CN114366303A - Endoscope robot and endoscope operating system - Google Patents
Endoscope robot and endoscope operating system Download PDFInfo
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- CN114366303A CN114366303A CN202111612952.5A CN202111612952A CN114366303A CN 114366303 A CN114366303 A CN 114366303A CN 202111612952 A CN202111612952 A CN 202111612952A CN 114366303 A CN114366303 A CN 114366303A
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- 238000005452 bending Methods 0.000 claims description 50
- 230000005540 biological transmission Effects 0.000 claims description 34
- 230000007246 mechanism Effects 0.000 claims description 32
- 238000003780 insertion Methods 0.000 claims description 29
- 230000037431 insertion Effects 0.000 claims description 29
- 238000010586 diagram Methods 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 208000008918 voyeurism Diseases 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 244000144985 peep Species 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
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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
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- Surgery (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Radiology & Medical Imaging (AREA)
- Endoscopes (AREA)
Abstract
The invention relates to the technical field of endoscopes and provides an endoscope robot and an endoscope operating system. Wherein, endoscope robot includes: an operation table; the guide part is arranged on the operating platform, and a deformation structure is arranged on the guide part and is used for overlapping partial structures of the guide part so as to reduce the transverse size of the guide part, and/or the guide part is rotatably arranged on the operating platform so as to reduce the transverse size of the guide part; the operating part is movably arranged on the guide part; the supporting end is arranged on the guide part, and the operating part moves relative to the supporting end so that the socket part moves towards or away from the supporting end. The endoscope robot provided by the invention occupies a small space and is convenient to store and store.
Description
Technical Field
The invention relates to the technical field of endoscopes, in particular to an endoscope robot and an endoscope operating system.
Background
The endoscope is a medical instrument and can enter a human body through a natural pore canal of the human body or a small incision made by an operation to peep the change of the relevant part or correspondingly process the peeping part through a working channel.
In the prior art, in order to facilitate the operation of an endoscope, a system for controlling the movement of an endoscope body of the endoscope is provided, and a doctor can drive the endoscope body to complete corresponding operation by sending a control command to the system.
It should be noted that, the existing endoscope system needs to occupy a certain lateral space to complete the corresponding endoscopic operation, but this also results in a large occupied space of the system itself, which is easy to interfere with other medical devices or environments, and is not beneficial to medical work.
Disclosure of Invention
The invention provides an endoscope robot and an endoscope operating system, which are used for solving the defect that an endoscope system in the prior art occupies a large space and realizing the storage and the storage of an endoscope.
The present invention provides an endoscope robot, comprising:
an operation table;
the guide part is arranged on the operating platform, and a deformation structure is arranged on the guide part and is used for overlapping partial structures of the guide part so as to reduce the transverse size of the guide part, and/or the guide part is rotatably arranged on the operating platform so as to reduce the transverse size of the guide part;
an operating part movably provided on the guide part, the operating part having a socket part;
the supporting end is arranged on the guide part, and the operating part moves relative to the supporting end so as to enable the socket part to move towards or away from the supporting end;
the endoscope comprises an endoscope body and a control device, wherein the endoscope body comprises a plug part and an insertion part, the plug part is arranged at one end of the insertion part, the end part of the insertion part, far away from the plug part, is provided with a bending part, and the plug part is detachably inserted in the socket part;
the supporting part comprises a plurality of sections of supporting tubes which are nested in sequence, one end of the supporting part is detachably connected with the plug part or the operating part, the other end of the supporting part is detachably connected with the supporting end, the inserting part penetrates through the supporting part, and the bending part is located outside the supporting part.
According to the endoscope robot provided by the invention, the guide part comprises a first guide rail and a second guide rail, the first guide rail is arranged on the operating platform, the deformation structure comprises a second guide plate formed on the second guide rail and a first guide plate formed on the first guide rail, the second guide rail is embedded in the first guide rail in a sliding manner, the operating part is movably arranged on the guide part, and the supporting end is arranged at the end part of the second guide rail far away from the operating part; the first guide rail is provided with a first supporting plate, the second guide rail is provided with a second supporting plate, the first supporting plate is continuously arranged with the second supporting plate, the operating part is provided with a moving wheel which is at least used for being placed in the first supporting plate and one of the second supporting plates, the operating part is further provided with a guide wheel, and the guide wheels are at least used for abutting against the first guide plate and one of the second guide plates.
According to the endoscope robot provided by the invention, the guide part comprises a first guide rail and a second guide rail, the first guide rail is arranged on the operating platform, the deformation structure comprises a hinge structure, the first guide rail is provided with a first guide plate, the second guide rail is provided with a second guide plate, the hinge structure is connected with the first guide plate and the second guide plate on one side, the first guide rail is provided with a first supporting plate, the second guide rail is provided with a second supporting plate, the first supporting plate and the second supporting plate are arranged in a flush mode, the operating part is movably arranged on the guide part, and the supporting end is arranged at the end part, far away from the operating part, of the second guide rail.
According to the endoscope robot provided by the invention, the guide part comprises a first guide rail and a second guide rail, the first guide rail is arranged at the top of the operating platform, the deformation structure comprises a second guide plate formed on the second guide rail and a first guide plate formed on the first guide rail, the second guide rail is slidably embedded in the first guide rail, the operating part is movably arranged on the second guide rail, and the supporting end is arranged at the end part of the first guide rail, which is far away from the operating part; the second guide rail is provided with a transmission mechanism; the transmission mechanism is provided with a first driving end and a second driving end, the first driving end is connected with the first guide rail so as to drive the second guide rail to move relatively on the first guide rail, and the second driving end is connected with the operating part so as to drive the operating part to move relatively on the second guide rail; the transmission mechanism comprises a screw and nut mechanism and/or a chain transmission mechanism and/or a belt transmission mechanism and/or a gear and rack transmission mechanism and/or a wire pulley transmission mechanism.
According to the endoscope robot provided by the invention, the guide part comprises the mechanical arm and the support frame, the mechanical arm and the support frame are arranged on the operating platform, the deformation structure comprises a first deformation structure and a second deformation structure, the first deformation structure is a multi-axis linkage mechanism on the mechanical arm, the operating part is movably arranged at the end part of the mechanical arm far away from the operating platform, the second deformation structure is a telescopic structure on the support frame, and the support end is arranged at the end part of the support frame far away from the operating platform.
According to the endoscope robot provided by the invention, the guide part comprises a first guide rail, a rotating part is arranged at the bottom of the first guide rail, the rotating part is rotatably connected with the operating platform, the operating part is movably arranged on the first guide rail, and the supporting end is arranged at the end part of the first guide rail.
According to the endoscope robot provided by the invention, the operating platform comprises a lifting platform and a base, the lifting platform is arranged on the base in a lifting manner, and the guide part is arranged on the lifting platform.
According to the endoscope robot provided by the invention, the endoscope robot further comprises a connecting sleeve, the plug part or the operating part is provided with a connecting end, the connecting end is detachably embedded in one end of the connecting sleeve, and one end of the supporting part is detachably embedded in the other end of the connecting sleeve.
According to the endoscope robot provided by the invention, the operating part is internally provided with a control end, a bending driving device and a rotating driving device, the control end is respectively connected with the bending driving device and the rotating driving device, the side wall of the plug part is provided with a bending transmission part connected with the top end of the bending part, the driving end of the bending driving device is detachably connected with the bending transmission part, and the driving end of the rotating driving device is connected with the socket part.
The invention also provides an endoscope operation system, which comprises a control handle and the endoscope robot as described in any one of the above;
the control handle is wirelessly connected with the operation part; the handle part of the control handle is provided with a biological signal measuring unit to detect whether the control handle is in a holding state.
The endoscope robot and the endoscope operation system provided by the invention can realize bending and rotation of the endoscope body through the operation part when the endoscope is used, and stably extend the endoscope body into the human body through the support part in the process that the operation part moves towards the support end so as to realize medical diagnosis of the corresponding part of the human body, and after the endoscope robot is used, the endoscope body and the support part can be detached from the endoscope robot, and the transverse size of the guide part can be reduced through the deformation structure and/or the rotation structure of the guide part, so that the transverse occupied space of the whole endoscope robot is reduced. Compared with the endoscope system structure provided by the prior art, the endoscope robot provided by the invention is stable and convenient to operate, occupies a small space when not used, and is convenient to store and store.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an endoscope robot according to an embodiment of the present invention;
fig. 2 is a second schematic structural diagram of an endoscope robot according to a first embodiment of the present invention;
fig. 3 is an exploded schematic view of an endoscopic robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an endoscope robot according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an endoscope robot provided by the third embodiment of the present invention;
fig. 6 is a schematic structural view of a second rail of the endoscope robot according to the third embodiment of the present invention;
fig. 7 is a schematic structural view of a storage state of an endoscope robot according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural view showing a state of use of an endoscope robot according to a fourth embodiment of the present invention;
fig. 9 is a schematic structural diagram of an endoscope robot provided in the fifth embodiment of the present invention;
FIG. 10 is a schematic structural view of a steering handle of the endoscopic operating system provided in the present invention;
reference numerals:
10: an operation table; 11: a lifting platform; 12: a base; 121: a caster wheel; 21: a first guide rail; 211: a first guide plate; 212: a first support plate; 22: a second guide rail; 22 a: hollowing out holes; 221: a second guide plate; 222: a second support plate; 223: a first screw; 224: a second screw; 225: a drive motor; 26: a first nut; 227: a second nut; 228: a gear set; 23: a hinge structure; 24: a mechanical arm; 25: a support frame; 30: an operation section; 30 a: a socket portion; 31: a moving wheel; 32: a guide wheel; 41: an insertion portion; 411: a bending section; 42: a plug portion; 421: bending the transmission member; 422: rotating the transmission member; 50: a support portion; 60: a support end; 70: connecting sleeves; 71: a locking ring; 80: a control handle; 81: a bio-signal measurement unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
The endoscope is used as a medical instrument for peeping the inside of a human body, and is generally provided with an endoscope body, the endoscope body can extend into a natural duct or an incision of the human body through bending and rotating, enter the human body and shoot a relevant part through a camera at the end part of the endoscope body, the relevant part can be correspondingly processed through a water gas cavity channel and a working cavity channel in the endoscope body, and the camera can return shot data through a cable in the endoscope body and display the shot data on corresponding display equipment so as to visually realize medical diagnosis for medical staff. The apparatus of the present invention is used in the medical field, but of course, in practical use, and also in the industrial field, etc., without limitation.
