CN217138006U - Portable endoscope fixture - Google Patents
Portable endoscope fixture Download PDFInfo
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- CN217138006U CN217138006U CN202122902802.XU CN202122902802U CN217138006U CN 217138006 U CN217138006 U CN 217138006U CN 202122902802 U CN202122902802 U CN 202122902802U CN 217138006 U CN217138006 U CN 217138006U
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- portable endoscope
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- arc
- shaped rack
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Abstract
The utility model discloses a portable endoscope fixture, include: a rotary joint; a pitch joint connected to the rotational joint; and a lifting joint connected with the pitch joint; the lifting joint is connected with the portable endoscope. The utility model discloses can remove the position that oneself wanted with portable endoscope, for the medical procedure brings very big facility, improve the precision and the convenience of processes such as operation and inspection. The utility model discloses among the portable endoscope fixture, the lift joint can make portable endoscope go up and down, installs the rotary joint on the every single move joint, can be according to the arc rack motion on the every single move joint, and rotary joint can rotate under motor drive. The utility model discloses portable endoscope holder is small, and the quality is light, simple structure, convenient to use.
Description
Technical Field
The utility model relates to an endoscope fixture field, concretely relates to portable endoscope fixture.
Background
The endoscope is a detection instrument integrating traditional optics, human engineering, precision machinery, modern electronics, mathematics and software, is provided with an image sensor, an optical lens, a light source for illumination, water-gas control and the like, can enter the stomach through the oral cavity or enter the body through other natural pore canals, and can see pathological changes which cannot be displayed by other medical equipment such as X rays and the like by utilizing the endoscope. Medical instruments such as endoscopes are widely used in minimally invasive surgery for the observation or treatment of organs, cavities, channels and tissues.
At present, endoscopy or treatment is mostly performed through manual operation, the burden of doctors can be increased due to long-time operation, the operation flow is complicated, and the physical strength is high in the operation process. With the continuous development of medical instrument technology, a large number of medical automatic devices and medical robots appear, and the medical automatic devices and the medical robots are used in the medical field, so that great convenience is brought to the medical process, and the precision and the convenience of the processes such as operation and examination are improved.
SUMMERY OF THE UTILITY MODEL
The utility model provides a portable endoscope fixture can remove the position that oneself wanted with portable endoscope, brings very big facility for the medical procedure, improves precision and the convenience of processes such as operation and inspection.
A portable endoscope clamping mechanism comprising:
a rotary joint;
a pitch joint connected to the rotational joint;
and a lifting joint connected with the pitch joint;
the lifting joint is connected with the portable endoscope.
The utility model discloses in, the lift joint can make portable endoscope go up and down, installs the rotary joint on the pitch joint, can be according to the arc rack motion on the pitch joint, and rotary joint can rotate under motor drive, rotary joint's axis, pitch joint's axis, and the axis of lift joint is handed in a bit, and this point is RCM point (the heart is far away and is motionless, and three joint action in-process, the position of this point keeps unchangeable. The utility model discloses portable endoscope holder is small, and the quality is light, simple structure, convenient to use.
The rotary joint comprises:
a rotating base;
a rotary joint motor mounted on the rotary base;
the worm gear is connected with the rotary joint motor;
and the bearing seat is connected with the worm gear.
The rotary joint motor is connected with the worm gear through a synchronous belt wheel and a synchronous belt matched with the synchronous belt wheel. The rotating joint motor rotates to drive the synchronous belt wheel and the synchronous belt to move, so that the worm gear is driven to move, and the rotating joint is driven to rotate.
One end of a worm gear of the rotary joint motor is fixed on the movable seat, so that the rotary seat can rotate relative to the movable seat.
The pitch joint comprises:
an arc-shaped rack;
the moving seat is arranged on the arc-shaped rack;
a pitch joint motor mounted on the moving seat;
and the gear is arranged on the movable seat and matched with the arc-shaped rack, and the gear is driven by the pitching joint motor.
The pitch joint motor is connected with the gear through a speed reducer and a worm gear.
The pitch joint motor drives the gear to move through the speed reducer and the worm gear, the gear is matched with the arc-shaped rack and moves relatively, and therefore the moving seat can move on the arc-shaped rack.
The side of arc rack be equipped with the direction recess, the removal seat on be equipped with direction recess complex leading wheel for remove the seat and can better move along the direction recess of arc rack.
And limiting blocks are arranged at two ends of the arc-shaped rack and used for limiting the movement of two ends of the movable seat.
The lifting joint comprises:
a guide rail;
a screw rod mounted on the guide rail;
an endoscope holder mounted on the lead screw;
and the lifting joint motor drives the screw rod to rotate.
