CN216754601U

CN216754601U - Operating rod for micromanipulation

Info

Publication number: CN216754601U
Application number: CN202122944616.2U
Authority: CN
Inventors: 毛临风; 谢超; 史振志
Original assignee: Guangzhou Huayuehang Medical Technology Co ltd
Current assignee: Guangzhou Huayuehang Medical Technology Co ltd
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-06-17
Anticipated expiration: 2031-11-25

Abstract

The utility model relates to the technical field of medical instruments, and discloses an operating rod for micro-operation, which comprises a base, a rod body and a displacement sensing part, wherein the rod body is arranged on the base and rotates around a rotation center, the rotation center is positioned on the axis of the rod body, the rod body comprises a handle end, the handle end is provided with a mode switching part for switching an operation mode, and the displacement sensing part is used for measuring the displacement of the rod body. According to the operating rod for the micro-operation, the occupied space of the operating system controller is small, the operating hand feeling of a user is improved, the operating complexity is reduced, and the stability, reliability and maintainability of the system are improved.

Description

Operating rod for micromanipulation

Technical Field

The utility model relates to the technical field of medical instruments, in particular to an operating rod for micromanipulation.

Background

The micromanipulation product adopts a control method of combining a hydraulic inverted rocker and an electric upright operating rod, and has the following defects:

the occupied space is large, and the space of a test platform for carrying out the micromanipulation is limited;

secondly, when different operation modes are operated, switching between two sets of control equipment is needed, and the control is inconvenient;

the maintenance of the hydraulic system is more troublesome than that of an electric system;

in addition, the micromanipulation product adopts an electric upright operating rod with an inner ring-dead zone-outer ring control mode, wherein the inner ring is controlled in a position mode, the outer ring is controlled in a speed mode, and a transition zone in the middle is a dead zone without response; it is provided with spring means at the outer ring, which spring means will spring the operating lever back to the dead zone or inner ring when the user releases the control of the operating lever, with the following disadvantages:

the operation range of the inner ring position mode is limited, and compared with an operation rod with the same size, the effective range is smaller and the resolution is lower;

when the operation is carried out at the edge of the inner ring, the operation is easy to enter the dead zone by mistake, so that the operation hand feeling is influenced;

and thirdly, when the speed mode of the outer ring stops due to the design of the spring, the outer ring needs to be stopped after the spring rebounds the operating rod to a dead zone, and the outer ring has a certain braking distance and influences the operation hand feeling.

Regardless of the fact that the elastic materials such as the spring and the elastic rubber have certain service life, after a certain number of use times, the elastic force is weakened, and after the operating rod rebounds, the phenomenon that the operating rod does not return to the inner ring and remains on the outer ring may occur, so that the motor cannot stop moving.

SUMMERY OF THE UTILITY MODEL

The purpose of the utility model is: the operating rod for the micro-operation is provided, the occupied space of the operating system controller is small, the operating hand feeling of a user is improved, the operating complexity is reduced, and the stability, reliability and maintainability of the system are improved.

In order to achieve the above object, the present invention provides an operating rod for micromanipulation, including a base, a rod body and a displacement sensing portion, wherein the rod body is mounted on the base and rotates around a rotation center, the rotation center is located on an axis of the rod body, the rod body includes a handle end, the handle end is provided with a mode switching portion for switching an operation mode, and the displacement sensing portion is used for measuring a displacement of the rod body.

Preferably, the rod body comprises a rotating part, a damping adjusting device is arranged at the joint of the rod body and the base, and the rotating part is rotatably installed on the damping adjusting device and the contact surface of the rotating part and the damping adjusting device is spherical.

Preferably, the damping adjusting device comprises a damping ring and an adjusting piece, the adjusting piece is installed on the base, the damping ring is installed in the adjusting piece, the adjusting piece is connected with the rotating portion, and the damping ring is sleeved on the outer peripheral wall of the rotating portion.

Preferably, a mounting cavity matched with the outer contour of the rotating part in shape is formed in the adjusting part, the rotating part is movably mounted in the mounting cavity, the adjusting part comprises an upper adjusting part and a lower adjusting part in threaded connection with the upper adjusting part, and the upper adjusting part can move relative to the lower adjusting part along the axial direction of the adjusting part so as to adjust the damping between the rotating part and the damping ring.

As a preferred scheme, the handle end is located the upper end of the rod body, the handle end extends to the top of the base, the rotating part is located the middle section of the rod body, the damping adjusting device is installed at the top of the base, the lower end of the rod body is located in the base, the lower end face of the rod body is away from the bottom surface of the base by a set distance, and the displacement sensing part is arranged in the base.

As preferred scheme, displacement response portion includes magnet and magnetic induction core subassembly, magnet install in the lower extreme of the body of rod, magnet with magnetic induction core subassembly magnetism is felt signal connection, magnetic induction core subassembly position with magnet corresponds the setting.

