CN207693677U - A kind of digestive endoscopy robot and digestive endoscopy - Google Patents
A kind of digestive endoscopy robot and digestive endoscopy Download PDFInfo
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- CN207693677U CN207693677U CN201720510897.1U CN201720510897U CN207693677U CN 207693677 U CN207693677 U CN 207693677U CN 201720510897 U CN201720510897 U CN 201720510897U CN 207693677 U CN207693677 U CN 207693677U
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Abstract
The utility model is related to medical instruments fields, disclosing a kind of digestive endoscopy robot and digestive endoscopy, wherein robot includes lantern ring and the flexible mechanical arm on lantern ring, wherein, flexible mechanical arm includes the driving rope of several rotors and three or three or more；Rotor is serially connected；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 along at least one direction reciprocally swinging, and the swaying direction of adjacent rotated body is interlaced.The flexible deflecting of surgical instrument may be implemented in the utility model, ensures the kinematic accuracy of surgical instrument, can also reduce the space needed for surgical instrument movement, extends the scope of application of digestive endoscopy.
Description
Technical field
The utility model is related to medical instruments fields, are specifically related to a kind of digestive endoscopy end auxiliary device, the device
It can be mounted on the digestive endoscopy end of different size, realize the freely activity of the surgical instrument in scope therapeutic process, this practicality
It is novel to further relate to a kind of digestive endoscopy using above-mentioned digestive endoscopy robot.
Background technology
With the development of technology, digestive endoscopy is increasingly used in the diagnosis of disease, treatment.Digestive endoscopy usually wraps
Light source, object lens and instrument channel are included, wherein object lens are for being imaged, and light source is for illuminating tissue, device when object lens are imaged
Tool channel is then used to guide surgical instrument (such as electric knife).In use, digestive endoscopy is stretched into patient's body along body cavities first
It is interior, then surgical instrument is inserted into the instrument channel of digestive endoscopy, and lesion locations are moved to along instrument channel.Due to operation
Instrument needs continually adjustment direction and angle in operation, and instrument itself does not have power, therefore adopts in the prior art
With the scheme for driving surgical instrument movement by the movement of digestive endoscopy, however such scheme is difficult to realize the flexible of surgical instrument
Deflecting, while precision is also difficult to ensure, in addition, digestive endoscopy movement needs larger space, is existed in actual use
More limitation.
Utility model content
In order to overcome the limitation of surgical instrument movement mode in the prior art, improves surgical instrument in the prior art and be difficult to
Realize the problems such as flexible deflecting, kinematic accuracy are low, space hold is big, the utility model provide a kind of digestive endoscopy robot and
Using the digestive endoscopy of the robot.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of digestive endoscopy robot, including lantern ring and the flexible mechanical arm on lantern ring, wherein flexible mechanical arm packet
Include the driving rope of several rotors and three or more；Rotor is serially connected, and driving is restricted along the circumferentially distributed of rotor, and
Rotor is sequentially passed through along series connection direction, and affixed with the rotor of least significant end；With the flexible of driving rope, previous rotor can phase
To latter rotor along at least one direction reciprocally swinging, and the swaying direction of adjacent rotated body 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, previous
The curved surface of rotor and the end of latter rotor support.
As the mode that is further improved of said program, previous rotor can relatively latter rotor by curved surface along one
Direction is swung.
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, lantern ring includes collar body and the rope on collar body
Hole, driving rope are then passed through rotor after corresponding cord hole.
It is further improved mode as said program, further includes the surgical instrument being connect with flexible mechanical arm.
As the mode that is further improved of said program, surgical instrument includes cutting dissection cutter, suture instruments, gripper clamp
One kind or combinations thereof in instrument processed, drawing class instrument.
As the mode that is further improved of said program, including two flexible mechanical arms, wherein a flexible mechanical arm with
Cutting dissection cutter connection, another flexible mechanical arm are clamped down on instrument with clamping and are connect.
A kind of digestive endoscopy, including the front end of human body is stretched into, further include above-mentioned digestive endoscopy robot, digestive endoscopy machine
Device people is socketed in by lantern ring on front end.
The utility model has the beneficial effects that：
The utility model is provided with flexible mechanical arm, and flexible mechanical arm can be under the driving of itself driving mechanism towards difference
Direction is bent, and to drive surgical instrument relative to digestive endoscopy self-movement, surgical instrument fortune is driven compared to digestive endoscopy
Dynamic mode, the utility model may be implemented the flexible deflecting of surgical instrument, ensure the kinematic accuracy of surgical instrument, can also subtract
Space needed for minor operation apparatus work extends the scope of application of digestive endoscopy；
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；
In the preferred embodiment of the utility model, robot further includes the surgical instrument for executing surgical procedure；
In the preferred embodiment of the utility model, drives electric knife to be moved with gripper clamp respectively using two mechanical arms, lead to
The step of combination crossed between different instruments can simplify surgical procedure, shortens operating time.
