CN207821902U - A kind of per urethra operation on prostate resectoscope clamping device - Google Patents
A kind of per urethra operation on prostate resectoscope clamping device Download PDFInfo
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- CN207821902U CN207821902U CN201720128897.5U CN201720128897U CN207821902U CN 207821902 U CN207821902 U CN 207821902U CN 201720128897 U CN201720128897 U CN 201720128897U CN 207821902 U CN207821902 U CN 207821902U
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Abstract
The present utility model discloses a kind of per urethra operation on prostate resectoscope clamping device, is related to the field of medical instrument technology.The device is made of fixed mechanism, rotating mechanism and clamping mechanism.Fixed mechanism includes link block, rotating mechanism is made of motor, cross link block, shaft coupling, deep groove ball bearing, bearing positioning table, big baffle ring, angular contact ball bearing, sleeve, small baffle ring and rotary connection plate, and clamping mechanism is made of motor, guide track block, proximate matter bottom plate, shaft coupling, shaft coupling block, deep groove ball bearing, optical axis, ball-screw, feed screw nut, sliding block, push rod, grip block and movable grip block.Scalpel is fixed on clamping mechanism by the device, clamping mechanism and scalpel rotation are driven by the motor of rotating mechanism, change the excision angle of scalpel, the stretching motion of the component completion scalpel cutting ring of clamping mechanism is driven by the motor of clamping mechanism, the two degree-of-freedom motion for realizing scalpel reduces the working strength of doctor.
Description
Technical field
The present utility model is related to the field of medical instrument technology more particularly to a kind of per urethra operation on prostate resectoscope
Clamping device.
Background technology
In the surgical procedure of traditional Transurethral prostatic electroresection A, scalpel is held by doctor, by manually adjusting hand
Art nose angle degree pushes scalpel cutting ring, meanwhile, energization pedal is stepped on to complete prostate excision purpose.It can be said that for when
Between for longer operation, such work working strength for doctor is larger.In recent years, there are also about scalpel
Clamper research and development, but scalpel rotation and the requirement of the two mobile degree of freedom can not be met simultaneously.The utility model
Invention then preferably resolves the problem of degree of freedom.In current research, the S.Russo of Harvard University is in document " A
Novel Robotic Platform for Laser-Assisted Transurethral Surgery of the
A kind of application platform of the scalpel using laser ablation is referred in Prostate ".The patent of China is as " robotic surgery
Modular manipulator support (200910172884) ", " a kind of minimally invasive robot with armed mechanical arm (201510511611) " etc.,
Belong to such research.That all there is also mechanisms is complex for these researchs, the problems such as not meeting doctor's operating habit.
Invention content
Goal of the invention：
A kind of the shortcomings that the present utility model overcomes in the prior art, it is proposed that per urethra operation on prostate resectoscope
Clamping device, by doctor by consing clamping device, realizes per urethra under the premise of doctor is not directly contacted with patient
The excision campaign of prostatectomy scalpel.
Technical solution：
A kind of per urethra operation on prostate resectoscope clamping device of the present utility model, it is by fixed mechanism, rotation
Mechanism and clamping mechanism composition；Their mutual relationships are：Fixed mechanism passes through interior hexagonal cylindrical head spiral shell with rotating mechanism
Nail is connected with each other or splits, and rotating mechanism and clamping mechanism are connected with each other or are split, above-mentioned three by hexagon socket cap head screw
Person's rotating mechanism is located at centre, and fixed mechanism divides row rotating mechanism both sides with clamping mechanism.
The fixed mechanism is made of 1 link block 1, and the shape design of the link block 1 is a block length square floor, bottom plate
On have 4 tapped through holes, the corner location of bottom plate side 4 protrudes 4 root long strip structures, and 4 root long strip projective structures are separate
Respectively there is 1 tapped through hole in one end side of bottom plate.
