CN112450996A - Flexible endoscope operation executor and operation robot system - Google Patents
Flexible endoscope operation executor and operation robot system Download PDFInfo
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- CN112450996A CN112450996A CN202011257968.4A CN202011257968A CN112450996A CN 112450996 A CN112450996 A CN 112450996A CN 202011257968 A CN202011257968 A CN 202011257968A CN 112450996 A CN112450996 A CN 112450996A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
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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
- A61B90/361—Image-producing devices, e.g. surgical cameras
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
A soft endoscope operation actuator and an operation robot system are provided, the soft endoscope operation actuator comprises a clamping part, a control part and a bottom plate for separating the clamping part and the control part, wherein the clamping part is configured to fixedly install a soft endoscope, so that the soft endoscope is ensured not to shake in the inspection process; the control part is configured to communicate with an external control device through a cable, and after an action command is obtained, the soft endoscope is driven to complete an examination action. The surgical robot system comprises a surgical robot device, a surgical monitoring device and a surgical control device; the operation robot device comprises a mechanical arm, a soft endoscope and the soft endoscope operation actuator, wherein the soft endoscope operation actuator is used for connecting and fixing the soft endoscope on the mechanical arm.
Description
Technical Field
The invention belongs to the technical field of medical instruments. In particular to a soft endoscope operation executor suitable for a soft endoscope and an operation robot system.
Background
An endoscope, namely an endoscope, is a commonly used detection instrument in medicine, which integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software into a whole. Typically, an endoscope having an image sensor, optical lens, light source illumination, mechanical device, etc. may be passed transorally into the stomach, intestine, or through other natural orifices into the body. Since a lesion which cannot be displayed by X-ray can be seen by an endoscope, it is very useful for a doctor. For example, a physician may use an endoscope to view an ulcer or tumor in the stomach, thereby making an optimal treatment plan. Over 200 years since its birth, the structure of endoscopes has undergone 4 major improvements, ranging from the first tube endoscopes, semi-curved endoscopes, to fiberscope, and to the electronic endoscopes that are widely used today. Along with the improvement of the structure, the imaging quality of the endoscope is continuously improved.
Endoscopes can be classified into two categories according to their structural characteristics: hard endoscopes and soft endoscopes. The body of the hard endoscope can not be bent or twisted, the depth and distance of the hard endoscope entering the body are small, and the hard endoscope mainly enters human aseptic tissues and organs or enters a human aseptic chamber through a surgical incision; the soft endoscope body is soft and bendable, and inspection is mainly completed through natural body cavities, such as gastroscopes, enteroscopes, laryngoscopes, bronchoscopes, cystoscopes and the like, and enters a human body through the digestive tract, the respiratory tract and the urinary tract of the human body.
Fig. 1 shows a conventional flexible endoscope. The soft endoscope comprises an operating handle 01 and an insertion tube 02, when the soft endoscope is used, a doctor inserts the insertion tube 02 into a human body duct, the doctor holds an operating part near the operating handle 01 by hand, fingers (generally using thumbs) press the operating handle 01, and due to the fact that a plurality of angle steel wires are arranged inside the insertion tube 02, the insertion tube 02 can be rotated to enable the front end of the insertion tube 02 to be bent by a certain angle, and therefore images inside the human body duct can be seen through a camera at the end part of the insertion tube 02.
There are several problems associated with the operation of a physician holding a soft endoscope. Firstly, a complete examination needs a long time, and a doctor holds the soft endoscope for a long time, so that muscles are easy to ache and the examination effect is influenced. Secondly, the image that soft scope camera obtained is generally through the show of external display, because the operating table space is preferred, and external display generally places on the platform truck of doctor side, and the doctor should constantly turn round the head and look over the display on one side handheld soft scope operation, and is very inconvenient. The angle of rotation of the soft endoscope operated by hands is limited sometimes, so that the soft endoscope is difficult to reach a target area; close contact with the patient, medical treatment is easily polluted by relevant secretion, and the like.
