Endoscope fixing and supporting auxiliary device for digestive system department

Abstract

The invention belongs to the technical field of medical auxiliary equipment, and discloses an endoscope fixing and supporting auxiliary device for the digestive system department, the endoscope fixing and supporting auxiliary device comprises a bedplate, an expanding and supporting assembly and a fixing and supporting assembly, the bedplate is connected with a placing frame, a control center and a mechanical arm group, the expanding and supporting assembly comprises an expanding and supporting base and a tongue depressor, and the expanding and supporting base is connected with a main shaft and a worm; the main shaft is connected with a control knob, a worm gear and a sliding block, the sliding block is connected with an expanding piece, the fixed supporting assembly comprises a fixed supporting base, the fixed supporting base is connected with a barrel and a spring, a suction inner barrel is arranged on the inner side of the barrel, a buffer cavity is formed between the suction inner barrel and the barrel, the suction inner barrel is connected with a piston assembly, and the piston assembly is connected with a linkage plate. The linkage plate is connected with a clamping piece. The expanding and supporting assembly is used for expanding and supporting the position where the endoscope is inserted so that the endoscope can be conveniently inserted; the fixing and supporting assembly is used for clamping, fixing, supporting, buffering and damping the endoscope body, so that the accuracy of the insertion angle and depth of the endoscope is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary devices, and particularly to an endoscopic fixation and support auxiliary device for the digestive department. Background Art

[0002] In the clinical examinations and treatments of the digestive department, the use of endoscopes is a common medical means. By using devices such as gastroscopes and colonoscopes, direct observation of the digestive tract mucosa, pathological biopsy, and minimally invasive treatment can be achieved, which has the advantages of intuitiveness, accuracy, and high diagnostic value. With the popularization of endoscopic technology and the growth of diagnosis and treatment needs, higher requirements are put forward for the stability, safety, and efficiency of endoscopic operations in clinical practice.

[0003] Existing endoscopic auxiliary devices mostly adopt simple mechanical fixation structures, lacking adaptive adjustment and long-term stability designs. During endoscopic examinations or treatments, due to factors such as long operation time, adjustment of the patient's body position, or large amplitude of the operation actions of medical staff, the endoscope is likely to become loose or displaced, resulting in deviation of the operation visual field, omission of the examination area, and even interruption of the diagnosis and treatment. This problem not only increases the risk of repeated operations but also may affect the accurate positioning and intervention of lesions due to the deviation of the endoscope position, especially in complex surgeries (such as endoscopic submucosal dissection), which may pose safety hazards.

[0004] In addition, during endoscopic examinations, patients may also have body movements due to physiological reflexes (such as swallowing actions caused by pharyngeal irritation, intestinal peristalsis) or psychological factors (such as involuntary limb tremors caused by nervousness), and existing fixation and support auxiliary devices are not equipped with effective buffer and shock-absorbing mechanisms. Such body movements may be transmitted to the operation end through the endoscope, resulting in vibration of the endoscope body, blurred imaging, and even accidental contact between the front end of the endoscope and the digestive tract mucosa, increasing the risk of mucosal injury or perforation. Summary of the Invention

[0005] The present invention aims to provide an endoscopic fixation and support auxiliary device for the digestive department, which uses an expansion and support component to open and support the position where the endoscope is inserted (such as the patient's oral cavity, anus, or wound, etc.) to facilitate the smooth insertion of the endoscope and reduce the discomfort caused to the patient by the friction between the endoscope and muscle tissues; uses a fixation and support component to clamp, fix, support, and buffer and shock-absorb the endoscope body to ensure the accuracy of the insertion angle and depth of the endoscope and avoid the impact of body movements on the diagnosis and treatment process. The problems in the background art are solved.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An endoscopic fixation and support auxiliary device for the digestive department includes a table board, an expansion and support component, and a fixation and support component. The table board is connected with a control center and a robotic arm group, and the control center is connected with the robotic arm group and controls its operation;

[0008] The expansion and support assembly includes an expansion and support base, a main shaft is rotatably connected to the inner side of the expansion and support base, a control knob is fixedly connected to the main shaft and arranged outside the expansion and support base, the main shaft is connected with a pair of sliders through threads with opposite helix directions, both of the pair of sliders are slidably connected to the expansion and support base, by rotating the control knob, the pair of sliders move linearly towards each other along the axial direction of the main shaft; both of the pair of sliders are connected with expansion members;

[0009] The fixed support assembly includes a fixed support base detachably connected to the execution end of the robotic arm group, the fixed support base is connected with a cylinder body, a suction inner cylinder is arranged inside the cylinder body, a buffer chamber is arranged between the suction inner cylinder and the cylinder body, and through holes are formed in the side wall of the suction inner cylinder, the suction inner cylinder is communicated with the buffer chamber through the through holes, and a buffer liquid is contained in the suction inner cylinder and / or the buffer chamber; a piston assembly is slidably and sealingly connected to the suction inner cylinder, one end of the piston assembly away from the suction inner cylinder is connected with a linkage plate, the linkage plate is connected with a pair of clamping members arranged in pairs, and the clamping members are used for clamping and fixing the endoscope body.

[0010] Further, a worm is rotatably connected to the expansion and support base, a worm gear meshing with the worm is fixedly connected to the main shaft, the worm is connected with a tongue pressing plate, and the tongue pressing plate is arranged in the middle of the pair of expansion members.

[0011] Further, the tongue pressing plate includes an internal spline cylinder, an external spline matched with the internal spline cylinder is arranged on the worm, and the tongue pressing plate is in transmission connection with the worm through splines; a limiting plate is detachably connected to one end of the worm away from the worm gear.

[0012] Further, grooves are formed in both of the pair of expansion members, and the grooves formed in the pair of expansion members are arranged in opposite directions.

[0013] Further, the fixed support base and the linkage plate are also connected through a spring, and the spring is sleeved outside the cylinder body.

[0014] Further, both of the pair of clamping members are made of rubber materials, and the pair of clamping members are arranged in a "\╲╱" shape.

[0015] Further, a placement frame is also connected to the upper side of the table board, and the placement frame is used for placing the expansion and support assembly and / or the fixed support assembly.

[0016] Further, the robotic arm group includes at least three sets of motion joints, and the control center realizes the movement of the fixed support assembly in three directions of the X-axis, Y-axis and Z-axis by controlling the operation of the robotic arm group.

[0017] Further, a transfer wheel set is connected to the lower side of the platen through a lifting member for transferring and / or height adjustment of the endoscopic fixed support auxiliary device.

[0018] Further, the lifting member is one of an electric telescopic rod, a hydraulic cylinder, and a pneumatic telescopic cylinder.

[0019] The principle and beneficial effects of the technical solution are as follows:

[0020] 1. An endoscopic fixing and supporting auxiliary device provided by the present invention is provided with a table board, a spreading component and a fixing and supporting component. The spreading component is used to open and support the position where the endoscope is inserted (such as the patient's oral cavity, anus or wound, etc.) to facilitate the insertion of the endoscope and improve the accuracy of the diagnosis and treatment process. The fixing and supporting component is used to clamp, fix, support and buffer the endoscope body to ensure the accuracy of the insertion angle and depth of the endoscope and avoid the influence of body movement on the diagnosis and treatment process. Among them, the main shaft is rotatably connected to the inner side of the spreading base of the spreading component. The main shaft is connected to a pair of sliders slidably connected to the spreading base through threads with opposite rotation directions. When the control knob is rotated, the pair of sliders move axially along the main shaft in opposite directions (away from each other, close to each other) under the action of the threads and the spreading base. Both of the pair of sliders are connected to the spreading pieces, and the pair of spreading pieces are respectively abutted against the muscle tissues of the upper and lower oral cavities or the wound of the patient. By rotating the control knob, the pair of spreading pieces move away from each other to open and support the oral cavity or the wound, so as to facilitate the insertion of the endoscope into the patient's body for examination. The fixing and supporting base of the fixing and supporting component is connected to the cylinder body. An aspirating inner cylinder is arranged inside the cylinder body, and a buffer chamber is arranged between them. The aspirating inner cylinder is communicated with the buffer chamber through a through hole. Buffer liquid is filled in the buffer chamber or the aspirating inner cylinder. Under the action of gravity and atmospheric pressure, the liquid levels of the buffer chamber and the aspirating inner cylinder are the same (the cylinder body and the aspirating inner cylinder are actually a communicating vessel. According to the principle of the communicating vessel, the liquid levels of the buffer liquid in the buffer chamber and the aspirating inner cylinder are the same); the aspirating inner cylinder is slidably and sealingly connected to the piston assembly. The piston assembly is connected to the linkage plate, and the linkage plate is connected to the clamping piece for clamping and fixing the endoscope body. The control center and the robotic arm group are connected to the table board. The fixing and supporting base of the fixing and supporting component is connected to the execution end of the robotic arm group. By controlling the operation of the robotic arm group through the control center, the spatial position (height, angle, etc.) of the fixing and supporting component can be adjusted, that is, the spatial position (height, angle) of the endoscope body can be adjusted, so as to realize the precise control of the insertion depth, angle, etc. of the endoscope; and when the endoscope body shakes / vibrates driven by external influence or patient body movement, it will drive the piston assembly to move up and down along the side wall of the aspirating inner cylinder. Buffer liquid is filled in the aspirating inner cylinder and / or the buffer chamber. When the piston assembly moves downward, the buffer liquid in the aspirating inner cylinder is squeezed into the buffer chamber, making the liquid level in the buffer chamber higher than the liquid level in the aspirating inner cylinder. On the contrary, when the piston assembly moves upward, the buffer liquid in the buffer chamber is sucked into the aspirating inner cylinder, making the liquid level in the aspirating inner cylinder higher than the liquid level in the buffer chamber. The change of the liquid level needs to overcome the action of its gravity and atmospheric pressure, which compensates for the shaking / vibration of the endoscope body, so as to realize the shock absorption and / or vibration absorption effect on the shaking / vibration, reduce the influence of patient body movement or the shaking / vibration of the endoscope body on the diagnosis and treatment process, and ensure the safety and accuracy of the diagnosis and treatment.

[0021] 2. The present invention provides an endoscope fixing and supporting auxiliary device for gastroenterology, wherein the expansion and support base is rotatably connected to a worm, the main shaft is fixedly connected to a worm wheel meshing with the worm, and a tongue depressor is connected to the worm. When the endoscope is inserted into the patient's oral cavity, the tongue depressor rotates under the action of the worm wheel and worm gear in the process of turning the control knob to open and / or support the oral cavity, thereby suppressing the patient's tongue, which is beneficial to the smooth insertion of the endoscope and can reduce the discomfort caused to the patient by the contact between the endoscope and the tongue. The tongue depressor is connected to the worm through a spline transmission, and a limit plate is connected to the worm, so that the tongue depressor and the worm are detachably / adjustably connected, so that it can open and open the non-oral area, and the position of the tongue depressor can be adjusted, further improving the effect of the tongue depressor. A groove is provided on the opening member, so that the contact area between the teeth at the opening position or the muscle tissue at the wound position and the opening member is large, thereby making the opening and opening function of the expansion and support component for the oral cavity and / or wound stable and reliable.

[0022] 3. The present invention provides an endoscope fixing and supporting auxiliary device for gastroenterology, in which a spring is arranged between the fixing support base and the linkage plate, and the spring is sleeved on the outside of the cylinder, so that when the endoscope body shakes / vibrates, the spring also has a shock absorbing and / or shock absorbing effect on the shaking / vibration, and the spring and the hydraulic pressure cooperate with each other to jointly shock and / or absorb the shaking / vibration of the endoscope body, so as to ensure the stability of the endoscope body during diagnosis and treatment. A pair of clamping parts are made of rubber material, the rubber has a certain elasticity, and the pair of clamping parts are in the shape of "╲╱", which is convenient for clamping the endoscope body between the pair of clamping parts, and can ensure the clamping and fixing effect of the endoscope body.

[0023] 4. The present invention provides an endoscope fixing support auxiliary device for gastroenterology, which is connected to a placement frame on the upper side of a table to place an expansion support component and / or a fixed support component and other medical devices required for the diagnosis and treatment process, which can effectively improve the neatness and safety of the diagnosis and treatment process; the robotic arm group includes at least three groups of motion joints, and the control center realizes the movement of the fixed support component in the three directions of X-axis, Y-axis and Z-axis by controlling the operation of the robotic arm group, which can improve the accuracy of the position and angle of the endoscope body, thereby ensuring the accuracy of the insertion depth and angle of the endoscope; the transport wheel group is connected under the table through a lifting member to realize the transportation of the entire support auxiliary device and the adjustment of the height of the fixed support component, wherein the lifting member uses an electric telescopic rod, a hydraulic cylinder, and a pneumatic telescopic cylinder, and the height adjustment is convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a gastroenterology endoscope fixing and supporting auxiliary device of the present invention;

[0025] Figure 2The front view of an endoscopic fixation and support auxiliary device for the digestive department of the present invention;

[0026] Figure 3 The structural schematic diagram of the expansion and support component of an endoscopic fixation and support auxiliary device for the digestive department of the present invention;

[0027] Figure 4 For Figure 2 The sectional view taken along A - A in

[0028] Figure 5 For Figure 4 The sectional view taken along C - C in

[0029] Figure 6 The structural schematic diagram of the fixation and support component of an endoscopic fixation and support auxiliary device for the digestive department of the present invention;

[0030] Figure 7 For Figure 2 The sectional view taken along B - B in

[0031] The names of the corresponding marks in the drawings are:

[0032] Table board 1, placement frame 2, control center 3, robotic arm group 4, expansion and support component 5, expansion and support base 51, main shaft 52, slider 53, control knob 54, expansion member 55, tongue depressor 56, worm 57, worm gear 58, limit plate 59, fixation and support component 6, fixation and support base 61, cylinder body 62, suction inner cylinder 63, through hole 64, piston assembly 65, linkage plate 66, spring 67, clamping member 68, transfer wheel group 7, lifting member 8, endoscope body 9. Detailed implementation manners

[0033] The present invention will be further described in detail below in conjunction with the drawings and embodiments:

[0034] As Figures 1 to 7 shown, an endoscopic fixation and support auxiliary device for the digestive department includes a table board 1, an expansion and support component 5, and a fixation and support component 6. A placement frame 2, a control center 3, and a robotic arm group 4 are connected to the upper side of the table board 1. The placement frame 2 is used to place the expansion and support component 5 and / or the fixation and support component 6. The robotic arm group 4 includes at least three sets of motion joints. In this embodiment, the robotic arm group 4 uses the "Elite cs66 six - axis collaborative robot for automotive 3C electronics metal processing, medical treatment, and education" provided by Pace Smart Technology Group (Dongguan) Co., Ltd. The fixation and support component 6 is detachably connected to the execution end of the robotic arm group 4. The control center 3 realizes the movement of the fixation and support component 6 in three directions of the X - axis, Y - axis, and Z - axis by controlling the operation of the robotic arm group 4. A transfer wheel group 7 is connected to the lower side of the table board 1 through a lifting member 8 for the transfer and / or height adjustment of the endoscopic fixation and support auxiliary device. In this embodiment, the lifting member 8 is a hydraulic cylinder;

[0035] The expansion and support assembly 5 includes an expansion and support base 51 and a tongue depressor 56. The inner side of the expansion and support base 51 is rotatably connected to a main shaft 52, and the main shaft 52 is fixedly connected to a control knob 54 arranged on the outer side of the expansion and support base 51. The main shaft 52 is connected to a pair of sliders 53 through threads with opposite rotation directions. The pair of sliders 53 are both slidably connected to the expansion and support base 51. When the control knob 54 is rotated, the pair of sliders 53 move linearly toward each other along the axial direction of the main shaft 52; the pair of sliders 53 are both connected to a spreading piece 55 arranged on the outer side of the expansion and support base 51. A pair of opening members 55 are both provided with grooves, and the grooves provided on the pair of opening members 55 are arranged opposite to each other; the expansion base 51 is also rotatably connected to a worm 57, the main shaft 52 is fixedly connected to a worm wheel 58 meshing with the worm 57, the tongue depressor 56 includes an inner spline cylinder, the worm 57 is provided with an outer spline matched with the inner spline cylinder, the tongue depressor 56 is transmission-connected to the worm 57 through the spline, and the tongue depressor 56 is arranged in the middle of the pair of opening members 55, and one end of the worm 57 away from the worm wheel 58 is threadedly connected to a limit plate 59;

[0036] The fixed support assembly 6 includes a fixed support base 61 detachably connected to the execution end of the robot arm group 4, the fixed support base 61 is connected to a cylinder 62, a suction inner cylinder 63 is provided on the inner side of the cylinder 62, a buffer chamber is provided between the suction inner cylinder 63 and the cylinder 62, and a through hole 64 is opened on the side wall of the suction inner cylinder 63, the suction inner cylinder 63 is connected to the buffer chamber through the through hole 64, and the suction inner cylinder 63 and / or the buffer chamber contain a buffer solution; the suction inner cylinder 63 slides The dynamic seal is connected to a piston assembly 65, and one end of the piston assembly 65 away from the suction inner cylinder 63 is connected to a linkage plate 66. The fixed support base 61 and the linkage plate 66 are also connected by a spring 67, and the spring 67 is sleeved on the outside of the cylinder body 62; the linkage plate 66 is connected to a pair of clamping members 68, and the pair of clamping members 68 are both made of rubber material, and the pair of clamping members 68 are arranged in a "╲╱" shape, and the clamping members 68 are used to clamp and fix the endoscope body 9.

[0037] The specific implementation process is as follows:

[0038] When using this endoscopic fixing and supporting auxiliary device, first use the transport wheel set 7 to transport the whole device to the designated position, and adjust the height of the table board 1 through the lifting member 8. Install and / or adjust the connection / position relationship between the tongue depressor 56 and the worm 57 according to actual needs. Then, according to actual needs, abut the groove of the spreading member 55 against the upper and lower teeth of the oral cavity or the muscle tissues on both sides of the wound. Rotate the control knob 54 to open and support the oral cavity or the wound. Then insert the endoscope into the body through the oral cavity or the wound. After inserting it to the designated position, adjust the height of the lifting member 8 and use the control center 3 to adjust the position of the execution end of the robotic arm group 4. Use the clamping member 68 of the fixing and supporting assembly 6 to clamp the endoscope body 9 to achieve the fixing and support of the endoscope. And when fine-tuning the endoscope in the later stage, the control center 3 can also be used to adjust the operation of the robotic arm group 4 to achieve the adjustment of the endoscope.

[0039] Among them, when rotating the control knob 54, a pair of spreading members 55 move away from each other to open and support the oral cavity. The tongue depressor 56 rotates accordingly under the action of the worm gear 58 and the worm 57 to achieve the suppression of the patient's tongue, which is beneficial to the smooth insertion of the endoscope and can also reduce the discomfort caused by the contact between the endoscope and the tongue to the patient.

[0040] Use the control center 3 to control the operation of the robotic arm group 4 to achieve the adjustment of the spatial position (height, angle, etc.) of the fixing and supporting assembly 6, and then the spatial position (height, angle) of the endoscope body 9 can be adjusted, so as to achieve the precise control of the insertion depth, angle, etc. of the endoscope. When the external influence or the patient's body movement causes the endoscope body 9 to vibrate / shake, the piston assembly 65 may move up and down in the suction inner cylinder 63. When the piston assembly 65 moves downward, the buffer liquid in the suction inner cylinder 63 is squeezed into the buffer chamber, so that the liquid level height in the buffer chamber is higher than the liquid level height in the suction inner cylinder 63. On the contrary, when the piston assembly 65 moves upward, the buffer liquid in the buffer chamber is sucked into the suction inner cylinder 63, so that the liquid level height of the suction inner cylinder 63 is higher than the liquid level height in the buffer chamber. The change of the liquid level height needs to overcome the action of its gravity and atmospheric pressure, which compensates for the vibration / shake of the endoscope body 9, so as to achieve the shock absorption and / or vibration absorption effect on the vibration / shake, reduce the influence brought by the patient's body movement or the vibration / shake of the endoscope body 9 to the diagnosis and treatment process, and ensure the safety and precision of the diagnosis and treatment. A spring 67 is also arranged between the fixing and supporting base 61 and the linkage plate 66. The spring 67 also has the function of shock absorption and / or vibration reduction for the vibration / shake. The spring 67 and the hydraulic pressure cooperate with each other to jointly reduce the vibration / shake of the endoscope body 9, and further ensure the stability of the endoscope body 9 during the diagnosis and treatment process.

[0041] The above are only embodiments of the present invention, and common general technical solutions or characteristics in the solution are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope required by this application shall be subject to the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.

Claims

1. An endoscopic fixation and support assistive device for the digestive department, characterized in that, It includes a platform, an expansion support assembly and a fixed support assembly, wherein the platform is connected to a control center and a mechanical arm group, and the control center is connected to the mechanical arm group and controls its operation; The expansion support assembly includes an expansion support base, the inner side of the expansion support base is rotatably connected to a main shaft, the main shaft is fixedly connected to a control knob arranged on the outer side of the expansion support base, the main shaft is connected to a pair of sliders through threads with opposite rotation directions, the pair of sliders are both slidably connected to the expansion support base, and the control knob is rotated so that the pair of sliders move linearly toward each other along the axial direction of the main shaft; the pair of sliders are both connected to a spreading member; The fixed support assembly includes a fixed support base detachably connected to the execution end of the robotic arm group, the fixed support base is connected to a cylinder, a suction inner cylinder is provided on the inner side of the cylinder, a buffer chamber is provided between the suction inner cylinder and the cylinder, and a through hole is provided on the side wall of the suction inner cylinder, the suction inner cylinder is communicated with the buffer chamber through the through hole, and a buffer solution is contained in the suction inner cylinder and / or the buffer chamber; the suction inner cylinder is slidingly and sealingly connected to a piston assembly, the end of the piston assembly away from the suction inner cylinder is connected to a linkage plate, the linkage plate is connected to a pair of clamps, and the clamps are used to clamp and fix the endoscope body.

2. The endoscopic fixation support auxiliary device for digestive medicine according to claim 1, characterized in that The expansion support base is rotatably connected to a worm, the main shaft is fixedly connected to a worm wheel meshing with the worm, the worm is connected to a tongue depressor, and the tongue depressor is arranged in the middle of a pair of the support members.

3. The endoscopic fixation support auxiliary device for the digestive department according to claim 2, wherein, The tongue depressor comprises an inner spline cylinder, the worm is provided with an outer spline matched with the inner spline cylinder, the tongue depressor is drivingly connected to the worm via the spline; and the end of the worm away from the worm wheel is detachably connected to a limit plate.

4. The endoscopic fixation support auxiliary device for the digestive department according to claim 3, characterized in that, A pair of the support members are both provided with grooves, and the grooves provided with the pair of the support members are arranged opposite to each other.

5. The endoscopic fixation support auxiliary device for the department of gastroenterology according to claim 1, wherein, The fixed support base and the linkage plate are also connected via a spring, and the spring is sleeved on the outside of the cylinder.

6. The endoscopic fixing and supporting auxiliary device for the digestive department according to claim 5, wherein The pair of clamping members are both made of rubber material, and the pair of clamping members are arranged in a "╲╱" shape.

7. An endoscopic fixation support auxiliary device for the digestive department according to claim 1, characterized in that, The upper side of the table is also connected with a placement frame, and the placement frame is used to place the expansion support component and / or the fixed support component.

8. An endoscopic fixation support auxiliary device for the digestive department according to claim 1, characterized in that, The robotic arm group includes at least three groups of motion joints, and the control center realizes the movement of the fixed support component in three directions of X-axis, Y-axis and Z-axis by controlling the operation of the robotic arm group.

9. An endoscopic fixing and supporting auxiliary device for the digestive department according to claim 1, characterized in that, The lower side of the platform is connected with a transport wheel set via a lifting member, which is used for transporting and / or adjusting the height of the endoscope fixing and supporting auxiliary device.

10. An endoscopic fixing and supporting auxiliary device for digestive medicine according to claim 9, characterized in that, The lifting member is one of an electric telescopic rod, a hydraulic cylinder, and a pneumatic telescopic cylinder.

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