技术领域Technical Field
本发明涉及一种应用于狭小空间与复杂空间作业的、用于锁定拉力的机械装置，更特别地说，是指一种应用于内窥镜蛇形臂体的拉力共轭锁定装置。The present invention relates to a mechanical device for locking tension applied to narrow and complex space operations, and more particularly to a tension conjugate locking device applied to a serpentine arm of an endoscope.
背景技术Background Art
内窥镜是一个配备有灯光的管子，它可以经口腔进入胃内或经其他天然孔道进入体内。利用内窥镜可以看到X射线不能显示的病变，因此它对医生非常有用。例如，借助内窥镜医生可以观察胃内的溃疡或肿瘤，据此制定出最佳的治疗方案。为了推进结肠镜(或内窥镜蛇形臂体)通过结肠，必须拉伸结肠壁，韧带和腹膜，从而在结肠壁中产生张力，从而抵抗进一步的壁变形。这种阻力迫使结肠镜弯曲并跟随结肠的曲线，这会导致插入困难和疼痛，仅通过推动动作推进内窥镜蛇形臂体可能会形成环路，从而难以进一步推进。An endoscope is a lighted tube that can be passed through the mouth into the stomach or into the body through other natural orifices. Endoscopes are very useful to doctors because they allow them to see lesions that cannot be seen with X-rays. For example, an endoscope can help doctors visualize ulcers or tumors in the stomach and determine the best course of treatment. In order to advance a colonoscope (or endoscope snake) through the colon, the colon wall, ligaments, and peritoneum must be stretched, creating tension in the colon wall that resists further wall deformation. This resistance forces the colonoscope to bend and follow the curve of the colon, which can make insertion difficult and painful, and advancing the endoscope snake with just a pushing motion can create loops that make further advancement difficult.
在医疗领域中，面向复杂受限空间的工具平台拥有高通过性与灵活度特性。但是，在狭小空间与复杂空间内作业，使用电机提供的推动力造成了内窥镜蛇形臂体的运动控制难度大，通过性和操作灵活性较差，加大了医生对内窥镜操作的难度。In the medical field, tool platforms for complex and confined spaces have high passability and flexibility. However, when operating in small and complex spaces, the use of the propulsion provided by the motor makes it difficult to control the movement of the endoscope's serpentine arm, and the passability and operational flexibility are poor, which increases the difficulty for doctors to operate the endoscope.
发明内容Summary of the invention
为了改善电机驱动带来的通过性和灵活性较差的技术问题，本发明设计了一种应用于内窥镜蛇形臂体的拉力共轭锁定装置。该拉力共轭锁定装置能够为内窥镜蛇形臂体提供纯机械动力，动力的大小通过操作者根据实际复杂受限空间环境的定。相较于传统电机的分段控制方式具有更高的通过性与操作灵活性。本发明拉力共轭锁定装置充分利用了操作者手臂的自由度，为复杂受限空间作业提供拉力、以及行进状态的锁定。In order to improve the technical problems of poor passability and flexibility caused by motor drive, the present invention designs a tension conjugate locking device applied to the serpentine arm of an endoscope. The tension conjugate locking device can provide pure mechanical power for the serpentine arm of the endoscope, and the magnitude of the power is determined by the operator according to the actual complex confined space environment. Compared with the segmented control method of traditional motors, it has higher passability and operational flexibility. The tension conjugate locking device of the present invention makes full use of the freedom of the operator's arm, providing tension for complex confined space operations, and locking of the travel state.
本发明拉力共轭锁定装置采用线驱动，对内窥镜蛇形臂体位移运动过程所需输出力能非常直观地观察到。它能够利用内窥镜蛇形臂体可变刚度的头部与身体，以软硬交替的方式在三维空间内固定一条通往作业区的非线性路径。采用拉力共轭锁定装置提供的输出力使得内窥镜蛇形臂体形成的工作管道对复杂受限空间具有很高的通过性。本发明利用自解耦的正交布局为内窥镜蛇形臂体设计了能够实现内外管绷紧与跛行运动模式灵活、快速切换的互锁装置。针对同一组控制线缆长度不可避免的微小变化，设计了具有“负行程”的分段力控制误差补偿机构。该机构的限制行程可以为内窥镜蛇形臂体的受控头部提供一定的柔性，增强了内窥镜蛇形臂体运动的安全性。The tension conjugate locking device of the present invention adopts a line drive, and the output force required for the displacement movement process of the endoscope serpentine arm can be observed very intuitively. It can use the variable stiffness of the head and body of the endoscope serpentine arm to fix a nonlinear path leading to the working area in a three-dimensional space in a soft and hard alternating manner. The output force provided by the tension conjugate locking device makes the working pipeline formed by the endoscope serpentine arm have a high passability in complex confined spaces. The present invention uses a self-decoupling orthogonal layout to design an interlocking device for the endoscope serpentine arm that can realize flexible and rapid switching between the inner and outer tube tensioning and limp movement modes. In view of the inevitable slight changes in the length of the same set of control cables, a segmented force control error compensation mechanism with a "negative stroke" is designed. The limited stroke of this mechanism can provide a certain flexibility for the controlled head of the endoscope serpentine arm, thereby enhancing the safety of the movement of the endoscope serpentine arm.
本发明的一种应用于内窥镜蛇形臂体的拉力共轭锁定装置，由互锁前盖(1)、互锁后盖(2)、手柄(3)、右弹簧(4)、右滑块(5)、左弹簧(6)、左滑块(7)组成。通过在右滑块(5)、左滑块(7)上连接控制线实现与内窥镜蛇形臂体的接线器连接。The invention discloses a tension conjugate locking device for an endoscope serpentine arm, comprising an interlocking front cover (1), an interlocking rear cover (2), a handle (3), a right spring (4), a right slider (5), a left spring (6), and a left slider (7). The right slider (5) and the left slider (7) are connected to a wiring connector of the endoscope serpentine arm by connecting a control line to the right slider (5) and the left slider (7).
手柄(3)上设有扇形体(3A)、圆柱段(3B)、握持段(3C)。手柄(3)的上端是扇形体(3A)，扇形体(3A)的一侧是用于挂接右弹簧(4)上端的右端接口(3A1)，扇形体(3A)的另一侧是用于挂接左弹簧(6)上端的左端接口(3A2)。The handle (3) is provided with a fan-shaped body (3A), a cylindrical section (3B), and a gripping section (3C). The upper end of the handle (3) is the fan-shaped body (3A), one side of the fan-shaped body (3A) is a right end interface (3A1) for hanging the upper end of the right spring (4), and the other side of the fan-shaped body (3A) is a left end interface (3A2) for hanging the upper end of the left spring (6).
手柄(3)的圆柱段(3B)上设有轴承孔(3B 1)，轴承孔(3B 1)内放置有深沟球轴承，且深沟球轴承套接在连接轴(8)上。通过连接轴(8)实现手柄(3)安装在互锁后盖(2)的内面板上。A bearing hole (3B1) is provided on the cylindrical section (3B) of the handle (3), a deep groove ball bearing is placed in the bearing hole (3B1), and the deep groove ball bearing is sleeved on the connecting shaft (8). The handle (3) is installed on the inner panel of the interlocking rear cover (2) through the connecting shaft (8).
