Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art or related art.
In view of the above, according to the technical scheme of the application, the operating device of the rod-shaped piece comprises a first clamping assembly, a second clamping assembly and a connecting assembly, wherein the first clamping assembly comprises at least two first clamping wheels and a first base, any first clamping wheel is rotationally connected with the first base, the second clamping assembly comprises at least two second clamping wheels and a second base, any second clamping wheel is rotationally connected with the second base, the rotation axes around which any second clamping wheel and any first clamping wheel rotate are parallel to each other, and a clamping space is defined between the second clamping wheels and the first clamping wheels. The connecting assembly comprises an adjusting module and a clamping wheel driving assembly, wherein the adjusting module is respectively connected with the first clamping assembly and the second clamping assembly and is used for driving the first clamping assembly and/or the second clamping assembly to move towards a direction approaching to or away from the other party, and the clamping wheel driving assembly is used for driving at least one first clamping wheel or one second clamping wheel to rotate.
In some embodiments of the present application, the lever-like member operating device may further comprise a gear assembly, the clamping wheel driving assembly comprising a first driving member and/or a first clamping wheel driving member. The first driving piece and the second clamping wheel are respectively connected with the gear assembly, and the first clamping wheel driving piece and the first clamping wheel are respectively connected with the gear assembly.
In some technical schemes provided by the application, optionally, the gear assembly comprises a first bevel gear, a second bevel gear, a first transmission gear and a second transmission gear, wherein the second bevel gear is meshed with the first bevel gear for transmission, the first transmission gear is connected with the second bevel gear, the first transmission gear is collinear with the axis of the second bevel gear, the second transmission gear is meshed with the first transmission gear, the number of the second transmission gears is one or two, and in the case that the number of the second transmission gears is two, the two second transmission gears are positioned on two sides of the first transmission gear. The first bevel gear is connected with the driving end of the first driving piece, the second transmission gear is connected with the second clamping wheel, and/or the first bevel gear is connected with the driving end of the first clamping wheel driving piece, and the second transmission gear is connected with the first clamping wheel.
In some technical schemes provided by the application, optionally, the adjusting module comprises a bidirectional screw rod, a first nut, a second nut and a second driving piece, wherein threads at two ends of the bidirectional screw rod are opposite in rotation direction, the first nut is connected with the first clamping component, the second nut is connected with the second clamping component, the first nut and the second nut are respectively matched with two ends of the bidirectional screw rod through threads, and the second driving piece is used for driving the bidirectional screw rod to rotate.
In some technical schemes provided by the application, optionally, the connecting assembly further comprises a first moving part and a pressure detecting part, wherein the first moving part is respectively connected with the adjusting module and the first clamping assembly, the pressure detecting part is respectively connected with the first moving part and the first clamping assembly, and the pressure detecting part is used for detecting the pressure applied to the first clamping assembly in the clamping state.
In some technical schemes provided by the application, optionally, the connecting assembly further comprises a second moving part, a transition part and a tension detecting part, wherein the second moving part is respectively connected with the adjusting module and the second clamping assembly, the transition part is connected with the first driving part, the transition part is rotationally connected with the second moving part, the tension detecting part is respectively connected with the second moving part and the transition part, and the tension detecting part is used for detecting the rotation resistance born by the transition part so as to control the clamping force of the rod-shaped part.
In some technical schemes provided by the application, optionally, the connecting assembly further comprises a first connecting seat, a second connecting seat and a conveying force detecting piece, wherein any one of the first connecting seat and the second connecting seat is provided with a sliding groove, the other one of the first connecting seat and the second connecting seat is provided with a sliding block, the sliding block is connected with the sliding groove in a matched manner, the first connecting seat can move along the rotation axis direction of the second clamping wheel, the sliding groove extends along the movement direction, and the second connecting seat is connected with the adjusting module. The conveying force detection piece is connected with the first connecting seat and the second connecting seat respectively and is used for detecting resistance force received by the first connecting seat in a moving state.
In some technical schemes provided by the application, optionally, the second clamping assembly further comprises a matching piece and a splitting piece, the second clamping wheel is rotationally connected with the matching piece, two ends of the matching piece are detachably connected with the splitting piece and the second base respectively, a connection state and a splitting state exist between the splitting piece and the second base, and when the splitting piece is in the splitting state, the splitting piece can move towards a direction far away from the matching piece.
