An auxiliary motion robot arm for endoscopy

Abstract

The present invention discloses an auxiliary motion mechanical arm for endoscopic examination, comprising an equipment fixing clamp, a wrist support assembly, a connecting arm assembly, a height adjustment assembly, a lateral swing assembly and a clamping and fixing assembly, wherein the equipment fixing clamp is rotatably connected to the wrist support assembly to perform a swinging motion; the wrist support assembly is rotatably connected to the connecting arm assembly to perform a rotational motion; the connecting arm assembly is rotatably connected to the height adjustment assembly to perform a rotational motion; the height adjustment assembly is rotatably connected to the lateral swing assembly to perform a rotational motion; the lateral swing assembly is rotatably connected to the clamping and fixing assembly to perform a rotational motion; the clamping and fixing assembly is used to clamp on a fixed object. The present invention can be turned and adjusted to any angle without the need for an air source or a power source driving device joint, and the present invention can support the operator's arm and equipment, is more convenient to operate, and has a wider applicability, and can be used for various endoscope operations and other handheld equipment such as orthopedic electric drills and other equipment.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to an auxiliary motion mechanical arm for endoscopic examination. Background Art

[0002] Endoscopes are used in various examinations and procedures, so that the internal structure of the human body can be clearly displayed on the monitor through the endoscope for doctors to examine. For example, soft endoscopes used for gastrointestinal endoscopy and bronchoscopy, or laparoscopes used for internal abdominal examinations in minimally invasive surgery, ventriculoscopes used for neurosurgery, etc. Endoscopic examination can be used to diagnose inflammation, ulcers, benign and malignant tumors in the digestive tract (including esophagus, stomach, duodenum, small intestine and large intestine); benign and malignant lesions of the liver, gallbladder and pancreatic duct systems; benign and malignant lesions of abdominal organs and other diseases. At present, during the endoscopic examination process, the endoscope is manually lifted and turned by medical staff, and the operator's arm is suspended in the air without support. The operation time of the endoscope varies from more than ten minutes to several hours. The endoscope equipment itself has a corresponding size and weight. After holding and using and operating it for a long time, doctors often feel fatigue, stiff and sore hand muscles, which will not only affect the doctor's work efficiency, but also affect the accuracy of the operation and the inspection effect, and it is easy to cause damage to the joints of medical staff in the long run. Therefore, a flexible and convenient auxiliary support device is needed to support the above-mentioned equipment or the doctor's arm, which can accurately adjust the posture of the equipment and the arm at any angle while holding the equipment. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies of the prior art and to propose an auxiliary motion robotic arm for endoscopic examination. The arm does not require an external gas source or power source. By providing a real-time adjustment device, the equipment operator can adjust the position of the handheld device at any angle according to operational requirements, thereby achieving the goal of being able to accurately control the equipment to serve the patient or the person being examined, while enabling the operator to operate in a more comfortable position, thereby relieving the operator's operating fatigue, improving the efficiency of surgery and examination, and avoiding problems caused by operating errors.

[0004] The objective of the present invention is achieved through the following technical scheme: an auxiliary motion mechanical arm for endoscopic examination, comprising an equipment fixing clamp, a wrist support assembly, a connecting arm assembly, a height adjustment assembly, a lateral swing assembly and a clamping and fixing assembly, wherein the equipment fixing clamp is rotatably connected to the wrist support assembly to perform a swinging motion; the wrist support assembly is rotatably connected to the connecting arm assembly to perform a rotational motion; the connecting arm assembly is rotatably connected to the height adjustment assembly to perform a rotational motion; the height adjustment assembly is rotatably connected to the lateral swing assembly to perform a rotational motion; the lateral swing assembly is rotatably connected to the clamping and fixing assembly to perform a rotational motion; the clamping and fixing assembly is used to clamp on a fixed object.

[0005] Furthermore, the device fixing clamp has multiple types, and the device fixing clamp is detachably connected to the wrist support assembly, and is used to fix and clamp handheld devices, including flexible endoscopes for gastrointestinal endoscopy, laparoscopes for intra-abdominal examination, endoscopes for neurosurgery, and power tools for orthopedic and dental surgery. The device fixing clamp can be replaced with different forms according to the needs of the equipment to be clamped and fixed.

[0006] Furthermore, the wrist support assembly includes a bracket, a wrist support and a wrist swing frame, the wrist support is fixed to the side wall of the bracket by a first rotating shaft, and the wrist support rotates relative to the bracket around the first rotating shaft; the wrist swing frame is fixed to one end of the bracket by a second rotating shaft, and the other end of the bracket is connected to the connecting arm assembly, and the wrist swing frame swings relative to the bracket, and the wrist swing frame is connected to the device fixing clamp.

[0007] Furthermore, the connecting arm assembly includes a torsion arm and two torsion seats, the two torsion seats are rotatably connected to the two ends of the torsion arm, and rotate relative to the axial direction of the torsion arm, and the two torsion seats are respectively connected to the bracket and height adjustment assembly in the wrist rest assembly through fastening bolts.

[0008] Furthermore, the height adjustment assembly includes a rotating shaft III, a rotating shaft II, a lifting rod, a gas spring and a rotating shaft I assembled on a rotating bracket, and a gas spring control button connected to the gas spring through a wiring harness; the rotating bracket is rotatably connected to the lateral swing assembly and rotates along a vertical axis, one end of the lifting rod is connected to the rotating bracket through the rotating shaft III, and the other end is connected to the gas spring through the rotating shaft I, and the gas spring is connected to the rotating bracket through the rotating shaft II; the operator controls the gas spring control button and the gas spring is extended and contracted with the pressure of the operator's arm, so that the lifting rod swings up and down around the rotating shaft III to achieve height adjustment.

[0009] Furthermore, the lateral swing assembly includes a horizontal link I, a horizontal rotation axis, a horizontal link II, a horizontal link III and a rotating bracket rotation axis; the horizontal link I and the horizontal link III are rotatably connected at both ends of the horizontal link II through the horizontal rotation axis to perform lateral swing and expansion movements, and the horizontal link I is rotatably connected to the rotating bracket of the height adjustment assembly through the rotating bracket rotation axis; the horizontal link III is rotatably connected to the clamping and fixing assembly.

[0010] Furthermore, the clamping and fixing assembly includes a fixed bracket, an adjusting stud, an adjusting knob, a clamping plate and a fixed bracket rotating shaft; the fixed bracket is C-shaped, and the outer side of its upper wall is rotatably connected to the horizontal connecting rod III of the lateral swinging assembly through the fixed bracket rotating shaft, and the lower wall of the fixed bracket is threadedly connected to the adjusting stud, and the clamping plate is installed at the upper end of the adjusting stud, and the adjusting knob is installed at the lower end; the adjusting stud is driven to rotate by rotating the adjusting knob and the clamping plate is driven to move axially along the adjusting stud, so that the fixed bracket assembly can be locked to other fixed objects through the clamping plate.

[0011] The beneficial effects of the present invention are as follows: the present invention can perform steering and arbitrary angle adjustment without air source or power source driving device joints, and the present invention can support the operator's arms and equipment, is more convenient to operate, and has wider applicability, and can be used for various endoscope operations and other handheld equipment such as orthopedic electric drills and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Schematic diagram of the auxiliary motion robot arm;

[0013] Figure 2 Exploded view of the auxiliary motion robot arm;

[0014] Figure 3 It is a schematic diagram of the equipment fixing clamp;

[0015] Figure 4 is a schematic diagram of a wrist rest assembly;

[0016] Figure 5 is a schematic diagram of the connecting arm assembly;

[0017] Figure 6 is a schematic diagram of a height adjustment component;

[0018] Figure 7 It is a schematic diagram of the lateral swing assembly;

[0019] Figure 8 It is a schematic diagram of the clamping and fixing assembly;

[0020] Fig. 9 This is a schematic diagram of actual operation by personnel. DETAILED DESCRIPTION

[0021] The specific implementation modes of the present invention are further described in detail below with reference to the accompanying drawings.

[0022] like Figure 1 As shown, the auxiliary motion mechanical arm for endoscopic examination provided by the present invention comprises an equipment fixing clamp 1, a wrist support assembly 2, a connecting arm assembly 3, a height adjustment assembly 4, a lateral swing assembly 5 and a clamping and fixing assembly 6, as shown in FIG. Figure 2As shown, the device fixing clamp 1 swings with a certain amplitude relative to the wrist support assembly 2; the wrist support assembly 2 rotates relative to the connecting arm assembly 3; the connecting arm assembly 3 rotates relative to the height adjustment assembly 4; the height adjustment assembly 4 can rotate relative to the lateral swing assembly 5; the lateral swing assembly 5 swings horizontally and unfolds relative to the clamping and fixing assembly 6; the clamping and fixing assembly 6 can be used to clamp on a fixed object.

[0023] Among them, Figure 3 The device fixing clamp 1 has multiple types, and the device fixing clamp is detachably connected to the wrist support assembly 2, and is used to quickly fix and clamp handheld devices, such as flexible endoscopes for gastrointestinal endoscopy, laparoscopes for intra-abdominal examination, endoscopes for neurosurgery, and various electric tools for orthopedic and dental surgery, etc. It plays the role of fixing and supporting the equipment, and its shape can be replaced into different forms according to the needs of the equipment to be clamped and fixed.

[0024] Among them, Figure 4 The wrist support assembly 2 includes a bracket 21, a wrist support 22, and a wrist swing frame 23. The wrist support 22 is fixed to the side wall of the bracket 21 through a first rotating shaft 24, and the wrist support 22 can rotate relative to the bracket 21 around the first rotating shaft. The wrist swing frame 23 is fixed to one end of the bracket 21 through a second rotating shaft 25, and the other end of the bracket 21 is connected to the connecting arm assembly 3, and the wrist swing frame 23 can swing relative to the bracket 21, and the wrist swing frame 23 is connected to the device fixing clamp 1.

[0025] Among them, Figure 5 The connecting arm assembly 3 includes a torsion arm 31, a first torsion seat 32, and a second torsion seat 33. The two torsion seats are rotatably connected to the two ends of the torsion arm 31. The first torsion seat 32 and the second torsion seat 33 rotate relative to the axial direction of the torsion arm 31. The first torsion seat 32 and the second torsion seat 33 are respectively connected to the bracket 21 and the height adjustment assembly 4 in the wrist support assembly 2 through fastening bolts 34.

[0026] Among them, Figure 6 The height adjustment assembly 4 comprises a rotating shaft III 43, a rotating shaft II 42, a lifting rod 44, a gas spring 45, a rotating shaft I 41 and a gas spring control button 46 connected to the gas spring through a wire harness. The rotating bracket 47 is rotatably connected to the lateral swing assembly 5 and can rotate along the vertical axis. One end of the lifting rod 44 is connected to the rotating bracket 47 through the rotating shaft III 43, and the other end is connected to the gas spring 45 through the rotating shaft I 41. The gas spring 45 is connected to the rotating bracket 47 through the rotating shaft II 42. The gas spring 45 is extended and contracted by the operator's arm pressure to make the lifting rod 44 swing up and down around the rotating shaft III 43 to achieve height adjustment.

[0027] Among them, Figure 7 The lateral swing assembly 5 includes a horizontal link I 51, a horizontal rotation axis 54, a horizontal link II 52, a horizontal link III 53 and a rotation axis 55 of a rotation bracket. The horizontal link I 51 and the horizontal link III 53 are rotationally connected to the two ends of the horizontal link II 52 through the horizontal rotation axis 54 to perform lateral swing and unfolding movements. The horizontal link I 51 is rotationally connected to the rotation bracket 47 of the height adjustment assembly 4 through the rotation bracket rotation axis 55; the horizontal link III 53 is rotationally connected to the clamping and fixing assembly 6.

[0028] Among them, Figure 8 The clamping and fixing assembly 6 includes a fixing bracket 61, an adjusting stud 62, an adjusting knob 63, a pressing plate 64, and a fixing bracket rotating shaft 65. The fixing bracket 61 is C-shaped, and the outer side of its upper wall is rotatably connected to the horizontal connecting rod III53 of the lateral swing assembly 5 through the fixing bracket rotating shaft 65. The lower wall of the fixing bracket 61 is threadedly connected to the adjusting stud 62. The upper end of the adjusting stud 62 is equipped with a pressing plate 64, and the lower end is equipped with an adjusting knob 63. The adjusting stud 62 is driven to rotate by rotating the adjusting knob 63 and the pressing plate 64 is driven to move along the axial direction of the adjusting stud 62, so that the clamping and fixing assembly 6 can be locked to other fixed objects, such as the side of the bed, through the pressing plate 64.

[0029] like Fig. 9 As shown, the specific application embodiments of the present invention are as follows:

[0030] The present invention is described by taking gastroenteroscopy as an example. The auxiliary motion mechanical arm is locked on the side of the examination bed by the clamping and fixing component 6, and the gastroenteroscopy is clamped and fixed on the equipment fixing clamp 1. Before examining the patient, the doctor places the wrist on the wrist rest 22 and releases the locking state of the gas spring 45 by pressing the gas spring control button 46 with the thumb. At this time, when the arm is lifted up or pressed down, the lifting rod 44 will drive the connecting arm component 3, the wrist rest component 2, the equipment fixing clamp 1, and the gastroenteroscopy connected to the lifting rod to rotate around the rotating shaft III 43, so that the position of the arm and the gastroenteroscopy can move up and down around the doctor's elbow joint. When the gastroenteroscopy is adjusted to a height suitable for operation, the doctor releases the gas spring control button 46, and the gas spring 45 is locked at this time, and the doctor can operate the gastroenteroscopy at this height. When the doctor needs to move left and right due to the examination, the lateral swing component 5 can perform lateral expansion movement, and the auxiliary motion mechanical arm can keep close to the doctor's arm at any time. When the doctor needs to control the gastroenteroscope to swing forward, backward, left, and right, the lateral swing assembly 5, the connecting arm assembly 3, the height adjustment assembly 4, the wrist support assembly 2, and the equipment fixing clamp 1 can rotate with each other to meet the adjustment needs of various angles of the gastroenteroscope.

[0031] The above embodiments are used to illustrate the present invention rather than to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. An auxiliary motion robot arm for endoscopic examination, characterized in that: It comprises a device fixing clamp, a wrist support assembly, a connecting arm assembly, a height adjustment assembly, a lateral swing assembly and a clamping and fixing assembly, wherein the device fixing clamp is rotatably connected to the wrist support assembly to make a swinging motion; the wrist support assembly is rotatably connected to the connecting arm assembly to make a rotating motion; the connecting arm assembly is rotatably connected to the height adjustment assembly to make a rotating motion; the height adjustment assembly is rotatably connected to the lateral swing assembly to make a rotating motion; the lateral swing assembly is rotatably connected to the clamping and fixing assembly to make a rotating motion; the clamping and fixing assembly is used to clamp on a fixed object; The wrist support assembly includes a bracket, a wrist support and a wrist swing frame, wherein the wrist support is fixed to the side wall of the bracket via a first rotating shaft, and the wrist support performs a rotational motion relative to the bracket around the first rotating shaft; the wrist swing frame is fixed to one end of the bracket via a second rotating shaft, and the other end of the bracket is connected to the connecting arm assembly, and the wrist swing frame performs a swinging motion relative to the bracket, and the wrist swing frame is connected to the device fixing clamp; The height adjustment assembly comprises a rotating shaft III, a rotating shaft II, a lifting rod, a gas spring and a rotating shaft I which are assembled on a rotating bracket, and a gas spring control button connected to the gas spring via a wiring harness; the rotating bracket is rotatably connected to the lateral swing assembly and performs rotational motion along a vertical axis, one end of the lifting rod is connected to the rotating bracket via the rotating shaft III, and the other end is connected to the gas spring via the rotating shaft I, and the gas spring is connected to the rotating bracket via the rotating shaft II; the gas spring is extended and contracted by the operator controlling the gas spring control button and the pressure of the operator's arm, so that the lifting rod swings up and down around the rotating shaft III to achieve height adjustment.

2. The auxiliary motion robot arm for endoscopy according to claim 1, characterized in that: There are multiple types of equipment fixing clamps, which are detachably connected to the wrist support assembly and are used to fix and clamp handheld devices, including flexible endoscopes for gastrointestinal endoscopy, laparoscopes for intra-abdominal examination, endoscopes for neurosurgery, and electric tools for orthopedic and dental surgeries. The equipment fixing clamps can be replaced with different forms according to the needs of the equipment to be clamped and fixed.

3. The auxiliary motion robot arm for endoscopy according to claim 1, characterized in that: The connecting arm assembly includes a torsion arm and two torsion seats, the two torsion seats are rotatably connected to the two ends of the torsion arm respectively, and rotate relative to the axial direction of the torsion arm. The two torsion seats are respectively connected to the bracket and the height adjustment assembly in the wrist support assembly through fastening bolts.

4. The auxiliary motion robot arm for endoscopy according to claim 1, characterized in that: The lateral swing assembly includes a horizontal link I, a horizontal rotation axis, a horizontal link II, a horizontal link III and a rotation axis of a rotation bracket; the horizontal link I and the horizontal link III are rotationally connected at both ends of the horizontal link II through the horizontal rotation axis to perform lateral swing and expansion movements, the horizontal link I is rotationally connected to the rotation bracket of the height adjustment assembly through the rotation axis of the rotation bracket; the horizontal link III is rotationally connected to the clamping and fixing assembly.

5. The auxiliary motion mechanical arm for endoscopic examination according to claim 4, characterized in that: The clamping and fixing assembly includes a fixed bracket, an adjusting stud, an adjusting knob, a clamping plate and a fixed bracket rotating shaft; the fixed bracket is C-shaped, and the outer side of its upper wall is rotatably connected to the horizontal connecting rod III of the lateral swinging assembly through the fixed bracket rotating shaft, and the lower wall of the fixed bracket is threadedly connected to the adjusting stud, and the clamping plate is installed on the upper end of the adjusting stud, and the adjusting knob is installed on the lower end; the adjusting stud is driven to rotate by rotating the adjusting knob and the clamping plate is driven to move axially along the adjusting stud, so that the fixed bracket assembly can be locked to other fixed objects through the clamping plate.

Images