Disclosure of Invention
Since the nineties of the last century, robot-assisted minimally invasive surgery has gained a rapid and advanced development. A variety of surgical robotic systems have been used with clinical success, which has attracted considerable attention from the medical and scientific communities worldwide. The surgical robot system integrates a plurality of emerging subjects, realizes minimally invasive, intelligent and digital surgical operations, and in recent years, the surgical robot is widely applied all over the world, and the types of the operations include urology, obstetrics and gynecology, cardiac surgery, thoracic surgery, hepatobiliary surgery, gastrointestinal surgery, otorhinolaryngology and other subjects. If the flexible endoscope can be operated by the surgical robot, the above technical problems can be solved well.
In view of the shortcomings of the prior art, the present application provides a flexible endoscopic surgical effector.
The embodiment of the invention provides a soft endoscope operation actuator, which comprises a clamping part, a control part and a bottom plate (102) for separating the clamping part from the control part, wherein the clamping part is configured to fixedly install a soft endoscope so as to ensure that the soft endoscope does not shake in the inspection process; the control part is configured to communicate with an external control device through a cable, and after an action command is obtained, the soft endoscope is driven to complete an examination action.
According to one embodiment of the invention, for example, the clamping portion comprises three components: a first clamping piece, a middle cushion block (204) and a second clamping piece;
the first clamping piece and the second clamping piece are respectively arranged at the middle part and the rear end of the soft endoscope, and the soft endoscope is fixed on the bottom plate (102); the middle cushion block (204) is arranged between the first clamping piece and the second clamping piece to cushion the flexible endoscope;
the first clamping piece comprises a front cushion block (201), a front cover closing (202) and a first cover closing spring (203); the front cushion block (201) is arranged on the bottom plate (102), one surface of the front cushion block facing the soft endoscope has a shape matched with the shape of the soft endoscope, and one side of the front cushion block is provided with a structure for installing the front cover closing (202) and the first cover closing spring (203); one end of the front closing cover (202) is rotatably arranged on the front cushion block (201), and the other end of the front closing cover is provided with a locking structure which can be tightly clamped and locked with the end part of the front cushion block (201);
preferably, the front cover (202) is also provided with a shape which is suitable for the external shape of the soft endoscope.
According to one embodiment of the invention, for example, the second clamping piece comprises a rear cushion block (205), a second cover closing spring (206), a rear cover closing (207) and a shifting piece (208);
the rear cushion block (205) is provided with a base, and the surface shape of the base is adapted to the shape of the side face of the end part of the soft endoscope; the rear cushion block (205) is also provided with a side wall, and the side wall is provided with a structure for mounting the second cover closing spring (206) and the rear cover closing spring (207);
the rear cover (207) is provided with an opening to avoid the interface position on the soft endoscope;
preferably, the shape of the poking piece (208) is adapted to the shape of an operating handle (01) of the soft endoscope, so that the poking piece (208) can be tightly connected with the operating handle (01); preferably, grooves are arranged on two sides of the poking sheet (208), and when the soft endoscope is installed, an operating handle (01) of the soft endoscope can be inserted into the grooves to be fixed;
preferably, the pick (208) is fixedly connected with the worm (405) of the control part, and when the worm (405) rotates, the pick (208) can be driven to rotate together, so that the operation handle (01) of the soft endoscope is controlled to rotate together.