The rotating mechanism is by 12,1, motor, 4,2 identical deep-groove ball of shaft coupling of cross link block 3,1
Big 10,1, the sleeve of baffle ring 9,1 rotation of 5,1, the bearing small baffle ring 8,1 of angular contact ball bearing 7,1 of bearing positioning table 6,1
Turn the composition of connecting plate 11；Their mutual relationships are：Motor 2 is fixed on cross connection by hexagon socket cap head screw
On 2 symmetrical semicircle ring cylinders of 3 side of block, the output shaft of motor 2 is connected in 4 one stomidium of shaft coupling, and shaft coupling 4 is set
Between 2 semicircle ring cylinders, 2 identical deep groove ball bearings 5 are in 3 other side circle ring column of cross link block, axis
It holds positioning table 6 to be fixed on by hexagon socket cap head screw on the circle ring column of cross link block 3,7 sets of angular contact ball bearing
On 6 minor radius circle ring column of bearing positioning table, small baffle ring 8 leans against outside angular contact ball bearing 7, passes through hexagon socket cap head screw
It is fixed on bearing positioning table 6, big baffle ring 9 and sleeve 10 are sleeved on outside angular contact ball bearing 7, and big baffle ring 9 passes through interior hexagonal cylindrical
Head screw is fixed on sleeve 10, and sleeve 10 connects rotary connection plate 11, rotary connection plate 11 by hexagon socket cap head screw
One end connect shaft coupling 4, the other end connects above-mentioned clamping mechanism；The motor 2 is stepper motor, for driving rotating mechanism
Rotation；The shape design of the main body of the cross link block 3 is the cross stage body containing through-hole, there are one the side at 4 angles is each
Threaded hole, for being fixed on link block 1, which is 2 symmetrical semicircle ring cylinders, semicircle annulated column
Respectively there are 2 threaded holes on body top surface, for installing connection motor 2, the other side is internal diameter than 3 body through-holes of cross link block
The slightly larger circle ring column in aperture, circle ring column is interior to place two deep groove ball bearings 5, has 2 threaded holes on cylinder bottom surface, for connecting
Joint bearing positioning table 6；The shaft coupling 4 is common Quincunx elastic coupler, for connecting motor 2 and rotary connection plate 11；It should
5 model GB/T276-94 61805-2Z of deep groove ball bearing, are used to support the rotary motion of rotary connection plate 11；The bearing is fixed
The shape design of position platform 6 is the different alternating share of two radiuses in left and right, and minor radius circle ring column internal diameter is justified less than large radius
Ring cylinder internal diameter, minor radius circle ring column are used for the axially position of deep groove ball bearing 5, and shape design is " recessed " shape, column
There are 2 symmetrical groovings on body side surface, respectively has 1 threaded hole on groove face, for being fixed on cross link block 3, in smaller part
There are 4 threaded holes in the bottom surface of diameter circle ring column, and for fixing small baffle ring 8, large radius circle ring column is for angular contact ball bearing 7
Axially position；7 model GB/T292-94 71912C of the angular contact ball bearing are used to support the rotation fortune of rotary connection plate 11
It is dynamic；The shape design of the small baffle ring 8 is common circular ring shape baffle ring, is used for the axially position of angular contact ball bearing 7, has 4 on bottom surface
A threaded hole, for being fixed on bearing positioning table 6；The shape design of the big baffle ring 9 is common circular ring shape baffle ring, the big baffle ring
Side be fitted in the outer ring of angular contact ball bearing 7, have 8 threaded holes on bottom surface, be fixed on by hexagon socket cap head screw
On sleeve 10, it to be used for the axially position of sleeve 10；The shape design of the sleeve 10 is the different circle ring column of upper and lower two radiuses,
Large radius cylinder internal diameter is more than minor radius cylinder internal diameter, has 8 threaded holes on large radius circle ring column bottom surface, for connecting big gear
Circle 9, large radius circle ring column is sleeved on angular contact ball bearing 7, is used for the support of rotary connection plate 11, minor radius circle ring column bottom
There are 3 threaded holes on face, for fixing rotary connection plate 11；The shape design of the rotary connection plate 11 is that main body is that rectangle is thin
There are 2 sections of connected cylindrical type boss in plate, thin plate side, and outer boss radius is smaller, for being connected by shaft coupling 4 and motor 2
It connects, there is 3 threaded holes on rectangle thin plate, for being fixed on sleeve 10, rectangle thin plate other side centre position is close to long
The both ends on side have 2 sections of perpendicular type boss, the both ends that ipsilateral penumbra is located proximate to long side to have 2 sections of shapes identical, and length is longer straight
Angle-style boss has 3 threaded holes on every section of longer perpendicular type boss, for fixing above-mentioned clamping mechanism.
