objective lens; 23. an eyepiece; 24. a housing; 25. a camera; 26. a heat radiation fan; 27. a vent hole; 28. an illuminating lamp; 29. a wind guide ring; 30. a first electric push rod; 31. a second electric push rod; 32. and a secondary display screen.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In an embodiment, referring to fig. 1 to 7, the microscope for an intelligent microneurosurgery surgery provided by the invention comprises VR glasses 1 and a support frame 3, wherein a foot switch 2 is arranged on one side of the support frame 3, a gyroscope 4 is arranged in the VR glasses 1, a connecting rod 5 is rotatably connected to a side wall of the support frame 3, a sleeve 6 is fixedly connected to one end, away from the support frame 3, of the connecting rod 5, a first driving mechanism is arranged on the sleeve 6, and an upper sliding rod 7 is slidably connected to the inner wall of the sleeve 6;
the first driving mechanism comprises a first servo motor 8, the first servo motor 8 is fixedly connected with the side wall of the sleeve 6, the output end of the first servo motor 8 is fixedly connected with a driving gear 9, the lower end of the sleeve 6 is rotatably connected with a threaded sleeve 10, the side wall of the threaded sleeve 10 is provided with a tooth socket matched with the driving gear 9, the threaded sleeve 10 is internally threaded with a lower sliding rod 11, the side walls of the upper sliding rod 7 and the lower sliding rod 11 are fixedly connected with limit blocks 12, a sliding groove matched with the limit blocks 12 is formed in the sleeve 6, and one end, away from each other, of the upper sliding rod 7 and one end, away from the lower sliding rod 11 are provided with a second driving mechanism 13;
the second driving mechanism 13 comprises a second servo motor 131, the second servo motor 131 is respectively fixedly connected with the inner walls of the upper slide bar 7 and the lower slide bar 11, an output end of the second servo motor 131 is fixedly connected with a sun gear 132, the inner walls of the upper slide bar 7 and the lower slide bar 11 are fixedly connected with an inner gear 133, a plurality of planet gears 134 are arranged between the sun gear 132 and the inner gear 133, the planet gears 134 are rotatably connected with a connecting frame 135, the connecting frame 135 is rotatably connected with a limiting frame, the limiting frame is fixedly connected with the inner walls of the upper slide bar 7 and the lower slide bar 11, the upper end of the connecting frame 135 is fixedly connected with a rotating rod 14, a T-shaped groove is formed in the side wall of the rotating rod 14, a rack 15 is fixedly connected with the inner side wall of the T-shaped groove, a T-shaped slide block 16 is slidably connected with the T-shaped slide block 16, and, the output end of the third servo motor 17 is fixedly connected with a walking gear 18, the walking gear 18 is meshed with the rack 15, the side wall of the T-shaped groove far away from the T-shaped slider 16 is fixedly connected with a spherical sleeve 19, and a picture acquisition mechanism is slidably connected in the spherical sleeve 19;
the picture is gathered the mechanism and is included objective sleeve 20 and eyepiece sleeve 21, be provided with objective 22 and eyepiece 23 in objective sleeve 20 and the eyepiece sleeve 21 respectively, eyepiece sleeve 21's upper end fixedly connected with casing 24, and fixedly connected with camera 25 in the casing 24, radiator fan 26 has been inlayed to casing 24's upper end, the equal fixedly connected with of lateral wall of objective sleeve 20 and eyepiece sleeve 21 and the sliding sleeve that spherical cover 19 matches, and seted up ventilation hole 27 in objective sleeve 20 and the eyepiece sleeve 21, objective sleeve 20's lower extreme is inlayed and is equipped with a plurality of light 28, and objective sleeve 20 lower extreme fixedly connected with wind-guiding ring 29.
The upper end side wall of the sleeve 6 is fixedly connected with a first electric push rod 30, and the lower end side wall of the eyepiece sleeve 21 is fixedly connected with a second electric push rod 31.