According to one embodiment of the invention, for example, the control part comprises a servo motor (401), a motor support base (402), a coupler (403), a front bearing fixing base (404), a worm (405), a turbine lower bearing fixing base (406), a rear bearing fixing base (407), a turbine (408) and a turbine upper bearing fixing base (409);
the front bearing fixing seat (404) and the turbine lower bearing fixing seat (406) provide mounting positions for the servo motor (401) and the like on one hand, and divide a lower chamber into a plurality of independent spaces together with the shell (101) on the other hand;
preferably, the servo motor (401) is arranged on the motor supporting seat (402) positioned at the front end of the flexible endoscopic surgery actuator; the servo motor (401) is connected with an external circuit and provides power for the operation of the soft endoscopic surgery actuator;
preferably, a rotating shaft of the servo motor (401) is connected with the coupler (403), the coupler (403) is connected with the worm (405), threads on the worm (405) are meshed with teeth on the worm wheel (408) to be connected, and a central shaft (410) of the worm wheel (408) penetrates through a hole formed in the bottom plate (102) to be connected with the plectrum base (2081) of the plectrum (208).
According to one embodiment of the invention, for example, the pick (208) is integrally formed with the pick base (2081), and the central shaft (410) of the turbine (408) is in threaded connection or snap-fit connection with the pick base (2081).
According to one embodiment of the invention, for example, grooves are arranged on two sides of the poking piece (208), and the shape and size of the poking piece (208) with the grooves are adapted to the shape and size of the operating handle (01), so that when the soft endoscope is installed, the operating handle (01) of the soft endoscope is aligned with the grooves on two sides of the poking piece (208) and pushed downwards, that is, the operating handle (01) can be inserted into the grooves of the poking piece (208).
According to one embodiment of the invention, for example, the gear ratio of the worm wheel to the worm is 1: 7.5-100;
preferably, the transmission ratio of the worm wheel to the worm is 1: 30-50.
Embodiments of the present invention also provide a surgical robot system, which includes a surgical robot apparatus, a surgical monitoring apparatus, and a surgical control apparatus;
the surgical robot device comprises a mechanical arm, a soft endoscope and the soft endoscope surgical actuator, wherein the soft endoscope surgical actuator connects and fixes the soft endoscope on the mechanical arm;
the operation monitoring device is connected with the operation control device and is configured to acquire a detection position in real time, send information of the detection position to the operation control device and display the information of the detection position to an operation operator in an image form; the operation control device is configured to receive action instructions from an operator and control the mechanical arm to execute corresponding actions.
Drawings
Fig. 1 is a schematic structural view of a conventional soft endoscope.
Fig. 2 is a schematic view of the overall structure of a soft endoscopic surgical actuator according to an embodiment of the present invention.
Fig. 3 is a structural side view of a soft endoscopic surgical actuator according to an embodiment of the present invention.
Fig. 4 is a side view of the internal structure of a soft endoscopic surgical actuator according to an embodiment of the present invention.
Fig. 5 is a bottom view of the internal structure of a soft endoscopic surgical actuator according to an embodiment of the present invention.
Fig. 6 is an overall structural diagram of a soft endoscope surgical actuator without a soft endoscope according to an embodiment of the present invention.
Fig. 7 is an overall structural diagram (at another angle) of a soft endoscope surgical actuator without a soft endoscope according to an embodiment of the present invention.
Fig. 8 is a side view of the internal structure of a soft endoscope surgical actuator without a soft endoscope according to an embodiment of the present invention.
Fig. 9 is a schematic view of a surgical robot system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following examples.
In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc., are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and should not be construed as limiting the specific scope of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only to distinguish technical features, have no essential meaning, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features.