In some technical solutions provided by the application, optionally, the clamping wheel driving assembly is provided with a connecting hole, the splitting piece is clamped with the connecting hole, and the first end of the splitting piece is detachably connected with the second clamping wheel. The second clamping assembly further comprises an elastic piece, an operation plate and a limiting block, wherein the elastic piece is connected with the splitting piece and the hole wall of the connecting hole, the operation plate is provided with a mounting hole, the second end of the splitting piece penetrates through the mounting hole and is connected with the limiting block, the operation plate is located between the limiting block and the second base, and when the splitting piece is in a splitting state, the limiting block is clamped with the operation plate.
In some embodiments of the present application, the number of the connection assemblies is two, and the two connection assemblies are disposed along the rotation axis direction of the second clamping wheel. The operating device of the rod-shaped piece further comprises a driving component, wherein the driving component is connected with the two connecting components, and the driving module is used for driving any connecting component to move along the rotation axis direction of the second clamping wheel. The driving assembly comprises a frame body, a third driving piece, a transmission piece, a guide rod and a guide block, wherein the third driving piece is connected with the frame body, the transmission piece is connected with the third driving piece, the third driving piece is used for driving the transmission piece to move, the guide rod is connected with the frame body, the guide rod extends along the movement direction of the connecting assembly, the guide block is in sliding connection with the guide rod, and the guide block is respectively connected with the transmission piece and the connecting assembly.
Compared with the prior art, the invention at least comprises the following beneficial effects:
The rod-shaped piece is clamped by the first clamping wheel and the second clamping wheel in a mutually matched mode, clamping force is controlled through the adjusting module, the periphery of the rod-shaped piece is enabled to be subjected to uniform clamping force, the clamping stability is improved, and slipping phenomenon in the clamping process is avoided. At least one clamping wheel of the first clamping wheel 110 and the second clamping wheel is driven to rotate through the clamping wheel driving assembly, so that the operating device can rotate the rod-shaped piece, the use requirements of the rod-shaped piece for different angles are met, the control range of the operating device on the rod-shaped piece is enlarged, the flexibility and accuracy of operating the rod-shaped piece are improved, the operating difficulty of doctors is reduced, and the medical operating efficiency of the rod-shaped piece is improved.
Detailed Description
In order to better understand the above technical solutions, the following detailed description of the technical solutions of the embodiments of the present application is made by using the accompanying drawings and the specific embodiments, and it should be understood that the specific features of the embodiments of the present application are detailed descriptions of the technical solutions of the embodiments of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments of the present application may be combined with each other without conflict.
The embodiment of the application provides an operating device 10 for a rod-shaped member, as shown in fig. 1,2, 4,5 and 6, wherein the operating device 10 for the rod-shaped member comprises a first clamping assembly 100, a second clamping assembly 200 and a connecting assembly 400, the first clamping assembly 100 comprises at least two first clamping wheels 110 and a first base 120, any first clamping wheel 110 is rotatably connected with the first base 120, the second clamping assembly 200 comprises at least two second clamping wheels 210 and a second base 220, any second clamping wheel 210 is rotatably connected with the second base 220, the rotation axes of any second clamping wheel 210 and any first clamping wheel 110 are parallel, and a clamping space 300 is defined between the second clamping wheel 210 and the first clamping wheel 110. The connection assembly 400 includes an adjustment module 410 and a clamping wheel driving assembly, wherein the adjustment module 410 is respectively connected to the first clamping assembly 100 and the second clamping assembly 200 and is used for driving the first clamping assembly 100 and/or the second clamping assembly 200 to move towards or away from the other direction, and the clamping wheel driving assembly is used for driving at least one first clamping wheel 110 or second clamping wheel 210 to rotate.
In this embodiment, at least two first clamping wheels 110 are disposed on the first base 120, and any one of the first clamping wheels 110 rotates around its rotation axis, and the X-line in fig. 2 is the rotation axis of the first clamping wheel 110. The second base 220 is provided with at least two second clamping wheels 210, any second clamping wheel 210 rotates around the rotation axis thereof, all the second clamping wheels 210 are parallel to the rotation axis of all the first clamping wheels 110, the two second clamping wheels 210 and the two first clamping wheels 110 are distributed around the rod-shaped piece, the central positions of the encircling of the clamping wheels form a clamping space 300, the clamping space 300 is used for accommodating the rod-shaped piece, and the extending direction of the rotation axis is the same as the extending direction of the rod-shaped piece. The shaft is used for performing medical procedures, and may be an endoscope, for example.
The first clamping assembly 100 is located above the second clamping assembly 200, the first clamping assembly 100 and the second clamping assembly 200 are arranged in parallel and are respectively connected with the adjusting module 410, and the adjusting module 410 can drive the first clamping assembly 100 and the second clamping assembly to move towards a direction close to or far away from each other so as to adjust the distance between the first clamping assembly 100 and the second clamping assembly 200, further adjust the distance between the first clamping wheel 110 and the second clamping wheel 210, realize the functions of clamping and releasing the rod-shaped piece, and further perform clamping operation and control clamping force.
The clamping wheel driving assembly is connected with at least one first clamping wheel 110 or second clamping wheel 210, the clamping wheel driving assembly can provide power for rotation of the first clamping wheel 110 or the second clamping wheel 210, and in the case that the first clamping assembly 100 and the second clamping assembly 200 clamp rod-shaped pieces, at least one clamping wheel of the first clamping wheel 110 and the second clamping wheel 210 can become a driving wheel to drive the rod-shaped pieces to rotate, so that the rod-shaped pieces are rotated and the rotation angle is controlled.
The rod-shaped pieces are clamped by the first clamping wheel 110 and the second clamping wheel 210 in a matched mode, clamping force is controlled by the adjusting module 410, the periphery of the rod-shaped pieces is subjected to uniform clamping force, clamping stability is improved, and slipping phenomenon in the clamping process is avoided. At least one clamping wheel of the first clamping wheel 110 and the second clamping wheel 210 is driven to rotate through the clamping wheel driving assembly, so that the operating device can rotate the rod-shaped piece, the use requirements of the rod-shaped piece for different angles are met, the control range of the operating device on the rod-shaped piece is enlarged, the flexibility and accuracy of operating the rod-shaped piece are improved, the operation difficulty of doctors is reduced, and the medical operation efficiency of the rod-shaped piece is improved.
Illustratively, the first clamping wheel 110 and the second clamping wheel 210 may be made of rubber.
In some embodiments of the present application, as shown in FIG. 8, the lever member operating device optionally further comprises a gear assembly 270, the pinch wheel drive assembly comprising a first drive member 420 and/or a first pinch wheel drive member. The first driver 420 and the second clamping wheel 210 are respectively connected to the gear assembly 270, and the first clamping wheel driver and the first clamping wheel 110 are respectively connected to the gear assembly 270.
In this embodiment, the driving force output from the clamping wheel driving assembly can be transmitted through the gear assembly 270 to control the transmission direction and the transmission position, and the gear assembly 270 may be provided to the second clamping assembly 200 and/or the first clamping assembly 100. In the case where the gear assembly 270 is provided to the second clamping assembly 200, the gear assembly 270 can transmit the driving force of the first driving member 420 to the second clamping wheel 210. In the case where the gear assembly 270 is provided to the first clamping assembly 100, the gear assembly 270 can transmit the driving force of the first clamping wheel driver to the first clamping wheel 110. So that the first clamping wheel 110 or the second clamping wheel 210 becomes a driving wheel to drive the rod-shaped member to rotate.
Illustratively, the first driver 420 and the first clamp wheel driver may be servo motors.
In some embodiments, as shown in fig. 8, optionally, the gear assembly 270 includes a first bevel gear 271, a second bevel gear 272, a first transmission gear 273, and a second transmission gear 274, where the second bevel gear 272 is meshed with the first bevel gear 271, the first transmission gear 273 is connected with the second bevel gear 272, the first transmission gear 273 is collinear with the axis of the second bevel gear 272, the second transmission gear 274 is meshed with the first transmission gear 273, and the number of the second transmission gears 274 is one or two, and in the case that the number of the second transmission gears 274 is two, the two second transmission gears 274 are located on two sides of the first transmission gear 273. Wherein the first bevel gear 271 is connected with the driving end of the first driving member 420, the second transmission gear 274 is connected with the second clamping wheel 210, and/or the first bevel gear 271 is connected with the driving end of the first clamping wheel driving member, and the second transmission gear 274 is connected with the first clamping wheel 110.
In this embodiment, the first bevel gear 271 is meshed with the second bevel gear 272 to change the transmission direction of power. The second bevel gear 272 and the first transfer gear 273 are respectively located at both ends of the transfer shaft, and power is transferred to the second transfer gear 274 through the first transfer gear 273. Under the condition that two second transmission gears 274 are respectively engaged and connected to two sides of the first transmission gear 273, the first transmission gear 273 can drive the second transmission gears 274 on two sides to rotate in the same direction at the same time, so that the transmission stability and the driving efficiency are improved.
In the case where the gear assembly 270 is provided to the second clamping assembly 200, the gear assembly 270 transmits the driving force of the first driving member 420 to the second clamping wheel 210. The second transmission gear 274 may be connected to one second clamping wheel 210, or two second transmission gears 274 may be connected to two second clamping wheels 210, respectively, such that both second clamping wheels 210 form a driving wheel.
