CN113288439B

CN113288439B - Robot arm proctoscope system

Info

Publication number: CN113288439B
Application number: CN202110737311.6A
Authority: CN
Inventors: 曹艳; 程丽霞; 刘莎; 吕彦伶; 李佼; 唐宛秋; 兰春慧
Original assignee: Chinese Peoples Liberation Army Army Specialized Medical Center
Current assignee: Chinese Peoples Liberation Army Army Specialized Medical Center
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-05-03
Anticipated expiration: 2041-06-30
Also published as: CN113288439A

Abstract

The invention belongs to the technical field of medical instruments, and discloses a robot arm proctoscope system, which comprises: the tail end of the robot arm is fixed with a clamping mechanism; the proctoscope is detachably connected with the robot arm through a clamping mechanism; the proctoscope includes: the fixed seat is clamped by the clamping mechanism; the endoscope tube penetrates through and is fixed in the fixed seat, the endoscope tube comprises an operation front end and an operation rear end, and the operation front end of the endoscope tube is provided with an expander; the dilator comprises: the at least two expansion pieces are arranged on the outer side of the endoscope tube in an array mode, the at least two expansion pieces are combined to form a structural form with a small front end and a large rear end, and the endoscope tube drives the at least two expansion pieces to synchronously expand outwards when extending into the at least two expansion pieces; and the locking mechanism is connected between the expansion sheet and the endoscope tube and is used for switching the fixed fit between the expansion sheet and the endoscope tube into the sliding fit in the process of inserting the expansion sheet into the anus of the patient.

Description

Robot arm proctoscope system

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a robot arm proctoscope system.

Background

At present, in order to increase the accuracy and the stability of the enteroscope operation, a full-automatic operation system combining a robot arm and a proctoscope is proposed, but the system only can realize the flexible driving of the proctoscope when in actual use, so that the anus of the patient can be manually expanded before the operation of the proctoscope is performed in order to reduce the damage to the patient during the operation of the proctoscope.

From the above, in order to further realize the automatic operation of the enteroscopy operation, the invention can provide the robot arm proctoscope system capable of automatically completing anus expansion.

Disclosure of Invention

In view of the above, the present invention provides a robotic arm proctoscope system capable of automatically performing anus dilation in order to integrally perform anus dilation and enteroscopy operation of a patient.

In order to achieve the purpose, the invention provides the following technical scheme: a robotic arm proctoscope system, comprising:

the robot arm is fixedly arranged at one end, and a clamping mechanism is fixed at the other end;

the proctoscope is detachably connected with the robot arm through the clamping mechanism; the proctoscope comprises a fixed seat and a tube, and the fixed seat is clamped by the clamping mechanism; the endoscope tube penetrates through and is fixed inside the fixed seat, the endoscope tube comprises an operation front end and an operation rear end, the operation rear end of the endoscope tube is connected with the fixed seat, and the operation front end is provided with an expander;

the dilator comprises at least two dilating pieces and a locking mechanism which are arranged on the outer side of the lens tube in the circumferential direction, the dilating pieces are combined to form a structural form with a small front end and a large rear end, one end far away from the lens tube is the front end, and when the lens tube extends between the dilating pieces, the dilating pieces can be driven to synchronously dilate outwards;

the locking mechanism is connected between the expansion piece and the endoscope tube and is used for switching the fixed fit between the expansion piece and the endoscope tube into the sliding fit in the process of inserting the expansion piece into the anus of the patient.

Preferably, each expansion piece comprises an external convex part, an internal concave part and a connecting part which are connected in sequence; the external convex part is used for being inserted into the anus of the patient, and the connecting part is connected with the endoscope tube through a locking mechanism.

Preferably, every all be fixed with the arc supporting pad on the inner wall of expansion piece, the arc supporting pad sets up in interior concave part department, the middle part orientation of arc supporting pad is crooked near each other.

Preferably, the locking mechanism comprises:

the inner sliding sleeve is sleeved on the outer wall of the endoscope tube, one side of the inner sliding sleeve, which faces the expansion piece, is provided with first sliding grooves, the number of the first sliding grooves is the same as that of the array pieces, the first sliding grooves are arranged around the circumference of the endoscope tube in a one-to-one correspondence manner with the array pieces and are arranged along the radial direction of the endoscope tube;

guide rods are fixed in the first sliding grooves, correspond to the expansion pieces one by one and penetrate through the expansion pieces along the expansion direction of the expansion pieces;

the expansion piece is connected with the inner wall of the first sliding groove through a first spring.