手柄(3)的握持段(3C)用于操作者手握。The gripping section (3C) of the handle (3) is used for the operator to grip.
右弹簧(4)下端挂接在右滑块(5)的E横柱(5D)上，右滑块(5)两侧的滑轨在互锁后盖(2)的内面板上的滑道上运动。The lower end of the right spring (4) is hooked on the E crossbar (5D) of the right slider (5), and the slide rails on both sides of the right slider (5) move on the slideways on the inner panel of the interlocking rear cover (2).
左弹簧(6)下端挂接在左滑块(7)的G横柱(7D)上，左滑块(7)两侧的滑轨在互锁后盖(2)的内面板上的滑道上运动。The lower end of the left spring (6) is hooked on the G crossbar (7D) of the left slider (7), and the slide rails on both sides of the left slider (7) move on the slideways on the inner panel of the interlocking rear cover (2).
手柄(3)的握持段(3C)用于内窥镜手术过程中医生的手握持，医生的手在抓紧握持段(3C)后向左或向右旋拧所述的握持段(3C)，使得手柄(3)绕连接轴(8)向左旋一位移完成左旋扭工作、或向右旋一位移完成右旋扭工作；在医生的手抓紧握持段(3C)进行一左旋扭→回位→一右旋扭→回位的操作下，实现对内窥镜蛇形臂体运动的控制。The gripping section (3C) of the handle (3) is used for holding by the doctor's hand during endoscopic surgery. After grasping the gripping section (3C), the doctor's hand twists the gripping section (3C) to the left or right, so that the handle (3) rotates to the left around the connecting shaft (8) to complete the left-hand twisting work, or rotates to the right to complete the right-hand twisting work; when the doctor's hand grasps the gripping section (3C) and performs a left-hand twisting → return → right-hand twisting → return operation, the movement of the serpentine arm of the endoscope is controlled.
本发明拉力共轭锁定装置在左旋扭与右旋扭组合的工作过程中，对蛇形软体(13)的一端进行扩张，另一端保持原状。During the working process of the left-hand twisting and right-hand twisting combination, the tension conjugate locking device of the present invention expands one end of the snake-shaped soft body (13) while the other end remains in its original state.
在本发明的技术方案中，采用左右位移互换，通过手柄(3)的扇形体(3A)两端分别挂接的直线位移组件(由弹簧与滑块组成)，且使直线位移组件在前后盖组合的滑槽中上下移动，来控制作用到蛇形臂体上的输出力。由于蛇形臂体属于医疗内窥镜器件的作动件，其体积较小，输出力较难控制，采用多条导线与滑块连接能够实现缓慢较小力的输出，提高共轭锁定装置的位移精度。工作时，通过医生手握握持段(3C)，在手术规划路径下完成蛇形臂体的精准前行。In the technical solution of the present invention, the left and right displacements are interchanged, and the linear displacement components (composed of a spring and a slider) are respectively hung at both ends of the fan-shaped body (3A) of the handle (3), and the linear displacement components are moved up and down in the slide groove of the front and rear cover combination to control the output force acting on the serpentine arm body. Since the serpentine arm body is an actuating part of a medical endoscope device, its volume is small and the output force is difficult to control. The use of multiple wires connected to the slider can achieve a slow and small force output, thereby improving the displacement accuracy of the conjugate locking device. During operation, the doctor holds the gripping section (3C) in his hand to complete the precise forward movement of the serpentine arm body under the surgical planning path.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明应用于内窥镜蛇形臂体的拉力共轭锁定装置的外部结构图。FIG. 1 is an external structural diagram of a tension conjugate locking device applied to an endoscope serpentine arm of the present invention.
图1A是本发明应用于内窥镜蛇形臂体的拉力共轭锁定装置的外部另一视角结构图。FIG. 1A is a structural diagram of the exterior of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope from another perspective.
图1B是本发明应用于内窥镜蛇形臂体的拉力共轭锁定装置的内部结构分解图。FIG. 1B is an exploded view of the internal structure of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope.
图1C是本发明应用于内窥镜蛇形臂体的的拉力共轭锁定装置中手柄与左右弹簧、滑块的装配结构图。FIG1C is an assembly structure diagram of the handle, left and right springs, and a slider in the tension conjugate locking device of the serpentine arm of the endoscope according to the present invention.
图1D是本发明应用于内窥镜蛇形臂体的的拉力共轭锁定装置未装配前盖的结构图。FIG. 1D is a structural diagram of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope without the front cover assembled.
图1E是本发明应用于内窥镜蛇形臂体的拉力共轭锁定装置的剖面结构图。FIG. 1E is a cross-sectional structural diagram of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope.
图2是本发明互锁后盖的结构图。FIG. 2 is a structural diagram of the interlocking rear cover of the present invention.
图2A是本发明互锁后盖的另一视角结构图。FIG. 2A is a structural diagram of the interlocking rear cover of the present invention from another perspective.
图3是本发明手柄的结构图。FIG. 3 is a structural diagram of the handle of the present invention.
图3A是本发明手柄的另一视角结构图。FIG. 3A is a structural diagram of the handle of the present invention from another viewing angle.
图3B是本发明手柄左侧面的结构图。FIG. 3B is a structural diagram of the left side of the handle of the present invention.
图3C是本发明手柄右侧面的结构图。FIG. 3C is a structural diagram of the right side of the handle of the present invention.
图4是本发明互锁前盖的结构图。FIG. 4 is a structural diagram of the interlocking front cover of the present invention.
图4A是本发明互锁前盖的另一视角结构图。FIG. 4A is a structural diagram of the interlocking front cover of the present invention from another perspective.
图4B是本发明互锁前盖与互锁后盖组合后的剖视图。FIG. 4B is a cross-sectional view of the interlocking front cover and the interlocking rear cover of the present invention after being combined.
图4C是本发明互锁前盖与互锁后盖组合后的另一剖视图。FIG. 4C is another cross-sectional view of the interlocking front cover and the interlocking rear cover of the present invention after being combined.
图5是本发明右滑块的结构图。FIG. 5 is a structural diagram of the right slider of the present invention.
图5A是本发明右滑块的剖面结构图。FIG. 5A is a cross-sectional structural diagram of the right slider of the present invention.
图5B是本发明右滑块的前视面结构图。FIG. 5B is a front structural diagram of the right slider of the present invention.
图5C是本发明右滑块的前视面另一视角结构图。FIG. 5C is a structural diagram of the front surface of the right slider of the present invention from another perspective.
图5D是本发明右滑块的后视面结构图。FIG5D is a rear view structural diagram of the right slider of the present invention.
图5E是本发明右滑块的后视面另一视角结构图。FIG. 5E is a structural diagram of the rear surface of the right slider of the present invention from another perspective.
图6是本发明左滑块的结构图。FIG. 6 is a structural diagram of the left slider of the present invention.
图6A是本发明左滑块的剖面结构图。FIG. 6A is a cross-sectional structural diagram of the left slider of the present invention.