Preferably, the magnet is sleeved on the outer wall of the rod body, and fixing parts fixed with the rod body are arranged at two axial ends of the magnet.

Preferably, the magnetic induction core assembly is installed below the corresponding magnet, and the axial projection of the fixing piece at the lower end of the magnet is smaller than that of the magnet.

As preferred scheme, magnetic induction core subassembly includes magnetic induction chip and circuit board, the magnetic induction chip install in on the circuit board, the magnetic induction chip with circuit board signal connection, the magnetic induction chip with magnet magnetism is felt signal connection.

Preferably, the mode switching unit is a control button located on an outer peripheral wall of the handle end.

Compared with the prior art, the operating rod for micromanipulation in the embodiment of the utility model has the beneficial effects that: the body of rod is installed in the base, and the base is as the main support of the body of rod, moves around the axis of the body of rod through the operation body of rod and carries out the micromanipulation. The handle end serves as the location for the operation of the grab bar body. In addition, the mode switching part on the handle end can be used for switching the operation modes, so that different operation modes can be selected, the effective operation range and the resolution of the rod body are improved, the mode switching operation is simple, the operation efficiency is improved, and meanwhile, the occupied space of the micro-operation system controller is reduced. The displacement sensing part is used for measuring the moving distance and direction of the rod body during moving operation so as to correspondingly control the microscopic operation.

Drawings

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.

Fig. 2 is a schematic view of an installation structure of the damping adjustment device and the rotating part according to the embodiment of the utility model.

In the figure:

10. a base;

20. a rod body; 21. a handle end; 22. a rotating part; 23. a control key; 24. a fixing member;

30. a damping adjustment device; 31. a damping ring; 32. an adjustment member; 33. an upper adjustment member; 34. a lower adjustment member;

40. a displacement sensing section; 41. a magnet; 42. a magnetic induction chip; 43. a circuit board.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. used herein are used to indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "connected," "fixed," and the like are used in a broad sense, and for example, the terms "connected," "connected," and "fixed" may be fixed, detachable, or integrated; the connection can be mechanical connection or welding connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 2, an operation stick for micromanipulation according to a preferred embodiment of the present invention includes a base 10, a stick body 20, and a displacement sensing portion 40, the stick body 20 is mounted on the base 10 and rotates around a rotation center, the rotation center is located on an axis of the stick body 20, the stick body 20 includes a handle end 21, the handle end 21 is provided with a mode switching portion for switching an operation mode, and the displacement sensing portion 40 is used for measuring a displacement of the stick body 20.

In the joystick for micromanipulation of the present invention, the stick body 20 is mounted on the base 10, and the base 10 serves as a main support of the stick body 20, and micromanipulation is performed by rotating the joystick body 20 around the rotation center. The grip end 21 serves as a location where the grab bar body 20 operates. The mode switching part on the handle end 21 is used for switching the operation modes, so that the effective operation range of the rod body 20 is large, the resolution ratio is high, the mode switching operation is simple, the operation efficiency is improved, and the occupied space of the micro-operation system controller is reduced. The displacement sensing part 40 measures the moving distance and direction of the rod 20 during moving operation, and controls the micro-operation accordingly.

Further, as shown in fig. 1 to 2, a damping adjustment device 30 is disposed at a connection portion of the rod 20 and the base 10, the rod 20 includes a rotating portion 22, the rotating portion 22 is rotatably mounted on the damping adjustment device 30, and a contact surface of the rotating portion 22 and the damping adjustment device 30 is spherical, so as to ensure smoothness when the rotating portion 22 and the damping adjustment device 30 slide relatively. The rotating portion 22 is at least partially rotatably mounted within the damper adjustment device 30. Rotation portion 22 rotates and installs in damping adjusting device 30, and damping adjusting device 30 has limiting displacement to rotation portion 22, prevents that rotation portion 22 from taking place the dislocation at the rotation in-process, and damping adjusting device 30 is used for adjusting the operation when the body of rod 20 removes and feels, realizes adjusting user's operation through adjusting the installation elasticity between damping adjusting device 30 and the rotation portion 22 and feels, makes the operation feel more accord with user's custom.

Further, as shown in fig. 1 to 2, the damping adjustment device 30 includes a damping ring 31 and an adjusting member 32, the adjusting member 32 is mounted on the base 10, the damping ring 31 is mounted in the adjusting member 32, the adjusting member 32 is connected to the rotating portion 22, and the damping ring 31 is sleeved on the outer peripheral wall of the rotating portion 22. The extrusion degree of the damping ring 31 to the rotating part 22 is changed through the adjusting part 32, and the friction force between the rotating part 22 and the damping ring 31 is adjusted, so that the rod body 20 is positioned without influencing the operation hand feeling of a user.

