CN2676858Y - Mirror supporter - Google Patents

Mirror supporter Download PDF

Info

Publication number
CN2676858Y
CN2676858Y CNU2003201182324U CN200320118232U CN2676858Y CN 2676858 Y CN2676858 Y CN 2676858Y CN U2003201182324 U CNU2003201182324 U CN U2003201182324U CN 200320118232 U CN200320118232 U CN 200320118232U CN 2676858 Y CN2676858 Y CN 2676858Y
Authority
CN
China
Prior art keywords
fixed
arm
laparoscope
spatial
mechanical arm
Prior art date
Application number
CNU2003201182324U
Other languages
Chinese (zh)
Inventor
周星
周芳坚
李艳芳
郭爱军
Original Assignee
周星
周芳坚
李艳芳
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 周星, 周芳坚, 李艳芳 filed Critical 周星
Priority to CNU2003201182324U priority Critical patent/CN2676858Y/en
Application granted granted Critical
Publication of CN2676858Y publication Critical patent/CN2676858Y/en

Links

Abstract

The utility model relates to a laparoscope supporter which belongs to auxiliary medical appliances for laparoscopic operation. The utility model comprises a fixing clip, a mechanical arm and a fixing bracket, wherein, the mechanical arm can make any spatial motions, one end of the mechanical arm is connected with the fixing clip, and the other end of the mechanical arm is connected to the fixing bracket. Owing to the adoption of the mechanical arm which can accomplish spatial three-dimensional motions and rotary motions and maintain any structures at a spatial position at which the motion stops when arbitrary spatial motions are finished, when a laparoscope is fixed on the fixing clip connected with the mechanical arm, the field of view of the laparoscope can be adjusted at will. When in laparoscopic operation, a doctor for supporting the laparoscope is saved; meanwhile, a surgeon can adjust the field of view of the laparoscope conveniently according to the will; additionally, the utility model can also be used for controlling other endoscopes such as thoracoscopes, cystoscopes, fiberbronchoscopes, etc. The utility model has the advantages of labor cost saving, easy operation, safety, reliability, reduction of the labor intensity of doctors and reduction of the operation time.

Description

扶镜器 Help Mirrors

技术领域 FIELD

本实用新型涉及一种腹腔镜手术的辅助医疗器械,特别是控制腹腔镜运动及保持运动位置的扶镜器。 The present invention relates to a medical instrument assisted laparoscopic surgery, especially laparoscopic motion control and movement of the mirror holder Rotary position.

背景技术 Background technique

现有技术中,进行腹腔镜手术时,除主刀的手术医生外,还需要一名专职的手术医生扶持腹腔镜,负责控制腹腔镜的角度,进入腔内的深度,以控制腹腔镜的观察视野。 The prior art, when laparoscopic surgery, in addition to the surgeon's surgeon, but also a full-time physician support for laparoscopic surgery, laparoscopic responsible for controlling the angle, into the depth of the cavity to control the observation field of laparoscopy . 主刀医生把要观察的视野通过语言表达给扶镜医生,通过扶镜医生的操作来实现,但有时扶镜医生并不能完全或及时领会主刀医生的意念,造成手术时间的延误;同时,在长达几小时的扶镜过程中,扶镜医生的劳动强度也大,手臂容易疲劳。 Surgeon the visual field to be observed by language to help mirror the doctor, is achieved by operating Rotary mirror of a doctor, but sometimes help mirror the doctor does not fully or timely grasp surgeon ideas, resulting in delay in surgery time; at the same time, in the long Rotary mirror in the process for several hours, labor intensity help doctors mirror is also large, arm fatigue. 现有技术中,尚无一种自动的腹腔镜扶镜器来解决这一临床问题。 The prior art, there is no an automatic laparoscopic Rotary mirror is to solve this clinical problem.

发明内容 SUMMARY

扶镜器,包括固定卡(1)、机械臂(2)和固定支架(3),其特征在于可进行空间任意运动的机械臂(2)的一端连接固定卡(1),另一端连接在固定支架(3)上。 Rotary mirror comprising a fixed card (1), arm (2) and the fixing bracket (3), characterized in that the end of arm (2) can be connected and fixed to the spatial movement of any card (1), the other end is connected (3) on the mounting bracket.

——上述机械臂(2)是能完成空间三维运动和旋转运动,且当空间任意运动完成后又能保持运动终止时的空间位置的任何结构的机械臂;如连杆结构、柔性臂结构。 - the above-mentioned arm (2) is able to complete the three-dimensional space and rotational movement, and when any motion is complete space while maintaining the spatial configuration of the robot arm in any position when the movement terminates; such as the link structure, a flexible arm structure.

——上述固定卡(1)是能固定腹腔镜或其他内窥镜的连接装置或夹紧固定结构,如U型夹、套筒结构。 - the fixed card (1) is connected to means capable of fixing or clamping laparoscopy or other fixed structure of the endoscope, such as a U-shaped clip, the sleeve structure.

——上述固定支架(3)是能固定和支撑机械臂(2)的移动式或固定式支架,如固定在手术床边缘的悬臂式支架,固定在天花板上的悬吊式固定座、移动悬臂式支架。 - the fixing bracket (3) can be fixed and the support arm (2) of the mobile or stationary bracket fixed to the operating table as the edge of the cantilever bracket, fixed to the suspended ceiling mounts, gibbet bracket.

本实用新型之扶镜器,由于采用了能完成空间三维运动和旋转运动,且当空间任意运动完成后又能保持运动终止时的空间位置的任何结构的机械臂,当腹腔镜固定在与机械臂相连的固定卡上时,可任意的调节腹腔镜的观察视野,腹腔镜手术时,减少了一名扶镜的医生,节约了劳动成本,同时主刀医生可以按照自己的意念方便地调整腹腔镜的观察视野,操作简单,安全可靠。 Rotary mirror of the present invention, a result of the robotic arm to complete a three-dimensional configuration of any and rotational movement space, and when any motion is completed while maintaining the spatial position of the spatial movement terminates when the mechanical fixing laparoscopic when the card is connected to the fixed arm, the observation field can be arbitrarily adjusted laparoscope, laparoscopic surgery, a reduced mirror help doctors, labor cost savings, while the surgeon can easily adjust their own ideas laparoscopic the field of observation, simple, safe and reliable. 另外,本产品还可以用来控制其它内窥镜如:胸腔镜、膀胱镜、支纤镜等,降低医生的劳动强度,缩短手术时间。 Further, this product can also be used to control other such endoscopy: thoracoscope, cystoscope, fiber branched like a mirror, reduce labor intensity doctor, shorten the operation time.

附图说明 BRIEF DESCRIPTION

图1是本实用新型之棱形连杆式机械臂的扶镜器的结构示意图。 FIG 1 is a schematic diagram of the present invention, the prismatic mirror-link manipulator's help.

图2是图1之AA剖视图。 FIG 2 is a cross-sectional view AA of FIG.

图3是图1之AA剖视图。 FIG 3 is a cross-sectional view AA of FIG.

图4是本实用新型之连杆式机械臂的扶镜器的结构示意图。 FIG 4 is a schematic diagram of the structure supporting the mirror device of the present invention, the link arm robots.

图5是本实用新型之柔性臂的扶镜器的结构示意图。 FIG 5 is a schematic diagram of the structure supporting the mirror device of the present invention a flexible arm.

图6是本实用新型之带球关节的机械臂的扶镜器的结构示意图。 FIG 6 is a schematic diagram of the structure of the robot arm supporting the mirror device of the present invention of the ball joint.

图7是图6之BB剖视图。 7 is a sectional view BB of FIG.

图8是图6之BB剖视图。 FIG 8 is a sectional view BB of FIG.

图9是图6之CC剖视图。 FIG 9 is a sectional view CC of FIG.

图10是图6之CC剖视图。 FIG 10 is a sectional view CC of FIG.

上述图中:1为固定卡,2为机械臂,3为固定支架,4为腹腔镜,5为穿刺鞘管,6为腹膜,7为连杆,8为销钉,9为螺钉,10为旋转轴,11为柔性臂,12为柔性臂连接杆,13为球关节,14为定位钮,14-1为定位钮壳体,14-2为定位钮弹簧,14-3为定位钮按钮,14-4为定位钮按钮防护胶盖,14-5为定位钮的定位卡,14-6为定位钮的紧固螺钉,15为硅橡胶圈。 These figures: 1 is fixed to the card, for the robot arm 2, the mount bracket 3, 4 laparoscope, puncture sheath 5, 6 of the peritoneum, connecting rod 7, 8 of the pin, a screw 9, 10 to rotate axis, a flexible arm 11, a flexible arm connecting rod 12, a ball joint 13, 14 of the positioning button, the button housing positioned 14-1, 14-2 for the positioning of the button spring, positioning knob button 14-3, 14 -4 positioning knob button protective plastic cover, positioning button 14-5 positioning cards 14-6 positioning knob fastening screws, a silicone rubber ring 15.

具体实施例实施例1:采用棱形连杆式结构的机械臂的扶镜器本实施例中,扶镜器的机械臂(2)采用了棱形连杆式结构(7),旋转轴(10)可以进行360度旋转,棱形连杆式结构的机械臂(2)可以调节固定卡(1)的空间运动方向和旋转角度,机械臂(2)固定在固定支架(3)上,腹腔镜(4)固定在腹腔镜固定卡(1)上,穿过穿刺鞘管(5)进入腹腔内。 DETAILED EXAMPLES Example 1: The prismatic structure of the robot arm rod supporting the mirror of the present embodiment, the mirror's Rotary arm (2) using the link prismatic structure (7), the axis of rotation ( spatial direction of movement and the rotation angle 10) can rotate 360 ​​degrees, the robot arm link prismatic structure (2) can be adjusted retaining tab (1), the arm (2) in a fixed bracket (3), intraperitoneal a mirror (4) is fixed to the fixing laparoscope card (1), through the puncture sheath (5) into the abdominal cavity. 腹腔镜固定卡(1)可以有多种设计方案,通常采用U型夹或套筒式结构,参考图1、图2、图3。 Laparoscopic fixing clip (1) may have various designs, usually U-shaped clip or a sleeve-type structure, with reference to FIG 1, FIG 2, FIG 3.

实施例2:采用连杆式结构的机械臂的扶镜器本实施2例中,扶镜器的机械臂采用了连杆式结构,旋转轴(10)可以360度旋转,调节连杆(7)之间的夹角,可以调节与连杆相连的固定卡(1)的空间位置和倾斜角度,从而调节固定在固定卡(1)上的腹腔镜(4)的空间位置和倾斜角度。 Example 2: A link type robot arm structure supporting the mirror in embodiment 2 of the present embodiment, the mirror's help link structure using a robot arm, the rotating shaft (10) can rotate 360 ​​degrees, adjustment link (7 angle between), can be adjusted and fixed rod connected to the card (1) the spatial position and angle of inclination, thereby adjusting the fixing is fixed on the card (1) laparoscopic (4) the spatial position and tilt angle.

实施例3:采用柔性臂结构的扶镜器本实施例中,采用了可以任意变形,且能保持变形后形状的柔性臂(11)作为机械臂(2),当需要调节腹腔镜(4)的位置和倾斜角度时,使柔性臂(11)作相应的变形,并保持变形后的形状和空间位置,达到调节腹腔镜(4)的位置和角度的目的。 Example 3: a flexible arm structure supporting the mirror of the present embodiment, the deformation may be arbitrarily employed, and can maintain the shape after deformation of the flexible arm (11) as the arm (2), when necessary to adjust the laparoscope (4) the position and tilt angle, the flexible arm (11) for the corresponding deformation, and maintain the shape after deformation and the spatial position, to regulate laparoscope (4) of the object position and angle.