The lifting joint motor is connected with the screw rod through a speed reducer, a synchronous belt and a synchronous belt wheel to drive the screw rod to rotate, so that the endoscope holder on the screw rod is driven to move.
One end of the guide rail is provided with the lifting joint motor, and the other end of the guide rail is provided with a connecting piece which is connected with the end part of the arc-shaped rack of the pitching joint.
The axis of the rotary joint, the axis of the pitching joint and the axis of the lifting joint intersect at one point.
Compared with the prior art, the utility model has the advantages of as follows:
the utility model discloses among the portable endoscope fixture, the lift joint can make portable endoscope go up and down, installs the rotary joint on the pitch joint, can be according to the arc rack motion on the pitch joint, and rotary joint can rotate under motor drive, rotary joint's axis, pitch joint's axis, and the axis of lift joint is handed in a bit, and this point is RCM point (the heart is far away and is motionless, and three joint action in-process, the position of this point remains unchanged. The utility model discloses portable endoscope holder is small, and the quality is light, simple structure, convenient to use.
Drawings
FIG. 1 is a schematic structural view of a portable endoscope holding mechanism of the present invention;
FIG. 2 is a schematic structural view of the portable endoscope clamping mechanism of the present invention;
FIG. 3 is a schematic structural view of the portable endoscope clamping mechanism of the present invention;
fig. 4 is a schematic structural view of a middle rotary joint and a pitch joint of the present invention;
fig. 5 is a schematic structural view of a middle rotary joint and a pitch joint of the present invention;
fig. 6 is a schematic structural view of the middle lifting joint of the present invention.
Detailed Description
The portable endoscope holding mechanism of the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, a portable endoscope clamping mechanism mainly comprises three parts: rotary joint 1, every single move joint 2, lift joint 3 includes: a rotary joint 1; a pitch joint 2 connected to the rotary joint 1; and a lifting joint 3 connected with the pitching joint 2; the elevation joint 3 is connected to a portable endoscope 4, and the portable endoscope 4 is attached to the elevation joint 3.
As shown in fig. 4 and 5, the rotary joint 1 mainly includes: motor 101 (namely rotary joint motor 101), L type apron 102, speed reducer 103, apron 104, synchronous pulley 105, hold-in range 106, worm gear 107, bearing frame 108, rotation axis 109, deep groove ball bearing 110, thrust bearing 111, lock nut 112, rotary joint 1 specifically includes: the rotating seat can rotate relative to the moving seat; a rotary joint motor 101 mounted on the rotary base; a worm gear 105 connected to the rotary joint motor 101; and a bearing seat 108 connected with the worm gear 105. The roating seat includes: an L-shaped cover plate 102 and a cover plate 104.
The rotary joint motor 101 is connected to a worm gear 105 via a timing pulley 105 and a timing belt 106 engaged with the timing pulley 105. The rotating joint motor 101 rotates to drive the synchronous belt wheel 105 and the synchronous belt 105 to move, so as to drive the worm wheel 105 to move, and further drive the rotating joint 101 to rotate.
One end of a worm gear 105 of the rotary joint motor 101 is fixed to the movable base so that the rotary base can rotate relative to the movable base.
The pitch joint 2 mainly includes: a pitch joint motor 201, a speed reducer 202, a worm gear 203, a pitch shaft 204, a gear 205, an arc-shaped rack 206, a guide wheel 207, a limit block 208 and a pitch shell 209. The pitch joint 2 specifically includes: an arc-shaped rack 206; a movable seat mounted on the arc-shaped rack 206; a pitch joint motor 201 installed on the moving base; and a gear 205 which is arranged on the movable seat and matched with the arc-shaped rack, wherein the gear 205 is driven by the pitch joint motor 201. Gear 205 is mounted on pitch shaft 204. The locomotion board is composed of a pitch housing 209.
The pitch joint motor 201 is connected to a gear 205 via a speed reducer 202 and a worm gear 203.
The pitch joint motor 201 drives the gear 205 to move through the speed reducer 202 and the worm gear 203, the gear 205 is matched with the arc-shaped rack 206 to perform relative movement, and therefore the moving seat can move on the arc-shaped rack 206.
The side of the arc-shaped rack 206 is provided with a guide groove, and the moving seat is provided with a guide wheel 207 matched with the guide groove, so that the moving seat can better move along the guide groove of the arc-shaped rack 206.
Two ends of the arc-shaped rack 206 are provided with limit blocks 208 for limiting the movement of the two ends of the movable base.