图6B是本发明左滑块的前视面结构图。FIG. 6B is a front structural diagram of the left slider of the present invention.
图6C是本发明左滑块的前视面另一视角结构图。FIG. 6C is a structural diagram of the front surface of the left slider of the present invention from another perspective.
图6D是本发明左滑块的后视面结构图。FIG. 6D is a rear view structural diagram of the left slider of the present invention.
图6E是本发明左滑块的后视面另一视角结构图。FIG. 6E is a structural diagram of the rear surface of the left slider of the present invention from another perspective.
图7是本发明拉力共轭锁定装置的左旋扭工作状态图。FIG. 7 is a diagram showing the left-twisting working state of the tension conjugate locking device of the present invention.
图8是本发明拉力共轭锁定装置的右旋扭工作状态图。FIG. 8 is a diagram showing the right-twist working state of the tension conjugate locking device of the present invention.
1.互锁前盖 1A.前盖外面板 1A 1.AA凹槽1. Interlocking front cover 1A. Front cover outer panel 1A 1. AA groove
1A2.AC沉头腔 1A3.AC通孔 1A4.AC螺纹孔1A2.AC countersunk cavity 1A3.AC through hole 1A4.AC threaded hole
1B.前盖左连接端 1B 1.AA沉头腔 1B2.AA螺纹孔1B. Left connection end of front cover 1B 1. AA countersunk cavity 1B2. AA threaded hole
1C.前盖右连接端 1C 1.AB沉头腔 1C2.AB螺纹孔1C. Right connection end of front cover 1C 1. AB countersunk cavity 1C2. AB threaded hole
1D.前盖上弧体 1E.观察窗 1F.前盖里面板1D. Front cover upper arc 1E. Observation window 1F. Front cover inner panel
1F 1.前盖凸柱 1F2.AB凹槽 1F3.AC凹槽1F 1. Front cover boss 1F2. AB groove 1F3. AC groove
100A.A半圆弧通道 100B.B半圆弧通道 100C.C半圆弧通道100A.A semi-circular channel 100B.B semi-circular channel 100C.C semi-circular channel
100D.D半圆弧通道 100E.弧形通道 2.互锁后盖100D.D semi-circular channel 100E. curved channel 2. interlocking rear cover
2A.后盖外面板 2A 1.BA凹槽 2A3.BC通孔2A. Back cover outer panel 2A 1. BA groove 2A3. BC through hole
2A4.BC螺纹孔 2B.后盖左连接端 2B 1.BA沉头腔2A4.BC threaded hole 2B. Left connection end of rear cover 2B 1.BA countersunk cavity
2B2.BA螺纹孔 2C.后盖右连接端 2C 1.BB沉头腔2B2.BA threaded hole 2C.Right connection end of rear cover 2C 1.BB countersunk cavity
2C2.BB螺纹孔 2D.后盖上弧体 2E.观察窗2C2. BB threaded hole 2D. Arc on the back cover 2E. Observation window
2F.后盖里面板 2F 1.后盖凸柱 2F2.BB凹槽2F. Back cover inner panel 2F 1. Back cover convex column 2F2. BB groove
2F3.BC凹槽 2G.上固定凸柱 2G 1.BA通孔2F3.BC groove 2G. Upper fixing boss 2G 1.BA through hole
2H.下固定凸柱 2H 1.BA通孔 3.手柄2H. Lower fixing boss 2H 1. BA through hole 3. Handle
3A.扇形体 3A 1.CA减重孔 3B.圆柱段3A. Sector 3A 1. CA weight reduction hole 3B. Cylindrical segment
3C.握持段 3C 1.CB减重孔 3D.左弹簧连接体3C. Grip section 3C 1. CB weight reduction hole 3D. Left spring connector
3D 1.左端横柱 3E.右弹簧连接体 3E 1.右端横柱3D 1. Left end cross column 3E. Right spring connector 3E 1. Right end cross column
4.右弹簧 5.右滑块组件 5A.右滑块座4. Right spring 5. Right slider assembly 5A. Right slider seat
5A 1.EA导柱 5A2.EB导柱 5A3.EA沉头腔5A 1.EA guide post 5A2.EB guide post 5A3.EA countersunk cavity
5A31.EB通孔 5A32.EC通孔 5A4.EA通孔5A31.EB through hole 5A32.EC through hole 5A4.EA through hole
5A5.EB沉头腔 5A51.ED通孔 5A52.EE通孔5A5.EB countersunk cavity 5A51.ED through hole 5A52.EE through hole
5B.EA支臂 5C.EB支臂 5D.E横柱5B.EA arm 5C.EB arm 5D.E crossbar
5E.E螺钉 5E 1.E螺母 5E2.EA深沟球轴承5E.E screw 5E1.E nut 5E2.EA deep groove ball bearing
5E3.EB深沟球轴承 6.左弹簧 7.左滑块组件5E3.EB deep groove ball bearing 6.Left spring 7.Left slider assembly
7A.左滑块座 7A 1.GA导柱 7A2.GB导柱7A. Left slider seat 7A 1. GA guide post 7A2. GB guide post
7A3.GA沉头腔 7A31.GB通孔 7A32.GC通孔7A3.GA countersunk cavity 7A31.GB through hole 7A32.GC through hole
7A4.GA通孔 7A5.GB沉头腔 7A51.GD通孔7A4.GA through hole 7A5.GB countersunk cavity 7A51.GD through hole
7A52.GE通孔 7B.GA支臂 7C.GB支臂7A52.GE through hole 7B.GA arm 7C.GB arm
7D.G横柱 7E.G螺钉 7E 1.G螺母7D.G Horizontal column 7E.G Screw 7E 1.G Nut
7E2.GA深沟球轴承 7E3.GB深沟球轴承 8.连接轴7E2.GA deep groove ball bearing 7E3.GB deep groove ball bearing 8.Connecting shaft
8A.HA深沟球轴承 8B.HB深沟球轴承 8C.H螺母8A.HA deep groove ball bearing 8B.HB deep groove ball bearing 8C.H nut
9A.A螺钉 9B.B螺钉 9C.C螺钉9A.A screw 9B.B screw 9C.C screw
10A.A螺母 10B.B螺母 10C.C螺母10A.A nut 10B.B nut 10C.C nut
11.第一接线器 12.第二接线器 13.蛇形软体11. First connector 12. Second connector 13. Snake software
14.第一组控制线 15.第二组控制线14. The first set of control lines 15. The second set of control lines
具体实施方式DETAILED DESCRIPTION
下面将结合附图对本发明做进一步的详细说明。列举出的各视图示范仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The present invention will be further described in detail below in conjunction with the accompanying drawings. The various drawings listed are only exemplary embodiments of the present invention. It should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.
参见图1、图1A、图1B、图1C、图1D、图1E所示，本发明设计的一种应用于内窥镜蛇形臂体的拉力共轭锁定装置，其由互锁前盖1、互锁后盖2、手柄3、右弹簧4、右滑块组件5、左弹簧6、左滑块组件7、连接轴8以及用于固定的螺钉螺母组成。Referring to Figures 1, 1A, 1B, 1C, 1D and 1E, a tension conjugate locking device designed by the present invention is applied to the serpentine arm of an endoscope, which consists of an interlocking front cover 1, an interlocking rear cover 2, a handle 3, a right spring 4, a right slider assembly 5, a left spring 6, a left slider assembly 7, a connecting shaft 8 and screws and nuts for fixing.
其中，右弹簧4与右滑块组件5形成右端直线位移组件。The right spring 4 and the right slider assembly 5 form a right end linear displacement assembly.
其中，左弹簧6与左滑块组件7形成左端直线位移组件。The left spring 6 and the left slider assembly 7 form a left end linear displacement assembly.
本发明的图1B和图1D所示，蛇形软体13与右滑块组件5之间连接有第二组控制线15和第二接线器12；第二组控制线15的一端是连接在右滑块组件5底部的，第二组控制线15的另一端是穿过第二接线器12后连接在蛇形软体13上。蛇形软体13与左滑块组件7之间连接有第一组控制线14和第一接线器11；第一组控制线14的一端是连接在左滑块组件7底部的，第一组控制线14的另一端是穿过第一接线器11后连接在蛇形软体13上。As shown in FIG. 1B and FIG. 1D of the present invention, a second group of control lines 15 and a second connector 12 are connected between the serpentine software 13 and the right slider assembly 5; one end of the second group of control lines 15 is connected to the bottom of the right slider assembly 5, and the other end of the second group of control lines 15 passes through the second connector 12 and is connected to the serpentine software 13. A first group of control lines 14 and a first connector 11 are connected between the serpentine software 13 and the left slider assembly 7; one end of the first group of control lines 14 is connected to the bottom of the left slider assembly 7, and the other end of the first group of control lines 14 passes through the first connector 11 and is connected to the serpentine software 13.
在本发明中，多个蛇形软体13构成了内窥镜蛇形臂体。为了实现本发明拉力共轭锁定装置与内窥镜蛇形臂体的控制连接，在内窥镜蛇形臂体与右滑块5、左滑块7之间通过接线器连接了控制线。In the present invention, a plurality of serpentine soft bodies 13 constitute the endoscope serpentine arm. In order to realize the control connection between the tension conjugate locking device of the present invention and the endoscope serpentine arm, a control line is connected between the endoscope serpentine arm and the right slider 5 and the left slider 7 through a connector.
本发明设计的拉力共轭锁定装置用于为内窥镜的蛇形臂体提供工作状态的锁定与位置保持。是纯机械结构实现的位置变换。The tension conjugate locking device designed by the present invention is used to provide working state locking and position retention for the serpentine arm of the endoscope, and is a position change achieved by a purely mechanical structure.
互锁前盖1Interlocking front cover 1
参见图1、图1A、图1B、图1C、图1E、图4、图4A所示，互锁前盖1为一体成型结构件。互锁前盖1分为前盖外面板1A和前盖里面板1F；互锁前盖1的上方有前盖上弧体1D，互锁前盖1的下方有前盖左连接端1B和前盖右连接端1C；前盖上弧体1D的下方设有观察窗1E。观察窗1E一方面用于观察手柄3左旋或右旋的位移，另一方面也是观察左、右弹簧的复位状况。As shown in Fig. 1, Fig. 1A, Fig. 1B, Fig. 1C, Fig. 1E, Fig. 4, and Fig. 4A, the interlocking front cover 1 is an integrally formed structural member. The interlocking front cover 1 is divided into a front cover outer panel 1A and a front cover inner panel 1F; the upper part of the interlocking front cover 1 is provided with a front cover upper arc 1D, and the lower part of the interlocking front cover 1 is provided with a front cover left connecting end 1B and a front cover right connecting end 1C; an observation window 1E is provided below the front cover upper arc 1D. The observation window 1E is used to observe the displacement of the handle 3 in left or right rotation on the one hand, and to observe the reset status of the left and right springs on the other hand.
互锁前盖1的前盖外面板1A(图4所示)上设有AA凹槽1A 1，所述AA凹槽1A 1的上端部设有AC沉头腔1A2，在AC沉头腔1A2中设有AC通孔1A3，在AC通孔1A3的下方设有AC螺纹孔1A4。An AA groove 1A1 is provided on the front cover outer panel 1A (shown in FIG. 4 ) of the interlocking front cover 1, an AC countersunk cavity 1A2 is provided at the upper end of the AA groove 1A1, an AC through hole 1A3 is provided in the AC countersunk cavity 1A2, and an AC threaded hole 1A4 is provided below the AC through hole 1A3.
所述AA凹槽1A 1用于放置初始状态下的手柄3，如图1B所示。The AA groove 1A1 is used to place the handle 3 in the initial state, as shown in FIG. 1B .
所述AC沉头腔1A2内放置有HB深沟球轴承8B，所述AC通孔1A3用于连接轴8穿过。An HB deep groove ball bearing 8B is placed in the AC countersunk cavity 1A2, and the AC through hole 1A3 is used for the connecting shaft 8 to pass through.
所述AC螺纹孔1A4用于C螺钉9C的一端穿过。The AC threaded hole 1A4 is used for one end of the C screw 9C to pass through.
互锁前盖1的前盖左连接端1B上设有AA沉头腔1B 1，AA沉头腔1B 1的中心设有AA螺纹孔1B2。AA螺纹孔1B2用于A螺钉9A穿过。An AA countersunk cavity 1B1 is provided on the left connecting end 1B of the interlocking front cover 1, and an AA threaded hole 1B2 is provided at the center of the AA countersunk cavity 1B1. The AA threaded hole 1B2 is used for the A screw 9A to pass through.
互锁前盖1的前盖右连接端1C上设有AB沉头腔1C 1，AB沉头腔1C 1的中心设有AB螺纹孔1C2。AB螺纹孔1C2用于B螺钉9B穿过。An AB countersunk cavity 1C1 is provided on the right connecting end 1C of the interlocking front cover 1, and an AB threaded hole 1C2 is provided at the center of the AB countersunk cavity 1C1. The AB threaded hole 1C2 is used for the B screw 9B to pass through.
互锁前盖1的前盖里面板1F(图4A所示)上设有前盖凸柱1F 1，后盖凸柱1F 1的两侧分别是AB凹槽1F2、AC凹槽1F3。A front cover convex column 1F1 is provided on the front cover inner panel 1F (as shown in FIG. 4A ) of the interlocking front cover 1 , and an AB groove 1F2 and an AC groove 1F3 are respectively formed on both sides of the rear cover convex column 1F1 .
互锁后盖2Interlocking back cover 2
参见图1、图1A、图1B、图1C、图1E、图2、图2A所示，互锁后盖2为一体成型结构件。互锁后盖2分为后盖外面板2A和后盖里面板2F；互锁后盖2的上方有后盖上弧体2D，互锁后盖2的下方有后盖左连接端2B和后盖右连接端2C；后盖上弧体2D的下方设有观察窗2E。观察窗2E一方面用于观察手柄3左旋或右旋的位移，另一方面也是观察左、右弹簧的复位状况。As shown in Fig. 1, Fig. 1A, Fig. 1B, Fig. 1C, Fig. 1E, Fig. 2, and Fig. 2A, the interlocking rear cover 2 is an integrally formed structural member. The interlocking rear cover 2 is divided into a rear cover outer panel 2A and a rear cover inner panel 2F; the upper part of the interlocking rear cover 2 is provided with a rear cover upper arc 2D, and the lower part of the interlocking rear cover 2 is provided with a rear cover left connecting end 2B and a rear cover right connecting end 2C; an observation window 2E is provided below the rear cover upper arc 2D. The observation window 2E is used to observe the displacement of the handle 3 in left or right rotation on the one hand, and to observe the reset status of the left and right springs on the other hand.
互锁后盖2的后盖外面板2A(图2A所示)上设有BA凹槽2A 1，所述BA凹槽2A 1的上端部设有BC通孔2A3，在BC通孔2A3的下方设有BC螺纹孔2A4。A BA groove 2A1 is provided on the rear cover outer panel 2A (shown in FIG. 2A ) of the interlocking rear cover 2 . A BC through hole 2A3 is provided at the upper end of the BA groove 2A1 . A BC threaded hole 2A4 is provided below the BC through hole 2A3 .
所述BC通孔2A3用于连接轴8穿过。穿过BC通孔2A3后的连接轴8的端部螺纹连接有H螺母8C(图1B所示)。The BC through hole 2A3 is used for the connecting shaft 8 to pass through. The end of the connecting shaft 8 after passing through the BC through hole 2A3 is threadedly connected with an H nut 8C (as shown in FIG. 1B ).
所述BC螺纹孔2A4用于C螺钉9C穿过。C螺钉9C的一端顺次穿过互锁后盖2上的BC螺纹孔2A4、互锁前盖1上的AC螺纹孔1A4后连接上C螺母10C，C螺母10C位于互锁前盖1的AA凹槽1A 1里，如图4、图1B、图1D所示。The BC threaded hole 2A4 is used for the C screw 9C to pass through. One end of the C screw 9C passes through the BC threaded hole 2A4 on the interlocking rear cover 2 and the AC threaded hole 1A4 on the interlocking front cover 1 in sequence, and then is connected to the C nut 10C, which is located in the AA groove 1A1 of the interlocking front cover 1, as shown in Figures 4, 1B, and 1D.
互锁后盖2的后盖左连接端2B上设有BA沉头腔2B 1，BA沉头腔2B 1的中心设有BA螺纹孔2B2。BA螺纹孔2B2用于A螺钉9A穿过。A BA countersunk cavity 2B1 is provided on the left connecting end 2B of the interlocking rear cover 2, and a BA threaded hole 2B2 is provided at the center of the BA countersunk cavity 2B1. The BA threaded hole 2B2 is used for the A screw 9A to pass through.
互锁后盖2的后盖右连接端2C上设有BB沉头腔2C 1，BB沉头腔2C 1的中心设有BB螺纹孔2C2。BB螺纹孔2C2用于B螺钉9B穿过。A BB countersunk cavity 2C1 is provided on the right connecting end 2C of the interlocking rear cover 2, and a BB threaded hole 2C2 is provided at the center of the BB countersunk cavity 2C1. The BB threaded hole 2C2 is used for the B screw 9B to pass through.
互锁后盖2的后盖里面板2F(图2所示)上设有后盖凸柱2F 1，后盖凸柱2F 1的两侧分别是BB凹槽2F2、BC凹槽2F3。A rear cover convex column 2F1 is provided on the rear cover inner panel 2F (as shown in FIG. 2 ) of the interlocking rear cover 2, and a BB groove 2F2 and a BC groove 2F3 are respectively formed on both sides of the rear cover convex column 2F1.
在本发明中，互锁前盖1与互锁后盖2装配组合后，在内壁形成了供滑块(5和7)上下移动的通道(如图4C所示)，这是由于医疗器件所需结构体积较小；另一方面，所需互锁装置输出力也不像电机输出力那么大；第三方面，内窥镜手术过程中需要医生经验进行病灶点的多角度信息获取，故互锁装置的操作输出力比电机输出力要更合适。In the present invention, after the interlocking front cover 1 and the interlocking rear cover 2 are assembled, a channel for the sliders (5 and 7) to move up and down is formed on the inner wall (as shown in FIG. 4C ). This is because the required structural volume of the medical device is relatively small; on the other hand, the required interlocking device output force is not as large as the motor output force; thirdly, during endoscopic surgery, the doctor's experience is required to obtain multi-angle information of the lesion point, so the operating output force of the interlocking device is more suitable than the motor output force.
手柄3Handle 3
参见图1、图1A、图1B、图1C、图1E、图3、图3A、图3B、图3C所示，手柄3为注塑成型结构件。手柄3的上、中、下分别是扇形体3A、圆柱段3B、握持段3C。为了减轻手柄3的整体重量，在握持段3C的内部设有CB减重孔3C 1(如图3A所示)。As shown in Fig. 1, Fig. 1A, Fig. 1B, Fig. 1C, Fig. 1E, Fig. 3, Fig. 3A, Fig. 3B, and Fig. 3C, the handle 3 is an injection molded structural member. The upper, middle, and lower parts of the handle 3 are respectively a sector 3A, a cylindrical section 3B, and a gripping section 3C. In order to reduce the overall weight of the handle 3, a CB weight reduction hole 3C1 is provided inside the gripping section 3C (as shown in Fig. 3A).
手柄3的扇形体3A用于在弧形通道100E(如图1E、图4B所示)中滑动，所述弧形通道100E是互锁前盖1与互锁后盖2组装后在上部形的一个通道。为了减轻手柄3的整体重量，在扇形体3A的内部设有CA减重孔3A 1(如图1E所示)。The sector 3A of the handle 3 is used to slide in the arc channel 100E (as shown in FIG. 1E and FIG. 4B ), which is a channel formed on the upper part after the interlocking front cover 1 and the interlocking rear cover 2 are assembled. In order to reduce the overall weight of the handle 3, a CA weight reduction hole 3A1 is provided inside the sector 3A (as shown in FIG. 1E ).
扇形体3A的左端是左弹簧连接体3D，左弹簧连接体3D的开口中设有左端横柱3D1，该左端横柱3D 1用于连接左弹簧6一端。The left end of the sector 3A is a left spring connector 3D. A left end cross column 3D1 is provided in the opening of the left spring connector 3D. The left end cross column 3D1 is used to connect one end of the left spring 6.
扇形体3A的右端是右弹簧连接体3E，右弹簧连接体3E的开口中设有右端横柱3E1，该右端横柱3E 1用于连接右弹簧4一端。The right end of the sector 3A is a right spring connector 3E. A right end cross column 3E1 is provided in the opening of the right spring connector 3E. The right end cross column 3E1 is used to connect one end of the right spring 4.