The endoscope robot and the endoscope operation system of the present invention will be described below with reference to fig. 1 to 10.
Referring to fig. 1 to 9, an endoscope robot includes:
an operation table 10;
the guide part is arranged on the operating platform 10, and a deformation structure is arranged on the guide part and is used for overlapping partial structures of the guide part so as to reduce the transverse dimension of the guide part, and/or the guide part is rotatably arranged on the operating platform 10 so as to reduce the transverse dimension of the guide part;
an operation unit 30, the operation unit 30 being movably provided on the guide unit, the operation unit 30 having a socket unit 30 a;
a support end 60, the support end 60 being provided on a guide portion, the operating portion 30 being moved relative to the support end 60 to move the socket portion 30a toward or away from the support end 60;
a mirror body, which comprises a plug part 42 and an insertion part 41, wherein the plug part 42 is arranged at one end of the insertion part 41, the end part of the insertion part 41 far away from the plug part 42 is provided with a bending part 411, and the plug part 42 is detachably inserted in the socket part 30 a;
a support portion 50, wherein the support portion 50 comprises a plurality of support tubes nested in sequence, one end of the support portion 50 is detachably connected to the plug portion 42 or the operation portion 30, the other end of the support portion 50 is detachably connected to the support end 60, the insertion portion 41 is inserted into the support portion 50, and the bending portion 411 is located outside the support portion 50.
In the above structure, the operation table 10 is used as a support, and the shape thereof is not limited as long as stable support is achieved, and the operation table 10 may be a fixed type or a movable type.
In addition, the above-mentioned guide portion is a structure serving as a support for the operation portion 30 and the support end 60, which serves as a guide movement of the operation portion 30 so that the insertion portion 41 can be extended to protrude into the human body. In this embodiment, the guide part can be partially folded or folded to the operation table 10 through rotating through the deformation structure, so as to reduce the overall transverse dimension of the robot, thus, the occupied space is greatly reduced, the storage is more facilitated, and the use of other medical instruments is facilitated.
The operation portion 30, i.e., a structure for manipulating the scope, can control the rotation of the insertion portion 41 of the scope and the bending of the bending portion 411 after the plug portion 42 of the scope is inserted into the socket portion 30a, and in this embodiment, the bending portion 411 can be bent in two directions, so as to extend the scope into the human body.
In addition, the support portion 50 is sleeved outside the insertion portion 41, so that the insertion portion 41 can be guided to move, and irregular rotation and bending can be avoided. The supporting portion 50 is fixedly supported by the supporting end 60, and when the operating portion 30 moves toward the supporting end 60, the supporting portion 50 may be compressed to extend the inserting portion 41 to be inserted into the human body, and when the operating portion 30 moves away from the supporting section, the supporting portion 50 may be stretched and the inserting portion 41 may be retracted into the supporting portion 50. Preferably, the end of the inner support tube of the support portion 50 is connected to the plug portion 42 and the outer support tube of the support portion 50 is detachably connected to the support end 60.
It can be seen from the above that the mirror body and the supporting portion 50 are both detachable from the operating portion 30 and the supporting end 60, so that the mirror body and the supporting portion 50 are convenient to clean and replace individually, and after detachment, the guiding portion can be stored by itself, and the occupied space is reduced.
In this embodiment, when the endoscope is used, the bending and rotation of the endoscope body can be realized through the operation portion 30, and in the process that the operation portion 30 moves towards the support end 60, the endoscope body can be stably extended into the human body through the support portion 50, so as to realize the medical diagnosis of the corresponding part of the human body, after the endoscope body and the support portion 50 can be detached from the endoscope robot, and the transverse size of the guide portion can be reduced through the deformation structure and/or the rotation structure of the guide portion, so that the transverse occupied space of the whole endoscope robot can be reduced. Compared with the endoscope system structure provided by the prior art, the endoscope robot provided by the invention is stable and convenient to operate, occupies a small space when not used, and is convenient to store and store.
In order to accommodate the guide portion, the present invention provides the following embodiments.
Referring to fig. 1 to 3, in a first embodiment, the guide portion includes a first guide rail 21 and a second guide rail 22, the first guide rail 21 is disposed on the console 10, the deformation structure includes a second guide plate 221 formed on the second guide rail 22 and a first guide plate 211 formed on the first guide rail 21, the second guide rail 22 is slidably embedded in the first guide rail 21, the operating portion 10 is movably disposed on the guide portion, and the support end 60 is disposed at an end of the second guide rail 22 away from the operating portion 10; the first guide rail 21 has a first support plate 212, the second guide rail 22 has a second support plate 222, the first support plate 212 is arranged in succession with the second support plate 222, the operating part 10 is provided with a moving wheel 31, the moving wheel 31 is at least used for resting on one of the first support plate 212 and the second support plate 222, the operating part 10 is further provided with a guide wheel 32, and the guide wheels 32 are at least used for abutting against one of the first guide plate 211 and the second guide plate 22.
Thus, when the mirror body is to be stored, the second rail 22 can slide to be nested in the first rail 21 after the support part 50 and the mirror body are removed, so that the transverse size of the guide part is reduced, and when the mirror body is used, the second rail 22 extends out of the first rail 21, and when the operation part 30 moves along the first rail 21, the support part 50 is contracted, so that the insertion part 41 can be extended out to be inserted into the human body.
Specifically, the number of the first guide plates 211 is two, and the first guide plates are respectively located on two sides of the first guide rail 21, the number of the second guide plates 221 is two, and the second guide plates are respectively located on two sides of the second guide rail 22, the first guide plates 211 are provided with first guide grooves, and the two second guide plates 221 are slidably embedded in the first guide grooves on the two sides; the first supporting plate 212 is located at the bottom of the first guide rail 21, the first accommodating grooves are formed at two sides of the bottom of the first guide rail 21, the second supporting plate 222 is located at the bottom of the second guide rail 22, the second supporting plate 222 is provided with a second guide groove, the first supporting plate 212 is in butt joint with the second guide groove, and the two second supporting plates 222 are in butt joint with the two first accommodating grooves respectively.
Thus, when the two second supporting plates 222 can be embedded in the two first accommodating grooves, the first supporting plate 212 can be embedded in the second guiding groove, the two second guide plates 221 can be embedded in the first guiding grooves at two sides, the first guiding rail 21 and the second guiding rail 22 are overlapped, and the transverse size of the guiding part is greatly reduced.
When the operation part 30 is used, the second guide rail 22 is extended from the first guide rail 21 to form a long guide rail, and the operation part 30 can stably move in the first guide rail 21 and the second guide rail 22 by the moving wheel 31 and the guide wheel 32, so that the moving stroke of the operation part 30 is increased, and the extension length of the insertion part 41 can be increased. Specifically, in the present embodiment, eight guide wheels are respectively disposed on two side surfaces of the operation portion 30, four guide wheels on the upper side are used for abutting against the first guide plates 211 on two sides, and four guide wheels are disposed in front of and behind each side of the operation portion 30, four guide wheels on the lower side are used for abutting against the second guide plates 221 on two sides, and four guide wheels are disposed in front of and behind each side of the operation portion 30; the bottom of the operation portion 30 is provided with six moving wheels, four moving wheels at two sides are used for being placed on the two second support plates 222, the second moving wheels 312 at each side are arranged in front and back, and two moving wheels arranged in front and back at the middle are used for being placed on the two first support plates 212, so that the stable movement of the operation portion 30 is ensured. The moving wheel of the operation part 30 is driven to move by a moving motor arranged in the operation part 30, and the moving motor is connected with a control end in the operation part 30 to realize the guiding movement of the control operation part 30.
In this embodiment, the end of the second rail 22 away from the first rail 21 is provided with a manual receiving portion having a hole for holding by hand for easy operation. The end of the first rail 21 remote from the second rail 22 is provided with a plurality of stoppers to prevent the operating part 30 from being separated from the guide part.
The support end 60 may be provided at an end of the first rail 21 remote from the operation unit 30, and the operation unit 30 may be moved from the second rail 22 to the first rail 21 when in use.
Referring to fig. 4, in the second embodiment, the guide portion includes a first guide rail 21 and a second guide rail 22, the first guide rail 21 is disposed on the operating platform 10, the deforming structure includes a hinge structure 23, the first guide rail 21 has a first guide plate 211, the second guide rail 22 has a second guide plate 221, the hinge structure 23 connects the first guide plate 211 and the second guide plate 221, the first guide rail 21 has a first support plate 212, the second guide rail 22 has a second support plate 222, the first support plate 212 and the second support plate 222 are arranged in succession, the operating portion 30 is movably disposed on the guide portion, and the support end 60 is disposed at an end of the second guide rail 22 away from the operating portion 30.
In this configuration, when the mirror body is stored, the second rail 22 can be reversed in the direction of the first rail 21 after the support portion 50 and the mirror body are removed, and the second rail 22 and the first rail 21 are arranged in an overlapping manner, thereby reducing the lateral dimension of the guide portion. In use, the first rail 21 and the second rail 22 are combined to form a long rail, and the operation portion 30 can be guided and moved on the first rail 21 and the second rail 22. In this embodiment, the structure of the operation portion 30 is the same as that in the first embodiment, and is not described herein again.
Specifically, the number of first guide plates 211 is two and located on both sides of the first guide rail 21, respectively, the number of second guide plates 221 is two and located on both sides of the second guide rail 22, respectively, and the number of hinge structures 23 is two and serves to connect the first guide plate 211 and the corresponding second guide plate 221 on each side, respectively. Of course, the hinge structure 23 can also connect the first support plate 212 and the second support plate 222 as desired.
Further, the second support plate 222 has a hollow hole 22a for accommodating the operation portion 30, so that the operation portion 30 can be placed in the hollow hole 22a as required, and the overall stroke length of the guide portion is increased.