Further, as shown in fig. 1 to 2, a mounting cavity matched with the outer contour of the rotating part 22 is formed in the adjusting part 32, the rotating part 22 is movably mounted in the mounting cavity, the handle end 21 is controlled to enable the rotating part 22 to rotate relatively in the mounting cavity, the adjusting part 32 comprises an upper adjusting part 33 and a lower adjusting part 34 in threaded connection with the upper adjusting part 33, and the upper adjusting part 33 can move relative to the lower adjusting part 34 along the axial direction of the adjusting part 32 to adjust the damping between the rotating part 22 and the damping ring 31. Go up regulating part 33 and rotate through regulating screw thread relatively lower regulating part 34, increase or reduce the installation intracavity space, change regulating part 32 to the extrusion force value of damping circle 31, and then adjust the frictional force between rotation portion 22 and the damping circle 31, realize that the body of rod 20 is fixed simultaneously not influence user's operation and feel. Specifically, the upper adjusting member 33 drives the rotating portion 22 to move towards the lower adjusting member 34 through the adjusting screw, so that the distance between the upper adjusting member 33 and the lower adjusting member 34 is shortened, the friction force between the rotating portion 22 and the damping ring 31 is increased, and conversely, the friction force between the rotating portion 22 and the damping ring 31 is reduced. Specifically, the rotating portion 22 is spherical, the rotating portion 22 is located in the middle of the rod 20, the handle end 21 is located at the upper end of the rod 20, and the lower end of the rod 20 is located in the base 10. The inner wall of the adjusting piece 32 is provided with a mounting cavity with a shape matched with the outer contour of the rotating part 22, and the rotating part 22 is rotatably mounted in the mounting cavity.

Further, as shown in fig. 1, the handle end 21 is located at the upper end of the rod 20, the handle end 21 extends to the upper side of the base 10, the rotating portion 22 is located at the middle section of the rod 20, the damping adjustment device 30 is installed at the top of the base 10, the lower end of the rod 20 is located in the base 10, the lower end surface of the rod 20 has a set distance from the bottom surface of the base 10, and the displacement sensing portion 40 is located in the base 10. The handle end 21 is located above the base 10 for the user to operate, the rotating portion 22 is disposed in the middle section of the rod 20 and fixed by the damping adjusting device 30, so that the lower end surface of the rod 20 is away from the bottom surface of the base 10 by a predetermined distance, the lower end of the rod 20 has a large rotating range, the operation precision is improved, and the rotating range of the rod 20 is prevented from being reduced due to the positioning of the rod 20. The displacement sensing part 40 is installed in the base 10, so that the displacement sensing part 40 is prevented from being affected by the outside, and the displacement sensing accuracy of the rod body 20 is improved.

The displacement sensing part 40 can be a potentiometer or a rotary encoder, and the displacement sensing part 40 is mounted on the rod 20. The displacement sensing part 40 is a laser sensor, and the displacement sensing part 40 is installed at one end of the rod body 20 or in the base 10 and measures displacement change through laser.

Further, as shown in fig. 1, the displacement sensing portion 40 includes a magnet 41 and a magnetic induction core assembly, the magnet 41 is installed at the lower end of the rod body 20, the magnet 41 is connected with the magnetic induction core assembly through a magnetic induction signal, and the magnetic induction core assembly is correspondingly disposed on the magnet 41. The magnetic induction core assembly further forms a displacement change signal corresponding to the micromanipulation of the operation rod through the position change of the induction magnet 41. The combination of the magnet 41 and the magnetic induction core assembly is less influenced by environmental factors, has low requirements on the processing precision and the gap of the structural member, and has strong reliability and manufacturability.

Further, as shown in fig. 1, the magnet 41 is sleeved on the outer wall of the rod 20, and the fixing members 24 fixed to the rod 20 are disposed at two axial ends of the magnet 41. The magnet 41 is exposed out of the rod 20, and the magnetic induction signal is strong. The magnet 41 is fixed by the fixing member 24, so that the magnet 41 is prevented from moving in the rotating process of the rod body 20, and the corresponding accuracy of the magnetic induction signal is ensured. Specifically, the fixing member 24 is sleeved on the outer wall of the rod body 20.

Further, as shown in fig. 1, the magnetic induction core assembly is installed below the corresponding magnet 41, the fixing member 24 at the lower end of the magnet 41 is located between the magnet 41 and the magnetic induction core assembly, and an axial projection of the fixing member 24 at the lower end of the magnet 41 is smaller than an axial projection of the magnet 41, so as to avoid interference of the fixing member 24 on transmission of the magnetic induction signal between the magnet 41 and the magnetic induction core assembly.