手柄3的圆柱段3B设有C沉头腔3B 1、C通孔3B2，C沉头腔3B 1中放置有HA深沟球轴承8A，连接轴8的一端顺次穿过HA深沟球轴承8A、手柄3的C通孔3B2、HB深沟球轴承8B、互锁前盖1的AC通孔1A3、互锁后盖2的BC通孔2A3后连接上H螺母8C。The cylindrical section 3B of the handle 3 is provided with a C countersunk cavity 3B1 and a C through hole 3B2, in which an HA deep groove ball bearing 8A is placed, and one end of the connecting shaft 8 sequentially passes through the HA deep groove ball bearing 8A, the C through hole 3B2 of the handle 3, the HB deep groove ball bearing 8B, the AC through hole 1A3 of the interlocking front cover 1, and the BC through hole 2A3 of the interlocking rear cover 2, and is then connected with the H nut 8C.
手柄3的握持段3C用于内窥镜手术过程中医生的手握持，医生的手在抓紧握持段3C后向左或向右旋拧所述的握持段3C，使得手柄3绕连接轴8向左旋一位移完成左旋扭工作(如图7所示)、或向右旋一位移完成右旋扭工作(如图8所示)。在医生的手抓紧握持段3C进行一左旋扭→回位→一右旋扭→回位的操作下，实现对内窥镜蛇形臂体运动的控制。The gripping section 3C of the handle 3 is used for the doctor's hand to hold during the endoscopic surgery. After the doctor's hand grasps the gripping section 3C, the doctor twists the gripping section 3C to the left or right, so that the handle 3 rotates to the left around the connecting shaft 8 by a displacement to complete the left-hand twisting work (as shown in FIG. 7 ), or rotates to the right by a displacement to complete the right-hand twisting work (as shown in FIG. 8 ). When the doctor's hand grasps the gripping section 3C and performs a left-hand twisting → return → right-hand twisting → return operation, the movement of the endoscope serpentine arm is controlled.
右弹簧4Right spring 4
参见图1B、图1C、图7、图8所示，右弹簧4的上端连接在手柄3的右弹簧连接体3E的右端横柱3E 1上；右弹簧4的下端连接在右滑块组件5的E横柱5D上。1B , 1C , 7 and 8 , the upper end of the right spring 4 is connected to the right end cross column 3E1 of the right spring connector 3E of the handle 3 ; the lower end of the right spring 4 is connected to the E cross column 5D of the right slider assembly 5 .
左弹簧6Left spring 6
参见图1B、图1C、图7、图8所示，左弹簧6的上端连接在手柄3的左弹簧连接体3D的左端横柱3D 1上；左弹簧6的下端连接在左滑块组件7的G横柱7D上。1B , 1C , 7 and 8 , the upper end of the left spring 6 is connected to the left end cross column 3D 1 of the left spring connector 3D of the handle 3 ; the lower end of the left spring 6 is connected to the G cross column 7D of the left slider assembly 7 .
在本发明中，左弹簧6与右弹簧4为串联形式分布在扇形体3A的两端。当扇形体3A朝一个方向滑动时会导致一端的弹簧绷紧与另一端弹簧的放松。当拉力共轭锁定装置位于初始状态下，蛇形软体13由被拉伸的弹簧提供了一定的预紧力。In the present invention, the left spring 6 and the right spring 4 are connected in series at both ends of the fan-shaped body 3A. When the fan-shaped body 3A slides in one direction, the spring at one end is tightened and the spring at the other end is relaxed. When the tension conjugate locking device is in the initial state, the snake-shaped soft body 13 is provided with a certain pre-tightening force by the stretched spring.
右滑块组件5Right slider component 5
参见图1、图1A、图1B、图1C、图5、图5A、图5B、图5C、图5D、图5E所示，右滑块组件5的上端是EA支臂5B、EB支臂5C，且EA支臂5B与EB支臂5C之间是E横柱5D，E横柱5D上用于活动挂接右弹簧4的下端，右弹簧4的上端活动挂接在右弹簧连接体3E上(如图1C所示)；右滑块组件5的下端是右滑块座5A。Referring to Figures 1, 1A, 1B, 1C, 5, 5A, 5B, 5C, 5D and 5E, the upper end of the right slider assembly 5 is the EA arm 5B and the EB arm 5C, and between the EA arm 5B and the EB arm 5C is the E cross column 5D, the E cross column 5D is used for movably hanging the lower end of the right spring 4, and the upper end of the right spring 4 is movably hung on the right spring connector 3E (as shown in Figure 1C); the lower end of the right slider assembly 5 is the right slider seat 5A.
右滑块座5A的一侧外部设有EA导柱5A 1，EA导柱5A 1在C半圆弧通道100C(如图4C所示)中滑动，所述C半圆弧通道100C中滑动是互锁前盖1与互锁后盖2组装后形成的第三个通道；右滑块座5A的另一侧外部设有EB导柱5A2，EB导柱5A2在D半圆弧通道100D(如图4C所示)中滑动，所述D半圆弧通道100D中滑动是互锁前盖1与互锁后盖2组装后形成的第四个通道。An EA guide column 5A1 is provided on the outside of one side of the right slider seat 5A, and the EA guide column 5A1 slides in the C semi-circular arc channel 100C (as shown in FIG. 4C ). The sliding in the C semi-circular arc channel 100C is the third channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled; an EB guide column 5A2 is provided on the outside of the other side of the right slider seat 5A, and the EB guide column 5A2 slides in the D semi-circular arc channel 100D (as shown in FIG. 4C ). The sliding in the D semi-circular arc channel 100D is the fourth channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled.
右滑块座5A上设有EA通孔5A4，EA通孔5A4用于E螺钉5E穿过。The right slider seat 5A is provided with an EA through hole 5A4, and the EA through hole 5A4 is used for the E screw 5E to pass through.
右滑块座5A的前面板上设有EA沉头腔5A3，且EA通孔5A4位于EA沉头腔5A3的中心，EA沉头腔5A3的侧壁两侧上设有EB通孔5A31、EC通孔5A32，EB通孔5A31用于第二组控制线15的导线A的一端穿过，EC通孔5A32用于第二组控制线15的导线B的一端穿过，所述的EA沉头腔5A3中放置有EA深沟球轴承5E2。An EA countersunk cavity 5A3 is provided on the front panel of the right slider seat 5A, and an EA through hole 5A4 is located at the center of the EA countersunk cavity 5A3. An EB through hole 5A31 and an EC through hole 5A32 are provided on both sides of the side wall of the EA countersunk cavity 5A3. The EB through hole 5A31 is used for one end of the wire A of the second group of control lines 15 to pass through, and the EC through hole 5A32 is used for one end of the wire B of the second group of control lines 15 to pass through. An EA deep groove ball bearing 5E2 is placed in the EA countersunk cavity 5A3.
右滑块座5A的后面板上设有EB沉头腔5A5，且EB通孔5A5位于EA沉头腔5A3的中心，EB沉头腔5A5的侧壁两侧上设有ED通孔5A51、EE通孔5A52，ED通孔5A51用于第二组控制线15的导线C的一端穿过，EE通孔5A52用于第二组控制线15的导线D的一端穿过，所述的EB沉头腔5A5中放置有EB深沟球轴承5E3。An EB countersunk cavity 5A5 is provided on the rear panel of the right slider seat 5A, and the EB through hole 5A5 is located at the center of the EA countersunk cavity 5A3. ED through holes 5A51 and EE through holes 5A52 are provided on both sides of the side walls of the EB countersunk cavity 5A5. The ED through hole 5A51 is used for one end of the wire C of the second group of control lines 15 to pass through, and the EE through hole 5A52 is used for one end of the wire D of the second group of control lines 15 to pass through. An EB deep groove ball bearing 5E3 is placed in the EB countersunk cavity 5A5.