The clamping mechanism is by 1 12,1, motor, 13,1 blocks of guide track block, 14,2 identical optical axis of proximate matter bottom plate
15,1 16,1, shaft coupling leading screw spiral shell of ball-screw 19,1 of identical deep groove ball bearing 18,1 of shaft coupling block 17,2
Female movable 23,1 push rods 24 of grip block of 20,1 grip blocks 22,1 of sliding block 21,1 form；Their mutual relationships
It is：Motor 12 is fixed on 13 side of guide track block by hexagon socket cap head screw, and guide track block 13 passes through interior hexagonal cylindrical head
Screw is fixed on proximate matter bottom plate 14, and 2 identical optical axises 15 are by guide track block 13, shaft coupling block 17 and grip block 22
Support, shaft coupling 16 is positioned between guide track block 13 and shaft coupling block 17, for connecting motor 12 and ball-screw 19, shaft coupling
Device block 17 is fixed on by hexagon socket cap head screw on proximate matter bottom plate 14, and 2 identical deep groove ball bearings 18 embed respectively
In the through-hole of shaft coupling block 17 and grip block 22, ball-screw 19, ball-screw 19 1 are installed in deep groove ball bearing 18
End is connected by shaft coupling 16 with motor 12, and the other end passes sequentially through feed screw nut 20, sliding block 21 is connected to grip block 22
On, grip block 22 is fixed on by hexagon socket cap head screw on proximate matter bottom plate 14, and movable grip block 23, which is bolted, to be pressed from both sides
It holds on block 22, push rod 24 is fixed on by hexagon socket cap head screw on sliding block 21；The motor 12 is stepper motor, for driving
Dynamic ball-screw 19 rotates, to be slided with movable slider 21 by feed screw nut 20；The shape design of the guide track block 13 is long
There are a square indentations in square plate, thin plate side, for placing motor 12, have a circular through hole in groove, for passing through electricity
The output shaft of machine 12, close to the position of short side, respectively there are one grooves for the thin plate other side, for installing optical axis 15, the guide track block 13
4 threaded holes are arranged at bottom, for being fixed on proximate matter bottom plate 14；The shape design of the proximate matter bottom plate 14 is rectangle plate, bottom
There are 6 threaded holes in face, and for being fixed on rotary connection plate 11, respectively there are 4 threaded holes in left and right side, is respectively used to fixation and leads
Rail block 13 and grip block 22；The shape design of the optical axis 15 is elongated cylinder, by guide track block 13, shaft coupling block 17 and folder
The support of block 22 is held, the sliding of sliding block 21 is used to support；The shaft coupling 16 is common Quincunx elastic coupler, for connecting motor
12 and ball-screw 19；The shape design of the shaft coupling block 17 is rectangle tabular, and there are three through-holes in plate face, are respectively used to
Deep groove ball bearing 18 is installed and passes through optical axis 15；The model GB/T276-94 61801-2Z of the deep groove ball bearing 18, are used for
Ball-screw 19 is supported to rotate；The shape design of the ball-screw 19 is the narrow elongated cylinder in intermediate wide both ends, intermediate cylindrical surface
On be threaded, both ends cylinder is optical axis, and both ends optical axis is respectively nested in 2 identical deep groove ball bearings 18, ball wire
Thick stick 19 and feed screw nut 20 match, for converting rotational motion into translational motion；The shape design of the feed screw nut 20
For thin elliptical plate, there are 4 threaded holes on thin plate bottom surface, for being fixed on sliding block 21, there is the circle containing through-hole on thin plate side
Pylon, for passing through ball-screw 19；The shape design of the sliding block 21 is cuboid, and rectangular body side surface is each close to the both ends of short side
There are one through-holes, for by optical axis 15, there are one the through-holes of 20 shape of feed screw nut in side centre position, for disposing leading screw
Nut 20, and by ball-screw 19, there are two threaded holes for the leading flank bottom of sliding block 21, for fixing push rod 24；The clamping
The shape design of block 22 is rectangle plate, and there are four threaded holes for side bottom end, and for being fixed on proximate matter bottom plate 14, middle part has
1 through-hole, for installing deep groove ball bearing 18, the retaining part with semi-circular recesses is protruded on top, and the retaining part both ends are each
There are one threaded holes for fixed movable grip block 23；The shape design of the activity grip block 23 and 22 top of grip block protrusion
Retaining part is symmetrical, and there are 2 threaded holes at both ends, for being fixed on grip block 22；The shape design of the push rod 24 is " fourth "
Shape, top are a rectangle thin plate, and there is a cylinder boss in thin plate bottom surface, for pushing scalpel spanner, thin plate bottom surface to have 2
A threaded hole, for being fixed on sliding block 21.
Compared with prior art, advantageous effect of the present utility model is：
1, the clamping for Transurethral prostatic electroresection A scalpel, operates instead of doctor, and the work for reducing doctor is strong
Degree；
2, in the field of medical instrument technology, there is presently no the clampings that can be used for Transurethral prostatic electroresection A scalpel
Equipment has certain novelty；
3, compact-sized, succinct, it is easy to operate, it is operated convenient for doctor；
4, easy for assemble or unload using detachable mounting means, when meeting fortuitous event, can quickly turn from mechanically actuated
Manual operation is changed to, safety is higher.
Description of the drawings
Fig. 1 is per urethra operation on prostate resectoscope clamping device entirety shaft side figure
Fig. 2 is per urethra operation on prostate resectoscope clamping device side view
Fig. 3 is per urethra operation on prostate resectoscope clamping device link block axonometric drawing
Fig. 4 is the cross link block axonometric drawing of per urethra operation on prostate resectoscope clamping device
Fig. 5 is the cross link block axonometric drawing of per urethra operation on prostate resectoscope clamping device
Fig. 6 is per urethra operation on prostate resectoscope clamping device bearing positioning table axonometric drawing
Fig. 7 is per urethra operation on prostate resectoscope clamping device rotating mechanism members axonometric drawing
Fig. 8 is per urethra operation on prostate resectoscope clamping device rotary connection plate axonometric drawing
Fig. 9 is per urethra operation on prostate resectoscope clamping device feed screw nut axonometric drawing
In figure：1, link block, 2, motor, 3, cross link block, 4, shaft coupling, 5, deep groove ball bearing, 6, bearing positioning
Platform, 7, angular contact ball bearing, 8, small baffle ring, 9, big baffle ring, 10, sleeve, 11, rotary connection plate, 12, motor, 13, guide rail gear
Block, 14, proximate matter bottom plate, 15, identical optical axis, 16, shaft coupling, 17, shaft coupling block, 18, deep groove ball bearing, 19, ball wire
Thick stick, 20, feed screw nut, 21, sliding block, 22, grip block, 23, movable grip block, 24, push rod.
Specific implementation mode
Below in conjunction with the accompanying drawings, technical solution of the present utility model is described further.
Overall structure of the present utility model is as shown in Figures 1 to 9.
A kind of per urethra operation on prostate resectoscope clamping device, including fixed mechanism, rotating mechanism and clamping mechanism, three
Person can be sequentially connected with or split.Fixed mechanism is connected with each other or is split by hexagon socket cap head screw with rotating mechanism, rotation
Mechanism and clamping mechanism are connected with each other or are split by hexagon socket cap head screw, and above-mentioned three's rotating mechanism is located at centre, Gu
Determine mechanism and divides row rotating mechanism both sides with clamping mechanism.When fixed mechanism is connect with rotating mechanism, 4 root long strips of link block 1
Projective structure is placed on 4 angles of the cross stage body of the cross link block 3 in rotating mechanism, with interior hexagonal cylindrical head spiral shell
Nail screws in the threaded hole of 4 root long strip projective structures of link block 1, and fixed mechanism is made to be fixed together with rotating mechanism.It splits
When, hexagon socket cap head screw negative direction is rotated, fixed mechanism is made to be detached from rotating mechanism.Rotating mechanism connects with clamping mechanism
When connecing, the guide track block 13 of clamping mechanism is placed in the space that 4 perpendicular type boss of the rotary connection plate 11 of rotating mechanism surround
Interior, proximate matter bottom plate 14 is placed on 11 longer perpendicular type boss of rotary connection plate, is screwed in and is rotated with hexagon socket cap head screw
In threaded hole on the longer perpendicular type boss of connecting plate 11 two, make the close connection of the two.When fractionation, by interior hexagonal cylindrical
Head screw negative direction rotation, makes rotating mechanism be detached from clamping mechanism.Wherein, the fixed mechanism link block 1 can be with mechanical arm
Connecting flange connection or split, when connection, the threaded hole of 1 bottom surface of link block is screwed in hexagon socket cap head screw, both is made
It is closely coupled.When fractionation, hexagon socket cap head screw negative direction is rotated, fixed mechanism is made to be detached from mechanical arm.The machinery
Arm can be UR5 (You Ao robots) mechanical arm.
Rotating mechanism can be connected or be split, and when connection, motor 2 is placed on symmetrical 2 in 3 side of cross link block
On a semicircle ring cylinder, is screwed in the threaded hole on semicircle ring cylinder top surface with hexagon socket cap head screw, the two is made closely to connect
It connects.When fractionation, hexagon socket cap head screw negative direction is rotated, motor 2 is made to be detached from cross link block 3.Motor 2 and shaft coupling
Device 4 can be connected or be split, and when connection, the output shaft of motor 2 is passed through in 4 one stomidium of shaft coupling, screw in included general of shaft coupling 4
Logical screw makes the two axial position fix.When fractionation, plain screw negative direction is rotated, motor 2 is made to be detached with shaft coupling 4.
Shaft coupling 4 is placed between 2 semicircle ring cylinders of 3 side of cross link block.2 identical deep groove ball bearings 5 are embedded in cross
In the circle ring column of type link block 3.Bearing positioning table 6 is sleeved on the circle ring column of cross link block 3, when connection, with interior six
Angle fillister head screw screws in the threaded hole on the grooving groove face of bearing positioning table 6, makes cross link block 3 and bearing positioning table
6 are fixed together.When fractionation, hexagon socket cap head screw negative direction is rotated, makes cross link block 3 and bearing positioning table 6
It is detached from.Angular contact ball bearing 7 is sleeved on the minor radius circle ring column of bearing positioning table 6.Small baffle ring 8 is attached to bearing positioning table 6
On the bottom surface of minor radius circle ring column, when connection, screwed in hexagon socket cap head screw in the threaded hole of small baffle ring 8, by small gear
Circle 8 is fixed on bearing positioning table 6, while fixing the inner ring of angular contact ball bearing 7.When fractionation, by interior hexagonal cylindrical head spiral shell
Negative direction rotation is followed closely, small baffle ring 8 and bearing positioning table 6 is made to be detached from.The side of big baffle ring 9 is fitted in the outer of angular contact ball bearing 7
Circle, the large radius circle ring column of sleeve 10 are sleeved on angular contact ball bearing 7, and big baffle ring 9 can be connected with each other or tear open with sleeve 10
Point, when connection, the threaded hole of big baffle ring 9 is screwed in hexagon socket cap head screw, is secured it on sleeve 10.It, will when fractionation
Hexagon socket cap head screw negative direction rotates, and the two is made to be detached from.Rotary connection plate 11 is fixed on by hexagon socket cap head screw
On sleeve 10, the smaller cylindrical type boss of 11 radius of rotary connection plate connects shaft coupling 4.
Clamping mechanism can be connected or be split, and when connection, motor 12 is positioned over the side square indentations of guide track block 13
It is interior, it is screwed in hexagon socket cap head screw in the threaded hole of guide track block 13, the two is made to be fixed together.When fractionation, by interior six
Angle fillister head screw negative direction rotation, makes the two be detached from.Guide track block 13 and proximate matter bottom plate 14 can be connected with each other or split, even
When connecing, the side of guide track block 13 is tightly attached on proximate matter bottom plate 14, guide track block 13 is screwed in hexagon socket cap head screw
In threaded hole, guide track block 13 is made closely to be connect with proximate matter bottom plate 14.When fractionation, hexagon socket cap head screw negative direction is revolved
Turn, the two is made to detach.Optical axis 15 is supported by guide track block 13, shaft coupling block 17 and grip block 22, and shaft coupling 16, which is positioned over, leads
Between rail block 13 and shaft coupling block 17.Shaft coupling 16 can be connected with each other or split with motor 12, when connection, motor 12
Output shaft is placed in the circular hole of shaft coupling 16, screws in the included plain screw of shaft coupling 16, and the two axial position is made to fix.It splits
When, by the common screw negative direction rotation that makes a decision, motor 12 is made to be detached with shaft coupling 16.Shaft coupling block 17 can be with proximate matter bottom plate 14
It is connected with each other or splits, when connection, screwed in hexagon socket cap head screw in the threaded hole of proximate matter bottom plate 14, make shaft coupling block
17 closely connect with proximate matter bottom plate 14.When fractionation, hexagon socket cap head screw negative direction is rotated, the two is made to detach.Shaft coupling
17 through-hole of block is embedded to be cased with deep groove ball bearing 18, and ball-screw 19,19 one end of ball-screw are equipped in deep groove ball bearing 18
It is connected with motor 12 by shaft coupling 16, the other end passes sequentially through feed screw nut 20, and sliding block 21 is passed into another deep-groove ball
In the hole of bearing 18, the deep groove ball bearing 18 is in 22 through-hole of grip block.Grip block 22 can be mutual with proximate matter bottom plate 14
Connection is split, and when connection, grip block 22 is fitted on proximate matter bottom panel side, and grip block is screwed in hexagon socket cap head screw
In the threaded hole of 22 sides bottom end, grip block 22 and proximate matter bottom plate 14 is made closely to connect.When fractionation, by hexagon socket cap head screw
Negative direction rotates, and the two is made to detach.Movable grip block 23 can be connected with each other or split with grip block 22 by bolt, nut.
It when connection, is screwed in bolt in the threaded hole of grip block 22, tightens nut, grip block 22 and movable grip block 23 is made closely to connect
It connects.When fractionation, the rotation of nut negative direction makes the two detach.Push rod 24 can be connected with each other or split with sliding block 21, when connection,
It is screwed in hexagon socket cap head screw in the threaded hole of 24 rectangle thin plate bottom surface of push rod, makes the close connection of the two.It, will when fractionation
Hexagon socket cap head screw negative direction rotates, and examination push rod 24 is detached from sliding block 21.
The present utility model works in the following manner：Fixed mechanism is fixed on by hexagon socket cap head screw
On mechanical arm, and Transurethral prostatic electroresection A scalpel is placed between grip block 22 and movable grip block 23, with bolt and
Grip block 22 and movable grip block 23 are fixed together by nut, meanwhile, the cylindrical type stock of push rod 24 is placed in scalpel
In circular ring shape spanner.First, the pose for adjusting mechanical arm changes the present utility model per urethra prostate hand connected therewith
The pose of art resectoscope clamping device, and then change the pose of Transurethral prostatic electroresection A scalpel, realize scalpel to disease
The positioning of people's lesions position.Secondly, the rotary connection plate 11 being attached thereto is driven to rotate by shaft coupling 4 by motor 2, in turn,
It is rotated with the clamping mechanism that rotary connection plate 11 is connected, clamping mechanism drives connected Transurethral prostatic electroresection A scalpel rotation
Turn, realizes the pivoting of scalpel, change the excision angle of scalpel.Finally, by motor 12 by shaft coupling 16 drive with
Connected ball-screw 19 rotate, realize the axial movement for the sliding block 21 being connected with feed screw nut 20, and then realize and sliding block
The axial movement of 21 connected push rods 24 pushes scalpel spanner by push rod 24, realizes the axial stretching of scalpel cutting ring.Electricity
When machine 12 rotates forward, push rod 24 is driven to advance, push scalpel spanner, releases scalpel cutting ring, after cutting ring is completely out,
Motor 12 reversely rotates, and push rod 24 is driven to retreat, and is detached from scalpel spanner, and scalpel cutting ring is sprung back under self structure
In situ, in the springback process, doctor controls the energization pedal of cutting ring by stepping on, and completes once resecting.Repeatedly, directly
It is completed to operation.
It is schematical above by reference to the attached drawing description of this invention, without restricted, those skilled in the art should
It is understood that in actual implementation, certain changes may occur for the shape of each component and layout type in the present invention；And at this
Under the enlightenment of invention, other staff can also make the similar design with the present invention or make modification and some structure to the present invention
The equivalent replacement of part.In particular, it should be pointed out that as long as it does not depart from the design purpose of the present invention, all obvious changes with
And the similar Design with equivalent replacement, it is all included in the scope of protection of the present invention.
Claims (7)
1. a kind of per urethra operation on prostate resectoscope clamping device, it is characterised in that：It is by fixed mechanism, rotating mechanism and
Clamping mechanism forms；
Fixed mechanism is connected with each other or is split by hexagon socket cap head screw with rotating mechanism, and rotating mechanism and clamping mechanism are logical
Hexagon socket cap head screw is crossed to be connected with each other or split, in this three of above-mentioned fixed mechanism, rotating mechanism, clamping mechanism, rotation
Mechanism is located at centre, and fixed mechanism divides row rotating mechanism both sides with clamping mechanism.
2. per urethra operation on prostate resectoscope clamping device according to claim 1, fixed mechanism are characterized in that：
It is made of 1 link block (1), and the shape design of the link block (1) is 1 block length square floor, has 4 screw threads logical on bottom plate
Hole, the corner location of bottom plate side 4 protrude 4 root long strip structures, and 4 root long strip projective structures are in one end side far from bottom plate
Respectively there is 1 tapped through hole.
3. per urethra operation on prostate resectoscope clamping device according to claim 1, rotating mechanism are characterized in that：
It is by 1 motor (2), 1 cross link block (3), 1 shaft coupling (4), 2 identical deep groove ball bearings (5), 1 axis
Hold positioning table (6), 1 angular contact ball bearing (7), 1 small baffle ring (8), 1 big baffle ring (9), 1 sleeve (10), 1 rotation
Connecting plate (11) forms；
Motor (2) is fixed on 2 symmetrical semicircle annulated columns of cross link block (3) side by hexagon socket cap head screw
On body, the output shaft of motor (2) is connected in (4) one stomidium of shaft coupling, and shaft coupling (4) is placed between 2 semicircle ring cylinders, and 2
In the circle ring column of cross link block (3) other side, bearing positioning table (6) passes through interior a identical deep groove ball bearing (5)
Hexagonal cylindrical head screw is fixed on the circle ring column of cross link block (3), and angular contact ball bearing (7) is sleeved on bearing positioning table
(6) on minor radius circle ring column, small baffle ring (8) leans against angular contact ball bearing (7) outside, is fixed on by hexagon socket cap head screw
On bearing positioning table (6), big baffle ring (9) and sleeve (10) are sleeved on angular contact ball bearing (7) outside, and big baffle ring (9) passes through interior hexagonal
Fillister head screw is fixed on sleeve (10), and sleeve (10) connects rotary connection plate (11), rotation by hexagon socket cap head screw
Turn one end connection shaft coupling (4) of connecting plate (11), the other end connects above-mentioned clamping mechanism.
4. per urethra operation on prostate resectoscope clamping device according to claim 1, clamping mechanism are characterized in that：
It is by 1 motor (12), 1 guide track block (13), 1 piece of proximate matter bottom plate (14), 2 identical optical axises (15), 1 shaft coupling
(16), 1 shaft coupling block (17), 2 identical deep groove ball bearings (18), 1 ball-screw (19), 1 feed screw nut
(20), 1 sliding block (21), 1 grip block (22), 1 movable grip block (23), 1 push rod (24) composition；
Motor (12) is fixed on guide track block (13) side by hexagon socket cap head screw, and guide track block (13) passes through interior hexagonal
Fillister head screw is fixed on proximate matter bottom plate (14), and 2 identical optical axises (15) are by guide track block (13), shaft coupling block (17)
It is supported with grip block (22), shaft coupling (16) is positioned between guide track block (13) and shaft coupling block (17), for connecting rolling
Ballscrew (19) and motor (12), shaft coupling block (17) are fixed on by hexagon socket cap head screw on proximate matter bottom plate (14), and 2
A identical deep groove ball bearing (18) is embedded in respectively in the through-hole of shaft coupling block (17) and grip block (22), deep groove ball bearing
(18) ball-screw (19) is installed in, ball-screw (19) one end is connected by shaft coupling (16) with motor (12), another
End passes sequentially through feed screw nut (20), sliding block (21) is connected on grip block (22), and grip block (22) passes through interior hexagonal cylindrical head
Screw is fixed on proximate matter bottom plate (14), and movable grip block (23) is bolted on grip block (22), and push rod (24) passes through
Hexagon socket cap head screw is fixed on sliding block (21).
5. per urethra operation on prostate resectoscope clamping device according to claim 1, it is characterised in that：The whirler
Structure realizes pivoting with clamping mechanism under the drive of motor (2), realizes the pivoting of scalpel, changes cutting for scalpel
Except angle.
6. per urethra operation on prostate resectoscope clamping device according to claim 1, it is characterised in that：Clamping mechanism exists
The axial movement that push rod (24) is realized under the drive of motor (12), realizes the axial stretching of scalpel cutting ring.
7. per urethra operation on prostate resectoscope clamping device according to claim 1, it is characterised in that：The device is consolidated
Determine mechanism be connected with mechanical arm, it can be achieved that scalpel posture adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720128897.5U CN207821902U (en) | 2017-02-10 | 2017-02-10 | A kind of per urethra operation on prostate resectoscope clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720128897.5U CN207821902U (en) | 2017-02-10 | 2017-02-10 | A kind of per urethra operation on prostate resectoscope clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207821902U true CN207821902U (en) | 2018-09-07 |
Family
ID=63383568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720128897.5U Active CN207821902U (en) | 2017-02-10 | 2017-02-10 | A kind of per urethra operation on prostate resectoscope clamping device |
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| CN (1) | CN207821902U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667580A (en) * | 2017-02-10 | 2017-05-17 | 中国医学科学院北京协和医院 | Resectoscope clamping device for transurethral resection of prostate |
| CN110448384A (en) * | 2019-07-31 | 2019-11-15 | 宝鸡市安元智能科技有限公司 | Transurethral resection of prostate operation resectoscope scalpel clamping device |
| CN110567746A (en) * | 2019-09-17 | 2019-12-13 | 哈尔滨理工大学 | Experimental system for simulating measurement of prostate movement in vivo |
| CN112545651A (en) * | 2019-09-26 | 2021-03-26 | 王君臣 | Transurethral resectoscope surgical robot actuator |
| WO2021057246A1 (en) * | 2019-09-26 | 2021-04-01 | 王君臣 | Transurethral resectoscope surgical robot actuator |
-
2017
- 2017-02-10 CN CN201720128897.5U patent/CN207821902U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667580A (en) * | 2017-02-10 | 2017-05-17 | 中国医学科学院北京协和医院 | Resectoscope clamping device for transurethral resection of prostate |
| CN110448384A (en) * | 2019-07-31 | 2019-11-15 | 宝鸡市安元智能科技有限公司 | Transurethral resection of prostate operation resectoscope scalpel clamping device |
| CN110567746A (en) * | 2019-09-17 | 2019-12-13 | 哈尔滨理工大学 | Experimental system for simulating measurement of prostate movement in vivo |
| CN112545651A (en) * | 2019-09-26 | 2021-03-26 | 王君臣 | Transurethral resectoscope surgical robot actuator |
| WO2021057246A1 (en) * | 2019-09-26 | 2021-04-01 | 王君臣 | Transurethral resectoscope surgical robot actuator |
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