CN212415895U - Unpowered handle of flexible endoscope surgical robot system - Google Patents
Unpowered handle of flexible endoscope surgical robot system Download PDFInfo
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- CN212415895U CN212415895U CN202021370448.XU CN202021370448U CN212415895U CN 212415895 U CN212415895 U CN 212415895U CN 202021370448 U CN202021370448 U CN 202021370448U CN 212415895 U CN212415895 U CN 212415895U
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- unpowered
- robot system
- handle body
- rotating shaft
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Abstract
The utility model discloses an unpowered handle of a flexible endoscope operation robot system, a mounting frame is arranged on a handle body, a horizontally extending rotating shaft is arranged on the mounting frame, a wrench is positioned at one side of the mounting frame and can be rotatably installed on the mounting frame through the rotating shaft, and an angular displacement sensor is arranged on the rotating shaft; the triaxial hall sensor is installed on the handle body. Through the unpowered handle of the flexible endoscope surgical robot system with the optimized design, the endoscope insertion tube can be driven to bend by turning the wrench, the angular displacement sensor is mounted in the handle to collect a rotation angle to generate a signal, and the handle body can be pushed to generate signals in three directions, namely front, back, left, right, upper, lower and the like through the three-axis Hall sensor switch at the bottom of the handle body, so that two driving modes of endoscope front end position conversion are realized, and the control requirement of the surgical robot system can be met.
Description
Technical Field
The utility model relates to an endoscope operation field especially relates to a soft endoscope operation robot system's unpowered handle.
Background
The handle of the common uretero-renal pelvis endoscope is integrated on an endoscope and is grasped in a hand to move in the using process. Because no positioning reference exists, the floating space is large, and the precision is not high; and the weight is relatively heavy, and the person is tired when always holding the hand.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems existing in the background technology, the utility model provides an unpowered handle of a flexible endoscope operation robot system.
The utility model provides a pair of soft endoscope operation robot system's unpowered handle, include: the handle comprises a handle body, a wrench and a three-axis Hall sensor;
the handle body is provided with a mounting frame, the mounting frame is provided with a horizontally extending rotating shaft, the wrench is positioned on one side of the mounting frame and can be rotatably mounted on the mounting frame through the rotating shaft, and the rotating shaft is provided with an angular displacement sensor; the triaxial hall sensor is installed on the handle body.
Preferably, the handle further comprises a housing mounted at the upper end of the handle body, the mounting bracket and the angular displacement sensor being located within the housing.
Preferably, the wrench is located outside the housing.
Preferably, the wrench is provided with connecting arms extending along the radial direction of the rotating shaft, and the two connecting arms are respectively located on two sides of the shell and connected with the rotating shaft.
In the utility model, the unpowered handle of the soft endoscope operation robot system is provided with a mounting frame on the handle body, a horizontally extending rotating shaft is arranged on the mounting frame, a wrench is positioned at one side of the mounting frame and can be rotatably installed on the mounting frame through the rotating shaft, and an angular displacement sensor is arranged on the rotating shaft; the triaxial hall sensor is installed on the handle body. Through the unpowered handle of the flexible endoscope surgical robot system with the optimized design, the endoscope insertion tube can be driven to bend by turning the wrench, the angular displacement sensor is mounted in the handle to collect a rotation angle to generate a signal, and the handle body can be pushed to generate signals in three directions, namely front, back, left, right, upper, lower and the like through the three-axis Hall sensor switch at the bottom of the handle body, so that two driving modes of endoscope front end position conversion are realized, and the control requirement of the surgical robot system can be met.
Drawings
Fig. 1 is a schematic structural view of an unpowered handle grip of a flexible endoscopic surgical robot system according to the present invention.
Fig. 2 is a partial structural schematic view of an unpowered handle grip of a flexible endoscopic surgical robot system according to the present invention.
Detailed Description
As shown in fig. 1 and 2, fig. 1 is a schematic structural diagram of an unpowered handle of a flexible endoscopic surgical robot system according to the present invention, and fig. 2 is a schematic partial structural diagram of an unpowered handle of a flexible endoscopic surgical robot system according to the present invention.
Referring to fig. 1 and 2, the present invention provides an unpowered handle grip of a flexible endoscopic surgical robotic system, comprising: the handle comprises a handle body 3, a wrench 4 and a three-axis Hall sensor 1;
the handle body 3 is provided with an installation frame 8, the installation frame 8 is provided with a horizontally extending rotating shaft, the wrench knob 4 is positioned on one side of the installation frame and is rotatably installed on the installation frame through the rotating shaft, and the rotating shaft is provided with an angular displacement sensor 7; the three-axis Hall sensor 1 is installed on the handle body 3.
In this embodiment, in the unpowered handle grip of the flexible endoscopic surgical robot system, a mounting frame is arranged on a handle body, a horizontally extending rotating shaft is arranged on the mounting frame, a wrench knob is positioned at one side of the mounting frame and rotatably mounted on the mounting frame through the rotating shaft, and an angular displacement sensor is arranged on the rotating shaft; the triaxial hall sensor is installed on the handle body. Through the unpowered handle of the flexible endoscope surgical robot system with the optimized design, the endoscope insertion tube can be driven to bend by turning the wrench, the angular displacement sensor is mounted in the handle to collect a rotation angle to generate a signal, and the handle body can be pushed to generate signals in three directions, namely front, back, left, right, upper, lower and the like through the three-axis Hall sensor switch at the bottom of the handle body, so that two driving modes of endoscope front end position conversion are realized, and the control requirement of the surgical robot system can be met.
In a specific embodiment, the handle further comprises a housing 5, the housing 5 is mounted at the upper end of the handle body 3, and the mounting bracket 8 and the angular displacement sensor 7 are positioned in the housing 5, and the housing protects the mounting bracket and the angular displacement sensor.
In the embodiment of the wrench, the wrench 4 is located at one side of the housing 5, so that when the handle body is held by a hand, the wrench can be conveniently pulled by a thumb.
In a further embodiment, the wrench knob 4 is provided with connecting arms 41 extending along the radial direction of the rotating shaft, and the two connecting arms 41 are respectively located at two sides of the housing 5 and connected with the rotating shaft.
In the specific working process of the unpowered handle grip of the flexible endoscope surgical robot system of the embodiment, the three-axis hall sensor is mounted on the handle body 3 and can move front and back, left and right and up and down along the direction X, Y; the external communication end collects signals through the movement of a main shaft of the three-axis Hall sensor, and sends the signals to the main control end in real time to be sent to the moving parts such as the motor and the like, so that the signals are converted into displacement. The thumb presses the wrench button 4, is connected to the angular displacement sensor through the wrench button, and when the thumb fluctuates up and down, the external communication end acquires signals through the rotation of the main shaft of the angular displacement sensor 7, and the main control end which sends the signals in real time sends the signals to the moving parts such as the motor, so that the signals are converted into displacement.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (4)
1. An unpowered handle grip for a flexible endoscopic surgical robotic system, comprising: the handle comprises a handle body (3), a wrench (4) and a three-axis Hall sensor (1);
the handle body (3) is provided with an installation frame (8), the installation frame (8) is provided with a horizontally extending rotating shaft, the wrench knob (4) is positioned on one side of the installation frame and is rotatably installed on the installation frame through the rotating shaft, and the rotating shaft is provided with an angular displacement sensor (7); the three-axis Hall sensor (1) is arranged on the handle body (3).
2. The unpowered handle grip of a soft endoscopic surgical robotic system as claimed in claim 1, further comprising a housing (5), the housing (5) being mounted at an upper end of the handle body (3), the mounting bracket (8) and the angular displacement sensor (7) being located within the housing (5).
3. The unpowered handgrip of a flexible endoscopic surgical robot system according to claim 2, wherein the wrench knob (4) is located on one side of the housing (5).
4. The unpowered handgrip handle of a flexible endoscopic surgery robot system according to claim 1, wherein the wrench knob (4) is provided with connecting arms (41) extending in a radial direction of the rotation shaft, and the two connecting arms (41) are respectively located at two sides of the housing (5) and connected with the rotation shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021370448.XU CN212415895U (en) | 2020-07-13 | 2020-07-13 | Unpowered handle of flexible endoscope surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021370448.XU CN212415895U (en) | 2020-07-13 | 2020-07-13 | Unpowered handle of flexible endoscope surgical robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212415895U true CN212415895U (en) | 2021-01-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021370448.XU Active CN212415895U (en) | 2020-07-13 | 2020-07-13 | Unpowered handle of flexible endoscope surgical robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212415895U (en) |
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2020
- 2020-07-13 CN CN202021370448.XU patent/CN212415895U/en active Active
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