E螺钉5E的一端顺次穿过EB深沟球轴承5E3、EA通孔5A4、EA深沟球轴承5E2后套接上E螺母5E 1。One end of the E screw 5E passes through the EB deep groove ball bearing 5E3, the EA through hole 5A4, and the EA deep groove ball bearing 5E2 in sequence and then is sleeved onto the E nut 5E1.
左滑块组件7Left slider component 7
参见图1、图1A、图1B、图1C、图6、图6A、图6B、图6C、图6D、图6E所示，左滑块组件7的上端是GA支臂7B、GB支臂7C，且GA支臂7B与GB支臂7C之间是G横柱7D，G横柱7D上用于活动挂接左弹簧6的下端，左弹簧6的上端活动挂接左弹簧连接体3D上(如图1C所示)；左滑块组件7的下端是左滑块座7A。Referring to Figures 1, 1A, 1B, 1C, 6, 6A, 6B, 6C, 6D and 6E, the upper end of the left slider assembly 7 is the GA arm 7B and the GB arm 7C, and between the GA arm 7B and the GB arm 7C is the G cross column 7D, the G cross column 7D is used for movably hanging the lower end of the left spring 6, and the upper end of the left spring 6 is movably hung on the left spring connector 3D (as shown in Figure 1C); the lower end of the left slider assembly 7 is the left slider seat 7A.
左滑块座7A的一侧外部设有GA导柱7A 1，GA导柱7A 1在A半圆弧通道100A(如图4C所示)中滑动，所述A半圆弧通道100A中滑动是互锁前盖1与互锁后盖2组装后形成的第一个通道；左滑块座7A的另一侧外部设有GB导柱7A2，GB导柱7A2在B半圆弧通道100B(如图4C所示)中滑动，所述B半圆弧通道100B中滑动是互锁前盖1与互锁后盖2组装后形成的第二个通道。A GA guide column 7A1 is provided on the outside of one side of the left slider seat 7A, and the GA guide column 7A1 slides in the A semi-circular arc channel 100A (as shown in FIG. 4C ). The sliding in the A semi-circular arc channel 100A is the first channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled; a GB guide column 7A2 is provided on the outside of the other side of the left slider seat 7A, and the GB guide column 7A2 slides in the B semi-circular arc channel 100B (as shown in FIG. 4C ). The sliding in the B semi-circular arc channel 100B is the second channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled.
左滑块座7A上设有GA通孔7A4，GA通孔7A4用于G螺钉7E穿过。The left slider seat 7A is provided with a GA through hole 7A4, and the GA through hole 7A4 is used for the G screw 7E to pass through.
左滑块座7A的前面板上设有GA沉头腔7A3，且GA通孔7A4位于GA沉头腔7A3的中心，GA沉头腔7A3的侧壁两侧上设有GB通孔7A31、GC通孔7A32，GB通孔7A31用于第一组控制线14的导线A的一端穿过，GC通孔7A32用于第一组控制线14的导线B的一端穿过，所述的GA沉头腔7A3中放置有GA深沟球轴承7E2。GA沉头腔7A3内放置有GA深沟球轴承7E2。A GA countersunk cavity 7A3 is provided on the front panel of the left slider seat 7A, and a GA through hole 7A4 is located at the center of the GA countersunk cavity 7A3. GB through holes 7A31 and GC through holes 7A32 are provided on both sides of the side walls of the GA countersunk cavity 7A3. The GB through hole 7A31 is used for one end of the wire A of the first group of control wires 14 to pass through, and the GC through hole 7A32 is used for one end of the wire B of the first group of control wires 14 to pass through. A GA deep groove ball bearing 7E2 is placed in the GA countersunk cavity 7A3. A GA deep groove ball bearing 7E2 is placed in the GA countersunk cavity 7A3.
左滑块座7A的后面板上设有GB沉头腔7A5，且GB通孔7A5位于GA沉头腔7A3的中心，GB沉头腔7A5的侧壁两侧上设有GD通孔7A51、GE通孔7A52，GD通孔7A51用于第一组控制线14的导线C的一端穿过，GE通孔7A52用于第一组控制线14的导线D的一端穿过，所述的GB沉头腔7A5中放置有GB深沟球轴承7E3。GB沉头腔7A5内放置有GB深沟球轴承7E3。A GB countersunk cavity 7A5 is provided on the rear panel of the left slider seat 7A, and the GB through hole 7A5 is located at the center of the GA countersunk cavity 7A3. A GD through hole 7A51 and a GE through hole 7A52 are provided on both sides of the side wall of the GB countersunk cavity 7A5. The GD through hole 7A51 is used for one end of the wire C of the first group of control wires 14 to pass through, and the GE through hole 7A52 is used for one end of the wire D of the first group of control wires 14 to pass through. A GB deep groove ball bearing 7E3 is placed in the GB countersunk cavity 7A5. A GB deep groove ball bearing 7E3 is placed in the GB countersunk cavity 7A5.
G螺钉7E的一端顺次穿过GB深沟球轴承7E3、GA通孔7A4、GA深沟球轴承7E2后套接上G螺母7E 1。One end of the G screw 7E passes through the GB deep groove ball bearing 7E3, the GA through hole 7A4, and the GA deep groove ball bearing 7E2 in sequence and is then sleeved onto the G nut 7E1.
连接轴8Connecting shaft 8
参见图1、图1A、图1B、图1C、图1E所示，连接轴8上套接有HA深沟球轴承8A、HB深沟球轴承8B和H螺母8C。1 , 1A, 1B, 1C and 1E, a HA deep groove ball bearing 8A, a HB deep groove ball bearing 8B and an H nut 8C are sleeved on the connecting shaft 8 .
HA深沟球轴承8A安装在手柄3的C沉头腔3B 1内(如图3所示)。The HA deep groove ball bearing 8A is installed in the C countersunk cavity 3B1 of the handle 3 (as shown in FIG. 3 ).
HB深沟球轴承8B安装在互锁前盖1的AC沉头腔1A2内(如图4所示)。The HB deep groove ball bearing 8B is installed in the AC countersunk cavity 1A2 of the interlocking front cover 1 (as shown in FIG. 4 ).
如图1E所示，连接轴8一端顺次穿过HA深沟球轴承8A、手柄3的C通孔3B2、HB深沟球轴承8B、互锁前盖1的AC通孔1A3、互锁后盖2的BC通孔2A3后连接上H螺母8C。As shown in Figure 1E, one end of the connecting shaft 8 passes through the HA deep groove ball bearing 8A, the C through hole 3B2 of the handle 3, the HB deep groove ball bearing 8B, the AC through hole 1A3 of the interlocking front cover 1, and the BC through hole 2A3 of the interlocking rear cover 2 in sequence and then is connected to the H nut 8C.
左旋扭工作状态Left-handed working state
参见图1B、图7所示的手柄向左运动带来的左旋扭工作状态。当手柄3的握持段3C被工作者握持，且用力向左扭动时，手柄3的圆柱段3B绕连接轴8作相对运动，使得手柄3的扇形体3A向左旋扭的同时左弹簧6被拉长、左滑块7向上滑动，从而带动左端直线位移组件向上的同时右端直线位移组件位置不变；在左端直线位移组件向上运动时，通过第一组控制线14传递使得蛇形软体13在前进方向的左侧向前一步态。Refer to the left-twisting working state caused by the leftward movement of the handle shown in FIG1B and FIG7. When the gripping section 3C of the handle 3 is held by the worker and twisted to the left with force, the cylindrical section 3B of the handle 3 moves relatively around the connecting shaft 8, so that the fan-shaped body 3A of the handle 3 is twisted to the left, and the left spring 6 is stretched, and the left slider 7 slides upward, thereby driving the left end linear displacement component upward while the right end linear displacement component remains unchanged; when the left end linear displacement component moves upward, the first group of control lines 14 transmits a step forward on the left side of the forward direction.
右旋扭工作状态Right-hand twist working state
参见图1B、图8所示的手柄向右运动带来的右旋扭工作状态。当手柄3的握持段3C被工作者握持，且用力向右扭动时，手柄3的圆柱段3B绕连接轴8作相对运动，使得手柄3的扇形体3A向右旋扭的同时右弹簧4被拉长、右滑块5向上滑动，从而带动右端直线位移组件向上的同时左端直线位移组件位置不变；在右端直线位移组件向上运动时，通过第二组控制线15传递使得蛇形软体13在前进方向的右侧向前一步态。Refer to the right-twisting working state caused by the rightward movement of the handle shown in FIG1B and FIG8. When the gripping section 3C of the handle 3 is held by the worker and twisted to the right with force, the cylindrical section 3B of the handle 3 moves relatively around the connecting shaft 8, so that the fan-shaped body 3A of the handle 3 is twisted to the right while the right spring 4 is stretched and the right slider 5 slides upward, thereby driving the right end linear displacement component upward while the left end linear displacement component remains in position; when the right end linear displacement component moves upward, the second group of control lines 15 transmits a step forward on the right side of the forward direction.
本发明设计的应用于内窥镜蛇形臂体的拉力共轭锁定装置在左旋扭与右旋扭组合的工作过程中，对蛇形软体13的一端进行扩张，另一端保持原状。The tension conjugate locking device designed by the present invention for the serpentine arm of an endoscope expands one end of the serpentine soft body 13 and keeps the other end in its original state during the working process of the left-hand twisting and the right-hand twisting combination.
辅助内窥镜手术的运动逻辑Motion logic for assisted endoscopic surgery
在内窥镜技术领域中，蛇形软体13一般包括有形成工作管道的外管，辅助路径管道成型的内管，切换内外管道刚性变化的互锁装置与控制外管前端可控制头部的控制器。在进行内窥镜手术时，本发明的拉力共轭锁定装置能使内窥镜手术下的工作状态进行锁定。本发明拉力共轭锁定装置采用线性驱动，能够利用蛇形软体13可变刚度的头部与身体，以软硬交替的方式在三维空间内固定一条通往作业区的非线性路径。In the field of endoscope technology, the serpentine soft body 13 generally includes an outer tube forming a working pipeline, an inner tube forming an auxiliary path pipeline, an interlocking device for switching the rigidity changes of the inner and outer pipelines, and a controller for controlling the front end of the outer tube to control the head. When performing endoscopic surgery, the tension conjugate locking device of the present invention can lock the working state under endoscopic surgery. The tension conjugate locking device of the present invention adopts a linear drive, which can use the variable stiffness of the head and body of the serpentine soft body 13 to fix a nonlinear path leading to the working area in a three-dimensional space in a soft and hard alternating manner.
在工作时，内管外管需要在相互交替的刚度变化(僵硬和跛行rigid or limp)中配合移动。首先状态一时的内管处于强刚度状态，外管处于放松状态。此时内管形状固定，外管可以沿内管的形状向前推进。当露出可控头部后，利用控制器控制新长出来的头部形状。保持此形状，并交换内外管的刚度情况。此时外管相较于状态一的形状延伸出了新的路径，称之为状态二。状态二下放松的内管可以顺着强刚度的外管形成的路径向前推进，直到其形成的路径与外管相重合，称作状态三。接着再次交换内外管刚度情况，此时为状态四，也是新的状态一。而此时新的状态一与状态一相比，内管和外管均向前延伸了一段，且这一段管的形状是受到控制器控制的。不断重复此控制过程，可以在三维空间内形成一条受控曲线。When working, the inner tube and the outer tube need to move in coordination with each other in alternating stiffness changes (rigid or limp). First, in state one, the inner tube is in a strong rigidity state, and the outer tube is in a relaxed state. At this time, the shape of the inner tube is fixed, and the outer tube can move forward along the shape of the inner tube. When the controllable head is exposed, the shape of the newly grown head is controlled by the controller. This shape is maintained, and the stiffness of the inner and outer tubes is exchanged. At this time, the outer tube extends a new path compared to the shape of state one, which is called state two. In state two, the relaxed inner tube can move forward along the path formed by the strong rigidity outer tube until the path it forms coincides with the outer tube, which is called state three. Then the stiffness of the inner and outer tubes is exchanged again, which is state four, which is also the new state one. At this time, compared with state one, the inner and outer tubes in the new state one extend forward for a certain distance, and the shape of this section of the tube is controlled by the controller. Repeating this control process continuously can form a controlled curve in three-dimensional space.
在利用内外管的配合到达作业区之后，将外管固定，内管以跛行模式抽出。由此可以形成一条通往作业区的工作管道。由于在管道行进的任意状态中，内管与外管始终有一条保持强刚度状态，故形成的受控曲线管道具备一定的刚度。此具备刚度的，可以形成几乎任意曲线的管道可以作为一个实用的工作平台。以其为刚性基座，搭配现有的柔性工具(如摄像头、内窥镜、机械手、钢索等)可以完成更多的作业任务。After reaching the work area by using the cooperation of the inner and outer pipes, the outer pipe is fixed and the inner pipe is pulled out in limp mode. In this way, a working pipeline leading to the work area can be formed. Since one of the inner and outer pipes always maintains a strong rigidity state in any state of the pipeline, the formed controlled curve pipeline has a certain rigidity. This rigid pipeline that can form almost any curve can be used as a practical working platform. Using it as a rigid base, combined with existing flexible tools (such as cameras, endoscopes, manipulators, cables, etc.), more work tasks can be completed.
| Application Number | Priority Date | Filing Date | Title |
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| CN202311040425 | 2023-08-17 | ||
| CN2023110404250 | 2023-08-17 |
| Publication Number | Publication Date |
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| CN118873081Atrue CN118873081A (en) | 2024-11-01 |
| CN118873081B CN118873081B (en) | 2025-10-03 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411130856.0AActiveCN118873081B (en) | 2023-08-17 | 2024-08-16 | Tensile conjugate locking device for endoscope serpentine arm |
| Country | Link |
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| CN (1) | CN118873081B (en) |
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