CN113633361B - Multifunctional diagnosis and treatment manipulator for midwifery - Google Patents
Multifunctional diagnosis and treatment manipulator for midwifery Download PDFInfo
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- CN113633361B CN113633361B CN202111207498.5A CN202111207498A CN113633361B CN 113633361 B CN113633361 B CN 113633361B CN 202111207498 A CN202111207498 A CN 202111207498A CN 113633361 B CN113633361 B CN 113633361B
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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
- A61B17/42—Gynaecological or obstetrical instruments or methods
- A61B17/44—Obstetrical forceps
- A61B17/442—Obstetrical forceps without pivotal connections, e.g. using vacuum
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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
- A61B17/42—Gynaecological or obstetrical instruments or methods
- A61B17/44—Obstetrical forceps
- A61B2017/447—Obstetrical forceps with force limitation
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Abstract
The invention discloses a multifunctional diagnosis and treatment manipulator for midwifery, which comprises a manipulator arm assembly, an operation assembly and an adsorption assembly, wherein the operation assembly is arranged on the manipulator arm assembly; the mechanical arm assembly is used for pulling the fetus; the mechanical arm assembly comprises a plurality of rotating arms, so that the mechanical arm assembly can adjust the angle for pulling the fetus; the mechanical arm assembly comprises a positioning arm, and the positioning arm is a section of rotating arm at the moving end in the rotating arm of the mechanical arm assembly; an operating assembly is fixed on the positioning arm; the adsorption component comprises a disc-shaped sheet, a unit sucker, a guide pipe, a traction pipe, a central negative pressure pipe and a camera; the disc-shaped sheet is made of flexible and air-tight material and is used for covering the head of the fetus; the center of the disc-shaped sheet is provided with a through hole which is fixedly communicated with the central negative pressure pipe, and the through hole of the disc-shaped sheet is fixedly connected with the telescopic rod at the same time, so that the telescopic rod can drive the disc-shaped sheet to pass through the positioning ring to move. The manipulator can assist the parturient delivery process.
Description
Technical Field
The invention relates to a manipulator, in particular to a multifunctional diagnosis and treatment manipulator for assisting childbirth operation in a second labor stage of a gynaecology department.
Background
Parturient delivery is divided into three stages, the first stage of labor, the expansion period of the uterine orifice. The second phase of labor, fetal delivery. Third labor, the placenta delivery phase. In the second stage, the parturient can not produce himself, and the suction cup or forceps can be used for assistance.
When the sucking disc is used to attract the head of the fetus and pull out the fetus, a plurality of problems occur:
1. hematoma is caused at the sucking part of the sucking disc due to negative pressure;
2. the sucking disc conveniently extends into a birth canal, the overall dimension is small, the sucking disc can only be adsorbed at the top of the head of a fetus, on one hand, the danger of the fetus caused by overhigh negative pressure is avoided, the adhesive force is small, even though the sucking disc is used, the problem of unsuccessful delivery is also frequent, on the other hand, because only a small position can be adsorbed, under the negative pressure with an upper limit, in order to improve the force of pulling the fetus, the negative pressure is still high, and the skin at the edge of the sucking disc is still greatly damaged;
3. in the manual operation process, the force application angle and position are limited by the strength and height conditions of medical workers, and not every medical worker can assist the parturient in production by adopting a sucker;
4. when supplementary tractive child of sucking disc, doctor's experience is very important, and the cooperation of speed and application of force size can improve lying-in woman and foetus's security, but often in order to improve the success rate during manual operation, the applied force volume is great, and lying-in woman's birth canal is torn easily, and the damage takes place easily to foetus head.
Disclosure of Invention
The embodiment of the application provides a multi-functional mechanical hand of diagnosing for practising midwifery, has solved among the prior art tractive angle, the difficult regulation of speed, and the sucking disc is big problem to fetal head damage, has realized stable tractive, to lying-in woman and little practising midwifery effect of fetal damage.
