CN218279698U - Biopsy forceps electric control tool and mechanical arm for operation - Google Patents
Biopsy forceps electric control tool and mechanical arm for operation Download PDFInfo
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- CN218279698U CN218279698U CN202221569101.7U CN202221569101U CN218279698U CN 218279698 U CN218279698 U CN 218279698U CN 202221569101 U CN202221569101 U CN 202221569101U CN 218279698 U CN218279698 U CN 218279698U
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- biopsy forceps
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Abstract
The utility model provides a biopsy forceps electric control instrument and arm for operation through set up sliding part, fine motion portion, centre gripping unit and rotation portion on the base. The output end of the sliding part is connected with the external platform through a connecting piece, so that the tool integrally moves relative to the external platform; the micro-motion part is used for bearing the external biopsy forceps and driving the external biopsy forceps to perform micro-motion; the clamping unit is divided into a clamping jaw shaft, a movable clamping jaw and a sleeve, the clamping jaw shaft is used for connecting the movable clamping jaw and the rotating part and is used for realizing that the rotating part drives the external biopsy forceps to rotate; the sleeve is in threaded connection with the jaw shaft and is used for limiting the opening of the movable jaw, so that the movable jaw can keep a limiting state after clamping the external biopsy forceps. The utility model discloses an automatic application scene of biopsy forceps can be realized to biopsy forceps electric control instrument, through removal, the rotation of slip portion, fine motion portion and the portion of rotating realization biopsy forceps and the fine motion of activity handle on the biopsy forceps.
Description
Technical Field
The utility model belongs to the technical field of medical instrument, especially, relate to a biopsy forceps electric control instrument and arm for operation.
Background
In the medical field, biopsy forceps are indispensable tools for taking pathological specimens in endoscopy, are used for obtaining tissues in vivo and provide pathological bases for diagnosis. After the biopsy forceps extend into the body, the operator controls a tool at the front end of the biopsy forceps to realize actions such as clamping, advancing and retreating, rotation and the like.
The existing biopsy forceps are generally manually operated by an operator and cannot be realized on automatic equipment.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a biopsy forceps electric control instrument and arm for operation to solve the problem that current biopsy forceps can't realize automatic control.
In order to solve the above problem, the technical scheme of the utility model is that:
the utility model discloses a biopsy forceps electric control instrument, include:
a base;
the fixed end of the sliding part is arranged on the base;
one end of the connecting piece is connected to the output end of the sliding part, and the other end of the connecting piece is used for being connected with an external platform;
the fixed end of the micro-motion part is arranged on the base, the motion direction of the micro-motion part is the same as that of the sliding part, and the micro-motion part is used for bearing and driving external biopsy forceps to perform micro-motion;
the fixed end of the rotating part is arranged on the base;
the clamping unit comprises a clamping jaw shaft, a movable clamping jaw and a sleeve; one end of the clamping jaw shaft is connected with the output end of the rotating part, and the other end of the clamping jaw shaft is provided with the movable clamping jaw for clamping external biopsy forceps; sleeve threaded connection in the jaw axle for laminate extremely through the screw the activity clamping jaw is spacing opening of activity clamping jaw.
The utility model discloses an electric control tool of biopsy forceps, the sliding part comprises a first guide rail, a first slide block, a first screw rod and a first driving piece;
the first guide rail is arranged on the base;
the first screw rod is rotationally connected to the base;
the first sliding block is connected to the first guide rail in a sliding mode, and the first sliding block is in threaded connection with the first screw rod through a nut;
the first driving piece is arranged on the base, and the output end of the first driving piece is connected with the first screw rod and used for driving the first screw rod to rotate.
The utility model discloses a biopsy forceps electric control instrument, first driving piece is first motor, the output shaft of first motor with first lead screw links to each other through first shaft coupling.
The utility model discloses an electric control tool for biopsy forceps, the connecting piece is the clamp, just the clamp is fixed in on the first slider.
The utility model discloses an electric control tool of biopsy forceps, the micro-motion part comprises a second guide rail, a second slide block, a second screw rod and a second driving piece;
the second guide rail is arranged on the base;
the second screw rod is rotationally connected to the base;
the second sliding block is connected to the second guide rail in a sliding mode and is in threaded connection with the second lead screw through a nut; the second sliding block is provided with a clamping piece for clamping a movable handle of an external biopsy forceps;
the second driving piece is arranged on the base, and the output end of the second driving piece is connected with the first screw rod and used for driving the second screw rod to rotate.
The utility model discloses a biopsy forceps electric control instrument, the second driving piece is the second motor, the output shaft of second motor with the second lead screw passes through the second coupling and links to each other.