Fig. 2 and fig. 3 show structural schematic diagrams of a flexible endoscopic surgery actuator provided by an embodiment of the present invention, fig. 2 is a structural schematic diagram of the flexible endoscopic surgery actuator as a whole, and fig. 3 is a structural side view of the flexible endoscopic surgery actuator. As shown in fig. 2 and 3, the flexible endoscopic surgical actuator can be divided into an upper portion and a lower portion by using the bottom plate 102 as a boundary. The upper part is a clamping part, the lower part is a control part, and the main function of the clamping part is to fixedly install the soft endoscope (shown in figure 2, the physical structure is shown in figure 1) so as to ensure that the soft endoscope does not shake in the inspection process; the main function of the control part is to communicate with an external control device through a cable, and after obtaining an action command, the control part drives the soft endoscope to complete the examination action. The flexible endoscope and the interface are not part of the flexible endoscope surgical actuator, but are shown in the drawings for clarity of the operation of the flexible endoscope surgical actuator. The main function of the interface is to connect the manipulator and the surgical robot actuator. As shown in fig. 2, the interface mainly includes an interconnection 301, a light strip 302, an interconnection cover 303, a threaded sleeve 304, a threaded disk 305, and a fixed disk 306. The interface functions to connect the soft endoscopic surgical actuator to the robotic arm, and is not described in detail herein because the interface is not part of the soft endoscopic surgical actuator.
As shown in fig. 2 and 3, the clamping portion includes three components: a first clamp, a middle block 204, and a second clamp. The first clamping piece and the second clamping piece are respectively arranged at the middle part and the rear end of the soft endoscope, and the soft endoscope is fixed on the bottom plate 102; the middle cushion block 204 is arranged between the first clamping piece and the second clamping piece to cushion the flexible endoscope. The first clamping member includes a front pad 201, a front cover 202, and a first cover spring 203. As shown in fig. 2, the front pad 201 is mounted on the base plate 102, and has a shape corresponding to the outer shape of the soft endoscope on its surface facing the soft endoscope, and a structure for mounting the front cover 202 and the first cover closing spring 203 is provided on one side thereof. One end of the front cover 202 is rotatably mounted on the front cushion block 201, and the other end has a locking structure capable of being clamped and locked with the end of the front cushion block 201. As shown in FIG. 2, the front cover 202 also has a shape that conforms to the outer shape of the soft endoscope so that the middle portion of the soft endoscope is securely locked when the front cover 202 is closed. When the front cover 202 is unlocked, the front cover 202 is driven by the elastic force of the first cover closing spring 203 to open itself. As shown in fig. 2 and 3, the second clamping member includes a rear cushion block 205, a second cover closing spring 206, a rear cover closing 207, and a pick 208. The rear pad 205 has a base whose surface shape is adapted to the shape of the side surface of the end of the flexible endoscope. The rear cushion block 205 also has side walls with structures for mounting the second close cover spring 206 and the rear close cover 207. The rear cover 207 has an opening to avoid the interface location on the flexible endoscope. When the soft endoscope is installed, the rear cover 207 is opened, the soft endoscope is placed at a proper position, then the rear cover 207 is closed, and the rear cover 207 is pressed and fixed under the action of the elastic force of the second cover closing spring 206. As shown in fig. 3, the shape of the pick 208 is adapted to the shape of the operating handle 01 of the flexible endoscope, so that the pick 208 can be tightly connected with the operating handle 01. For example, grooves may be formed on both sides of the pick 208, so that when the soft endoscope is installed, the operating handle 01 of the soft endoscope can be inserted into the grooves and fixed. The pick 208 is fixedly connected with a worm 405 of the control part (see below), and when the worm 405 rotates, the pick 208 can be driven to rotate together, so that the operation handle 01 of the soft endoscope is controlled to rotate together.