Further, gyroscope 4 and foot switch 2 have the controller through wire electric connection, and the controller passes through the wire respectively with first servo motor 8, second servo motor 131, third servo motor 17, first electric putter 30 and second electric putter 31 electric connection, and all electronic components all are through entity cable electric connection, can guarantee the stability of signal of telecommunication, avoid causing the interference because of the produced radiation of other medical instrument in the operating room or signal.
Further, one side of the support frame 3 is fixedly connected with an auxiliary display screen 32, the auxiliary display screen 32 is electrically connected with the camera 25 through a lead, and through the arrangement of the auxiliary display screen 32, an assistant of a doctor can observe the operation condition conveniently, and the doctor is assisted in performing the operation.
Further, the number of the planet gears 134 is at least three, and the number of the teeth of the planet gears 134 is greater than that of the teeth of the sun gear 132.
Further, the movable ends of the first electric push rod 30 and the second electric push rod 31 are fixedly connected with rubber pads, and by arranging the rubber pads, the movable ends of the first electric push rod 30 and the second electric push rod 31 can be prevented from damaging equipment, and friction is improved.
Further, the foot switch 2 comprises a bottom plate 201, a shield 202 is fixedly connected to the upper surface of the bottom plate 201, a pedal 203 is rotatably connected to the upper surface of the bottom plate 201, a two-way switch 204 is arranged in the bottom plate 201, and a snap ring 205 is fixedly connected to one end of the two-way switch 204.
The working principle is that when medical staff performs an operation, firstly, the VR glasses 1 are worn, a doctor carries out the operation through the picture presented by the VR glasses 1, wears the VR glasses 1, can effectively prevent the head from sweating and dripping on the eyes, prevents sweat from flowing into the glasses, ensures that the medical staff looks good at the line part in the operation process, does not need to wipe sweat by hands, and during the operation, the medical staff rotates or translates the head, and cooperates with the gyroscope 4 in the VR glasses 1 and the controller to send a signal to the second driving mechanism 13, so as to control the picture collecting mechanism to move, adjust the picture watched by the doctor, cooperate with the doctor to perform the operation, on the other hand, the doctor controls the first driving mechanism to drive the picture collecting mechanism to adjust the focal length through the foot switch 2 in a mode that the foot switch 2 is stepped on or is driven by the foot back to adjust the focal length, so that when the operation is performed by both hands, the picture acquisition mechanism is accurately adjusted;
when a main surgeon rotates the head to adjust the visual angle, the gyroscope 4 in the VR glasses 1 sends a signal to the second driving mechanism 13 in cooperation with the controller, at this time, the second servo motor 131 located above rotates to drive the sun gear 132 to rotate, the sun gear 132 drives the plurality of planet gears 134 to rotate, and in cooperation with the inner gear 133, the plurality of planet gears 134 rotate around the sun gear 132, at this time, the plurality of planet gears 134 drive the connecting frame 135 to rotate around the sun gear 132 in a circular shape, so that the rotating rod 14 rotates, meanwhile, the third servo motor 17 drives the traveling gear 18 to rotate, when the third servo motor 17 rotates, the rack 15 is engaged, the T-shaped slider 16 is driven by the reaction force to displace along the rotating rod 14 in the horizontal direction, so that the position of the spherical sleeve 19 in the horizontal direction changes, at this time, the sliding sleeve rotates in the spherical sleeve 19, and the upper end of the image acquisition mechanism is driven to, therefore, the picture collecting mechanism can rotate by matching with the spherical sleeve 19 and the sliding sleeve which are positioned below, the orientation of the objective lens 22 is changed, the purpose of adjusting the visual angle by matching with the head of the main surgeon is realized, the synchronization effect is good, the body feeling of medical staff can be effectively matched, direction change can not occur, the main surgeon can accurately and mainly control the moving directions of instruments such as a scalpel, a surgical forceps and the like, when the head of the main surgeon moves in the horizontal direction to adjust the visual angle, the gyroscope 4 in the VR glasses 1 is matched with the controller to send a signal to the second driving mechanism 13, so that the equipment of the second driving mechanism 13 positioned below is driven to operate, the head of the main surgeon is comprehensively matched to move, the visual angle is adjusted accordingly, and particularly, the main surgeon can also rotate the head to adjust the visual angle while the head of the main surgeon moves in the horizontal direction to adjust the visual angle by arranging two independent second driving mechanisms 13, the two driving devices do not interfere with each other, and the controller has high flexibility.