The embodiment of the application provides a multifunctional diagnosis and treatment manipulator for midwifery, which comprises a manipulator arm assembly,
the mechanical arm assembly is used for pulling the fetus;
the multifunctional diagnosis and treatment manipulator for midwifery also comprises an operation component and an adsorption component;
the mechanical arm assembly comprises a plurality of rotating arms, so that the mechanical arm assembly can adjust the angle for pulling the fetus;
the mechanical arm assembly comprises a positioning arm, and the positioning arm is a section of rotating arm at the moving end in the rotating arm of the mechanical arm assembly;
an operation assembly is fixed on the positioning arm;
the operating assembly comprises a telescopic rod, a pump assembly and a positioning ring;
the telescopic rod is used for drawing the fetus;
the pump assembly includes a plurality of air pumps for providing negative pressure or inflation;
the positioning ring is used for limiting the expansion area of the adsorption component;
the adsorption component comprises a disc-shaped sheet, a unit sucker, a guide pipe, a traction pipe, a central negative pressure pipe and a camera;
the disc-shaped sheet is made of flexible and air-tight material and is used for covering the head of the fetus; the center of the disc-shaped sheet is provided with a through hole which is fixedly communicated with the central negative pressure pipe, and the through hole of the disc-shaped sheet is fixedly connected with the telescopic rod at the same time, so that the telescopic rod can drive the disc-shaped sheet to pass through the positioning ring to move;
the center of the disc-shaped sheet is communicated with a central negative pressure pipe, and the central negative pressure pipe is communicated with a negative pressure pump in the pump assembly;
the unit suckers are used for adsorbing the fetal head skin, and the number of the unit suckers is not less than 12, and the unit suckers are uniformly distributed on the outer circumference of the disc-shaped sheet; the bottom surface of the unit sucker is flush with the bottom surface of the outer circumference of the disc-shaped sheet, so that the outer circumference edge of the disc-shaped sheet can be attached to the skin of the head of the fetus; the unit sucker is communicated with a sucker connecting pipe which is fixedly arranged in the disc-shaped sheet, and the sucker connecting pipe is uniformly communicated with a negative pressure pump in the pump assembly through a first manifold pipe;
the guide pipe extends from the center of the disc-shaped sheet to the outer circumference, and the distance between the end of the guide pipe and the outer circumference edge of the disc-shaped sheet is not more than 5 mm; the guiding tube is arc-shaped after being inflated, so that the disk-shaped sheet is folded into a frustum shape or a horn shape integrally; a plurality of guide tubes are uniformly communicated with an inflator pump in the pump assembly through a second manifold pipe, so that the guide tubes are synchronously inflated and deflated;
the outer circumference of the disc-shaped sheet is fixedly provided with a plurality of cameras with light sources, and the cameras transmit image information to the display.
The rotating arm comprises a first rotating arm and a second rotating arm;
the mechanical arm assembly also comprises a base and a base telescopic rod;
one end of the base telescopic rod is fixed on the base, the other end of the base telescopic rod is hinged with the first rotating arm, and the rotating angle of the first rotating arm is adjusted at the hinged position through the stepping motor;
the second rotating arm is hinged with the free end of the first rotating arm, and the hinged position controls the rotating angle of the second rotating arm through a stepping motor;
the positioning arm is hinged with the free end of the second rotating arm, and the rotating angle of the hinged part is controlled by a stepping motor.
Furthermore, a plurality of pulling pipes are fixed on the outer surface of the disc-shaped sheet, one ends of the pulling pipes are fixedly connected with the outer circumferential edge of the disc-shaped sheet, the pulling pipe parts are fixedly connected with the outer surface of the disc-shaped sheet, the fixing parts are straight lines and pass through the circle center of the disc-shaped sheet in a tiled state, and the length of the fixing parts accounts for 1/2-3/4 of the radius of the circle in the tiled state of the disc-shaped sheet;
the other end of the pulling pipe is provided with a pulling wire, the spare end of the pulling wire is fixed on an adjusting knob, and the adjusting knob can pull the pulling wire to further pull the edge of the disc-shaped sheet by rotation.
Further, the traction pipe is communicated with an inflation pump and a negative pressure pump in the pump assembly through a third collecting pipe; electromagnetic valves are arranged at the communication positions of the inflation pump and the negative pressure pump and the third collecting pipe;
the part of the traction tube fixed with the disc-shaped sheet is provided with a plurality of through holes which are uniformly distributed along the length direction and are used for inflating the birth canal and/or uterus and adsorbing the inner wall of the birth canal.
Furthermore, the number of the drawing pipes is the same as that of the unit suckers, and the length direction of the fixing position of the drawing pipes and the disc-shaped sheet is intersected with the axis of the unit suckers.
And pressure sensors are fixedly arranged in the central negative pressure pipe, the first collecting pipe, the second collecting pipe and the third collecting pipe.
Furthermore, a plurality of circular iron coils which are concentric with the disk-shaped pieces in a flat-laying state are fixed in the disk-shaped pieces, and an annular magnet is arranged on the inner ring of the positioning ring, so that the disk-shaped pieces tend to be opened when extending outwards through the positioning ring.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1) the unit sucker has the effects of positioning the position of the disc-shaped sheet and the edge shape and has the effect of acting points on pulling the fetus, the pulling force and the negative pressure can be dispersed to each position of the head of the fetus, the negative pressure suction of the negative pressure on the concentrated head of the fetus is reduced, the pulling acting points are dispersed, the deformation of the head of the fetus is reduced during pulling, and the problems of deformation of the head of the fetus and subcutaneous hematoma can be effectively avoided;
2) the disc-shaped sheet is of a non-rigid structure and can be attached to the top of the fetal head under negative pressure, on one hand, the unit suckers share the requirement of negative pressure of attachment points required by traction, so that the required negative pressure in the whole disc-shaped sheet is much lower than that of a common sucker; the disc-shaped sheet attached to the scalp of the fetus covers the head of the fetus, and the area of the disc-shaped sheet is much larger than that of the common sucker;
under the condition of no deformation space, the blood lump is not easy to form, and the bulge formed by the sucking disc on the head of the fetus is unlikely to occur; meanwhile, no deformation space exists, and the head of the fetus is not easy to deform.
3) The positions of all unit suckers of the disc-shaped piece can be known more clearly by combining the camera, the fetus can be pulled at a better angle by using the mechanical arm, the angle in the pulling process is stable, or the fetus can be stably adjusted according to needs, the force application process of pulling is also stable or can be stably adjusted, and the force application of a puerpera can be better matched; in addition, the drawing speed can be adjusted, so that the drawing which is too fast or too slow is avoided, the production success rate is improved, and the risk of tearing the birth canal of the puerpera is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the profile of a disk-shaped sheet as the tube is inflated;
FIG. 3 is a schematic view of a disk-shaped sheet structure;
FIG. 4 is a schematic view of the inner side of the disk when it is spread;
FIG. 5 is a schematic view of the shape of the disk after being deformed by pulling through the pulling tube;
fig. 6 is a schematic view of a fetus being pulled.
In the drawings, a robot arm assembly 100, a base 110, a base extension rod 120, a first rotating arm 130, a second rotating arm 140, and a positioning arm 150;
an operating assembly 200, a telescopic rod 210, a pump assembly 220, a positioning ring 230;
the suction assembly 300, the disc 310, the unit suction cups 320, the suction cup connection pipes 321, the first manifold pipes 322, the guide pipes 330, the second manifold pipes 332, the pulling pipes 340, the pulling wires 341, the third manifold pipes 342, the adjustment knobs 343, the central negative pressure pipe 350, the cameras 360, and the iron coils 370.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
As shown in fig. 1 to 6, a multifunctional surgical manipulator for midwifery comprises a robot arm assembly 100,
further comprises an operating component 200 and an adsorption component 300;
the mechanical arm assembly 100 is used for the pulling operation of the fetus; the stability of the mechanical arm is obviously superior to that of manual operation, and the position and the angle of the mechanical arm are adjusted by taking manual operation as assistance;
the mechanical arm assembly 100 comprises a plurality of rotating arms, so that the mechanical arm assembly can adjust the angle for pulling the fetus;
the robot arm assembly 100 includes a positioning arm 150, the positioning arm 150 is a rotating arm of the moving end of the rotating arm of the robot arm assembly 100;
an operating assembly 200 is fixed on the positioning arm 150;
the operation assembly 200 comprises a telescopic rod 210, a pump assembly 220 and a positioning ring 230;
the telescopic rod 210 is used for pulling the fetus; the telescopic rod 210 is an electric threaded telescopic rod or an electric cylinder, and the telescopic speed can be adjusted; the electric threaded telescopic rod and the electric cylinder can be selected from various commercially available products.
The pump assembly 220 includes a plurality of air pumps for providing negative pressure or inflation;
the positioning ring 230 is used to limit the expansion area of the absorbent assembly 300;
the suction assembly 300 comprises a disc-shaped sheet 310, a unit suction cup 320, a guide pipe 330, a pulling pipe 340, a central negative pressure pipe 350 and a camera 360;
the disc-shaped sheet 310 is made of flexible and air-impermeable material and is used for covering the head of the fetus; the disc-shaped sheet 310 has a through hole at the center, the through hole is fixedly communicated with the central negative pressure tube 350, and the through hole of the disc-shaped sheet 310 is fixedly connected with the telescopic rod 210 at the same time, so that the telescopic rod 210 can drive the disc-shaped sheet 310 to pass through the positioning ring 230 for movement; the disc-shaped sheet can be made of rubber, silica gel, medical plastic and the like, and preferably has certain elasticity, so that the disc-shaped sheet is convenient to spread and flatten;
the disc 310 is centrally connected to a central negative pressure pipe 350, and the central negative pressure pipe 350 is connected to a negative pressure pump in the pump assembly 220;
the unit suction cups 320 are used for sucking the skin of the fetal head, and the number of the unit suction cups 320 is not less than 12 and is uniformly distributed on the outer circumference of the disc-shaped piece 310; the bottom surface of the unit suction cup 320 is flush with the bottom surface of the outer circumference of the disc 310, so that the outer circumference edge of the disc 310 can be attached to the skin of the head of the fetus; the diameter of the sucking part of the unit sucking disc is preferably not more than 20mm, so that the space for skin uplifting is reduced, and subcutaneous hematoma is avoided as much as possible; the unit suction cups 320 are communicated with the suction cup connection pipes 321, the suction cup connection pipes 321 are fixedly arranged in the disc-shaped sheets 310, and the suction cup connection pipes 321 are communicated with the negative pressure pump in the pump assembly 220 through the first collecting pipes 322.
The guide pipe 330 extends from the center of the disc 310 to the outer circumference, and the distance between the end of the guide pipe 330 and the outer circumference edge of the disc 310 is not more than 5 mm; the guiding tube 330 is arc-shaped after being inflated, so that the disk-shaped sheet 310 is folded into a frustum shape or a horn shape as a whole; a plurality of guide tubes 330 are uniformly communicated with the inflator pump in the pump assembly 220 through a second manifold 332, so that the guide tubes 330 can be inflated and deflated synchronously; the guiding tube has certain rigidity when being inflated, so that the disc-shaped sheet 310 can be folded into an umbrella shape to be convenient for entering the birth canal;
a plurality of cameras 360 with light sources are fixedly arranged on the outer circumference of the disc 310 and transmit image information to a display.
The folded disc 310 is extended into the birth canal through the telescopic rod 210 because the guiding tube 330 formed by the balloon has rigidity without damaging the birth canal and the disc 310 can smoothly enter the birth canal. When the disc-shaped piece 310 reaches the preset position, the disc-shaped piece is positioned through the unit suction cups, and then negative pressure is formed in the whole disc-shaped piece 310 through the central negative pressure pipe 350, so that the disc-shaped piece 310 is attached to the scalp of the fetus.
The method comprises the following specific steps
1. Firstly, positioning the mechanical arm assembly 100 to enable the positioning arm 150 to point to the birth canal mouth;
2. the guiding tube 330 in the disk 310 is inflated to fold the disk 310 into a retracted umbrella shape; the telescopic rod 210 in the operation assembly 200 is controlled to extend out towards the birth canal, and the folded disc-shaped piece 310 in the adsorption assembly 300 is driven to extend towards the head of the fetus;
3. opening the camera 360 on the outer circumference of the disc 310, and observing the position of the edge of the disc 310 on the head of the fetus through the display;
4. the telescopic rod 210 continuously drives the disc-shaped sheet 310 to advance, the position of the edge of the disc-shaped sheet 310 is synchronously observed, the pull wire 341 is wound by the adjusting knob 343 to drive the pull pipe 340 to pull the edge of the disc-shaped sheet 310, and the position of the disc-shaped sheet is adjusted (adjusted within the range of 5-10 mm) to avoid ears and eyes;
5. when the edge of the disk 310 is adjusted to a desired position, a negative pressure is supplied to the unit suction cups 320 through the suction cup connection pipe 321 to make the edge of the disk 310 be adsorbed at a predetermined position;
6. the air supply of the guide pipe 330 is closed to make the disc-shaped sheet 310 lose the support, and negative pressure is provided to the disc-shaped sheet 310 through the central negative pressure pipe 350 to make the disc-shaped sheet 310 attached to the head of the fetus;
7. the fetus is pulled through the telescopic rod 210, the pulling speed can be increased step by step according to the preset speed, and the pulling speed can be increased by 1cm/s-10cm/s, and the fetus can also be manually operated.
Example two
Referring to fig. 1-6, in the structure of the robot arm assembly, three rotating arms are provided through trial manufacturing, including a first rotating arm 130, a second rotating arm 140, and a positioning arm 150; the three-section rotating arm can conveniently adjust angles in all directions, and is convenient for fine adjustment of large angles and small angles.
The robot arm assembly 100 further comprises a base 110 and a base extension pole 120;
one end of the base telescopic rod 120 is fixed on the base 110, the other end of the base telescopic rod is hinged with the first rotating arm 130, and the rotating angle of the first rotating arm 130 is adjusted at the hinged position through a stepping motor;
the second rotating arm 140 is hinged with the free end of the first rotating arm 130, and the rotating angle of the second rotating arm 140 is adjusted at the hinged position through a stepping motor;
the positioning arm 150 is hinged to the free end of the second rotating arm 140, and the rotation angle of the positioning arm 150 is adjusted by a stepping motor at the hinged position. The specific adjustment can be automatically adjusted through a preset angle, and can also be manually adjusted.
EXAMPLE III
As shown in fig. 3-5, a plurality of pulling pipes 340 are fixed on the outer surface of the disc 310, one end of each pulling pipe 340 is fixedly connected with the outer circumferential edge of the disc 310, the pulling pipe 340 is partially fixedly connected with the outer surface of the disc 310, the fixed part is a straight line and passes through the center of the circle of the disc 310 in a flat state, and the length of the fixed part accounts for 1/2 to 3/4 of the radius of the circle of the disc 310 in the flat state;
the other end of the pulling tube 340 is provided with a pulling wire 341, the free end of the pulling wire 341 is fixed on an adjusting knob 343, and the adjusting knob 343 can pull the pulling wire 341 by rotation to further pull the edge of the disc-shaped sheet 310. The adjustment knob 343 is rotatably positioned on the positioning arm 150.
The pulling tube 340 mainly has the function of finely adjusting the position of the unit suction cup 320, so that the disc-shaped sheet 310 covers the head of the fetus in an area as large as possible, and can avoid the eyes and ears of the fetus, and avoid the eyes and ears from being pulled and damaged.
Further, the pulling tube 340; the third collecting pipe 342 is communicated with the inflation pump and the negative pressure pump in the pump assembly 220; electromagnetic valves are arranged at the communication positions of the inflation pump and the negative pressure pump and the third collecting pipe 342;
the portion fixed to the disc 310 is provided with a plurality of through holes uniformly distributed along the length direction for inflating the birth canal and/or uterus and adsorbing the inner wall of the birth canal. When the pulling tube 340 is inflated, the disc-loading piece 310 can smoothly enter the birth canal to cover the head of the fetus. When in a negative pressure state, the pressure is formed in the process of drawing the fetus to adsorb the inner wall of the birth canal, so that the birth canal can be uniformly deformed as far as possible, and the birth canal and the vaginal orifice are prevented from being torn.
The number of the pulling pipes 340 is the same as that of the unit suction cups 320, and the length direction of the fixing position of the pulling pipes 340 and the disc-shaped sheet 310 intersects with the axis of the unit suction cups 320.
Example four
As shown in fig. 3-5, a plurality of circular iron coils 370 concentric with the disc 310 in a flat state are fixed in the disc 310, and a ring magnet is arranged on the inner ring of the positioning ring 230, so that the disc 310 tends to be expanded when extending outwards through the positioning ring 230, thereby facilitating the disc 310 to enter the birth canal to cover the head of the fetus.
EXAMPLE five
Pressure sensors are fixedly arranged in the central negative pressure pipe 350, the first collecting pipe 322, the second collecting pipe 332 and the third collecting pipe 342. The pressure sensor is arranged, so that the negative pressure and the positive pressure can be conveniently adjusted and controlled.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A multifunctional diagnosis and treatment manipulator for midwifery, which comprises a mechanical arm component and is characterized in that,
the device also comprises an operation component and an adsorption component;
the mechanical arm assembly comprises a plurality of rotating arms, so that the mechanical arm assembly can adjust the angle for pulling the fetus;
the mechanical arm assembly comprises a positioning arm, and the positioning arm is a section of rotating arm at the moving end in the rotating arm of the mechanical arm assembly;
an operation assembly is fixed on the positioning arm;
the operating assembly comprises a telescopic rod, a pump assembly and a positioning ring;
the telescopic rod is used for drawing the fetus;
the pump assembly includes a plurality of air pumps for providing negative pressure or inflation;
the positioning ring is used for limiting the expansion area of the adsorption component;
the adsorption component comprises a disc-shaped sheet, a unit sucker, a guide pipe, a traction pipe, a central negative pressure pipe and a camera;
the disc-shaped sheet is made of flexible and air-tight material and is used for covering the head of the fetus; the center of the disc-shaped sheet is provided with a through hole which is fixedly communicated with the central negative pressure pipe, and the through hole of the disc-shaped sheet is fixedly connected with the telescopic rod at the same time, so that the telescopic rod can drive the disc-shaped sheet to pass through the positioning ring to move;
the center of the disc-shaped sheet is communicated with a central negative pressure pipe, and the central negative pressure pipe is communicated with a negative pressure pump in the pump assembly;
the unit suckers are used for adsorbing the fetal head skin, and the number of the unit suckers is not less than 12, and the unit suckers are uniformly distributed on the outer circumference of the disc-shaped sheet; the bottom surface of the unit sucker is flush with the bottom surface of the outer circumference of the disc-shaped sheet, so that the outer circumference edge of the disc-shaped sheet can be attached to the skin of the head of the fetus; the unit sucker is communicated with a sucker connecting pipe which is fixedly arranged in the disc-shaped sheet, and the sucker connecting pipe is uniformly communicated with a negative pressure pump in the pump assembly through a first manifold pipe;
the guide pipe extends from the center of the disc-shaped sheet to the outer circumference, and the distance between the end of the guide pipe and the outer circumference edge of the disc-shaped sheet is not more than 5 mm; the guiding tube is arc-shaped after being inflated, so that the disk-shaped sheet is folded into a frustum shape or a horn shape integrally; a plurality of guide tubes are uniformly communicated with an inflator pump in the pump assembly through a second manifold pipe, so that the guide tubes are synchronously inflated and deflated;
a plurality of cameras with light sources are fixedly arranged on the outer circumference of the disc-shaped sheet, and the cameras transmit image information to the display;
the rotating arm comprises a first rotating arm and a second rotating arm;
the mechanical arm assembly also comprises a base and a base telescopic rod;
one end of the base telescopic rod is fixed on the base, the other end of the base telescopic rod is hinged with the first rotating arm, and the rotating angle of the first rotating arm is adjusted at the hinged position through the stepping motor;
the second rotating arm is hinged with the free end of the first rotating arm, and the hinged position controls the rotating angle of the second rotating arm through a stepping motor;
the positioning arm is hinged with the free end of the second rotating arm, and the rotating angle of the hinged part is controlled by a stepping motor.
2. The multifunctional medical manipulator for midwifery according to claim 1, wherein a plurality of pulling tubes are fixed on the outer surface of the disk-shaped piece, one end of each pulling tube is fixedly connected with the outer circumferential edge of the disk-shaped piece, the pulling tube part is fixedly connected with the outer surface of the disk-shaped piece, the fixed part is a straight line which passes through the center of the disk-shaped piece in a flat state, and the length of the fixed part is 1/2-3/4 of the radius of the circle in the flat state of the disk-shaped piece;
the other end of the pulling pipe is provided with a pulling wire, the spare end of the pulling wire is fixed on an adjusting knob, and the adjusting knob can pull the pulling wire to further pull the edge of the disc-shaped sheet by rotation.
3. The multifunctional medical manipulator for midwifery according to claim 2, wherein the pulling tube is uniformly communicated with an inflator pump and a negative pressure pump in the pump assembly through a third collecting tube; electromagnetic valves are arranged at the communication positions of the inflation pump and the negative pressure pump and the third collecting pipe;
the part of the traction tube fixed with the disc-shaped sheet is provided with a plurality of through holes which are uniformly distributed along the length direction and are used for inflating the birth canal and/or uterus and adsorbing the inner wall of the birth canal.
4. The multifunctional surgical manipulator for midwifery according to claim 3, wherein the number of the pulling tubes is the same as the number of the unit suction cups, and the length direction of the fixing position of the pulling tubes and the disk-shaped sheets is crossed with the axis of the unit suction cups.
5. The multifunctional surgical manipulator for midwifery according to claim 3, wherein pressure sensors are fixedly arranged in the central negative pressure tube, the first collecting tube, the second collecting tube and the third collecting tube.
6. The multifunctional surgical manipulator for midwifery according to claim 1, wherein a plurality of circular iron coils concentric with the disk-shaped pieces in a flat state are fixed in the disk-shaped pieces, and a ring-shaped magnet is arranged on an inner ring of the positioning ring, so that the disk-shaped pieces tend to be opened when extending outwards through the positioning ring.
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| CN114669864B (en) * | 2022-05-26 | 2022-08-19 | 江苏长江智能制造研究院有限责任公司 | Welding manipulator with adjustable welding angle |
| CN117562642B (en) * | 2024-01-16 | 2024-03-19 | 佳木斯大学 | Medical fetal head suction midwifery device |
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| US20170065298A1 (en) * | 2015-09-03 | 2017-03-09 | Adam Harris | Hand-Held Fetal Head Elevator |
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| CN113633361A (en) | 2021-11-12 |
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