CN114366303B - Endoscope robot and endoscope operating system - Google Patents
Endoscope robot and endoscope operating system Download PDFInfo
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- CN114366303B CN114366303B CN202111612952.5A CN202111612952A CN114366303B CN 114366303 B CN114366303 B CN 114366303B CN 202111612952 A CN202111612952 A CN 202111612952A CN 114366303 B CN114366303 B CN 114366303B
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- 238000005452 bending Methods 0.000 claims description 45
- 230000005540 biological transmission Effects 0.000 claims description 36
- 230000007246 mechanism Effects 0.000 claims description 32
- 238000003780 insertion Methods 0.000 claims description 30
- 230000037431 insertion Effects 0.000 claims description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 208000008918 voyeurism Diseases 0.000 description 3
- 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
- 238000005259 measurement Methods 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
- 230000000284 resting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- 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 operation table, a deformation structure is arranged on the guide part, and the deformation structure is used for superposing 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 operation table so as to reduce the transverse dimension of the guide; an operation part movably provided on the guide part; the support end is arranged on the guide part, and the operation part moves relative to the support end so as to enable the socket part to move towards or away from the support end. The endoscope robot provided by the invention has small occupied 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
An endoscope is a medical instrument which can enter a human body through a natural duct of the human body or through a small incision made by an operation so as to peep for the change of a relevant part, or can correspondingly treat 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 a endoscope body of the endoscope is provided, and a doctor can drive the endoscope body to complete corresponding operation by sending a control instruction to the system.
It is known that the existing endoscope system needs to occupy a certain transverse space to complete the corresponding endoscopic operation, but in this way, the space occupied by the system is large, interference with other medical equipment or environment is easy to generate, and medical work is not facilitated.
Disclosure of Invention
The invention provides an endoscope robot and an endoscope operation 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 including:
an operation table;
the guide part is arranged on the operation table, a deformation structure is arranged on the guide part, and the deformation structure is used for superposing 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 operation table so as to reduce the transverse dimension of the guide;
an operation part movably provided on the guide part, the operation part having a socket part;
the support end is arranged on the guide part, and the operation part moves relative to the support end so as to enable the socket part to move towards or away from the support end;
the lens body comprises a plug part and an insertion part, wherein the plug part is arranged at one end of the insertion part, the end part, far away from the plug part, of the insertion part is provided with a bending part, and the plug part is detachably inserted into the socket part;
the support part comprises a plurality of sections of support pipes which are nested in sequence, one end of the support part is detachably connected with the plug part or the operation part, the other end of the support part is detachably connected with the support end, the insertion part is arranged on the support part in a penetrating manner, and the bending part is arranged outside the support 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 operation table, 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 operation part is movably arranged on the guide part, and the support end is arranged at the end part of the second guide rail far away from the operation 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 and the second supporting plate are sequentially arranged, the operation part is provided with a moving wheel, the moving wheel is at least used for being placed on one of the first supporting plate and the second supporting plate, the operation part is further provided with a guide wheel, and a plurality of guide wheels are at least used for being abutted to one of the first guide plate and the second guide plate.
According to the endoscope robot provided by the invention, the guide part comprises the first guide rail and the second guide rail, the first guide rail is arranged on the operation table, the deformation structure comprises a hinge structure, the first guide rail is provided with the first guide plate, the second guide rail is provided with the 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 the first support plate, the second guide rail is provided with the second support plate, the first support plate and the second support plate are arranged in a flush mode, the operation part is movably arranged on the guide part, and the support end is arranged at the end, away from the operation 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 operation table, 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 operation part is movably arranged on the second guide rail, and the support end is arranged at the end part of the first guide rail far away from the operation 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 to drive the second guide rail to move relatively on the first guide rail, and the second driving end is connected with the operation part to drive the operation part to move relatively on the second guide rail; the transmission mechanism comprises a screw-nut mechanism and/or a chain transmission mechanism and/or a belt transmission mechanism and/or a gear-rack transmission mechanism and/or a steel wire pulley transmission mechanism.