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 robot one embodiment；
Fig. 2 is the stereoscopic schematic diagram of the utility model flexible mechanical arm one embodiment；
Fig. 3 is the stereoscopic schematic diagram of the utility model rotor one embodiment；
Fig. 4 is the front view of the utility model rotor one embodiment；
Fig. 5 is the side view of the utility model rotor one embodiment；
Fig. 6 is the stereoscopic schematic diagram of the utility model lantern ring one embodiment；
Fig. 7 is the stereoscopic schematic diagram that the utility model digestive endoscopy is connect with robot.
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 robot one embodiment is shown.As shown, robot
Including lantern ring 100 and flexible mechanical arm 200, wherein lantern ring 100 is for realizing the connection of robot and digestive endoscopy, flexible machine
Tool arm 200 is then used to arrange surgical instrument.Flexible mechanical arm 200 can be curved towards different directions under the driving of itself driving mechanism
Song, to drive surgical instrument relative to digestive endoscopy self-movement, compared to the side that digestive endoscopy drives surgical instrument movement
Formula, the utility model may be implemented the flexible deflecting of surgical instrument, ensure the kinematic accuracy of surgical instrument, can also reduce operation
Space needed for apparatus work extends the scope of application of digestive endoscopy.
With reference to Fig. 2, the stereoscopic schematic diagram of the utility model flexible mechanical arm one embodiment is shown.As shown, soft
Property mechanical arm agent structure include several concatenated rotors 210 and three or more (so-called above packet of the utility model
Include this number) driving rope 220.It is connected by rolling pair between rotor 210, is flexibly turned between rotor so as to realize
It is dynamic, and then the flexible bending of mechanical arm, the response speed of elevating mechanism arm may be implemented.
With reference to Fig. 3 to Fig. 5, the stereoscopic schematic diagram, front view of the utility model rotor one embodiment are respectively illustrated
With side view.As shown, rotor 210 is generally cylindrical, there is head end plane 211, tail end to have outwardly projecting
Curved surface 212, the curved surface 212 meet setting：The direction of arrow is contour everywhere along Fig. 4, the position among the direction of arrow along Fig. 5
Highest, and continuously decreased to both sides, i.e., rotor 210 arrow direction can be swung along Fig. 5.It is additionally provided with instrument on rotor 210
Channel 214, instrument channel 214 runs through rotor 210 along series connection direction, for guiding surgical instrument.
Several cord hole 213, the quantity pair of the quantity and driving rope 220 of cord hole 213 are preferably also provided on rotor 210
It answers, four cord hole 213 is preferably provided in the present embodiment, which is uniformly distributed along the circumferential direction of rotor 210.
With reference to Fig. 2, the series connection of several rotors 210, and the curved surface 212 of previous rotor 210 are flat with latter rotor 210
Face 211 supports, and due to being contacted for line between curved surface 212 and plane 211, does not have other to hinder the effect of rotation in addition to frictional force
Power, therefore the rotation between rotor 210 is very flexible.
To realize the multi-direction bending of mechanical arm, the swaying direction of adjacent rotated body 210 is interlaced, adjacent in the present embodiment
The swaying direction of rotor 210 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 220 as mechanical arm sequentially passes through corresponding rope on each rotor 210 along series connection direction
Hole 213, and it is affixed with the rotor of least significant end 210 (as shown in Fig. 2, the rotor of least significant end is the rotor of the top),
In this way, when side driving rope 220 tenses the release of driving rope 220 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 220.
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 212, such as make the arrow direction along Fig. 4 of curved surface 212
Shape also as the shape of arrow direction in Fig. 5, intermediate position highest, and being continuously decreased to both sides, such previous rotation
Body can relatively latter rotor swing in both directions.
With reference to Fig. 6, the stereoscopic schematic diagram of the utility model lantern ring one embodiment is shown.As shown, lantern ring includes
Collar body 110 and the boss 120 in 110 circumferential direction of collar body, collar body 110 are equipped with radial threaded hole
111, boss 120 is equipped with cord hole 121 and instrument channel 122.Preferably, two boss are arranged on collar body 110
120。
Flexible mechanical arm 200 is mounted on corresponding boss 120, the instrument channel 214 on rotor 210 and boss 120
On instrument channel 122 be connected to, driving rope 220 pass through be then passed through after corresponding cord hole 121 on boss 120 it is right on rotor 210
The cord hole 213 answered, to realize the connection of flexible mechanical arm 200 and lantern ring 100.
Referring to Fig.1, the utility model preferably further includes the surgical instrument being connect with flexible arm instrument, alleged by the utility model
Surgical instrument include but be not limited to cutting dissection cutter (such as electric knife, laser knife), suture instruments, clamping clamp down on instrument (as pressed from both sides
Hold pincers etc.), drawing class instrument (such as sucker) etc., can voluntarily arrange in pairs or groups selection as needed.Preferably, the present embodiment includes two
Flexible mechanical arm, wherein a flexible mechanical arm is connect with cutting dissection cutter, another flexible mechanical arm and folder
It holds and clamps down on instrument connection.It is furthermore preferred that cutting dissection cutter uses electric knife 300, specific connection type is to be plugged on electric knife 300
In the instrument channel of mechanical arm；Clamping clamps down on instrument and uses gripper clamp 400, and specific connection type is at the end of the flexible mechanical arm
End is provided with the connector 500 of hinged seat, and gripper clamp 400 is hinged on the connector 500.Wherein electric knife 300 is for cutting
Pathological tissues, gripper clamp 400 is for lifting pathological tissues, and the tissue after stripping can directly be taken out of by gripper clamp, i.e.,
The present embodiment can allow two surgical instruments while enter human body, can simplify operation behaviour by the combination between different instruments
The step of making shortens operating time.
With reference to Fig. 7, the stereoscopic schematic diagram of the utility model digestive endoscopy one embodiment is shown.As shown, digestion
Scope includes the end 600 for stretching into inside of human body, and end 600 is equipped with object lens and light source, end 600, object lens, light source etc.
Known technology can be used, be not described in detail here.Above-mentioned robot is socketed in end by the collar body 110 on lantern ring 100
On 600, and preferably locked by threaded hole 111 on collar body 110 and corresponding threaded fastener.
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 (10)
1. a kind of digestive endoscopy robot, which is characterized in that the flexible mechanical arm including lantern ring and on the lantern ring,
In, the flexible mechanical arm includes the driving rope of several rotors and three or more；The rotor is serially connected, described
Driving rope sequentially passes through the rotor along the circumferentially distributed of the rotor, and along series connection direction, and with described in least significant end
Rotor is affixed；With the flexible of the driving rope, the previous rotor can relatively latter rotor it is past along at least one direction
Physical pendulum is dynamic, and the swaying direction of the adjacent rotor is interlaced.
2. digestive endoscopy robot according to claim 1, which is characterized in that the tail end of the rotor is equipped with oriented
Outer curved surface outstanding, the curved surface of the previous rotor and the head end of the latter rotor support.
3. digestive endoscopy robot according to claim 2, which is characterized in that the previous rotor can relatively latter institute
Rotor is stated to swing in one direction by the curved surface.
4. digestive endoscopy robot according to claim 3, which is characterized in that the curve form meets setting：Along
One direction is contour everywhere, along the second direction vertical with the first direction, intermediate position highest, and is continuously decreased to both sides.
5. digestive endoscopy robot according to claim 4, which is characterized in that the swaying direction phase of the adjacent rotor
It is mutually vertical.
6. digestive endoscopy robot according to any one of claim 1 to 5, which is characterized in that the lantern ring includes set
Ring main body and the cord hole on the collar body, the driving rope are then passed through described turn after the corresponding cord hole
Kinetoplast.
7. digestive endoscopy robot according to any one of claim 1 to 5, which is characterized in that further include with it is described soft
Property mechanical arm connection surgical instrument.
8. digestive endoscopy robot according to claim 7, which is characterized in that the surgical instrument includes cutting scalpel
One kind or combinations thereof in instrument, drawing class instrument is clamped down in tool, suture instruments, clamping.
9. digestive endoscopy robot according to claim 8, which is characterized in that including two flexible mechanical arms,
In a flexible mechanical arm and the cutting dissection cutter connect, another flexible mechanical arm is clamped down on described be clamped
Instrument connects.
10. a kind of digestive endoscopy, including stretch into the front end of human body, which is characterized in that further include any in claim 1 to 9
Digestive endoscopy robot described in, the digestive endoscopy robot are socketed in by the lantern ring on the front end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720510897.1U CN207693677U (en) | 2017-05-09 | 2017-05-09 | A kind of digestive endoscopy robot and digestive endoscopy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720510897.1U CN207693677U (en) | 2017-05-09 | 2017-05-09 | A kind of digestive endoscopy robot and digestive endoscopy |
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| Publication Number | Publication Date |
|---|---|
| CN207693677U true CN207693677U (en) | 2018-08-07 |
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ID=63019539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720510897.1U Active CN207693677U (en) | 2017-05-09 | 2017-05-09 | A kind of digestive endoscopy robot and digestive endoscopy |
Country Status (1)
| Country | Link |
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| CN (1) | CN207693677U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107007354A (en) * | 2017-05-09 | 2017-08-04 | 深圳市罗伯医疗机器人研究所 | A kind of digestive endoscopy robot and digestive endoscopy |
| CN109171837A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | The operation device of multi-direction flexible bending and locking |
-
2017
- 2017-05-09 CN CN201720510897.1U patent/CN207693677U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107007354A (en) * | 2017-05-09 | 2017-08-04 | 深圳市罗伯医疗机器人研究所 | A kind of digestive endoscopy robot and digestive endoscopy |
| CN107007354B (en) * | 2017-05-09 | 2024-01-26 | 深圳市罗伯医疗科技有限公司 | Digestive endoscope robot and digestive endoscope |
| CN109171837A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | The operation device of multi-direction flexible bending and locking |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191014 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 |