CN117297802A

CN117297802A - Endoscope positioning bracket based on double-arm positioning and method for using same

Info

Publication number: CN117297802A
Application number: CN202310564601.4A
Authority: CN
Inventors: 简小林; 万银秀; 曾婷
Original assignee: Jiangxi Weite New Materials Co ltd
Current assignee: Jiangxi Weite New Materials Co ltd
Priority date: 2022-06-29
Filing date: 2023-05-19
Publication date: 2023-12-29
Also published as: CN117297723A; CN117297801A; CN117297724A; CN220293641U

Abstract

The invention discloses an endoscope positioning bracket based on double-arm positioning and a using method thereof, wherein an adjusting arm of the endoscope positioning bracket can adjust and lock at least 3 degrees of freedom; the two groups of adjusting arms are respectively matched and mounted with an endoscope supporting frame at the tail ends of the two groups of adjusting arms, the endoscope supporting frame can clamp an endoscope, and the adjusting arms can rapidly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope; the clamping piece is arranged in the endoscope supporting frame in a rotating mode, the clamping piece is provided with a clamping mechanism, the clamping mechanism is used for clamping an endoscope, the clamping piece can rotate around the axis of the endoscope, accordingly the endoscope can rotate around the axis of the endoscope rod, and the locking mechanism is further arranged on the endoscope supporting frame and can lock the rotation angle of the endoscope around the axis of the endoscope rod. The invention can change the pose of the endoscope according to the change of the operation position, is convenient to operate, improves the speed and accuracy of pose adjustment, and can also observe the polygon of the operation process in real time.

Description

Endoscope positioning bracket based on double-arm positioning and method for using same

Technical Field

The invention relates to the technical field of medical equipment, in particular to an endoscope positioning bracket based on double-arm positioning and a using method thereof.

Background

With the progress of science and technology and the improvement of living standard of people, an endoscope with a minimally invasive effect has played a great role in diagnosis and treatment of body cavity diseases. However, at present, when in endoscopic surgery, a special person is required to support the lens so as to change the position, the direction and the like of the lens according to the change of the surgical position in time, so that the fatigue of the lens supporting person and the operator is caused in the surgical operation process due to overlong lens holding time or other different conditions, and the normal operation and the effect of the surgery are affected.

The prior art also has through the use of a locating support to support the location endoscope, as the patent of application number 202210430426.5 discloses a 360 rotatory mirror fixed bolster holder that holds, its technical scheme is: comprises a snake-shaped arm and a clamping mechanism; the snake-shaped arm is used for supporting the clamping mechanism and adjusting the position of the clamping mechanism; the clamping mechanism is used for clamping an endoscope, finely adjusting the angle of the endoscope and adjusting the focal length of the endoscope, the endoscope locking mechanism comprises an endoscope locking nut and an elastic clamping piece, a first inclined plane is arranged in the clamping cylinder, the endoscope locking nut is in threaded connection with the end part of the clamping cylinder, the elastic clamping piece is of an annular structure, the elastic clamping piece is arranged in the clamping cylinder, one end of the elastic clamping piece, which is close to the endoscope locking nut, is of a step structure, the end part of the endoscope locking nut is matched with the step structure, a second inclined plane is arranged at one end, which is far away from the endoscope locking nut, of the elastic clamping piece, the second inclined plane is matched with the first inclined plane, the minimum diameter of the elastic clamping piece is changed through the contact of the first inclined plane and the second inclined plane, and then the endoscope in the clamping cylinder is clamped or loosened. The prior art is characterized in that: 1. the endoscope is supported by a single arm, so that the stability is poor; 2. the clamping and locking mechanisms of the endoscope are mechanically adjusted, the operation is complex, the position and angle adjustment of the endoscope are limited, and the disassembly of the endoscope is inconvenient. Therefore, the endoscope needs to be supported and positioned with high rigidity and the pose of the endoscope can be adjusted, so that the supporting and positioning technology is improved and optimized, and the urgent market demand exists.

Disclosure of Invention

The invention aims to provide an endoscope positioning bracket based on double-arm positioning and a using method thereof, which solve the problems of low operation precision, easy fatigue of personnel, instability of single-arm support and complicated installation and adjustment of an endoscope in the prior art by adopting manual operation.

The technical aim of the invention is realized by the following technical scheme:

the endoscope positioning bracket based on double-arm positioning comprises an adjusting arm, wherein the adjusting arm can adjust and lock at least 3 degrees of freedom, so that the tail end of the adjusting arm can be adjusted to any position in a working space of the adjusting arm and locked; the endoscope supporting frame can clamp the endoscope, and the adjusting arms can quickly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope.

Preferably, the adjusting arm is a passive adjusting bracket, and the passive adjusting bracket is one or a combination of a plurality of mechanical damping arms, mechanical thread locking arms, mechanical hydraulic locking arms, serpentine locking arms, electromagnetic braking type positioning brackets, pneumatic braking type positioning brackets and hydraulic braking type positioning brackets.

The driven adjusting bracket adopts a mechanical thread locking arm, an elastic screw is arranged at the joint or the sliding block of the adjusting arm, and a single joint or a single sliding block of the adjusting arm can be locked or released through the elastic screw, or a plurality of degrees of freedom can be locked at the same time;

or the driven adjusting bracket is a mechanical hydraulic locking arm, the mechanical hydraulic locking arm pressurizes hydraulic oil through a pressurizing mechanism, and the hydraulic oil pushes the compression piston to lock the spherical hinge or the compression hinge so as to realize locking of all degrees of freedom; the pressurizing mechanism is a piston pressurizing mechanism, the piston is driven to move inwards through a first transmission mechanism, so that the hydraulic oil is pressurized, and the first transmission mechanism is driven by a manual drive or a motor; or the pressurizing mechanism is a hydraulic pump;

the mechanical hydraulic locking arm comprises a head spherical hinge, a tail spherical hinge and a rotary hinge in the middle, the driven adjusting support comprises two sections of connecting rods, the two connecting rods are connected through the rotary hinge, one spherical hinge is arranged at the tail ends of the two connecting rods respectively, the two connecting rods are of hollow structures, a compression piston is arranged inside the two connecting rods, the compression piston is propped against one side of the spherical hinge to lock and loosen the spherical hinge, the rotary hinge in the middle is of a hollow structure and is communicated with an inner cavity of the two connecting rods, the rotary hinge is provided with a rotary buckling structure, the rotary hinge can be realized under the condition of keeping sealing, when the pressure of hydraulic oil in the hollow cavity is increased, the two spherical hinges are locked by the compression piston, the rotary buckling structure is also compressed, the locking of the rotary hinge is realized, and therefore, the locking of all degrees of freedom is finally realized.

Or the driven adjusting bracket drives a linkage locking mechanism through a motor to lock all degrees of freedom on the driven adjusting bracket, the linkage locking mechanism is of a screw rod and screw nut matching structure, a screw rod motor is arranged at the joint part of the driven adjusting bracket, a screw rod of the screw rod motor goes deep into the bracket, the screw rod is matched with the screw rod and is provided with a screw nut, the screw rod rotates to drive the screw rod nut to compress towards the inside of the joint of the bracket, the bracket comprises a first bracket and a second bracket, the first bracket and the second bracket are in sealing connection, piston rods are respectively arranged in the first bracket and the second bracket, pistons are arranged on the piston rods, and the spherical hinge is gradually compressed by the movement of the pistons, so that the first bracket and the second bracket are fixed; the inner joint parts of the first bracket and the second bracket are provided with compression blocks; the screw nut moves to push the compression block to simultaneously press the piston rod in the first bracket and the piston rod in the second bracket, and the compression block simultaneously supports the two piston rods through the inclined surface structure;

or the driven adjusting bracket is a snake-shaped locking arm, the snake-shaped locking arm comprises a flexible universal arm capable of adjusting the pose of the endoscope and a locking mechanism capable of locking or releasing the flexible universal arm, the locking mechanism adopts a stay cord locking mode, and a driving element of the locking mechanism can tighten or loosen a stay cord through a second transmission mechanism; the flexible universal arm comprises a plurality of groups of hollow universal joints which are hinged with each other end to end in sequence through spherical matching surfaces, one end of a pull rope penetrates through all the hollow universal joints to be connected to the head end of the snake-shaped locking arm, the other end of the pull rope is connected with the second transmission mechanism, and the second transmission mechanism is one or a combination of a winding wheel structure, a screw nut structure, a cam structure, a hydraulic mechanism and a pneumatic mechanism.