According to the endoscope robot provided by the invention, the guiding part comprises the mechanical arm and the supporting frame, the mechanical arm and the supporting frame are arranged on the operation table, 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 operation part is movably arranged at the end part of the mechanical arm far away from the operation table, the second deformation structure is a telescopic structure on the supporting frame, and the supporting end is arranged at the end part of the supporting frame far away from the operation table.
According to the endoscope robot provided by the invention, the guiding part comprises the first guide rail, the bottom of the first guide rail is provided with the rotating piece, the rotating piece 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 operation platform comprises the lifting platform and the 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 operation part is provided with a connecting end, the connecting end is detachably embedded at one end of the connecting sleeve, and one end of the supporting part is detachably embedded at the other end of the connecting sleeve.
According to the endoscope robot provided by the invention, the control end, the bending driving device and the rotary driving device are arranged in the operation part, the control end is respectively connected with the bending driving device and the rotary driving device, the side wall of the plug part is provided with the bending transmission piece connected with the top end of the bending part, the driving end of the bending driving device is detachably connected with the bending transmission piece, and the driving end of the rotary driving device is connected with the socket part.
The invention also provides an endoscope operating system comprising a control handle and an endoscope robot as described in any one of the above;
the control handle is in wireless connection with the operation part; the handle part of the control handle is provided with a biological signal measuring unit for detecting whether the control handle is in a holding state.
According to the endoscope robot and the endoscope operating system, when the endoscope is used, the operation part can be used for realizing bending and rotation of the endoscope body, and in the process that the operation part moves towards the supporting end, the support part can be used for stably extending the endoscope body into a human body, so that medical diagnosis on corresponding parts of the human body is realized, after the endoscope robot is used, the endoscope body and the support part can be detached from the endoscope robot, and the guide part can be used for reducing the transverse size of the guide part through the deformation structure and/or the rotation structure, so that the whole transverse occupied space of the 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 small space when not used, and is convenient to store and store.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the embodiments or the drawings needed in the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an endoscope robot according to an embodiment of the present invention;
FIG. 2 is a second schematic view of an endoscope robot according to the first embodiment of the present invention;
FIG. 3 is an exploded view of an endoscope robot according to a first embodiment of the present invention;
fig. 4 is a schematic structural view of an endoscope robot according to a second embodiment of the present invention;
fig. 5 is a schematic structural view of an endoscope robot according to a 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 view showing a storage state of an endoscope robot according to a fourth embodiment of the present invention;
fig. 8 is a schematic view of a structure of an endoscope robot according to a fourth embodiment of the present invention in a use state;
fig. 9 is a schematic structural view of an endoscope robot provided in a fifth embodiment of the present invention;
fig. 10 is a schematic view of the structure of a control handle of the endoscope operating system provided by the invention.
Reference numerals:
10: an operation table; 11: a lifting table; 12: a base; 121: casters; 21: a first guide rail; 211: a first guide plate; 212: a first support plate; 22: a second guide rail; 22a: a hollowed hole; 221: a second guide plate; 222: a second support plate; 223: a first screw; 224: a second screw; 225: a driving 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 unit; 30a: a socket part; 31: a moving wheel; 32: a guide wheel; 41: an insertion section; 411: a bending portion; 42: a plug part; 421: bending the transmission member; 422: a rotary transmission member; 50: a support part; 60: a support end; 70: connecting sleeves; 71: a locking ring; 80: a control handle; 81: a biological signal measuring unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 rotation, enter the human body, shoot related parts through a camera at the end part of the endoscope body, correspondingly process the related parts through a water gas cavity channel and a working cavity channel in the endoscope body, and the camera can return shooting data through a cable in the endoscope body and display the shooting data on corresponding display equipment so as to enable medical staff to intuitively realize medical diagnosis. The device according to the invention is intended to be used in the medical field, of course, in practice, and also in the industrial field, etc., without limitation.
The endoscope robot and the endoscope operating system of the present invention are described below with reference to fig. 1 to 10.
Referring to fig. 1 to 9 in combination, an endoscope robot includes:
an operation table 10;
the guide part is arranged on the operation table 10, and is provided with a deformation structure for overlapping part of the structure 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 operation table 10 so as to reduce the transverse dimension of the guide;
an operation unit 30, the operation unit 30 being movably provided on the guide unit, the operation unit 30 having a socket unit 30a;
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;
the mirror body 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 into the socket part 30a;
the support portion 50, the support portion 50 includes a plurality of sections of support tubes that are 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 disposed through the support portion 50, and the bending portion 411 is located outside the support portion 50.
In the above-described structure, the operation panel 10 is used as a support, and the shape thereof is not limited as long as stable support is achieved, and the operation panel 10 may be stationary or movable.
The guide portion is a structure for supporting the operation portion 30 and the support end 60, and serves as a guide movement of the operation portion 30 so that the insertion portion 41 can be extended to extend into the human body. In this embodiment, the guide portion may be partially overlapped by the deformation structure or be rotatably overlapped to the operation table 10 to reduce the overall lateral dimension of the robot, so that the space occupied by the guide portion is greatly reduced, which is more beneficial to storage and use of other medical apparatuses.
The operation part 30, i.e., a structure for manipulating the mirror body, can control the rotation of the insertion part 41 of the mirror body and the bending of the bending part 411 after the plug part 42 of the mirror body is inserted into the socket part 30a, and in this embodiment, the bending part 411 can be bent in two directions, so that the mirror body is easily inserted into the human body.
In addition, the support portion 50 is sleeved outside the insertion portion 41, so that guiding movement of the insertion portion 41 can be ensured, and irregular rotation and bending can be avoided. The support portion 50 is fixedly supported by the support end 60, and when the operation portion 30 moves toward the support end 60, the support portion 50 is compressed to extend the insertion portion 41 to extend into the human body, and when the operation portion 30 moves away from the support section, the support portion 50 is stretched, and the insertion portion 41 is retracted into the support portion 50. Preferably, the ends of the inner support tubes of the support portion 50 are connected to the plug portion 42, and the outer support tubes of the support portion 50 are detachably connected to the support ends 60.
As can be seen from the above, the mirror body and the supporting portion 50 are detachable from the operating portion 30 and the supporting end 60, so that the mirror body and the supporting portion 50 can be cleaned and replaced independently, and the guiding portion can be stored by itself after being detached, thereby reducing the occupied space.
In this embodiment, when the endoscope is used, the operation portion 30 can be used to bend and rotate the endoscope body, and in the process that the operation portion 30 moves towards the supporting end 60, the support portion 50 can be used to stably extend the endoscope body into the human body, so as to realize medical diagnosis on corresponding parts of the human body, and after the endoscope is used, the endoscope body and the support portion 50 can be removed from the endoscope robot, and the guide portion can reduce the transverse dimension of the guide portion through the deformation structure and/or the rotation structure, so that the overall transverse occupied space of the 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 small space when not used, and is convenient to store and store.
In order to achieve the above-described storage of the guide portion, the present invention provides the following examples.
Referring to fig. 1 to 3 in combination, in the first embodiment, the guiding portion includes a first guiding rail 21 and a second guiding rail 22, the first guiding rail 21 is disposed on the console 10, the deformation structure includes a second guiding plate 221 formed on the second guiding rail 22 and a first guiding plate 211 formed on the first guiding rail 21, the second guiding rail 22 is slidably embedded in the first guiding rail 21, the console 10 is movably disposed on the guiding portion, and the supporting end 60 is disposed at an end of the second guiding rail 22 away from the console 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 operation 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 operation part 10 is also provided with a guide wheel 32, and a plurality of 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 support portion 50 and the mirror body are required to be stored, the second guide rail 22 can be slid into the first guide rail 21 to reduce the lateral dimension of the guide portion, and when the second guide rail 22 extends from the first guide rail 21 during use, the support portion 50 is retracted during movement of the operation portion 30 along the first guide rail 21, so that the insertion portion 41 can be extended to extend into the human body.
