CN219404334U - Joint type booster arm of handheld gesture controller and capsule inspection system - Google Patents

Abstract

The utility model discloses a joint type booster arm of a hand-held gesture controller, which comprises a frame, wherein a rotatable revolving arm is arranged on the frame; the rotary arm comprises a first rotary arm and a second rotary arm which are connected through a rotary knuckle bearing; the lower part of the rotary arm is connected with a controller connecting frame through a lifting rope. The utility model aims to develop a joint type booster arm of a hand-held gesture controller and a capsule inspection system which can reduce the operation weight of a doctor operating the gesture controller and facilitate position adjustment.

Description

Joint type booster arm of handheld gesture controller and capsule inspection system

Technical Field

The utility model relates to the technical field of a booster arm of a medical instrument, in particular to a joint type booster arm of a handheld gesture controller and a capsule inspection system.

Background

The handheld gesture controller is an auxiliary device of the digestive tract capsule type endoscope system, and a permanent magnet in the handheld gesture controller of the capsule type endoscope is utilized to generate a control magnetic field to control the capsule type endoscope to roll, rotate and tilt in the gastric cavity, so that the motion control and gesture adjustment of the capsule type endoscope are realized. In the clinical diagnosis process, a subject firstly needs to swallow the capsule, after the capsule enters the stomach, a doctor holds the gesture controller, enables the gesture controller to be close to the stomach of a detected person outside a human body, and slowly moves in the stomach area to search the capsule, when the gesture controller is close to the capsule, the magnetic force applied to the capsule under the action of an external magnetic field is larger and larger, the position of the capsule can be finally moved, the scene shot by a camera in the capsule can be changed, and therefore whether the capsule is found or not is judged.

However, throughout the clinical diagnostic process, the physician needs to hold the posture controller for actuation. The weight of the whole gesture controller is born by doctors, so that the problems of high labor intensity, fatigue and the like of the operated doctors are caused. In use, the position of the handheld gesture controller is required to be adjusted at any time according to the position of the capsule, and the operation strength of doctors is certainly enhanced.

Accordingly, those skilled in the art have been working to develop a hand-held posture controller joint type power assisting arm and capsule inspection system which can reduce the operation weight of a doctor's operation posture controller and facilitate position adjustment.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present utility model is to provide a joint type power assisting arm and a capsule inspection system of a hand-held posture controller, which can reduce the operation weight of a doctor operating the posture controller and facilitate the position adjustment.

In order to achieve the above purpose, the utility model provides a joint type booster arm of a hand-held gesture controller, which comprises a frame, wherein a rotatable revolving arm is arranged on the frame; the rotary arm comprises a first rotary arm and a second rotary arm which are connected through a rotary knuckle bearing; the lower part of the rotary arm is connected with a controller connecting frame through a rope which can be pulled.

Preferably, the upper end of the frame is provided with a rotary support shaft through a rotary bearing; the rotary arm is fixed with the rotary support shaft.

Preferably, the rotary arm is provided with a plurality of guide wheel sets, and the ropes sequentially pass through the guide wheel sets; one end of the rope is connected with the balancing weight, and the other end of the rope sags and is connected with the controller connecting frame.

Preferably, the first rotary arm is connected with the rotary support shaft; the controller connecting frame is arranged below the second rotary arm.

Preferably, a connecting block is arranged at one end of the first rotary arm; the connecting block is provided with a bending part connected with the rotary supporting shaft; the connection block also has an extension beyond the radial dimension of the swivel support shaft.

Preferably, the plurality of guide wheel sets sequentially comprise a first guide wheel set, a second guide wheel set, a third guide wheel set, a fourth guide wheel set, a fifth guide wheel set, a sixth guide wheel set and a seventh guide wheel set;

the first guide wheel set is arranged on the extension part, the two guide wheels are arranged in parallel left and right, and the axial center line of the guide wheels is parallel to the horizontal plane;

the second guide wheel set and the third guide wheel set are arranged at two ends of the first rotary arm; the two guide wheels of the second guide wheel set and the third guide wheel set are arranged in parallel up and down, and the axial center line of the guide wheels is parallel to the horizontal plane;

the fourth guide wheel set is arranged at the position, close to the rotary joint bearing, of the first rotary arm, and the fifth guide wheel set is arranged at the position, close to the rotary joint bearing, of the second rotary arm; the axial center line of the guide wheels is vertical to the horizontal plane;

the sixth guide wheel set and the seventh guide wheel set are arranged at two ends of the second rotary arm; and the two guide wheels of the sixth guide wheel set and the seventh guide wheel set are arranged in parallel up and down, and the axial center line of the guide wheels is parallel to the horizontal plane.

