Endoscope holding device

Abstract

The present invention relates to an endoscope holding device, wherein a servo motor, a torque sensor and a rotating base are respectively mounted on a bottom plate, the rotating base is connected to the rotating base through a rotating friction assembly, the rotating friction assembly is divided into a rotating part and a fixed part, the fixed part is fixedly connected to the inner wall of the rotating base, the rotating part is mounted on the outside of the rotating base, and is in frictional contact with the fixed part during the rotation of the rotating base relative to the rotating base; the output shaft of the servo motor is connected to one end of the sensor shaft of the torque sensor through a transmission mechanism A, and the other end of the sensor shaft is connected to the rotating part in the rotating friction assembly through a transmission mechanism B; the rotating kit is plugged into the rotating base, the mirror body to be rotated is installed on the rotating kit, and the bottom plate, the rotating base, the rotating friction assembly and the rotating base are all provided with openings for facilitating the installation of the mirror body. The present invention can provide real-time feedback on the torque of the mirror body, can realize large-angle rotation of the mirror body, and is convenient for the installation of the mirror body.

Description

Technical Field

[0001] The invention belongs to the field of medical instruments, in particular to an endoscope holding device. Background Art

[0002] Endoscopes are commonly used medical devices in clinical practice, used for the diagnosis and treatment of diseases in the digestive tract, lungs, and other parts of the body. When performing endoscopic operations, doctors need to stand and hold the endoscope for a long time, maintaining a certain posture; this can cause fatigue and inaccurate operations. Doctors need to use the movement of their entire arm to rotate the endoscope, and the angle is limited.

[0003] After entering the human body, the endoscope has two main actions: forward and backward movement and rotation. When the endoscope rotates, it will generate a torsional force on human tissues. If the force is too large, it will damage human tissues. Therefore, it is necessary to design a mirror holding device that can rotate at a large angle, collect torsional force and rotation angle, and facilitate installation. Summary of the invention

[0004] In order to solve the above-mentioned problems caused by the rotation of an endoscope, an object of the present invention is to provide an endoscope holding device.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The present invention includes a bottom plate, a servo motor, a transmission mechanism A, a torque sensor, a transmission mechanism B, a rotating base, a rotating friction assembly, a rotating base and a rotating kit, wherein the servo motor, the torque sensor and the rotating base are respectively installed on the bottom plate, the rotating base is connected to the rotating base through the rotating friction assembly, the rotating friction assembly is divided into a rotating part and a fixed part, the fixed part is fixedly connected to the inner wall of the rotating base, the rotating part is installed on the outside of the rotating base, and is in friction contact with the fixed part during the rotation of the rotating base relative to the rotating base; the output shaft of the servo motor is connected to one end of the sensor shaft of the torque sensor through the transmission mechanism A, and the other end of the sensor shaft is connected to the rotating part in the rotating friction assembly through the transmission mechanism B; the rotating kit is plugged into the rotating base, and a mirror body that needs to be rotated is installed on the rotating kit, and the bottom plate, the rotating base, the rotating friction assembly and the rotating base are all provided with openings for facilitating the installation of the mirror body.

[0007] Wherein: the rotating friction assembly includes a rotating friction part A, a rotating friction part B and a rotating friction part C, the rotating friction part A is fixedly connected to the outside of the rotating base, the top of the rotating friction part C is fixedly connected to the bottom end of the rotating friction part A, the bottom of the rotating friction part C is used to be connected to the transmission mechanism B, the rotating friction part B is located between the rotating friction part A and the rotating base, and is fixedly connected to the rotating base, and the inner surface of the rotating friction part B is always in contact with the outer surface of the rotating friction part A.

[0008] The rotating friction member A, the rotating friction member B and the rotating friction member C are all annular structures with openings.

[0009] A hollow socket is provided on the upper surface of the rotating base, and a notch A is opened on the inner side of the socket. A limiting pin is inserted in the socket, and the limiting pin presses on the rotating sleeve at the exposed part of the notch A to axially limit the rotating sleeve.

[0010] The rotating kit includes an arc-shaped plate and an arc-shaped mounting plate, wherein arc-shaped mounting plates are symmetrically arranged on both sides of the lower end of the arc-shaped plate, and an opening A is formed between the arc-shaped mounting plates on both sides. The outer surface of the arc-shaped mounting plate and the outer surface of the lower end of the arc-shaped plate are provided with protrusions; the inner wall of the rotating base is provided with grooves in a circumferential direction, the number of which is the same as the number of the protrusions and which correspond one to one. When the rotating kit is plugged into the rotating base, each of the protrusions is inserted into the corresponding groove respectively; the rotating base is provided with an opening C.

[0011] The mirror body is fixed to the inner side of the arc plate by Velcro, and a matching sleeve is installed inside the arc mounting plates on both sides. The matching sleeve is a hollow cylinder with an opening B along the axial direction. The upper edge of the matching sleeve is provided with a flange outward, and the flange is pressed on the upper surface of the arc mounting plate.

[0012] The transmission mechanism B is a gear transmission mechanism, including gears A, B, C and D. Gears A and B rotatably mounted on the base plate are symmetrically arranged on both sides between the torque sensor and the rotating base. The gear C is connected to the other end of the sensor shaft and meshes with the gears A and B respectively; the gear D is connected to the rotating part in the rotating friction member, and a notch B is provided on the gear D for easy installation of the mirror body. The gear D is always meshed with one or two of the gears A and B.

[0013] A proximity switch hole is provided on the bottom plate, and a proximity switch installed on the back of the bottom plate is provided below the proximity switch hole; a sensing metal block is provided on the bottom surface of the gear D, and when the proximity switch detects the sensing metal block, the notch B on the gear D is opposite to the openings provided on the bottom plate, the rotating base, the rotating friction assembly and the rotating base.

[0014] The transmission mechanism A comprises a pulley A, a conveyor belt and a pulley B. The pulley A is connected to the output shaft of the servo motor. The pulley B is connected to one end of the sensor shaft and is connected to the pulley A through the conveyor belt.

[0015] An adjustable motor frame is installed on the bottom plate, and a strip hole is opened on the adjustable motor frame. The sensor shaft is rotatably connected to the adjustable motor frame through a flange bearing; the servo motor is fixed on the motor mounting plate, and the output shaft passes through the strip hole. When the distance between the servo motor and the torque sensor is adjusted, the motor mounting plate is fixed on the adjustable motor frame; the bottom plate is covered with a shell.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The present invention can provide real-time feedback on the torque of the distal end scope to prevent tissue damage during detection; the invention adopts a double gear and a notched gear meshing transmission to prevent the notched gear from rotating to the notch when a single gear meshes with the notched gear, and the gear meshing transmission stops; the rotating base and the rotating pedestal adopt an open structure to reduce the difficulty of scope installation.

[0018] 2. The proximity switch of the present invention defines the zero position of the device by detecting the inductive metal of the notched gear on the rotating base, and is used in conjunction with the servo motor to determine the rotation angle of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention after removing the outer shell and the mirror body;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the bottom plate of the present invention;

[0022] Figure 4 A top view of the structure of the base plate of the present invention and the gears and proximity switches installed thereon;

[0023] Figure 5 A bottom view of the structure of the base plate of the present invention and the gears and proximity switches installed thereon;

[0024] Figure 6 This is one of the three-dimensional structural schematic diagrams of the rotary friction assembly of the present invention;

[0025] Figure 7 The second schematic diagram of the three-dimensional structure of the rotary friction assembly of the present invention;

[0026] Figure 8 It is a schematic diagram of the three-dimensional structure after the Velcro and the matching sleeve are installed on the mirror body of the present invention;

[0027] Fig. 9 It is a three-dimensional structural schematic diagram of the rotating kit of the present invention;

[0028] Fig.10 It is a three-dimensional structural schematic diagram of the matching sleeve of the present invention;

[0029] Fig.11 It is a schematic diagram of the three-dimensional structure of the hook and loop fastener of the present invention;

[0030] Fig.12 It is a schematic diagram of the three-dimensional structure of the rotating base of the present invention;

[0031] Fig.13 It is a schematic diagram of the three-dimensional structure of the limit pin of the present invention;

[0032] Among them: 1 is the bottom plate, 2 is the pulley A, 3 is the conveyor belt, 4 is the pulley B, 5 is the sensor shaft, 6 is the torque sensor, 7 is the gear A, 8 is the matching sleeve, 9 is the limit pin, 10 is the rotating kit, 11 is the rotating base, 12 is the rotating friction member A, 13 is the rotating base, 14 is the socket, 15 is the gear B, 16 is the gear C, 17 is the servo motor, 18 is the motor mounting plate, 19 is the proximity switch hole, 20 is the notch A, 21 is the rotating shaft, 22 is the nut, 23 is the bearing, 24 2 is a proximity switch bracket, 25 is a proximity switch, 26 is an inductive metal block, 27 is a rotating friction member B, 28 is a rotating friction member C, 29 is a housing, 30 is a flange bearing, 31 is a flange, 32 is an adjustable motor frame, 33 is a strip hole, 34 is a gear D, 35 is a notch B, 36 is a mirror body, 37 is an arc plate, 38 is a convex ridge, 39 is an arc mounting plate, 40 is a convex block, 41 is an opening A, 42 is an opening B, 43 is a flange, 44 is a groove, 45 is an opening C, and 46 is a Velcro. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figure 1 , Figure 2As shown, the present invention includes a bottom plate 1, a servo motor 17, a transmission mechanism A, a torque sensor 6, a transmission mechanism B, a rotating base 13, a rotating friction assembly, a rotating base 11 and a rotating kit 10, wherein the servo motor 17, the torque sensor 6 and the rotating base 13 are respectively installed on the bottom plate 1, and the torque sensor 6 is located between the servo motor 17 and the rotating base 13; the rotating base 11 is connected to the rotating base 13 through the rotating friction assembly, and the rotating friction assembly is divided into a rotating part and a fixed part, the fixed part is fixedly connected to the inner wall of the rotating base 13, and the rotating part is installed on the rotating base 11. The outside of the rotating base 11, and in frictional contact with the fixed part during the rotation of the rotating base 11 relative to the rotating base 13; the output shaft of the servo motor 17 is connected to one end of the sensor shaft 5 of the torque sensor 6 through the transmission mechanism A, and the other end of the sensor shaft 5 is connected to the rotating part in the rotating friction assembly through the transmission mechanism B; the rotating kit 10 is plugged into the rotating base 11, and the mirror body 36 that needs to be rotated is installed on the rotating kit 10, and the bottom plate 1, the rotating base 11, the rotating friction assembly and the rotating base 13 are all provided with openings for facilitating the installation of the mirror body 36.

[0035] like Figures 1 to 3 As shown, the bottom plate 1 of this embodiment is provided with a flange 31 at one end and an opening at the other end; an adjustable motor frame 32 is fixedly connected to the bottom plate 1, and a strip hole 33 is opened on the adjustable motor frame 32, and the sensor shaft 5 is rotatably connected to the adjustable motor frame 32 through a flange bearing 30; the servo motor 17 is fixed on the motor mounting plate 18, and the motor mounting plate 18 and the servo motor 17 are both located below the top plate of the adjustable motor frame 32, and the output shaft of the servo motor 17 passes through the strip hole 33 and can move in the strip hole 33; when the distance between the servo motor 17 and the torque sensor 6 is adjusted, the motor mounting plate 18 is fixed to the adjustable motor frame 32. A housing 29 is covered on the bottom plate 1, and the rotating base 11, the rotating kit 10 and the mirror body 36 are exposed from the housing 29.

[0036] like Figures 1 to 3 As shown, the transmission mechanism A of this embodiment is located above the top plate of the adjustable motor frame 32, and includes a pulley A2, a conveyor belt 3 and a pulley B4. The pulley A2 is connected to the output shaft of the servo motor 17, and the pulley B4 is connected to one end of the sensor shaft 5 and is connected to the pulley A2 through the conveyor belt 3.

[0037] like Figures 1 to 5As shown, the transmission mechanism B of this embodiment is a gear transmission mechanism, including gear A7, gear B15, gear C16 and gear D34. Gear A7 and gear B15 are symmetrically arranged on both sides between the torque sensor 6 and the rotating base 13 and are rotatably mounted on the bottom plate 1. The rotating shafts 21 of gear A7 and gear B15 are respectively rotatably connected to the bottom plate 1 through bearings 23, and are tightened with nuts 22 for axial positioning. Gear C16 is connected to the other end of the sensor shaft 5 and meshes with gear A7 and gear B15 respectively. Gear D34 is connected to the rotating part in the rotating friction member. A notch B35 is provided on the gear D34 for facilitating the installation of the mirror body 36. Gear D34 is always meshed with one or two of gear A7 and gear B15 to prevent the meshing transmission from stopping when a single gear meshes with gear D34 and gear D34 rotates to the notch B35. A proximity switch hole 19 is also provided on the base plate 1 of the present embodiment, and a proximity switch 25 is provided below the proximity switch hole 19, and the proximity switch 25 is fixed to the back side of the base plate 1 through a proximity switch bracket 24; a sensing metal block 26 is provided on the bottom surface of the gear D34 (the sensing metal block 26 of the present embodiment is copper), and when the proximity switch 25 detects the sensing metal block 26 through the proximity switch hole 19, the notch B35 on the gear D34 is opposite to the openings provided on the base plate 1, the rotating base 11, the rotating friction assembly and the rotating base 13, and a signal is output to define the position of the zero-degree rotation angle of the device.

[0038] like Figures 1 to 13 As shown, the rotating friction assembly of this embodiment includes a rotating friction member A12, a rotating friction member B27 and a rotating friction member C28. The rotating friction members A12, B27 and C28 are all annular structures with openings. The rotating friction members A12 and C28 are rotating parts, and the rotating friction member B27 is a fixed part. The upper end of the axial cross-section of the rotating friction member A12 of this embodiment extends radially outward, and the lower end extends radially inward, and the upper end extension portion is located above the top of the rotating base 13. The axial cross-section of the rotating friction member B27 is an "L" shape, and the vertical side of the "L" shape is located below the upper end extension portion of the rotating friction member A12, and is always in contact with the outer surface of the rotating friction member A12 and the inner wall of the rotating base 13 respectively. The horizontal side of the "L" shape is fixed to the stop provided on the inner wall of the rotating base 13 by screws. The rotating friction member A12 is fixedly connected to the outside of the rotating base 11 , the top of the rotating friction member C28 is fixedly connected to the lower end extension of the rotating friction member A12 , and the bottom of the rotating friction member C28 is used to be connected to the gear D34 in the transmission mechanism B.

[0039] The rotating kit 10 of this embodiment includes an arc plate 37 and an arc mounting plate 39. The arc mounting plates 39 are symmetrically arranged on both sides of the lower end of the arc plate 37. An opening A41 is formed between the arc mounting plates 39 on both sides. The outer surface of the arc mounting plate 39 and the outer surface of the lower end of the arc plate 37 are both provided with a protrusion 40; the mirror body 36 is fixed to the inner side of the arc plate 37 by a hook and loop tape 46. The outer surface of the upper part of the arc plate 37 is provided with a ridge 38. The upper and lower sides of the ridge 38 are fixed to the mirror body 36 with hook and loop tape 46. The fitting part of the hook and loop tape 46 of this embodiment is two semi-annular areas. The rotating base 11 is an annular structure with an opening C45. The inner wall of the rotating base 11 is provided with grooves 44 with the same number as the protrusions 40 and corresponding to each other along the circumferential direction. When the rotating kit 10 is plugged into the rotating base 11, each protrusion 40 is respectively inserted into the corresponding groove 44. The rotating base 11 is provided with an opening C45. A matching sleeve 8 is installed inside the arc-shaped mounting plates 39 on both sides. The matching sleeve 8 is a hollow cylinder with an opening B42 provided in the axial direction. The upper edge of the matching sleeve 8 is provided with a flange 43 facing outward, and the flange 43 is pressed on the upper surface of the arc-shaped mounting plate 39. The matching sleeve 8 of this embodiment can be replaced according to the different sizes of the mirror body 36. The outer diameter of each matching sleeve 8 is fixed, and the inner diameter is selected according to the different sizes of the mirror body 36. The upper surface of the rotating base 11 of this embodiment is provided with a hollow socket 14, and the socket 14 is provided with a notch A20 on one side facing inward. A limit pin 9 is inserted in the socket 14; the limit pin 9 of this embodiment is "L"-shaped, and the long side of the "L" shape is inserted into the socket 14, and the part exposed by the notch A20 is pressed on the protrusion 40 of the rotating sleeve 10, thereby axially limiting the rotating sleeve 10 and limiting the axial movement of the rotating sleeve 10.

[0040] The working principle of the present invention is:

[0041] First, the servo motor 17 is started, and the rotating friction member C28, the rotating friction member A12, the rotating base 11, the rotating kit 10 and the matching sleeve 8 are driven to rotate together through the transmission mechanism A and the transmission mechanism B; when the proximity switch 25 detects the inductive metal block 26 on the bottom surface of the gear 34, the servo motor 17 stops, and the rotation angle at this time is defined as the zero degree position, and the opening B42 on the matching sleeve 8 is outward at this time, and the mirror body 36 is installed in the matching sleeve 8. The doctor controls the servo motor 17 to start again, and according to the above transmission principle, the mirror body 36 rotates accordingly. When the front end of the mirror body 36 touches the tissue excessively during the detection process, the torque detected by the torque sensor 6 is too large, prompting the doctor to reduce the rotation angle. Avoid tissue damage and improve detection safety.

Claims

1. An endoscope holding device, characterized in that: The invention comprises a bottom plate (1), a servo motor (17), a transmission mechanism A, a torque sensor (6), a transmission mechanism B, a rotating base (13), a rotating friction assembly, a rotating pedestal (11) and a rotating kit (10), wherein the servo motor (17), the torque sensor (6) and the rotating base (13) are respectively mounted on the bottom plate (1), the rotating base (11) is connected to the rotating base (13) via the rotating friction assembly, the rotating friction assembly is divided into a rotating part and a fixed part, the fixed part is fixedly connected to the inner wall of the rotating base (13), the rotating part is mounted on the outside of the rotating base (11) and is arranged on the rotating base The seat (11) is in frictional contact with the fixed part during rotation relative to the rotating base (13); the output shaft of the servo motor (17) is connected to one end of the sensor shaft (5) of the torque sensor (6) through a transmission mechanism A, and the other end of the sensor shaft (5) is connected to the rotating part of the rotating friction component through a transmission mechanism B; the rotating kit (10) is plugged into the rotating base (11), and a mirror body (36) to be rotated is installed on the rotating kit (10), and the bottom plate (1), the rotating base (11), the rotating friction component and the rotating base (13) are all provided with openings for facilitating the installation of the mirror body (36); The rotating friction assembly comprises a rotating friction member A (12), a rotating friction member B (27) and a rotating friction member C (28); the rotating friction member A (12) is fixedly connected to the outside of the rotating base (11); the top of the rotating friction member C (28) is fixedly connected to the bottom of the rotating friction member A (12); the bottom of the rotating friction member C (28) is used to connect to the transmission mechanism B; the rotating friction member B (27) is located between the rotating friction member A (12) and the rotating base (13) and is fixedly connected to the rotating base (13); the inner surface of the rotating friction member B (27) is always in contact with the outer surface of the rotating friction member A (12); A hollow socket (14) is provided on the upper surface of the rotating base (11), a notch A (20) is provided on the inner side of the socket (14), a limiting pin (9) is inserted into the socket (14), and the limiting pin (9) is pressed on the rotating sleeve (10) at a portion exposed by the notch A (20) to axially limit the rotating sleeve (10); The rotating kit (10) comprises an arc-shaped plate (37) and an arc-shaped mounting plate (39), wherein arc-shaped mounting plates (39) are symmetrically provided on both sides of the lower end of the arc-shaped plate (37), and an opening A (41) is formed between the arc-shaped mounting plates (39) on both sides, and the outer surface of the arc-shaped mounting plate (39) and the outer surface of the lower end of the arc-shaped plate (37) are both provided with protrusions (40); the inner wall of the rotating base (11) is provided with grooves (44) in a circumferential direction, the number of which is the same as that of the protrusions (40) and which correspond one to one, and when the rotating kit (10) and the rotating base (11) are plugged together, each of the protrusions (40) is respectively inserted into the corresponding groove (44); the rotating base (11) is provided with an opening C (45); The transmission mechanism B is a gear transmission mechanism, comprising a gear A (7), a gear B (15), a gear C (16) and a gear D (34). Gears A (7) and gear B (15) rotatably mounted on the bottom plate (1) are symmetrically arranged on both sides between the torque sensor (6) and the rotating base (13). The gear C (16) is connected to the other end of the sensor shaft (5) and meshes with the gear A (7) and the gear B (15) respectively. The gear D (34) is connected to the rotating part of the rotating friction member. A notch B (35) is provided on the gear D (34) for facilitating the installation of the mirror body (36). The gear D (34) is always meshed with one or both of the gears A (7) and B (15).

2. The endoscope holding device according to claim 1, characterized in that: The rotating friction member A (12), the rotating friction member B (27) and the rotating friction member C (28) are all annular structures with openings.

3. The endoscope holding device according to claim 1, characterized in that: The mirror body (36) is fixed to the inner side of the arc-shaped plate (37) by means of a hook and loop fastener (46); a matching sleeve (8) is installed inside the arc-shaped mounting plates (39) on both sides; the matching sleeve (8) is a hollow cylinder and is provided with an opening B (42) along the axial direction; the upper end edge of the matching sleeve (8) is provided with a flange (43) facing outwards, and the flange (43) is pressed against the upper surface of the arc-shaped mounting plate (39).

4. The endoscope holding device according to claim 1, characterized in that: The bottom plate (1) is provided with a proximity switch hole (19), and a proximity switch (25) mounted on the back of the bottom plate (1) is provided below the proximity switch hole (19); a sensing metal block (26) is provided on the bottom surface of the gear D (34), and when the proximity switch (25) detects the sensing metal block (26), a notch B (35) on the gear D (34) faces openings on the bottom plate (1), the rotating base (11), the rotating friction assembly and the rotating base (13).

5. The endoscope holding device according to claim 1, characterized in that: The transmission mechanism A comprises a pulley A (2), a conveyor belt (3) and a pulley B (4); the pulley A (2) is connected to the output shaft of the servo motor (17); the pulley B (4) is connected to one end of the sensor shaft (5) and is connected to the pulley A (2) via the conveyor belt (3).

6. The endoscope holding device according to claim 1, characterized in that: An adjustable motor frame (32) is mounted on the bottom plate (1), and a strip hole (33) is formed on the adjustable motor frame (32). The sensor shaft (5) is rotatably connected to the adjustable motor frame (32) via a flange bearing (30). The servo motor (17) is fixed on a motor mounting plate (18), and an output shaft passes through the strip hole (33). When the distance between the servo motor (17) and the torque sensor (6) is adjusted, the motor mounting plate (18) is fixed on the adjustable motor frame (32). The bottom plate (1) is covered with a housing (29).

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