Specifically, the number of the first guide plates 211 is two, and the first guide plates 211 are respectively located at two sides of the first guide rail 21, the number of the second guide plates 221 are two, and the second guide plates 221 are respectively located at 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 at two sides; the first support plate 212 is located at the bottom of the first guide rail 21, the bottom of the first guide rail 21 is located at two sides of the first support plate 212 to form a first storage groove, the second support plate 222 is located at the bottom of the second guide rail 22, the second support plate 222 is provided with a second guide groove, the first support plate 212 is abutted to the second guide groove, and the two second support plates 222 are respectively abutted to the two first storage grooves.
Thus, when the two first storage grooves are stored, the two second support plates 222 can be embedded in the two first storage grooves, the first support plates 212 can be embedded in the second guide grooves, the two second guide plates 221 can be embedded in the first guide grooves on two sides, the first guide rail 21 and the second guide rail 22 are overlapped, and the transverse size of the guide part is greatly reduced.
When in use, the second guide rail 22 is pulled out 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 through the moving wheel 31 and the guide wheel 32, so that the moving stroke of the operation part 30 is improved, and the extension length of the insertion part 41 is further improved. 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, four guide wheels are disposed front and back on 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 front and back on each side of the operation portion 30; six moving wheels are arranged at the bottom of the operation portion 30, 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 front and back, and two moving wheels in the middle are used for being placed on the two first support plates 212, so that 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 so as to control the guiding movement of the operation part 30.
In this embodiment, the end of the second rail 22 remote 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 portion 30 from being separated from the guiding portion.
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, and the above-described storage may be realized similarly, and the description thereof will be omitted.
Referring to fig. 4 in combination, in the second embodiment, the guiding portion includes a first guiding rail 21 and a second guiding rail 22, the first guiding rail 21 is disposed on the console 10, the deforming structure includes a hinge structure 23, the first guiding rail 21 has a first guiding plate 211, the second guiding rail 22 has a second guiding plate 221, the hinge structure 23 connects the first guiding plate 211 and the second guiding plate 221, the first guiding rail 21 has a first supporting plate 212, the second guiding rail 22 has a second supporting plate 222, the first supporting plate 212 and the second supporting plate 222 are sequentially disposed, the operating portion 30 is movably disposed on the guiding portion, and the supporting end 60 is disposed at an end of the second guiding rail 22 remote from the operating portion 30.
In this structure, when the support portion 50 and the mirror body are removed during storage, the second rail 22 can be turned in the direction of the first rail 21, and the second rail 22 and the first rail 21 are stacked and arranged, so that the lateral dimension of the guide portion is reduced. In use, the first rail 21 and the second rail 22 are combined to form a long rail, and the operating portion 30 is guided to move 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 a detailed description thereof will be omitted.
Specifically, the number of the first guide plates 211 is two, and the first guide plates 21 are respectively located at two sides of the first guide rail 21, the number of the second guide plates 221 are two, and the second guide plates 22 are respectively located at two sides of the second guide rail 22, and the number of the hinge structures 23 is two, and the hinge structures are respectively used for connecting the first guide plates 211 and the corresponding second guide plates 221 at each side. Of course, the hinge structure 23 may 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 guiding portion is increased.
In this embodiment, the end of the second rail 22 remote 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 portion 30 from being separated from the guiding portion.