When a doctor controls the image acquisition mechanism to adjust the focal length by stepping on the foot switch 2 with feet or driving the foot switch 2 upwards with the instep, the first servo motor 8 rotates to drive the lower slide bar 11 to slide up and down in cooperation with the threaded sleeve 10, meanwhile, the first electric push rod 30 extends out to enable the rubber pad to abut against the upper slide bar 7, so that the upper slide bar 7 and the sleeve 6 cannot slide freely, the second electric push rod 31 retracts to enable the objective lens sleeve 20 and the eyepiece lens sleeve 21 to slide freely, at the moment, the objective lens sleeve 20 and the eyepiece lens sleeve 21 of the image acquisition mechanism move relatively, at the moment, the distance between the objective lens 22 and the eyepiece lens 23 changes, so that the focal length of the image acquisition mechanism is adjusted, medical personnel can observe images of the operation position of a patient conveniently, and after the adjustment is completed, the foot switch 2 is released, the first servo motor 8 stops rotating, the first electric push rod 30 retracts, The second electric push rod 31 extends out, so that the objective lens sleeve 20 and the ocular lens sleeve 21 are relatively fixed, and the upper slide rod 7 is in a slidable state, thereby avoiding interference when the direction of the picture acquisition mechanism is adjusted;
dispel the heat to camera 25 through radiator fan 26 in the operation process, light 28 of objective sleeve 20 lower extreme can be to providing effective illumination, and with objective sleeve 20 synchronous motion, can provide stable light source, light 28 also can generate heat when the operation, and heat the light 28 heating again through light 28 to the radiating hot-blast downward flow of camera 25 simultaneously, then blow to objective 22 under the drive of wind-guiding ring 29, thereby avoid on the objective 22 condensation or can rapid drying by distillation after gluing patient's body fluid, guarantee the steady operation of picture acquisition mechanism.
The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solution described above. Therefore, any simple modifications or equivalent substitutions made in accordance with the technical solution of the present invention are within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides an intelligent microscope for microneurosurgery operation, includes VR glasses (1) and support frame (3), its characterized in that: a foot switch (2) is arranged on one side of the support frame (3), a gyroscope (4) is arranged in the VR glasses (1), the side wall of the support frame (3) is rotatably connected with a connecting rod (5), one end, far away from the support frame (3), of the connecting rod (5) is fixedly connected with a sleeve (6), a first driving mechanism is arranged on the sleeve (6), and the inner wall of the sleeve (6) is slidably connected with an upper sliding rod (7);
the first driving mechanism comprises a first servo motor (8), the first servo motor (8) is fixedly connected with the side wall of the sleeve (6), the output end of the first servo motor (8) is fixedly connected with a driving gear (9), the lower end of the sleeve (6) is rotatably connected with a threaded sleeve (10), the side wall of the threaded sleeve (10) is provided with a tooth socket matched with the driving gear (9), the threaded sleeve (10) is internally connected with a lower sliding rod (11), the side walls of the upper sliding rod (7) and the lower sliding rod (11) are both fixedly connected with a limiting block (12), a sliding groove matched with the limiting block (12) is formed in the sleeve (6), and one ends, far away from each other, of the upper sliding rod (7) and the lower sliding rod (11) are both provided with a second driving mechanism (13);
the second driving mechanism (13) comprises a second servo motor (131), the second servo motor (131) is respectively fixedly connected with the inner walls of the upper sliding rod (7) and the lower sliding rod (11), the output end of the second servo motor (131) is fixedly connected with a sun wheel (132), the inner walls of the upper sliding rod (7) and the lower sliding rod (11) are respectively fixedly connected with an inner gear (133), a plurality of planet wheels (134) are arranged between the sun wheel (132) and the inner gear (133), the planet wheels (134) are rotatably connected with a connecting frame (135), the connecting frame (135) is rotatably connected with a limiting frame, the limiting frame is fixedly connected with the inner