Auxiliary mechanical arm for soft lens operation and method for achieving same

A manipulator and soft mirror technology, applied in the field of medical devices, can solve the problems of inability to realize precise multi-directional manipulation of flexible devices, jitter, and damage to flexible devices, so as to improve the probability of successful surgery, prevent jitter, and avoid danger.

Active Publication Date: 2013-10-23
吴开俊 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] (1) Existing manipulators are generally used to control rigid instruments, and there are certain limitations in manipulating flexible instruments, such as soft mirrors;
[0015] (2), the movement mode and clamping mode of the existing manipul

Method used

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  • Auxiliary mechanical arm for soft lens operation and method for achieving same
  • Auxiliary mechanical arm for soft lens operation and method for achieving same
  • Auxiliary mechanical arm for soft lens operation and method for achieving same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] Such as Figure 1~5 As shown, an auxiliary manipulator for soft lens surgery includes a base 1, a vertical upper and lower manipulator 2, a horizontal left and right manipulator 3, a front and rear telescopic manipulator 4, a soft lens holder 5, an upper and lower dimension drive motor 6, left and right Dimension drive motor 7, front and rear dimension drive motor 8, shaft dimension drive motor 9 and soft lens dial dimension drive motor 10; among them, such as figure 2 As shown, the vertical upper and lower manipulator 2 is provided with a first screw 11 and a first screw nut 12, the first screw nut 12 is connected with the first slider 13, and the upper and lower dimension driving motor 6 drives the first screw 11 to rotate. , Drive the first slider 13 to slide, the horizontal left and right mechanical arms 3 are provided with a second screw 14 and a second screw nut 15, the second screw nut 15 is connected to the second slider 16, and the left and right dimensional dri...

Embodiment 2

[0064] The difference between this embodiment and the first embodiment is: the upper and lower dimension drive motor 6, the left and right dimension drive motor 7, the front and rear dimension drive motor 8, the shaft dimension drive motor 9, and the soft mirror dial dimension drive motor 10 are all servo motors, which move The bottom of the table is equipped with fixed feet with adjustable height. In the specific operation, the soft scope is first inserted into the urethra and ureter of the prosthesis through the ureteral guide sheath, and then into the renal pelvis, and then the handle of the soft scope is manually placed and fixed on the soft scope holder as required. Display the whole process of entering the renal collection system with the soft mirror on the touch screen (with image display function), including renal pelvis, upper calyx, middle calyx, and lower calyx, and observe the renal collection system; turn on the corresponding function button on the touch screen of t...

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Abstract

The invention discloses an auxiliary mechanical arm for a soft lens operation. The auxiliary mechanical arm comprises a base, a vertical up-and-down mechanical arm, a horizontal left-and-right mechanical arm, a front-and-back telescopic mechanical arm, a soft lens clamping device, an up-and-down dimension drive motor, a left-and-right dimension drive motor, a front-and-back dimension drive motor, a rotary shaft dimension drive motor and a soft lens shifting disc drive motor. The invention further discloses a method for achieving the auxiliary mechanical arm for the soft lens operation. The auxiliary mechanical arm solves the problems that in the prior art, multi-directional manipulation of a flexible instrument cannot be achieved, complex operation conditions cannot be handled, the matching effect of an existing mechanical arm and the flexible instrument is poor, and the hands of a doctor tremble when the doctor conducts an operation. The auxiliary mechanical arm has the advantages of being simple in structure, low in manufacturing cost, and suitable for the soft lens operation, capable of being used for handling the complex operation conditions, capable of achieving five-dimension motion of a soft lens, good in using effect and the like.

Description

Technical field [0001] The invention relates to medical device technology, in particular to an auxiliary manipulator for soft mirror surgery and its realization method. Background technique [0002] With the advancement of flexible ureteroscope technology, flexible ureteroscope surgery has gradually become the main operation of endovascular urology. Compared with traditional rigid ureteroscope, flexible ureteroscope has a flexible and flexible body, which can be bent freely, dexterously and conveniently. The human body's natural passage urethra enters the bladder through the ureteral orifice to the ureter directly to the renal pelvis and each calyx. Due to its perfusion and working channels, the flexible ureteroscope can treat various diseases of the renal collecting system, such as stones and tumors. It is not only relatively safe, but also has a significant therapeutic effect. Compared with the percutaneous nephroscope treatment method, it has the advantages of safer, less dam...

Claims

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Application Information

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IPC IPC(8): A61B19/00
Inventor 刘欢黄建新丘强曾向阳陈维杰
Owner 吴开俊
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