Referring to fig. 5 and 6 in combination, in the third embodiment, the guiding portion includes a first guiding rail 21 and a second guiding rail 22, the first guiding rail 21 is disposed on the console 10, the deforming structure includes a second guiding plate 221 formed on the second guiding rail 22 and a first guiding plate 211 formed on the first guiding rail 21, the second guiding rail 22 is slidably embedded in the first guiding rail 21, the operating portion 30 is movably disposed on the second guiding rail 22, and the supporting end 60 is disposed at an end of the first guiding rail 21 far from the operating 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 relatively move 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 relatively move on the second guide rail 22; the transmission mechanism comprises a screw-nut mechanism and/or a chain transmission mechanism and/or a belt transmission mechanism and/or a gear-rack transmission mechanism and/or a steel wire pulley transmission mechanism.
Thus, when the support part 50 and the mirror body are required to be stored, the second guide rail 22 can be slid into the first guide rail 21 after being removed, so that the transverse dimension of the guide part is reduced, and when the mirror body is used, the second guide rail 22 extends out of the first guide rail 21, and the support part 50 is contracted in the process that the operation part 30 moves along the second guide rail 22, so that the insertion part 41 can be extended to extend into a human body; when in use, the operating part 30 can be driven to move towards the supporting end 60 and the second guide rail 22 can be contracted inwards towards the first guide rail 21 through the transmission mechanism, so that the operating part 30 can move in a large stroke, the inserting part 41 can be conveniently extended, and the use is convenient.
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 portion of the second guide rail 22, the first screw 223 and the second screw 224 movably penetrate through the second guide rail 22, the driving motor 225 is connected with 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 portion 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 portion of the second nut 227 is connected to the operation portion 30.
Thus, when in use, the first screw 223 and the second screw 224 can be driven to rotate simultaneously by the driving motor 225, and the first nut 226 connected to the first guide rail 21 can be moved relatively by the rotation of the first screw 223, so that the second guide rail 22 moves relative to the first guide rail 21, and meanwhile, the second screw 224 rotates reversely, so that the second nut 227 connected to the operating part 30 moves relatively, so that the operating part 30 moves relative to the second guide rail 22, and when the driving motor 225 drives the operating part 30 to move towards the supporting end 60, the second guide rail 22 can be contracted inwards towards the first guide rail 21 simultaneously, so that the operating part 30 can move in a large stroke, and the inserting part 41 can be extended conveniently, so that the operation is convenient. When the storage is performed, the second guide rail 22 is sleeved into the first guide rail 21 through the driving motor 225, so that the storage is convenient without manual storage.
Referring to fig. 7 and 8 in combination, in the fourth embodiment, the guiding portion includes a mechanical arm 24 and a supporting frame 25, the mechanical 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 mechanical arm 24, the operation portion 30 is movably disposed at an end portion of the mechanical 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 portion of the supporting frame 25 away from the console 10.
The multi-axis linkage mechanism is a plurality of shafts connected in sequence, and adjacent shafts are movably connected through a driving member, in this embodiment, two shafts are provided, one of the shafts is driven to rotate by a motor disposed at the top of the console 10, the other shaft is driven to rotate by a motor disposed in the first shaft, and the operation portion 30 is driven to rotate by a motor disposed at the end of the other shaft, so that when the mechanical arm 24 drives the operation portion 30 to move, the operation portion 30 always moves along a linear direction, so that the insertion portion 41 extends out, and when the mechanical arm is stored, the shafts can be stacked together, thereby reducing the transverse dimension of the guiding portion. In addition, the telescopic structure of the support frame 25 is a plurality of sections of connecting rods which are nested in sequence, 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 guiding part, and the mechanical arm 24 structure is combined to realize overall storage and reduce the occupied space.
Referring to fig. 9 in combination, in the fifth embodiment, the guiding portion includes a first guide rail 21, a rotating member is disposed at the 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 guide rail 21 to rotate, and when the console is stored, the first guide rail 21 can be turned over to the side wall of the operation part 30, so that the first guide rail 21 is vertically arranged, the transverse dimension of the guide part is reduced, and when the console is used, the first guide rail 21 is turned over to the horizontal, and the operation part 30 can move on the first guide rail 21 for endoscopic.