Preferably, a guide rod is arranged on the frame; the balancing weight is arranged on the guide rod in a matching way.

Preferably, the tail end of the rope is provided with a connecting ring, and the controller connecting frame penetrates through the connecting ring.

The utility model also provides a capsule inspection system which comprises the joint type booster arm of the hand-held gesture controller and a bed body, wherein the bed body is positioned below the controller connecting frame.

The beneficial effects of the utility model are as follows:

through the rope that can be pulled, gesture controller and balancing weight are connected respectively at the both ends of rope, and gesture controller installs on the controller link, utilizes the balancing weight to offset the weight of a part gesture controller, lightens doctor's operation weight of operation gesture controller, reduces intensity of labour. The height of the attitude controller in the vertical direction can be adjusted by lifting and pulling the rope. Through the arrangement of the first rotary arm and the second rotary arm, the linkage of the two rotary arms can be adjusted, so that the included angle of the two rotary arms is adjusted, the rotation radius of the gesture controller on the horizontal plane is changed, the position of the gesture controller is adjusted, and the free movement of the gesture controller in the horizontal plane is realized.

Drawings

FIG. 1 is a schematic diagram of the structure of a joint-type power assisting arm of a hand-held gesture controller of the present utility model;

FIG. 2 is an enlarged schematic view of a portion of FIG. 1 at A;

FIG. 3 is an enlarged partial schematic view at B in FIG. 1;

FIG. 4 is an enlarged partial schematic view of FIG. 1;

FIG. 5 is an enlarged partial schematic view at C in FIG. 4;

FIG. 6 is a schematic view of the structure of the connection block of the present utility model;

fig. 7 is a schematic structural view of the capsule inspection system of the present utility model.

In the above figures: 10. a joint type booster arm of the hand-held gesture controller; 1. a frame; 111. a first rotary arm; 112. a second rotary arm; 113. a slewing knuckle bearing; 12. a guide rod; 2. a rope; 21. a connecting ring; 3. the controller connecting frame; 4. a rotary support shaft; 5. a guide wheel set; 51. a first guide wheel set; 52. the second guide wheel set; 53. the third guide wheel set; 54. a fourth guiding wheel set; 55. a fifth guide wheel set; 56. a sixth guiding wheel set; 57. a seventh guide wheel set; 6. balancing weight; 7. a connecting block; 71. a bending part; 72. an extension; 20. a gesture controller; 30. a bed body.

Detailed Description

The present utility model will be further described with reference to the drawings and examples, and it should be noted that in the description of the present utility model, the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific manner, and thus should not be construed as limiting the present utility model. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and 2, the utility model provides a joint type booster arm of a hand-held gesture controller, which comprises a frame 1, wherein a coaxial slewing bearing is arranged at the upper end of the frame 1, a slewing bearing shaft 4 is arranged in the slewing bearing, and the slewing bearing shaft 4 is fixed with one end of a slewing arm, so that the slewing arm can rotate around the slewing bearing shaft 4 in a horizontal plane. Specifically, the above swing arms include a first swing arm 111 and a second swing arm 112 connected by a swing joint bearing 113 such that the first swing arm 111 can rotate with respect to the second swing arm 112. The first swing arm 111 is connected to the swing support shaft 4, and the controller connection frame 3 is provided below the second swing arm 112. The first rotating arm 111 and the second rotating arm 112 are provided with a rope 2 which can be pulled, two ends of the rope 2 naturally droop, two ends of the rope 2 are respectively connected with a controller connecting frame 3 and a balancing weight 6, and the controller connecting frame 3 is used for installing a gesture controller 20. Furthermore, the end of the rope 2 is provided with a connection ring 21, and the controller connection frame 3 passes through the connection ring 21 so that the controller connection frame 3 can freely slide in the connection ring 21 to adjust a small displacement of the installation posture controller 20.

As shown in fig. 3, the frame 1 is further provided with a guide rod 12 along the vertical direction, the balancing weight 6 is provided with a guide hole in sliding fit with the guide rod 12, the position of the balancing weight 6 is limited by the guide rod 12, and the balancing weight 6 is prevented from shaking to influence the boosting effect.

In this embodiment, through the rope 2 that can be pulled, the both ends of rope 2 connect gesture controller 20 and balancing weight 6 respectively, and gesture controller 20 installs on controller link 3, utilizes balancing weight 6 can offset the weight of a part of gesture controller 20, lightens the operation weight of doctor's operation gesture controller 20, reduces intensity of labour. By lifting and lowering the rope 2, the attitude controller 20 can make a vertical height adjustment. Through the arrangement of the first rotary arm 111 and the second rotary arm 112, the linkage of the two rotary arms can be adjusted, so that the included angle of the two rotary arms is adjusted, the rotation radius of the gesture controller 20 on the horizontal plane is changed, the position of the gesture controller 20 is adjusted, and the free movement of the gesture controller 20 in the horizontal plane is realized.

As shown in fig. 4, a plurality of guide wheel sets 5 are arranged on the first rotary arm 111 and the second rotary arm 112, each pair of guide wheel sets 5 is composed of two guide wheels with contact wheel faces, an annular groove is formed in the wheel face of each guide wheel, and the rope 2 sequentially passes through the annular groove between the two guide wheels, so that the rope 2 can be smoothly pulled under the action of the guide wheels, and lifting of two ends of the rope 2 is realized. Simultaneously, two leading wheels can also carry out spacing to rope 2, prevent the position of running of rope 2 when first revolving arm 111 and second revolving arm 112 rotate, and the setting of multiunit direction wheelset 5 can also realize the switching-over of rope 2.

As shown in fig. 4 to 6, one end of the first pivoting arm 111 is provided with a connection block 7, the connection block 7 has a bent portion 71 connected to the pivoting support shaft 4, and the connection block 7 further has an extension portion 72 exceeding the radial dimension of the pivoting support shaft 4. The plurality of guide wheel sets 5 sequentially includes a first guide wheel set 51, a second guide wheel set 52, a third guide wheel set 53, a fourth guide wheel set 54, a fifth guide wheel set 55, a sixth guide wheel set 56, and a seventh guide wheel set 57. The first guiding wheel set 51 is arranged on the extending part 72, the two guiding wheels are arranged in parallel left and right, and the axial center line of the guiding wheels is parallel to the horizontal plane. The second guide wheel set 52 and the third guide wheel set 53 are arranged at two ends of the first rotary arm 111, two guide wheels of the second guide wheel set 52 and the third guide wheel set 53 are arranged in parallel up and down, and the axial center line of the guide wheels is parallel to the horizontal plane. The fourth guide wheel set 54 is arranged at the position, close to the rotary joint bearing 113, of the first rotary arm 111, and the fifth guide wheel set 55 is arranged at the position, close to the rotary joint bearing 113, of the second rotary arm 112; the fourth guide wheel set 54 and the fifth guide wheel set 55 are respectively arranged in parallel with two guide wheels, and the axial center line of the guide wheels is perpendicular to the horizontal plane. The sixth guide wheel set 56 and the seventh guide wheel set 57 are arranged at two ends of the second rotary arm 112; the two guide wheels of the sixth guide wheel set 56 and the seventh guide wheel set 57 are arranged in parallel up and down, and the axial center line of the guide wheels is parallel to the horizontal plane.

As shown in fig. 7, the present utility model further provides a capsule inspection system, which comprises the above hand-held gesture controller joint type booster arm 10, and further comprises a bed body 30, wherein the bed body 30 is positioned below the controller connecting frame 3, so that a patient can lie down for use in a doctor.

