CN202776532U - Soft endoscopic surgery robot system - Google Patents
Soft endoscopic surgery robot system Download PDFInfo
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- CN202776532U CN202776532U CN 201220178478 CN201220178478U CN202776532U CN 202776532 U CN202776532 U CN 202776532U CN 201220178478 CN201220178478 CN 201220178478 CN 201220178478 U CN201220178478 U CN 201220178478U CN 202776532 U CN202776532 U CN 202776532U
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- containment vessel
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Abstract
A soft endoscopic surgery robot system comprises a soft endoscope, a surgical instrument and a control handle. The surgical instrument is dragged by control steel wires. Near ends of the control steel wires are connected with a drive handle. The drive handle comprises a base and control idler wheels. The drive handle is controlled by a motor drive control unit. The motor drive control unit comprises a drive seat. The drive seat is arranged on a drive unit support. The drive seat is provided with drive rotating plates. The drive rotating plates are connected with the control idler wheels. A straight line drive mechanism is arranged on the driving unit support. The driving seat is connected with a rotation driving mechanism. A guide sleeve barrel is arranged on the drive unit support. A pair of protective cases is arranged at the far end of the soft endoscope. Near ends of the protective case are hinged with the far end of the endoscope. A notch is arranged at the far ends of the protective cases. An opening and closing mechanism which is used for controlling the mutual opening and closing of the protective cases is arranged on the protective cases. The opening and closing mechanism is controlled by any drive rotating plate. The soft endoscopic surgery robot system has the advantages that antrum channel damage is avoided, control is simple and convenient use is achieved.
Description
Technical field
This utility model relates to a kind of soft endoscope surgical robot system.
Background technology
Scope is used to diagnose and the treat disease history in more than 50 year.Go through the stages such as fiberendoscope, video image dendoscope, ultrasonic endoscope, but the present treatment that only is used in widely in the organism nature tract or tube chamber (such as positions such as bile duct, the pancreas) disease of opening is arranged in organism nature tract.The operation of body cavity of organism develops into laparoscopic surgery gradually from providing operation, open surgery needs user patient to be carried out local anesthesia or then general anesthesia is scratched larger with scalpel at patient's body surface in that aseptic operation is indoor, then the shears pliers of the hand-held various operation usefulness of user etc. or directly extend into by opening with hands and carry out operation technique in the patient's body cavity, peritoneoscope is less much than the opening of open surgery, traumatic little a lot, but need to open several holes at body surface, carry out operation technique in the body cavity thereby the hole that required apparatus passes through out is inserted into.
An endoceliac end that inserts the patient in the existing scope is called far-end, and an end that is gripped by the user of scope is called near-end.Scope is included in the joystick of near-end, and length is L
1And being attached to the flexible insertion section of the far-end of joystick, length is L
2And be attached to the bending section of the far-end of flexible insertion section, and be attached to the end effector of the far-end of bending section, the open-and-close mechanism of control bending section bending, and coat the elastic covering of this bending section; The distal attachment of elastic covering is to this end effector, and the proximal attachment of elastic covering is to the near-end of flexible insertion section; End effector comprises camera lens and the operating theater instruments that exposes to bending section, and operating theater instruments is connected with joystick by the control steel wire, the action of joystick tractive control steel wire control operating theater instruments.
Rely on the action of control endoscope to drive apparatus work at widely used soft endoscope apparatus more, have following shortcoming:
1, the various attitudes of institute's use apparatus are all by user one-handed performance scope " up, down " and " left, right " two pairs of knobs, the shank of scope just can be achieved to the four direction bending, the process of controlling is adjusted the another one direction after can only adjusting respectively a direction again, and process is more loaded down with trivial details.
2, existing scope, shank partly only has the controlled bending in a place mostly, and endoscope's hardness can not be adjusted, and difficult some privileged sites that arrive also not too easily keep specific state, make apparatus arrive some privileged sites and the specific state of maintenance.
Although 3, the dual pathways scope that can use simultaneously two apparatuses is also arranged at present, allow simultaneously two instrumentations, the apparatus that this scope uses is common apparatus then still, stretch both arms as the people during actual the use, eyes are looked squarely both hands and are operated, the movement before and after two apparatuses only have, around the axle core rotation of apparatus own and about doing or up and down set in two groups of actions, and the fitness of two apparatuses is limited, both arms that can not similar people drive two handss, like that the compounding practice of freedom and flexibility.
4, the omnidistance operating theater instruments in operation process of end effector and camera lens are exposed, and scope is when entering body cavity, and operating theater instruments and camera lens produce extruding or friction, collision with body cavities easily, and scuffing cavity organization damages.
The utility model content
For overcoming the above-mentioned shortcoming of prior art, the rotation that this utility model provides a kind of trick by user to cooperate can to realize soft scope special equipment and the action such as mobile, and can prevent that operating theater instruments and endoscope from exposing, little with the friction that biological tract produces, control is simple, soft endoscope surgical robot system easy to use.
The soft endoscope surgical robot system comprises a flexible endoscope that is provided with two instrument channel, passes the operating theater instruments of instrument channel and is fixed in the joystick of flexible endoscope near-end, the action of control endoscope;
Operating theater instruments is by corresponding control steel wire traction, and the control steel wire is arranged in the instrument channel of flexible endoscope, and the near-end of control steel wire connects driving handle, driving handle comprise pedestal and be installed on the pedestal can tractive control steel wire the control roller;
It is characterized in that: described driving handle is controlled by the motorized motions control part, the motorized motions control part comprises the drive seat that is connected with the pedestal detached type, drive seat is installed on the drive division support, drive seat is provided with and the driving rotating disk of controlling pair of rollers and answering, drive rotating disk and control roller releasably key is connected, the driving rotating disk is connected with the rotary tray motor of its rotation of drive;
The drive division support is provided with and can drives the straight line driving mechanism that drive seat moves reciprocatingly along straight line, drive seat connects the rotary drive mechanism that can drive the drive seat rotation, the drive division support is provided with the pilot sleeve that allows the control steel wire to pass, pilot sleeve and control steel wire insert in the instrument channel of flexible insertion section, and the control steel wire runs through instrument channel;
The far-end of flexible endoscope is provided with a pair of containment vessel that endoscope lens and operating theater instruments can be coated in it, and it is streamlined that containment vessel is, the near-end of containment vessel and the distal end articulated of soft endoscope, and the far-end of containment vessel is provided with breach; Containment vessel is provided with the open-and-close mechanism that the control containment vessel is mutually opened or closed up, and this open-and-close mechanism is controlled by any driving rotating disk.The outer surface of containment vessel is coated with the smooth polymer material layer of protectiveness.
Further, straight line driving mechanism comprises advance and retreat drive motors, the leading screw that is connected with advance and retreat drive motors output shaft and the nut that meshes with leading screw and only allow nut along the locating part of lead screw shaft to the mobile restriction nut rotation;
The drive division support comprises the fixed part of fixing advance and retreat drive motors and drives drive seat along the axially movable moving part of screw mandrel that moving part is fixedly connected with nut.
The advance and retreat drive motors rotarily drives leading screw and rotates, and nut drives drive seat and moves axially along leading screw simultaneously, pushes away before the control steel wire or drops back to drive, and then drive operating theater instruments and advance or retreat.
Further, rotary drive mechanism comprise rotary drive motor, the planetary gear that is connected with the rotary drive motor output shaft and with the central gear of planetary gear engaged transmission, planetary gear is around the circular motion of central gear;
Central gear is fixed on the moving part of drive division support, and rotary drive motor is fixed on the drive seat, and drive seat and moving part are rotatably connected.
Further, drive seat is provided with central rotating shaft, moving part is provided with and allows central rotating shaft to insert its interior axis hole, axis hole and the coaxial setting of central gear, central rotating shaft is provided with the outward extending bulge loop of a circle, axis hole is provided with the scrobicular ring adaptive with bulge loop, and central rotating shaft and axis hole matched in clearance are provided with the steel wire passage that allows the control steel wire to pass in the central rotating shaft; Central rotating shaft is socketed in the pilot sleeve.
Further, control part comprises control station, control station is provided with is convenient to the electric control handle that user grips, electric control handle comprises cross bar and the montant that is articulated and connected, and is provided with the sensor family that responds to automatically controlled handle motion state and kinestate is converted to the motor movement of the automatically controlled drive division of control in the electric control handle.
Further, be fixed with fixed cover on the control station, cross bar is socketed in the fixed cover, be provided with the second potentiometer that induction the first potentiometer of moving forward and backward of cross bar and induction cross bar rotate in a circumferential direction between cross bar and the fixed cover, cross bar moves and causes the first potentiometer potential change, and the potential change of the first potentiometer determines motion amplitude and the direction of advance and retreat drive motors; Cross bar rotates in a circumferential direction and causes the second potentiometer potential change, and the potential change of the second potentiometer determines motion amplitude and the direction of rotary drive motor;
The articulated section of cross bar and montant is provided with the 3rd potentiometer, and relatively rotating of cross bar and montant causes the 3rd potentiometer to change, and the potential change of the 3rd potentiometer determines motion amplitude and the direction of rotary tray motor;
The sensor family of all automatically controlled drive divisions of potentiometer formation control.
Further; open-and-close mechanism comprise be fixed in the containment vessel inner surface can make the containment vessel interior stay cord that mutually closes up and the outer surface that is fixed in containment vessel can make the relative outer stay cord of opening of containment vessel; when the tension of interior stay cord and outer stay cord are lax, containment vessel closes up mutually, interior stay cord relaxes and outer stay cord when loosening, containment vessel are opened relatively.
Camera lens comprises that the imaging end that photographic head is housed and the connecting portion that is connected imaging end and bending section, this connecting portion are the bendable structure of flexible of surface coverage, and the structure of connecting portion is identical with the structure of all bending sections of soft endoscope;
The imaging end is positioned at the parcel zone of containment vessel, and the near-end of containment vessel is provided with the empty avoiding section that allows connecting portion to expose.This empty avoiding section refers to be arranged on the arc notch of containment vessel near-end, and when containment vessel closed up mutually, connecting portion was in the zone that arc notch surrounds.Because the existence of empty avoiding section is not closed up mutually so that flexible connecting portion can not hinder containment vessel.
Further, the inner surface of containment vessel is provided with sleeve, and operating theater instruments passes through sleeve.Sleeve is connected with elastic pipeline spare outside operating theater instruments.The outer surface of containment vessel is provided with the holding tank that holds outer stay cord.
Technical conceive of the present utility model is: the control signal that the hand exercise of user is converted to the motor movement that drives automatically controlled drive division by the sensor family on the electric control handle, limb action by user is controlled advancing, retreat and rotating of operating theater instruments, thereby realize the single purpose that can control endoscope's action of user, simple to operate.
Far-end in endoscope arranges a pair of mutually containment vessel of open and close, and containment vessel is streamlined.Enter in the process of human body in endoscope, containment vessel is in and closes up state, and containment vessel is wrapped in operating theater instruments and the imaging end passes through biological tract, and the resistance that enters is little, and can not cause tissue injury.Because the far-end of containment vessel is provided with breach, this breach can not affect the operation visual field as the form of lens shooting.
When the far-end of endoscope arrived the target location, containment vessel was opened relatively, discharged operating theater instruments and camera lens.And containment vessel is relatively opened the internal organs in the body cavity of organism to be separated and is formed one for the space of carrying out instrumentation, hurts the risk of unnecessary internal organs or tissue in the time of can reducing endoscopic surgery.
The near-end of containment vessel arranges empty avoiding section to allow crooked connecting portion to expose; containment vessel only need wrap up the imaging end and get final product; connecting portion need not to take the volume of containment vessel inside; thereby the volume restrictions to the imaging end is relaxed; the imaging end that use is had many arrangements of mirrors head becomes possibility; be conducive to photograph more clear, the picture of performing the operation more fully, provide safeguard for accurately implementing operation.
Outer surface at containment vessel arranges holding tank, thereby outer stay cord is accommodated in the holding tank, makes the outer surface of containment vessel keep smooth, reduces frictional resistance.
The trick that the utlity model has by user cooperates rotation and the movement that can realize scope, and the friction that endoscope and biological tract produce is little, can not cause the tract damage, and control is simple, advantage easy to use.
Description of drawings
Fig. 1 is sketch map of the present utility model.
Fig. 2 is the sketch map of driving handle.
Fig. 3 is the sketch map of automatically controlled drive division.
Fig. 4 is the sketch map that drives rotating disk.
Fig. 5 is the sketch map of electric control handle.
Fig. 6 is the sketch map of user operation electric control handle and foot switch.
Fig. 7 is the sketch map of endoscope distal end.
Fig. 8 is the sketch map of the inboard of containment vessel.
Fig. 9 is the sketch map in the outside of containment vessel.
Figure 10 is the sketch map of camera lens.
Figure 11 is the sketch map of a containment vessel when being articulated in end effector.
Figure 12 is the sketch map when adopting the second open-and-close mechanism.
Figure 13 is the sketch map when adopting the third open-and-close mechanism.
Figure 14 is the sketch map when adopting the 4th kind of open-and-close mechanism.
The specific embodiment
With reference to accompanying drawing, further specify this utility model:
The soft endoscope surgical robot system, comprise a flexible endoscope that is provided with two instrument channel, pass the operating theater instruments of instrument channel and be fixed in the joystick of flexible endoscope 7 near-ends, the action of control endoscope, operating theater instruments is by corresponding control steel wire traction, the control steel wire is arranged in the instrument channel of flexible endoscope, the near-end of control steel wire connects driving handle 3, driving handle 3 comprise pedestal 31 and be installed on the pedestal 31 can tractive control steel wire control roller 32;
Described driving handle is controlled by motorized motions control part 4, motorized motions control part 4 comprises the drive seat 41 that is connected with the pedestal detached type, drive seat 41 is installed on the drive division support 42, drive seat 41 is provided with the driving rotating disk 43 corresponding with controlling roller 32, drive rotating disk 43 with control roller 32 releasably key be connected, drive rotating disk 43 and be connected with the rotary tray motor 44 that drives its rotation, driving rotating disk 43 corresponding rotary tray motors 44;
The far-end of flexible endoscope is provided with a pair of containment vessel 8 that endoscope lens 7 and operating theater instruments can be coated in it, and containment vessel 8 is streamlined, the near-end of containment vessel 8 and distal end articulated, the far-end of containment vessel 8 is provided with breach 81; Containment vessel is provided with the open-and-close mechanism that control containment vessel 8 is mutually opened or closed up, and this open-and-close mechanism is controlled by any driving rotating disk 43.
Camera lens 7 comprises the imaging end 71 that photographic head is housed and the connecting portion that is connected imaging end 71 and bending section 72, this connecting portion 72 is the bendable structure of flexible of surface coverage, and the structure of connecting portion is identical with the structure of all bending sections of soft endoscope;
Imaging end 71 is positioned at the parcel zone of containment vessel 8, and the near-end of containment vessel 8 is provided with the empty avoiding section 85 that allows connecting portion 72 to expose.This empty avoiding section 85 refers to be arranged on the arc notch of containment vessel 8 near-ends, and when containment vessel 8 closed up mutually, connecting portion 72 was in the zone that arc notch surrounds.Because the existence of empty avoiding 85 is not closed up mutually so that flexible connecting portion 72 can not hinder containment vessel 8.
The inner surface of containment vessel 8 is provided with sleeve 83, and operating theater instruments passes through sleeve.Sleeve 83 is connected with elastic pipeline spare outside operating theater instruments.The outer surface of containment vessel 8 is provided with the holding tank 84 that holds outer stay cord.
Open-and-close mechanism comprise be fixed in containment vessel 8 inner surfacies can make the containment vessel interior stay cord 9 that mutually closes up and the outer surface that is fixed in containment vessel 8 can make the containment vessel 8 relative outer stay cords of opening; when 9 tensions of interior stay cord and outer stay cord are lax, containment vessel 8 closes up mutually, interior stay cord 9 relaxes and outer stay cord when loosening, containment vessel 8 are opened relatively.
Certainly, the structure of open-and-close mechanism is not limited to and adopts stay cord control.Can also be with the opening and closing of opening linkage 912 and closed linkage 911 and realize containment vessel, as shown in figure 12.Realize that with opening linkage and closed linkage the work process of the opening and closing of containment vessel is: open control stay cord 9121 by tractive, two connecting rods that open linkage 912 are launched relatively, thereby containment vessel 8 is opened mutually.When tractive opened control stay cord 9121, Closed control stay cord 9111 was in relaxed state, and closed linkage 911 launches under the drive of opening linkage 912.
By tractive Closed control stay cord 9111, two connecting rods of closed linkage 911 are closed up mutually, thereby make containment vessel 7 mutually closed.During tractive Closed control stay cord 9111, open control stay cord 9121 and be in relaxed state, open linkage 912 and under the drive of closed linkage 911, close up.
Certainly; open-and-close mechanism can also be the form of using the gear interlock; as shown in figure 13: open-and-close mechanism comprises a pair of gear pair 921 that is individually fixed on the containment vessel 8, and secondary 921 move toward one another of driven gear make that closed stay cord 922 that containment vessel 7 closes up mutually and secondary 921 adverse movements of driven gear make that containment vessel 7 launches mutually opens stay cord 923.