As shown in fig. 6, the lifting joint 3 mainly includes: lifting joint motor 301, speed reducer 302, hold-in range 303, synchronous pulley 304, trapezoidal lead screw 305, guide rail 306, endoscope holder 307, lift base 308, micro-gap switch 309, connecting piece 310, lifting joint 3 specifically includes: a guide rail 306; a screw 305 (i.e., a trapezoidal screw 305) mounted on a guide rail 306; an endoscope gripper 307 mounted on the screw 305; and a lifting joint motor 301 for driving the screw 305 to rotate.
The screw 305 is matched with a slide block, the endoscope holder 307 is arranged on the slide block, and the lifting joint motor 301 is connected with the screw 305 through a speed reducer 302, a synchronous belt 303 and a synchronous belt pulley 304, and drives the screw 305 to rotate so as to drive the endoscope holder 307 on the screw 305 to move.
One end of the guide rail 306 is provided with a lifting joint motor 301, and the other end of the guide rail 306 is provided with a connecting piece 310 which is connected with the end part of the arc-shaped rack of the pitching joint.
The axis of the rotary joint 1, the axis of the pitching joint 2 and the axis of the lifting joint 3 intersect at one point.
The utility model discloses in, lift joint 3 can make portable endoscope 4 go up and down, installs rotary joint 1 on pitch joint 2, can be according to the arc rack 206 motion on pitch joint 2, and rotary joint 1 can rotate under motor drive, rotary joint 1's axis, pitch joint 2's axis, and lift joint 3's axis is handed in a bit, and this point is RCM point (the incessant motionless point), and three joint action in-process, the position of this point keeps unchangeable. The utility model discloses portable endoscope holder is small, and the quality is light, simple structure, convenient to use.
The above-mentioned detailed description of the technical solution and the beneficial effects of the present invention have been described in detail, it should be understood that the above is only the most preferred embodiment of the present invention, not used for limiting the present invention, any modification, supplement, equivalent replacement, etc. made within the principle scope of the present invention should be included within the protection scope of the present invention.
Claims (9)
1. A portable endoscope clamping mechanism, comprising:
a rotary joint;
a pitch joint connected to the rotational joint;
and a lifting joint connected with the pitch joint;
the lifting joint is connected with the portable endoscope;
the pitch joint comprises:
an arc-shaped rack;
the moving seat is arranged on the arc-shaped rack;
a pitch joint motor mounted on the moving seat;
and the gear is arranged on the movable seat and matched with the arc-shaped rack, and the gear is driven by the pitching joint motor.
2. The portable endoscope retaining mechanism of claim 1, wherein the rotational joint comprises:
a rotating base;
a rotary joint motor mounted on the rotary base;
the worm gear is connected with the rotary joint motor;
and the bearing seat is connected with the worm gear.
3. The portable endoscope clamping mechanism of claim 2, wherein the rotary joint motor is connected with the worm gear through a synchronous pulley and a synchronous belt matched with the synchronous pulley.
4. The portable endoscope retaining mechanism of claim 1, wherein the pitch joint motor is coupled to the gear via a speed reducer and a worm gear.
5. The portable endoscope clamping mechanism according to claim 1, characterized in that a guide groove is provided on the side of the arc-shaped rack, and a guide wheel matched with the guide groove is provided on the moving seat;
and two ends of the arc-shaped rack are provided with limiting blocks.
6. The portable endoscope retaining mechanism of claim 1, wherein the elevation joint comprises:
a guide rail;
a screw rod mounted on the guide rail;
an endoscope holder mounted on the lead screw;
and the lifting joint motor drives the screw rod to rotate.
7. The portable endoscope clamping mechanism of claim 6, wherein the elevation joint motor is connected to the lead screw through a speed reducer, a synchronous belt and a synchronous pulley.
8. The portable endoscope retaining mechanism of claim 6, wherein the elevation joint motor is disposed at one end of the guide rail, and a connecting member is disposed at the other end of the guide rail and connected to an end of the arc-shaped rack of the elevation joint.
9. The portable endoscope retaining mechanism of claim 1, wherein the axis of the rotation joint, the axis of the pitch joint, and the axis of the elevation joint intersect at a point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122902802.XU CN217138006U (en) | 2021-11-23 | 2021-11-23 | Portable endoscope fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122902802.XU CN217138006U (en) | 2021-11-23 | 2021-11-23 | Portable endoscope fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217138006U true CN217138006U (en) | 2022-08-09 |
Family
ID=82685072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122902802.XU Active CN217138006U (en) | 2021-11-23 | 2021-11-23 | Portable endoscope fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217138006U (en) |
-
2021
- 2021-11-23 CN CN202122902802.XU patent/CN217138006U/en active Active
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