CN116421317B - Endoscope motion control device, control method and surgical robot - Google Patents
Endoscope motion control device, control method and surgical robot Download PDFInfo
- Publication number
- CN116421317B CN116421317B CN202310230439.2A CN202310230439A CN116421317B CN 116421317 B CN116421317 B CN 116421317B CN 202310230439 A CN202310230439 A CN 202310230439A CN 116421317 B CN116421317 B CN 116421317B
- Authority
- CN
- China
- Prior art keywords
- endoscope
- piezoelectric
- driving piece
- mechanical driving
- bearing sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title abstract description 12
- 239000002783 friction material Substances 0.000 claims description 18
- 239000000919 ceramic Substances 0.000 claims description 17
- 229920001967 Metal rubber Polymers 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 239000002184 metal Substances 0.000 description 13
- 230000000694 effects Effects 0.000 description 8
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 230000001954 sterilising effect Effects 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- MHAJPDPJQMAIIY-UHFFFAOYSA-N Hydrogen peroxide Chemical compound OO MHAJPDPJQMAIIY-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010329 laser etching Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000005245 sintering Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
Abstract
The invention relates to the technical field of a surgical robot mirror holding arm, and particularly discloses an endoscope motion control device, a control method and a surgical robot, which comprise the following steps: the support part comprises a support arm and an annular structure connected to the tail end of the support arm; the drive portion is disposed within the annular structure, the drive portion including: the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece are arranged in a strip spiral mode, the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece can be in spiral fit with the outer wall of the endoscope, traveling wave motions can be generated by the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece respectively when set voltage is received, and forces for driving the endoscope to axially move or rotate around the axial direction can be synthesized by controlling the traveling wave motion directions of the two driving pieces. The invention can realize the movement of two degrees of freedom of axial movement and axial rotation of the endoscope with very small space volume and occupation of weight.
Description
Technical Field
The invention relates to the technical field of a surgical robot mirror holding arm, in particular to an endoscope motion control device, a control method and a surgical robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Endoscopes are an important component in surgical robotic systems, which mostly rely on the motion of a surgical robot's mirror holding arm or a separate mirror holding robot.
The motion of the mirror holding arm of the existing laparoscopic surgery robot system is realized through the control of the mechanical arm, the operation of the system can realize the motion with the degree of freedom not less than 3, but the swing amplitude required by the realization of the motion of the mirror holding arm is larger, the endoscope does not have relative motion relative to a bearing platform on the mechanical arm, and a plurality of mechanical arms are easy to cross and fight when simultaneously moving; meanwhile, the lens holding arm is usually provided with a hard lens with a certain angle of view, and the structure limits the rotation freedom degree of the endoscope, so that a relatively large action adjustment is needed when the observation position needs to be changed.
For a laparoscopic robot, the overall achievable degrees of freedom are smaller than those of a laparoscopic surgical robot, which is capable of operating the endoscope in a small-amplitude, limited range of motion, e.g., which is capable of accomplishing an axial movement of the endoscope by means of a drive motor. But is generally bulky and cannot perform the movement of the endoscope in the degree of freedom of rotation about the axial direction.
Disclosure of Invention
In order to solve the above problems, the present invention provides an endoscope motion control device, a control method, and a surgical robot, which can generate a force in a set direction by traveling wave motion generated by a piezoelectric micromechanical driving part, thereby driving an endoscope to axially move and rotate around an endoscope shaft.
In some embodiments, the following technical scheme is adopted:
an endoscope motion control device comprising: the support part comprises a support arm and an annular structure connected to the tail end of the support arm; the drive portion is provided in the annular structure, the drive portion including: the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece are arranged in a strip shape in a spiral mode, and the spiral directions of the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece are opposite;
the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece can be spirally attached to the outer wall of the endoscope, traveling wave motions can be generated by the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece respectively when set voltages are received, and forces for driving the endoscope to axially move or rotate around the axial direction can be synthesized by controlling the traveling wave motion directions of the two driving pieces.
As a further development, the first and the second piezo micromechanical drives are arranged centrally symmetrically with respect to a plane passing through the endoscope axis.
As a further aspect, the first piezoelectric micromechanical actuator or the second piezoelectric micromechanical actuator comprises: the piezoelectric endoscope comprises piezoelectric ceramics, a metal elastomer connected with the piezoelectric ceramics and a friction material arranged on the surface of the metal elastomer, wherein the friction material is contacted with the outer wall of the endoscope when the piezoelectric ceramics is inserted into the endoscope.
As a further proposal, the metal elastomer is in a rectangular tooth shape, and the friction material is arranged on the rectangular tooth.
As a further scheme, the first piezoelectric micromechanical driving piece is fixed on the first bearing sleeve, the second piezoelectric micromechanical driving piece is fixed on the second bearing sleeve, the first bearing sleeve and the second bearing sleeve are semicircular, one ends of the first bearing sleeve and the second bearing sleeve are hinged through the first shaft, the other ends of the first bearing sleeve and the second bearing sleeve are abutted through the elastic piece, and the elastic piece can provide elasticity to enable the first bearing sleeve and the second bearing sleeve to tend to be in a pressing state.
As a further scheme, sealing elements are arranged between two ends of the annular structure and the outer wall of the endoscope, and when the endoscope is inserted, a closed cavity can be formed inside the annular structure.
As a further scheme, a grid for laser etching is arranged on the surface of the endoscope, and a first photoelectric sensor and a second photoelectric sensor are respectively arranged in the annular structure; the first photoelectric sensor is used for detecting axial displacement of the endoscope, and the second photoelectric sensor is used for detecting axial rotation displacement of the endoscope.
In other embodiments, the following technical solutions are adopted:
an endoscope motion control method comprising:
responding to a control instruction of an endoscope, respectively applying set alternating voltage to the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece, so that the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece generate micro-mechanical vibration, and further generate traveling waves in a set direction;
the traveling waves generated by the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece form resultant force in a set direction, so that the endoscope performs control actions;
the movement displacement of the endoscope is continuously detected until the movement required by the control instruction is completed.
As a further aspect, the first piezoelectric micromechanical actuator or the second piezoelectric micromechanical actuator comprises: the piezoelectric ceramic, the metal elastomer connected with the piezoelectric ceramic, and the friction material arranged on the surface of the metal elastomer, when the piezoelectric ceramic is inserted into the endoscope, the friction material is contacted with the outer wall of the endoscope; when high-frequency alternating voltage is applied to the piezoelectric ceramic block, the metal elastomer generates micro mechanical vibration in an ultrasonic frequency band by utilizing an inverse piezoelectric effect or an electrostriction effect, the micro mechanical vibration generates traveling wave on the upper part of the metal elastomer after resonance amplification, and friction coupling is generated between the friction material and the endoscope through the traveling wave, so that the endoscope is driven to move.
In other embodiments, the following technical solutions are adopted:
a surgical robot comprising the endoscope motion control device described above.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, the two piezoelectric micromechanical driving pieces are spirally attached to the outer wall of the endoscope, the travelling wave is generated by using the inverse piezoelectric effect or the electrostriction effect, the endoscope is driven to move by virtue of friction coupling, no magnetic pole or winding is generated during operation, no electromagnetic field is generated, and the electromagnetic compatibility is good because the electromagnetic field and the radiation source are not influenced; the two degrees of freedom of movement of the endoscope in the axial direction and the rotation around the axial direction can be realized by occupying very small space volume and weight; the response time can be small, can reach millisecond level, the positioning frequency is high, can reach 1KHz, and can obtain better control precision.
(2) According to the invention, the elastic piece provides elasticity to enable the first bearing sleeve and the second bearing sleeve to be in a pressing state, so that the friction material is tightly attached to the endoscope, the endoscope can be kept stable by means of friction force under the condition of power failure, and a larger holding moment is provided, so that power failure self-locking is realized, and compared with a traditional motor control scheme, positioning control can be simplified; the size of the circular ring surrounded by the first bearing sleeve and the second bearing sleeve can be adjusted by changing the size of the elastic piece, so that the diameter of the passed endoscope is changed, and compatible use of endoscopes with different diameters (for example, the diameter is 10-12 mm) is realized.
(3) The annular structure and the endoscope are kept sealed by the sealing piece, so that a closed cavity is formed inside the annular structure, and the internal structure is effectively protected.
(4) The control device and the control method of the invention have poor sensitivity to temperature and pressure changes, and can be suitable for implementing various sterilization modes, such as damp heat sterilization, VHP hydrogen peroxide low-temperature plasma sterilization and the like.
Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic view showing the overall structure of an endoscope motion control apparatus according to an embodiment of the present invention;
FIG. 2 is an axial cross-sectional view of an endoscope motion control device in an embodiment of the present invention;
FIG. 3 is a radial cross-sectional view of an endoscope motion control device in an embodiment of the present invention;
FIG. 4 is a schematic view of a first piezoelectric micromechanical actuator according to an embodiment of the present invention;
FIGS. 5 (a) - (c) are schematic diagrams of a photosensor and a grid, respectively, according to embodiments of the present invention;
FIGS. 6 (a) - (d) are schematic diagrams of four synthetic motion examples, respectively, in an embodiment of the present invention;
FIG. 7 is a flowchart of a method of controlling endoscope motion in an embodiment of the present invention;
the device comprises a support arm 1, a ring structure 2, an endoscope 3, a casing 4, a cover 5, a sealing element 6, a first bearing sleeve 7, a first piezoelectric micro-mechanical driving element 8, a second bearing sleeve 9, a second piezoelectric micro-mechanical driving element 10, a first shaft 11, an elastic element 12, a piezoelectric ceramic 13, a metal elastomer 14, a friction material 15, a photoelectric sensor 16 and a grid 17.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
In one or more embodiments, an endoscope motion control device is disclosed, in connection with fig. 1, comprising: the device comprises a supporting part and a driving part, wherein the supporting part comprises a supporting arm 1 and an annular structure 2 connected to the tail end of the supporting arm 1; referring to fig. 2, the annular structure 2 includes an annular casing 4, two ends of the annular casing 4 are respectively provided with an annular upper cover 5, a sealing member 6 is arranged between the annular upper cover 5 and the outer wall of the endoscope 3, and when the endoscope 3 is inserted, a closed cavity can be formed inside the annular structure 2 to protect the internal structure.
Referring to fig. 2 and 3, a driving part is provided in the ring structure 2, and the driving part includes: the first piezoelectric micro-mechanical driving piece 8 and the second piezoelectric micro-mechanical driving piece 10 are arranged in a strip spiral manner, and the spiral directions of the first piezoelectric micro-mechanical driving piece 8 and the second piezoelectric micro-mechanical driving piece 10 are opposite; as a specific example, the first piezoelectric micromechanical drive 8 and the second piezoelectric micromechanical drive 10 are arranged centrally with respect to a plane passing through the axis of the endoscope 3, so that the forces developed on the endoscope 3 are relatively uniform.
In this embodiment, the first piezoelectric micromechanical driving element 8 is fixed on the first bearing sleeve 7, and the second piezoelectric micromechanical driving element 10 is fixed on the second bearing sleeve 9, and the fixing manner of the piezoelectric micromechanical driving element and the bearing sleeve may be sintering or other fixing manners such as adhesion. The first bearing sleeve 7 and the second bearing sleeve 9 are both arranged in the annular structure 2 and are both semicircular, and are matched with the inner wall of the annular structure 2; one end of the first bearing sleeve 7 and one end of the second bearing sleeve 9 are hinged through a first shaft 11, the other end of the first bearing sleeve is abutted through an elastic piece 12, and the elastic piece 12 can provide elastic force to enable the first bearing sleeve 7 and the second bearing sleeve 9 to be in a pressing state (and the elastic force of the elastic piece 12 can enable the two bearing sleeves to be close to each other). When the endoscope 3 is inserted, the elastic piece 12 can be compressed so that the space between the first bearing sleeve 7 and the second bearing sleeve 9 is slightly increased, and the endoscope 3 can be smoothly inserted; after the endoscope 3 is inserted, the elastic force of the elastic element 12 can ensure that the piezoelectric micromechanical driving element can be tightly attached to the rod of the endoscope 3 under the static state, and can be kept still under the natural state.
The structure of compressing the two bearing sleeves through the elastic piece 12 can enable a large pre-compressing force to exist between the two piezoelectric micro-mechanical driving pieces and the endoscope 3 in a static state, and meanwhile, the size of the elastic piece 12 can be changed, so that the device can adapt to endoscopes 3 (10-12 mm) with different sizes.
In this embodiment, the first piezoelectric micromechanical actuator 8 and the second piezoelectric micromechanical actuator 10 have the same structure, and the first piezoelectric micromechanical actuator 8 is described below as an example in connection with fig. 4.
The first piezoelectric micromechanical actuator 8 comprises: a piezoelectric ceramic 13, a metal elastic body 14 connected to the piezoelectric ceramic 13, and a friction material 15 provided on the surface of the metal elastic body 14; in this embodiment, the metal elastic body 14 is in a rectangular tooth shape, and the friction material 15 is disposed on the rectangular tooth; when the endoscope 3 is inserted, the friction material 15 is sufficiently in contact with the outer wall of the endoscope 3.
When a high-frequency alternating voltage (20 kHz to 50 kHz) is applied to the piezoelectric ceramic 13, the metal elastic body 14 generates micro mechanical vibration in an ultrasonic frequency band (frequency is 20kHz or more) by using an inverse piezoelectric effect or an electrostrictive effect. The vibration generates travelling wave on the upper part of the teeth of the metal elastic body 14 after resonance amplification, and the friction material 15 is arranged at the tail end of the teeth of the metal elastic body 14, so that friction can be generated between the teeth and the outer surface of the contacted endoscope 3, the teeth are tightly attached to the metal surface of the endoscope 3, and the teeth and the metal surface are converted into relative rotation through friction coupling generated by the travelling wave.
When a certain high-frequency alternating voltage is respectively applied to the first piezoelectric micro-mechanical driving piece 8 and the second piezoelectric micro-mechanical driving piece 10, traveling wave motion along the direction of the strip-shaped driving piece can be respectively generated, a resultant force can be synthesized by controlling the traveling wave motion directions of the two driving pieces, and axial movement of the endoscope 3 and rotation around the axis of the endoscope 3 can be completed by friction. Typical four synthetic motion examples are shown in fig. 6 (a) - (d), respectively.
In this embodiment, the direction of the traveling wave of the piezoelectric micromechanical driving portion is changed by applying high-frequency voltages with different directions to both ends of A, B of the piezoelectric micromechanical driving member to change the phase advancing sequence of the voltage at the end A, B.
Such as: when a forward voltage from the end A to the end B is applied, the phase of the end A leads the end B, and the traveling wave direction is from the end A to the end B; when a forward voltage from the end B to the end A is applied, the phase of the end B leads the end A, and the traveling wave direction is from the end B to the end A.
As a further embodiment, the surface of the endoscope 3 is provided with a laser etched grating 17, the grating 17 may be selected in different forms, and fig. 5 (a) - (c) show three different grating 17 forms; two photoelectric sensors 16 are respectively arranged in the upper cover 5 of the annular structure 2; the first photoelectric sensor 16 is used for detecting the axial displacement of the endoscope 3, and the second photoelectric sensor 16 is used for detecting the axial rotation displacement of the endoscope 3, so that the aim of accurately controlling the two directions of the endoscope 3 is fulfilled.
In this embodiment, the specific implementation process of detecting the displacement of the endoscope 3 by matching the photoelectric sensor 16 and the grid 17 is as follows:
the photoelectric sensor 16 is a reflective photoelectric sensor, the emitting end and the receiving end of which are integrated in a plane, the emitting end emits light to irradiate onto the lens rod of the endoscope 3, the light is not reflected when irradiated onto the dark-colored marking part (i.e. the laser etching part) of the grating, the light is reflected to the receiving end when irradiated onto the light-colored part (i.e. the part without etching), and the speed and displacement change of the endoscope 3 relative to the driving part are obtained by sensing the light-dark change frequency of the grating of the marking part.
In the embodiment, the metal outer surface of the endoscope 3 is used as a driving rotor, two piezoelectric micro-mechanical driving parts with a certain helix angle relative to the axis of the endoscope 3 are symmetrically arranged, traveling wave motion in a set direction can be generated by applying voltage to the piezoelectric micro-mechanical driving parts, and direct motion control of the endoscope 3 is achieved by combining the two traveling wave motions; the system has the advantages of small occupied space, high control precision, no visible noise during the operation of the system, and no influence of external electromagnetic fields and radiation sources.