实施例4:机械臂采用球关节与连杆相接合的结构的扶镜器在本实施例中,机械臂(2)的上端采用了球关节(13),球关节(13)连接的连杆(7)可作空间旋转运动,调节腹腔镜(4)的空间位置和倾斜角度;当球关节(13)不动时,通过调节连杆(7)之间的夹角也能在一定范围内调节腹腔镜(4)的空间位置和倾斜角度。 Rotary mirror device link manipulator using a ball joint and the link in the engaged configuration of the present embodiment, the upper end of arm (2) using a ball joint (13), a ball joint (13): Example 4 (7) a rotational movement space available for adjusting the spatial position and inclination angle laparoscope (4); and when the ball joint (13) fixed, by adjusting the angle between the connecting rod (7) can be within a certain range in laparoscopic adjusting (4) the spatial position and tilt angle. 当球关节(13)和连杆(7)都不动时,通过定位钮(14)也可以调整固定卡(1)在连杆(7)上的相对位置,调整腹腔镜(4)深入腹腔内的距离,从而调节腹腔镜的视野(参考图6)。 When the ball joint (13) and connecting rod (7) do not move and to be adjusted by the positioning knob (14) fixed to the card (1) position relative to the connecting rod (7) is adjusted to a laparoscope (4) abdominal cavity depth distance in order to adjust the field of view of the laparoscope (refer to FIG. 6). 固定腹腔镜(4)的固定卡(1)可以采用多种技术方案,如采用U形夹结构,它能方便的将腹腔镜(4)卡住或取下(参考图7);也可以采用套筒式结构,插入腹腔镜(4)后,导致硅橡胶圈(15)适度变形,从而将腹腔镜(4)固定住,需取出时,只需轻轻拔出即可(参考图8)。 Laparoscopic fixed (4) of the fixing clip (1) may take a variety of technical solutions, such as the U-shaped clip structure that can easily be laparoscope (4) or remove the jammed (see FIG. 7); can also be used sleeve-type structure, the laparoscope is inserted into (4), resulting in a silicone rubber ring (15) appropriately deformed so that the laparoscope (4) fixed, takes removed with just be pulled out (refer to FIG. 8) . 定位钮(14)可以采用只要能固定和松弛固定卡(1)和机械臂(2)之间相对位置的任何结构;通常可以采用凹凸配合的卡位式结构和紧固螺钉结构,还可以采用偏心轮结构等。 Positioning knob (14) may be employed as long as the relaxation of the retaining tab and the fixed (1) and the relative position of the robot arm in any structure (2); latching structure generally fastening screw and female mating structures may be employed, may be employed eccentric structure. 图14展示了一种凹凸配合的定位钮结构,当向下压动定位钮按钮(14-3)时,定位钮的定位卡(14-5)向上翘起,固定卡(1)可以在机械臂(2)上滑动,当松弛定位钮按钮(14-3)时,定位卡(14-5)卡在机械臂(2)的凹槽内,能锁死固定卡(1)与机械臂(2)之间的相对位置。 Figure 14 shows the structure of a positioning knob with irregularities when the button is pressed down movable positioning button (14-3), the positioning knob locator card (14-5) upward tilt, fixing the card (1) can be mechanically the slide arm (2), when relaxed positioning knob button (14-3), the positioning card (14-5) in the recess card arm (2) can be locked to the retaining tab (1) and the arm ( the relative position between the two). 图10展示了一种紧固螺钉结构的定位钮(14),当旋紧紧固螺钉(14-6),能固定机械臂(2)与固定卡(1)之间的相对位置,当松弛紧固螺钉(14-6),能调节机械臂(2)与固定卡(1)之间的相对位置。 Figure 10 shows the positioning knob (14) A fastening screw structure, when the relative position between the tightening fastening screws (14-6), can be fixed arm (2) and the retaining tab (1), when the slack fastening screw (14-6), can be adjusted relative position between the arm (2) and the retaining tab (1).

应该注意,本文中公开和说明的结构可以用其它效果相同的结构代替,同时本实用新型所介绍的实施例并非实现本实用新型的唯一结构。 It should be noted that the structure disclosed and described herein may be replaced by other structures with the same effects, while the embodiments described embodiment of the present invention is not to achieve a unique structure of the present invention. 虽然本实用新型的优先实施例已在本文中予以介绍和说明,但本领域内的技术人员都清楚知道这些实施例不过是举例说明而已,本领域内的技术人员可以做出无数的变化、改进和代替,而不会脱离本实用新型,因此,应按照本实用新型所附的权利要求书的精神和范围来的限定本实用新型的保护范围。 While the invention preferred embodiments have to be introduced and explained in this article, but skilled in the art are well aware of these embodiments are merely illustrative, and those skilled in the art may make numerous changes, improvements and substitutions without departing from the present invention, therefore, claimed in the present invention should be in accordance with the appended claims define the scope of the present invention to protect the spirit and scope of the.

Claims (8)