Preferably, the locking mechanism further comprises:

a second sliding chute is arranged on the inner sliding sleeve in the circumferential direction of the endoscope tube, has the same number with the first sliding chute and is arranged along the radial direction of the endoscope tube;

the sliding plate is in sliding fit with the second sliding groove, a limiting pin is fixed on one side of the sliding plate, and the limiting pin can penetrate through the inner sliding sleeve and is inserted into the endoscope tube along the radial direction.

Preferably, the locking mechanism further comprises:

the second spring is connected between the sliding plate and the inner wall of the second sliding chute and can push the sliding plate along the radial direction of the lens tube;

and the limiting plate can move along the axial direction of the lens tube and can be inserted into the second sliding groove and block the sliding plate from moving.

Preferably, the locking mechanism further comprises:

the cover is established the outer sliding sleeve on the inner sliding sleeve outer wall the guide slot with first spout looks adaptation is seted up towards one side of mirror tube to the outer sliding sleeve one side incurvate towards fixture and form there is the collar, just the limiting plate sets up the one side of going towards the second spout on the collar.

Preferably, the front end of the mirror tube is provided with an illumination unit, a camera unit, independent air inlet and outlet channel ports and an operation channel port.

Preferably, the clamping mechanism includes:

the clamping block is fixed on one side of the fixed seat;

the base is connected to the tail end of the robot arm, and a clamping groove clamped with the clamping block is formed in the base;

and the screw rod is in threaded connection with the base, and one end of the screw rod is rotatably connected with a clamping plate capable of sliding in the clamping groove.

Preferably, the limiting grooves are formed in the two sides of the clamping block, the clamping groove is symmetrically provided with two limiting blocks, one limiting block is fixed on the inner wall of the clamping groove, and the other limiting block is fixed on the clamping plate.

Compared with the prior art, the invention has the following beneficial effects:

(1) the invention provides a proctoscope with a dilator at the front end, wherein the dilator is inserted into the anus of a patient before the proctoscope is inserted, and anus dilation is completed in the process of inserting the proctoscope, so that the integrated operation of anus dilation and enteroscopy operation can be effectively realized.

(2) Aiming at the dilator, a locking mechanism is matched between the dilator and the proctoscope, so that the matching state of the dilator and the proctoscope can be effectively adjusted through opening and closing of the locking mechanism; specifically, the locking mechanism is closed when the dilator is inserted to fix the dilator and the proctoscope, and the locking mechanism is opened when the proctoscope is inserted to slide the dilator and the proctoscope, so that the integral proctoscope can complete the integrated operation of anal dilatation and enteroscopy under the drive of the same robot arm.

(3) Aiming at the locking mechanism, synchronous unlocking and opening are completed in the insertion process of the dilator, the combination is simple and reasonable, and an independent opening and closing driving part is not required.

(4) Aiming at the proctoscope, the structure such as a clamping groove, a clamping plate and a limiting block can be used for effectively realizing multi-angle fixation of the proctoscope, so that the stability of the connection between the proctoscope and a robot arm is ensured; in addition, the clamping plate can be driven to move through the screw, so that the rectoscope can be conveniently detached and replaced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a plan view of the forward end of the scope tube of the present invention;

FIG. 3 is a schematic structural view of a clamping mechanism according to the present invention;

FIG. 4 is a schematic structural view of the stent of the present invention;

FIG. 5 is a schematic view of the expander of the present invention in an unlocked position;

FIG. 6 is a schematic view of the outward expansion of the stent of the present invention;

in the figure: a robot arm-1; a clamping mechanism-2; a fixture block-21; a base-22; a card slot-23; screw-24; a limiting block-25; proctoscope-3; a fixed seat-31; a lens tube-32; a lighting unit-321; an image pickup unit-322; an independent air inlet and outlet channel port-323; operation channel port-324; a dilator-4; an expansion sheet-41; a male part-411; an interior recess-412; connection-413; an arcuate support pad-414; an inner sliding sleeve-42; a guide bar-43; a first spring-44; a slide-45; a limit pin-46; a second spring-47; a limiting plate-48; an outer sliding sleeve-49.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 4, the present invention provides a robot arm proctoscope system, and the system mainly includes:

the robot arm comprises a robot arm 1, wherein a clamping mechanism 2 is fixed at the tail end of the robot arm 1;

the proctoscope 3 is detachably connected with the robot arm 1 through the clamping mechanism 2. Specifically, the proctoscope 3 includes: the fixed seat 31, the fixed seat 31 is clamped by the clamping mechanism 2; the lens tube 32 is fixed inside the fixed seat 31, the lens tube 32 includes an operation front end and an operation rear end, and the dilator 4 is arranged at the operation front end of the lens tube 32.

Further, the expander 4 includes:

at least two expansion pieces 41 arranged on the outer side of the lens tube 32 in the circumferential direction, in the present embodiment, the number of the expansion pieces 41 is 2, the two expansion pieces 41 are combined to form a structural form with a small front end and a large rear end, and when the lens tube 32 extends into the two expansion pieces 41, the two expansion pieces 41 are driven to synchronously expand outwards;

a locking mechanism connected between the expansion piece 41 and the lens tube 32, and used for switching the fixed fit between the expansion piece 41 and the lens tube 32 into the sliding fit during the process of inserting the expansion piece 41 into the anus of the patient.

Preferably, the specific structure of the locking mechanism and its principle are shown in fig. 4-6:

the locking mechanism comprises:

the inner sliding sleeve 42 is sleeved on the outer wall of the endoscope tube 32, and two first sliding grooves are formed in the inner sliding sleeve 42 towards the array on one side of the expansion sheet 41 and are circumferentially arranged around the endoscope tube 32 and radially formed along the endoscope tube 32. Guide rods 43 are fixed in the first sliding grooves, the guide rods 43 correspond to the expansion pieces 41 one by one, and penetrate through the expansion pieces 41 along the expansion direction of the expansion pieces 41; a first spring 44 is connected between the expansion piece 41 and the inner wall of the first chute, and the first spring 44 pushes the expansion piece 41 in the opposite expansion direction, so that the expansion piece 41 can be pushed to move towards the direction of mutual approaching;

two second sliding grooves which are arranged on the inner sliding sleeve 42 around the circumference of the mirror tube 32, wherein the second sliding grooves and the first sliding grooves are symmetrically distributed on two sides of the inner sliding sleeve 42 and correspond to the array sheet 41 in position; a sliding plate 45 in sliding fit with the second sliding groove, wherein a limit pin 46 is fixed on one side of the sliding plate 45, and the limit pin 46 can penetrate through the inner sliding sleeve 42 and is inserted into the endoscope tube 32 along the radial direction; a second spring 47 connected between the slide plate 45 and the inner wall of the second chute, and the second spring 47 urges the slide plate 45 in the expanding direction; a limiting plate 48 capable of moving along the axial direction of the lens tube 32, wherein the limiting plate 48 can be inserted into the second chute to block the movement of the sliding plate 45, and when the limiting plate 48 is matched with the sliding plate 45 in the second chute, the second spring 47 is limited to be compressed, so that the limiting pin 46 is kept inserted into the lens tube 32;

the outer sliding sleeve 49 is provided with a guide groove matched with the first sliding groove on one side of the outer sliding sleeve 49 facing the endoscope tube 32, a mounting ring is formed by inwards bending one side of the outer sliding sleeve 49 facing the clamping mechanism 2, and the limiting plate 48 is arranged on one side of the mounting ring facing the second sliding groove.

In summary, and with reference to fig. 4-6, when performing an enteroscopy procedure, the overall system:

first, the proctoscope 3 is fixed to the operation tip of the robot arm 1 by the gripper mechanism 2. The preferred robot arm 1 employs a multi-axis robot arm, thereby facilitating multi-angle flexible operation during surgery. Preferably, the clamping mechanism 2 comprises a clamping block 21 and a base 22; the fixture block 21 is fixed on one side of the fixing seat 31, the base 22 is connected to the end of the robot arm 1, and a fixture groove 23 engaged with the fixture block 21 is formed in the base 22, so that the clamping mechanism 2 performs fixing between the proctoscope 3 and the end of the robot arm 1 in an engaging and connecting manner. Further: a screw 24 in threaded connection is arranged on the base 22, the screw 24 is axially arranged along the clamping groove 23, and one end of the screw 24 is rotatably connected with a clamping plate capable of sliding in the clamping groove 23; limiting grooves are formed in the two sides of the clamping block 21; two limiting blocks 25 are symmetrically arranged on the clamping groove 23, one limiting block 25 is fixed on the inner wall of the clamping groove 23, and the other limiting block 25 is fixed on the clamping plate; therefore, the limiting and clamping of the clamping block 21 are further realized on the basis of clamping, and then the multi-direction clamping of the clamping mechanism 2 is realized, so that the stability of the fixation between the proctoscope 3 and the tail end of the robot arm 1 is effectively ensured.