Example two
In one or more embodiments, an endoscope motion control method is disclosed, in conjunction with fig. 7, comprising the following steps:
(1) In response to a control instruction of the endoscope 3, a set alternating voltage is respectively applied to the first piezoelectric micro-mechanical driving piece 8 and the second piezoelectric micro-mechanical driving piece 10, so that the first piezoelectric micro-mechanical driving piece 8 and the second piezoelectric micro-mechanical driving piece 10 generate micro-mechanical vibration, and further generate traveling waves in a set direction;
(2) The traveling waves generated by the first piezoelectric micromechanical driving element 8 and the second piezoelectric micromechanical driving element 10 form a resultant force in a set direction, so that the endoscope 3 performs a control action;
the first piezoelectric micromechanical actuator 8 or the second piezoelectric micromechanical actuator 10 according to this embodiment includes: a piezoelectric ceramic 13, a metal elastic body 14 connected with the piezoelectric ceramic 13, and a friction material 15 arranged on the surface of the metal elastic body 14, wherein the friction material 15 is contacted with the outer wall of the endoscope 3 when the endoscope 3 is inserted; when a high-frequency alternating voltage is applied to the piezoelectric ceramic 13 block, the metal elastic body 14 generates micro mechanical vibration in an ultrasonic frequency band by utilizing an inverse piezoelectric effect or an electrostriction effect, the micro mechanical vibration generates traveling waves on the upper part of the metal elastic body 14 after resonance amplification, and friction coupling is generated between the friction material 15 and the endoscope 3 through the traveling waves, so that the endoscope 3 is driven to move.
(3) The movement displacement of the endoscope 3 is continuously detected by the photoelectric sensor 16 until the movement required by the control command is completed.
The specific implementation method of the above process is the same as that in the first embodiment, and will not be described in detail.
Example III
In one or more embodiments, a surgical robot is disclosed that includes an endoscope motion control device as described in embodiment one.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (7)
1. An endoscope motion control device comprising: the support part comprises a support arm and an annular structure connected to the tail end of the support arm; the drive portion is provided in the annular structure, the drive portion including: the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece are arranged in a strip shape in a spiral mode, and the spiral directions of the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece are opposite;
the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece can be spirally attached to the outer wall of the endoscope, traveling wave motions can be generated by the first piezoelectric micro-mechanical driving piece and the second piezoelectric micro-mechanical driving piece respectively when set voltages are received, and forces for driving the endoscope to axially move or rotate around the axial direction can be synthesized by controlling the traveling wave motion directions of the two driving pieces;
the first piezoelectric micromechanical drive or the second piezoelectric micromechanical drive comprises: the piezoelectric endoscope comprises piezoelectric ceramics, a metal elastomer connected with the piezoelectric ceramics and a friction material arranged on the surface of the metal elastomer, wherein the friction material is contacted with the outer wall of the endoscope when the piezoelectric ceramics is inserted into the endoscope.
2. An endoscope motion control device as in claim 1 wherein the first and second piezoelectric micromechanical drives are centrally symmetrically disposed with respect to a plane passing through the endoscope axis.
3. An endoscope motion control device as in claim 1 wherein the metal elastomer is in the form of rectangular teeth and the friction material is disposed on the rectangular teeth.
4. The endoscope motion control device of claim 1 wherein the first piezoelectric micromechanical driving element is fixed to the first bearing sleeve, the second piezoelectric micromechanical driving element is fixed to the second bearing sleeve, the first bearing sleeve and the second bearing sleeve are both semicircular, one ends of the first bearing sleeve and the second bearing sleeve are hinged through the first shaft, the other ends of the first bearing sleeve and the second bearing sleeve are abutted through the elastic element, and the elastic element can provide elastic force to enable the first bearing sleeve and the second bearing sleeve to be in a pressing state.
5. An endoscope motion control device as in claim 1 wherein a seal is provided between the ends of the annular structure and the outer wall of the endoscope, the interior of the annular structure being capable of forming a closed cavity when the endoscope is inserted.
6. The endoscope motion control device as in claim 1 wherein the endoscope surface is provided with a laser etched grid, and wherein the annular structure is internally provided with a first photoelectric sensor and a second photoelectric sensor, respectively; the first photoelectric sensor is used for detecting axial displacement of the endoscope, and the second photoelectric sensor is used for detecting axial rotation displacement of the endoscope.
7. A surgical robot comprising the endoscope motion control device of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310230439.2A CN116421317B (en) | 2023-03-06 | 2023-03-06 | Endoscope motion control device, control method and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310230439.2A CN116421317B (en) | 2023-03-06 | 2023-03-06 | Endoscope motion control device, control method and surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116421317A CN116421317A (en) | 2023-07-14 |
| CN116421317B true CN116421317B (en) | 2024-04-05 |
Family
ID=87091611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310230439.2A Active CN116421317B (en) | 2023-03-06 | 2023-03-06 | Endoscope motion control device, control method and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116421317B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1132469A (en) * | 1993-08-30 | 1996-10-02 | Stm医疗技术施塔恩贝格有限公司 | Endoscope with a movable frontal end area |
| JP2011156235A (en) * | 2010-02-02 | 2011-08-18 | Hoya Corp | Optical-scanning endoscope, optical-scanning endoscope drive unit, and optical-scanning endoscope system |
| CN103637761A (en) * | 2013-12-25 | 2014-03-19 | 上海交通大学 | Internal robot for gastrointestinal tract |
| CN111345894A (en) * | 2018-12-21 | 2020-06-30 | 微创（上海）医疗机器人有限公司 | Mechanical arm and surgical robot |
| CN113425342A (en) * | 2021-06-28 | 2021-09-24 | 锐志微创医疗科技（常州）有限公司 | Endoscopic surgical instrument control system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160057778A (en) * | 2014-11-14 | 2016-05-24 | 삼성전기주식회사 | Piezoelectric actuator and capsule endoscope including the same |
-
2023
- 2023-03-06 CN CN202310230439.2A patent/CN116421317B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1132469A (en) * | 1993-08-30 | 1996-10-02 | Stm医疗技术施塔恩贝格有限公司 | Endoscope with a movable frontal end area |
| JP2011156235A (en) * | 2010-02-02 | 2011-08-18 | Hoya Corp | Optical-scanning endoscope, optical-scanning endoscope drive unit, and optical-scanning endoscope system |
| CN103637761A (en) * | 2013-12-25 | 2014-03-19 | 上海交通大学 | Internal robot for gastrointestinal tract |
| CN111345894A (en) * | 2018-12-21 | 2020-06-30 | 微创（上海）医疗机器人有限公司 | Mechanical arm and surgical robot |
| CN113425342A (en) * | 2021-06-28 | 2021-09-24 | 锐志微创医疗科技（常州）有限公司 | Endoscopic surgical instrument control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116421317A (en) | 2023-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1665336B1 (en) | Ultrasonic lead screw motor | |
| WO2008038817A1 (en) | Ultrasonic operation device and microtube inside system | |
| US10008960B2 (en) | Ultrasonic actuator device and applications thereof | |
| Mashimo et al. | Recent advances in micromotors | |
| Jayhooni et al. | A stepping micromotor based on ferrofluid bearing for side-viewing microendoscope applications | |
| Ikuta et al. | Biomedical micro robots driven by miniature cybernetic actuator | |
| JP4941469B2 (en) | Vibration actuator, lens barrel, camera system, vibrator | |
| CN116421317B (en) | Endoscope motion control device, control method and surgical robot | |
| Mashimo et al. | High-speed visual feedback control of miniature rotating mirror system using a micro ultrasonic motor | |
| Assadsangabi et al. | Catheter-based microrotary motor enabled by ferrofluid for microendoscope applications | |
| KR20160057778A (en) | Piezoelectric actuator and capsule endoscope including the same | |
| JP2009130988A (en) | Magnetostrictive multi-shaft drive actuator | |
| JP4282487B2 (en) | Piezoelectric motor and method for driving a piezoelectric motor | |
| Lu et al. | Development of a novel rotor-embedded-type multidegree-of-freedom spherical ultrasonic motor | |
| JP6205479B2 (en) | Medical equipment | |
| JPS61106126A (en) | Endoscope | |
| Assadsangabi et al. | Ferrofluid-assisted micro rotary motor for minimally invasive endoscopy applications | |
| JPWO2015125359A1 (en) | Friction drive actuator | |
| JPH0230452A (en) | Piezoelectric driving device | |
| Hareesh et al. | Annular ultrasonic micromotors fabricated from bulk PZT | |
| JPH06326369A (en) | Actuator | |
| US20230060266A1 (en) | Vibrating actuator, multi-axis stage, articulated robot, and continuum robot | |
| JP2008259266A (en) | Vibration actuator, lens barrel and camera | |
| Toyama et al. | Mesh robot developed by micro ultrasonic motor | |
| JP2009261494A (en) | Ultrasonic control apparatus and system for examining inside of microtube |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |