CN217066611U

CN217066611U - Automatic pressing system for enteroscopy-free operation

Info

Publication number: CN217066611U
Application number: CN202123200739.1U
Authority: CN
Inventors: 曾俊彦; 张晟; 夏庆华; 赵文杰; 冯陆颖; 胡润晴; 金波; 杨灿军
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-07-29
Anticipated expiration: 2031-12-20

Abstract

The utility model relates to a no intestines mirror operation technical field discloses an automatic system of pressing of no intestines mirror operation, its structure includes base, lead screw slider mechanism, robotic arm subassembly and gripper subassembly a pair of guide rail support of fixed mounting installs the motor support on the guide rail support of top on the base install the motor on the motor support, the motor links with lead screw slider mechanism, the robotic arm subassembly is still being connected in the lead screw slider mechanism the gripper arm subassembly is still installed to the tip of robotic arm subassembly. The technical effect is that the height position of the mechanical arm is adjusted through the lead screw slider mechanism, the angle of the mechanical paw is finely adjusted through the hydraulic support rod, and the mechanical paw is linked by the spiral spring to adjust the opening size of the paw, so that the body of a patient can be better fastened, medical workers are prevented from pressing the body of the patient in person, the use amount of the medical workers during a non-enteroscope operation is reduced, and the labor intensity of the medical workers during the non-enteroscope operation is reduced.

Description

Automatic pressing system for enteroscopy-free operation

Technical Field

The utility model relates to a no intestines mirror operation technical field specifically is an automatic pressing system of no intestines mirror operation.

Background

The non-invasive enteroscopy operation is performed by a nurse or a doctor, the patient is in a lateral position, and the nurse is required to press the body of the patient, so that the phenomenon that the body of the patient moves during the operation is prevented.

Currently, the existing enteroscopy automatic compression system has some defects, such as; the automatic pressing system of current no intestines mirror operation can not let and press the palm and press patient's health automatically, and medical personnel need press patient's health in person, has increased the use amount to medical personnel when no intestines mirror operation, has increased the intensity of labour who protects personnel in no intestines mirror operation process, and medical personnel also can not lock the patient completely when the operation in addition, has increased the risk that patient's health removed when the operation.

In view of this, the present invention is especially provided.

Disclosure of Invention

An object of the utility model is to provide a good, convenient to use's no intestines mirror operation automatic pressing system of reliability.

In order to achieve the above object, the utility model provides a following technical scheme: the automatic pressing system for the enteroscopy operation comprises a base, a screw rod sliding block mechanism, a mechanical arm component and a mechanical gripper component, wherein a pair of guide rail supports are fixedly installed on the base, a motor support is installed on the upper guide rail support, a motor is installed on the motor support and linked with the screw rod sliding block mechanism, the mechanical arm component is further connected to the screw rod sliding block mechanism, and the mechanical gripper component is further installed at the end part of the mechanical arm component.

Further, the screw rod sliding block mechanism comprises a screw rod and a sliding block, the screw rod is installed between guide rail supports, the sliding block is installed on the screw rod, a pair of guide posts is further installed in front of the guide rail supports, the guide posts are arranged on two sides of the screw rod in a row, and guide sleeves matched with the guide posts are further correspondingly arranged on the sliding block.

Further, the manipulator arm assembly comprises fixing base, support arm, digging arm and first hydraulic support pole, the slider fixed connection of fixing base and lead screw slider mechanism, the support arm is connected on fixing base side end face, the digging arm is articulated with the support arm, and both are linked by first hydraulic support pole, the gripper assembly articulates the tip at the digging arm, and still installs the second hydraulic support pole on the digging arm, gripper assembly passes through the linkage of second hydraulic support pole with the digging arm.

Further, the mechanical gripper subassembly comprises punch holder, lower plate, loose axle and a pair of locating plate, punch holder and lower plate cooperation installation, just the homonymy of punch holder and lower plate all is formed with the extension, and is provided with coil spring between both extensions, and punch holder and lower plate use the loose axle to overcome coil spring holding power relative rotation as the axis, every locating plate one end respectively with loose axle end connection, and the other end of locating plate all is provided with clamping part, the locating plate passes through clamping part fixed connection at the digging arm tip.

