CN201987528U - Mechanical arm for positioning endoscope - Google Patents

Abstract

The utility model discloses a mechanical arm for positioning an endoscope, which includes a positioning adjustment part and a posture adjustment part, and the positioning adjustment part includes a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod IV. Parallelogram structure, the attitude adjustment part includes the end rotation base, the end rotation base is fixedly connected with the other end of the connecting rod IV, the support frame is rotatably installed on the first bearing provided on the end rotation base through the first rotating shaft connected thereto Inside, the support sleeve is rotatably installed in the second bearing provided on the support frame through the second rotating shaft connected thereto, and the clamping sleeve for clamping the endoscope is rotatably connected through the third rotating shaft connected thereto. Installed in the third bearing arranged on the support sleeve, the rotation axes of the first, second and third rotating shafts intersect at one point. The structure can be directly fixed on the operating bed, has stable positioning of the endoscope, high precision, and no fatigue; and can be easily moved under the stimulation of the doctor's input.

Description

A robotic arm for positioning an endoscope

technical field

The utility model relates to a mechanical arm, in particular to a mechanical arm used for positioning an endoscope in minimally invasive surgery.

Background technique

Minimally invasive surgery represented by laparoscopy is known as one of the important contributions of medical science to human civilization in the 20th century. It has the advantages of small trauma, less blood loss, small scars, and fast postoperative recovery, and is favored by doctors and patients. It is widely used in clinical operations. However, during minimally invasive surgery, it is necessary to provide information about the surgical scene through an endoscope that enters the body surface. During minimally invasive surgery, the endoscope is generally controlled by an assistant doctor. In this mode, the stability of the output image is relatively poor, the assistant is prone to fatigue, and it is easy to interfere with other doctors or equipment, especially when the operation time is long. For a long time, the stability of the image output is worse. Therefore, in the field of minimally invasive surgery, there is an urgent need for related equipment to overcome the above-mentioned shortcomings, so that doctors can more easily complete minimally invasive surgery. At present, a number of research institutions have developed mirror-holding robot prototypes, and a few systems have been commercialized, such as the AESOP series robot system successfully developed by Computer Motion in the United States, and the EndoAssist robot system developed in the UK. These robot-assisted methods have disadvantages such as complex systems and high costs. Therefore, it is of great significance to develop a new auxiliary operation endoscope system with independent intellectual property rights to relieve the labor intensity of the assistant doctor and improve the positioning effect of the endoscope.

Contents of the invention

The purpose of the utility model is to overcome the deficiencies of the prior art, and provide a mechanical arm for positioning the endoscope, which is simple in structure, easy to operate and can improve the positioning effect of the endoscope.

A mechanical arm for positioning an endoscope of the present utility model includes a positioning adjustment part and a posture adjustment part, and the positioning adjustment part includes a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod IV Composed parallelogram structure, the upper ends of the connecting rod I and the connecting rod III are respectively connected to the two ends of the rotating shaft fixed in the two openings at one end of the connecting rod IV through the bearing rotation, the connecting rod III The lower end is rotatably connected to the two ends of the deflection shaft II fixed in the opening at one end of the connecting rod II through bearings, and the two ends of the deflection shaft I rotatably connected to the opening at the other end of the connecting rod II are installed in the setting In the bearings on the two side walls of the machine base, the lower end of the connecting rod I is fixedly connected to the deflection shaft I, and one end connected to the cardan is fixed on the operating bed through the knob provided on it, and the machine base connecting frame is fixed. Be connected to the other end of the described connecting card, the upper end of the rotation shaft installed on the base connecting frame that rotates in the vertical direction through the bearing is fixedly connected with the base and its lower end is connected with the lock I installed on the rotation shaft The parts of the brake pads are fixedly connected, and the magnet part of the brake I is fixedly connected to the bottom of the connecting frame of the base, and the magnet part of the brake II and the brake III are fixedly connected to the deflection axis I and the deflection axis II respectively. The brake pad part and the magnet part of the brake II and the brake III are respectively fixedly connected to the bottom of the base and the connecting rod III; The horizontal direction is fixedly connected, and the support frame is rotatably installed in the first bearing provided on the end rotation seat through the first rotating shaft connected to it along the horizontal direction, and the support sleeve is connected to it along the horizontal direction. The second rotating shaft arranged in the direction is rotatably installed in the second bearing arranged on the support frame, and the clamping sleeve for clamping the endoscope is installed rotatably through the third rotating shaft arranged in the vertical direction connected thereto In the third bearing arranged on the support sleeve, the rotation axes of the first, second and third rotating shafts intersect at one point.

The outstanding advantages of the utility model are:

1. The structure is simple, the operation is convenient, the system is small in size, it can be directly fixed on the operating bed, the positioning of the endoscope is stable, the precision is high, and there is no fatigue; and it can be easily moved under the stimulation of the doctor's input.

2. All the movements of this structure are realized by the rotating joint, which has the characteristics of flexible movement;

3. This structure adjusts the posture of the endoscope in a passive way. This adjustment method has strong adaptability and will not cause damage to organs;

4. This structure has a quick replacement function. During the operation, the endoscope can be easily removed from the mechanical arm for replacement or cleaning operations, and can be easily reinstalled on the mechanical arm.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a mechanical arm for positioning an endoscope according to the present invention;

Fig. 2 is a structural schematic diagram of the positioning adjustment part of the mechanical arm shown in Fig. 1;

FIG. 3 is a schematic structural diagram of the attitude adjustment part of the robotic arm shown in FIG. 1 .

Detailed ways

Below in conjunction with specific embodiment, and with reference to accompanying drawing, the utility model is further described:

As shown in Figures 1-3, a mechanical arm of the utility model for positioning an endoscope includes a positioning adjustment part 1 and a posture adjustment part 2, and the positioning adjustment part as shown in Figure 2 includes a connecting rod A parallelogram structure consisting of I11, connecting rod II7, connecting rod III9 and connecting rod IV10, the upper ends of the connecting rod I and the connecting rod III are respectively connected to the two openings fixed at one end of the connecting rod IV through bearing rotation The two ends of the rotating shaft, the lower end of the connecting rod III is rotatably connected to the two ends of the deflection shaft II fixed in the opening at one end of the connecting rod II through the bearing, and the rotating connection is connected to the opening at the other end of the connecting rod II The two ends of the inner deflection shaft I are rotatably installed in the bearings arranged on the two side walls of the base, the lower end of the connecting rod I is fixedly connected to the deflection shaft I, and one end connected to the cardan 3 passes through it. The knob provided on the top is fixed on the operating bed, and the base connecting frame is fixedly connected to the other end of the connecting cardan, and the upper end of the rotation shaft installed on the frame connecting frame 5 rotating in the vertical direction through the bearing is fixed to the base and its lower end is fixedly connected with the brake pad part of the brake I installed on the rotation shaft, and the magnet part of the brake I is fixedly connected to the bottom of the frame connecting frame, and the deflection axis I and the deflection The rotor shaft II is fixedly connected with the brake pads of the brake II and the brake III respectively, and is fixedly connected with the magnet parts of the brake II and the brake III at the bottom of the machine base and the connecting rod III; when the brake I4 is energized, After the magnet part and the brake pad part are separated, the base 6 can rotate around the axis 13 on the base connecting frame 5; when the brake I4 loses power, the magnet part and the brake pad part There is no relative movement, and there is no relative movement between the base 6 and the connecting frame 5 of the base. When the brake II12 is energized, its magnet part and the brake pad part are separated, and the connecting rod I11 can rotate on the base 6 around the axis 14; when the brake 12 is de-energized, its magnet part and the brake pad part There is no relative movement, and there is no relative movement between the connecting rod I11 and the base 6 at the same time. When the brake III8 is energized, its magnet part is separated from the brake pad part, and the connecting rod II7 and the connecting rod III9 can have relative rotation around the axis 15; when the brake III8 is de-energized, its magnet part and There is no relative movement in the brake pad part, so there is no relative movement between the connecting rod II7 and the connecting rod III9.

