CN102293626B - Endoscope clamping mechanical arm - Google Patents
Endoscope clamping mechanical armDownload PDFInfo
- Publication number
- CN102293626B CN102293626BCN 201110286808CN201110286808ACN102293626BCN 102293626 BCN102293626 BCN 102293626BCN 201110286808CN201110286808CN 201110286808CN 201110286808 ACN201110286808 ACN 201110286808ACN 102293626 BCN102293626 BCN 102293626B
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- speed reducer
- endoscope
- reducer assembly
- motor
- control system
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- 230000005540biological transmissionEffects0.000claimsdescription3
- 238000000034methodMethods0.000claimsdescription3
- 230000008569processEffects0.000claimsdescription3
- 239000011521glassSubstances0.000description11
- 230000008859changeEffects0.000description4
- 238000002324minimally invasive surgeryMethods0.000description3
- 230000000694effectsEffects0.000description2
- 238000005516engineering processMethods0.000description2
- 206010057071Rectal tenesmusDiseases0.000description1
- 206010044565TremorDiseases0.000description1
- 230000008901benefitEffects0.000description1
- 238000004891communicationMethods0.000description1
- 238000003745diagnosisMethods0.000description1
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- 201000009482yawsDiseases0.000description1
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Abstract
Description
Technical field
The invention belongs to the assistive device field of operation or diagnosis usefulness, especially relate to a kind of can clamping endoscope and can realize the medical apparatus and instruments that endoscope's degree of freedom automatic fine is regulated.
Background technology
In medical operating or diagnostic application field, enforcement minimal invasive operation or diagnostic techniques obtain using more and more widely under the endoscopic observation at present.Along with the clinical complexity of implementing Minimally Invasive Surgery improves constantly, and the fast development of endoscopic technique, the stereo endoscope that can present stereo image effect has begun to be applied to clinical Minimally Invasive Surgery, but stereo endoscope compares with general endoscope, and own vol and weight have a larger increase.Because the ordinary circumstance menisectomy all needs certain hour, it is very large to hold labor intensity and workload that the mirror doctor manually holds mirror for a long time, especially the volume of stereo endoscope is large, quality heavy, and the situation of mirror shakiness appears holding in the manually-operated meeting for a long time, thereby the impact operation is observed.No matter be general endoscope or stereo endoscope in addition, the trace adjustment in endoscope orientation in the operation, manually-operated are difficult for grasping, and hold the mirror doctor and cooperate with communicating with each other of operative doctor, also be the key factor that affects Minimally Invasive Surgery implementation result under the scope.
Summary of the invention
The matter of utmost importance that the present invention will solve provides a kind of clamping device of endoscope, can substitute and manually hold the mirror action; Next is the automatic fine adjustment that can realize the endoscopic observation angle.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of endoscope clamping manipulator comprises: mechanical hand be connected and fixeddevice 14, horizontal rotary mechanism, luffing mechanism, elevating mechanism, clamping endoscope and can make it the free-wheeling system of rotation; Mechanical hand is connected and fixed, anddevice 14 is relative with horizontal rotary mechanism to be fixedly connected with; Luffing mechanism is bearing on the horizontal rotary mechanism; Elevating mechanism is bearing on the luffing mechanism and with free-wheeling system and is connected; Each mechanism all is electrically connected with the control system of each mechanism action of control.
Further, described horizontal rotary mechanism comprises: with mechanical hand be connected and fixed driven gear 6 thatdevice 14 is fixedly connected with, be supported on the driven gear 6 and can be with it in relative rotationcircular base 7, be fixed on horizontal rotary mechanism motor and the firstspeed reducer assembly 4 on thecircular base 7, be fixed on horizontal rotary mechanism motor and the firstspeed reducer assembly 4 output shafts and with thedriving gear 5 of driven gear 6 engagements, horizontal rotary mechanism motor and the firstspeed reducer assembly 4 are electrically connected with control system.
Further, be provided with a plurality of rollers that are fixedly connected oncircular base 7 around the described driven gear 6.
Further, described luffing mechanism comprises: can rotate around it the relativecircular base 7 of axle and do thepitching yaw 15 that swings up and down, luffing mechanism motor and the secondspeed reducer assembly 13 that control pitching yaw swings, luffing mechanism motor and the secondspeed reducer assembly 13 are electrically connected with control system.
Further, be connected by the turbine and worm parafacies between luffing mechanism motor and the secondspeed reducer assembly 13 and the pitching yaw.
