CN207693676U - A kind of flexible mechanical arm and digestive endoscopy - Google Patents
A kind of flexible mechanical arm and digestive endoscopy Download PDFInfo
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- CN207693676U CN207693676U CN201720509884.2U CN201720509884U CN207693676U CN 207693676 U CN207693676 U CN 207693676U CN 201720509884 U CN201720509884 U CN 201720509884U CN 207693676 U CN207693676 U CN 207693676U
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- rotor
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- flexible mechanical
- driving rope
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Abstract
The utility model is related to medical instruments field, a kind of flexible mechanical arm and digestive endoscopy are disclosed, wherein mechanical arm includes the driving rope of several rotors and three or three or more；Rotor is connected, and is connected by rolling pair between adjacent rotated body；Driving rope sequentially passes through rotor along the circumferentially distributed of rotor, and along series connection direction, and affixed with the rotor of least significant end；With the flexible of driving rope, previous rotor can relatively latter rotor reciprocally swinging, and the swaying direction of adjacent rotated body is interlaced.Several concatenated rotors are arranged in the utility model, are connected by rolling pair between rotor, so as to realize the flexible rotating between rotor, and then the flexible bending of mechanical arm, the response speed of elevating mechanism arm may be implemented.
Description
Technical field
The utility model is related to medical instruments fields, are specifically related to a kind of digestive endoscopy, more particularly, to a kind of digestion
Multiple degrees of freedom flexible mechanical arm on scope.
Background technology
With the development of technology, digestive endoscopy is increasingly used in the diagnosis of disease, treatment.In practical application
Middle digestive endoscopy can be used cooperatively with mechanical arm, i.e., medical staff obtains the position of lesion by the image system of digestive endoscopy,
Then surgical instrument is driven to operate lesion locations using mechanical arm.Mechanical arm majority use flexible arm, by itself
The Multidirectional motion of surgical instrument is realized in bending.Mechanical arm in the prior art is usually made of flexible rubber or silica gel, utilizes
The property realization flexible bending of material, however such manipulator motion underaction, response is not rapid enough, and size is larger, nothing
Method accomplishes miniaturized design, it is difficult to meet the requirement of people.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of flexible mechanical arm, for solving the prior art
Middle movement underaction, the problem that size is big, response is not rapid enough.
The utility model further relates to a kind of digestive endoscopy using above-mentioned flexible mechanical arm.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of driving rope of flexible mechanical arm, including several rotors and three or more；Rotor is connected, and adjacent
It is connected by rolling pair between rotor；Driving rope sequentially passes through rotor along the circumferentially distributed of rotor, and along series connection direction,
And it is affixed with the rotor of least significant end；With the flexible of driving rope, previous rotor can relatively latter rotor reciprocally swinging, and phase
The swaying direction of adjacent rotor is interlaced.
As the mode that is further improved of said program, the tail end of rotor, which is equipped with, carries outwardly projecting curved surface, rotation
The head end of body is equipped with plane, and the curved surface of previous rotor and the plane of latter rotor support.
As the mode that is further improved of said program, previous rotor can relatively latter rotor it is reciprocal in one direction
It swings.
As the mode that is further improved of said program, curve form meets setting：It is contour everywhere along first direction, along with
The vertical second direction of first direction, intermediate position highest, and continuously decreased to both sides.
As the mode that is further improved of said program, the swaying direction of adjacent rotated body is mutually perpendicular to.
As the mode that is further improved of said program, including four driving ropes, driving rope along rotor it is circumferential uniformly
Distribution.
As the mode that is further improved of said program, rotor is equipped with cord hole corresponding with driving rope quantity, driving
Rope is threaded through in corresponding cord hole.
As the mode that is further improved of said program, the center of rotor is equipped with channel, and channel is run through along series connection direction
Rotor.
A kind of digestive endoscopy, including above-mentioned flexible mechanical arm.
The utility model has the beneficial effects that：
Several concatenated rotors are set, are connected by rolling pair between rotor, so as to realize between rotor
Flexible rotating, and then the flexible bending of mechanical arm may be implemented, the response speed of elevating mechanism arm reduces the radial direction of mechanical arm
Size.
In the preferred embodiment of the utility model, coordinated by curved surface and plane between rotor, in addition to frictional force
Without the active force of other obstruction rotations, so as to realize the flexible rotating between rotor.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the stereoscopic schematic diagram of the utility model flexible mechanical arm one embodiment；
Fig. 2 is the stereoscopic schematic diagram of the utility model rotor one embodiment；
Fig. 3 is the front view of the utility model rotor one embodiment；
Fig. 4 is the side view of the utility model rotor one embodiment.
Specific implementation mode
The technique effect of the design of the utility model, concrete structure and generation is carried out below with reference to embodiment and attached drawing
Clear, complete description, to be completely understood by the purpose of this utility model, scheme and effect.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " is in another feature,
It can directly fix, be connected in another feature, can also fix, be connected in another feature indirectly.In addition, this
The descriptions such as the up, down, left, right, before and after used in utility model are only relative to each composition portion of the utility model in attached drawing
For the mutual alignment relation divided.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the utility model.Term " and or " used herein includes appointing for one or more relevant Listed Items
The combination of meaning.
Referring to Fig.1, the stereoscopic schematic diagram of the utility model one embodiment is shown.As shown, flexible mechanical arm
Agent structure includes several concatenated rotors 100 and three or more (the utility model is so-called above including this number)
Driving rope 200.It is connected by rolling pair between rotor 100, so as to realize the flexible rotating between rotor, Jin Erke
To realize the flexible bending of mechanical arm, the response speed of elevating mechanism arm.
Referring to Figure 2 to Figure 4, the stereoscopic schematic diagram, front view of the utility model rotor one embodiment are respectively illustrated
With side view.As shown, rotor 100 is generally cylindrical, there is head end plane 101, tail end to have outwardly projecting
Curved surface 102, the curved surface 102 meet setting：The direction of arrow is contour everywhere along Fig. 3, the position among the direction of arrow along Fig. 4
Highest, and continuously decreased to both sides, i.e., rotor 100 arrow direction can be swung along Fig. 4.
Several cord hole 103, the quantity pair of the quantity and driving rope 200 of cord hole 103 are preferably also provided on rotor 100
It answers, four cord hole 103 is preferably provided in the present embodiment, which is uniformly distributed along the circumferential direction of rotor 100.
Channel 104 is preferably also provided on rotor 100, rotor 100 is run through in channel 104 along series connection direction, for end
It executes the driving rope needed for the mechanisms such as instrument and reaches external control terminal across rotor.
Referring to Fig.1, several rotors 100 are connected, and the curved surface 102 of previous rotor 100 and latter rotor 100 is flat
Face 101 supports, and due to being contacted for line between curved surface 102 and plane 101, does not have other to hinder the effect of rotation in addition to frictional force
Power, therefore the rotation between rotor 100 is very flexible.
To realize the multi-direction bending of mechanical arm, the swaying direction of adjacent rotated body 100 is interlaced, adjacent in the present embodiment
The swaying direction of rotor 100 is mutually perpendicular to.
Angle in the utility model between the quantity and rotor of rotor can be adjusted according to actual conditions, such as be turned
Angle between kinetoplast can be 30 °, 45 ° or 60 ° etc., and the utility model is not especially limited this.
Power source of the driving rope 200 as mechanical arm sequentially passes through corresponding rope on each rotor 100 along series connection direction
Hole 103, and it is affixed with the rotor of least significant end 100 (as shown in Figure 1, the rotor of least significant end is the rotor of the top),
In this way, when side driving rope 200 tenses the release of driving rope 200 of offside simultaneously, mechanical arm will be towards the side that driving rope tenses
Bending can realize mechanical arm towards the bending on four direction by the cooperation of four driving ropes 200.
Previous rotor is only capable of relatively latter rotor and swings in one direction in above-described embodiment, in addition to this, may be used also
To increase the degree of freedom between adjacent rotated body by adjusting the shape of curved surface 102, such as make the arrow direction along Fig. 3 of curved surface 102
Shape also as the shape of arrow direction in Fig. 4, intermediate position highest, and being continuously decreased to both sides, such previous rotation
Body can relatively latter rotor swing in both directions.
It is to be illustrated to the preferable implementation of the utility model, but the invention is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent variations without departing from the spirit of the present invention
Or replace, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (9)
1. a kind of flexible mechanical arm, which is characterized in that include the driving rope of several rotors and three or more；The rotation
Body is serially connected, and is connected by rolling pair between the adjacent rotor；Circumferential direction point of the driving rope along the rotor
Cloth, and the rotor is sequentially passed through along series connection direction, and it is affixed with the rotor of least significant end；With stretching for the driving rope
Contracting, the previous rotor can the relatively latter rotor swung along at least one direction, and the pendulum of the adjacent rotor
Dynamic direction is interlaced.
2. flexible mechanical arm according to claim 1, which is characterized in that the tail end of the rotor, which is equipped with, to be carried to evagination
The curved surface gone out, the curved surface of the previous rotor and the head end of the latter rotor support.
3. flexible mechanical arm according to claim 2, which is characterized in that the previous rotor can be described turn relatively latter
Kinetoplast is swung in one direction.
4. flexible mechanical arm according to claim 3, which is characterized in that the curve form meets setting：Along first party
To contour everywhere, the edge second direction vertical with the first direction, intermediate position highest, and continuously decreased to both sides.
5. flexible mechanical arm according to claim 1, which is characterized in that the swaying direction of the adjacent rotor mutually hangs down
Directly.
6. flexible mechanical arm according to any one of claim 1 to 5, which is characterized in that it restricts including four drivings,
The driving rope is uniformly distributed along the circumferential direction of the rotor.
7. flexible mechanical arm according to any one of claim 1 to 5, which is characterized in that the rotor be equipped with
The corresponding cord hole of driving rope quantity, the driving are restricted and are threaded through in the corresponding cord hole.
8. flexible mechanical arm according to any one of claim 1 to 5, which is characterized in that the center of the rotor is set
There are channel, the channel to run through the rotor along series connection direction.
9. a kind of digestive endoscopy, which is characterized in that including flexible mechanical arm described in any item of the claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720509884.2U CN207693676U (en) | 2017-05-09 | 2017-05-09 | A kind of flexible mechanical arm and digestive endoscopy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720509884.2U CN207693676U (en) | 2017-05-09 | 2017-05-09 | A kind of flexible mechanical arm and digestive endoscopy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207693676U true CN207693676U (en) | 2018-08-07 |
Family
ID=63020256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720509884.2U Active CN207693676U (en) | 2017-05-09 | 2017-05-09 | A kind of flexible mechanical arm and digestive endoscopy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207693676U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN112356016A (en) * | 2020-11-23 | 2021-02-12 | 长沙理工大学 | Wire drive link capable of realizing bending motion decoupling |
-
2017
- 2017-05-09 CN CN201720509884.2U patent/CN207693676U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN112356016A (en) * | 2020-11-23 | 2021-02-12 | 长沙理工大学 | Wire drive link capable of realizing bending motion decoupling |
| CN112356016B (en) * | 2020-11-23 | 2022-02-08 | 长沙理工大学 | Wire drive link capable of realizing bending motion decoupling |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191023 Address after: 518000 1001-A, G2 Building, TCL International E City, 1001 Zhongshan Garden Road, Xili Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN ROBO MEDICAL TECHNOLOGY CO., LTD. Address before: 2, C building, building 1, building 3, the Great Wall computer tower, No. 518000, FA FA Road, Shenzhen, Guangdong, Nanshan District Patentee before: Shenzhen rob Medical Robot Research Institute |
|
| TR01 | Transfer of patent right |