In this embodiment, the end of the second rail 22 away from the first rail 21 is provided with a manual receiving portion having a hole for holding by hand for easy operation. The end of the first rail 21 remote from the second rail 22 is provided with a plurality of stoppers to prevent the operating part 30 from being separated from the guide part.
Referring to fig. 5 and fig. 6, in the third embodiment, the guide portion includes a first guide rail 21 and a second guide rail 22, the first guide rail 21 is disposed on the console 10, the deformation structure includes a second guide plate 221 formed on the second guide rail 22 and a first guide plate 211 formed on the first guide rail 21, the second guide rail 22 is slidably embedded in the first guide rail 21, the operation portion 30 is movably disposed on the second guide rail 22, and the support end 60 is disposed at an end of the first guide rail 21 away from the operation portion 30; a transmission mechanism is arranged on the second guide rail 22; the transmission mechanism is provided with a first driving end and a second driving end, the first driving end is connected with the first guide rail 21 so as to drive the second guide rail 22 to move relatively on the first guide rail 21, and the second driving end is connected with the operation part 30 so as to drive the operation part 30 to move relatively on the second guide rail 22; the transmission mechanism comprises a screw and nut mechanism and/or a chain transmission mechanism and/or a belt transmission mechanism and/or a gear and rack transmission mechanism and/or a wire pulley transmission mechanism.
Thus, when the mirror body is required to be stored, after the support part 50 and the mirror body are taken down, the second guide rail 22 can slide to be nested in the first guide rail 21, so that the transverse size of the guide part is reduced, when the mirror body is used, the second guide rail 22 extends out of the first guide rail 21, and when the operation part 30 moves along the second guide rail 22, the support part 50 contracts, so that the insertion part 41 can extend out to extend into the human body; when the operation part is used, the transmission mechanism can simultaneously drive the operation part 30 to move towards the supporting end 60 and the second guide rail 22 to retract into the first guide rail 21, so that the operation part 30 can move in a large stroke, the insertion part 41 can be conveniently extended, and the operation part is convenient to use.
Specifically, in this embodiment, the transmission mechanism is a screw-nut mechanism, the transmission mechanism includes a driving motor 225, a first screw 223 and a second screw 224, the driving motor 225 is disposed at an end of the second guide rail 22, the first screw 223 and the second screw 224 are movably disposed on the second guide rail 22, the driving motor 225 is connected to the first screw 223, the first screw 223 and the second screw 224 are connected through a gear set 228, a movable first nut 226 is disposed on the first screw 223, a bottom of the first nut 226 is connected to the first guide rail 21, a movable second nut 227 is disposed on the second screw 224, and a top of the second nut 227 is connected to the operation portion 30.
Thus, in use, the rotation of the first screw 223 and the second screw 224 can be simultaneously driven by the driving motor 225, and the rotation of the first screw 223 can further cause the first nut 226 connected to the first rail 21 to move relatively, thereby realizing the movement of the second rail 22 with respect to the first rail 21, and the reverse rotation of the second screw 224 can cause the second nut 227 connected to the operation portion 30 to move relatively, thereby realizing the movement of the operation portion 30 with respect to the second rail 22, and when the driving motor 225 drives the operation portion 30 to move toward the support end 60, the second rail 22 can be simultaneously retracted into the first rail 21, thereby enabling the operation portion 30 to move with a large stroke, facilitating the extension of the insertion portion 41, and facilitating the use. When the storage is performed, the second guide rail 22 is embedded into the first guide rail 21 by the driving motor 225, so that the manual storage is not needed, and the storage is convenient.
Referring to fig. 7 and 8, in the fourth embodiment, the guiding portion includes a robot arm 24 and a supporting frame 25, the robot arm 24 and the supporting frame 25 are disposed on the console 10, the deformation structure includes a first deformation structure and a second deformation structure, the first deformation structure is a multi-axis linkage mechanism on the robot arm 24, the operating portion 30 is movably disposed at an end of the robot arm 24 away from the console 10, the second deformation structure is a telescopic structure on the supporting frame 25, and the supporting end 60 is disposed at an end of the supporting frame 25 away from the console 10.
The multi-axis linkage mechanism is a plurality of sequentially connected shaft levers, and adjacent shaft levers are movably connected through a driving part, in this embodiment, two shaft levers are provided, one shaft lever is driven to rotate through a motor arranged at the top of the operating platform 10, the other shaft lever is driven to rotate through a motor arranged in the first shaft lever, and the operating part 30 is driven to rotate through a motor arranged at the end part of the other shaft lever, so that when the mechanical arm 24 drives the operating part 30 to move, the operating part 30 always moves along the linear direction, so as to extend the insertion part 41, and when being stored, the plurality of shaft levers can be overlapped together, thereby reducing the transverse size of the guide part. In addition, the telescopic structure of the support frame 25 is a multi-section sequentially nested connecting rod, when in use, the support frame 25 is extended to the maximum length so as to facilitate the stable guiding insertion of the insertion part 41, and when in storage, the support frame 25 is contracted so as to reduce the transverse size of the guide part, and the whole storage is realized and the occupied space is reduced by combining the structure of the mechanical arm 24.
Referring to fig. 9, in the fifth embodiment, the guiding portion includes a first guide rail 21, a rotating member is disposed at a bottom of the first guide rail 21, the rotating member is rotatably connected to the console 10, the operating portion 30 is movably disposed on the first guide rail 21, and the supporting end 60 is disposed at an end of the first guide rail 21.
The top of the console 10 has an arc surface for the first rail 21 to rotate, when the console is stored, the first rail 21 can be turned over to the side wall of the operation part 30, so that the first rail 21 is vertically arranged, thereby reducing the transverse dimension of the guide part, and when the console is used, the first rail 21 is turned over to be horizontal, and the operation part 30 can move on the first rail 21 for endoscope.
Further, the first rail 21 is slidably provided with a second rail 22, the operating portion 30 is movably provided on the second rail 22, and the supporting end 60 is provided at an end of the second rail 22, so that the position of the second rail 22 relative to the first rail 21 can be adjusted as required for use.
The structure of the operation portion 30 according to this embodiment can refer to the structure of the first embodiment or the second embodiment, and is different from the above, only the guide wheels 32 abutting against the first guide plate 221 are disposed on both sides of the operation portion 30, which are four in this embodiment, and each side is disposed in front and back, respectively, and will not be described again. Further, a manual receiving portion having a hole for holding is provided at an end portion of the first rail 21 near the support end 60 for easy operation. The end of second rail 22 remote from support end 60 is provided with a plurality of stops to prevent operating portion 30 from disengaging the guide.
In addition, in other embodiments, the first embodiment and the fifth embodiment may also be combined, that is, the first rail 21 is rotatably disposed on the console 10, the second rail 22 is nested in the first rail 21, the operating portion 30 is movably disposed in the first rail 21, and the supporting section is disposed at an end of the second rail 22 far from the first rail 21, so that after the second rail 22 is nested in the first rail 21, the second rail can be further turned over, so that the guiding portion overlaps with the console 10, thereby further reducing the overall transverse dimension and reducing the occupied space.
Similarly, the second and fifth embodiments may be combined, that is, the first rail 21 may be rotatably provided on the operation table 10, the second rail 22 may be rotatably connected to the first rail 21, the operation portion 30 may be movably provided in the first rail 21, and the support section may be provided at an end of the second rail 22 away from the first rail 21.
Or, the third and fifth embodiments are combined, that is, the first guide rail 21 is rotatably disposed on the operation table 10, the second guide rail 22 is nested in the first guide rail 21, the operation portion 30 is movably disposed in the second guide rail 22, and the support section is disposed at the end of the first guide rail 21 away from the first guide rail 21.
Referring to fig. 1 to 9, in an embodiment of the present invention, a plurality of casters 121 with a locking structure are disposed at the bottom of the operating platform 10, and the locking structure includes a lifting support leg.
Thus, the endoscope robot can be moved as a whole by the plurality of casters 121, and can be transported and stored conveniently. And, through the locking structure that its was given, can guarantee that operation panel 10 stably places, this truckle 121 is the horse wheel in this embodiment, contacts through the supporting legs and ground, and cooperation equipment dead weight is with its self position fixed, has promoted the security. Moreover, the movable operation table 10 further increases the larger movement stroke of the device, thereby facilitating the endoscope. In this embodiment, the console 10 is cube-shaped, and four casters 121 are disposed at four corners of the base 12 at the bottom of the console, but in other embodiments, the casters 121 may be disposed according to the specific shape of the console 10, which is not described in detail.
Referring to fig. 1 to 9, in addition, the operating platform 10 includes a lifting platform 11 and a base 12, the lifting platform 11 is disposed on the base 12 in a liftable manner, and the guiding portion is disposed on the lifting platform 11.
The overall height of the guide part can be adjusted through the lifting platform 11, so that the guide part can be adjusted to a corresponding position according to specific use requirements, and the endoscope can be conveniently aligned and used. In this embodiment, a lifting driving member may be disposed in the base 12, a driving end of the lifting driving member is connected to the lifting platform 11 to realize lifting, and the lifting driving member may be a lifting servo cylinder.
Referring to fig. 3, in addition, in an embodiment of the present invention, the endoscope robot further includes a connecting sleeve 70, an end of the plug portion 42 or the operating portion has a connecting end, the connecting end is detachably embedded in one end of the connecting sleeve 70, and one end of the supporting portion 50 is detachably embedded in the other end of the connecting sleeve 70.
By means of this connecting sleeve 70 a stable connection of the plug part 42 or the end of the operating part 30 with the support part 50 is achieved to ensure a stable guiding movement of the insertion part 41. Specifically, in order to realize stable connection between the connection sleeve 70 and the connection end or the inner support tube, a locking ring 71 is arranged on the periphery of the connection end of the connection sleeve 70, the periphery of the connection end has a locking hole, the locking ring 71 has a locking key extending into the locking hole, the periphery of the end of the connection end or the inner support tube is provided with a snap ring, and when the connection end or the support tube is nested into the connection end of the connection sleeve 70, the locking key is nested into the snap ring, so that stable connection can be realized. In order to facilitate the detachment between the insertion head and the support portion 50, the portion of the lock ring 71 is open, and the portion away from the opening of the lock ring 71 is provided with two pieces of toggle pieces, so that the opening of the lock ring 71 can be enlarged by pinching the two toggle pieces, so that the locking key is disengaged from the snap ring, and the detachment of the support portion 50 and the plug portion 42 is further achieved. Of course, in other embodiments, the connection end of the plug portion 42 and the end of the support tube may be directly provided with external threads, and the two ends of the connection sleeve 70 are provided with internal threads, which are connected by threads to realize the above-mentioned detachable connection.
Referring to fig. 1 to 9, in order to stably fix the outer support tube, the support end 60 includes a support seat and a fixing buckle, one end of the fixing buckle is hinged to one end of the support seat, the other end of the fixing buckle is connected to the other end of the support seat in a snap-fit manner, and a through hole for the outer support tube of the support portion 50 to pass through is defined by the support seat and the fixing buckle.
Thus, the outer support tube can be lapped on the support seat, and the fixing buckle is arranged on the outer support tube, so that the support part 50 is fixed and is convenient to detach. In this embodiment, the snap structure may be a buckle. Of course, in other embodiments, the support section may also be provided with only one through hole, the side wall of the through hole is provided with a threaded hole for the screw to be connected with, and after the outer support tube passes through the through hole, the outer support tube is abutted by the screw to realize the fixation.
Further, to avoid movement of the support plate, friction structures may be provided on the support tube to ensure a stable connection with the support end 60. The friction structure may be a mesh stripe.
In an embodiment of the present invention, a control end, a bending driving device and a rotation driving device are disposed in the operation portion 30, the control end is respectively connected to the bending driving device and the rotation driving device, a bending transmission member 421 connected to a top end of the bending portion 411 is disposed on a side wall of the plug portion 42, a driving end of the bending driving device is detachably connected to the bending transmission member 421, and a driving end of the rotation driving device is detachably connected to the socket portion 30 a.
The bending driving device and the rotating driving device can be controlled by the control end to drive the insertion part 41 to rotate and the bending part 411 to bend, so that the endoscope body can conveniently extend into the human body. In this embodiment, the rotation driving device drives the socket portion 30a to rotate, and drives the plug portion 42 to rotate, so as to rotate the insertion portion 41, and the bending transmission member 421 is connected to the end portion of the bending portion 411 through the pulling rope, so as to bend the bending portion 411. In addition, in order to facilitate the control of the bending driving device, the bending driving member 421 has a notch groove abutting on the driving end of the bending driving device, and a sliding groove corresponding to the bending driving member 421 is formed on the side wall of the socket portion 30a of the operation portion 30, so that when the plug portion 42 is inserted into the socket portion 30a, the bending driving member moves along the sliding groove and abuts on the driving end of the bending driving device, thereby realizing the control of the mirror body by the operation portion 30. In this embodiment, the number of the bending transmission members 421 is two, and the two bending transmission members are respectively controlled by two bending driving devices to realize the bending of the bending portion 411 in two directions.
In addition, the plug of the present embodiment is inserted through the operation portion 30, that is, the end of the plug portion 42 away from the insertion portion 41 is exposed, so that the end of the plug portion 42 can be connected to a corresponding cable or a water gas pipe, etc. to implement data transmission and operation control of the scope body.
Referring to fig. 1 to 10, in addition, the present invention further provides an endoscope operation system, which includes a manipulation handle 80 and the endoscope robot as described above;
the control handle 80 is wirelessly connected with the operation part 30; the handle portion of the manipulation handle 80 is provided with a bio-signal measuring unit 81 to detect whether the manipulation handle 80 is in a held state.
The control handle 80 can control the control end of the operation part 30 through wireless connection with the operation part 30, and further control the above-mentioned various driving devices to realize bending and rotation of the insertion part 41, and in the first, second and fifth embodiments, the operation part 30 can be simultaneously controlled to move, so that the medical staff can remotely control and realize the endoscope. In addition, in the third embodiment, the control handle 80 may also be wirelessly connected to the driving motor 225, which is not described in detail, and in the fourth embodiment, the control handle 80 may also be wirelessly connected to the motor of the robot arm 24 of the console 10. In addition, in order to control the lifting of the operation console 10, the operation handle is also wirelessly connected with a driving structure such as an air cylinder in the operation console 10 to realize remote control.
Moreover, through the biological signal measuring unit 81, the handle can be judged to be in the holding state as long as a specific biological signal can be sensed, and all the keys and the rocking bars on the handle can send control instructions to the system only in the holding state, so that the mistaken touch can be avoided, the stability and the reliability of the endoscopic work can be ensured, and the danger can be avoided. In this embodiment, the biosignal measurement unit 81 is a biosignal sensor.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An endoscopic robot, comprising:
an operation table;
the guide part is arranged on the operating platform, and a deformation structure is arranged on the guide part and is used for overlapping partial structures of the guide part so as to reduce the transverse size of the guide part, and/or the guide part is rotatably arranged on the operating platform so as to reduce the transverse size of the guide part;
an operating part movably provided on the guide part, the operating part having a socket part;
the supporting end is arranged on the guide part, and the operating part moves relative to the supporting end so as to enable the socket part to move towards or away from the supporting end;
the endoscope comprises an endoscope body and a control device, wherein the endoscope body comprises a plug part and an insertion part, the plug part is arranged at one end of the insertion part, the end part of the insertion part, far away from the plug part, is provided with a bending part, and the plug part is detachably inserted in the socket part;
the supporting part comprises a plurality of sections of supporting tubes which are nested in sequence, one end of the supporting part is detachably connected with the plug part or the operating part, the other end of the supporting part is detachably connected with the supporting end, the inserting part penetrates through the supporting part, and the bending part is located outside the supporting part.
2. The endoscope robot of claim 1, wherein the guide portion comprises a first rail and a second rail, the first rail is provided on the operation table, the deformation structure comprises a second guide plate formed on the second rail and a first guide plate formed on the first rail, the second rail is slidably embedded in the first rail, the operation portion is movably provided on the guide portion, and the support end is provided on an end portion of the second rail away from the operation portion; the first guide rail is provided with a first supporting plate, the second guide rail is provided with a second supporting plate, the first supporting plate is continuously arranged with the second supporting plate, the operating part is provided with a moving wheel which is at least used for being placed in the first supporting plate and one of the second supporting plates, the operating part is further provided with a guide wheel, and the guide wheels are at least used for abutting against the first guide plate and one of the second guide plates.
3. The endoscope robot of claim 1, wherein the guide portion comprises a first guide rail and a second guide rail, the first guide rail is provided on the operation table, the deformation structure comprises a hinge structure, the first guide rail has a first guide plate, the second guide rail has a second guide plate, the hinge structure connects the first guide plate and the second guide plate on one side, the first guide rail has a first support plate, the second guide rail has a second support plate, the first support plate and the second support plate are arranged in series, the operation portion is movably provided on the guide portion, and the support end is provided at an end portion of the second guide rail away from the operation portion.
4. The endoscope robot of claim 1, wherein the guide portion comprises a first rail and a second rail, the first rail is provided on the operation table, the deformation structure comprises a second guide plate formed on the second rail and a first guide plate formed on the first rail, the second rail is slidably embedded in the first rail, the operation portion is movably provided on the second rail, and the support end is provided on an end portion of the first rail away from the operation portion; the second guide rail is provided with a transmission mechanism; the transmission mechanism is provided with a first driving end and a second driving end, the first driving end is connected with the first guide rail so as to drive the second guide rail to move relatively on the first guide rail, and the second driving end is connected with the operating part so as to drive the operating part to move relatively on the second guide rail; the transmission mechanism comprises a screw and nut mechanism and/or a chain transmission mechanism and/or a belt transmission mechanism and/or a gear and rack transmission mechanism and/or a wire pulley transmission mechanism.
5. The endoscopic robot of claim 1, wherein the guiding portion comprises a robot arm and a support frame, the robot arm and the support frame are mounted on the console, the deformation structure comprises a first deformation structure and a second deformation structure, the first deformation structure is a multi-axis linkage mechanism on the robot arm, the operating portion is movably mounted on an end portion of the robot arm away from the console, the second deformation structure is a telescopic structure on the support frame, and the support end is mounted on an end portion of the support frame away from the console.
6. The endoscope robot of claim 1, wherein the guide portion comprises a first guide rail, a rotating member is disposed at a bottom of the first guide rail, the rotating member is rotatably connected to the console, the operating portion is movably disposed on the first guide rail, and the support end is disposed at an end of the first guide rail.
7. The endoscope robot of any one of claims 1 to 6, wherein the operation table comprises a lift table and a base, the lift table is provided on the base so as to be movable up and down, and the guide portion is provided on the lift table.
8. The endoscope robot as defined in any one of claims 1 to 6, further comprising a connecting sleeve, wherein the plug portion or the operating portion has a connecting end, the connecting end is detachably fitted to one end of the connecting sleeve, and one end of the support portion is detachably fitted to the other end of the connecting sleeve.
9. An endoscope robot according to any one of claims 1-6 and characterized in that a control end, a bending driving device and a rotating driving device are arranged in said operation portion, said control end is respectively connected with said bending driving device and said rotating driving device, the side wall of said plug portion is provided with a bending driving member connected with the top end of the bending portion, the driving end of said bending driving device is detachably connected with said bending driving member, and the driving end of said rotating driving device is connected with said socket portion.
10. An endoscope operating system comprising a manipulation handle and an endoscope robot according to any one of claims 1 to 9;
the control handle is wirelessly connected with the operation part; the handle part of the control handle is provided with a biological signal measuring unit to detect whether the control handle is in a holding state.
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| CN202111612952.5A CN114366303B (en) | 2021-12-27 | 2021-12-27 | Endoscope robot and endoscope operating system |
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| CN202111612952.5A CN114366303B (en) | 2021-12-27 | 2021-12-27 | Endoscope robot and endoscope operating system |
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| CN114366303B CN114366303B (en) | 2024-03-15 |
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| CN114366303B (en) | 2024-03-15 |
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