Then, the proctoscope 3 is sent to the anus of the patient by using the robot arm 1, and the whole proctoscope 3 is inserted through the anus of the patient;

before the insertion, the dilator 4 and the endoscope tube 32 form a matching state shown in fig. 4, in this state, based on the limitation of the outer sliding sleeve 49 and the limiting plate 48, the limiting pin 46 is driven to be inserted into the endoscope tube 32, the second spring 47 is compressed, and therefore the fixation between the dilator 4 and the endoscope tube 32 is formed, and the robot arm 1 can synchronously operate the proctoscope 3 and the dilator 4. Preferably, in order to ensure the stable limitation of the outer sliding sleeve 49, a limiting spring can be connected between the outer sliding sleeve 49 and the inner sliding sleeve 42, thereby limiting the outer sliding sleeve 49 to be positioned in the state shown in fig. 4 under the driving of no external force.

During the insertion process, as the dilator 4 goes deep, the buttocks of the patient form a limit to the outer sliding sleeve 49, so that the outer sliding sleeve 49, the expansion piece 41 and the mirror tube 32 move relatively, thereby forming a state shown in fig. 5, in which the limit plate 48 is separated from the second sliding groove, so that the sliding plate 45 loses the limit and moves under the resilience of the second spring 47, and then the limit pin 46 is driven to be separated from the mirror tube 32, so that the dilator 4 and the mirror tube 32 are unlocked to form a relatively movable state. Preferably, each expansion piece 41 comprises an external convex part 411, an internal concave part 412 and a connecting part 413 which are connected in sequence; the external convex part 411 is limited in the anus of the patient, the internal concave part 412 is limited at the critical position between the anus of the patient and the external environment, and the connecting part 413 is connected with the lens tube 32 through a locking mechanism; therefore, when the male protrusion 411 extends into the anus of the patient, the dilator 4 can be effectively prevented from falling off by the cooperation between the male protrusion 411 and the female portion 412.

After the unlocking between the dilator 4 and the scope tube 32 is completed, the rectoscope 3 is inserted continuously through the robot arm 1, the dilator 4 is limited at the anus of the patient, and the scope tube 32 and the dilator 4 are moved mutually and extend into the interior of the two dilation pieces 41. Preferably, an arc-shaped supporting pad 414 is fixed on the inner wall of each expansion piece 41, and the arc-shaped supporting pad 414 is fitted in the concave portion 412; based on this, when the front end of the lens tube 32 extends into the two expansion pieces 41, the front end of the lens tube 32 and the arc-shaped support pad 414 slide relatively, so as to drive the expansion pieces 41 to expand along the outside of the lens tube 32, thereby forming the state shown in fig. 6, in which the front end opening of the expanded expander 4 is effectively ensured to be larger than the diameter of the lens tube 32; at the same time, the expansion piece 41 moves on the guide rod 43 and presses the first spring 44.

Preferably, the front end of the tube 32 is provided with an illumination unit 321, an image pick-up unit 322, an independent air inlet/outlet channel port 323 and an operation channel port 324, thereby ensuring that the whole proctoscope 3 can effectively realize visual operation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A robotic arm proctoscope system, comprising:

the robot arm (1), one end of the robot arm (1) is fixedly arranged, and the other end is fixedly provided with a clamping mechanism (2);

the proctoscope (3) is detachably connected with the robot arm (1) through the clamping mechanism (2); the proctoscope (3) comprises a fixed seat (31) and a tube (32), and the fixed seat (31) is clamped by the clamping mechanism (2); the endoscope tube (32) is fixedly penetrated in the fixed seat (31), the endoscope tube (32) comprises an operation front end and an operation rear end, the operation rear end of the endoscope tube (32) is connected with the fixed seat (31), and the operation front end is provided with an expander (4);