Preferably, the tail end of the adjusting arm is rigidly connected with the endoscope supporting frame or connected through a quick connecting part, when the adjusting arm is connected through the quick connecting part, the quick connecting part is provided with at least one group, the quick connecting part is connected in a threaded connection or claw connection mode, the quick connecting part comprises a first meshing plate and a second meshing plate which can be quickly positioned and locked at a plurality of angles, a central through hole is formed in the first meshing plate, a threaded connecting hole is formed in the second meshing plate, a locking bolt passes through the central through hole in the first meshing plate and is in locking connection with the threaded connecting hole, the first meshing plate and the second meshing plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is parallel to the axis direction of an endoscope, so that the adjusting of the double adjusting arm in space and the arrangement of an operation environment are convenient; or the axial direction of the central through hole is perpendicular to the axial direction of the mirror rod of the endoscope; the axis of the central through hole forms an angle with the axis of the end universal joint of the adjusting arm or the axis of the output rod of the end spherical hinge of the adjusting arm, and the angle is preferably 30-90 degrees.

The first meshing plate is provided with a positioning groove or a positioning protrusion, the second meshing plate is provided with a positioning protrusion or a positioning groove which is matched with the positioning groove or the positioning protrusion on the first meshing plate in a positioning way, the positioning protrusion or the positioning protrusion can improve locking moment, and the positioning protrusion or the positioning protrusion is one or a combination of circular arc teeth, saw teeth and pins/holes. Meanwhile, a disinfection isolation cover is arranged between the tail end of the adjusting arm and the endoscope supporting frame to wrap and isolate the adjusting arm.

Preferably, a clamping piece is rotatably arranged in the endoscope supporting frame, the clamping piece is provided with a clamping mechanism, the clamping mechanism is used for clamping the endoscope, the clamping piece can rotate around the axis of the endoscope rod of the endoscope, so that the endoscope can rotate around the axis of the endoscope rod of the endoscope, and the endoscope supporting frame is also provided with a locking mechanism, so that the rotation angle of the endoscope around the axis of the endoscope rod can be locked through the locking mechanism.

Preferably, the adjustment arm is removably mounted to the base, the base remaining relatively stationary with respect to the living being.

The base is a template which is matched with the shape of the organism, and the template is one or a combination of a 3D printing template and a flexible deformable template.

The base is a auxiliary cranial positioning bracket, at least one position capable of installing an adjusting arm is arranged on the auxiliary cranial positioning bracket, and an endoscope supporting frame is connected to the adjusting arm.

The base is a bottom plate for the living body to resist, and the regulating arm is detachably arranged on the bottom plate; the bottom plate adopts carbon fiber board, a plurality of fixed orifices are arranged on the bottom plate in an array manner, the adjusting arms are directly arranged on the fixed orifices of the bottom plate or the adjusting arms are arranged on the fixed orifices of the bottom plate through an extension rod perpendicular to the bottom plate, and the connection mode between the fixed orifices and the adjusting arms or the extension rod adopts threaded connection, snap connection or lock connection, so that quick installation and disassembly of the adjusting arms or the extension rod can be realized.

The base is a technical bed fixing device connected and fixed with a technical bed, the technical bed fixing device comprises a threaded structure, a clamp assembly or a locking rod assembly, the adjusting arm is directly arranged on the technical bed fixing device or is arranged on the technical bed fixing device through an extending rod which is vertically arranged.

Preferably, the clamping piece is a rotary piece, the endoscope is arranged in the rotary piece, the rotary piece can be rotatably arranged in the endoscope supporting frame, the rotary piece can be locked through the locking mechanism, so that the rotary piece can hover at any angle to realize the adjustment of the pose, and the rotary piece is an adjusting handle or a rotary sleeve.

When the clamping piece is an adjusting handle, the adjusting handle is arranged in the endoscope supporting frame through a bearing, the damping ring is sleeved outside the adjusting handle, the tightness of the damping ring can be controlled through the locking mechanism to control the compression force of the damping ring on the adjusting handle, so that the adjusting handle is locked, or the locking mechanism directly props against the adjusting handle to lock the adjusting handle.

When the clamping piece is a rotary sleeve, the rotary sleeve is arranged in the endoscope supporting frame through the bearing, and a jacking block is arranged between the endoscope supporting frame and the rotary sleeve, and the jacking block can jack the rotary sleeve tightly by applying acting force to the jacking block through the locking mechanism, so that the rotary sleeve is locked, or the locking mechanism directly jacks the rotary sleeve to lock the rotary sleeve. The locking mechanism is a locking screw or a locking structure.

Preferably, the clamping piece is provided with a clamping mechanism capable of fixing the pose of the endoscope, and the clamping mechanism adopts one or a combination of a screw locking assembly, a buckle locking assembly, a spring clamp locking assembly and a screw clamp locking assembly;

the middle part of the clamping piece is provided with an opening groove, the light guide opening of the endoscope extends out of the opening groove of the clamping piece, the buckle locking component is arranged above the clamping piece, and the buckle locking component is positioned between the light guide opening and the observation opening of the endoscope; the buckle locking assembly comprises two groups of buckles which are connected in a hinged mode and a locking piece which can lock or unlock the two groups of buckles, the locking piece is unlocked, an endoscope can be installed in the clamping piece, and then the locking piece is locked, so that the endoscope can be clamped on the clamping piece.

Preferably, the endoscope supporting frame also comprises a space positioning element capable of assisting in realizing positioning, wherein the space positioning element is one or a combination of an optical positioning bracket, a gyroscope or a magnetic navigation sensor, the optical positioning bracket is provided with a multi-point optical positioning marker, and the optical positioning bracket, the gyroscope or the magnetic navigation sensor acquires the current attitude angle of the endoscope supporting frame in real time; when the space positioning element is an optical positioning bracket, the space positioning element is connected to the tail end of the adjusting arm and/or the endoscope supporting frame through extension rods, the length of the extension rods is larger than 50mm, the extension rods are provided with a plurality of groups, and different extension rods have different lengths and bending angles, so that the optical positioning bracket can be observed by an external measuring device without shielding, and different surgical scenes can be adapted.

Preferably, two groups of regulating arms are arranged on two sides of the organism, wherein one group of regulating arms is arranged on the armpit or the chest side or the waist side of the organism, and the other group of regulating arms is arranged on the head side or the armpit or the chest side or the waist side of the other side of the organism; or two groups of regulating arms are arranged on the same side of the organism and are connected through a connecting piece, so that when one regulating arm is prevented from being regulated, the other regulating arm falls down, the connecting piece is a connecting rod or a spring or an elastic belt, when the regulating arm comprises two sections of connecting rods, the two connecting rods are connected through a rotary hinge, when the tail ends of the two connecting rods are respectively provided with a spherical hinge, the two ends of the connecting piece are respectively connected to the rotary hinge of the regulating arm, and the length of the connecting piece is 20-300mm.

The method for using the endoscope positioning bracket based on double-arm positioning comprises the following steps:

a: the endoscope is arranged on an endoscope supporting frame of each adjusting arm, the endoscope supporting frame is arranged at the tail ends of the two groups of adjusting arms, and the endoscope is one of a ventral endoscope, a chest endoscope and a hysteroscope; the two groups of adjusting arms can be respectively locked or released through the locking mechanisms, or the locking mechanisms of the two groups of adjusting arms can be synchronously controlled to be locked or released through program control, so that the pose of the endoscope can be flexibly adjusted; introducing the target attitude angle into a computing unit before operation;

b: the computing unit reads the current attitude angle acquired by the gyroscope and/or the optical positioning bracket and/or the magnetic navigation sensor in real time;

c: for the difference between the target coordinate system and the current coordinate system in the space, converting the difference into a deflection direction and/or deflection angle through a space pose algorithm;

d: the deflection direction and/or the deflection angle are displayed in the form of numbers and/or images on the display screen;

e: the operator again adjusts the posture of the endoscope according to the deviation display on the display screen.

Preferably, when the endoscope supporting frame is arranged at the tail ends of the two groups of snake-shaped locking arms, the snake-shaped locking arms are locked through the pull ropes, the driving element of the locking mechanism can tighten or loosen the pull ropes through the second transmission mechanism, and the snake-shaped locking arms are in a locking state when the pull ropes are tightened, so that the endoscope supporting frame is positioned and fixed; when the pull rope is loosened, the snake-shaped locking arm is in an unlocking state, and the flexible universal arm can randomly adjust the position and the gesture in the range of the swing arm;

or when the endoscope supporting frame is arranged at the tail ends of the two groups of mechanical hydraulic locking arms through the quick connecting part, the mechanical hydraulic locking arms pressurize hydraulic oil through the pressurizing mechanism, and the hydraulic oil pushes the compression piston to lock the spherical hinge or the compression hinge so as to lock all degrees of freedom of the two groups of adjusting arms;

Before the adjusting arms in the step a are adjusted, the first meshing plate and the second meshing plate of the quick connecting part corresponding to each group of adjusting arms can be adjusted and locked at the polygon in the circumferential direction, so that the two groups of adjusting arms form a supporting structure, and the position and the posture of the endoscope supporting frame can be adjusted and locked at will.

The invention has the beneficial effects that:

1. the two adjusting arms are connected with each other, so that the strength, the rigidity and the supporting capacity of the adjusting arms are improved, the endoscope supporting frame is arranged at the tail end of the adjusting arms, the endoscope supporting frame can clamp an endoscope through a rigid clamping piece, and the adjusting arms can quickly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope; when the endoscope supporting frame clamps the endoscope through the clamping piece, the clamping piece can rotate around the axis of the endoscope rod of the endoscope, so that the endoscope can rotate around the axis of the endoscope rod of the endoscope, and the locking mechanism is further arranged on the endoscope supporting frame and can lock the rotation angle of the endoscope around the axis of the endoscope rod, so that the visual field of the endoscope can be conveniently adjusted.

2. The position and the posture of the endoscope are convenient to adjust, quick and easy to detach and sterilize, the tail ends of the adjusting arms are connected with the endoscope supporting frame through the quick connecting parts, the first meshing plate and the second meshing plate of the quick connecting parts corresponding to each group of adjusting arms can be adjusted and locked in the circumferential direction in a polygonal manner, the two groups of adjusting arms can form a supporting structure conveniently, and the position and the posture of the endoscope supporting frame can be adjusted and locked randomly.

3. When the endoscope supporting frame is used, the endoscope supporting frame is arranged at the tail ends of the two groups of adjusting arms, and the two groups of adjusting arms can be locked or released through the locking mechanism, or the locking mechanism can realize synchronous control locking or release through program control; introducing the target attitude angle into a computing unit before operation; the computing unit reads the current attitude angle acquired by the gyroscope and/or the optical positioning bracket and/or the magnetic navigation sensor in real time; for the difference between the target coordinate system and the current coordinate system in the space, converting the difference into a deflection direction and/or deflection angle through a space pose algorithm; the deflection direction and/or the deflection angle are displayed in the form of numbers and/or images on the display screen; and the operator adjusts the pose of the endoscope supporting frame again according to the deviation display on the display screen. The invention realizes the pose adjustment of the endoscope supporting frame, and improves the speed and accuracy of the pose adjustment

Drawings

FIG. 1 is a schematic structural view of practical example 1;

FIG. 2 is a schematic view of the endoscope support frame and endoscope of FIG. 1;

FIG. 3 is a schematic view of the structure of example 1 equipped with a binding device;

FIG. 4 is an enlarged schematic view at I in FIG. 3;

FIG. 5 is a schematic structural view of practical example 2;

FIG. 6 is a schematic view of the serpentine lock arm of FIG. 5;

FIG. 7 is a partial cross-sectional view of the locking mechanism of the serpentine locking arm of FIG. 6;

FIG. 8 is a schematic view of the structure of the lock bar head of the serpentine lock arm of example 2;

FIG. 9 is a schematic view showing the structure of an endoscope supporting frame and an endoscope according to embodiment 2;

FIG. 10 shows an assembly view of the serpentine lock arm of example 3;

FIG. 11 shows a partial cross-sectional view of the locking mechanism of the serpentine locking arm of FIG. 10;

FIG. 12 shows a schematic view of the structure of the lock bar head of the serpentine lock arm of example 3;

fig. 13 shows a schematic structural view of embodiment 4;

FIG. 14 shows a schematic view of the endoscope support frame and endoscope of FIG. 13;

FIG. 15 is a schematic view showing the structure of an adjusting arm in example 5 connected to an endoscope support frame by a quick connect;

FIG. 16 is an enlarged schematic view of FIG. 15A;

FIG. 17 is a schematic view showing the structure of the quick connect in example 5;

FIG. 18 is a schematic view showing the construction of the first and second adjustment blocks of the quick connect portion;

fig. 19 is a schematic structural view of an electro-hydraulic arm according to embodiment 6 of the present invention;

Fig. 20 is a schematic structural view of a hydraulic pump of embodiment 6 of the present invention;

fig. 21 is a schematic view showing the internal structure of a hydraulic arm according to embodiment 6 of the present invention;

FIG. 22 is a schematic view showing the structure of a passively adjusted bracket according to embodiment 7 of the present invention;

FIG. 23 is a schematic view showing the internal structure of a passively adjusted bracket according to embodiment 7 of the present invention;

FIG. 24 is a schematic view showing the structure of a passively adjusting bracket according to embodiment 8 of the present invention;

FIG. 25 is a schematic view showing the internal structure of a passively adjusting bracket according to embodiment 8 of the present invention;

FIG. 26 is a schematic view showing the structure of a passively adjusted bracket according to embodiment 9 of the present invention;

fig. 27 is a schematic view showing the internal structure of a passively adjusted bracket according to embodiment 9 of the present invention.

Detailed Description

Example 1

The endoscope positioning bracket based on double-arm positioning comprises an endoscope supporting frame and an adjusting arm, wherein the adjusting arm (such as the adjusting arm 73501 of the embodiment) is connected with the endoscope supporting frame, and the adjusting arm can adjust and lock at least 3 degrees of freedom, so that the tail end of the adjusting arm can be adjusted to any position in a working space of the adjusting arm and lock the space pose of the endoscope supporting frame.

The two groups of adjusting arms are arranged, the tail ends of the two groups of adjusting arms are respectively matched with and provided with an endoscope supporting frame (such as an endoscope supporting frame 73503 in the embodiment), the endoscope supporting frame can clamp an endoscope (such as a first endoscope 73507 in the embodiment), and the adjusting arms can rapidly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope. The endoscope comprises a ventral endoscope, a chest endoscope, a hysteroscope and the like;

The endoscope supporting frame is internally provided with a clamping piece in a rotating mode, the clamping piece is provided with a clamping mechanism, the clamping mechanism is used for clamping an endoscope, the clamping piece can rotate around the axis of a lens rod of the endoscope, so that the endoscope can rotate around the axis of the lens rod of the endoscope, the endoscope supporting frame is also provided with a locking mechanism, and the rotating angle of the endoscope around the axis of the lens rod can be locked through the locking mechanism.

The endoscope is characterized in that the clamping piece is a rotary piece, the endoscope is arranged in the rotary piece, the rotary piece can be rotatably arranged in the endoscope supporting frame, the rotary piece can be locked through the locking mechanism, the rotary piece is enabled to hover at any angle to achieve the adjustment of the pose, and the rotary piece is an adjusting handle or a rotary sleeve.

When the clamping piece is an adjusting handle (such as an operating handle 73506 in the embodiment), the adjusting handle is arranged in the endoscope supporting frame through a bearing, a damping ring (such as a damping ring 73509 in the embodiment) is sleeved outside the adjusting handle, and the tightness of the damping ring can be adjusted through a locking mechanism to control the compression force of the damping ring on the adjusting handle so as to lock the adjusting handle, or the locking mechanism directly props against the adjusting handle to lock the adjusting handle. The locking mechanism is a locking screw (such as the handle screw A73504 in the embodiment) or a locking structure.

The clamping piece is provided with a clamping mechanism capable of fixing the pose of the endoscope, and the clamping mechanism adopts one or a combination of a screw locking assembly (such as a handle screw B73508 of the embodiment), a buckle locking assembly, a spring clip locking assembly and a thread clip locking assembly.

The adjustment arm is removably mounted to the base, the base remaining relatively stationary with respect to the living being.

The base is a bottom plate for the living body to resist, and the regulating arm is detachably arranged on the bottom plate; or the adjusting arm is arranged on an adjusting arm base, and the adjusting arm base is provided with a clamping device which can be quickly clamped on the operation bed board or the bottom board. The bottom plate adopts the carbon fiber board, a plurality of fixed orifices are arranged on the array type on the bottom plate, the adjusting arm is directly installed on the fixed orifices of the bottom plate or the adjusting arm is installed on the fixed orifices of the bottom plate through an extension rod perpendicular to the bottom plate, the connection mode between the fixed orifices and the adjusting arm or the extension rod adopts threaded connection, buckle connection or lock catch connection, and quick installation and disassembly of the adjusting arm or the extension rod can be realized.

The adjusting arm is a passive adjusting bracket, and the passive adjusting bracket is one or a combination of a plurality of mechanical damping arms, mechanical thread locking arms, mechanical hydraulic locking arms, snake-shaped locking arms, electromagnetic braking type positioning brackets, pneumatic braking type positioning brackets and hydraulic braking type positioning brackets.

The driven adjusting bracket is a mechanical thread locking arm, an elastic screw is arranged at the joint or the sliding block of the adjusting arm, and a single joint or a single sliding block of the adjusting arm can be locked or released through the elastic screw, or a plurality of degrees of freedom can be locked at the same time.

The driven adjusting bracket is a mechanical hydraulic locking arm, the mechanical hydraulic locking arm pressurizes hydraulic oil through a pressurizing mechanism, and the hydraulic oil pushes the compression piston to lock the spherical hinge or the compression hinge so as to realize locking of all degrees of freedom; the pressurizing mechanism is a piston pressurizing mechanism, the piston is driven to move inwards through a first transmission mechanism, so that the hydraulic oil is pressurized, and the first transmission mechanism is driven by a manual drive or a motor; or the pressurizing mechanism is a hydraulic pump;

As shown in fig. 1 and 2, both ends of an endoscope supporting frame 73503 are respectively provided on the ends of two groups of adjusting arms 73501, adjusting arms 73501 are hydraulic locking adjusting arms, a damping ring 73509 is provided in the endoscope supporting frame 73503, a first bearing 73505 is provided on both upper and lower sides of the damping ring 73509 and is fixed in the endoscope supporting frame 73503, an operation handle 73506 is inserted into the endoscope supporting frame 73503, a handle screw a73504 is provided outside the endoscope supporting frame 73503, a first endoscope 73507 is provided through the operation handle 73506, a handle screw B73508 is provided outside the operation handle 73506, and a handle B73508 is used for fixing the first endoscope 5749 zx49. The handle screw B73508 may be replaced with other clamping mechanisms, such as spring clamps, screw clamps, and the like.

When the adjusting arm 73501 is adjusted to a proper working position in operation, the first adjusting handle 73502 is used for fixing, the handle screw A73504 can control the compression force of the damping ring by adjusting the tightness of the first adjusting handle, the handle screw A73504 can be adjusted when the operating handle 73506 is used for enabling the operating handle 73506 to obtain good operating handfeel and hover at any angle, and a user can easily adjust the pose of the mirror rod through the operating handle 73506 for operation. Of course, the handle screw a73504 may be screwed to directly press the operation handle 73506.

As shown in fig. 3 and 4, the regulating arms are provided with two groups, wherein the two groups of regulating arms are arranged on two sides of the living body, one group of regulating arms is arranged on the armpit or the chest side or the waist side of the living body, and the other group of regulating arms is arranged on the head side of the living body or the armpit or the chest side or the waist side of the other side of the living body.

The tail end of the regulating arm is provided with a binding device which is positioned above the organism; the binding device comprises a presser (such as a supporting pad 74206 in the embodiment) and a pressing mechanism (such as a screw rod 74204 in the embodiment), wherein the pressing mechanism drives the presser to move downwards gradually to press the organism, and the presser is in arc fit with the body surface of the organism, so that the fixation of the organism is realized;

the presser is provided with a flexible part which is made of one or more of silica gel, plastic, rubber and latex; the pressing mechanism is a screw-nut mechanism, a gear-rack mechanism, a connecting rod mechanism and a synchronous belt transmission mechanism.

The adjusting bracket 74201 is the adjusting arm 73501 or a part of the adjusting arm 73501, a bracket connecting piece 74203 is fixedly arranged on the adjusting bracket 74201, a screw rod 74204 is arranged on the bracket connecting piece 74203, a second adjusting handle 74202 is arranged at the top end of the screw rod 74204, a ball seat 74205 is arranged on the supporting pad 74206, the bottom end of the screw rod 74204 is a ball head, and the ball head is movably arranged in the ball seat 74205.

When the two adjusting brackets 74201 and the components thereon work, the second adjusting handle 74202 can be rotated to enable the screw rod 74204 to drive the supporting pad 74206 to press the living body, and the ball head on the supporting pad 74206 can move in the ball seat 74205, so that the supporting pad 74206 can be better adhered to the living body and limit the movement of the patient.

Example 2

The same parts of the structure of the embodiment as those of embodiment 1 are not described in detail, and the differences are as follows:

the two groups of adjusting arms are arranged, the tail ends of the two groups of adjusting arms are respectively matched with and provided with an endoscope supporting frame (such as a second endoscope supporting frame 111204 in the embodiment), the endoscope supporting frame can clamp an endoscope, and the adjusting arms can rapidly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope. The endoscope comprises a ventral cavity mirror, a chest cavity mirror and a hysteroscope; the tail end of the adjusting arm is matched and installed on the endoscope supporting frame.

The adjusting arm is a driven adjusting bracket, and the driven adjusting bracket is a snake-shaped locking arm.

As shown in fig. 5 to 9, the serpentine locking arm comprises a flexible universal arm (such as a flexible universal locking rod 111201 in the embodiment) capable of adjusting the pose of the endoscope supporting frame and a locking mechanism capable of locking or releasing the flexible universal arm, the locking mechanism adopts a stay cord locking mode (such as a first stay cord 11120109 in the embodiment), and a driving element of the locking mechanism can tighten or loosen the first stay cord 11120109 through a second transmission mechanism; the flexible universal arm comprises a plurality of groups of hollow universal joints (such as a joint sleeve 11120105 in the embodiment) which are hinged with each other in sequence end to end through spherical matching surfaces, one end of a first stay cord penetrates through all the hollow universal joints to be connected to the head end of the snake-shaped locking arm, the other end of the first stay cord is connected with the second transmission mechanism, and the second transmission mechanism is one or a combination of a winding wheel structure, a screw nut structure, a cam structure, a hydraulic mechanism and a pneumatic mechanism.

When the clamping piece is a rotary sleeve, the rotary sleeve is arranged in the endoscope supporting frame through a bearing, a jacking block is arranged between the endoscope supporting frame and the rotary sleeve, and the jacking block can be jacked up by the jacking block to tightly lock the rotary sleeve through the locking mechanism, or the rotary sleeve is directly jacked up by the locking mechanism to be locked; the locking mechanism is a locking screw or a locking structure.

The middle part of the clamping piece is provided with an opening groove 11120410, a light guide opening of the endoscope extends out of the opening groove of the clamping piece, the buckle locking component is arranged above the clamping piece, and the buckle locking component is positioned between the light guide opening 11120411 and the observation opening 11120412 of the endoscope; the buckle locking assembly comprises two groups of buckles which are connected in a hinged mode and a locking piece which can lock or unlock the two groups of buckles, the locking piece is unlocked, an endoscope can be installed in the clamping piece, and then the locking piece is locked, so that the endoscope can be clamped on the clamping piece.

In the practical example, the clamping piece is a rotary sleeve (such as the first rotary sleeve 11120403 in the practical example); the second transmission mechanism is a cam mechanism.

The base is a bottom plate which can be used for organisms to resist, the bottom plate is a carbon fiber plate, a plurality of fixing holes are arranged on the bottom plate in an array mode, the adjusting arms are directly arranged on the fixing holes of the bottom plate or are arranged on the fixing holes of the bottom plate through an extension rod perpendicular to the bottom plate, the fixing holes are connected with the adjusting arms or the extension rod in a threaded connection, a buckling connection or a locking connection mode, and quick installation and detachment of the adjusting arms or the extension rod can be achieved.

As shown in fig. 5 to 9, the lower end of the flexible universal self-locking rod 111201 is locked and fixed to the carbon fiber mounting plate 111202, the upper end of the flexible universal self-locking rod 111201 is connected to the second endoscope supporting frame 111204, and the second endoscope 111203 is clamped to the second endoscope supporting frame 111204. The base sleeve 11120103 is connected to the fixed base plate 11120101, the first hand screw 11120102 secures the fixed base plate 11120101 to the carbon fiber mounting plate 111202, the cam 11120111 is mounted to the base sleeve 11120103, and one end of the cam 11120111 is connected to the output shaft of the first motor 11120104. The first motor is fixed on the base sleeve 11120103, the cam 11120111 is installed on the pull sleeve 11120110 in a penetrating manner, one end of the first pull rope 11120109 is connected with the pull sleeve 11120110, one end of the first pull rope 8978 zxft 3232 is connected with the first screw 11120112, the adjusting nut 11120106 is installed on the first screw 11120112, the first locking nut 11120107 is installed on the first screw 11120112, and the first connecting block 11120108 is connected with the first screw 11120112. The first self-locking button 111201113 is mounted to the first connection block 11120108.

As shown in fig. 9, V-clip a11120402 is connected to first swivel 11120403, V-clip B11120408 is connected to first swivel 11120403 by shoulder screw 11120409, second bearing 11120406 is fixed to first swivel 11120403, connecting ring 11120407 is fixed to second bearing 11120406, connecting ring 11120407 is in turn connected to first connecting block 11120108. The first top block 11120405 is mounted between the first swivel sleeve 11120403 and the connecting ring 11120407, the second hand screw 11120404 is screwed to the connecting ring 11120407, and the first locking handle 11120401 is screwed to the V-clip B11120408.

In operation, the first locking handle 11120401 is unscrewed, the first locking handle 11120401 is disconnected from the V-clip B11120408, the V-clip B11120408 is rotated 180 °, the second endoscope 111203 is mounted in the second endoscope support frame 111204, and the V-clip B11120408 is rotated and reduced to the initial position. By tightening the first locking handle 11120401, it is achieved that the first locking handle 11120401 is screwed to the V-clip B11120408, and the second endoscope 111203 is clamped in the second endoscope support frame 111204. At this time, when the operator presses the first self-locking button 11120113, the first motor 11120104 drives the cam 11120111 to rotate 180 ° clockwise, and then the cam 11120111 releases the first pull rope 11120109 upwards, so that the locking state of the flexible universal self-locking rod 111201 is released, and the second endoscope 111203 can be made to adjust the position and the posture at will within the swing arm range of the flexible universal self-locking rod 111201. When the second endoscope 111203 is adjusted in place, the first self-locking button 11120113 is pressed again, the first motor 11120104 drives the cam 11120111 to rotate 180 degrees anticlockwise, the cam 11120111 tightens the first pull rope 11120109 downwards, the flexible universal self-locking rod 111201 is restored to a locking state, the second endoscope 111203 is held to rotate around the central line thereof to adjust the display image, and then the second hand screw 11120404 is screwed to jack the first top block 1120405 to fix the first rotary sleeve 11120403, so that the second endoscope 111203 can be positioned and fixed completely. Of course, the first pivot sleeve 11120403 may be directly fastened by tightening the second hand screw 11120404.

Example 3

The parts of the embodiment having the same structure as those of embodiments 1 and 2 will not be described in detail, except that: the second transmission mechanism adopts a screw nut structure.

As shown in fig. 10-12, the second motor 1120134 is connected to the tailstock 11120122, the trapezoidal screw 11120132 is connected to the output shaft of the second motor 11120134 through the coupling 11120135, the flange 11120133 is connected to the guide tube 11120123, the ball bearing 11120136 is mounted on the flange 11120133, the trapezoidal screw 11120132 is mounted in the flange 11120133 again, the shaped trapezoidal nut 11120131 is screwed on the trapezoidal screw 11120132, the shaped trapezoidal nut 11120132 is slidingly disposed in the guide tube 11120132 along the axial guide of the trapezoidal screw 11120132, the fixing buckle 11120132 is fixed at the tail end of the stay cable 11120132 and is connected with the special-shaped trapezoidal nut 11120132, the head end of the stay cable 11120132 is connected with the first connecting block 11120132, the tail joint sleeve 11120132 is installed in the guide tube 11120132, the middle joint sleeve 11120132 is connected with the tail joint sleeve 11120132, the head joint sleeve 11120132 is connected with the middle joint sleeve 11120132, and the first connecting block 11120132 is fixed on the head joint sleeve 11120132. The second self-locking button 11120127 is mounted to the first connecting block 11120128. Third hand screw 11120121 secures tailstock 11120122 to the platform.

When the novel flexible universal arm 111201 is used, the locking or releasing of the flexible universal arm 111201 is controlled through the second self-locking button 11120127, the second self-locking button 11120127 is pressed, the second motor 1120134 drives the trapezoidal screw rod 11120132 to rotate, the trapezoidal screw rod 11120132 rotates and then drives the special-shaped trapezoidal nut 11120131 to move upwards, the inhaul cable 11120129 is released, and the angle and the position of the flexible universal arm 111201 can be adjusted at will in the swinging range. When the angle and the position are adjusted in place, the second self-locking button 11120127 is released, the second motor 1120134 drives the trapezoidal screw rod 11120132 to rotate in the opposite direction, so that the special-shaped trapezoidal nut 11120131 is driven to move downwards, the fixing buckle 11120130 will tighten the pull rope 11120129, and the friction force of the contact surfaces of the tail section sleeve 11120124, the middle section sleeve 11120125 and the head section sleeve 11120126 is increased sharply due to the tightening force of the pull rope 11120129. The flexible gimbal arm 111201 is locked into position.

When the flexible universal arm 111201 is used, the half-locking state can be realized through button control, namely, the friction force between the joint sleeves of the flexible universal arm 111201 is half-locking state, and at the moment, the angle and the position of the flexible universal arm 111201 can still be adjusted, but a certain resistance is needed to be overcome. The second motor 11120134 is provided with one or a combination of a position sensor, a current sensor and a torque sensor, the rotation angle of the second motor 11120134 is measured by the position sensor, the running current of the second motor 11120134 is measured by the current sensor, or the output torque of the second motor 11120134 is measured by the torque sensor, so that the tightening degree of the guy cable 11120129 is precisely controlled, and the flexible gimbal 111201 is precisely in the semi-locking state.

The purpose of the semi-gripping state is that if there are only two states, the flexible gimbal arm 111201 will change its pose due to the pulling of the pull cable 11120129 when it is switched from the released state to the locked state, and if the pose deviates beyond the expected one, the user must readjust the pose, which is very cumbersome. If the flexible universal arm 111201 is in the semi-clamping state, the joints of the flexible universal arm 111201 are basically tensioned, so that the locking is performed again, and the large pose offset cannot occur, so that the pose adjustment efficiency and success rate can be improved.

The drive assembly of the present embodiment that drives the cable motion may also employ a hydraulic mechanism that includes a cylinder, wherein the expansion rod of the cylinder is connected to cable 11120129.

When the flexible universal arm 111201 is in operation, the second self-locking button 11120127 is pressed, the expansion rod of the oil cylinder is pushed out of the oil cylinder for a certain distance, the tension cable 11120129 connected with the expansion rod of the oil cylinder can be loosened, and the angle and the position of the flexible universal arm 111201 can be adjusted at will in the swinging range. When the angle and position are adjusted in place, the expansion rod of the oil cylinder will retract into the oil cylinder after the second self-locking button 11120127 is pressed again. At this time, the friction force of the contact surfaces of the tail joint sleeve 11120124, the middle joint sleeve 11120125 and the head joint sleeve 11120126, which are mutually attached, increases dramatically. The flexible gimbal arm 111201 is locked into position. Pressing the second self-locking button 11120127 again releases the lock on the flexible gimbal arm 111201. The bottom of the oil cylinder can be provided with a tension sensor or a pressure sensor in the hydraulic pipeline, and when the tension sensor detects a certain tension or the pressure sensor detects a certain pressure, the telescopic rod of the oil cylinder stops to retract, so that the inhaul cable 11120129 is tensioned.

Example 4

The parts of the embodiment having the same structure as those of embodiments 1 to 3 are not described in detail, and the differences are as follows:

the two groups of adjusting arms are arranged on the same side of the living body, the two groups of adjusting arms are connected through connecting pieces (such as movable connecting rods 70142105 in the embodiment), the connecting pieces are connecting rods or springs or elastic belts, when the adjusting arms comprise two sections of connecting rods, the two connecting rods are connected through rotary hinges, when the tail ends of the two connecting rods are respectively provided with a spherical hinge, the two ends of the connecting pieces are respectively connected to the rotary hinges of the adjusting arms, and the length of the connecting pieces is 20-300mm.

As shown in fig. 13 and 14, the universal locking arm 70142104 is secured to the connection block a 70142103, and the connection block a 70142103 is secured to the mounting base plate 70142101 by hand screws a 70142102. The movable link 70142105 is connected at both ends to two universal locking arms 70142104, and the universal locking arms 70142104 head is connected to the connecting block B70142113. The rotary base 70142110 is fixed on the connecting block B70142113, the second rotary sleeve 70142109 is mounted on the rotary base 70142110 by the third bearing 70142114, the locking buckle 70142107 is mounted on the second rotary sleeve 70142109, and the hand screw nut 70142108 is mounted on the locking buckle 70142107. The hand screw B70142106 is mounted to the rotary base 70142110. The second locking handle 0142112 is mounted to the universal locking arm 70142104.

When the universal dual-arm endoscope device is used, the whole universal dual-arm endoscope device is fixed at a preset approximate position of the mounting base plate 70142101 through the hand screw A70142102, the hand screw nut 70142108 is unscrewed, the locking buckle 70142107 is rotated anticlockwise by 90 degrees, at the moment, the third endoscope 70142111 is mounted on the second rotary sleeve 70142109, the locking buckle 70142107 is rotated clockwise again, the hand screw nut 70142108 is screwed down to keep concentricity, the third endoscope 70142111 is clamped by the universal dual-arm endoscope device, and the angle and the space position of the third endoscope 70142111 can be adjusted freely within the radius of the movable range of the universal endoscope device through unscrewing the second locking handles 70142112 on the two universal locking arms 70142104. After the angular and spatial positions of third endoscope 70142111 are adjusted, tightening second locking handles 70142112 on two universal locking arms 70142104 completely secures the position of third endoscope 70142111. At this time, if the displayed image angle of the third endoscope 70142111 about the axis of the endoscope bar needs to be adjusted, the displayed image of the third endoscope 70142111 may be corrected by adjusting the second swivel sleeve 70142109 angle by unscrewing the hand screw B70142106.

Example 5

The parts of the embodiment having the same structure as those of embodiments 1 to 4 are not described in detail, and the differences are as follows:

the tail end of the adjusting arm is rigidly connected with the first endoscope supporting frame or connected through a quick connecting part, when the adjusting arm is connected through the quick connecting part, the quick connecting part is provided with at least one group, and the quick connecting part is connected in a threaded connection or claw connection mode.

The quick connecting part comprises a first engaging plate and a second engaging plate which can be quickly positioned and locked at a plurality of angles, a central through hole is formed in the first engaging plate (such as a second adjusting block 70215305 of the embodiment), a threaded connecting hole is formed in the second engaging plate (such as a first adjusting block 70215307 of the embodiment), a locking bolt (such as a bolt A70215306 of the embodiment) passes through the central through hole in the first engaging plate and is in locking connection with the threaded connecting hole, the first engaging plate and the second engaging plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is parallel to the axis direction of an endoscope, so that the adjustment of a double adjusting arm in space and the arrangement of an operation environment are facilitated; or the axial direction of the central through hole is perpendicular to the axial direction of the mirror rod of the endoscope; the axis of the central through hole forms an angle with the axis of the end universal joint of the adjusting arm or the axis of the output rod of the end spherical hinge of the adjusting arm, and the angle is preferably 30-90 degrees. The axial direction of the central through hole is parallel to the axial direction of the mirror rod of the endoscope in the practical embodiment.

The first meshing plate is provided with a positioning groove or a positioning protrusion, the second meshing plate is provided with a positioning protrusion or a positioning groove which is matched with the positioning groove or the positioning protrusion on the first meshing plate in a positioning way, the positioning protrusion or the positioning protrusion can improve locking moment, and the positioning protrusion or the positioning protrusion is one or a combination of circular arc teeth, saw teeth and pins/holes. When the quick connecting part is connected, a disinfection isolation cover is arranged between the adjusting arm and the first endoscope supporting frame, and the disinfection isolation cover can wrap and isolate the adjusting arm.

The adjustment arm is removably mounted to the base, the base remaining relatively stationary with respect to the living being. The base is a auxiliary positioning bracket for the cranium, at least one position capable of installing an adjusting arm is arranged on the auxiliary positioning bracket for the cranium (such as a limit bracket 70215302 of the cranium endoscope in the embodiment), and a first endoscope supporting frame is connected to the adjusting arm.

The auxiliary cranial positioning support is a head adjusting support and comprises a main body arm and a movable arm adjustably arranged on the main body arm, wherein the main body arm and the movable arm form a U-shaped frame, a fixing nail is adjustably arranged on the main body arm, an arc-shaped pressing rod is adjustably arranged on the movable arm, a positioning nail is arranged on the arc-shaped pressing rod, and the positioning with the skull is realized by adjusting the fixing nail and the positioning nail. Preferably, the number of the positioning nails is two, and three-point positioning with the skull is realized through one fixing nail and two positioning nails.

The auxiliary positioning support for the cranium is connected with the technical bed through the connecting support, the connecting support comprises a cross beam, connecting components which are arranged at two ends of the cross beam and can be fixedly connected with the technical bed, and an adjusting arm which is arranged in the middle of the cross beam and can adjust and fix the spatial pose of the auxiliary positioning support for the cranium, and the adjusting arm can adjust at least three degrees of freedom of the auxiliary positioning support for the cranium according to operation requirements.

The first endoscope supporting frame and the endoscope in the embodiment have the same structures as those in embodiment 2, and will not be described here again.