Further, described elevating mechanism comprises: lifting support 11, the elevating screw group that is connected withpitching yaw 15 with lifting support 11, lifting support moves up and down along the leadingscrew 12 of elevating screw group, elevating mechanism motor and the 3rd speed reducer assembly 8 are connected on the lifting support 11, and the pinion on its output shaft is meshed with the screw gear 9 of elevating screw group; Elevating mechanism motor and the 3rd speed reducer assembly 8 are electrically connected with control system.
Further, described free-wheeling system comprises: the clamping device and free-wheeling system motor and the 4thspeed reducer assembly 2 that are connected to the clamping endoscope on the lifting support, free-wheeling system motor and the 4thspeed reducer assembly 2 are in transmission connection bydriving gear set 3 with clamping device, and free-wheeling system motor and the 4thspeed reducer assembly 2 are electrically connected with control system.
Further, described control system comprises the sound control regulator that can adjust by voice control each mechanism action.
Further, described control system comprises the Multifunctional pedal device of adjusting each mechanism action by foot-operated control.
Described control system comprises the sensing mechanism be located in described each mechanism and each sensing mechanism is sent the device that signal processs and displays.
Advantage and good effect that the present invention has are:
But the general endoscope of clamping and the larger stereo endoscope of quality volume;
Mechanical hand has 4 degree of freedom, can guarantee to be held sight glass and realize rotation, revolution, lifting and wobbling action, can substitute the manually-operated of the comprehensive variation of sight glass;
The sight glass lifting action utilizes worm drive, operates steadily and can self-locking, avoids in the operation because deadweight causes the sight glass change in location, also can prevent from making because outage or other reasons are out of control the suddenly danger of tenesmus of sight glass;
Mechanical hand is provided with sound control regulator, and operative doctor can be adjusted or change sight glass position with the language commander;
Mechanical hand is provided with the Multifunctional pedal switch, can or change the sight glass position by foot-operated control adjustment, has eliminated operation doctor and the inconvenience of holding mirror doctor communication in the operation;
Mechanical hand horizontally rotate control hollow driven gear and circular base with around roller feel relieved;
Sight glass can be realized self-locking at the vertical plane wobbling action by worm gear and worm-drive, can prevent because of the danger of cutting off the power supply or other faults are toppled over sight glass.
Description of drawings
Fig. 1 is structural scheme of mechanism of the present invention
Among the figure:
1, endoscope; 2, free-wheeling system motor and the 4th speed reducer assembly; 3, driving gear set; 4, horizontal rotary mechanism motor and the first speed reducer assembly; 5, driving gear; 6, driven gear; 7, circular base; 8, elevating mechanism motor and the 3rd speed reducer assembly; 9, screw gear; 10, pinion; 11, lifting support; 12, leading screw; 13, luffing mechanism motor and the second speed reducer assembly; 14, the mechanical hand device that is connected and fixed; 15, pitching yaw.
The specific embodiment
As shown in Figure 1, the present invention includes: mechanical hand be connected andfixed device 14, horizontal rotary mechanism, luffing mechanism, elevating mechanism, clamping endoscope and can make it the free-wheeling system of rotation;
Themechanical hand device 14 that is connected and fixed can directly be connected with operation table, also can be to have one of one's own to overlap movably apparatus-form, and is convenient mobile.
Mechanical hand is connected and fixed, anddevice 14 is relative with horizontal rotary mechanism to be fixedly connected with; Luffing mechanism is bearing on the horizontal rotary mechanism; Elevating mechanism is bearing on the luffing mechanism and with free-wheeling system and is connected; Each mechanism all is electrically connected with the control system of each mechanism action of control.
Described horizontal rotary mechanism comprises: with mechanical hand be connected and fixed driven gear 6 thatdevice 14 is fixedly connected with, be supported on the driven gear 6 and can be with it in relative rotationcircular base 7, be fixed on horizontal rotary mechanism motor and the firstspeed reducer assembly 4 on thecircular base 7, be fixed on horizontal rotary mechanism motor and the firstspeed reducer assembly 4 output shafts and with thedriving gear 5 of driven gear 6 engagements, horizontal rotary mechanism motor and the firstspeed reducer assembly 4 are electrically connected with control system.The operation principle of this mechanism is: control system control horizontal rotary mechanism motor and 4 work of the first speed reducer assembly,driving gear 5 rotations on horizontal rotary mechanism motor and the firstspeed reducer assembly 4 output shafts, because driven gear 6 is fixed on mechanical hand and is connected and fixed on thedevice 14, therefore so that rotate realization revolution adjustment with the relatively-stationary circular base of driving gear.
Be enhanced stability, also can be provided with a plurality of rollers that are fixedly connected oncircular base 7 around the driven gear 6, make the rotation of circular base more stable.