Further, as shown in fig. 1, the magnetic induction core assembly includes a magnetic induction chip 42 and a circuit board 43, the magnetic induction chip 42 is mounted on the circuit board 43, the magnetic induction chip 42 is in signal connection with the magnet 41, the combination of the magnet 41 and the magnetic induction core assembly is less affected by environmental factors, the requirements on the processing precision and the gap of the structural member are low, and the reliability and the manufacturability are high. Preferably, the circuit board 43 is a pcb board, and the pcb board has the characteristics of high reliability, assemblability and maintainability, and contributes to simplifying the structure of the magnetic induction core assembly and facilitating maintenance.

Further, as shown in fig. 1, the mode switching portion is a control button 23, and the control button 23 is located on the outer peripheral wall of the handle end 21. The control button 23 may be a mechanical button protruding from the outer peripheral wall of the handle end 21, or the control button 23 may be a touch button flush with the outer peripheral wall of the handle end 21. Preferably, the number of the control keys 23 is one, and different operation modes are switched by setting different key modes of the control keys 23, such as single-click key modes, double-click key modes and the like, so that the number of the control keys 23 is simplified, the operation modes are simplified, and the operation efficiency and the accuracy are improved.

The working process of the utility model is as follows: when the device is used, the mode switching part and the displacement sensing part are connected with the control system, the hand is held at the hand end 21, the mode switching part and the control system are connected to switch different operation modes, the rod body 20 moves to drive the displacement sensing part 40 to move under different operation modes, the displacement sensing part 40 transmits a displacement signal of the rod body 20 to the controller, and the controller further controls the operation arm to perform corresponding micro-operation under the corresponding operation mode through the displacement signal.

In summary, the embodiment of the present invention provides an operating rod for micro-manipulation, which switches the operating modes through the mode switching portion on the handle end 21, so as to implement a large effective operating range and high resolution of the rod body 20 in different operating modes, and simultaneously, the operating modes are quickly switched through the mode switching portion without using two sets of operating devices, so that the operating rod is simple to operate, thereby facilitating the improvement of the operating efficiency and reducing the occupied space of the controller of the micro-manipulation system.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A joystick for micromanipulation, comprising: including base, the body of rod and displacement response portion, the body of rod install in base and a rotation center of rotation rotates, the center of rotation is located on the axis of the body of rod, the body of rod includes the handle end, the handle end is equipped with the mode switching portion that is used for switching operation mode, displacement response portion is used for measuring the body of rod displacement.

2. The joystick for micromanipulation of claim 1, wherein: the rod body comprises a rotating part, a damping adjusting device is arranged at the joint of the rod body and the base, and the rotating part is rotatably arranged on the damping adjusting device and the contact surface of the rotating part and the damping adjusting device is spherical.

3. The joystick for micromanipulation of claim 2, wherein: the damping adjusting device comprises a damping ring and an adjusting piece, the adjusting piece is installed on the base, the damping ring is installed in the adjusting piece, the adjusting piece is connected with the rotating portion, and the damping ring is sleeved on the outer peripheral wall of the rotating portion.

4. The joystick for micromanipulation of claim 3, wherein: the adjusting part is internally provided with a mounting cavity with the shape matched with the outer contour of the rotating part, the rotating part is movably mounted in the mounting cavity, the adjusting part comprises an upper adjusting part and a lower adjusting part in threaded connection with the upper adjusting part, and the upper adjusting part can move along the axial direction of the adjusting part relative to the lower adjusting part so as to adjust the rotating part and the damping between the damping rings.

5. The joystick for micromanipulation of claim 4, wherein: the handle end is located the upper end of the rod body, the handle end extends to the top of the base, the rotating portion is located the middle section of the rod body, the damping adjusting device is installed at the top of the base, the lower end of the rod body is located in the base, the lower end face of the rod body is away from the bottom face of the base and is provided with a set distance, and the displacement sensing portion is arranged in the base.

6. The joystick for micromanipulation of claim 1, wherein: the displacement response portion includes magnet and magnetic induction core subassembly, magnet install in the lower extreme of the body of rod, magnet with magnetic induction core subassembly magnetism is felt signal connection, magnetic induction core subassembly position with magnet corresponds the setting.

7. The joystick for micromanipulation of claim 6, wherein: the magnet sleeve is arranged on the outer wall of the rod body, and fixing parts fixed with the rod body are arranged at two axial ends of the magnet.

8. The joystick for micromanipulation of claim 7, wherein: the magnetic induction core subassembly install in the corresponding below of magnet is located the magnet lower extreme the axial projection of mounting is less than the axial projection of magnet.

9. The joystick for micromanipulation of claim 6, wherein: the magnetic induction core subassembly includes magnetic induction chip and circuit board, the magnetic induction chip install in on the circuit board, the magnetic induction chip with circuit board signal connection, the magnetic induction chip with magnet magnetism is felt signal connection.

10. The joystick for micromanipulation of claim 1, wherein: the mode switching part is a control key which is positioned on the peripheral wall of the handle end.