CN114617518A - Endoscope body delivery and rotation device and endoscope robot - Google Patents
Endoscope body delivery and rotation device and endoscope robot Download PDFInfo
- Publication number
- CN114617518A CN114617518A CN202210309700.3A CN202210309700A CN114617518A CN 114617518 A CN114617518 A CN 114617518A CN 202210309700 A CN202210309700 A CN 202210309700A CN 114617518 A CN114617518 A CN 114617518A
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- roller
- rollers
- endoscope body
- delivery
- rotation
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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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- 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
- A61B1/00147—Holding or positioning arrangements
Abstract
The invention relates to an endoscope body delivery and rotation device and an endoscope robot. The delivery and rotation device includes: the driving mechanism comprises three rollers and clamps the endoscope body from three directions; and the guide mechanism is used for guiding the endoscope body to pass through the three rollers. The drive mechanism includes two motors, and the three rollers include two mecanum wheels, one for each motor drive. According to the endoscope body delivery and rotation device, the three rollers are used for contacting the endoscope body, so that the friction force is increased, and the delivery is not easy to slide. Furthermore, the forward and backward movement and the rotation movement of the endoscope body are controlled through the rotation direction and the rotation speed of the two Mecanum wheels, so that the control is simpler. In addition, the components of the device are distributed around an axis (endoscope body), and only two motors are used for driving, so that the whole structure can be smaller.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an endoscope body delivery and rotation device and an endoscope robot.
Background
Endoscopy usually belongs to a non-invasive examination, goes into internal the diagnosing with soft mirror body via natural passageways such as human oral cavity, anus, possesses that the misery is little, the high characteristics of diagnosis accuracy, but by a plurality of functions of doctor manually operation endoscope, the operation degree of difficulty is big, and efficiency is not high, has higher demand to automatic endoscope robot.
The existing scheme adopts a roller twisting mode to realize the rotation of the endoscope body, when the roller is twisted, the soft endoscope body of the endoscope is easy to deviate from a driving axis, the inside of the endoscope body is provided with a precise structure, and the endoscope is easy to damage after long-time use. The endoscope body is rotated in a twisting mode, the rotation angle is limited, the diameter of the endoscope body is thick, and therefore if the endoscope body needs to be rotated by 360 degrees or more, the height of the roller is easily exceeded, and rotation is limited. In addition, when two rollers are used for driving, the contact surfaces are insufficient (two contact surfaces), and relative sliding is easy to occur between the two rollers and the mirror body.
Therefore, there is a need in the art to design a device that is simple in construction and that enables endoscopic scope delivery and rotation.
Disclosure of Invention
The invention develops an actuating mechanism for delivering and rotating a soft endoscope body of an endoscope robot, which realizes the delivery and the rotation of the endoscope body by the motion matching of three rollers, avoids the heavy volume, can ensure that the delivery and the rotation of the endoscope body can be carried out simultaneously, and the forward movement, the backward movement and the rotation movement are not interfered with each other.
In order to solve the above technical problem, the present invention provides an endoscope delivery and rotation device, including:
the driving mechanism comprises three rollers and clamps the endoscope body from three directions;
and the guide mechanism is used for guiding the endoscope body to pass through the three rollers.
Further, the drive mechanism includes two motors, and the three rollers include two mecanum wheels, each motor driving one mecanum wheel.
Further, the three rollers include an omni wheel.
Further, still include:
the driving mechanism and the guide mechanism are arranged on the base;
the first support and the second support are arranged on two sides of the base and are respectively used for mounting the Mecanum wheels;
and the third bracket is arranged between the first bracket and the second bracket and is used for mounting the omnidirectional wheel.
Further, the third support is a movable support, one end of the third support is hinged to the base, the other end of the third support is provided with the omnidirectional wheel, and the third support is pressed towards the Mecanum wheel through a biasing device.
Further, two Mecanum wheels and an omni wheel are distributed in a Y shape.
Further, the circumference of the Mecanum wheel is provided with a roller, and a hub shaft of the Mecanum wheel forms an angle of 45 degrees with a roller rotating shaft.
Furthermore, the omnidirectional wheel is provided with double rows of rollers on the circumference, and a hub shaft of the omnidirectional wheel is vertical to a roller rotating shaft.
Further, the guide mechanism comprises a first guide hole and a second guide hole which are respectively positioned at the front side and the rear side of the driving mechanism.
According to another aspect of the invention, an endoscope robot is provided, which comprises the endoscope body delivery and rotation device.
