CN202288225U - Endoscope clamping manipulator - Google Patents
Endoscope clamping manipulatorDownload PDFInfo
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- CN202288225U CN202288225UCN 201120361304CN201120361304UCN202288225UCN 202288225 UCN202288225 UCN 202288225UCN 201120361304CN201120361304CN 201120361304CN 201120361304 UCN201120361304 UCN 201120361304UCN 202288225 UCN202288225 UCN 202288225U
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- speed reducer
- reducer assembly
- endoscope
- motor
- clamping manipulator
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Abstract
Description
Technical field
This utility model belongs to the assistive device field of operation or diagnosis usefulness, especially relate to a kind of can clamping endoscope and can realize endoscope's degree of freedom medical apparatus and instruments of regulating of trace automatically.
Background technology
In medical operating or Diagnosis Application field, endoscopic observation is implemented the Minimally Invasive Surgery treatment down or diagnostic techniques obtains application more and more widely at present.Along with the clinical complexity of implementing Minimally Invasive Surgery improves constantly; And the fast development of endoscopic technique; The stereo endoscope that can present the stereoscopic image effect has begun to be applied to clinical Minimally Invasive Surgery, but stereo endoscope compares with general endoscope, and own vol and weight have bigger increase.Because operation all needs certain hour generally speaking; It is very big to hold labor intensity and workload that the long-time manual work of mirror doctor holds mirror; Especially the volume of stereo endoscope is big, quality heavy, and the unsteady situation of mirror appears holding in the manually-operated meeting for a long time, thereby the influence operation is observed.No matter be general endoscope or stereo endoscope in addition, the trace in endoscope orientation adjustment in the operation, manually-operated is difficult for grasping, and hold the mirror doctor and cooperate with communicating with each other of operative doctor, also be the key factor that influences Minimally Invasive Surgery implementation result under the scope.
Summary of the invention
The matter of utmost importance that this utility model will solve provides a kind of clamping device of endoscope, can substitute manual work and hold the mirror action; Next is the automatic trace adjustment that can realize the endoscopic observation angle.
For solving the problems of the technologies described above; The technical scheme that this utility model adopts is: a kind of endoscope clamping manipulator comprises: mechanical hand be connected andfixed device 14, horizontal rotary mechanism, luffing mechanism, elevating mechanism, clamping endoscope and can make it the free-wheeling system of rotation; Themechanical hand device 14 that is connected and fixed is connected with the horizontal rotary mechanism relative fixed; Luffing mechanism is bearing on the horizontal rotary mechanism; Elevating mechanism is bearing on the luffing mechanism and with free-wheeling system and is connected; Each mechanism all is electrically connected with the control system of each mechanism action of control.
Further; Said horizontal rotary mechanism comprises: with mechanical hand be connected and fixed drivengear 6 thatdevice 14 is fixedly connected, be supported on the drivengear 6 and can be with it in relative rotationcircular base 7, be fixed on horizontal rotary mechanism motor andspeed reducer assembly 4 on thecircular base 7, be fixed on horizontal rotary mechanism motor andspeed reducer assembly 4 output shafts and with thedriving gear 5 of drivengear 6 engagements, horizontal rotary mechanism motor andspeed reducer assembly 4 are electrically connected with control system.
Further, be provided with a plurality of rollers that are fixedly connected oncircular base 7 around the said drivengear 6.
Further; Said luffing mechanism comprises: can rotate around it a relativecircular base 7 and do thepitching yaw 15 that swings up and down, the luffing mechanism motor and thespeed reducer assembly 13 of control pitching yaw swing, luffing mechanism motor andspeed reducer assembly 13 are electrically connected with control system.
Further, be connected through the turbine and worm parafacies between luffing mechanism motor andspeed reducer assembly 13 and the pitching yaw.
Further; Said elevating mechanism comprises: lifting support 11, the elevating screw group that is connected withpitching yaw 15 with lifting support 11; Lifting support moves up and down along the leadingscrew 12 of elevating screw group; Elevating mechanism motor andspeed reducer assembly 8 are connected on the lifting support 11, and the pinion on its output shaft is meshed with the screw gear 9 of elevating screw group; Elevating mechanism motor andspeed reducer assembly 8 are electrically connected with control system.
Further; Said free-wheeling system comprises: the clamping device and free-wheeling system motor and thespeed reducer assembly 2 that are connected the clamping endoscope on the lifting support; Free-wheeling system motor andspeed reducer assembly 2 are in transmission connection throughdriving gear set 3 with clamping device, and free-wheeling system motor andspeed reducer assembly 2 are electrically connected with control system.
