CN114917026A

CN114917026A - Lift pincers ware drive adjusting device and ERCP surgical robot

Info

Publication number: CN114917026A
Application number: CN202210568346.6A
Authority: CN
Inventors: 刘文明; 虞忠伟; 杨晓义; 刘道志; 刘奕琨
Original assignee: Shanghai Aopeng Medical Technology Co ltd
Current assignee: Shanghai Aopeng Medical Technology Co ltd
Priority date: 2022-05-23
Filing date: 2022-05-23
Publication date: 2022-08-19

Abstract

The invention provides a forceps holder lifting drive adjusting device and an ERCP (endoscopic retrograde cholangiopancreatography) surgical robot, which comprise a drive assembly, a connecting assembly and a sleeving assembly, wherein the drive assembly is connected with the connecting assembly; the driving assembly is arranged on the mounting seat, the connecting assembly is arranged on the driving assembly in a connected mode, and the sleeving assembly is arranged on the connecting assembly in a connected mode; the sleeve joint component is sleeved on the clamp lifting device, the driving component is used for driving the connecting component to move, the connecting component drives the sleeve joint component to move, and the sleeve joint component drives the clamp lifting device to rotate. The invention can realize the remote regulation of the clamp lifting device and avoid the exposure of operators in the radiation environment.

Description

Lift pincers ware drive adjusting device and ERCP surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a forceps lifting device driving and adjusting device and an ERCP (endoscopic retrograde cholangiopancreatography) surgical robot, and particularly relates to a forceps lifting device driving and adjusting device for an ERCP surgical robot.

Background

ERCP is a well-established endoscopic minimally-invasive surgery for treating diseases of the biliary-pancreatic system, also known as endoscopic retrograde cholangiopancreatography. ERCP can be used for diagnosing and treating cholelithiasis, biliary obstruction, cholangitis, biliary tumor, pancreatic tumor, etc. During the operation, a duodenoscope is inserted into the descending part of the duodenum of a patient, a contrast catheter is inserted into a biopsy channel to the opening of the duodenal papilla, then a contrast agent is injected, the specific condition of the pancreaticobiliary duct is observed under an X-ray film to determine whether pathological changes exist, and then the corresponding operation is carried out. The ERCP operation has the advantages of small wound, short operation time, few complications, high safety and the like, belongs to minimally invasive operation, has very small operation wound, can not bring much pain to patients, and can be quickly recovered after the operation.

At present, the domestic ERCP operation is manually operated by doctors and teams thereof, however, the ERCP operation needs to be completed under the assistance of X-rays, the operating doctors are exposed to the X-rays for a long time, operators need to wear heavy radiation-proof clothes during the operation, arm parts need to be exposed for operation and cannot be protected against radiation, and the long-term operation radiation over the years can cause serious radiation injury to the operators.

The operation and the cooperative personnel that current ERCP operation needs are many, show a bit more in this little operating room in space and block up, doctor and operating personnel need whole day to stand and operate, working strength is big, it is tired easily, and then influence operation accuracy nature and lead to making mistakes even, among the operation process, after inserting the duodenoscope into the human body, need adjust the angle of seal wire pipe in the human body through lifting the pincers ware, doctor and operating personnel are difficult to guarantee that the hand does not tremble, it takes place when taking place the circumstances of aversion after inserting human apparatus location, can't realize accurate regulation to lifting the pincers ware, direct the adjusting to lifting the pincers ware simultaneously, can make operating personnel expose under the X ray, cause the injury to operating personnel.

Patent document No. CN215687669U discloses a forceps holder for an endoscope, an endoscope head end, and an endoscope, including a forceps holder main body having a connecting portion for mechanically connecting to a transmission member of the endoscope and a friction fixing portion for abutting against a treatment instrument extending from a jaw opening and engaging with an abutting portion of the endoscope head end to fix the treatment instrument by a static friction force, wherein the connecting portion is made of a hard material, and the friction fixing portion is made of an anti-slip material.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a forceps holder driving and adjusting device and an ERCP surgical robot.