walls of the upper sliding rod (7) and the lower sliding rod (11), the upper end of the connecting frame (135) is fixedly connected with a rotating rod (14), a T-shaped groove is formed in the side wall of the rotating rod (14), and a rack (15) is fixedly connected with the inner side wall of the T-, a T-shaped sliding block (16) is connected in the T-shaped groove in a sliding mode, a third servo motor (17) is fixedly connected in the T-shaped sliding block (16), the output end of the third servo motor (17) is fixedly connected with a walking gear (18), the walking gear (18) is meshed with the rack (15), a spherical sleeve (19) is fixedly connected to the side wall, far away from the T-shaped groove, of the T-shaped sliding block (16), and a picture collecting mechanism is connected in the spherical sleeve (19) in a sliding mode;
the image acquisition mechanism comprises an objective lens sleeve (20) and an eyepiece lens sleeve (21), wherein an objective lens (22) and an eyepiece lens (23) are respectively arranged in the objective lens sleeve (20) and the eyepiece lens sleeve (21), the upper end of the eyepiece lens sleeve (21) is fixedly connected with a shell (24), a camera (25) is fixedly connected in the shell (24), a cooling fan (26) is embedded in the upper end of the shell (24), sliding sleeves matched with spherical sleeves (19) are fixedly connected to the side walls of the objective lens sleeve (20) and the eyepiece lens sleeve (21), ventilation holes (27) are formed in the objective lens sleeve (20) and the eyepiece lens sleeve (21), a plurality of illuminating lamps (28) are embedded in the lower end of the objective lens sleeve (20), and an air guide ring (29) is fixedly connected to the lower end of the objective lens sleeve (20).
2. The upper end lateral wall fixedly connected with of sleeve pipe (6) first electric putter (30), the lower extreme lateral wall fixedly connected with second electric putter (31) of eyepiece sleeve pipe (21).
3. An intelligent microscope for microneurosurgic surgery according to claim 1, characterized in that: the gyroscope (4) and the foot switch (2) are electrically connected with a controller through leads, and the controller is respectively electrically connected with the first servo motor (8), the second servo motor (131), the third servo motor (17), the first electric push rod (30) and the second electric push rod (31) through leads.
4. An intelligent microscope for microneurosurgic surgery according to claim 1, characterized in that: one side fixedly connected with vice display screen (32) of support frame (3), and vice display screen (32) pass through wire and camera (25) electric connection.
5. An intelligent microscope for microneurosurgic surgery according to claim 2, characterized in that: the number of the planet wheels (134) is at least three, and the number of teeth of the planet wheels (134) is greater than that of the sun wheel (132).
6. An intelligent microscope for microneurosurgic surgery according to claim 1, characterized in that: the movable ends of the first electric push rod (30) and the second electric push rod (31) are fixedly connected with rubber pads.
7. An intelligent microscope for microneurosurgic surgery according to claim 5, characterized in that: the foot switch (2) comprises a bottom plate (201), a shield (202) is fixedly connected to the upper surface of the bottom plate (201), a pedal (203) is rotatably connected to the upper surface of the bottom plate (201), a two-way switch (204) is arranged in the bottom plate (201), and a clamping ring (205) is fixedly connected to one end of the two-way switch (204).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011377528.2A CN112426236B (en) | 2020-11-30 | 2020-11-30 | Microscope for intelligent micro neurosurgery operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011377528.2A CN112426236B (en) | 2020-11-30 | 2020-11-30 | Microscope for intelligent micro neurosurgery operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112426236A true CN112426236A (en) | 2021-03-02 |
| CN112426236B CN112426236B (en) | 2021-12-07 |
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| CN202011377528.2A Expired - Fee Related CN112426236B (en) | 2020-11-30 | 2020-11-30 | Microscope for intelligent micro neurosurgery operation |
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| CN116403462A (en) * | 2023-06-06 | 2023-07-07 | 吉林大学 | Vascular suturing nursing simulation training device |
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| CN112426236B (en) | 2021-12-07 |
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