Fig. 3 is a schematic diagram of the attitude adjustment part of the patent. The attitude adjustment part includes an end rotation seat 16, the end rotation seat is fixedly connected with the other end of the connecting rod IV along the horizontal direction, and the support frame 17 is rotatably installed on the device through the first rotating shaft connected to it along the horizontal direction. In the first bearing on the end rotation seat, the rotation axis of the first rotating shaft is the axis 20 . The support sleeve 18 is rotatably installed in the second bearing provided on the support frame 17 through the second rotating shaft connected thereto along the horizontal direction, and the rotation axis of the second rotating shaft is the axis 21 . The clamping sleeve for clamping the endoscope is rotatably installed in the third bearing provided on the support sleeve through the third rotating shaft connected to it along the vertical direction, the third rotating shaft rotation axis is the endoscope Axis 22 of the rod. The rotation axes of the first, second and third rotating shafts intersect at one point.

The fast installation and withdrawal method of the endoscope on the endoscope clamping sleeve 19 can be in the form of an authorized patent (patent name: a mirror-holding robot system for assisting minimally invasive surgery, patent number: 200810152765.1), I won't repeat them here.

The method of using this device is: fix the device on the operating bed by connecting the cardan, install the endoscope on the mechanical arm according to the operation requirements and insert it into the patient's body, the device can stably hold the endoscope to assist the operation . When it is necessary to adjust the endoscope, the brakes I, II, and III are energized at the same time through the button or the foot switch, and then the joints of the device are in a state of free movement. At this time, the endoscope can be easily adjusted manually. Adjustment; after the adjustment is completed, release the button or the foot switch, the brakes I, II, and III are locked at the same time, and the device re-enters the stable state of clamping the endoscope, and the adjustment of the endoscope is completed.

The above schematically describes the patent and its implementation, which is not restrictive, and what is shown in the drawings is only one of the implementations of the patent, and the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by it, without departing from the purpose of this patent, adopt other forms of transmission, driving devices and connection methods without creatively designing structural methods and embodiments similar to the technical solution , should belong to the scope of protection of this patent.

Claims (1)

1. A mechanical arm for positioning an endoscope, characterized in that it includes a positioning adjustment part and a posture adjustment part, and the positioning adjustment part includes a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod A parallelogram structure composed of rod IV, the upper ends of the connecting rod I and the connecting rod III are respectively connected to the two ends of the rotating shaft fixed in the two openings at one end of the connecting rod IV through bearings, and the connecting rod The lower end of III is rotatably connected to both ends of the deflection shaft II fixed in the opening at one end of the connecting rod II through bearings, and is rotatably connected to the two ends of the deflection shaft I in the opening at the other end of the connecting rod II. In the bearings arranged on the two side walls of the machine base, the lower end of the connecting rod I is fixedly connected to the deflection shaft I, and one end connected to the cardan is fixed on the operating bed through the knob provided on it, and the machine base is connected The frame is fixedly connected to the other end of the connecting cardan, and the upper end of the rotation shaft installed on the base connecting frame is fixedly connected with the base through the bearing rotating in the vertical direction, and its lower end is connected with the brake installed on the rotation shaft. The brake pad part of I is fixedly connected, and the magnet part of the brake I is fixedly connected to the bottom of the base connecting frame, and the brake II and the brake are fixedly connected to the deflection axis I and the deflection axis II respectively. The brake pad part of III and the magnet parts of brake II and brake III are respectively fixedly connected to the bottom of the base and connecting rod III; One end is fixedly connected along the horizontal direction, and the support frame is rotatably installed in the first bearing provided on the end rotation seat through the first rotating shaft connected to it along the horizontal direction, and the support sleeve is connected to it through the first bearing The second rotating shaft arranged in the horizontal direction is rotatably installed in the second bearing arranged on the support frame, and the clamping sleeve for clamping the endoscope rotates through the third rotating shaft arranged in the vertical direction connected thereto It is installed in the third bearing arranged on the supporting sleeve, and the rotation axes of the first, second and third rotating shafts intersect at one point.

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