U-shaped arm and endoscope stand for ERCP surgical robot

Abstract

The application provides a U-shaped arm and an endoscope seat for an ERCP surgical robot, which comprises a U-shaped arm and an endoscope seat, the endoscope seat is arranged on one side of the U-shaped arm, the endoscope seat is used for mounting an endoscope, a connecting rod and a wire passing hole are arranged on any side wall of the U-shaped arm, and the connecting rod is used for connecting a cantilever; a control handle is arranged on the side of the U-shaped arm away from the connecting rod, the control handle is used for controlling locking or unlocking of the cantilever, and an optoelectronic sensor for sending or detecting signals is arranged on the control handle. An operation table formed by the U-shaped arm and the endoscope seat is used for integrally mounting the endoscope on the operation table and integrating a guide groove, a water vapor suction control module, a forceps lifter driving module, a knob driving module and the forceps lifter, when surgery is performed, the operation table formed by the U-shaped arm and the endoscope seat can be remotely operated, which is helpful to reduce the harm caused by long-term radiation of surgery to operators and avoid hand tremor of a doctor during operation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a U-shaped arm and endoscope mount for an ERCP surgical robot. Background Technology

[0002] ERCP, also known as endoscopic retrograde cholangiopancreatography (ERCP), is a well-established minimally invasive endoscopic procedure for treating diseases of the biliary and pancreatic systems. It can be used to diagnose and treat gallstones, biliary obstruction, cholangitis, biliary tumors, and pancreatic tumors. During the procedure, a duodenoscope is inserted into the descending duodenum, and a contrast catheter is inserted through the biopsy channel to the opening of the duodenal papilla. Contrast medium is then injected, and the pancreatic and bile ducts are observed under X-ray to determine the presence of lesions, followed by appropriate surgical intervention. ERCP offers advantages such as minimal trauma, short operation time, few complications, and high safety. As a minimally invasive procedure, it causes very little pain and allows for a relatively quick recovery.

[0003] Currently, ERCP procedures in China are all performed manually by doctors and their teams. However, ERCP procedures require the assistance of X-rays, and surgeons are exposed to X-rays for extended periods. During the procedure, operators need to wear heavy radiation protection suits, and their arms are exposed without any radiation protection. Over the years, this long-term surgical radiation can cause serious radiation damage to the operators.

[0004] Current ERCP procedures require a large number of operators and collaborators, making the already limited operating room somewhat crowded. Doctors and operators need to stand all day to perform the surgery, which is physically demanding and can easily lead to fatigue, affecting the accuracy of the surgery and even causing errors. During the procedure, after inserting the duodenoscope into the body, the angle of the guidewire catheter needs to be adjusted using a forceps lifter. It is difficult for doctors and operators to ensure that their hands do not tremble, and displacement of the inserted instruments after positioning is common. It is impossible to make precise adjustments to the forceps lifter. At the same time, directly adjusting the forceps lifter will expose the operator to X-rays, causing harm.

[0005] A Chinese patent with publication number CN213075919U discloses a novel ERCP surgical instrument worktable, belonging to the field of medical technology. It includes a support base, with several connecting rods vertically fixed at the four corners of the top of the support base. A box is supported between the connecting rods. Several slots are opened on the front surface of the box. Drawer slides are fixedly installed on the inner wall surface of the slots. Several drawers for placing items are slidably installed on the surface of the drawer slides. Universal wheels are fixedly installed at the four corners of the bottom of the support base.

[0006] The inventors believe that the existing worktable needs to be placed in the operating room for doctors to access equipment, which makes it difficult to reduce the harm caused by long-term radiation during surgery to the operators, as well as the hand tremors of doctors during operation, and there are areas that need to be improved. Summary of the Invention

[0007] In view of the deficiencies in the prior art, the purpose of this invention is to provide a U-shaped arm and endoscope mount for an ERCP surgical robot.

[0008] According to the present invention, a U-shaped arm and endoscope mount for an ERCP surgical robot are provided, comprising a U-shaped arm and an endoscope mount, wherein the endoscope mount is disposed on one side of the U-shaped arm and is used to mount an endoscope; a connecting rod and a wire hole are provided on any side wall of the U-shaped arm, and the connecting rod is used to connect the cantilever; a control handle is provided on the side of the U-shaped arm opposite to the connecting rod, the control handle is used to control the locking or unlocking of the cantilever, and a photoelectric sensor for sending or detecting signals is provided on the control handle.

[0009] Preferably, the control handle further includes a handle body, a sensor mounting base, a sensor baffle, a spring, and a silicone sleeve; the photoelectric sensor and the sensor baffle are both mounted on the sensor mounting base, and the photoelectric sensor and the sensor mounting base are both disposed within the handle body; the lower end of the silicone sleeve is connected to the handle body via a spring, and the sensor baffle extends from the sensor mounting base to the connection point between the silicone sleeve and the spring.

[0010] Preferably, the connecting rod is coaxially arranged with the wire hole, and the diameter of the connecting rod is smaller than the diameter of the wire hole.

[0011] Preferably, the connecting rod is provided with a rotary positioning pin and a damper connecting block for connecting with the cantilever.

[0012] Preferably, the endoscope mount is provided with a lifting clamp mounting seat, the upper part of the lifting clamp mounting seat is open, and the shape of the lifting clamp mounting seat is adapted to the lifting clamp of the endoscope; the lifting clamp mounting seat is also provided with a flip cover for fixing the lifting clamp on the lifting clamp mounting seat.

[0013] Preferably, one side of the flip cover is rotatably connected to the endoscope mount, and the other side of the flip cover is locked to the endoscope mount via a spring switch; when the spring switch is in the locked state, the flip cover holds the lifting clamp tightly, and when the spring switch is in the open state, the flip cover does not limit the lifting clamp.

[0014] Preferably, the endoscope mount is further provided with: a forceps lifter drive module mounting base for mounting the forceps lifter drive module; and a knob drive module mounting base for mounting the knob drive module.

[0015] Preferably, the endoscope mount is further provided with a water vapor suction control module mounting seat for mounting the water vapor suction adjustment module of the endoscope; a driver for mounting the water vapor suction adjustment structure is provided inside one side of the U-shaped arm; and a guide groove mounting seat for mounting the guide groove is also provided on the U-shaped arm and the endoscope.

[0016] Preferably, the wire hole is used to pass one or more of the following: a water vapor suction control line, a clamp lifting control line, a knob module control line, and a conduit feed control line.

[0017] According to the present invention, an ERCP surgical robot is provided, wherein the ERCP surgical robot is connected to a connecting rod via a cantilever.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention integrates the endoscope into the operating table formed by the U-shaped arm and the endoscope base, and integrates the guide groove, water vapor suction control module, forceps lifter drive module, knob drive module and forceps lifter. During surgery, the operating table formed by the U-shaped arm and the endoscope base can be remotely operated, which helps to reduce the damage caused to the operator by long-term surgical radiation and avoid hand tremors during operation.

[0020] 2. This invention controls the locking or unlocking of the cantilever by controlling the handle, so that the operating table formed by the U-shaped arm and the endoscope seat is in a locked state under normal conditions. When movement is required, press the control handle, and the photoelectric sensor on the control handle sends an unlocking signal, releasing the detonator on the cantilever. The user can move the U-shaped arm and the endoscope seat within a certain range, which helps to improve the flexibility of surgical operations.

[0021] 3. By setting wire passage holes on the U-shaped arm, the water vapor suction control line, the clamp lifting control line, the knob module control line, and the conduit delivery control line can all pass through the wire passage holes, so that the wires are not exposed after installation, which helps to improve the stability and service life of the line. Attached Figure Description

[0022] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0023] Figure 1 This is a schematic diagram illustrating the overall structure of the U-shaped arm and endoscope mount of the present invention.

[0024] Figure 2 This is an exploded view of the back side of the overall structure of the U-shaped arm and endoscope mount, which are the main features of this invention.

[0025] Figure 3This is an exploded view of the axial structure of the overall structure of the U-shaped arm and endoscope mount, which are the main features of this invention.

[0026] As shown in the figure:

[0027] Cover plate 1, cap 83

[0028] Guide groove mounting base 2 gasket 84

[0029] Flip cover 3 Sensor mounting bracket 85

[0030] Flexible switch 31, sensor baffle 86

[0031] Lifting clamp mounting base 4, spring 87

[0032] Tapered tube 41, silicone sleeve 88

[0033] U-shaped slot 42, U-shaped arm 9

[0034] Water vapor suction control module mounting bracket 5; Endoscope mount 10

[0035] Lifter driver module mounting base 6, wire hole 11

[0036] Knob drive module mounting base 7 Connecting rod 12

[0037] Control handle 8, Rotary positioning pin 13

[0038] Photoelectric sensor 81, damper connecting block 14

[0039] Handle body 82 Detailed Implementation

[0040] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0041] Example 1

[0042] like Figure 1 and Figure 2As shown, a U-shaped arm and endoscope mount for an ERCP surgical robot according to the present invention includes a U-shaped arm 9 and an endoscope mount 10. The endoscope mount 10 is fastened to one side of the U-shaped arm 9 and is used to mount an endoscope. A connecting rod 12 and a wire hole 11 are provided on any side wall of the U-shaped arm 9. The connecting rod 12 is used to connect the cantilever. A control handle 8 is installed on the side of the U-shaped arm 9 opposite to the connecting rod 12. The control handle 8 is used to control the locking or unlocking of the cantilever. A photoelectric sensor 81 for sending or detecting signals is provided on the control handle 8.

[0043] Preferably, the connecting rod 12 and the wire hole 11 are located on the outer side wall of the U-shaped arm 9 away from the endoscope seat 10. Under normal conditions, the explosive device on the cantilever is locked, and the positions of the U-shaped arm 9 and the endoscope seat 10 connected to the cantilever via the connecting rod 12 are relatively fixed. When it is necessary to move the U-shaped arm 9 and the endoscope seat 10, by pressing the control handle 8, the photoelectric sensor 81 on the control handle 8 sends an unlocking signal, the explosive device on the cantilever is released, and the user can move the U-shaped arm 9 and the endoscope seat 10 within a certain range.

[0044] like Figure 1 and Figure 3 As shown, specifically, the control handle 8 also includes a handle body 82, a cover 83, a gasket 84, a sensor mounting base 85, a sensor baffle 86, a spring 87, and a silicone sleeve 88. The photoelectric sensor 81 and the sensor baffle 86 are both mounted on the sensor mounting base 85, and both are located inside the handle body 82. During installation, the photoelectric sensor 81 is first fixed to the sensor mounting base 85 with a mortise screw, and then the sensor baffle 86 is inserted into the sensor mounting base 85. The photoelectric sensor 81, the sensor baffle 86, and the sensor mounting base 85 are screwed together into and out of the handle body 82 through the internal thread at the round tube.

[0045] The lower end of the silicone sleeve 88 is connected to the handle body 82 via a spring 87. A washer 84 is installed on the side where the silicone sleeve 88 connects to the spring 87, and the spring 87 secures the washer 84 with a screw. The sensor baffle 86 extends from the sensor mounting base 85 to the connection point between the silicone sleeve 88 and the spring 87. Finally, a cap 83 is screwed into the bottom of the handle body 82, and the silicone sleeve 88 is glued in place with special adhesive, completing the installation of the control handle 8. Two control handles 8 are spaced apart on the side of the U-shaped arm 9 opposite to the connecting rod 12.

[0046] like Figure 1 and Figure 2As shown, more specifically, the connecting rod 12 is coaxially arranged with the wire passage hole 11, and the diameter of the connecting rod 12 is smaller than the diameter of the wire passage hole 11. A rotating positioning pin 13 and a damper connecting block 14 for connection with the cantilever are installed on the connecting rod 12. The wire passage hole 11 is used to pass one or more of the following: a water vapor suction control line, a clamp lifting control line, a knob module control line, and a conduit feed control line. Preferably, all four lines—the water vapor suction control line, the clamp lifting control line, the knob module control line, and the conduit feed control line—pass through the wire passage hole 11 simultaneously, ensuring that the wires are not exposed after installation. Furthermore, a cover plate 1 is fixedly installed on each side of the wire passage hole 11 with screws.

[0047] Furthermore, the endoscope mount 10 is provided with a lifting clamp mounting seat 4, the upper part of which is open, and the shape of the lifting clamp mounting seat 4 is adapted to the lifting clamp of the endoscope. The lifting clamp mounting seat 4 includes a tapered tube 41 with an open upper part and a U-shaped slot 42 formed on the U-shaped arm 9, so that the lifting clamp can be installed on the lifting clamp mounting seat 4.

[0048] The lifting clamp mounting base 4 is also provided with a flip cover 3 for fixing the lifting clamp to the lifting clamp mounting base 4. One side of the flip cover 3 is rotatably connected to the endoscope seat 10 by a pin, and the other side of the flip cover 3 is locked to the endoscope seat 10 by a spring switch 31. The spring switch 31 of this application is composed of a ball. When the spring switch 31 is in the locked state, the flip cover 3 holds the lifting clamp tightly; when the spring switch 31 is in the open state, the flip cover 3 does not limit the lifting clamp. At this time, the lifting clamp can be removed from or placed into the lifting clamp mounting base 4.

[0049] The endoscope mount 10 is also provided with a clamp lifter drive module mounting base 6, a knob drive module mounting base 7, and a water vapor suction control module mounting base 5. The clamp lifter drive module mounting base 6 is used to install the clamp lifter drive module, and the knob drive module mounting base 7 is used to install the knob drive module. Both the clamp lifter drive module mounting base 6 and the knob drive module mounting base 7 are arranged adjacent to the clamp lifter mount 4.

[0050] The water vapor suction control module mounting base 5 is used to install the water vapor suction adjustment module of the endoscope. The U-shaped arm 9 is provided with a driver for installing the water vapor suction adjustment structure on the side adjacent to the endoscope base 10. The driver of the water vapor suction adjustment structure is installed in the U-shaped arm 9 and is provided with a detachable cover plate 1. The cover plate 1 is fixedly installed on the U-shaped arm 9 by screws, thereby realizing the installation of the driver of the water vapor suction adjustment structure in the U-shaped arm 9.

[0051] The U-shaped arm 9 and the endoscope are also equipped with a guide groove mounting base 2 for mounting guide grooves. The guide grooves mounted on the guide groove mounting base 2 can improve the stability of the endoscope's movement.

[0052] By integrating the forceps drive module mounting base 6, knob drive module mounting base 7, water vapor suction control module mounting base 5, and guide groove mounting base 2 onto the U-arm 9 and endoscope mount 10, all parts of the endoscope can be securely mounted on the U-arm 9 and endoscope mount 10. Then, by pressing the photoelectric sensor 81 on the control handle 8 to send an unlock signal, the detonator on the cantilever is released, allowing the user to move the U-arm 9 and endoscope mount 10 within a certain range. This enables the operator to remotely control the entire surgery from the operating table formed by the U-arm 9 and endoscope mount 10, solving the problem of long-term radiation damage to operators during ERCP surgery, avoiding hand tremors during operation, reducing workload, and improving surgical success rate.

[0053] Example 2

[0054] Based on Embodiment 1, the present invention provides an ERCP surgical robot that uses the U-shaped arm 9 and endoscope mount 10 of the ERCP surgical robot described in Embodiment 1. The U-shaped arm 9 is connected to the ERCP surgical robot through a cantilever and a connecting rod 12.

[0055] This allows staff to remotely control the entire surgery from the operating table formed by the U-shaped arm 9 and the endoscope seat 10, solving the problem of long-term radiation damage to operators during ERCP surgery, avoiding hand tremors during operation, reducing workload and increasing the success rate of surgery.

[0056] Working principle

[0057] By integrating the forceps drive module mounting base 6, knob drive module mounting base 7, water vapor suction control module mounting base 5, and guide groove mounting base 2 onto the U-arm 9 and endoscope base 10, all parts of the endoscope are securely mounted on the U-arm 9 and endoscope base 10. By pressing the photoelectric sensor 81 on the control handle 8 to send an unlocking signal, the detonator on the cantilever is released, allowing the user to move the U-arm 9 and endoscope base 10 within a certain range. This allows the operator to remotely control the entire surgery from the operating table formed by the U-arm 9 and endoscope base 10, solving the problem of long-term radiation damage to operators during ERCP surgery, avoiding hand tremors during operation, reducing workload, and improving surgical success rate.

[0058] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0059] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A U-shaped arm and endoscope mount for an ERCP surgical robot, characterized in that, It includes a U-shaped arm (9) and an endoscope mount (10). The endoscope mount (10) is located on one side of the U-shaped arm (9) and is used to install an endoscope. A connecting rod (12) and a wire hole (11) are provided on any side wall of the U-shaped arm (9), and the connecting rod (12) is used to connect the cantilever. A control handle (8) is provided on the side of the U-shaped arm (9) away from the connecting rod (12). The control handle (8) is used to control the locking or unlocking of the cantilever. A photoelectric sensor (81) for sending or detecting signals is provided on the control handle (8). Staff members remotely control the ERCP procedure on the operating table formed by the U-shaped arm (9) and the endoscope seat (10); The endoscope mount (10) is provided with a lifting clamp mounting seat (4), the upper part of the lifting clamp mounting seat (4) is open, and the shape of the lifting clamp mounting seat (4) is adapted to the lifting clamp of the endoscope. The lifting clamp mounting base (4) is also provided with a flip cover (3) for fixing the lifting clamp on the lifting clamp mounting base (4); The endoscope mount (10) is also provided with: Lifting clamp driver module mounting bracket (6): Used to install the lifting clamp driver module; Knob drive module mounting bracket (7): Used to install the knob drive module; The endoscope mount (10) is also provided with a water vapor suction control module mounting base (5) for installing the water vapor suction adjustment module of the endoscope. The U-shaped arm (9) has a drive inside one side for installing a water vapor suction and adjustment structure; The U-shaped arm (9) and the endoscope are also provided with a guide groove mounting seat (2) for installing the guide groove.

2. The U-shaped arm and endoscope mount for an ERCP surgical robot as described in claim 1, characterized in that, The control handle (8) also includes a handle body (82), a sensor mounting base (85), a sensor baffle (86), a spring (87), and a silicone sleeve (88). The photoelectric sensor (81) and the sensor baffle (86) are both mounted on the sensor mounting base (85), and the photoelectric sensor (81) and the sensor mounting base (85) are both located inside the handle body (82); The lower end of the silicone sleeve (88) is connected to the handle body (82) via a spring (87), and the sensor baffle (86) extends from the sensor mounting base (85) to the connection between the silicone sleeve (88) and the spring (87).

3. The U-shaped arm and endoscope mount for an ERCP surgical robot as described in claim 1, characterized in that, The connecting rod (12) is coaxially arranged with the wire hole (11), and the diameter of the connecting rod (12) is smaller than the diameter of the wire hole (11).

4. The U-shaped arm and endoscope mount for an ERCP surgical robot as described in claim 1, characterized in that, The connecting rod (12) is provided with a rotary positioning pin (13) for connecting with the cantilever and a damper connecting block (14).

5. The U-shaped arm and endoscope mount for an ERCP surgical robot as described in claim 1, characterized in that, One side of the flip cover (3) is rotatably connected to the endoscope base (10), and the other side of the flip cover (3) is locked to the endoscope base (10) through an elastic switch (31); When the elastic switch (31) is in the locked state, the flip cover (3) holds the lifting clamp tightly. When the elastic switch (31) is in the open state, the flip cover (3) does not limit the lifting clamp.

6. The U-shaped arm and endoscope mount for an ERCP surgical robot as described in claim 1, characterized in that, The wire hole (11) is used to pass one or more of the following: water vapor suction control line, clamp lifting control line, knob module control line, and conduit delivery control line.

7. An ERCP surgical robot, characterized in that, The ERCP surgical robot uses the U-shaped arm (9) and endoscope mount (10) as described in any one of claims 1-6, wherein the ERCP surgical robot is connected to the connecting rod (12) via a cantilever.

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