The endoscope body delivery and rotation device provided by the invention adopts three rollers to contact the endoscope body, so that the friction force is increased, and the delivery is not easy to slide. Furthermore, the forward and backward movement and the rotation movement of the endoscope body are controlled through the rotation direction and the rotation speed of the two Mecanum wheels, so that the control is simpler.
In addition, the components of the device are distributed around an axis (endoscope body), and only two motors are used for driving, so that the whole structure can be smaller.
In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by the technical features of the technical solutions will be further explained with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an endoscopic scope delivery and rotation device according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a base according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a base according to an embodiment of the present invention.
FIG. 4 is a schematic diagram illustrating the positional relationship of three rollers according to an embodiment of the present invention.
FIG. 5 is a schematic diagram showing the positional relationship between three rollers and the endoscope body according to the embodiment of the present invention.
Fig. 6 is a schematic structural view of an omni wheel according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a mecanum wheel according to an embodiment of the invention.
In the figure:
the endoscope comprises a base 1, a first roller bracket 2, a second roller bracket 3, a third roller bracket 4, a shaft sleeve 5, a second guide hole 6, a spring 7, a first guide hole 8, an endoscope body 9, a first motor 10, a first roller 11, a second roller 12, a third roller 13, a second motor 14, a first roller 15, a second roller 16, a connecting lug 17 and a camera 18.
Detailed Description
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, unless otherwise specified, "plurality", "plural groups" means two or more, and "several", "several groups" means one or more.
The invention relates to an endoscope delivery and rotation device, which is mainly used for an actuating mechanism of an endoscope robot and is used for controlling an actuator for delivering and rotating an endoscope body of an endoscope.
Specifically, the endoscope body delivery and rotation device comprises: the driving mechanism comprises three rollers and clamps the endoscope body from three directions; and the guide mechanism is used for guiding the endoscope body to pass through the three rollers.
Preferably, the drive mechanism includes two motors, and the three rollers include two mecanum wheels, each motor driving one mecanum wheel. The motor can be electrically connected with the control unit, and the control unit sends control signals to each motor to realize independent control of each motor, so that each Mecanum wheel is driven independently. The control unit may be provided in the endoscope delivery and rotation device, or may be a control unit of the endoscope robot.
The endoscope body delivery and rotation device provided by the invention adopts three rollers, and the three rollers clamp the endoscope body from three directions, so that the friction force is increased. Preferably, the two rollers are active Mecanum wheels, the two driving wheels move independently, the rotation speed and the rotation direction of the two Mecanum wheels are controlled by a motor, the rotation and the telescopic motion of the endoscope body are realized, the endoscope body clamped in the middle can rotate at a larger angle, and the rotation is more stable in the motion process.
More preferably, the endoscope body is formed by three rollers with rollers on the circumferential surfaces, wherein two rollers are driving rollers, the other roller is a driven roller, the rollers of the driving rollers are obliquely arranged at a certain angle, two rows of rollers are arranged on the circumference of the driven roller, the rotating shafts of the rollers are arranged along the tangential direction of the driven roller, the rotating shaft axes of the three rollers are in the same plane, the rims of the three rollers are tangent to each other in pairs, a limited space is defined by the rims of the three rollers, and the endoscope body passes through the space. The front and back telescopic and rotary motion of the endoscope body is realized by controlling the rotating speed and the rotating direction of the driving wheel.
Specifically, the three rollers include two mecanum wheels and one omni wheel, the two mecanum wheels and the one omni wheel are distributed in a Y shape, and preferably, an included angle between the two rollers is 120 degrees. Preferably, the hub axle of the mecanum wheel is at a 45 ° angle to the roller axle, the omni wheel is circumferentially provided with a double row of rollers, and the hub axle of the omni wheel is perpendicular to the roller axle. Alternatively, the rollers of the third roller may be 1 row. Preferably, the roller numbers of the first roller, the second roller and the third roller ensure that the rollers rotate more smoothly on the premise of ensuring convenient processing.
Preferably, the guide mechanism comprises a first guide hole and a second guide hole which are respectively positioned at the front side and the rear side of the driving mechanism, and a central connecting line of the guide holes just passes through the intersection point of the three roller edges. Specifically, the endoscope body passes through the second guide hole, the space defined by the rims of the three rollers and the first guide hole, and the front end of the endoscope body extends into the cavity of the patient.