15-18, a left-right symmetrical fixing and adjusting hole is formed in the cranium endoscope limit bracket 70215302, and one end of the cranium endoscope limit bracket 70215302 is fixed with the cranium endoscope bracket 70215301; one end of the universal double-arm bracket 70215303 is fixed with a fixed adjusting hole on the cranium endoscope limit bracket 70215302; the cranial endoscope limiting bracket 70215302 is internally provided with a second adjusting block 70215305, a first adjusting block 70215307 and a first endoscope supporting frame 70215308; the upper end surface of one end of the second adjusting block 70215305 is provided with teeth, the lower end surface of one end of the first adjusting block 70215307 is also provided with teeth, and the other end of the first adjusting block 70215307 is fixed with the other end of the universal double-arm bracket 70215303; the connection part of the second adjusting block 70215305 and the first adjusting block 70215307 is provided with a bolt A70215306, the second adjusting block 70215305 and the first adjusting block 70215307 are connected and meshed through the bolt A70215306, the teeth can be guaranteed to be matched without gaps, the teeth can be adjusted in the circumferential direction in a polygonal mode, and then the locking is carried out through the bolt A70215306, so that the two groups of universal double-arm supports 70215303 form a stable supporting structure; the left and right sides of the first endoscope supporting frame 70215308 are symmetrically provided with fixed mounting holes, and the other end of the second adjusting block 70215305 is fixed with the fixed mounting holes on the first endoscope supporting frame 70215308; an isolation protective film 70215320 is arranged at the fixed position of the other end of the second adjusting block 70215305 and the fixed mounting hole on the first endoscope supporting frame 70215308.

Example 6

The mechanical hydraulic locking arm adopts an electric hydraulic arm.

As shown in fig. 19 to 21, the electric hydraulic arm includes a hydraulic pump 71511, a first connection tube 71512, and a hydraulic arm 71513, where an endoscope supporting frame can be mounted at a club of the hydraulic arm, the hydraulic arm provides pressure through the hydraulic pump, and when the hydraulic arm finds a proper position, the hydraulic pump works and locks the hydraulic arm. The hydraulic pump is a piston type hydraulic pump, and the pressurizing of the hydraulic oil is realized by pushing a piston.

The hydraulic pump comprises a fourth motor 7151101, a main shaft of the fourth motor is connected with a driving gear 7151102, the driving gear is meshed with a driven gear 7151103, a ball screw 7151104 is connected to the driven gear, the end of the ball screw is connected with a first piston 7151105, the first piston is arranged in a first cavity 7151106 in a matching mode, the first cavity 7151106 is connected with a hydraulic arm 71513 through a first connecting pipe 71512, and when the driven gear 7151103 is forwardly and reversely rotated, the ball screw 7151104 can be driven to axially move so as to realize the expansion and contraction of the first piston.

The mechanical hydraulic locking arm comprises a first support 7151301 and a second support 7151302, the first support and the second support are connected in a sleeved mode, a second cavity 7151112 is respectively arranged in the first support and the second support, hydraulic oil is arranged in the second cavity 7151112, the end positions of the first support and the second support are sealed through a sealing cover 7151107, sealing rings 7151108 are respectively arranged between the sealing cover and the first support and the second support for sealing connection, a sealing cavity 7151109 communicated with the second cavity 7151112 is formed between the first support and the second support, a second piston 7151110 is respectively arranged in the first support and the second support, the second piston is connected with a second top block 7151111, hydraulic oil in the first cavity 7151106 is subjected to pressure and is transmitted to the first connecting pipe and the second support of the hydraulic arm through the first connecting pipe, and the first connecting pipe is arranged at the bottom of the first connecting pipe.

During operation, the second cavity of the mechanical hydraulic locking arm can be gradually compressed with the increase of pressure, the sealing cavity 7151109 and the second pistons at the two ends, and the second ejector block can be compressed with the club 7151113 by the thrust brought by the second pistons, so that the hydraulic arm is integrally fixed. When the position is required to be switched, the output pressure of the hydraulic pump can be controlled to reduce the pressure to a certain degree, so that certain supporting force can be obtained to assist in adjusting the position of the hydraulic arm.

Example 7

The same parts of the structure of the embodiment as those of embodiment 6 are not described in detail, and the differences are as follows:

as shown in fig. 22 and 23, the passive adjustment bracket is fixed by pressurizing the passive adjustment bracket by a hydraulic pump: the inner cavity of the passive adjustment bracket is connected to the hydraulic pump 71515 through a second connection pipe 71514 which is provided to one end of the passive adjustment bracket and which is internally compressed by controlling pressure by the hydraulic pump.

The driven adjusting bracket comprises a first bracket 7151301 and a second bracket 7151302, the first bracket and the second bracket are connected in a sleeved mode, a second cavity 7151112 is respectively formed in the first bracket and the second bracket, hydraulic oil is placed in the second cavity, the end positions of the second bracket and the second bracket are sealed through a sealing cover 7151107, sealing rings 7151108 are respectively arranged between the sealing cover and the first bracket and between the sealing cover and the second bracket for sealing connection, a sealing cavity 7151109 communicated with the second cavity 7151112 is formed between the first bracket and the second bracket, a club piston 7151114 is respectively arranged at the inner end parts of the first bracket and the second bracket, when the hydraulic pump works, the hydraulic pressure in the cavity is controlled through a second connecting pipe, at the moment, the internal pressure is increased, and the club pistons 7151114 at the end parts of the first bracket and the second bracket are gradually compressed to fix the first bracket and the second bracket.

Example 8

as shown in fig. 24 and 25, the passive adjusting bracket pressurizes hydraulic oil through an electric push rod, and the hydraulic oil pushes a compression piston to lock a spherical hinge so as to lock all degrees of freedom on the passive adjusting bracket: the said by the regulating support includes first support 7151301 and second support 7151302, first support and second support cup joint connection, said first support inside and second support inside are the second cavity 7151112 that communicates respectively, electric push rod 7151115 installs in the joint department of first support 7151301 and second support 7151302, expansion rod 7151116 of electric push rod 9843 stretches into second cavity 7151112, put into hydraulic oil in the second cavity, end position department of first support and second support is sealed through sealed cover 7151107, and set up sealing washer 7151108 between sealed cover and first support, second support respectively, form the sealed cavity 7151109 that link up with second cavity 7945 zxft 85845 between first support and the second support, when electric push rod 9843 zft 3524 stretches into second cavity 3754 zft 3754, thereby the end position of electric push rod 3584 is sealed to the second support, the end position of the second support is sealed by the second piston 3584. Of course, the electric push rod can be replaced by other structures, so long as hydraulic oil can be pressurized.

Example 9

as shown in fig. 26 and 27, the driven adjusting bracket drives a linkage locking mechanism through a motor to lock all degrees of freedom on the driven adjusting bracket, the linkage locking mechanism is of a screw rod and screw nut matching structure, a screw rod motor 7151201 is arranged at the joint part of the driven adjusting bracket, a screw rod 7151202 of the screw rod motor goes deep into the bracket, a screw rod nut 7151203 is matched with the screw rod, the screw rod rotation drives the screw rod nut to compress towards the joint inside of the driven adjusting bracket, the bracket comprises a third bracket 7151204 and a fourth bracket 7151205, the end parts of the third bracket and the fourth bracket are in sealing connection through a second sealing cover 7151206, a piston rod 7151207 is respectively arranged in the third bracket and the fourth bracket, a piston 7151208 is arranged on the piston rod, and the movement of the piston rod gradually compresses the spherical hinge 7151209, so that the third bracket and the fourth bracket are fixed; the inner joint parts of the third bracket and the fourth bracket are provided with compression blocks 7151210; the screw nut moves to push the compression block to simultaneously press the piston rod in the first bracket and the piston rod in the second bracket, and the compression block simultaneously props against the two piston rods through the inclined surface structure.