Fig. 4 is a side view of the internal structure of a soft endoscopic surgical actuator according to an embodiment of the present invention. As shown in fig. 4, the control part located at the lower part of the soft endoscopic surgery actuator comprises a servo motor 401, a motor support 402, a coupler 403, a front bearing fixing base 404, a worm 405, a turbine lower bearing fixing base 406, a rear bearing fixing base 407, a turbine 408 and a turbine upper bearing fixing base 409. The front bearing holder 404 and the turbine lower bearing holder 406 provide mounting locations for the servo motor 401, etc., on the one hand, and divide the lower chamber into several independent spaces together with the casing 101 (see fig. 2), on the other hand. The servo motor 401 is installed on a motor support base 402 located at the front end of the soft endoscopic surgery actuator. The servo motor 401 is connected with an external circuit to provide power for the operation of the soft endoscopic surgery actuator. The rotating shaft of the servo motor 401 is connected with a coupler 403, the coupler 403 is connected with a worm 405, threads on the worm 405 are meshed with teeth on a worm wheel 408, and a central shaft 410 of the worm wheel 408 penetrates through a hole formed in the bottom plate 102 and is connected with a plectrum base 2081 of the plectrum 208. Thus, when the rotating shaft of the servo motor 401 is driven by the external circuit to rotate, the rotating shaft of the servo motor 401 drives the coupler 403 to rotate, the coupler 403 drives the worm 405 to rotate, the rotation of the worm 405 drives the turbine 408 to rotate, the central shaft 410 of the turbine 408 further drives the pick base 2081 of the pick 208 to rotate, and finally the operation handle 01 of the soft endoscope is operated to rotate through the rotation of the pick 208.
Fig. 5 is a bottom view of the internal structure of the soft endoscopic surgical actuator, and the connection manner of the worm 405 and the worm wheel 408 can be seen more clearly from the bottom view. The worm 405 is threaded relatively tightly so that rotation of the worm 405 translates into slow rotation of the worm gear 408. The rotation speed is greatly reduced due to the transmission of the worm 405 to the worm wheel 408, so that the rotation angle of the operating handle 01 of the soft endoscope can be accurately controlled by controlling the rotation of the servo motor 401.
To more clearly describe the structure of the soft endoscopic surgical actuator, fig. 6 to 8 show the structure of the soft endoscopic surgical actuator without the soft endoscope installed. Wherein, fig. 6 is an overall structure diagram of the soft endoscope operation executor without the soft endoscope; FIG. 7 is an overall structural view (at another angle) of a soft endoscope surgical actuator without a soft endoscope; fig. 8 is a side view of the internal structure of the soft endoscope surgical actuator without the soft endoscope installed.
The positional relationship of the paddle 208 to the paddle base 2081 can be seen in FIG. 6. In fact, the pick 208 and the pick base 2081 may be integrally formed, and the central shaft 410 of the turbine 408 may be screwed or snapped with the pick base 2081. The grooves arranged on the two sides of the poking piece 208 can also be seen from fig. 6, when the soft endoscope is installed, the operating handle 01 of the soft endoscope is aligned with the grooves on the two sides of the poking piece 208 and pushed downwards, and the operating handle 01 is inserted into the grooves on the two sides of the poking piece 208.
As can be seen more clearly from fig. 7, after the operating handle 01 is inserted into the grooves on both sides of the pick 208, the central shaft 410 of the turbine 408 rotates to drive the pick 208 to rotate, so as to drive the operating handle 01 inserted into the grooves on both sides of the pick 208 to rotate together, so that the end of the insertion tube 02 of the flexible endoscope is twisted.
Fig. 8 clearly shows the connection relationship between the worm 405, the worm wheel 408, the central shaft 410 and the pick 208. The coupling 403 is connected with a worm 405, threads on the worm 405 are meshed with teeth on a worm wheel 408, and a central shaft 410 of the worm wheel 408 passes through a hole formed in the bottom plate 102 and is connected with a pick base 2081 of the pick 208.
The full-angle bending of the tail end of the soft endoscope insertion tube 02 can be realized by rotating the operating handle 01 of the soft endoscope by 0-100 degrees, so the rotating angle of the shifting sheet 208 only needs to be rotated by 0-100 degrees. In order to control the rotation angle of the operating handle 01 accurately, a large transmission ratio mechanism is required from the servo motor 401 to the rotation of the paddle 208. The combination of the worm wheel and the worm adopted in the embodiment of the invention is a structure with a larger transmission ratio, and the transmission ratio can reach 1: 7.5-100. According to the optimized setting of the invention, a worm and gear combination with a transmission ratio of 1: 30-50 is generally adopted, so that the operation efficiency and the accuracy can be considered.
The technical scheme of the invention has at least the following advantages by adopting a large transmission ratio: 1) the large transmission ratio can avoid the condition that the stroke of the servo motor is not too short to be distinguished; 2) the large transmission ratio is adopted, so that the bending angle of the tail end of the soft endoscope insertion tube 02 can be conveniently controlled; 3) the adoption of a large transmission ratio is beneficial to improving the precision of the bending angle of the tail end of the flexible endoscope insertion tube 02.
In addition, the structure of the soft endoscope operation executor provided by the embodiment of the invention does not shield an important interface of the soft endoscope. For example, in the process of detection by using a surgical robot carrying the soft endoscopic surgical actuator of the present invention, if a doctor finds the focus position, the doctor may need to insert a foreign object into an opening of the soft endoscope to clamp and take a foreign object (such as a stone, etc.), and the operation can be conveniently performed.
The soft endoscope operation actuator provided by the invention is adopted to replace a doctor to hold a soft endoscope by hand, and the soft endoscope is controlled by clamping the soft endoscope operation actuator by the operation robot, so that the labor intensity of the doctor is reduced, and the examination efficiency of the doctor is improved.
Fig. 9 is a schematic structural diagram of a surgical robot system according to an embodiment of the present invention. As shown in fig. 9, the surgical robot system includes: a surgical robotic device 001, a surgical monitoring device 002, and a surgical control device 003.
The surgical robot 001 is connected to a surgical control device 003, and performs a surgical operation according to a set path based on a surgical control command transmitted from the surgical control device 003.
The operation monitoring device 002 is connected to the operation control device 003, scans the current operation implementation position in real time during an operation, sends the acquired scan data of the current operation implementation position to the operation control device 003, and displays the scan data in the form of an image to an operator (e.g., a doctor).
Claims (8)
1. The soft endoscope operation actuator is characterized by comprising a clamping part, a control part and a bottom plate (102) for separating the clamping part from the control part, wherein the clamping part is configured to fixedly install the soft endoscope so as to ensure that the soft endoscope does not shake in the inspection process; the control part is configured to communicate with an external control device through a cable, and after an action command is obtained, the soft endoscope is driven to complete an examination action.
2. The soft endoscopic surgical actuator of claim 1, wherein said clamping portion comprises three components: a first clamping piece, a middle cushion block (204) and a second clamping piece;
the first clamping piece and the second clamping piece are respectively arranged at the middle part and the rear end of the soft endoscope, and the soft endoscope is fixed on the bottom plate (102); the middle cushion block (204) is arranged between the first clamping piece and the second clamping piece to cushion the flexible endoscope;
the first clamping piece comprises a front cushion block (201), a front cover closing (202) and a first cover closing spring (203); the front cushion block (201) is arranged on the bottom plate (102), one surface of the front cushion block facing the soft endoscope has a shape matched with the shape of the soft endoscope, and one side of the front cushion block is provided with a structure for installing the front cover closing (202) and the first cover closing spring (203); one end of the front closing cover (202) is rotatably arranged on the front cushion block (201), and the other end of the front closing cover is provided with a locking structure which can be tightly clamped and locked with the end part of the front cushion block (201);
preferably, the front cover (202) is also provided with a shape which is suitable for the external shape of the soft endoscope.