The utility model discloses a biopsy forceps electric control instrument, the portion of rotating includes third motor and third shaft coupling, the third motor is located on the base, just the output shaft of third motor with the clamping jaw axle links to each other through the third shaft coupling.
The utility model discloses an electric control tool of biopsy forceps, wherein the movable clamping jaw comprises a first semicircular clamping jaw and a second semicircular clamping jaw; the first semicircular clamping jaw and the second semicircular clamping jaw are respectively and rotatably connected to the clamping jaw shaft.
The utility model discloses a mechanical arm for operation, including above-mentioned arbitrary one biopsy forceps electric control instrument.
The utility model discloses owing to adopt above technical scheme, make it compare with prior art and have following advantage and positive effect:
the utility model discloses an embodiment is through setting up sliding part, fine motion portion, centre gripping unit and rotation portion on the base. The output end of the sliding part is connected with the external platform through a connecting piece, so that the tool is integrally moved relative to the external platform; the micro-motion part is used for bearing the external biopsy forceps and driving the external biopsy forceps to perform micro-motion; the clamping unit is divided into a clamping jaw shaft, a movable clamping jaw and a sleeve, the clamping jaw shaft is used for connecting the movable clamping jaw and the rotating part and is used for realizing that the rotating part drives the external biopsy forceps to rotate; the sleeve is in threaded connection with the jaw shaft and is used for limiting the opening of the movable jaw, so that the movable jaw can keep a limiting state after clamping the external biopsy forceps. The biopsy forceps electric control tool based on the embodiment can realize an automatic application scene of the biopsy forceps, and the movement and rotation of the biopsy forceps and the micro movement of the movable handle on the biopsy forceps are realized through the sliding part, the micro movement part and the rotating part.
Drawings
FIG. 1 is a schematic view of an electric control tool for a biopsy forceps according to the present invention;
FIG. 2 is a schematic view of a clamping unit of the electric control tool of the biopsy forceps of the present invention;
FIG. 3 is a schematic view showing the opening of the movable clamping jaw of the electric control tool of the biopsy forceps of the present invention;
fig. 4 is a schematic diagram of the movable clamping jaw of the biopsy forceps electric control tool of the present invention.
Description of the reference numerals: 1: a base station; 2: a first lead screw; 3: a first guide rail; 4: a connecting member; 5: a first slider; 6: a first coupling; 7: a second lead screw; 8: a second slider; 9: a second guide rail; 10: a second coupling; 11: a clamping unit; 1101: a movable clamping jaw; 1102: a sleeve; 1103: a jaw shaft; 12: a third coupling; 13: an external bioptome.
Detailed Description
The present invention provides an electric control tool for biopsy forceps and a surgical mechanical arm, which will be described in detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more fully apparent from the following description and appended claims.
Example one
Referring to fig. 1 to 3, in one embodiment, a biopsy forceps electric control tool includes a base 1, a sliding portion, a connecting member 4, a micro-moving portion, a rotating portion, and a grip unit 11.
Wherein, the fixed end of the sliding part is arranged on the base 1. One end of the connecting piece 4 is connected to the output end of the sliding part, and the other end of the connecting piece 4 is used for being connected with an external platform.
The fixed end of the micro-motion part is arranged on the base 1, and the motion direction of the micro-motion part is the same as that of the sliding part, and the micro-motion part is used for bearing and driving a movable handle of the external biopsy forceps 13 to perform micro-motion.
The fixed end of the rotating part is arranged on the base 1.
The gripper unit 11 includes a jaw shaft 1103, a movable jaw 1101, and a sleeve 1102. One end of the jaw shaft 1103 is connected to the output end of the rotating portion, and the other end of the jaw shaft 1103 is provided with a movable jaw 1101 for holding the external biopsy forceps 13. The sleeve 1102 is threaded onto the jaw shaft 1103 for threadably engaging the movable jaw 1101 and limiting the opening of the movable jaw 1101.
The present embodiment is provided by providing a sliding portion, a fine movement portion, a gripping unit, and a rotating portion on the base 1. The output end of the sliding part is connected with the external platform through a connecting piece 4, so that the tool can integrally move relative to the external platform. The micro-motion part is used for bearing the external biopsy forceps 13 and driving the external biopsy forceps 13 to perform micro-motion. The clamping unit 11 is divided into a jaw shaft 1103, a movable jaw 1101 and a sleeve 1102, wherein the jaw shaft 1103 is used for connecting the movable jaw 1101 with the rotating part, and the rotating part is used for driving the external biopsy forceps 13 to rotate. A sleeve 1102 is threaded onto the jaw shaft 1103 to limit the opening of the movable jaw 1101, so that the movable jaw 1101 can be held in a limited state after holding the external bioptome 13. The biopsy forceps electric control tool based on the embodiment can realize an automatic application scene of the biopsy forceps, and the movement and rotation of the biopsy forceps and the micro movement of the movable handle on the biopsy forceps are realized through the sliding part, the micro movement part and the rotating part.