The invention provides a driving and adjusting device of a caliper lifting device, which is characterized by comprising a driving component, a connecting component and a sleeving component;

the driving assembly is arranged on the mounting seat, the connecting assembly is connected to the driving assembly, and the sleeving assembly is connected to the connecting assembly;

the sleeving component is sleeved on the forceps lifting device, the driving component is used for driving the connecting component to move, the connecting component drives the sleeving component to move, and the sleeving component drives the forceps lifting device to rotate.

Preferably, the driving assembly comprises a push rod motor and a push rod;

the push rod motor sets up on the mount pad, the one end of push rod is connected and is set up on the push rod motor, the push rod is kept away from the one end of push rod motor is connected and is set up on the coupling assembling.

Preferably, a positioning shaft is arranged on the mounting seat, the push rod motor is connected and arranged on the positioning shaft, and the positioning shaft is used for limiting and fixing the push rod motor.

Preferably, the connecting assembly is a connecting block;

the push rod is connected and set up the one end of connecting block, it is in to cup joint the subassembly connection setting the connecting block is kept away from the one end of push rod.

Preferably, the socket assembly comprises a connecting post and a sleeve;

the sleeve is connected and arranged on the connecting column, the connecting column is detachably arranged on the connecting block, and the sleeve is sleeved on the clamp lifting device.

Preferably, one end of the connecting column close to the connecting block is provided with a first magnet;

the connecting piece is provided with a connecting hole, a second magnet is arranged in the connecting hole, the connecting column is connected with the connecting piece through the connecting hole, and the first magnet and the second magnet are magnetically attracted with each other.

Preferably, the cross section of the sleeve is in a runway shape, and the sleeve is in adaptive connection with the forceps lifting device.

Preferably, the push rod is arranged on the connecting block through screw connection.

Preferably, a motor housing is arranged on the mounting seat, the motor housing is covered on the push rod motor, and a membrane switch is arranged on the motor housing.

The invention also provides an ERCP surgical robot which comprises the forceps lifting device driving and adjusting device.

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

1. the invention can realize the remote regulation of the clamp lifter, and avoid the exposure of operators in the radiation environment;

2. the clamp lifting device sleeve assembly is detachably arranged with the connecting block through the magnet, and the clamp lifting device sleeve assembly is detached and replaced, so that the clamp lifting device sleeve assembly is conveniently detached and replaced;

3. the driving and adjusting device of the pliers lifting device is compact in structure, powerful and reliable in function;

4. the invention mainly solves the problem of injury to doctors caused by long-term radiation of the ERCP operation, reduces hand vibration of the doctors during operation, reduces working strength, reduces operating personnel and improves the success rate of the operation.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the driving and adjusting device of the present invention;

FIG. 2 is a schematic view showing the structure of the pincer-lifting device;

FIG. 3 is an enlarged view of a portion of the present invention;

FIG. 4 is a schematic view showing the construction of the sleeve assembly of the caliper raising apparatus;

FIG. 5 is a schematic view showing the structure of the connection block;

FIG. 6 is a schematic view showing the positioning shaft.

The figures show that:

drive assembly 1 positioning shaft 4

First magnet 5 of push rod motor 101

Push rod 102 second magnet 6

Screw 7 of connecting component 2

Thin film switch 8 of clamp lifting device sleeve component 3

Connecting column 301 mounting base 9

Sleeve 302 lifting clamp 10

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the invention.

Example 1:

as shown in fig. 1 to 6, the present embodiment provides a driving adjustment device for a pincer lifter, which includes a driving assembly 1, a connecting assembly 2 and a socket assembly 3. Drive assembly 1 sets up on mount pad 9, and coupling assembling 2 connects and sets up on drive assembly 1, cup joints subassembly 3 and connects and set up on coupling assembling 2, cup joints 3 covers and establishes on lifting pincers ware 10 of subassembly, and drive assembly 1 is used for driving coupling assembling 2 and moves, and coupling assembling 2 drives and cup joints subassembly 3 and moves, and cup joints subassembly 3 and drives and lift pincers ware 10 and rotate.

The driving assembly 1 comprises a push rod motor 101 and a push rod 102, the push rod motor 101 is arranged on the mounting seat 9, one end of the push rod 102 is connected and arranged on the push rod motor 101, and one end, far away from the push rod motor 101, of the push rod 102 is connected and arranged on the connecting assembly 2. The mounting seat 9 is provided with a positioning shaft 4, the push rod motor 101 is connected and arranged on the positioning shaft 4, and the positioning shaft 4 is used for limiting and fixing the push rod motor 101. The mounting seat 9 is provided with a motor housing which is covered on the push rod motor 101, and the motor housing is provided with a membrane switch 8.

Connecting assembly 2 is the connecting block, and push rod 102 connects the one end that sets up at the connecting block, cup joints the one end that the setting was kept away from push rod 102 at the connecting block to subassembly 3 connection. The push rod 102 is connected and arranged on the connecting block through a screw 7.

The sleeving component 3 comprises a connecting column 301 and a sleeve 302, the sleeve 302 is connected and arranged on the connecting column 301, the connecting column 301 is detachably arranged on a connecting block, and the sleeve 302 is sleeved on the forceps lifting device 10. The cross section of the sleeve 302 is in a runway shape, and the sleeve 302 is connected with the forceps lifter 10 in a matching way.

Spliced pole 301 is provided with first magnet 5 near the one end of connecting block, is provided with the connecting hole on the connecting block, is provided with second magnet 6 in the connecting hole, and spliced pole 301 passes through the connecting hole to be connected with the connecting block, and

first magnet

5 and 6 mutual magnetism of second magnet are inhaled.

A doctor controls the push rod of the push rod motor of the actuating end to stretch through the control end handle at the far end, so that the rotation of the forceps lifting device on the duodenoscope is controlled, and finally the insertion angle of the guide wire catheter at the front end of the insertion part is controlled to realize successful intubation.

The embodiment also provides an ERCP surgical robot, which comprises the forceps-lifting driving and adjusting device. The ERCP surgical robot has the advantages that a doctor sits on the control table outside the operating room, the whole operation can be carried out through remote control, the problem that the operator is injured by long-term radiation of the ERCP operation is solved, hand vibration of the doctor during operation is avoided, working strength is reduced, and operation success rate is improved.

Example 2:

those skilled in the art will understand this embodiment as a more specific description of embodiment 1.

The embodiment provides a forceps lifting device control module for an ERCP surgical robot, which comprises a forceps lifting device sleeve, a push rod motor, a push rod and a connecting block.

The push rod motor is arranged on the mounting seat through a positioning shaft, one end of the push rod is connected with the telescopic end of the push rod motor, the other end of the push rod is connected with the connecting block, a connecting block hole is formed in the connecting block, and a magnet is arranged at the bottom of the connecting block hole.

The clamp lifting device sleeve is provided with a groove-shaped opening, the bottom of the clamp lifting device sleeve is provided with a magnet, the clamp lifting device sleeve is inserted into the connecting block hole during installation and is attracted with the magnet at the bottom of the connecting block hole, and the clamp lifting device sleeve can be directly pulled out during disassembly, assembly and replacement.

The tail part of the push rod motor is provided with a positioning shaft, the head part of the push rod is locked with a connecting block screw, the motor integrally swings around the positioning shaft when the push rod stretches out and draws back, and the connecting block pushes and pulls the clamp lifting device to rotate around the central shaft of the clamp lifting device.

The motor housing is provided with a membrane switch which can manually control the advance and retreat of the motor push rod.

The embodiment relates to intervene operation robot operation field, belong to the medical instrument field, mainly solve the injury that ERCP operation long-term radiation caused to the doctor, hand vibration when reducing the doctor operation, reduce working strength, reduce operating personnel, improve the operation success rate, it is specific, the doctor passes through the control end handle of distal end, it is flexible to control the push rod of execution end motor, and then control the rotation of lifting the pincers ware on the duodenoscope, the insertion angle of final control insertion portion front end seal wire pipe is in order to realize successful intubate.

In view of the above-mentioned deficiencies in the prior art, the present embodiment provides a control module of a forceps lifting device for an ERCP surgical robot, the control mode of the module completely replicates the actual surgical actions of a doctor, and the doctor can adapt to the control mode of a handle through few learning processes.

The invention solves the problem of injury to doctors caused by long-term radiation of ERCP operation, reduces hand vibration of doctors during operation, reduces working intensity, reduces operating personnel and improves the success rate of the operation.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.

The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A clamp lifting device driving and adjusting device is characterized by comprising a driving component (1), a connecting component (2) and a sleeving component (3);

the driving assembly (1) is arranged on the mounting seat (9), the connecting assembly (2) is connected to the driving assembly (1), and the sleeving assembly (3) is connected to the connecting assembly (2);

the sleeve joint component (3) is sleeved on the pliers lifting device (10), the driving component (1) is used for driving the connecting component (2) to move, the connecting component (2) drives the sleeve joint component (3) to move, and the sleeve joint component (3) drives the pliers lifting device (10) to rotate.

2. The caliper lift drive adjustment device according to claim 1, characterized in that the drive assembly (1) comprises a push rod motor (101) and a push rod (102);

push rod motor (101) set up on mount pad (9), the one end of push rod (102) is connected and is set up on push rod motor (101), push rod (102) are kept away from the one end of push rod motor (101) is connected the setting and is in on coupling assembling (2).

3. The device for driving and adjusting the caliper lifting device according to claim 2, wherein a positioning shaft (4) is arranged on the mounting seat (9), the push rod motor (101) is connected to the positioning shaft (4), and the positioning shaft (4) is used for limiting and fixing the push rod motor (101).

4. The device for adjusting the drive of a caliper lifter according to claim 2, characterized in that the connecting assembly (2) is a connecting block;

the push rod (102) is connected and arranged at one end of the connecting block, and the sleeve joint component (3) is connected and arranged at one end, far away from the push rod (102), of the connecting block.

5. The caliper lift drive adjustment device of claim 4, wherein said socket assembly (3) comprises a connecting post (301) and a sleeve (302);

the sleeve (302) is connected to the connecting column (301), the connecting column (301) is detachably arranged on the connecting block, and the sleeve (302) is sleeved on the forceps lifting device (10).

6. The device for driving and adjusting a caliper lifter according to claim 5, wherein one end of the connecting column (301) close to the connecting block is provided with a first magnet (5);

the connecting block is provided with a connecting hole, a second magnet (6) is arranged in the connecting hole, the connecting column (301) is connected with the connecting block through the connecting hole, and the first magnet (5) and the second magnet (6) are magnetically attracted with each other.

7. The device for adjusting the driving of a caliper lifter according to claim 5, wherein the cross section of the sleeve (302) is racetrack-shaped, and the sleeve (302) is adapted to be connected with the caliper lifter (10).

8. The device for adjusting the drive of a caliper lifter according to claim 4, characterized in that the push rod (102) is connected to the connecting block by a screw (7).

9. The device for driving and adjusting the caliper lifting device according to claim 2, wherein a motor housing is arranged on the mounting seat (9), the motor housing is arranged on the push rod motor (101), and a membrane switch (8) is arranged on the motor housing.

10. An ERCP surgical robot comprising the forceps-lifting drive adjustment arrangement of any one of claims 1 to 9.