Example 10

b: the computing unit reads the current attitude angle of the endoscope acquired by the gyroscope and/or the optical positioning bracket and/or the magnetic navigation sensor in real time;

When the endoscope supporting frame is arranged at the tail ends of the two groups of snake-shaped locking arms, the snake-shaped locking arms are locked through the pull ropes, the driving element of the locking mechanism can tighten or loosen the pull ropes through the second transmission mechanism, and the snake-shaped locking arms are in a locking state when the pull ropes are tightened, so that the endoscope supporting frame is positioned and fixed; when the pull rope is loosened, the snake-shaped locking arm is in an unlocking state, and the flexible universal arm can randomly adjust the position and the gesture in the range of the swing arm;

While there has been shown and described what are at present considered to be fundamental principles and main features of the invention and advantages of the invention, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description describes embodiments, not every embodiment is comprised of only a single independent embodiment, and that this description is for clarity only, and that those skilled in the art will recognize that the embodiments of the present disclosure as a whole may be suitably combined to form other embodiments that will be understood by those skilled in the art.

Claims

1. Endoscope locating support based on both arms location, its characterized in that: the device comprises an adjusting arm, wherein the adjusting arm can adjust and lock at least 3 degrees of freedom, so that the tail end of the adjusting arm can be adjusted to any position in a working space of the adjusting arm and locked; the endoscope supporting frame can clamp the endoscope, and the adjusting arms can quickly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope.

2. The endoscope positioning rack based on double-arm positioning according to claim 1, wherein: the adjusting arm is a passive adjusting bracket, and the passive adjusting bracket is one or a combination of a plurality of mechanical damping arms, mechanical thread locking arms, mechanical hydraulic locking arms, snake-shaped locking arms, electromagnetic braking type positioning brackets, pneumatic braking type positioning brackets and hydraulic braking type positioning brackets;

the mechanical hydraulic locking arm comprises a head spherical hinge, a tail spherical hinge and a rotary hinge in the middle, the driven adjusting bracket comprises two sections of connecting rods, the two connecting rods are connected through the rotary hinge, the tail ends of the two connecting rods are respectively provided with a spherical hinge, the two connecting rods are of hollow structures, a compression piston is arranged in the two connecting rods, the compression piston is propped against one side of the spherical hinge to lock and release the spherical hinge, the rotary hinge in the middle is of a hollow structure and is communicated with an inner cavity of the two connecting rods, the rotary hinge is provided with a rotary buckling structure, the rotary hinge can be realized under the condition of keeping sealing, when the pressure of hydraulic oil in the cavity is increased, the two spherical hinges are locked by the compression piston, and the rotary buckling structure is also compressed to lock the rotary hinge, so that the locking of all degrees of freedom is finally realized;

3. The endoscope positioning rack based on double-arm positioning according to claim 1, wherein: the tail end of the adjusting arm is rigidly connected with the endoscope supporting frame or connected through a quick connecting part, when the adjusting arm is connected through the quick connecting part, the quick connecting part is provided with at least one group, the quick connecting part is connected in a threaded connection or claw connection mode, the quick connecting part comprises a first meshing plate and a second meshing plate which can be quickly positioned and locked at a plurality of angles, a central through hole is formed in the first meshing plate, a threaded connecting hole is formed in the second meshing plate, a locking bolt passes through the central through hole in the first meshing plate and is in locking connection with the threaded connecting hole, the first meshing plate and the second meshing plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is parallel to the axis direction of a mirror rod of the endoscope, so that the adjustment of the double adjusting arm in space and the arrangement of an operation environment are facilitated; or the axial direction of the central through hole is perpendicular to the axial direction of the mirror rod of the endoscope; the axis of the central through hole forms a certain angle with the axis of the tail end universal joint of the adjusting arm or the axis of the output rod of the tail end spherical hinge of the adjusting arm, and the angle is preferably 30-90 degrees;

The first meshing plate is provided with a positioning groove or a positioning protrusion, the second meshing plate is provided with a positioning protrusion or a positioning groove which is matched with the positioning groove or the positioning protrusion on the first meshing plate in a positioning way, the positioning protrusion or the positioning protrusion can improve locking moment, and the positioning protrusion or the positioning protrusion is one or a combination of circular arc teeth, saw teeth and pins/holes.

4. The endoscope positioning bracket based on double-arm positioning according to claim 1, wherein a clamping piece is rotatably arranged in the endoscope supporting frame, the clamping piece is provided with a clamping mechanism, the clamping mechanism is used for clamping an endoscope, the clamping piece can rotate around the axis of a lens rod of the endoscope, so that the endoscope can rotate around the axis of the lens rod, a locking mechanism is further arranged on the endoscope supporting frame, and the rotation angle of the endoscope around the axis of the lens rod can be locked through the locking mechanism.

5. The endoscope positioning rack based on double-arm positioning according to claim 4, wherein,

the endoscope is arranged in the rotary member, the rotary member can be rotatably arranged in the endoscope supporting frame, the rotary member can be locked through the locking mechanism, so that the rotary member can hover at any angle to realize the adjustment of the pose, and the rotary member is an adjusting handle or a rotary sleeve;

When the clamping piece is an adjusting handle, the adjusting handle is arranged in the endoscope supporting frame through a bearing, a damping ring is sleeved outside the adjusting handle, the tightness of the damping ring can be adjusted through a locking mechanism, so that the clamping force of the damping ring on the adjusting handle can be controlled to lock the adjusting handle, or the locking mechanism directly props against the adjusting handle to lock the adjusting handle;

when the clamping piece is a rotary sleeve, the rotary sleeve is arranged in the endoscope supporting frame through a bearing, a jacking block is arranged between the endoscope supporting frame and the rotary sleeve, and the jacking block can be jacked up by the jacking block to tightly lock the rotary sleeve through the locking mechanism, or the rotary sleeve is directly jacked up by the locking mechanism to be locked;

the locking mechanism is a locking screw or a locking structure.

6. The endoscope positioning bracket based on double-arm positioning according to claim 4, wherein the clamping piece is provided with a clamping mechanism capable of fixing the pose of the endoscope, and the clamping mechanism adopts one or a combination of a screw locking assembly, a buckle locking assembly, a spring clip locking assembly and a screw clip locking assembly;

7. The endoscope positioning bracket based on double-arm positioning according to claim 1, further comprising a space positioning element capable of assisting in positioning, wherein the space positioning element is one or a combination of an optical positioning bracket, a gyroscope or a magnetic navigation sensor, the optical positioning bracket is provided with a multi-point optical positioning marker, and the optical positioning bracket, the gyroscope or the magnetic navigation sensor acquires the current attitude angle of the endoscope support frame in real time; when the space positioning element is an optical positioning bracket, the space positioning element is connected to the tail end of the adjusting arm and/or the endoscope supporting frame through extension rods, the length of the extension rods is larger than 50mm, the extension rods are provided with a plurality of groups, and different extension rods have different lengths and bending angles, so that the optical positioning bracket can be observed by an external measuring device without shielding, and different surgical scenes can be adapted.

8. The endoscope positioning bracket based on double-arm positioning according to claim 1, wherein two groups of adjusting arms are provided at both sides of the living body, one group of adjusting arms is installed at the armpit or the chest side or the waist side of the living body, and the other group of adjusting arms is installed at the armpit or the chest side or the waist side of the head side of the living body or the other side of the living body; or two groups of regulating arms are arranged on the same side of the organism and are connected through connecting pieces, the connecting pieces are connecting rods or springs or elastic belts, when the regulating arms comprise two sections of connecting rods, the two connecting rods are connected through rotary hinges, and when the tail ends of the two connecting rods are respectively provided with a spherical hinge, the two ends of the connecting pieces are respectively connected to the rotary hinges of the regulating arms, and the length of the connecting pieces is 20-300mm.

9. A method for using the endoscope positioning rack based on double-arm positioning according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:

10. The method of using a dual arm positioning based endoscope positioning support of claim 9 wherein: