Auxiliary mechanical arm for soft lens operation

A technology of manipulators and soft mirrors, which is applied in the field of medical devices, can solve problems such as vibration, inability to realize precise multi-directional control of flexible devices, and damage to flexible devices, so as to prevent shaking, increase the probability of successful operation, and avoid danger.

Active Publication Date: 2015-05-20
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 manipulator are easy to cause damage to the flexible instrument;
[0016] (3) Existing manipulators cannot realize precise and multi-directional control of flexible instruments;
[0017] (4) If the operation is performed manually, the doctor's hand will shake

Method used

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  • Auxiliary mechanical arm for soft lens operation
  • Auxiliary mechanical arm for soft lens operation
  • Auxiliary mechanical arm for soft lens operation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

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

Embodiment 2

[0064] The difference between this embodiment and Embodiment 1 is that: the upper and lower dimension drive motors 6, the left and right dimension drive motors 7, the front and rear dimension drive motors 8, the rotating shaft dimension drive motor 9 and the soft mirror dial dimension drive motor 10 are all servo motors. The bottom of the table is equipped with height-adjustable fixed feet. During the specific operation, the flexible scope is first inserted into the urethra and ureter of the prosthesis through the ureteral guide sheath, and sent into the renal pelvis, and then the handle of the flexible scope is manually placed and fixed on the flexible scope holder according to the requirements. Display the whole process of the soft mirror entering the renal collection system on the touch screen (with the function of displaying images), including the renal pelvis, upper calyx, middle calyx, and lower calyx, and observe the renal collection system; click the corresponding funct...

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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 mirror technology, flexible ureteroscopy has gradually become the main operation in endourology. Compared with traditional rigid ureteroscope, flexible ureteroscope has a highly flexible and bendable mirror body, which can be bent freely, dexterously and conveniently. The human body naturally enters the urethra into the bladder through the ureteral orifice to the ureter to the renal pelvis and calyces. Due to the perfusion and working channels, the flexible ureteroscope can deal with various diseases of the renal collecting system, such as stones and tumors. Not only is it relatively safe, but also has a significant therapeutic effect. Compared with percutaneous nephroscopic treatment, it has the advantages of safer, less damage, and faster recov...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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