1.扶镜器,包括固定卡(1)、机械臂(2)和固定支架(3),其特征在于可进行空间任意运动的机械臂(2)的一端连接固定卡(1),另一端连接在固定支架(3)上。 1. Rotary mirror comprising a fixed card (1), arm (2) and the fixing bracket (3), characterized in that the end of arm (2) can be connected and fixed to the spatial movement of any card (1), the other end connected to the fixing bracket (3).
2.根据权利要求1所述的扶镜器,其特征在于所述机械臂(2)是能完成空间三维运动和旋转运动且当空间任意运动完成后又能保持运动终止时的空间位置的连杆结构的机械臂。 The Rotary mirror device according to claim 1, wherein said robot arm (2) is able to complete the three-dimensional spatial and rotational movement, and when any motion is completed while maintaining the spatial position of the spatial movement even termination manipulator rod structure.
3.根据权利要求1所述的扶镜器,其特征在于所述机械臂(2)是能完成空间三维运动和旋转运动且当空间任意运动完成后又能保持运动终止时的空间位置的柔性臂结构的机械臂。 The Rotary mirror device according to claim 1, wherein said robot arm (2) is able to complete the three-dimensional spatial and rotational movement, and when any motion is complete space while maintaining the spatial position when the flexible movement of the termination manipulator arm structure.
4.根据权利要求1所述的扶镜器,其特征在于所述固定卡(1)是能固定腹腔镜或其他内窥镜的U型夹。 The Rotary mirror device according to claim 1, wherein said retaining tab (1) is capable of other endoscopic or laparoscopic fixed U-shaped clip.
5.根据权利要求1所述的扶镜器,其特征在于所述固定卡(1)是能固定腹腔镜或其他内窥镜的套筒结构的夹紧固定装置。 5. Rotary mirror device according to claim 1, wherein said retaining tab (1) is a clamping sleeve structure fixing apparatus can fix the laparoscope or other endoscope.
6.根据权利要求1所述的扶镜器,其特征在于所述固定支架(3)是能固定和支撑机械臂(2)的固定在手术床边缘的悬臂式支架。 6. Rotary mirror device according to claim 1, wherein said fixing bracket (3) can be fixed and the support arm (2) is fixed to the edge of the operating table cantilever bracket.
7.根据权利要求1所述的扶镜器,其特征在于所述固定支架(3)是能固定和支撑机械臂(2)的固定在天花板上的悬吊式固定座。 The Rotary mirror device according to claim 1, wherein said fixing bracket (3) can be fixed and the support arm (2) fixed on a suspended ceiling holder.
8.根据权利要求1所述的扶镜器,其特征在于所述固定支架(3)是能固定和支撑机械臂(2)的移动悬臂式支架。 8. Rotary mirror device according to claim 1, wherein said fixing bracket (3) can be fixed and the support arm (2) movement of the boom bracket.
CNU2003201182324U 2003-11-19 2003-11-19 Mirror supporter CN2676858Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2003201182324U CN2676858Y (en) 2003-11-19 2003-11-19 Mirror supporter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2003201182324U CN2676858Y (en) 2003-11-19 2003-11-19 Mirror supporter

Publications (1)

Publication Number Publication Date
CN2676858Y true CN2676858Y (en) 2005-02-09

Family

ID=34581002

Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2003201182324U CN2676858Y (en) 2003-11-19 2003-11-19 Mirror supporter

Country Status (1)

Country Link
CN (1) CN2676858Y (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102406496A (en) * 2011-11-08 2012-04-11 龙刚 Steering and locating mechanism for endoscope

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102406496A (en) * 2011-11-08 2012-04-11 龙刚 Steering and locating mechanism for endoscope

Similar Documents

Publication Publication Date Title
US7699855B2 (en) Sterile surgical adaptor
US5984867A (en) Surgical retractor and method of retracting
JP5996592B2 (en) Surgical drape
US6758843B2 (en) Remote center positioner
US9339341B2 (en) Direct pull surgical gripper
US20030060927A1 (en) Removable infinite roll master grip handle and touch sensor for robotic surgery
US20090292299A1 (en) Offset remote center manipulator for robotic surgery
JP3476878B2 (en) Surgical manipulator
JP2014004682A (en) Robotic arm with five-bar linkage spherical mechanism
US5810712A (en) Surgical endoscope support and pivot
US8157793B2 (en) Manipulator for medical use
US8400094B2 (en) Robotic surgical system with patient support
US7435219B2 (en) Surgical retractor positioning device
US5931832A (en) Methods for positioning a surgical instrument about a remote spherical center of rotation
US5591203A (en) Anastomosis cuff manipulator tool
JP2011183154A (en) System and method for transferring power to intrabody instrument
US9962228B2 (en) Length conservative surgical instrument
US20080091072A1 (en) Manipulator
JP2009514610A (en) Manipulator using multiple deformable elongated members
JP4624572B2 (en) Endoscope
US6206903B1 (en) Surgical tool with mechanical advantage
US8998799B2 (en) Sterile surgical adaptor
US9643325B2 (en) System for positioning on a patient an observation and/or intervention device
US7691098B2 (en) Platform link wrist mechanism
US9295524B2 (en) Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
C17 Cessation of patent right