Further, said control system comprises the acoustic control adjusting device that can adjust each mechanism action through voice control.
Further, said control system comprises the multi-functional foot pedal apparatus through foot-operated each mechanism action of control adjustment.
Said control system comprises the sensing mechanism be located in said each mechanism and each sensing mechanism is sent the device that signal processs and displays.
Advantage and the good effect that the utlity model has are:
But general endoscope of clamping and the bigger stereo endoscope of mass and size;
Mechanical hand has 4 degree of freedom, can guarantee to be held sight glass and realize rotation, revolution, up-down and wobbling action, can substitute the manually-operated of the comprehensive variation of sight glass;
The sight glass lifting action utilizes worm drive, operates steadily and can self-locking, avoids in the operation because of deadweight causes the sight glass change in location, also can prevent to make because of outage or other reasons are out of control the sight glass danger of tenesmus suddenly;
Mechanical hand is provided with the acoustic control adjusting device, and operative doctor can or change the sight glass position with language commander adjustment;
Mechanical hand is provided with multi-functional foot switch, can adjust or change sight glass position through foot-operated control, has eliminated operation doctor and the inconvenience of holding mirror doctor communication in the operation;
Mechanical hand horizontally rotate control hollow driven gear and circular base with around roller feel relieved;
Sight glass can be realized self-locking at the vertical plane wobbling action through worm gear and worm-drive, can prevent because of the danger of cutting off the power supply or other faults are toppled over sight glass.
Description of drawings
Fig. 1 is the structural scheme of mechanism of this utility model
Among the figure:
1, endoscope; 2, free-wheeling system motor and speed reducer assembly; 3, driving gear set; 4, horizontal rotary mechanism motor and speed reducer assembly; 5, driving gear; 6, driven gear; 7, circular base; 8, elevating mechanism motor and speed reducer assembly; 9, screw gear; 10, pinion; 11, lifting support; 12, leading screw; 13, luffing mechanism motor and speed reducer assembly; 14, the mechanical hand device that is connected and fixed; 15, pitching yaw.
The specific embodiment
As shown in Figure 1, this utility model comprises: mechanical hand be connected andfixed device 14, horizontal rotary mechanism, luffing mechanism, elevating mechanism, clamping endoscope and can make it the free-wheeling system of rotation;
Themechanical hand device 14 that is connected and fixed can directly be connected with operation table, also can be to have one of one's own to overlap movably apparatus-form, convenient moving.
Themechanical hand device 14 that is connected and fixed is connected with the horizontal rotary mechanism relative fixed; Luffing mechanism is bearing on the horizontal rotary mechanism; Elevating mechanism is bearing on the luffing mechanism and with free-wheeling system and is connected; Each mechanism all is electrically connected with the control system of each mechanism action of control.
Said horizontal rotary mechanism comprises: with mechanical hand be connected and fixed drivengear 6 thatdevice 14 is fixedly connected, be supported on the drivengear 6 and can be with it in relative rotationcircular base 7, be fixed on horizontal rotary mechanism motor andspeed reducer assembly 4 on thecircular base 7, be fixed on horizontal rotary mechanism motor andspeed reducer assembly 4 output shafts and with thedriving gear 5 of drivengear 6 engagements, horizontal rotary mechanism motor andspeed reducer assembly 4 are electrically connected with control system.The operation principle of this mechanism is: control system control horizontal rotary mechanism motor andspeed reducer assembly 4 work;Driving gear 5 rotations on horizontal rotary mechanism motor andspeed reducer assembly 4 output shafts; Because drivengear 6 is fixed on mechanical hand and is connected and fixed on thedevice 14; Therefore make to rotate, realize the revolution adjustment with the relatively-stationary circular base of driving gear.
Be enhanced stability, also can be provided with a plurality of rollers that are fixedly connected oncircular base 7 around the drivengear 6, make the rotation of circular base more stable.
Luffing mechanism comprises: the luffing mechanism motor and thespeed reducer assembly 13 ofpitching yaw 15, the swing of control pitching yaw, luffing mechanism motor andspeed reducer assembly 13 are electrically connected with control system.The pitching yaw that shows among the figure is connected through bearing with circular base, also can adopt other connected modes, as long as can guarantee that the pitching yaw can rotate around it a relativecircular base 7 and do and swing up and down.Its operation principle is: control system control luffing mechanism motor andspeed reducer assembly 13 actions, luffing mechanism motor andspeed reducer assembly 13 control pitching yaws rotate around it a relativecircular base 7 and do and swing up and down.
Can be connected through the gear drive of simple form between luffing mechanism motor andspeed reducer assembly 13 and the pitching yaw, can also connect through the turbine and worm parafacies.Luffing mechanism motor andspeed reducer assembly 13 can with the circular base relative fixed, also can with pitching yaw relative fixed, those skilled in the art can directly associate the multiple implementation that makes it to satisfy above-mentioned operation principle.And suggestion adopts turbine and worm secondary, can make sight glass like this in doing wobbling action, realizes self-locking, can prevent because of the danger of cutting off the power supply or other faults are toppled over sight glass.
Said elevating mechanism comprises: lifting support 11, the elevating screw group (only drawing with leadingscrew 12 among the figure is the schematic form of representative) that is connected withpitching yaw 15 with lifting support 11; Lifting support moves up and down along the leadingscrew 12 of elevating screw group; Elevating mechanism motor andspeed reducer assembly 8 are connected on the lifting support 11, and the pinion on its output shaft is meshed with the screw gear 9 of elevating screw group; Elevating mechanism motor andspeed reducer assembly 8 are electrically connected with control system.When control system control elevating mechanism motor andspeed reducer assembly 8 work; Pinion on elevating mechanism motor andspeed reducer assembly 8 output shafts and the screw gear of elevating screw group 9 interact, and make lifting support move up and down along the leadingscrew 12 of elevating screw group.
Said free-wheeling system comprises: the clamping device and free-wheeling system motor and thespeed reducer assembly 2 that are connected the clamping endoscope on the lifting support; Free-wheeling system motor andspeed reducer assembly 2 are in transmission connection throughdriving gear set 3 with clamping device, and free-wheeling system motor andspeed reducer assembly 2 are electrically connected with control system.
Further, said control system comprises the acoustic control adjusting device that can adjust each mechanism action through voice control.
Further, said control system comprises the multi-functional foot pedal apparatus through foot-operated each mechanism action of control adjustment.
Said control system comprises the sensing mechanism be located in said each mechanism and each sensing mechanism is sent the device that signal processs and displays.
Above-mentioned horizontal rotary mechanism, luffing mechanism, elevating mechanism and free-wheeling system all can controlled system be controlled single driving, also can move simultaneously.The doctor sends different instruction through voice or foot-operated action, until endoscope being adjusted to needed position.
More than the embodiment of this utility model is specified, but said content is merely the preferred embodiment of this utility model, can not be considered to be used to limit the practical range of this utility model.All equalizations of doing according to this utility model application range change and improve etc., all should still belong within the patent covering scope of this utility model.
Claims (10)
1. endoscope's clamping manipulator is characterized in that, comprising: mechanical hand be connected and fixed device (14), horizontal rotary mechanism, luffing mechanism, elevating mechanism, clamping endoscope and can make it the free-wheeling system of rotation;
The mechanical hand device (14) that is connected and fixed is connected with the horizontal rotary mechanism relative fixed;
Luffing mechanism is bearing on the horizontal rotary mechanism;
Elevating mechanism is bearing on the luffing mechanism and with free-wheeling system and is connected;
Each mechanism all is electrically connected with the control system of each mechanism action of control.
2. endoscope according to claim 1 clamping manipulator; It is characterized in that; Said horizontal rotary mechanism comprises: with mechanical hand be connected and fixed driven gear (6) that device (14) is fixedly connected, be supported on that driven gear (6) is gone up and can be with it in relative rotation circular base (7), be fixed on horizontal rotary mechanism motor and speed reducer assembly (4) on the circular base (7), be fixed on horizontal rotary mechanism motor and speed reducer assembly (4) output shaft and with the driving gear (5) of driven gear (6) engagement, horizontal rotary mechanism motor and speed reducer assembly (4) are electrically connected with control system.
3. endoscope according to claim 2 clamping manipulator is characterized in that: said driven gear (6) is provided with a plurality of rollers that are fixedly connected on circular base (7) all around.
4. endoscope according to claim 1 clamping manipulator; It is characterized in that; Said luffing mechanism comprises: can rotate around it a relative circular base (7) and do the pitching yaw (15) that swings up and down, the luffing mechanism motor and the speed reducer assembly (13) of control pitching yaw swing, luffing mechanism motor and speed reducer assembly (13) are electrically connected with control system.
5. endoscope according to claim 4 clamping manipulator is characterized in that: be connected through the turbine and worm parafacies between luffing mechanism motor and speed reducer assembly (13) and the pitching yaw.