Luffing mechanism comprises: luffing mechanism motor and the secondspeed reducer assembly 13 that pitchingyaw 15, control pitching yaw swing, luffing mechanism motor and the secondspeed reducer assembly 13 are electrically connected with control system.The pitching yaw that shows among the figure is connected by bearing with circular base, also can adopt other connected modes, as long as can guarantee that the pitching yaw can rotate around it the relativecircular base 7 of axle and do and swing up and down.Its operation principle is: control system control luffing mechanism motor and 13 actions of the second speed reducer assembly, luffing mechanism motor and the secondspeed reducer assembly 13 control pitching yaws rotate around it the relativecircular base 7 of axle and do and swing up and down.
Can be connected by the gear drive of simple form between luffing mechanism motor and the secondspeed reducer assembly 13 and the pitching yaw, can also connect by the turbine and worm parafacies.Luffing mechanism motor and the secondspeed reducer assembly 13 can be relative with circular base fixing, also can be relative with the pitching yaw fixing, and those skilled in the art can directly associate the multiple implementation that makes it to satisfy above-mentioned operation principle.And suggestion adopts turbine and worm secondary, can so that sight glass in doing wobbling action, is realized self-locking, can prevent because of the danger of cutting off the power supply or other faults are toppled over sight glass like this.
Described elevating mechanism comprises: lifting support 11, the elevating screw group (only drawing the schematic form take leadingscrew 12 as representative among the figure) that is connected withpitching yaw 15 with lifting support 11, lifting support moves up and down along the leadingscrew 12 of elevating screw group, elevating mechanism motor and the 3rd speed reducer assembly 8 are connected on the lifting support 11, and the pinion on its output shaft is meshed with the screw gear 9 of elevating screw group; Elevating mechanism motor and the 3rd speed reducer assembly 8 are electrically connected with control system.When control system control elevating mechanism motor and 8 work of the 3rd speed reducer assembly, pinion on elevating mechanism motor and the 3rd speed reducer assembly 8 output shafts and the screw gear of elevating screw group 9 interacts, so that lifting support moves up and down along the leadingscrew 12 of elevating screw group.
Described free-wheeling system comprises: the clamping device and free-wheeling system motor and the 4thspeed reducer assembly 2 that are connected to the clamping endoscope on the lifting support, free-wheeling system motor and the 4thspeed reducer assembly 2 are in transmission connection bydriving gear set 3 with clamping device, and free-wheeling system motor and the 4thspeed reducer assembly 2 are electrically connected with control system.
Further, described control system comprises the sound control regulator that can adjust by voice control each mechanism action.
Further, described control system comprises the Multifunctional pedal device of adjusting each mechanism action by foot-operated control.
Described control system comprises the sensing mechanism be located in described each mechanism and each sensing mechanism is sent the device that signal processs and displays.
Above-mentioned horizontal rotary mechanism, luffing mechanism, elevating mechanism and free-wheeling system all can drive separately in the control of controlled system, also can move simultaneously.The doctor sends different instruction by voice or foot-operated action, until endoscope is adjusted to needed position.
More than one embodiment of the present of invention are had been described in detail, but described content only is preferred embodiment of the present invention, can not be considered to be used to limiting practical range of the present invention.All equalizations of doing according to the present patent application scope change and improve etc., all should still belong within the patent covering scope of the present invention.
Claims (7)
1. an endoscope clamping manipulator is characterized in that, comprising: mechanical hand be connected and fixed device (14), horizontal rotary mechanism, luffing mechanism, elevating mechanism, clamping endoscope and can make it the free-wheeling system of rotation;
Mechanical hand is connected and fixed, and device (14) is relative with horizontal rotary mechanism to be fixedly connected with;
Luffing mechanism is bearing on the horizontal rotary mechanism;
Elevating mechanism is bearing on the luffing mechanism and with free-wheeling system and is connected;
Each mechanism all is electrically connected with the control system of each mechanism action of control;
Described horizontal rotary mechanism comprises: with mechanical hand be connected and fixed driven gear (6) that device (14) is fixedly connected with, be supported on driven gear (6) upper and can be with it in relative rotation circular base (7), be fixed on horizontal rotary mechanism motor and the first speed reducer assembly (4) on the circular base (7), be fixed on horizontal rotary mechanism motor and the first speed reducer assembly (4) output shaft and with the driving gear (5) of driven gear (6) engagement, horizontal rotary mechanism motor and the first speed reducer assembly (4) are electrically connected with control system;
Described luffing mechanism comprises: can rotate around it the relative circular base of axle (7) and do the pitching yaw (15) that swings up and down, luffing mechanism motor and the second speed reducer assembly (13) that control pitching yaw swings, luffing mechanism motor and the second speed reducer assembly (13) are electrically connected with control system;
Described elevating mechanism comprises: lifting support (11), the elevating screw group that is connected with pitching yaw (15) with lifting support (11), lifting support moves up and down along the leading screw (12) of elevating screw group, elevating mechanism motor and the 3rd speed reducer assembly (8) are connected on the lifting support (11), and the pinion on its output shaft (10) is meshed with the screw gear (9) of elevating screw group; Elevating mechanism motor and the 3rd speed reducer assembly (8) are electrically connected with control system.
2. endoscope clamping manipulator according to claim 1 is characterized in that, described driven gear (6) is provided with a plurality of rollers that are fixedly connected on circular base (7) all around.
3. endoscope clamping manipulator according to claim 1 is characterized in that: be connected by the turbine and worm parafacies between luffing mechanism motor and the second speed reducer assembly (13) and the pitching yaw.
4. endoscope clamping manipulator according to claim 1, it is characterized in that, described free-wheeling system comprises: the clamping device and free-wheeling system motor and the 4th speed reducer assembly (2) that are connected to the clamping endoscope on the lifting support, free-wheeling system motor and the 4th speed reducer assembly (2) are in transmission connection by driving gear set (3) with clamping device, and free-wheeling system motor and the 4th speed reducer assembly (2) are electrically connected with control system.
5. endoscope clamping manipulator according to claim 1 is characterized in that: described control system comprises the sound control regulator that can adjust by voice control each mechanism action.
6. endoscope clamping manipulator according to claim 1 is characterized in that: described control system comprises the Multifunctional pedal device of adjusting each mechanism action by foot-operated control.
7. endoscope clamping manipulator according to claim 1 is characterized in that: described control system comprises the sensing mechanism be located in described each mechanism and each sensing mechanism is sent the device that signal processs and displays.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110286808CN102293626B (en) | 2011-09-24 | 2011-09-24 | Endoscope clamping mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110286808CN102293626B (en) | 2011-09-24 | 2011-09-24 | Endoscope clamping mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102293626A CN102293626A (en) | 2011-12-28 |
| CN102293626Btrue CN102293626B (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110286808Expired - Fee RelatedCN102293626B (en) | 2011-09-24 | 2011-09-24 | Endoscope clamping mechanical arm |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9118198B2 (en) | 2012-12-20 | 2015-08-25 | Nokia Technologies Oy | Balancing of battery cells connected in parallel |
| CN104757930B (en)* | 2014-01-02 | 2016-05-11 | 中国科学院沈阳自动化研究所 | A kind of manipulation device that digests endoscope handle |
| CN104188613B (en)* | 2014-09-22 | 2015-11-18 | 天津博朗科技发展有限公司 | Mechanical grip mechanism of a kind of lightweight endoscope |
| CN107789057B (en)* | 2016-08-30 | 2024-03-26 | 南京普爱医疗设备股份有限公司 | Laser navigation manipulator device and control method thereof |
| CN106725890A (en)* | 2016-12-13 | 2017-05-31 | 浙江中控技术股份有限公司 | A kind of intelligent lifting-mirror apparatus device |
| CN107928607A (en)* | 2017-12-26 | 2018-04-20 | 北京华信佳音医疗科技发展有限责任公司 | A kind of endoscope inserting paragraph rotating device |
| CN113729592B (en)* | 2020-05-27 | 2023-06-30 | 北京华信佳音医疗科技发展有限责任公司 | Endoscope clamping driving device |
| CN114176479A (en)* | 2021-11-23 | 2022-03-15 | 杭州华匠医学机器人有限公司 | Portable endoscope clamping and checking device |
| CN115177368B (en)* | 2022-09-13 | 2022-11-18 | 珠海康弘医疗科技有限公司 | Percutaneous spinal endoscope robot endoscope depth locking and adjusting device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101273876A (en)* | 2005-04-18 | 2008-10-01 | M.S.T.医学外科技术有限公司 | Camera holder device and method thereof |
| EP1815949A1 (en)* | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Medical robotic system with manipulator arm of the cylindrical coordinate type |
| CN202288225U (en)* | 2011-09-24 | 2012-07-04 | 天津博朗科技发展有限公司 | Endoscope clamping manipulator |
- 2011
- 2011-09-24CNCN 201110286808patent/CN102293626B/ennot_activeExpired - Fee Related
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| CN102293626A (en) | 2011-12-28 |
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