Perhaps use a secondary double link to realize simultaneously opening and closing movement, as shown in figure 14: the hinged place of double link 931 connects the control pull bar 932 with rigidity, and when control pull bar 932 pushed to far-end, double link 931 drove containment vessel 8 and mutually opens; When control pull bar 932 spurred to near-end, double link 931 drove containment vessel 8 and mutually closes up; Control pull bar 932 comprises the pogo barrel 9321 with rigidity and the steel wire rope 9322 that is arranged in the pogo barrel 9321.The flexible covering of pogo barrel 9321 surface coverage is such as rubber bush.
Drive rotating disk 43 and control roller 32 releasably key is connected specifically and can is: offer groove on the driving rotating disk, control roller and be provided with the projection adaptive with groove, groove and projection interference fit, as shown in Figure 4.With the groove 431 on the projection driven in registry rotating disk 43 of control roller 32, and projection inserted in the groove 431, can realize driving rotating disk 43 and control being connected of roller 32.For the reliability that guarantees to connect, drive seat 41 is provided with trip bolt 47, and trip bolt 47 pushes against the pedestal of driving handle 3, thereby driving handle and drive seat is reliably fixing.
Straight line driving mechanism comprises advance and retreat drive motors 461, the leading screw 462 that is connected with advance and retreat drive motors output shaft and with the nut 463 of leading screw 462 engagements and only allow nut 463 to move axially the locating part that limits nut 463 rotations along leading screw 462;
Rotary drive mechanism comprise rotary drive motor 471, the planetary gear 472 that is connected with rotary drive motor 471 output shafts and with the central gear 473 of planetary gear 472 engaged transmission, planetary gear 472 is around the circular motion of central gear 473;
As shown in Figure 3, drive division support 42 comprises pedestal box and frame plate, and the pedestal box is as fixed part A, and frame plate is as moving part B.Advance and retreat drive motors 461 is fixed on the pedestal box, leading screw 462 and nut 463 are positioned at the cavity volume of pedestal box, frame plate is fixedly connected with nut 463, set up on two side plates with the pedestal box frame plate both sides, and two side plates of pedestal box play and allow nut 463 to move axially, limit the effect that nut 463 rotates in a circumferential direction along screw mandrel 462.Frame plate comprises that central gear 473 is fixed on the wing plate with the fixing base plate of nut 463 with perpendicular to the wing plate of base plate.
Drive seat 41 is provided with central rotating shaft, moving part B is provided with and allows central rotating shaft to insert its interior axis hole, axis hole and central gear 473 coaxial settings, central rotating shaft is provided with the outward extending bulge loop of a circle, axis hole is provided with the scrobicular ring adaptive with bulge loop, central rotating shaft and axis hole matched in clearance are provided with the steel wire passage that allows the control steel wire to pass in the central rotating shaft; Central rotating shaft is socketed in the pilot sleeve.
Control part comprises control station, control station is provided with is convenient to the electric control handle 5 that user grips, electric control handle 5 comprises cross bar 51 and the montant 52 that is articulated and connected, and is provided with the sensor family that responds to automatically controlled handle motion state and kinestate is converted to the motor movement of the automatically controlled drive division of control in the electric control handle 5.
Be fixed with fixed cover 53 on the control station, cross bar 51 is socketed in the fixed cover 53, be provided with the second potentiometer that induction the first potentiometer of moving forward and backward of cross bar 51 and induction cross bar 51 rotate in a circumferential direction between cross bar 51 and the fixed cover 53, cross bar 51 moves and causes the first potentiometer potential change, and the potential change of the first potentiometer determines motion amplitude and the direction of advance and retreat drive motors 461; Cross bar 51 rotates in a circumferential direction and causes the second potentiometer potential change, and the potential change of the second potentiometer determines motion amplitude and the direction of rotary drive motor 471;
The articulated section of cross bar 51 and montant 52 is provided with the 3rd potentiometer, and cross bar 51 causes the 3rd potentiometer to change with relatively rotating of montant 52, and the potential change of the 3rd potentiometer determines motion amplitude and the direction of rotary tray motor 44;
The sensor family of all automatically controlled drive divisions of potentiometer formation control.
Specifically, hold montant 52 when user and drive the increase that changes of cross bars 51 are positioned at the first potentiometer of fixed cover 53 when the direction away from fixed cover 53 moves electric potential signal, in the electric potential signal input processor of the first potentiometer output, processor calculating collects ratio that the signal of current potential increases through tabling look-up and calculating to the advance and retreat drive motors and send instruction forward rotation respective angles, advance and retreat drive motors 461 drives leading screw 462 backwards rotation, drive nut 463 retreats the driving handle 3 that is fixed on the drive seat 41 is retreated, driving execution apparatus integral body retreats, operating theater instruments is close to far-end, when user promotion cross bar 51 moved to the direction of close fixed cover 53, the action of advance and retreat drive motors 461 was opposite.
When user hold montant 52 drive cross bars 51 when being rotated counterclockwise, the electric potential signal that is positioned at the second potentiometer occurs to increase and changes, processor calculating collects ratio that the signal of variation increases through tabling look-up and calculating to rotary drive motor and send the instruction forward rotation, rotary drive motor 471 drives planetary gear 472 and rotates counterclockwise, planetary gear 472 rotates counterclockwise driving handle with central gear 473 engagements, driving handle drives the soft flexible insertion section rotation of insertion instrument passage, and flexible insertion section drives the operating theater instruments that is fixed on its far-end and rotates counterclockwise.The action of operating theater instruments is opposite during cross bar when user turns clockwise.
When user is carried on montant 52, when montant 52 relatively rotates with cross bar 53, the electric potential signal of the 3rd potentiometer increases, processor calculating collects the ratio of the signal increase of variation, through tabling look-up and calculating to the rotary tray motor of being responsible for left-right rotation and send the instruction forward rotation, driven by motor drives rotating disk and rotates counterclockwise, driving rotating disk driving steel wire changes around the steel wire relative length that solid dish rotates counterclockwise solderless wrapped connection on it, the elongated end of one end shortens, one section that shortens will be drawn the left/right rotation swing arm and rotate certain angle to its corresponding direction, and the action of apparatus head end is opposite when user is held montant and rotated.
Auxiliary control unit can also be set on the montant 52 be used for the motion of control rotary tray motor, the corresponding rotary tray motor of each auxiliary control unit, as shown in Figure 5.Be socketed with one or more auxiliary change on the montant, be provided with auxiliary potentiometer between each auxiliary change and the montant, the electric potential signal of auxiliary potentiometer changed when auxiliary change was rotated, the electric potential signal control operating theater instruments action of auxiliary potentiometer.
Take operating theater instruments as the work process of the auxiliary change of example explanation and auxiliary potentiometer as operating forceps.When user is held auxiliary change 521 rotation of montant 52 finger push control binding clip action, electric potential signal corresponding to the auxiliary potentiometer of this auxiliary change 521 changes, the signal that processor calculating collects variation advanced it and calculates the rotary tray motor 44 that rotates up and down to the binding clip of control operating forceps and send the instruction forward rotation, rotary tray motor 44 drives driving control roller 32 and rotates counterclockwise, control roller 32 drives the control steel wire and rotates counterclockwise around control roller 32, the control steel wire relative length of solderless wrapped connection changes on the control roller 32, the elongated side of one side shortens, the steel wire of the side that shortens will draw described that up and down rotary head upwards lift and turn an angle.
Described montant 52 is provided with the power amplifier that is connected with all potentiometers, and the signal of telecommunication that power amplifier is exported potentiometer zooms in or out to increase or reduce the motion amplitude of motor, and power amplifier connects multiplying power and selects button 54.The motion multiplying power selects button 54 to be used for changing apparatus work speed or amplitude, select to be arranged to several grades of 1/5 multiplying power, 1/2 multiplying power, 1 times of multiplying power, 2 times of multiplying powers, 5 times of multiplying powers etc. in the present embodiment, can certainly arrange more or other multiplier value, whenever press the motion multiplying power and select button, whenever the user finger is pressed the signal intensity that it once all can trigger a high-low level, can select a multiplying power, and show main operation person and to comment demonstration, can continue to press if not user to the multiplying power of wanting, until the multiplying power that user is wanted when choosing.The hand motion of user converts electric potential signal to and comes in and goes out to processor when user choice for use multiplying power button, advancing the processor computing exports to corresponding actuating motor and commands it by the multiplying power execution action after the motion multiplying power that the set user is selected is calculated through processor again, the apparatus head end will carry out suitable motion by the selected multiplying power of user, and filling 1/2 multiplying power such as choosing is that its speed of action is half of normal speed.Be conducive to like this user and when safe, accelerate operative speed, when accurately operating, make action more accurate.
Endoscopic system also has be the feeder of operating theater instruments air feed in operation process, the water supply installation that supplies water for operating theater instruments and the electric supply installation of powering for operating theater instruments, the switching of feeder, water supply installation and electric supply installation is controlled by corresponding electromagnetic valve or relay, and control station is provided with the foot switch 6 of control electromagnetic valve or relay on-off.When the user foot is stepped on foot switch, the level that processing will collect from corresponding line has the height variation level to uprise, through calculating is backward respective electrical magnet valve or relay are sent action command, command it to be switched on or switched off, thus the output of control water, vapour, electricity; Switching on and off of shutoff, electricity.
Technical conceive of the present utility model is: the control signal that the hand exercise of user is converted to the motor movement that drives automatically controlled drive division by the sensor family on the electric control handle, limb action by user is controlled advancing, retreat and rotating of operating theater instruments, thereby realize the single purpose that can control endoscope's action of user, simple to operate.
The trick that the utlity model has by user cooperates rotation and the movement that can realize scope, and control is simple, advantage easy to use.
The described content of this description embodiment only is enumerating the way of realization of utility model design; protection domain of the present utility model should not be regarded as only limiting to the concrete form that embodiment states, protection domain of the present utility model also reaches the equivalent technologies means that design can be expected according to this utility model in those skilled in the art.
Claims (9)
1. the soft endoscope surgical robot system comprises a flexible endoscope that is provided with two instrument channel, passes the operating theater instruments of instrument channel and is fixed in the joystick of flexible endoscope near-end, the action of control endoscope;
Operating theater instruments is by corresponding control steel wire traction, and the control steel wire is arranged in the instrument channel of flexible endoscope, and the near-end of control steel wire connects driving handle, driving handle comprise pedestal and be installed on the pedestal can tractive control steel wire the control roller;
It is characterized in that: described driving handle is controlled by the motorized motions control part, the motorized motions control part comprises the drive seat that is connected with the pedestal detached type, drive seat is installed on the drive division support, drive seat is provided with and the driving rotating disk of controlling pair of rollers and answering, drive rotating disk and control roller releasably key is connected, the driving rotating disk is connected with the rotary tray motor of its rotation of drive;
The drive division support is provided with and can drives the straight line driving mechanism that drive seat moves reciprocatingly along straight line, drive seat connects the rotary drive mechanism that can drive the drive seat rotation, the drive division support is provided with the pilot sleeve that allows the control steel wire to pass, pilot sleeve and control steel wire insert in the instrument channel of flexible insertion section, and the control steel wire runs through instrument channel;
The far-end of flexible endoscope is provided with a pair of containment vessel that endoscope lens and operating theater instruments can be coated in it, and it is streamlined that containment vessel is, the near-end of containment vessel and the distal end articulated of soft endoscope, and the far-end of containment vessel is provided with breach; Containment vessel is provided with the open-and-close mechanism that the control containment vessel is mutually opened or closed up, and this open-and-close mechanism is controlled by any driving rotating disk.
2. soft endoscope surgical robot system as claimed in claim 1 is characterized in that: straight line driving mechanism comprises advance and retreat drive motors, the leading screw that is connected with advance and retreat drive motors output shaft and the nut that meshes with leading screw and only allow nut along the locating part of lead screw shaft to the mobile restriction nut rotation;
The drive division support comprises the fixed part of fixing advance and retreat drive motors and drives drive seat along the axially movable moving part of screw mandrel that moving part is fixedly connected with nut.
3. soft endoscope surgical robot system as claimed in claim 2, it is characterized in that: rotary drive mechanism comprise rotary drive motor, the planetary gear that is connected with the rotary drive motor output shaft and with the central gear of planetary gear engaged transmission, planetary gear is around the circular motion of central gear;
Central gear is fixed on the moving part of drive division support, and rotary drive motor is fixed on the drive seat, and drive seat and moving part are rotatably connected.
4. soft endoscope surgical robot system as claimed in claim 3, it is characterized in that: drive seat is provided with central rotating shaft, moving part is provided with and allows central rotating shaft to insert its interior axis hole, axis hole and the coaxial setting of central gear, central rotating shaft is provided with the outward extending bulge loop of a circle, axis hole is provided with the scrobicular ring adaptive with bulge loop, and central rotating shaft and axis hole matched in clearance are provided with the steel wire passage that allows the control steel wire to pass in the central rotating shaft; Central rotating shaft is socketed in the pilot sleeve.
5. soft endoscope surgical robot system as claimed in claim 4, it is characterized in that: control part comprises control station, control station is provided with is convenient to the electric control handle that user grips, electric control handle comprises cross bar and the montant that is articulated and connected, and is provided with the sensor family that responds to automatically controlled handle motion state and kinestate is converted to the motor movement of the automatically controlled drive division of control in the electric control handle.
6. soft endoscope surgical robot system as claimed in claim 5, it is characterized in that: be fixed with fixed cover on the control station, cross bar is socketed in the fixed cover, be provided with the second potentiometer that induction the first potentiometer of moving forward and backward of cross bar and induction cross bar rotate in a circumferential direction between cross bar and the fixed cover, cross bar moves and causes the first potentiometer potential change, and the potential change of the first potentiometer determines motion amplitude and the direction of advance and retreat drive motors; Cross bar rotates in a circumferential direction and causes the second potentiometer potential change, and the potential change of the second potentiometer determines motion amplitude and the direction of rotary drive motor;
The articulated section of cross bar and montant is provided with the 3rd potentiometer, and relatively rotating of cross bar and montant causes the 3rd potentiometer to change, and the potential change of the 3rd potentiometer determines motion amplitude and the direction of rotary tray motor;
The sensor family of all automatically controlled drive divisions of potentiometer formation control.
7. such as the described soft endoscope surgical robot system of one of claim 1-6, it is characterized in that: endoscope lens comprises that the imaging end that photographic head is housed and the connecting portion that is connected imaging end and bending section, this connecting portion are the bendable structure of flexible of surface coverage;
The imaging end is positioned at the parcel zone of containment vessel, and the near-end of containment vessel is provided with the empty avoiding section that allows connecting portion to expose.
8. soft endoscope surgical robot system as claimed in claim 7, it is characterized in that: the inner surface of containment vessel is provided with sleeve, and operating theater instruments passes through sleeve.
9. soft endoscope surgical robot system as claimed in claim 8; it is characterized in that: open-and-close mechanism comprise be fixed in the containment vessel inner surface can make the containment vessel interior stay cord that mutually closes up and the outer surface that is fixed in containment vessel can make the relative outer stay cord of opening of containment vessel; when the tension of interior stay cord and outer stay cord are lax, containment vessel closes up mutually, interior stay cord relaxes and outer stay cord when loosening, containment vessel are opened relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220178478 CN202776532U (en) | 2012-04-24 | 2012-04-24 | Soft endoscopic surgery robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220178478 CN202776532U (en) | 2012-04-24 | 2012-04-24 | Soft endoscopic surgery robot system |
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| Publication Number | Publication Date |
|---|---|
| CN202776532U true CN202776532U (en) | 2013-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220178478 Withdrawn - After Issue CN202776532U (en) | 2012-04-24 | 2012-04-24 | Soft endoscopic surgery robot system |
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| Country | Link |
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| CN (1) | CN202776532U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102697553A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Operation robot system with flexible type endoscope |
| CN104321012A (en) * | 2012-04-25 | 2015-01-28 | 美敦力施美德公司 | Stimulation probe for robotic and laparoscopic surgery |
| WO2023011440A1 (en) * | 2021-08-02 | 2023-02-09 | 杭州安杰思医学科技股份有限公司 | Soft endoscope system, soft endoscope auxiliary apparatus and operation method |
-
2012
- 2012-04-24 CN CN 201220178478 patent/CN202776532U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102697553A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Operation robot system with flexible type endoscope |
| CN102697553B (en) * | 2012-04-24 | 2014-02-12 | 王东 | Operation robot system with flexible type endoscope |
| CN104321012A (en) * | 2012-04-25 | 2015-01-28 | 美敦力施美德公司 | Stimulation probe for robotic and laparoscopic surgery |
| US11103700B2 (en) | 2012-04-25 | 2021-08-31 | Medtronic, Inc. | Stimulation probe for robotic and laparoscopic surgery |
| US11351369B2 (en) | 2012-04-25 | 2022-06-07 | Medtronic Xomed, Inc. | Stimulation probe for robotic and laparoscopic surgery |
| WO2023011440A1 (en) * | 2021-08-02 | 2023-02-09 | 杭州安杰思医学科技股份有限公司 | Soft endoscope system, soft endoscope auxiliary apparatus and operation method |
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