Specifically, the endoscope body delivery and rotation device comprises a base, and a driving mechanism and a guide mechanism are arranged on the base. Specifically, the base is provided with three supports, wherein a first support and a second support are arranged on two sides of the base and are respectively used for mounting Mecanum wheels, and a third support is arranged between the first support and the second support and is used for mounting omnidirectional wheels.
Preferably, the third support is a movable support, one end of the movable support is hinged to the base, the other end of the movable support is provided with an omnidirectional wheel, and the third support is pressed towards the Mecanum wheel through a biasing device. Optionally, a tension spring or other type of elastic device is used to pull the third roller bracket toward the base, so that the third roller is pressed against the first roller and the second roller. Specifically, the base is formed with a connecting lug for fixing the tension spring, the corresponding support is formed with a middle hole connecting lug, and the tension spring is fixed on the two connecting lugs.
Specifically, motor mounting holes are formed in one sides of the first support and the second support, and the rotating shaft of the motor coincides with the rotating shaft axes of the first roller and the second roller. The first motor rotating shaft is connected with the first rotating wheel in a non-rotating mode, and the second motor rotating shaft is connected with the second rotating wheel in a non-rotating mode. The first motor and the second motor are fixedly connected to the base through the motor mounting holes.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 to 7, the endoscope body delivery and rotation device according to the embodiment of the present invention includes a base 1, the base 1 is of a symmetrical design, a first roller bracket 2 and a second roller bracket 3 are located at two sides of the base 1, and a third roller bracket 4 is hinged on the base 1 and located between the first roller bracket 2 and the second roller bracket 3. The first roller 11, the second roller 12 and the third roller 13 are respectively arranged on the first roller bracket 2, the second roller bracket 3 and the third roller bracket 4. The three rollers are arranged radially, the first roller 11 and the second roller 12 are Mecanum wheels, and the rollers are arranged obliquely.
The first roller 11 and the second roller 12 are provided with a first roller 15 on their circumferential surfaces, the first roller 15 being arranged obliquely, the first roller 15 being freely rotatable about a yaw axis, the first roller 11 and the second roller 12 being mirror images of each other. The third roller 13 comprises two rows of second rollers 16, the rotating shafts of the second rollers 16 are arranged along the tangential direction of the third roller 13, and the second rollers 16 can freely rotate around the rotating shafts of the rollers.
The first roller wheel bracket 2 and the second roller wheel bracket 3 are respectively provided with a motor mounting hole, and the first motor 10 and the second motor 14 are respectively mounted on the first roller wheel bracket 2 and the second roller wheel bracket 3. The motor is fixed on the motor mounting hole through a screw, the rotating shaft of the first motor 10 is connected with the first roller 11 in a non-rotating mode, and the rotating shaft of the second motor 14 is connected with the second roller 12 in a non-rotating mode.
One end of the third roller bracket 4 is hinged on the shaft sleeve 5 of the base, and the third roller 13 is rotatably arranged on the third roller bracket 4. The third roller support 4 and the base 1 are respectively provided with a connecting lug 17 with a hole, two ends of the spring 7 are respectively fixed at the two connecting lugs 17, and the spring 7 presses the third roller support 4 and the third roller 13 onto the rollers of the first roller 11 and the second roller 12.
The second guide hole 6 and the first guide hole 8 are directly formed or fixedly connected on the base 1, the guide holes are matched with the endoscope body 9, and the endoscope body 9 can slide in the second guide hole 6 and the first guide hole 8.
The axes of the rotating shafts of the three rollers are in the same plane, and the rims of the three rollers are tangent in pairs, so that a limited space is formed by the rims of the three rollers. The endoscope body 9 passes through the second guide hole 6, the space enclosed by the rims of the three rollers and the first guide hole 8, and the camera 18 at the front end is shot into the cavity of the patient. The first roller 11 and the second roller 12 are driving wheels, the third roller 13 is a driven wheel, and the three rollers can rotate around respective rotating shafts and are used for driving the endoscope body 9 to deliver and rotate.
The endoscope body delivering and rotating device of the embodiment works as follows:
1. loading the endoscope body 9: firstly, the third roller bracket 4 is pulled upwards, the third roller bracket 4 and the third roller 13 are separated from the first roller 11 and the second roller 12, the endoscope body 9 is placed at the joint of the first roller 11 and the second roller 12, the third roller bracket 4 is loosened, the endoscope body 9 is pressed on the first roller 11 and the second roller 12 through the third roller 13, and at the moment, the endoscope body 9 is in close contact with the three rollers.
2. Telescopic movement of the endoscope body 9: the first motor 10 and the second motor 14 move in phase and at the same speed, at this time, the first roller 15 of the first roller 11 and the second roller 12 does not move laterally, and the endoscope body 9 moves telescopically under the driving of the first motor 10 and the second motor 14.
3. Rotational movement of the endoscope body 9: the first motor 10 and the second motor 14 have opposite moving directions and the same moving speed, the axial movement of the first roller 11 and the axial movement of the second roller 12 are offset, the endoscope body 9 rotates along the axial direction, at this time, the rotating direction of the endoscope body 9 is also reversed by changing the rotating direction of the first motor 10 and the rotating direction of the second motor 14, and the rotating speed of the endoscope body 9 is positively correlated with the rotating speed of the motors.
4. The endoscope body 9 is advanced while rotating: the rotating directions of the first motor 10 and the second motor 14 are the same as the extending direction of the endoscope body 9, the rotating speeds of the first motor 10 and the second motor 14 are different, and the rotating direction and the rotating speed of the endoscope body 9 are related to the rotating speed difference of the motors.
5. Retraction and simultaneous rotational movement of the endoscope body 9: the rotation direction of the first motor 10 and the second motor 14 is the same as the retraction direction of the endoscope 9, the rotation speeds of the first motor 10 and the second motor 14 are different, and the rotation direction and the rotation speed of the endoscope 9 are related to the rotation speed difference of the motors.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit the same; 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 scope delivery and rotation device, comprising:
the driving mechanism comprises three rollers and clamps the endoscope body from three directions;
and the guide mechanism is used for guiding the endoscope body to pass through the three rollers.
2. The endoscopic scope delivery and rotation apparatus according to claim 1, wherein said drive mechanism comprises two motors, and said three rollers comprise two mecanum wheels, one for each motor.
3. The endoscopical delivery and rotation device of claim 2, wherein the three rollers comprise an omni wheel.
4. The endoscopic scope delivery and rotation device according to claim 3, comprising:
the driving mechanism and the guide mechanism are arranged on the base;
the first support and the second support are arranged on two sides of the base and are respectively used for mounting the Mecanum wheels;
and the third bracket is arranged between the first bracket and the second bracket and used for mounting the omnidirectional wheel.
5. The endoscopic delivery and rotation device according to claim 4, wherein the third support is a movable support, one end of which is hinged to the base and the other end of which is mounted with the omni wheel, the third support being pressed against the Mecanum wheel by a biasing device.
6. The endoscopic scope delivery and rotation apparatus according to claim 3, wherein two of said mecanum wheels and one omni wheel are Y-shaped.
7. The endoscopic scope delivery and rotation device according to claim 2, wherein the circumference of the mecanum wheel is provided with a roller, and the hub shaft of the mecanum wheel is at an angle of 45 ° to the roller shaft.
8. The endoscopical body delivery and rotation device according to claim 3, wherein the omni wheel is provided with a double row of rollers around its circumference, and a hub shaft of the omni wheel is perpendicular to a roller rotation shaft.
9. The endoscopic scope delivery and rotation apparatus according to claim 1, wherein said guide mechanism comprises a first guide hole and a second guide hole, respectively located on the front and rear sides of said drive mechanism.
10. An endoscopic robot comprising the endoscopic scope delivery and rotation device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210309700.3A CN114617518A (en) | 2022-03-28 | 2022-03-28 | Endoscope body delivery and rotation device and endoscope robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210309700.3A CN114617518A (en) | 2022-03-28 | 2022-03-28 | Endoscope body delivery and rotation device and endoscope robot |
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| Publication Number | Publication Date |
|---|---|
| CN114617518A true CN114617518A (en) | 2022-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210309700.3A Pending CN114617518A (en) | 2022-03-28 | 2022-03-28 | Endoscope body delivery and rotation device and endoscope robot |
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| CN (1) | CN114617518A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116421318A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Medical guide wire driving device, method, system, medium and electronic equipment |
| CN116440392A (en) * | 2023-03-07 | 2023-07-18 | 极限人工智能有限公司 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
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| CN113729592A (en) * | 2020-05-27 | 2021-12-03 | 北京华信佳音医疗科技发展有限责任公司 | Endoscope clamp driving device |
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| JP2014166806A (en) * | 2013-02-28 | 2014-09-11 | Mitsubishi Heavy Ind Ltd | In-pipe travel device and in-pipe inspection device |
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| CN116440392B (en) * | 2023-03-07 | 2024-04-05 | 极限人工智能有限公司 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
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