3. The soft endoscopic surgical actuator of claim 2, wherein the second clamping member comprises a rear cushion block (205), a second cover closing spring (206), a rear cover closing (207), and a pick (208);
the rear cushion block (205) is provided with a base, and the surface shape of the base is adapted to the shape of the side face of the end part of the soft endoscope; the rear cushion block (205) is also provided with a side wall, and the side wall is provided with a structure for mounting the second cover closing spring (206) and the rear cover closing spring (207);
the rear cover (207) is provided with an opening to avoid the interface position on the soft endoscope;
preferably, the shape of the poking piece (208) is adapted to the shape of an operating handle (01) of the soft endoscope, so that the poking piece (208) can be tightly connected with the operating handle (01); preferably, grooves are arranged on two sides of the poking sheet (208), and when the soft endoscope is installed, an operating handle (01) of the soft endoscope can be inserted into the grooves to be fixed;
preferably, the pick (208) is fixedly connected with the worm (405) of the control part, and when the worm (405) rotates, the pick (208) can be driven to rotate together, so that the operation handle (01) of the soft endoscope is controlled to rotate together.
4. The soft endoscopic surgery actuator according to claim 2 or 3, wherein the control part comprises a servo motor (401), a motor support base (402), a coupler (403), a front bearing fixing base (404), a worm (405), a turbine lower bearing fixing base (406), a rear bearing fixing base (407), a turbine (408), a turbine upper bearing fixing base (409);
the front bearing fixing seat (404) and the turbine lower bearing fixing seat (406) provide mounting positions for the servo motor (401) and the like on one hand, and divide a lower chamber into a plurality of independent spaces together with the shell (101) on the other hand;
preferably, the servo motor (401) is arranged on the motor supporting seat (402) positioned at the front end of the flexible endoscopic surgery actuator; the servo motor (401) is connected with an external circuit and provides power for the operation of the soft endoscopic surgery actuator;
preferably, a rotating shaft of the servo motor (401) is connected with the coupler (403), the coupler (403) is connected with the worm (405), threads on the worm (405) are meshed with teeth on the worm wheel (408) to be connected, and a central shaft (410) of the worm wheel (408) penetrates through a hole formed in the bottom plate (102) to be connected with the plectrum base (2081) of the plectrum (208).
5. The soft endoscopic surgery actuator according to claim 4, wherein the pick (208) is integrally formed with the pick base (2081), and the central shaft (410) of the turbine (408) is in threaded connection or clamped connection with the pick base (2081).
6. The soft endoscopic surgery actuator according to claim 5, characterized in that grooves are arranged on two sides of the pulling piece (208), the shape and size of the pulling piece (208) with the grooves are adapted to the shape and size of the operating handle (01), so that when the soft endoscopic surgery actuator is installed, the operating handle (01) of the soft endoscopic surgery can be aligned with the grooves on two sides of the pulling piece (208) and pushed downwards, and the operating handle (01) can be inserted into the grooves of the pulling piece (208).
7. The soft endoscopic surgery actuator according to any one of claims 4 to 6, wherein a transmission ratio of the worm wheel to the worm is 1:7.5 to 100;
preferably, the transmission ratio of the worm wheel to the worm is 1: 30-50.
8. A surgical robotic system, comprising a surgical robotic device, a surgical monitoring device, and a surgical control device;
the surgical robot device comprises a mechanical arm, a soft endoscope and the soft endoscope surgical actuator according to any one of claims 1-7, wherein the soft endoscope surgical actuator connects and fixes the soft endoscope on the mechanical arm;
the operation monitoring device is connected with the operation control device and is configured to acquire a detection position in real time, send information of the detection position to the operation control device and display the information of the detection position to an operation operator in an image form; the operation control device is configured to receive action instructions from an operator and control the mechanical arm to execute corresponding actions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011257968.4A CN112450996A (en) | 2020-11-11 | 2020-11-11 | Flexible endoscope operation executor and operation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN113100946A (en) * | 2021-03-30 | 2021-07-13 | 北京科迈启元科技有限公司 | Highly integrated surgical robot actuator and surgical robot system |
| CN115024677A (en) * | 2022-08-12 | 2022-09-09 | 北京云力境安科技有限公司 | Novel flexible endoscope conveying device |
| CN115919474A (en) * | 2023-01-09 | 2023-04-07 | 北京云力境安科技有限公司 | Flexible endoscope operation and control robot system |
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