The content of the invention
In order to overcome the limitation of surgical instrument movement mode in the prior art, improve operating theater instruments in the prior art and be difficult toThe problems such as flexible deflecting, kinematic accuracy are low, space hold is big is realized, the present invention provides a kind of medical treatment dress based on digestive endoscopyPut.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of medical treatment device based on digestive endoscopy, including digestive endoscopy, the flexible mechanical arm being connected with digestive endoscopy, withSome driving ropes of flexible mechanical arm connection and the power module being connected with driving rope；Wherein, driving rope can be by power moduleDrive and stretched, so as to draw flexible mechanical arm with respect to digestive endoscopy self-movement.
As the further improved procedure of such scheme, flexible mechanical arm includes the rotor of some series connection, more than threeDriving rope sequentially pass through rotor along the circumferentially distributed of rotor, and along series connection direction, it is and affixed with the rotor of least significant end；
With the flexible of driving rope, previous rotor can relatively latter rotor along at least one direction reciprocally swinging, and phaseThe swaying direction of adjacent rotor is interlaced.
As the further improved procedure of such scheme, the tail end of rotor, which is provided with, carries outstanding curved surface, rotatesThe head end of body is provided with plane, and the plane of the curved surface of previous rotor and latter rotor is supported.
As the further improved procedure of such scheme, previous rotor can relatively latter rotor by curved surface along oneDirection is swung.
As the further improved procedure of such scheme, curve form, which is met, to be set：It is contour everywhere in the first direction, along withThe vertical second direction of first direction, middle part highest, and gradually reduced to both sides.
As the further improved procedure of such scheme, power module includes moving that some rotating shafts and drive shaft are rotatedTwo driving ropes are wound with power apparatus, rotating shaft, and the winding direction of this two driving ropes is opposite.
As the further improved procedure of such scheme, power module also includes pedestal, and if being located at side by side on pedestalDry sleeve pipe, and pressing plate sleeve pipe being fixed on pedestal, driving rope be each passed through after corresponding sleeve pipe again with flexible mechanical armConnection.
It is used as the further improved procedure of such scheme, in addition to the collar being socketed on digestive endoscopy, flexible mechanical armIt is connected with the collar, and the collar is provided with cord hole, driving is restricted to be connected with flexible mechanical arm again through after corresponding cord hole.
It is used as the further improved procedure of such scheme, in addition to the operating theater instruments being connected with flexible mechanical arm.
As the further improved procedure of such scheme, operating theater instruments includes cutting dissection cutter, suture instruments, gripper clampApparatus processed, one kind in drawing class apparatus or its combination.
As the further improved procedure of such scheme, including two flexible mechanical arms, wherein a flexible mechanical arm withCutting dissection cutter connection, another flexible mechanical arm is clamped down on apparatus with clamping and is connected.
The beneficial effects of the invention are as follows：
The present invention is provided with flexible mechanical arm, and flexible mechanical arm can be curved towards different directions under the driving of power moduleSong, so that operating theater instruments is driven relative to digestive endoscopy self-movement, compared to the side that digestive endoscopy drives surgical instrument movementFormula, the present invention can realize the flexible deflecting of operating theater instruments, it is ensured that the kinematic accuracy of operating theater instruments, can also reduce operating theater instrumentsSpace needed for motion, extends the scope of application of digestive endoscopy；
In a preferred embodiment of the invention, coordinated between rotor by curved surface and plane, do not had in addition to frictional forceOther hinder the active force rotated, so as to realize the flexible rotating between rotor；
In a preferred embodiment of the invention, robot also includes the operating theater instruments for being used to perform operation technique；
In a preferred embodiment of the invention, electric knife is driven to be moved with gripper clamp respectively using two mechanical arms, by notThe step of can simplifying operation technique with the combination between apparatus, shortens operating time.
In a preferred embodiment of the invention, two driving ropes that control flexible mechanical arm is swung in one direction are by oneRotating shaft synchronously drives, and is conducive to simplifying the structure of power module, improves control accuracy.
Embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and accompanying drawing clearChu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflictingUnder, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, be referred to as " fixing " when a certain feature, " connection " in another feature,It can directly fix, be connected in another feature, can also indirectly fix, be connected in another feature.In addition, thisThe description such as upper and lower, left and right used in invention is only that the mutual alignment of each part of the invention relative in accompanying drawing is closedFor system.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the artThe implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, withoutIt is to limit the present invention.Term as used herein " and/or " include the arbitrary of one or more related Listed ItemsCombination.
Reference picture 1, shows and is located at power mould on the schematic perspective view of medical treatment device one embodiment of the present invention, driving ropePart between group and flexible mechanical arm is hidden.As illustrated, medical treatment device includes digestive endoscopy 100, flexible mechanical arm200th, power module 300 and some driving ropes 400, flexible mechanical arm 200 are used to install the external agencies such as operating theater instruments, its withDigestive endoscopy 100 is connected, and can enter human body with digestive endoscopy 100.Driving rope is as the medium of transmission power, and it is distinguishedIt is connected with flexible mechanical arm 200, power module 300, with the driving of power module 300, driving rope can pass through flexible driveThe self-movement of digestive endoscopy 100 relatively of flexible mechanical arm 200, compared to the mode that digestive endoscopy drives surgical instrument movement, sheetInvention can realize the flexible deflecting of operating theater instruments, it is ensured that the kinematic accuracy of operating theater instruments, can also reduce surgical instrument movementRequired space, extends the scope of application of digestive endoscopy.
Reference picture 2, shows the schematic perspective view of flexible mechanical arm of the present invention.As illustrated, the main body of flexible mechanical armStructure includes the rotor 210 of some series connection.It can relatively rotate, preferably be connected by rolling pair between rotor 210, so as toTo realize the flexible rotating between rotor, and then the flexible bending of mechanical arm, the response speed of elevating mechanism arm can be realized.
Reference picture 3 respectively illustrates the schematic perspective view, front view and side of rotor one embodiment of the present invention to Fig. 5View.As illustrated, rotor 210 is generally cylindrical, to realize the rotation between adjacent rotated body 210, it is preferred that rotateThe head end of body 210 has plane 211, and tail end has outstanding curved surface 212, and the curved surface 212, which is met, to be set：The arrow along along Fig. 4The direction of head is contour everywhere, the direction middle part highest of arrow along along Fig. 5, and is gradually reduced to both sides, i.e., rotor 210 canThe direction of arrow is swung along along Fig. 5.Instrument channel 214 is additionally provided with rotor 210, instrument channel 214 runs through along series connection direction to be turnedKinetoplast 210, for guiding operating theater instruments.
Some cord hole 213, the quantity and the quantity pair of driving rope 400 of cord hole 213 are preferably also provided with rotor 210Should, four cord hole 213 are preferably provided with the present embodiment, the circumference of four cord hole 213 along rotor 210 is uniformly distributed.
Reference picture 2, some rotors 210 are connected, and the curved surface 212 of previous rotor 210 and latter rotor 210 is flatFace 211 is supported, and due to being linear contact lay between curved surface 212 and plane 211, does not have other effects for hindering to rotate in addition to frictional forcePower, therefore the rotation between rotor 210 is very flexible.
To realize the multi-direction bending of mechanical arm, the swaying direction of adjacent rotated body 210 is interlaced, it is preferred that this implementationThe swaying direction of adjacent rotated body 210 is mutually perpendicular in example.
Angle in the present invention between the quantity and rotor of rotor can be adjusted according to actual conditions, such as rotorBetween angle can be 30 °, 45 ° or 60 ° etc., the present invention this is not especially limited.
Driving rope 400 is as the power source of mechanical arm, and it sequentially passes through corresponding rope on each rotor 210 along series connection directionHole 213, and it is affixed with the rotor 210 (as shown in Fig. 2 the rotor of least significant end is the rotor of the top) of least significant end.The present invention includes the driving rope of more than three (including this number above alleged by the present invention), it is preferred that correspondence flexible mechanical arm fourFour driving ropes are preferably provided with bending on individual direction, flexible mechanical arm, two relative driving ropes are one group.When side is drivenWhen the driving rope 400 that running rope 400 tenses offside simultaneously unclamps, the curving that mechanical arm will be tensed towards driving rope.
Previous rotor is only capable of relatively latter rotor and swung in one direction in above-described embodiment, in addition, may be used alsoTo increase the free degree between adjacent rotated body by the shape for adjusting curved surface 212, such as make the direction of arrow along along Fig. 4 of curved surface 212Shape also as the shape of the direction of arrow in Fig. 5, middle part highest, and gradually being reduced to both sides is so previous to rotateBody can relatively latter rotor swung along both direction.
Flexible mechanical arm 200 is preferably connected by the collar 500 with digestive endoscopy 100 in the present invention, and reference picture 6 is shownThe schematic perspective view of collar one embodiment of the present invention.As illustrated, the collar includes collar body 510 and located at collar bodyBoss 520 in 510 circumferences, collar body 510 is provided with the screwed hole 511 of radial direction, and boss 520 is provided with cord hole 521 and deviceTool passage 522.It is preferred that, two boss 520 are arranged with collar body 510.The collar 100 is socketed by collar body 510On the end of digestive endoscopy 100, and preferably pass through the screwed hole 511 on collar body 510 and corresponding threaded fastenerLocked.
Flexible mechanical arm 200 is arranged on corresponding boss 520, the instrument channel 214 on rotor 210 and boss 520On instrument channel 522 connect, driving rope 400 is right on rotor 210 through being then passed through after corresponding cord hole 521 on boss 520The cord hole 213 answered, so as to realize the connection of flexible mechanical arm 200 and the collar 100.
Reference picture 7, shows the three-dimensional signal that flexible mechanical arm of the present invention is connected with digestive endoscopy, the collar, operating theater instrumentsFigure.Operating theater instruments alleged by the present invention includes but is not limited to cutting dissection cutter (such as electric knife, laser knife), suture instruments, clampingApparatus (such as gripper clamp), drawing class apparatus (such as sucker) etc. are clamped down on, can voluntarily arrange in pairs or groups selection as needed.It is preferred that, thisEmbodiment includes two flexible mechanical arms, wherein a flexible mechanical arm is connected with cutting dissection cutter, described in anotherFlexible mechanical arm is clamped down on apparatus with clamping and is connected.It is furthermore preferred that cutting dissection cutter uses electric knife 610, specific connected mode isElectric knife 610 is plugged in the instrument channel of mechanical arm；Clamping clamps down on apparatus using gripper clamp 620, specific connected mode beThe end of the flexible mechanical arm is provided with the connector 630 of hinged seat, and gripper clamp 620 is hinged on the connector 630.WhereinElectric knife 610 is used to cut pathological tissues, and gripper clamp 620 is used to lift pathological tissues, and the tissue after stripping can be directTaken out of by gripper clamp, i.e., the present embodiment can allow two operating theater instruments while entering human body, pass through the group between different apparatusesThe step of conjunction can simplify operation technique, shortens operating time.
Reference picture 8, shows in the schematic perspective view of power module one embodiment of the present invention, figure and conceals power moduleShell and control device.As illustrated, power module includes the power that some groups of rotating shaft 310 is rotated with drive shaft 310Device, power set can be motor, rotary cylinder etc., and motor 320 is preferred to use in the present embodiment.On the circumference of rotating shaft 310Vertically provided with the parallel groove of twice, the diameter of groove bottom land is preferably equal.Driving rope 400 is wound with groove, and it is upper and lowerThe winding direction of driving rope in groove is on the contrary, in this way, when rotating shaft 310 is rotated in one direction, winding direction and rotating shaft 310Rotation direction identical driving rope 400 is shunk, and the winding direction driving rope 400 opposite with the rotation direction of rotating shaft 310 is synchronous to be stretched out,And contracted length is preferably equal with extension elongation, so as to control the bending of flexible mechanical arm.
One rotating shaft 310 can control single flexible mechanical arm 200 in one group of driving rope 400, the present invention to need two groups of drivesRunning rope 400 is controlled, while gripper clamp 620 needs one group of control folding of driving rope 400, therefore the present invention is preferably provided with five turnsThe motor of axle and respective numbers.
It is preferred that, in order to realize the ordered arrangement of driving rope 400, power module also includes pedestal 330 and pressing plate 340, baseCorrespondence driving rope 400 is provided with some grooves, groove side by side on the top surface of seat 330 is provided with sleeve pipe 350, and pressing plate 340 passes through spiral shellNail is fixed on the top of pedestal 330, and crimping fixation is carried out to sleeve pipe 350, and driving rope 400 is each passed through corresponding sleeve pipe 350It is connected again with flexible mechanical arm afterwards.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementationExample, those skilled in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the inventionChange, these equivalent deformations or replacement are all contained in the application claim limited range.