6. endoscope according to claim 1 clamping manipulator; It is characterized in that; Said elevating mechanism comprises: lifting support (11), the elevating screw group that is connected with pitching yaw (15) with lifting support (11); Lifting support moves up and down along the leading screw (12) of elevating screw group, and elevating mechanism motor and speed reducer assembly (8) are connected on the lifting support (11), and the pinion on its output shaft (10) is meshed with the screw gear (9) of elevating screw group; Elevating mechanism motor and speed reducer assembly (8) are electrically connected with control system.
7. endoscope according to claim 1 clamping manipulator; It is characterized in that; Said free-wheeling system comprises: the clamping device and free-wheeling system motor and the speed reducer assembly (2) that are connected the clamping endoscope on the lifting support; Free-wheeling system motor and speed reducer assembly (2) are in transmission connection through driving gear set (3) with clamping device, and free-wheeling system motor and speed reducer assembly (2) are electrically connected with control system.
8. endoscope according to claim 1 clamping manipulator is characterized in that: said control system comprises can be through the acoustic control adjusting device of each mechanism action of voice control adjustment.
9. endoscope according to claim 1 clamping manipulator is characterized in that: said control system comprises the multi-functional foot pedal apparatus through foot-operated each mechanism action of control adjustment.
10. endoscope according to claim 1 clamping manipulator is characterized in that: said control system comprises the sensing mechanism be located in said each mechanism and each sensing mechanism is sent the device that signal processs and displays.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120361304CN202288225U (en) | 2011-09-24 | 2011-09-24 | Endoscope clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120361304CN202288225U (en) | 2011-09-24 | 2011-09-24 | Endoscope clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202288225Utrue CN202288225U (en) | 2012-07-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120361304Expired - Fee RelatedCN202288225U (en) | 2011-09-24 | 2011-09-24 | Endoscope clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202288225U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102293626A (en)* | 2011-09-24 | 2011-12-28 | 天津博朗科技发展有限公司 | Endoscope clamping mechanical arm |
| CN104188613A (en)* | 2014-09-22 | 2014-12-10 | 天津博朗科技发展有限公司 | Portable mechanical endoscope fixture |
| CN109567731A (en)* | 2018-12-03 | 2019-04-05 | 宗绪山 | A kind of gastroenterology scope fixed support device |
| CN110338909A (en)* | 2019-07-01 | 2019-10-18 | 天津安怀信科技有限公司 | Medical endoscopic surgery auxiliary stent |
| CN110418620A (en)* | 2017-03-10 | 2019-11-05 | Cmr外科有限公司 | Control surgical instrument |
| CN112809662A (en)* | 2021-01-04 | 2021-05-18 | 华灿光电（浙江）有限公司 | Mechanical arm |
| CN116570211A (en)* | 2023-04-17 | 2023-08-11 | 应急总医院 | Soft and hard mirror adjusting and fixing device |
- 2011
- 2011-09-24CNCN 201120361304patent/CN202288225U/ennot_activeExpired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102293626A (en)* | 2011-09-24 | 2011-12-28 | 天津博朗科技发展有限公司 | Endoscope clamping mechanical arm |
| CN104188613A (en)* | 2014-09-22 | 2014-12-10 | 天津博朗科技发展有限公司 | Portable mechanical endoscope fixture |
| CN104188613B (en)* | 2014-09-22 | 2015-11-18 | 天津博朗科技发展有限公司 | Mechanical grip mechanism of a kind of lightweight endoscope |
| CN110418620A (en)* | 2017-03-10 | 2019-11-05 | Cmr外科有限公司 | Control surgical instrument |
| CN109567731A (en)* | 2018-12-03 | 2019-04-05 | 宗绪山 | A kind of gastroenterology scope fixed support device |
| CN110338909A (en)* | 2019-07-01 | 2019-10-18 | 天津安怀信科技有限公司 | Medical endoscopic surgery auxiliary stent |
| CN112809662A (en)* | 2021-01-04 | 2021-05-18 | 华灿光电（浙江）有限公司 | Mechanical arm |
| CN112809662B (en)* | 2021-01-04 | 2022-03-18 | 华灿光电（浙江）有限公司 | Mechanical arm |
| CN116570211A (en)* | 2023-04-17 | 2023-08-11 | 应急总医院 | Soft and hard mirror adjusting and fixing device |
| CN116570211B (en)* | 2023-04-17 | 2024-04-19 | 应急总医院 | Soft and hard lens adjustment fixture |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20120704 Termination date:20200924 | |
| CF01 | Termination of patent right due to non-payment of annual fee |