Further, the first rail 21 is further slidably provided with a second rail 22, the operating portion 30 is movably disposed on the second rail 22, and the supporting end 60 is disposed 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 in this embodiment may refer to the structure of the first embodiment or the second embodiment, and unlike the foregoing embodiment, only the two sides of the operation portion 30 are disposed to abut against the guide wheels 32 of the first guide plate 221, in this embodiment, four operation portions are disposed in front of and behind each other, and no description is given. And, the end of the first guide rail 21 near the supporting end 60 is provided with a manual storage part, and the manual storage part is provided with a hole for holding by hand so as to facilitate operation. The end of the second guide rail 22 remote from the support end 60 is provided with a plurality of stoppers to prevent the operating portion 30 from being separated from the guiding portion.
In addition, in other embodiments, the first guide rail 21 may be rotatably disposed on the console 10, the second guide rail 22 is nested in the first guide rail 21, the operation portion 30 is movably disposed in the first guide rail 21, and the support section is disposed at an end portion of the second guide rail 22 away from the first guide rail 21, so that after the second guide rail 22 is nested in the first guide rail 21, the second guide rail 22 may be further turned over to overlap the guide portion and the console 10, thereby further reducing the overall lateral dimension and reducing the occupied space.
Similarly, the second embodiment and the fifth embodiment may be combined, that is, the first rail 21 is rotatably provided on the console 10, the second rail 22 is rotatably connected to the first rail 21, the operation part 30 is movably provided in the first rail 21, and the support section is provided at an end of the second rail 22 away from the first rail 21.
Or, the third embodiment and the fifth embodiment are combined, that is, the first guide rail 21 is rotatably disposed on the console 10, the second guide rail 22 is nested in the first guide rail 21, the operating 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 far from the first guide rail 21.
Referring to fig. 1 to 9, in an embodiment of the invention, a plurality of casters 121 with locking structures are disposed at the bottom of the console 10, and the locking structures include lifting supporting legs.
In this way, the whole movement of the endoscope robot is facilitated by the plurality of casters 121 provided, so that the endoscope robot can be carried and stored conveniently. And, through the locking structure that its gives, can guarantee that operation panel 10 is placed steadily, this truckle 121 is the fuma wheel in this embodiment, through supporting legs and ground contact, cooperation equipment dead weight is fixed its self position, has promoted the security. And, the movable console 10 further increases the larger movement stroke of the device, facilitating endoscopic procedures. In this embodiment, the console 10 is cube-shaped, four casters 121 are respectively disposed at four corners of the base 12 at the bottom of the console 10, and of course, in other embodiments, casters 121 may be disposed according to the specific shape of the console 10, which will not be described in detail.
Referring to fig. 1 to 9, in addition, the operation table 10 includes a lifting table 11 and a base 12, the lifting table 11 is liftably disposed on the base 12, and the guiding portion is disposed on the lifting table 11.
The overall height of the guide part can be adjusted through the lifting table 11 so as to be adjusted to the corresponding position according to specific use requirements, thereby facilitating the alignment and use of the endoscope. In this embodiment, a lifting driving member may be disposed in the base 12, and the driving end of the lifting driving member is connected to the lifting table 11 to implement lifting, where the lifting driving member may be a lifting servo cylinder.
Referring to fig. 3 in combination, in addition, in an embodiment of the present invention, the endoscope robot further includes a connecting sleeve 70, and the end of the plug portion 42 or the operation portion has a connection end, the connection 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.
The connecting sleeve 70 enables a stable connection of the end of the plug-in part 42 or the actuating part 30 to the support part 50, so that a stable guiding movement of the plug-in part 41 is ensured. Specifically, in order to realize stable connection between the connecting sleeve 70 and the connecting end or the inner support tube, a locking ring 71 is arranged at the periphery of the connecting end of the connecting sleeve 70, a locking hole is formed at the periphery of the connecting end, the locking ring 71 is provided with a locking key extending into the locking hole, a clamping ring is arranged at the periphery of the end of the connecting end or the inner support tube, and when the connecting end or the support tube is nested into the connecting end of the connecting sleeve 70, the locking key is clamped and embedded into the clamping ring, so that stable connection can be realized. In order to facilitate the disassembly between the insertion head and the supporting portion 50, the portion of the locking ring 71 is opened, and the portion far away from the opening of the locking ring 71 is provided with two toggle members, and by pinching the two toggle members, the opening of the locking ring 71 can be enlarged, so that the locking key is separated from the clamping ring, and the disassembly of the supporting portion 50 and the insertion head 42 is further realized. Of course, in other embodiments, external threads may be directly provided at the connection end of the plug portion 42 and the end of the support tube, and internal threads may be provided at the two ends of the connection sleeve 70, so that the above-mentioned detachable connection is achieved through threaded connection.
Referring to fig. 1 to 9, in order to achieve stable fixation of 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 in snap connection with the other end of the support seat, and the support seat and the fixing buckle enclose a perforation for the outer support tube of the support portion 50 to pass through.
In this way, the outer support tube can be lapped on the support seat, and the fixing buckle is buckled on the outer support tube, so that the fixing of the support part 50 is realized, and the disassembly is convenient. In this embodiment, the snap structure may be a buckle. Of course, in other embodiments, the support section may be provided with only one through hole, the side wall of the through hole is provided with a threaded hole for threaded connection of a screw, and the outer support tube is abutted against the outer support tube through the screw after passing through the through hole, so as to achieve fixation.
Further, in order to avoid movement of the support plate, a friction structure 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 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 rotation driving device can be controlled through the control end to drive the insertion part 41 to rotate and the bending part 411 to bend, so that the mirror body can conveniently extend into a 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 plug portion 41, and the bending transmission member 421 is connected to the end portion of the bending portion 411 through a traction rope, so as to bend the bending portion 411. In order to facilitate the control of the bending drive device, the bending transmission member 421 has a notch groove that is abutted against the driving end of the bending drive device, and the side wall of the socket portion 30a of the operation portion 30 has a slide groove corresponding to the bending transmission member 421. In this embodiment, there are two bending driving members 421, and control is performed by two bending driving devices, respectively, to achieve bending of the bending portion 411 in two directions.
In addition, the plug in this embodiment passes through the operation portion 30, that is, the end portion of the plug portion 42 away from the insertion portion 41 is exposed, so that the end portion of the plug portion 42 can be connected with a corresponding cable or a water pipe, etc., to realize data transmission and operation control of the lens body.
Referring to fig. 1 to 10 in combination, the present invention further provides an endoscope operation system including a manipulation handle 80 and an 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 grip state.
The control handle 80 can be wirelessly connected with the operation portion 30 to control the control end of the operation portion 30, thereby controlling the above-mentioned various driving devices to realize the bending and rotation of the insertion portion 41, and in the first, second and fifth embodiments, the operation portion 30 can be simultaneously controlled to move, so as to facilitate remote control of medical staff and realize the endoscopic. In addition, in the third embodiment, the control handle 80 may be connected with the driving motor 225 in a wireless manner, which is not described in detail, and in the fourth embodiment, the control handle 80 may be connected with the motor of the mechanical arm 24 of the console 10 in a wireless manner. In order to control the lifting of the console 10, the operation handle is also connected wirelessly to a driving structure such as an air cylinder in the console 10 to realize remote control.
And, through biological signal measuring unit 81, as long as can perceive specific biological signal can judge that the handle is in the state of holding, all buttons and rocker on its handle can only send out the instruction of controlling to the system under the state of holding, can avoid the mistake to touch, guaranteed the steady and reliable of peeping during operation, avoid taking place danger. In this embodiment, the biosignal measurement unit 81 is a biosignal sensor.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An endoscope robot comprising:
an operation table;
the guide part is arranged on the operation table, a deformation structure is arranged on the guide part, and the deformation structure is used for superposing 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 operation table so as to reduce the transverse dimension of the guide;
an operation part movably provided on the guide part, the operation part having a socket part;
the support end is arranged on the guide part, and the operation part moves relative to the support end so as to enable the socket part to move towards or away from the support end;
the lens body comprises a plug part and an insertion part, wherein the plug part is arranged at one end of the insertion part, the end part, far away from the plug part, of the insertion part is provided with a bending part, and the plug part is detachably inserted into the socket part;
the support part comprises a plurality of sections of support pipes which are nested in sequence, one end of the support part is detachably connected with the plug part or the operation part, the other end of the support part is detachably connected with the support end, the insertion part is arranged on the support part in a penetrating manner, and the bending part is arranged outside the support part;
the control end is connected with the bending driving device and the rotary driving device respectively, a bending transmission piece connected with the top end of the bending part is arranged on the side wall of the plug part, the driving end of the bending driving device is detachably connected with the bending transmission piece, and the driving end of the rotary driving device is connected with the socket part.
2. The endoscope robot of claim 1, wherein the guide portion includes a first guide rail and a second guide rail, the first guide rail is provided on the console, the deformation structure includes 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 operation portion is movably provided on the guide portion, and the support end is provided at an end of the second guide 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 and the second supporting plate are sequentially arranged, the operation part is provided with a moving wheel, the moving wheel is at least used for being placed on one of the first supporting plate and the second supporting plate, the operation part is further provided with a guide wheel, and a plurality of guide wheels are at least used for being abutted to one of the first guide plate and the second guide plate.
3. The endoscope robot of claim 1, wherein the guide portion includes a first guide rail and a second guide rail, the first guide rail is provided on the operation table, the deformation structure includes 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 succession, the operation portion is movably provided on the guide portion, and the support end is provided at an end of the second guide rail away from the operation portion.
4. The endoscope robot of claim 1, wherein the guide portion includes a first guide rail and a second guide rail, the first guide rail is provided on the console, the deformation structure includes 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 operation portion is movably provided on the second guide rail, and the support end is provided at an end of the first guide 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 to drive the second guide rail to move relatively on the first guide rail, and the second driving end is connected with the operation part to drive the operation part to move relatively on the second guide rail; the transmission mechanism comprises a screw-nut mechanism and/or a chain transmission mechanism and/or a belt transmission mechanism and/or a gear-rack transmission mechanism and/or a steel wire pulley transmission mechanism.
5. The endoscope robot of claim 1, wherein the guiding portion comprises a mechanical arm and a supporting frame, the mechanical arm and the supporting frame are arranged on the operation table, 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 operation portion is movably arranged at the end part of the mechanical arm away from the operation table, the second deformation structure is a telescopic structure on the supporting frame, and the supporting end is arranged at the end part of the supporting frame away from the operation table.
6. The endoscope robot of claim 1, wherein the guide portion includes a first guide rail, a rotating member is provided at a bottom of the first guide rail, the rotating member is rotatably connected to the operation table, the operation portion is movably provided on the first guide rail, and the support end is provided at an end portion of the first guide rail.
7. The endoscope robot of any one of claims 1 to 6, wherein the operation table includes a lifting table and a base, the lifting table is liftably provided on the base, and the guide portion is provided on the lifting table.
8. The endoscope robot according to any one of claims 1 to 6, further comprising a connection sleeve, wherein the plug portion or the operation portion has a connection end detachably fitted to one end of the connection sleeve, and wherein one end of the support portion is detachably fitted to the other end of the connection sleeve.
9. An endoscope operating system comprising a manipulation handle and an endoscope robot according to any one of claims 1 to 8;
the control handle is in wireless connection with the operation part; the handle part of the control handle is provided with a biological signal measuring unit for detecting 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 true CN114366303B (en) | 2024-03-15 |
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| CN114366303A (en) | 2022-04-19 |
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