In the case where the gear assembly 270 is provided to the first clamping assembly 100, the gear assembly 270 transmits the driving force of the first clamping wheel driver to the first clamping wheel 110. The second transmission gear 274 may be connected to one first clamping wheel 110, or two second transmission gears 274 may be connected to two first clamping wheels 110, respectively, such that both first clamping wheels 110 form a driving wheel.
In some embodiments provided by the present application, as shown in fig. 3 and 4, optionally, the adjustment module 410 includes a bi-directional screw 411, a first nut 412, a second nut 413, and a second driving member 414, threads at two ends of the bi-directional screw 411 are opposite, the first nut 412 is connected with the first clamping assembly 100, the second nut 413 is connected with the second clamping assembly 200, the first nut 412 and the second nut 413 are respectively engaged with two ends of the bi-directional screw 411 through threads, and the second driving member 414 is used for driving the bi-directional screw 411 to rotate.
In this embodiment, the threads at both ends of the bi-directional screw 411 are in opposite directions, and the threads of the first nut 412 and the second nut 413 are in opposite directions and are respectively engaged with the corresponding threaded ends of the bi-directional screw 411. The second driving piece 414 is connected with the bidirectional screw 411 and provides rotating power for the bidirectional screw 411, and under the condition that the second driving piece 414 drives the bidirectional screw 411 to rotate, the bidirectional screw 411 drives the first nuts 412 and the second nuts 413 at two ends to move towards the direction away from or close to each other at the same time, so that the first clamping assembly 100 and the second clamping assembly 200 respectively connected with the first nuts 412 and the second nuts 413 can be away from or close to each other, and the distance between the first clamping wheel 110 and the second clamping wheel 210 is adjusted, so that clamping operation and clamping force control are realized.
Through setting up second driving piece 414 drive bi-directional lead screw 411 and rotating, avoided setting up two driving pieces, realized two clamping components simultaneous movement promptly, power transmission structure is simple stable and occupation space is little, has saved power transmission structure's required part and required space. And, two clamping components move simultaneously, so that the speed of the clamping operation is increased, and the clamping efficiency is improved.
The second driver 414 may be a servo motor, for example.
In some embodiments provided by the present application, as shown in fig. 4, optionally, the connection assembly 400 further includes a first moving member 430 and a pressure detecting member 440, the first moving member 430 is connected to the adjustment module 410 and the first clamping assembly 100, respectively, the pressure detecting member 440 is connected to the first moving member 430 and the first clamping assembly 100, respectively, and the pressure detecting member 440 is used for detecting the pressure applied to the first clamping assembly 100 in the clamping state.
In this embodiment, both ends of the first moving member 430 are connected to the adjustment module 410 and the first clamping assembly 100, respectively, and in particular, the first moving member 430 may be connected to the first nut 412. The first moving member 430 is coupled to the first clamping assembly 100 through a pressure detecting member 440. In the clamping state of the first clamping assembly 100, the rod-shaped member generates pressure on the first clamping assembly 100, and the pressure passes through the pressure detecting member 440 before being transmitted to the first moving member 430, so that the pressure detecting member 440 can detect the stress applied to the first clamping assembly 100, further detect the clamping force of the first clamping assembly 100 on the rod-shaped member, and monitor the clamping information of the rod-shaped member.
In some embodiments provided by the present application, as shown in fig. 7, optionally, the connection assembly 400 further includes a second moving member 450, a transition member 460 and a tension detecting member 470, wherein the second moving member 450 is connected to the adjustment module 410 and the second clamping assembly 200, the transition member 460 is connected to the first driving member 420, the transition member 460 is rotatably connected to the second moving member 450, the tension detecting member 470 is connected to the second moving member 450 and the transition member 460, and the tension detecting member 470 is used for detecting rotational resistance applied to the transition member 460 to control clamping force of the rod-shaped member.
In this embodiment, both ends of the second moving member 450 are connected to the adjustment module 410 and the second clamping assembly 200, respectively, and in particular, the second moving member 450 may be connected to the second nut 413. The second moving member 450 is covered outside the transition member 460, and the transition member 460 is sleeved on the outer periphery of the first driving member 420 and is connected with the outer wall of the first driving member 420. The first driving member 420 can rotate relative to the second moving member 450 through the transition member 460, the second moving member 450 is connected with the transition member 460 through the tension detecting member 470, under the condition that the first driving member 420 generates driving force, the rotation resistance can be received, and the rotation resistance passes through the tension detecting member 470 before being transmitted to the second moving member 450, so that the tension detecting member 470 can feed back the rotation force of the output end of the first driving member 420, and further, the driving information of the second clamping wheel 210 for rotating the rod-shaped member is monitored, so that the driving force of the rod-shaped member is controlled, and the excessive distortion of the rod-shaped member is avoided.
Illustratively, the connecting assembly 400 further includes a third movable member 451, the second movable member 450 is connected to the third movable member 451, and the transition member 460 is disposed in a mounting cavity defined by the second movable member 450 and the third movable member 451, so as to facilitate mounting of the first driving member 420 and the transition member 460. The outer end of the transition member 460 is sleeved with a bearing and is rotatably connected with the second moving member 450 through the bearing.
Illustratively, the bidirectional screw 411 includes a polish rod portion and two threaded portions, on which threads having opposite directions of rotation are respectively provided, and the polish rod portion is located between the two threaded portions and protrudes from the threaded portions in a radial direction. The first moving member 430 is rotatably connected to the polish rod portion, and the second moving member 450 or the third moving member 451 is rotatably connected to the polish rod portion, which plays a role in guiding and preventing distortion.
In some embodiments of the present application, as shown in fig. 4 and 5, optionally, the connection assembly 400 further includes a first connection base 481, a second connection base 482, and a conveying force detecting member 483, wherein either one of the first connection base 481 and the second connection base 482 is provided with a sliding groove 4811, the other is provided with a sliding block 481, the sliding block 481 is cooperatively connected with the sliding groove 4811, the first connection base 481 is capable of moving along the rotation axis direction of the second clamping wheel 210, the sliding groove 4811 extends along the movement direction, and the second connection base 482 is connected with the adjustment module 410. The conveying force detecting member 483 is connected to the first and second connection seats 481 and 482, respectively, and the conveying force detecting member 483 is used for detecting resistance force applied to the first connection seat 481 in a moving state.
In this embodiment, the first connection base 481 can reciprocate along the extending direction of the rotation axis, and the first connection base 481 drives the first clamping component 100 and the second clamping component 200 to move through the second connection base 482, so that the rod-shaped member can be conveyed forward or backward. The second connection seat 482 is rotatably connected with the bi-directional screw 411. Specifically, the second connection seat 482 is rotatably connected to the screw portion.
The first connecting base 481 and the second connecting base 482 are respectively provided with a sliding groove 481 and a sliding block 4811 which are matched with each other, the extending direction of the sliding groove 481 is the same as the moving direction of the first connecting base 481, the first connecting base 481 is connected with the second connecting base 482 through a conveying force detecting piece 483, and the sliding block 481 and the sliding groove 4811 are connected with the first connecting base 481 and the second connecting base 482, and meanwhile, the freedom degrees of the first connecting base 481 and the second connecting base 482 in the moving direction are limited through the conveying force detecting piece 483. Under the circumstance that the first connection base 481 moves, the first connection base 481 and the second connection base 482 generate a conveying force along the moving direction, and the pulling force passes through the conveying force detecting member 483 before being transmitted to the second connection base 482, so that the conveying force detecting member 483 can detect the conveying force between the two connection bases, and further monitor the conveying information of the connection assembly 400, so as to control the conveying force of the rod-shaped member and avoid excessive conveying of the rod-shaped member.
Illustratively, the pressure sensing element 440, the tension sensing element 470, and the delivery force sensing element 483 may be force sensors. The connection assembly 400 further includes a signal amplifier electrically connected to the pressure detecting member 440, the conveying force detecting member 483, and the tension detecting member 470, respectively, and the signal amplifier is used for amplifying a signal generated by the detecting member, thereby improving the accuracy of detection, enabling the force feeling to be more accurate, and preventing excessive conveying or twisting of the rod-shaped member during operation.
In some embodiments provided by the present application, as shown in fig. 9, 10, 11, 12 and 13, optionally, the second clamping assembly 200 further includes a mating member 250 and a detaching member 240, the second clamping wheel 210 is rotatably connected to the mating member 250, two ends of the mating member 250 are detachably connected to the detaching member 240 and the second base 220, respectively, and a connection state and a detachment state exist between the detaching member 240 and the second base 220, and when the detaching member 240 is in the detachment state, the detaching member 240 can move in a direction away from the mating member 250.
In this embodiment, in the case that the fitting 250 needs to be disassembled, the connection between the splitting piece 240 and the second base 220 is released, the splitting piece 240 is pulled out toward the direction away from the fitting 250, the connection between the splitting piece 240 and the fitting 250 is released, the splitting piece 240 is in the splitting state, and the operator can move out of the fitting 250. In the case where the fitting 250 is required to be mounted, one end of the fitting 250 is connected to the second base 220, and the split member 240 is pushed toward the direction approaching the fitting 250, so that the other end of the fitting 250 is connected to the split member 240.
By arranging the matching piece 250 and the splitting piece 240, the isolation requirement of the second clamping wheel 210 contacted with the rod-shaped piece is met, and the matching piece 250 and the second clamping wheel 210 are convenient to detach so as to clean and disinfect, and the safety and sanitation of medical operation are ensured.
Illustratively, the first clamping assembly 100 further includes a mounting member, a groove and a mating block are disposed on the mounting member and the first base 120, respectively, the mating block is capable of sliding in the groove to detachably connect the mounting member with the first base 120, and the first clamping wheel 110 is rotatably connected with the mounting member.
In some embodiments of the present application, as shown in fig. 11, optionally, a connection hole 275 is provided on the clamping wheel driving assembly, and the splitting piece 240 is clamped with the connection hole 275, and the first end of the splitting piece 240 is detachably connected with the second clamping wheel 210. The second clamping assembly 200 further comprises an elastic member 291, an operation plate 292 and a limiting block 293, wherein the elastic member 291 is connected with the split member 240 and the hole wall of the connecting hole 275, the operation plate 292 is provided with a mounting hole 294, the second end of the split member 240 passes through the mounting hole 294 and is connected with the limiting block 293, the operation plate 292 is located between the limiting block 293 and the second base 220, and when the split member 240 is in a split state, the limiting block 293 is clamped with the operation plate 292.
In this embodiment, the splitting piece 240 is a shaft-shaped piece, the splitting piece 240 and the second clamping wheel 210 are coaxially disposed, the splitting piece 240 is matched with and clamped with the shape of the connecting hole 275, and the clamping wheel driving assembly can drive the splitting piece 240 to rotate through the connecting hole 275, so as to drive the second clamping wheel 210 to rotate.
Illustratively, the gear assembly 270 is provided on the second clamping assembly 200, the clamping wheel drive assembly is coupled to the gear assembly 270, and the coupling aperture 275 is provided on the second transfer gear 274.
The elastic member 291 is located in the connection hole 275 and connects the split member 240 and the hole wall of the connection hole 275, when the split member 240 is in the split state, the elastic member 291 is in the elastic deformation state, and can generate elastic force, so that the split member 240 moves towards the direction close to the mating member 250, the split member 240 is connected with the mating member 250 conveniently, and the stability of connection is improved.
The operation plate 292 is located at the outer side of the second base 220, the second end of the splitting piece 240 passes through the mounting hole 294 of the operation plate 292 and then is connected with the limiting block 293, the operation plate 292 is located between the limiting block 293 and the second base 220, and the limiting block 293 extends out of the mounting hole 294 along the radial direction, so that the limiting block 293 can be clamped with the operation plate 292. When the fitting 250 needs to be disassembled, the operation plate 292 is moved to the outside, so that the limiting block 293 drives the splitting piece 240 to move in a direction away from the second clamping wheel 210, and the splitting piece 240 is in a splitting state and separated from the second clamping wheel 210, thereby improving the convenience of disassembling the fitting 250.
Illustratively, a gap is provided between the stopper 293 and the operating plate 292 along the axial direction, so that the operating plate 292 does not affect the rotation of the stopper 293 and the split member 240. The end of the operation plate 292 is provided with a bent portion bent in a direction away from the second base 220 to facilitate gripping and controlling the movement of the operation plate 292.
Illustratively, the stopper 293 is a screw, and a threaded hole is formed at an end of the split member 240, and the stopper 293 is inserted into the threaded hole.
In some embodiments provided by the present application, as shown in fig. 12 and 13, optionally, the second clamping assembly 200 further includes a guide shaft 230 and an operating member 260, the guide shaft 230 is connected to the second base 220, the guide shaft 230 extends along the rotation axis direction of the second clamping wheel 210, the guide shaft 230 passes through the split member 240, and the split member 240 can move along the axial direction of the guide shaft 230 when the split member 240 is in the split state. The operating member 260 is rotatably connected with the second base 220, the splitting member 240 is provided with a limiting hole 241, and the operating member 260 can pass through the limiting hole 241 and is clamped with the splitting member 240 after rotating.
In this embodiment, a guide shaft 230 is provided at an end of the second base 220 and extends in the direction of the rotation axis of the second clamping wheel 210, and the guide shaft 230 passes through the split piece 240 and provides a guide for movement of the split piece 240.
In the state that the split piece 240 is connected with the second base 220, the operation piece 260 can pass through the limiting hole 241 on the split piece 240 and is clamped with the split piece 240 after rotating, so that the split piece 240 is limited, the split piece 240 is prevented from being separated from the second base 220, and the stability of the second clamping assembly 200 after being assembled is ensured.
Illustratively, the second clamping assembly 200 further includes a limiting member 280, wherein the limiting member 280 is located at an end of the split member 240 and is respectively connected to the split member 240 and the mating member 250, and the mounting position of the mating member 250 can be defined by the limiting member 280.
In some embodiments of the present application, as shown in fig. 2, alternatively, the number of the connection assemblies 400 is two, and the two connection assemblies 400 are disposed along the rotation axis direction of the second clamping wheel 210. The operating device 10 for a rod-like member further comprises a driving assembly 500, wherein the driving assembly 500 is connected with the two connecting assemblies 400, and the driving module is used for driving any one of the connecting assemblies 400 to move along the rotation axis direction of the second clamping wheel 210.
In this embodiment, the driving component 500 is connected to the two connecting components 400, and can respectively drive any one of the connecting components 400 to move along the rotation axis direction of the second clamping wheel 210, so as to adjust the distance between the two connecting components 400, so that the clamping component on one connecting component 400 can hold the rod-shaped piece, the clamping component on the other connecting component 400 can convey the rod-shaped piece forward or backward, the two connecting components 400 move alternately, and the rod-shaped piece is advanced or retracted in a mode of simulating the operation of two hands, thereby improving the flexibility and convenience of conveying the rod-shaped piece.
In some embodiments provided by the present application, as shown in fig. 14 and 15, optionally, the driving assembly 500 includes a frame 510, a third driving member 520, a transmission member 530, a guide bar 540, and a guide block 550, the third driving member 520 is connected to the frame 510, the transmission member 530 is connected to the third driving member 520, the third driving member 520 is used to drive the transmission member 530 to move, the guide bar 540 is connected to the frame 510, the guide bar 540 extends along the movement direction of the connection assembly 400, the guide block 550 is slidably connected to the guide bar 540, and the guide block 550 is connected to the transmission member 530 and the connection assembly 400, respectively.
In this embodiment, the third driving member 520 provides power for the movement of the connecting assembly 400, and can drive the driving member 530 to reciprocate along the movement direction of the connecting assembly 400, so that the guide block 550 on the driving member 530 drives the connecting assembly 400 to move while following the movement of the driving member 530, and the conveying of the rod-shaped member is controlled. Specifically, the guide block 550 is connected to the first connection base 481.
The third driving member 520 and the guide bar 540 are disposed on the frame body 510, the guide bar 540 extends along the movement direction of the connection assembly 400, and the guide block 550 can slide along the axial direction of the guide bar 540, so that the guide bar 540 guides the movement of the guide block 550.
Illustratively, the third driver 520 may be a servo motor.
Illustratively, the number of third drivers 520 is two and the number of driving members 530 is four, any one third driver 520 being connected to two driving members 530.
In some embodiments of the present application, as shown in fig. 14, optionally, the transmission member 530 is a transmission belt, and the driving assembly 500 further includes a pulley 560, wherein the pulley 560 is rotatably connected to the frame 510, and the transmission belt is sleeved on the outer side of the pulley 560.
In this embodiment, the drive member 530 is a drive belt, the pulley 560 is rotatable relative to the frame 510, the drive belt rotates about the outside of the pulley 560, the pulley 560 provides structural support to the drive belt, and changes the drive direction of the drive belt.
In a specific embodiment, the endoscope transporter (i.e., the rod-like member manipulator 10) includes a drive assembly 500 and a jaw assembly, and a motor (i.e., the third drive member 520) of the drive assembly 500 is configured to rotate a timing belt (i.e., the transmission member 530) and is disposed on the optical axis guide base. The pulley 560 is fixedly arranged on the optical axis guide rail base and moves in cooperation with the synchronous belt, four optical axes (namely, the guide rods 540) are arranged on the base, two ends of the linear slide block (namely, the guide block 550) are provided with holes and penetrate through the optical axes, the linear slide block is fixedly connected with the synchronous belt, and the synchronous belt can drive the linear slide block to reciprocate.
The jaw assembly includes a connection assembly 400, a first clamping assembly 100, and a second clamping assembly 200.
The first connecting seat 481 is fixedly connected with the linear sliding block through a screw, the linear sliding block can drive the clamping jaw assembly to integrally move, the second connecting seat 482 is connected with the first connecting seat 481 through the cooperation of the sliding groove 4811 and the sliding block 4811, the sliding groove 4811 is arranged on the first connecting seat 481, and the sliding block 4811 is arranged on the second connecting seat 482. A delivery force sensor (i.e., a delivery force detecting member 483) is further provided between the first connection base 481 and the second connection base 482, one end of the delivery force sensor is fixed to the second connection base 482, the other end of the delivery force sensor is connected to the first connection base 481, and the delivery force sensor is used for feeding back a force generated during delivery of the endoscope.
The second driving member 414 is disposed on the second connecting seat 482, and a gear set is connected to the top of the second driving member 414, where the gear set drives the bidirectional screw 411 to rotate. One end of the first moving member 430 is provided with a through hole and sleeved on the bi-directional screw 411, and the other end is provided with two through holes, and two guide posts of the first clamping assembly 100 pass through the two through holes, so that the first moving member 430 is connected with the first clamping assembly 100. The first moving member 430 is internally provided with a signal amplifier connected to a pressure sensor (i.e., the pressure detecting member 440), a tension stress sensor (i.e., the tension detecting member 470), and a conveyance force sensor.
One end of the third moving member 451 is provided with a through hole and sleeved on the bi-directional screw 411, the other end of the third moving member 451 is fixedly connected with the second moving member 450, the second moving member 450 is provided with two through holes, and two guide posts of the second clamping assembly 200 penetrate through the two through holes, so that the third moving member 451 is connected with the second clamping assembly 200. The two nuts are respectively connected with the first moving member 430 and the third moving member 451, and are driven by the second driving member 414 to perform reverse movement, thereby realizing the function of clamping and releasing the endoscope. The bidirectional screw 411 is rotatably connected to the second connection member through a flange bearing, and rotatably connected to the first and third moving members 430 and 451 through a self-lubricating bearing, and the bearing plays a role of guiding and preventing distortion.
The pressure sensor is disposed in the cavity of the first moving member 430 and fixedly coupled thereto, and the lower end of the pressure sensor is coupled to the first clamping assembly 100 through a pressure sensor coupling. The first driving piece 420 is arranged in the third moving piece 451 and the second moving piece 450, one end of the first driving piece 420 is fixedly connected with the transition piece 460 through a screw and is matched with the second moving piece 450 through a bearing, a clamp spring is arranged at one end of the transition piece 460 to prevent axial movement, a tension stress sensor is respectively fixedly connected with the transition piece 460 and the third moving piece 451 through two connecting pieces, the first driving piece 420 is locked with the third moving piece 451 through the tension stress sensor, the rotating force of the output shaft end of the first driving piece 420 can be fed back through the sensor, and the moment generated by the rotation of the endoscope by the rubber wheel can be known. The output shaft of the first driving member 420 drives the first bevel gear 271 to rotate through the connecting shaft, and the first bevel gear 271 and the second bevel gear 272 are matched to rotate.
The first clamping assembly 100 comprises a guide post, a closing member, a mounting member, a first rubber wheel (i.e. the first clamping wheel 110), a bearing and a first base 120, wherein the first base 120 and the pressure sensor are fixed through a connecting member, the closing member is arranged on the first base 120, the mounting member is connected with the closing member through a groove, the first rubber wheel is arranged on the mounting member through the bearing and can only rotate along with the mounting member, and the mounting member is convenient to detach and sterilize.
The second clamping assembly 200 includes a second base 220, a gear assembly 270, a detaching element 240, a locking knob (i.e., an operating element 260), a limiting element 280, a mating element 250, a second rubber wheel (i.e., a second clamping wheel 210), a second bevel gear 272, and a guide shaft 230. The second bevel gear 272 is driven by the first bevel gear 271, thereby driving the whole gear assembly 270 to rotate, the gear in the gear assembly 270 drives the second rubber wheel to rotate in the same direction through the bearing, the second base 220 is fixedly connected with the second moving member 450, the guide shaft 230 is arranged in the second base 220, one end of the splitting member 240 passes through the guide shaft 230 and can slide in the second base 220, the matching member 250 fixes the second rubber wheel through the limiting member 280, one end of the splitting member 240 can be matched with the limiting member 280 and fixed through the locking knob, and frequent disinfection is required due to the direct contact between the matching member 250 and the belt pulley 560 and the endoscope.
In the present invention, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, the term "plurality" then referring to two or more unless explicitly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, as they are used in a fixed or removable connection, or as they are integral with one another, as they are directly or indirectly connected through intervening media. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.