Colonoscope conveying device with force sensing function based on UR mechanical arm

Abstract

The invention discloses a colonoscope conveying device with a force sensing function based on a UR mechanical arm. The colonoscope conveying device comprises a hand pull rod, a transfer disc, a sliderail frame, a shell, a fixing plate, a hanging rod, a spring, a roller, a gear, a torque sensor and a three-dimensional force sensor. The mode that a doctor manually pushes a colonoscope and rotates acolonoscope body to observe the focus of the intestinal cavity for colon examination is improved, the doctor is liberated from tedious and repeated labor, the colonoscope conveying device can be matched with the doctor to complete the whole process of colon examination operation on a patient, and the torque sensor and the force sensor are arranged on the device to sense the force effect between the colonoscope and the intestinal wall, and a guarantee is provided for intestinal perforation. Compared with a traditional doctor colon examination operation mode, the colonoscope conveying device assists the doctor in colon examination, positioning is accurate, flexibility is high, reliability is high, the diagnosis efficiency can be improved and the pain of the patient can be reduced when the colonoscope conveying device is applied to clinic, and meanwhile a safer operation mode is provided for the doctor.

Description

technical field [0001] The invention belongs to the field of endoscopic surgery medical robots, and in particular relates to an operation mode of a colonoscope during a doctor's colon examination. Background technique [0002] Global cancer statistics show the morbidity and mortality of 36 cancers in 185 countries around the world. The data show that there are about 18.1 million new cases and 9.6 million cancer deaths per year, of which the incidence and mortality of colorectal cancer account for 10.2% and 9.2% respectively , ranking third and second in cancer rankings. However, 80% of colorectal cancers are transformed from benign colorectal polyps. If colorectal cancer can be detected and treated at an early stage, the survival rate will be significantly improved. Therefore, the key to preventing colorectal cancer is to find and remove polyps as soon as possible. [0003] Colonoscopy is used to examine, diagnose, and treat inflammatory ulcers, polyps, tumors, etc. in the...

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Problems solved by technology

[0004] Because colonoscopy requires interventional surgery through the natural orifice of the human body, the internal space of the intestinal cavity is narrow, the curvature is complex, the intestinal wall is full of folds, and has certain stretch characteristics. Compared with other operations, the environment is complex and the operation is difficult. And the characteristics of high risk, so higher requirements are put forward for the doctor of colonoscopy. The doctor needs to control the rotation of the large and small dial repeatedly with one hand for a long time, and cooperate with the other hand to advance and rotate the scope to observe the intestinal cavity lesions , frequent operations will cause discomfort to the doctor, and the distraction will make it difficult to achieve the best results. At the same time, the long-term colon examination operation will cause great damage to the doctor's shoulder

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