The specific structure of the electric control tool for biopsy forceps of the present embodiment is further described below:
in the present embodiment, the sliding portion specifically includes a first guide rail 3, a first slider 5, a first lead screw 2, and a first driving member.
The first guide rail 3 is mounted on the base 1. The first screw rod 2 is rotatably connected to the base 1 and is positioned above the first guide rail 3. The first sliding block 5 is connected to the first guide rail 3 in a sliding mode, and the first sliding block 5 is in threaded connection with the first screw rod 2 through a nut. The first driving part is arranged on the base 1, and the output end of the first driving part is connected with the first screw rod 2 for driving the first screw rod 2 to rotate.
Specifically, the first driving member may be a first motor, and an output shaft of the first motor is connected to the first lead screw 2 through a first coupling 6.
Further, the connecting member 4 may be a clip, and the clip is fixed to the first slider 5.
When the sliding part operates, the first motor rotates and drives the first screw rod 2 to rotate through the first coupler 6. Because the first sliding block 5 is connected to an external platform (such as a mechanical arm for operation) through a clamp, the first sliding block 5 is fixed relative to the external platform, and the first screw rod 2 rotates to drive the whole electric control tool of the biopsy forceps to move back and forth relative to the external platform, so that the biopsy forceps can be driven to move back and forth.
In the present embodiment, the micro-motion portion may specifically include a second guide rail 9, a second slider 8, a second lead screw 7, and a second driving member.
The second guide rail 9 is provided on the base 1. The second lead screw 7 is rotatably connected to the base 1 and is positioned above the second guide rail 9. The second sliding block 8 is connected to the second guide rail 9 in a sliding mode, and the second sliding block 8 is in threaded connection with the second screw rod 7 through a nut. The second driving part is arranged on the base 1, and the output end of the second driving part is connected with the first screw rod 2 and used for driving the second screw rod 7 to rotate.
Wherein, the second slide block 8 is provided with a clamping piece for clamping a movable handle of the external biopsy forceps 13, thereby realizing the micro-motion of the front end tool on the biopsy forceps.
Specifically, the second driving member is a second motor, and an output shaft of the second motor is connected to the second lead screw 7 through a second coupling 10.
When the micro-motion part operates, the clamping piece is clamped to the movable handle of the external biopsy forceps 13, the second motor rotates and drives the second screw rod 7 to rotate, and therefore the clamping piece on the second sliding block 8 and the clamping piece on the second sliding block 8 which are connected through threads are driven to slightly move front and back.
In this embodiment, the rotating portion includes a third motor and a third coupler 12, the third motor is disposed on the base 1, and an output shaft of the third motor is connected to the jaw shaft 1103 through the third coupler 12. The third motor rotates to drive the movable clamping jaw 1101 and the clamped biopsy forceps to rotate. (since the above-mentioned moving distance of the clamping member for driving the biopsy forceps to slightly move is short, the phenomenon that the biopsy forceps is separated from the movable clamping jaw 1101 or the clamping jaw shaft 1103 is separated from the third coupling 12 does not occur).
In this embodiment, the movable jaw 1101 includes a first semi-circular jaw and a second semi-circular jaw. First semicircle clamping jaw and second semicircle clamping jaw all rotate to be connected in jaw axle 1103 through the round pin axle.
The jaw shaft 1103 is provided with a pin shaft hole and an accommodating through groove for accommodating the tail ends of the first and second semi-circular jaws. When the first and second semicircular clamping jaws are connected to the clamping jaw shaft 1103 by the pin shaft and are closed tightly, the tail ends of the two semicircular clamping jaws are located in the accommodating through groove; when the two semicircular clamping jaws are opened, the tail ends of the two semicircular clamping jaws are respectively tilted and extend out of the accommodating through groove. Therefore, the thread section of the sleeve 1102 covers the accommodating through groove part, and when the sleeve 1102 rotates to the accommodating through groove part, the tail ends of the two semicircular clamping jaws can be limited to tilt, so that the two semicircular clamping jaws are limited.
In this embodiment, the transmission method of the lead screw nut may be replaced by a transmission method such as belt transmission, which is not limited in this embodiment.
Example two
The present embodiment provides a surgical robot arm including the biopsy forceps electric control tool in the first embodiment. The base 1 is provided with a sliding part, a micro-motion part, a clamping unit and a rotating part. The output end of the sliding part is connected with the external platform through a connecting piece 4, so that the tool can integrally move relative to the external platform. The micro-motion part is used for bearing the external biopsy forceps 13 and driving the external biopsy forceps 13 to perform micro-motion. The clamping unit 11 is divided into a jaw shaft 1103, a movable jaw 1101 and a sleeve 1102, wherein the jaw shaft 1103 is used for connecting the movable jaw 1101 with a rotating part, and the rotating part is used for driving the external biopsy forceps 13 to rotate. The sleeve 1102 is threaded onto the jaw shaft 1103 to limit the opening of the movable jaw 1101, so that the movable jaw 1101 can maintain a limited state after holding the external bioptome 13. The biopsy forceps electric control tool based on the embodiment can realize an automatic application scene of the biopsy forceps, and the movement and rotation of the biopsy forceps and the micro movement of the movable handle on the biopsy forceps are realized through the sliding part, the micro movement part and the rotating part.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made in the present invention, if such changes fall within the scope of the claims and their equivalents, they are still within the scope of the present invention.
Claims (9)
1. An electric control tool for biopsy forceps, comprising:
a base;
the fixed end of the sliding part is arranged on the base;
one end of the connecting piece is connected to the output end of the sliding part, and the other end of the connecting piece is used for being connected with an external platform;
the fixed end of the micro-motion part is arranged on the base, the motion direction of the micro-motion part is the same as that of the sliding part, and the micro-motion part is used for bearing and driving external biopsy forceps to perform micro-motion;
the fixed end of the rotating part is arranged on the base;
the clamping unit comprises a clamping jaw shaft, a movable clamping jaw and a sleeve; one end of the clamping jaw shaft is connected with the output end of the rotating part, and the other end of the clamping jaw shaft is provided with the movable clamping jaw for clamping external biopsy forceps; the sleeve is in threaded connection with the jaw shaft and is used for being attached to the movable jaw through threads and limiting the opening of the movable jaw.
2. The biopsy forceps power control tool of claim 1, wherein the slide includes a first guide rail, a first slide, a first lead screw, and a first drive member;
the first guide rail is arranged on the base;
the first screw rod is rotationally connected to the base;
the first sliding block is connected to the first guide rail in a sliding mode, and the first sliding block is in threaded connection with the first lead screw through a nut;
the first driving piece is arranged on the base, and the output end of the first driving piece is connected with the first screw rod and used for driving the first screw rod to rotate.
3. The biopsy forceps power control tool of claim 2, wherein the first drive member is a first motor, and an output shaft of the first motor is coupled to the first lead screw via a first coupling.
4. The biopsy forceps power control tool of claim 2, wherein the attachment member is a collar and the collar is secured to the first slide.
5. The biopsy forceps power control tool of claim 2, wherein the jogging portion includes a second guide rail, a second slide, a second lead screw, and a second drive member;
the second guide rail is arranged on the base;
the second screw rod is rotatably connected to the base;
the second sliding block is connected to the second guide rail in a sliding mode and is in threaded connection with the second lead screw through a nut; the second sliding block is provided with a clamping piece for clamping a movable handle of an external biopsy forceps;
the second driving part is arranged on the base, and the output end of the second driving part is connected with the first screw rod and used for driving the second screw rod to rotate.
6. The biopsy forceps power control tool of claim 5, wherein the second drive member is a second motor, and an output shaft of the second motor is coupled to the second lead screw via a second coupling.
7. The biopsy forceps power control tool of claim 1, wherein the rotating portion includes a third motor and a third coupling, the third motor is disposed on the base, and an output shaft of the third motor is coupled to the jaw shaft via the third coupling.
8. The biopsy forceps power control tool of claim 1, wherein the movable jaw includes a first semi-circular jaw and a second semi-circular jaw; the first semicircular clamping jaw and the second semicircular clamping jaw are respectively connected with the clamping jaw shaft in a rotating mode.
9. A surgical robotic arm comprising an electrically controlled tool for biopsy forceps as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221569101.7U CN218279698U (en) | 2022-06-22 | 2022-06-22 | Biopsy forceps electric control tool and mechanical arm for operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221569101.7U CN218279698U (en) | 2022-06-22 | 2022-06-22 | Biopsy forceps electric control tool and mechanical arm for operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218279698U true CN218279698U (en) | 2023-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221569101.7U Active CN218279698U (en) | 2022-06-22 | 2022-06-22 | Biopsy forceps electric control tool and mechanical arm for operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218279698U (en) |
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2022
- 2022-06-22 CN CN202221569101.7U patent/CN218279698U/en active Active
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