In the embodiment, the joint type booster arm is simple in structure, low in cost, free of complex electric control and capable of counteracting the weight of the gesture controller by using a simple balancing weight. After the joint type power assisting arm is used, a doctor can easily operate the gesture controller to move in the horizontal direction and the vertical direction, and can also easily rotate the gesture controller, so that the labor intensity is reduced to a great extent, the physical energy is saved, and the diagnosis is performed for more patients.

The foregoing describes in detail preferred embodiments of the present utility model. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the utility model by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (9)

1. The utility model provides a hand gesture controller joint formula helping hand arm which characterized in that: the device comprises a frame (1), wherein a rotatable rotary arm is arranged on the frame (1); the rotary arm comprises a first rotary arm (111) and a second rotary arm (112) which are connected through a rotary knuckle bearing (113); the lower part of the rotary arm is connected with a controller connecting frame (3) through a rope (2) which can be pulled.

2. The hand-held gesture controller joint type booster arm of claim 1, wherein: the upper end of the frame (1) is provided with a rotary support shaft (4) through a rotary bearing; the rotary arm is fixed with the rotary supporting shaft (4).

3. The hand-held gesture controller joint type booster arm of claim 2, wherein: a plurality of guide wheel sets (5) are arranged on the rotary arm, and the ropes (2) sequentially penetrate through the guide wheel sets (5); one end of the rope (2) is connected with the balancing weight (6), and the other end of the rope (2) sags and is connected with the controller connecting frame (3).

4. A hand-held gesture controller joint-type booster arm as claimed in claim 3, characterized in that: the first rotary arm (111) is connected with the rotary support shaft (4); the controller connecting frame (3) is arranged below the second rotary arm (112).

5. The hand-held gesture controller joint type booster arm of claim 4, wherein: one end of the first rotary arm (111) is provided with a connecting block (7); the connecting block (7) is provided with a bending part (71) connected with the rotary supporting shaft (4); the connection block (7) also has an extension (72) exceeding the radial dimension of the swivel support shaft (4).

6. The hand-held gesture controller joint type booster arm of claim 5, wherein: the guide wheel sets (5) sequentially comprise a first guide wheel set (51), a second guide wheel set (52), a third guide wheel set (53), a fourth guide wheel set (54), a fifth guide wheel set (55), a sixth guide wheel set (56) and a seventh guide wheel set (57);

the first guide wheel set (51) is arranged on the extension part (72), the two guide wheels are arranged in parallel left and right, and the axial center line of the guide wheels is parallel to the horizontal plane;

the second guide wheel set (52) and the third guide wheel set (53) are arranged at two ends of the first rotary arm (111); two guide wheels of each of the second guide wheel set (52) and the third guide wheel set (53) are arranged in parallel up and down, and the axial center line of each guide wheel is parallel to the horizontal plane;

the fourth guide wheel set (54) is arranged at the position, close to the rotary joint bearing (113), of the first rotary arm (111), and the fifth guide wheel set (55) is arranged at the position, close to the rotary joint bearing (113), of the second rotary arm (112); the four guide wheel sets (54) and the fifth guide wheel sets (55) are respectively arranged in parallel, and the axial center line of each guide wheel is perpendicular to the horizontal plane;

the sixth guide wheel set (56) and the seventh guide wheel set (57) are arranged at two ends of the second rotary arm (112); and the two guide wheels of the sixth guide wheel set (56) and the seventh guide wheel set (57) are arranged in parallel up and down, and the axial center line of the guide wheels is parallel to the horizontal plane.

7. A hand-held gesture controller joint-type booster arm as claimed in claim 3, characterized in that: a guide rod (12) is arranged on the frame (1); the balancing weight (6) is matched and arranged on the guide rod (12).

8. The hand-held gesture controller joint type booster arm of claim 1, wherein: the tail end of the rope (2) is provided with a connecting ring (21), and the controller connecting frame (3) penetrates through the connecting ring (21).

9. A capsule inspection system, characterized by: comprising a hand-held gesture controller joint-type power assisting arm (10) according to any one of claims 1 to 8, further comprising a bed (30), the bed (30) being located below the controller connection frame (3).