the dilator (4) comprises at least two dilating pieces (41) and a locking mechanism which are arranged on the outer side of the mirror tube (32) in the circumferential direction, the dilating pieces (41) are combined to form a structural form with a small front end and a large rear end, one end far away from the mirror tube (32) is the front end, and when the mirror tube (32) extends between the dilating pieces (41), the dilating pieces (41) can be driven to synchronously dilate outwards; the locking mechanism is connected between the expansion sheet (41) and the lens tube (32), and is used for switching the fixed fit between the expansion sheet (41) and the lens tube (32) into the sliding fit during the process of inserting the expansion sheet (41) into the anus of the patient; the locking mechanism includes:

the endoscope comprises an endoscope tube (32), an inner sliding sleeve (42), an outer sleeve and an expansion piece (41), wherein the inner sliding sleeve (42) is sleeved on the outer wall of the endoscope tube (32), one side, facing the expansion piece (41), of the inner sliding sleeve (42) is provided with first sliding grooves, the number of the first sliding grooves is the same as that of the array pieces (41), the first sliding grooves are arranged in a one-to-one correspondence mode with the array pieces (41) in the circumferential direction of the endoscope tube (32), and the first sliding grooves are formed in the radial direction of the endoscope tube (32);

guide rods (43) are fixed in the first sliding grooves, the guide rods (43) correspond to the expansion pieces (41) one by one, and penetrate through the expansion pieces (41) along the expansion direction of the expansion pieces (41);

the expansion sheet (41) is connected with the inner wall of the first sliding chute through a first spring (44);

second sliding chutes are formed on the inner sliding sleeve (42) around the circumference of the endoscope tube (32), are the same in number as the first sliding chutes and are formed along the radial direction of the endoscope tube (32);

a sliding plate (45) in sliding fit with the second sliding groove, a limiting pin (46) is fixed on one side of the sliding plate (45), and the limiting pin (46) can penetrate through the inner sliding sleeve (42) and is inserted into the endoscope tube (32) along the radial direction; a second spring (47) connected between the sliding plate (45) and the inner wall of the second sliding chute, wherein the second spring (47) can push the sliding plate (45) along the radial direction of the lens tube (32);

a limiting plate (48) capable of moving along the axial direction of the lens tube (32), wherein the limiting plate (48) can be inserted into the second sliding chute and blocks the sliding plate (45) from moving; establish outer sliding sleeve (49) on inner sliding sleeve (42) outer wall outer sliding sleeve (49) open towards one side of microscope tube (32) in with the guide slot of first spout looks adaptation outer sliding sleeve (49) is formed with the collar towards the inside incurvation of one side of fixture (2), just limiting plate (48) set up the one side towards the second spout on the collar.

2. A robotic arm proctoscope system according to claim 1, wherein: each expansion piece (41) comprises an external convex part (411), an internal concave part (412) and a connecting part (413) which are connected in sequence; the external convex part (411) is used for being inserted into the anus of a patient, and the connecting part (413) is connected with the mirror tube (32) through a locking mechanism.

3. A robotic arm proctoscope system according to claim 2, wherein: arc-shaped supporting pads (414) are fixed on the inner wall of each expansion piece (41), the arc-shaped supporting pads (414) are arranged at the inner concave portions (412), and the middle portions of the arc-shaped supporting pads (414) are bent towards the direction close to each other.

4. A robotic arm proctoscope system according to claim 1, wherein: an illumination unit (321), a camera unit (322), an independent air inlet and outlet channel port (323) and an operation channel port (324) are arranged at the front end of the mirror tube (32).

5. A robotic arm proctoscope system according to claim 1, wherein the clamping mechanism (2) comprises:

the fixture block (21) is fixed on one side of the fixed seat (31);

the base (22) is connected to the tail end of the robot arm (1), and a clamping groove (23) clamped with the clamping block (21) is formed in the base (22);

and the screw rod (24) is in threaded connection with the base (22), and one end of the screw rod (24) is rotatably connected with a clamping plate capable of sliding in the clamping groove (23).

6. A robotic arm proctoscope system according to claim 5, wherein: limiting grooves are formed in the two sides of the clamping block (21), two limiting blocks (25) are symmetrically arranged on the clamping groove (23), one limiting block (25) is fixed on the inner wall of the clamping groove (23), and the other limiting block (25) is fixed on the clamping plate.