Further, the second hydraulic support rod is composed of a cylinder portion and a rod portion, the cylinder portion is connected to the lower clamp plate, and the rod portion is connected to the movable arm.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the utility model discloses a lead screw slider mechanism adjustment arm height position is finely tuned mechanical gripper angle by hydraulic pressure vaulting pole, and mechanical gripper realizes the adjustment of gripper opening size by the coil spring linkage to fasten patient's health better, avoided medical personnel to press patient's health in person, to medical personnel's use amount when having reduced no enteroscope operation, reduced the intensity of labour who protects personnel in the no enteroscope operation process.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a perspective view of the automatic pressing system for enteroscopy surgery of the present invention;

FIG. 2 is a diagram showing the connection relationship between the robot arm and the gripper according to the present invention;

fig. 3 is an exploded view of the gripper of the present invention.

In the figure: the mechanical gripper comprises a base 1, a screw rod sliding block mechanism 2, a mechanical arm component 3, a mechanical gripper component 4, a guide rail support 5, a motor support 6, a motor 7, a screw rod 8, a sliding block 9, a guide post 10, a guide sleeve 11, a fixed seat 12, a supporting arm 13, a movable arm 14, a first hydraulic supporting rod 15, a second hydraulic supporting rod 16, an upper clamping plate 17, a lower clamping plate 18, a movable shaft 19, a spiral spring 20, a positioning plate 21, a clamping part 22, a cylinder part 23, a rod part 24 and an extending part 25.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

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

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected" and "disposed" are to be construed broadly, and may for example be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. To the ordinary technical personnel in this field, can understand the specific meaning in the utility model of above-mentioned term with the concrete condition, the utility model provides an electrical apparatus's model is the reference only, can be through changing different models electrical apparatus that the function is the same according to the actual use condition.

Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an automatic system of pressing of no intestines mirror operation, includes base 1, lead screw slider mechanism 2, arm components 3 and gripper assembly 4 a pair of guide rail support 5 of fixed mounting is installed on base 1 on the guide rail support 5 of top motor support 6 is installed to motor support 6 last motor 7 of installing, motor 7 and the linkage of lead screw slider mechanism 2, the arm components 3 is still being connected on the lead screw slider mechanism 2 gripper assembly 4 is still installed to the tip of arm components 3.

In this embodiment, the screw rod and slider mechanism 2 includes a screw rod 8 and a slider 9, the screw rod 8 is installed between the guide rail supports 5, the slider 9 is installed on the screw rod 8, a pair of guide posts 10 is further installed in front of the guide rail supports 5, the guide posts 10 are arranged on two sides of the screw rod 8 in rows, and a guide sleeve 11 matched with the guide posts 10 is further correspondingly arranged on the slider 9.

In this embodiment, the arm assembly 3 comprises fixing base 12, support arm 13, digging arm 14 and first hydraulic support pole 15, fixing base 12 and the slider 9 fixed connection of lead screw slider mechanism 2, support arm 13 is connected on fixing base 12 side end face, digging arm 14 is articulated with support arm 13, and both are linked by first hydraulic support pole 15, gripper assembly 4 articulates the tip at digging arm 14, and still installs second hydraulic support pole 16 on digging arm 14, gripper assembly 4 passes through second hydraulic support pole 15 with digging arm 14 and links.

In this embodiment, gripper assembly 4 comprises punch holder 17, lower plate 18, loose axle 19 and a pair of locating plate 20, punch holder 17 and the cooperation installation of lower plate 18, just the homonymy of punch holder 17 and lower plate 18 all is formed with extension 25, and is provided with coil spring 20 between both extensions 25, and punch holder 17 and lower plate 18 use loose axle 19 to overcome coil spring 20 holding power relative rotation as the axis, every locating plate 21 one end respectively with 19 end connection of loose axle, and the other end of locating plate 21 all is provided with clamping part 22, and locating plate 21 passes through clamping part 22 fixed connection at the 14 tip of loose arm.

In this embodiment, the second hydraulic support rod 15 is composed of a cylinder portion 23 and a rod portion 24, the cylinder portion 23 is connected to the lower clamp plate 18, and the rod portion 24 is connected to the movable arm 14.

When the enteroscopy surgery automatic pressing system with the structure is actually used, the screw rod 8 is driven to rotate by the motor 7, the slide block 9 on the screw rod 8 and the mechanical arm and the mechanical claw connected with the slide block 9 are synchronously linked to realize the adjustment of the height position of the mechanical claw, then the opening angle position of the movable arm 14 relative to the supporting arm 13 can be adjusted by the first hydraulic support rod 15, the angle position of the mechanical claw relative to the movable arm 14 can be adjusted by the second hydraulic support rod 16, so that the mechanical claw is more convenient for fixing the body of a patient, in the actual fixing operation process, the claw opening between the upper clamping plate 17 and the lower clamping plate 18 of the mechanical claw assembly 4 is linearly opened by the extrusion of the body of the patient, synchronously and reversely, the opening between the upper clamping plate 17 and the extension part 25 of the lower clamping plate 18 is linearly closed, the coil spring 20 is compressed, and the aforementioned paw opening will firmly grip the patient's body under the reaction force of the coil spring 20.

Conversely, when the gripper assembly is moved away from the patient's body, the gripper opening between the upper jaw 17 and the lower jaw 18 of the gripper assembly 4 is linearly closed under the force of the coil spring 20, and simultaneously, and inversely, the opening between the extensions of the upper jaw 17 and the lower jaw 18 is linearly opened and restored until the gripper assembly 4 is completely moved away from the patient, and then the lead screw slider mechanism 2 drives the gripper assembly 3 and the gripper assembly 4 to be restored for the next use.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an automatic pressing system of no enteroscopy operation, includes base, lead screw slider mechanism, robotic arm subassembly and mechanical gripper subassembly, its characterized in that: the base is fixedly provided with a pair of guide rail supports, a motor support is arranged on the upper guide rail support, a motor is arranged on the motor support and is linked with a lead screw sliding block mechanism, the lead screw sliding block mechanism is also connected with a mechanical arm assembly, and the end part of the mechanical arm assembly is also provided with a mechanical gripper assembly.

2. The enteroscopy procedure automatic compression system according to claim 1, wherein: the guide rail mechanism comprises a guide rail support, a guide rail and a guide rod sliding block mechanism, wherein the guide rod sliding block mechanism comprises a guide rod and a sliding block, the guide rod is arranged between the guide rail support, the sliding block is arranged on the guide rod, a pair of guide posts is further arranged in front of the guide rail support, the guide posts are arranged on two sides of the guide rod in a row, and a guide sleeve matched with the guide posts is further correspondingly arranged on the sliding block.

3. The enteroscopy procedure automatic compression system according to claim 1, wherein: the mechanical arm component comprises a fixing seat, a supporting arm, a movable arm and a first hydraulic supporting rod, the fixing seat is fixedly connected with a sliding block of the lead screw sliding block mechanism, the supporting arm is connected to one side end face of the fixing seat, the movable arm is hinged to the supporting arm, the movable arm and the supporting arm are linked through the first hydraulic supporting rod, the mechanical gripper component is hinged to the end portion of the movable arm, a second hydraulic supporting rod is further installed on the movable arm, and the mechanical gripper component is linked with the movable arm through the second hydraulic supporting rod.

4. The enteroscopy procedure automatic compression system according to claim 3, wherein: the mechanical gripper assembly comprises punch holder, lower plate, loose axle and a pair of locating plate, punch holder and lower plate cooperation installation, just the homonymy of punch holder and lower plate all is formed with the extension, and is provided with coil spring between both extensions, and punch holder and lower plate use the loose axle to overcome coil spring holding power relative rotation as the axis, every locating plate one end respectively with loose axle end connection, and the other end of locating plate all is provided with clamping part, the locating plate passes through clamping part fixed connection at the digging arm tip.

5. The enteroscopy procedure automated compression system of claim 4, wherein: the second hydraulic support rod is composed of a cylinder part and a rod body part, the cylinder part is connected to the lower clamping plate, and the rod body part is connected to the movable arm.