CN207532452U - The detent mechanism of laparoscopic device - Google Patents
The detent mechanism of laparoscopic device Download PDFInfo
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- CN207532452U CN207532452U CN201720588447.4U CN201720588447U CN207532452U CN 207532452 U CN207532452 U CN 207532452U CN 201720588447 U CN201720588447 U CN 201720588447U CN 207532452 U CN207532452 U CN 207532452U
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- connecting rod
- free joint
- joint
- connect
- free
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Abstract
A kind of detent mechanism of laparoscopic device, including the first free joint, first connecting rod, second free joint, second connecting rod and third free joint, first free joint is fixedly mounted on take-up housing, one end of first free joint and first connecting rod connects, the other end of the first connecting rod is connect with second free joint, second free joint is connect simultaneously with one end of second connecting rod, the other end of the second connecting rod is connect with the third free joint, the third free joint while the upper end with bull stick, first free joint, first connecting rod, second free joint, second connecting rod, third free joint and bull stick form pendulum position arm together.The utility model provides a kind of handling detent mechanism of laparoscopic device preferable, occupied space is smaller, positioning accuracy is higher.
Description
Technical field
The utility model belongs to Medical Devices, is related to a kind of laparoscopic device, to realize the action control of laparoscope, especially
It is a kind of detent mechanism of laparoscopic device.
Background technology
Existing laparoscopic device majority is helped using artificial；Some only laparoscope controlling equipments are not also intelligent,
It is cumbersome and unstable to operate position fixing process；In addition, existing laparoscope controlling equipment shape is huge, occupied space is big；It is existing
Laparoscope controlling equipment positioning accuracy bottom.
Invention content
In order to overcome existing laparoscope controlling equipment it is handling it is poor, occupied space is larger, positioning accuracy is relatively low not
Foot, the utility model provide a kind of handling positioning of laparoscopic device preferable, occupied space is smaller, positioning accuracy is higher
Mechanism.
Technical solution is used by the utility model solves its technical problem：
A kind of detent mechanism of laparoscopic device, including the first free joint, first connecting rod, the second free joint, second
Connecting rod and third free joint, first free joint are fixedly mounted on take-up housing, first free joint and first
One end connection of connecting rod, the other end of the first connecting rod are connect with second free joint, and second free joint is same
When and one end of second connecting rod connect, the other end of the second connecting rod connect with the third free joint, the third oneself
By joint while the upper end with bull stick, first free joint, first connecting rod, the second free joint, second connecting rod, third are certainly
It is made of pendulum position arm together joint and bull stick.
Further, first free joint, the second free joint and third free joint include joint shaft, coding
Device, power down band-type brake, fixed end link, harmonic wave speed reducing machine and rotation end link, the fixed end link of joint shaft suit, the pass
Encoder, power down band-type brake, harmonic wave speed reducing machine and rotation end link, the control terminal of the power down band-type brake are installed to open with controlled on nodal axisn
Connection connects；
The fixation end link of first free joint is mounted on the take-up housing, the rotation of first free joint
End link is connect with one end of the first connecting rod；The fixation end link of the other end of the first connecting rod and the second free joint
Connection, the rotation end link of second free joint connect with one end of the second connecting rod, the second connecting rod it is another
End is connect with the fixation end link of the third free joint, and the rotation end link of the third free joint is with being used for and abdominal cavity
The upper end connection of the bull stick of mirror clamper linkage.
Further, the encoder is mounted on the upper end of the joint shaft, and the power down band-type brake is located at the encoder
Lower section, the fixed end link is located at the lower section of the power down band-type brake, and the harmonic wave speed reducing machine is located at the fixed end link
Lower section, the fixed end of the harmonic wave speed reducing machine connect with the fixed end link, the moved end top installation of the harmonic wave speed reducing machine
In the lower end of the joint shaft, the moved end lower part of the harmonic wave speed reducing machine and the round end connection-rod linkage.It is of course also possible to it adopts
With other assembly methods.
The embodiment of the utility model, operation consent energy quick manual realize laparoscope pendulum bit function simultaneously can lock-bit it is current
Position.
The beneficial effects of the utility model are mainly manifested in：It is operated with reliability, easily notch positions, abdominal cavity
Mirror, around the function of notch movement, reduces incisional wound in abdomen；Improve the flexible mobile convenience of laparoscope.
Description of the drawings
Fig. 1 is the schematic diagram of laparoscopic device.
Fig. 2 is the usage state diagram of laparoscopic device.
Fig. 3 is the schematic diagram of free joint.
Fig. 4 is front view of the double leval jib around mechanism.
Fig. 5 is side view of the double leval jib around structure.
Wherein, in Fig. 1 and Fig. 2,1- mobile base 2- elevator 3- take-up housings the first free joints of 4- 5- first connects
Bar 6- the second free joint 7- second connecting rod 8- third free joint 9- bull stick 10- rotary joint 11- swing arm supporting rods
15 end telescoping mechanism 16- laparoscope clamper 17- laparoscopes of 12- swing arms joint 13- swing arm bar 14- quadrilateral connecting rods；
In Fig. 3,31- encoder 32- power down band-type brakes 33- fixes end link 34- harmonic wave speed reducing machines 35- rotation end links；
In Fig. 4 and Fig. 5,41- fixes gear 42- central gear 43- drive gears 44- input synchronizing wheel 45- outputs and synchronizes
Wheel 46- power synchronous wheel 47- swing arm rotating wheel 48- the first swing arm articulated shaft 49- the second swing arm articulated shafts 50- first is helped
Articulated shaft 51- second helps articulated shaft.
Specific embodiment
The utility model is further described below in conjunction with the accompanying drawings.
With reference to Fig. 1~Fig. 5, a kind of detent mechanism of laparoscopic device, including the first free joint 4, first connecting rod 5, the
Two free joints 6, second connecting rod 7 and third free joint 8, first free joint 4 are fixedly mounted on take-up housing 3, institute
It states the first free joint 4 to connect with one end of first connecting rod 5, the other end of the first connecting rod 5 and second free joint 6
Connection, second free joint 6 connect simultaneously with one end of second connecting rod 7, the other end of the second connecting rod 7 and described the
Three free joints 8 connect, the third free joint 8 while the upper end with bull stick 9, first free joint 4, first connecting rod
5th, the second free joint 6, second connecting rod 7, third free joint 8 and bull stick 9 form pendulum position arm together.
Further, first free joint 4, the second free joint 6 and third free joint 6 include joint shaft, compile
Code device 31, power down band-type brake 32, fixed end link 33, harmonic wave speed reducing machine 34 and rotation end link 35, the joint shaft suit are fixed
End link 33, installation encoder 31, power down band-type brake 32, harmonic wave speed reducing machine 34 and rotation end link 35, described on the joint shaft
The control terminal of power down band-type brake 32 is connect with controlled switch；
The fixation end link of first free joint 4 is mounted on the take-up housing 3, first free joint 4
Rotation end link is connect with one end of the first connecting rod 5；The other end of the first connecting rod 5 is consolidated with the second free joint 6
Fixed end connecting rod connection, the rotation end link of second free joint 6 are connect with one end of the second connecting rod 7, and described second
The other end of connecting rod 7 is connect with the fixation end link of the third free joint 8, and the round end of the third free joint 8 connects
Bar is connect with the upper end of bull stick 9.
Further, the encoder 31 is mounted on the upper end of the joint shaft, and the power down band-type brake 32 is located at the volume
The lower section of code device 31, the fixed end link 33 are located at the lower section of the power down band-type brake 32, and 34 machine of harmonic reduction is located at institute
The lower section of fixed end link 33 is stated, 34 fixed ends of the harmonic wave speed reducing machine are connect with the fixed end link 33, and the harmonic wave subtracts
The moved end top of fast machine 34 is mounted on the lower end of the joint shaft, moved end lower part and the round end of the harmonic wave speed reducing machine 34
Connecting rod 35 links.It is of course also possible to use other assembly methods.
The laparoscopic device of the present embodiment include pedestal 1 and laparoscope clamper 16, the equipment further include elevator 2,
Detent mechanism, rotating mechanism install elevator 2, the lifting in mobile mechanism and end telescoping mechanism, the pedestal 1
The motion end of machine and one end of detent mechanism connect, and the other end of the detent mechanism is connect with rotating mechanism, the whirler
The motion end of structure is connect with described around a mobile mechanism, the motion end around mobile mechanism and end telescoping mechanism 15
Stent connection, the motion end of the end telescoping mechanism 15 connect with the laparoscope clamper 16.
Further, the elevator includes take-up housing 3, and the take-up housing 3 is sleeved on the track of pedestal 1 up or down
Interior, the take-up housing 3 is connect with the lifting drive module for being used to that take-up housing to be driven to move up and down.For example, the lifting driving mould
Block uses leadscrew-nut mechanism, and the leading screw is driven by driving motor, nut is driven to move up and down by the rotation of leading screw, described
Nut links with the take-up housing.
The bull stick 9 is 45 degree of bull sticks.This is preferred scheme.
The rotating mechanism includes rotary joint 10 and drives the rotation drive module of rotary joint rotation, the bull stick 9
Lower end the rotary joint 10 is installed, the rotation drive module is fixedly mounted in the bull stick 9, the rotation driving mould
The motion end of block is connect with the rotary joint.For example, rotation drive module is using electric rotating machine, by motor shaft rotate and then
The rotary joint is driven to rotate.
It is described to include swing arm supporting rod 11, swing arm joint 12, swing arm bar 13 and quadrilateral connecting rod 14, institute around mobile mechanism
The upper end for stating swing arm supporting rod 11 is connect with the motion end of the rotating mechanism, and the lower part of the swing arm supporting rod 11 is equipped with swing arm
Joint 12, installation swing arm bar 13 on the swing arm joint 12, one end of the swing arm bar 13 and the quadrilateral connecting rod 14 is hinged,
The other end of the quadrilateral connecting rod 14 and the stent of the end telescoping mechanism 15 are hinged, the swing arm supporting rod 11, swing arm
The stent formation in joint 12, swing arm bar 13, quadrilateral connecting rod 14 and the end telescoping mechanism 15 is used to implement laparoscope around cutting
The mobile parallelogram mechanism of point.
Swing arm rotating wheel 47 is installed, the swing arm rotating wheel 47 for driving with putting on the joint shaft in the swing arm joint 12
The fixed gear 41 of installation, the fixed gear 41 in a mobile drive module connection, the joint shaft of arm rotating wheel rotation
It is engaged with central gear 42, the shaft of the central gear 42 is mounted on the swing arm bar 13, and the central gear 42 is with driving
Moving gear 43 engages, and the shaft of the drive gear 43 is mounted on the swing arm bar 13, in the shaft of the drive gear 43
Installation input synchronizing wheel 44, the input synchronizing wheel 44 are connect by synchronous belt with output synchronizing wheel 45, the output synchronizing wheel
45 are mounted on swing arm articulated shaft 49, and the swing arm articulated shaft 49 is mounted on the swing arm bar 13, the swing arm articulated shaft 49
On one end of quadrilateral connecting rod 14 is hingedly installed, the other end of the quadrilateral connecting rod 14 is by helping articulated shaft 51 to be mounted on end
Hold the stent of telescoping mechanism 15；
The central shaft of the swing arm supporting rod 11 is consistent with the shaft of rotary joint 10, the center of the swing arm supporting rod 11
Axis is mutually parallel with the quadrilateral connecting rod 14, the line between the swing arm articulated shaft 48 and swing arm joint shaft and the support
Articulated shaft 50 and the line between point are mutually parallel.
Described to further include auxiliary connecting rod around a mobile mechanism, the auxiliary connecting rod is parallel with the quadrilateral connecting rod 14, institute
The one end for stating auxiliary connecting rod is mounted on by additional swing arm articulated shaft 49 on swing arm bar 13, and the other end of the auxiliary connecting rod passes through
Additional that articulated shaft 51 is helped to be mounted on the stent of end telescoping mechanism 15, the additional swing arm articulated shaft 49 is located at the swing arm
On the extension line of line between articulated shaft 48 and swing arm joint shaft；The additional support articulated shaft 51 is located at described help and is hinged
On the extension line of axis 50 and the line between point.
It is described to include power synchronous wheel 46 around a mobile drive module, the shaft of the power synchronous wheel 46 with around a movement
The output axis connection of driving motor, the power synchronous wheel 46 are connect by synchronous belt with the swing arm rotating wheel 47.
The end telescoping mechanism 15 uses straight-line mechanism, and the straight-line mechanism drives sliding block, the laparoscope by motor
Clamper 16 is installed on sliding block, and laparoscope 17 is mounted on the laparoscope clamper 16.
The lower section installation wheel of the pedestal 1 forms mobile base, convenient for displacement.
The laparoscopic device of the present embodiment by mobile base laparoscope pedestal as a whole, is responsible for the upright of whole device
It is reliable and stable；
Elevator 2 is responsible for driving and drives take-up housing 3, automatically controls the entire lifting for helping arm, and precision is high, and operation is flat
Surely；
First free joint, 4 one end is fixedly mounted on take-up housing, is connected with first connecting rod 5, the second free joint 6, second
8,45 degree of bar 7, third free joint bull sticks 9 form pendulum position arm together；Position arm free joint is put using power down auto-lock function, is passed through
The switch button control pendulum position arm by handle is placed on to stop and unclamp, the quick movement of personnel easy to operation and positioning laparoscope
Initial position.
Rotary joint 10 is positioned over the end of 45 degree of bull sticks 9 of pendulum position arm, realizes laparoscope around mesh by drive and control of electric machine
Mark the axis I rotations at point of contact；
Swing arm supporting rod 11, swing arm joint 12 and swing arm bar 13, quadrilateral connecting rod 14, end telescoping mechanism 15 stent group
It synthesizes parallelogram motion mechanism and realizes axis II rotary motion of the laparoscope around point of contact and end telescoping mechanism.Wherein parallel four
One side of side shape is conllinear with axis I, so as to ensure that laparoscope shaft I axis II intersection points are constant, so as to form the position at point of contact；
End telescoping mechanism 15 uses straight-line mechanism, and the straight-line mechanism drives sliding block, laparoscope clamper 16 by motor
It is installed on sliding block, laparoscope 17 is mounted on the laparoscope clamper 16, so as to fulfill to laparoscope extension and contraction control.
Claims (3)
1. a kind of detent mechanism of laparoscopic device, it is characterised in that：Including the first free joint, first connecting rod, second freely
Joint, second connecting rod and third free joint, first free joint are fixedly mounted on take-up housing, and described first freely closes
Section is connect with one end of first connecting rod, and the other end of the first connecting rod is connect with second free joint, and described second certainly
It is connect simultaneously with one end of second connecting rod by joint, the other end of the second connecting rod is connect with the third free joint, institute
Upper end of the third free joint simultaneously with bull stick is stated, first free joint, first connecting rod, the second free joint, second connect
Bar, third free joint and bull stick form pendulum position arm together.
2. the detent mechanism of laparoscopic device as described in claim 1, it is characterised in that：First free joint, second
Free joint and third free joint include joint shaft, encoder, power down band-type brake, fixed end link, harmonic wave speed reducing machine and rotation
Turn end link, the joint shaft suit fixes end link, encoder, power down band-type brake, harmonic wave speed reducing machine are installed on the joint shaft
With rotation end link, the control terminal of the power down band-type brake is connect with controlled switch；
The fixation end link of first free joint is mounted on the take-up housing, and the round end of first free joint connects
Bar is connect with one end of the first connecting rod；The fixation end link of the other end of the first connecting rod and the second free joint connects
It connects, the rotation end link of second free joint is connect with one end of the second connecting rod, the other end of the second connecting rod
It connect, the rotation end link of the third free joint and is used for and laparoscope with the fixation end link of the third free joint
The upper end connection of the bull stick of clamper linkage.
3. the detent mechanism of laparoscopic device as claimed in claim 2, it is characterised in that：The encoder is mounted on the pass
The upper end of nodal axisn, the power down band-type brake are located at the lower section of the encoder, and the fixed end link is located at the power down band-type brake
Lower section, the harmonic wave speed reducing machine are located at the lower section of the fixed end link, the fixed end of the harmonic wave speed reducing machine and the fixing end
Connecting rod connects, and the moved end top of the harmonic wave speed reducing machine is mounted on the lower end of the joint shaft, the moved end of the harmonic wave speed reducing machine
Lower part and the round end connection-rod linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720588447.4U CN207532452U (en) | 2017-05-25 | 2017-05-25 | The detent mechanism of laparoscopic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720588447.4U CN207532452U (en) | 2017-05-25 | 2017-05-25 | The detent mechanism of laparoscopic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207532452U true CN207532452U (en) | 2018-06-26 |
Family
ID=62607390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720588447.4U Expired - Fee Related CN207532452U (en) | 2017-05-25 | 2017-05-25 | The detent mechanism of laparoscopic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207532452U (en) |
-
2017
- 2017-05-25 CN CN201720588447.4U patent/CN207532452U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180626 Termination date: 20200525 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |