A minimally invasive surgical endoscope holding mechanism with two degrees of freedom

Abstract

The present invention discloses a minimally invasive surgical endoscope holding mechanism with two degrees of freedom, comprising a housing, a cover plate, a rotating mechanism, and an axial movement mechanism. The present invention adopts a flexible stacked chain mechanism and designs a minimally invasive surgical endoscope holding mechanism with two degrees of freedom to drive the bending and rotation of the stacked chain mechanism to achieve 360° imaging of the endoscope at the end, thereby providing a stable field of view without dead angles for minimally invasive surgery. The present invention provides a rotation motion scheme using gear meshing and combines a helical axial drive motion scheme to achieve a compact layout in a very small space to meet the requirements of miniaturization, high smoothness, and high precision for minimally invasive surgical operations.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a minimally invasive surgical endoscope holding mechanism with two degrees of freedom. Background Art

[0002] There are many problems in minimally invasive surgery. For example, during minimally invasive surgery, the endoscope-holding hand may shake due to long-term fatigue, resulting in an unstable endoscope-holding field of view; it is difficult to effectively communicate between the surgeon and the endoscope-holding hand, leading to low efficiency of minimally invasive surgery. Therefore, a minimally invasive surgical endoscope holding mechanism is needed to hold the endoscope for imaging to achieve a stable field of view, thereby assisting the doctor to complete minimally invasive surgery.

[0003] In the design of the minimally invasive surgical endoscope holding mechanism, it is necessary to achieve a linear feeding motion of the endoscope to penetrate into the human body, and at the same time, it is necessary to achieve a rotational motion of the endoscope to find a suitable field of view. Currently, the minimally invasive surgical endoscope holding mechanism mainly has the following problems: 1. The minimally invasive surgical endoscope holding mechanism is complex and difficult to reduce in size; 2. The motion accuracy is low, and it is difficult to move to the designated position, resulting in a poor field of view transmission effect; 3. It is difficult to control during surgery and it is difficult to be applied to clinical surgery. Summary of the Invention

[0004] In order to meet the operational requirements of miniaturization, high precision, flexible operation, and stable field of view of the minimally invasive surgical endoscope holding mechanism, the present invention provides a minimally invasive surgical endoscope holding mechanism with two degrees of freedom, including a housing, a cover plate for closing the housing, a rotational motion mechanism and an axial motion mechanism arranged inside the housing;

[0005] Semicircular channels are formed on the upper surface of the housing and the lower surface of the cover plate; after the housing and the cover plate are clamped together, the semicircular channels form a through hole;

[0006] The rotational motion mechanism is used to achieve the rotational motion of the minimally invasive surgical endoscope holding mechanism. The rotational motion mechanism includes a sleeve, a second gear sleeved on the sleeve, a first gear installed below the second gear and meshing with the second gear, a first motor for driving the first gear to rotate, and an inner rod limiting block; the sleeve is a hollow tubular structure, and the sleeve passes through the through hole formed by the clamping of the housing and the cover plate; the inner rod limiting block is a disc-shaped structure with a large cut circular hole in the center, and the inner rod limiting block is fixed on the sleeve through a bushing;

[0007] The axial motion mechanism is used to realize the linear motion of the mirror holding mechanism of minimally invasive surgery. The axial motion mechanism includes a slide with a screw, a second motor fixed on the slide and used to rotate the screw, a slider arranged on the screw, and an inner rod. The slide is fixed at the bottom of the rectangular cavity of the outer shell; the slider is installed on the screw of the slide, and moves back and forth due to the rotation of the second motor and the transmission of the slide; the cross-section of the inner rod is a large circular shape with a size equal to the hole of the inner rod limit block, and the inner rod is sleeved inside the sleeve and limited by the inner rod limit block; one end of the inner rod is fixed on the slider, and the other end is used to install the robotic arm and the endoscope.

[0008] As a preferred solution of the present invention, the mechanical arm can bend when the inner rod moves back and forth.

[0009] As a preferred embodiment of the present invention, a linear motion front plate and a linear motion rear plate are arranged on the left and right sides of the upper surface of the slider; the linear motion front plate and the linear motion rear plate are both rectangular structures with a circular hole in the center, which is coaxial with the sleeve; a flange cylindrical block is fixed between the linear motion front plate and the linear motion rear plate through two left and right flange copper sleeves; an axial through hole is provided in the center of the flange cylindrical block, which is coaxial with the sleeve, and a threaded hole is provided in the flange cylindrical block; the inner rod is fixed to the flange cylindrical block through the threaded hole.

[0010] As a preferred embodiment of the present invention, the shell is a box-type structure, with a rectangular cavity opened downward on the upper surface, and semicircular grooves opened above the left and right side surfaces; the cover plate is a box-type structure, with a rectangular cavity opened upward on the lower surface, and semicircular grooves opened below the left and right side surfaces, which are combined with the semicircular grooves on the left and right sides of the shell to form a circular through hole.

[0011] As a preferred embodiment of the present invention, the inner rod passes through the inner rod limit block and the sleeve, the axis of the inner rod is colinear with the axis of the sleeve, and when the sleeve rotates, the sleeve drives the inner rod to rotate synchronously through the inner rod limit block.

[0012] The present invention also provides a working method of the above-mentioned minimally invasive surgery mirror holding mechanism, comprising the following steps:

[0013] 1) Install a robotic arm on the inner rod of a two-degree-of-freedom minimally invasive surgical endoscope holding mechanism, and install an endoscope on the robotic arm;

[0014] 2) Control the second motor to rotate and drive the screw on the slide to rotate, so that the slider can move forward and backward, and the slider drives the inner rod to move linearly relative to the sleeve, so that the mechanical arm bends, making the field of view of the endoscope clearer and the field of view position more accurate;

[0015] 3) Control the rotation of the first motor. The first motor thus drives the rotation of the first gear, and the first gear drives the rotation of the second gear (3-2) and the sleeve sleeved on the second gear. The sleeve then drives the inner rod to rotate through the inner rod limiting block, thereby realizing the rotational movement of the endoscope and observing a 360° field of view in real time.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: at the end of the two-degree-of-freedom minimally invasive surgery endoscope holding mechanism of the present invention, a controllable bending stacked chain mechanism is installed. The rotation of the sleeve and the inner rod is driven by the rotational movement mechanism; the linear movement of the inner rod is realized through the axial movement mechanism. First, the rotational movement mechanism drives the rotation of the sleeve and the inner rod through gear meshing transmission. The movement and force of gear transmission are very stable, and the movement stability is high. Secondly, the axial movement mechanism realizes the linear movement of the inner rod through screw transmission, and the movement accuracy is high. Finally, the rotational movement mechanism and the axial movement mechanism do not interfere with each other. The rotation of the inner rod driven by the rotational movement mechanism and the linear movement of the inner rod driven by the axial movement mechanism do not affect each other, and the two movements can be carried out simultaneously, which is convenient to control and can assist the work of holding the endoscope in minimally invasive surgery. Finally, the structural layout of each component is compact and reasonable, occupying a small space, and is suitable for the medical minimally invasive surgery scenario. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the overall structure of the two-degree-of-freedom minimally invasive surgery endoscope holding mechanism of the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of the rotational movement mechanism of the two-degree-of-freedom minimally invasive surgery endoscope holding mechanism of the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the axial movement mechanism of the two-degree-of-freedom minimally invasive surgery endoscope holding mechanism of the present invention.

[0020] In the figure: 1. Outer shell; 2. Cover plate; 3. Rotational movement mechanism; 4. Axial movement mechanism; 3-1. Sleeve; 3-2. Second gear; 3-3. First gear; 3-4. First motor; 3-5. Inner rod limiting block; 4-1. Slide table; 4-2. Second motor; 4-3. Slide block; 4-4. Front plate for linear movement; 4-5. Rear plate for linear movement; 4-6. Inner rod; 4-7. Flange cylindrical block. Detailed Embodiments

[0021] The following further elaborates and explains the present invention in conjunction with specific embodiments. The embodiments are only demonstrations of the present disclosure content and do not delimit the scope of limitation. The technical features of each embodiment of the present invention can be combined correspondingly without conflict.

[0022] As Figure 1As shown in the figure, the present invention provides a minimally invasive surgery endoscope holding mechanism with two degrees of freedom, including a housing 1, a cover plate 2, a rotational motion mechanism 3, and an axial motion mechanism 4;

[0023] The housing 1 is a box-shaped structure with an opening on its upper side. A rectangular cavity is opened downward on its upper surface, and semi-circular channels are opened above the left and right side surfaces. The cover plate 2 is a box-shaped structure with an opening on its lower side. A rectangular cavity is opened upward on its lower surface, and semi-circular channels are opened below the left and right side surfaces, which are clamped with the semi-circular notches on the left and right sides of the housing 1 to form a circular through-hole;

[0024] As Figure 2 shown in the figure, the rotational motion mechanism 3 includes a sleeve 3-1, a second gear 3-2, a first gear 3-3, a first motor 3-4, and an inner rod limiting block 3-5. The sleeve 3-1 is a hollow tubular structure that passes through the circular through-hole formed by the housing 1 and the cover plate 2. The second gear 3-2 is connected to the sleeve through a shrink fit and is limited on the sleeve 3-1 through a bushing. The first gear 3-3 meshes with the second gear 3-2 and is installed below the second gear 3-2. The first motor 3-4 is installed inside the housing 1 and is connected to the first gear 3-3 through a shrink fit for driving rotational motion. The inner rod limiting block 3-5 is a disc-shaped structure with a large circular hole in the center and an annular structure on the inner wall of the circular hole. It is limited on the sleeve 3-1 through a bushing;

[0025] As Figure 3 shown in the figure, the axial motion mechanism 4 includes a slide table 4-1, a second motor 4-2, a slider 4-3, a linear motion front plate 4-4, a linear motion rear plate 4-5, an inner rod 4-6, and a flange cylinder block 4-7. The slide table 4-1 is fixed to the bottom of the rectangular cavity of the housing 1. The second motor 4-2 is fixed to the slide table 4-1 for driving the lead screw on the slide table 4-1 to rotate. The slider 4-3 is installed on the lead screw of the slide table 4-1 and moves back and forth under the rotation of the second motor 4-2 and the transmission of the slide table 4-1. The linear motion front plate 4-4 is a rectangular structure with a circular hole in the center. The circular hole is coaxial with the sleeve 3-1, and it is fixed to the left side of the slide table 4-1. The linear motion rear plate 4-5 is a rectangular structure with a circular hole in the center. The circular hole is coaxial with the sleeve 3-1, and it is fixed to the right side of the slide table 4-1. The inner rod 4-6 is inside the sleeve 3-1 and passes through the inner rod limiting block 3-5. Its axis is parallel to the axis of the sleeve 3-1. When the sleeve 3-1 rotates, it can rotate synchronously. The flange cylinder block 4-7 is a cylindrical structure with a flange with a rectangular cross-section on the side. It has an axial through-hole in the center, which is coaxial with the sleeve 3-1. There is a threaded hole at an eccentric position on its front surface, which cooperates with the inner rod 4-6. It is connected to the linear motion front plate 4-4 and the linear motion rear plate 4-5 through two flange bronze bushings on the left and right;

[0026] The rotational motion mechanism 3 and the axial motion mechanism 4 respectively achieve the rotational motion and the linear motion of the minimally invasive surgical endoscope holding mechanism, realizing the decoupling of the two-degree-of-freedom motion.

[0027] Embodiment 1

[0028] In this embodiment, the external robotic arm adopts a controllable bending stacked chain structure, which is composed of a series of link units. Each link unit includes a compression rod, a lifting rod, a compression rod link, and a lifting rod link. The compression rod and the lifting rod have through holes at both ends and a through hole in the middle, and the axes of the three holes are parallel to each other; the compression rod link and the lifting rod link have through holes at both ends, and the axes of the two holes are parallel to each other. The lifting rod of this unit is hinged to one end through hole of the compression rod of this unit and one end through hole of the compression rod of the next unit through the through holes at both ends, and the three rods are folded into a Z shape; by arranging and stacking one compression rod and one lifting rod alternately, a stacked chain structure arranged in a zigzag shape is formed; the lifting rod link of this unit is hinged and constrained to the middle through hole of the lifting rod of this unit and the middle through hole of the lifting rod of the next unit through the through holes at both ends; the compression rod link of this unit is hinged and constrained to the middle through hole of the compression rod of this unit and the middle through hole of the compression rod of the next unit through the through holes at both ends. The compression rod, the lifting rod, and the compression rod link of this unit and the compression rod of the next unit form an anti-four-bar linkage structure, so that the compression rod link of this unit intersects with the lifting rod, presenting an 8-shaped structure; the lifting rod, the lifting rod link of this unit and the compression rod and the lifting rod of the next unit form an anti-four-bar linkage structure, so that the lifting rod link of this unit intersects with the compression rod of the next unit, presenting an 8-shaped structure. Both 8-shaped structures have the lifting rod of this unit and the compression rod of the next unit, so they share an angle with each other, enabling the two anti-four-bar linkage structures to be coupled in pairs to form a dual anti-four-bar linkage structure.

[0029] The sleeve 3-1 of the two-degree-of-freedom minimally invasive surgical endoscope holding mechanism of the present invention is installed with a controllable bending stacked chain mechanism and is connected to the inner rod 4-6 sleeved on the sleeve 3-1. The endoscope is installed in the stacked chain mechanism, and through the rotational transmission of the rotational motion mechanism 3, 360° rotation of the endoscope is achieved.

[0030] The two-degree-of-freedom minimally invasive surgical endoscope holding mechanism of the present invention is equipped with an operation panel. When a doctor performs minimally invasive surgery, the first motor 3-4 is controlled to rotate through the operation panel. The first motor 3-4 drives the first gear 3-3, and the first gear 3-3 drives the second gear 3-2 and the sleeve 3-1 sleeved on the second gear 3-2 to rotate, thereby driving the inner rod 4-6 sleeved on the sleeve 3-1 and the bendable stacked chain mechanism installed on the sleeve 3-1 to rotate synchronously, and further realizing the rotational motion of the endoscope in the stacked chain mechanism, and a 360° field of view can be observed in real time.

[0031] Embodiment 2

[0032] The sleeve 3-1 of the two-degree-of-freedom minimally invasive surgical endoscope holding mechanism of the present invention is provided with a controllable bending chain-folded mechanism, which is connected to the inner rod 4-6 sleeved in the sleeve 3-1. The endoscope is installed in the chain-folded mechanism. Through the axial linear motion of the axial motion mechanism 4, the controllable bending chain-folded mechanism is bent, so as to peek at a clearer and more accurate visual field position.

[0033] The two-degree-of-freedom minimally invasive surgical endoscope holding mechanism of the present invention is equipped with an operation panel. When a doctor performs minimally invasive surgery, the second motor 4-2 is controlled to rotate through the operation panel, and the lead screw on the slide 4-1 is driven to rotate. Furthermore, the slider 4-3 can move back and forth, so that the linear motion front plate 4-4 and the linear motion rear plate 4-5 connected to the slider 4-3 move back and forth, thereby driving the flange cylindrical block 4-7 arranged between the linear motion front plate 4-4 and the linear motion rear plate 4-5 to move back and forth. Furthermore, the inner rod 4-6 cooperating with the flange cylindrical block 4-7 moves linearly back and forth relative to the sleeve 3-1, and finally the controllable bending chain-folded mechanism connected to the inner rod 4-6 is bent, driving the endoscope in the controllable bending chain-folded mechanism to avoid human tissues in the abdominal cavity, and a more accurate visual field position can be peeked at.

[0034] The above embodiments only represent several implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. For those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A minimally invasive surgical lens-holding mechanism with two degrees of freedom, characterized in that, It includes a housing (1), a cover plate (2) for closing the housing (1), a rotary motion mechanism (3) and an axial motion mechanism (4) provided inside the housing; Semicircular channels are provided on the upper surface of the housing (1) and the lower surface of the cover plate (2); after the housing (1) and the cover plate (2) are clamped together, the semicircular channels form a through hole; The rotary motion mechanism (3) is used to realize the rotary motion of the minimally invasive surgery endoscope holding mechanism. The rotary motion mechanism (3) includes a sleeve (3-1), a second gear (3-2) sleeved on the sleeve (3-1), a first gear (3-3) installed below the second gear (3-2) and meshing with the second gear (3-2), a first motor (3-4) for driving the first gear (3-3) to rotate, and an inner rod limiting block (3-5); the sleeve (3-1) is a hollow tubular structure, and the sleeve (3-1) passes through the through hole formed by the clamping of the housing (1) and the cover plate (2); the inner rod limiting block (3-5) is a disc-shaped structure with a large cut circular hole in the center, and the inner rod limiting block (3-5) is fixed on the sleeve (3-1) through a bushing; The axial motion mechanism (4) is used to realize the linear motion of the minimally invasive surgery endoscope holding mechanism. The axial motion mechanism (4) includes a slide table (4-1) provided with a lead screw, a second motor (4-2) fixed on the slide table (4-1) and used for rotating the lead screw, a slider (4-3) provided on the lead screw, and an inner rod (4-6). The slide table (4-1) is fixed at the bottom of the rectangular cavity of the housing (1); the slider (4-3) is installed on the lead screw of the slide table (4-1) and moves back and forth under the rotation of the second motor (4-2) and the transmission of the slide table (4-1); the cross section of the inner rod (4-6) is a large cut circle with the same size as the hole of the inner rod limiting block (3-5), and the inner rod (4-6) is sleeved inside the sleeve (3-1) and limited by the inner rod limiting block (3-5); one end of the inner rod (4-6) is fixed on the slider (4-3), and the other end is used for installing a robotic arm and an endoscope; A controllable bending chain link mechanism is installed on the sleeve (3-1) and is connected to the inner rod (4-6) sleeved on the sleeve (3-1). The endoscope is installed in the chain link mechanism. Through the rotary transmission of the rotary motion mechanism (3), the endoscope rotates 360°; through the axial linear motion of the axial motion mechanism (4), the controllable bending chain link mechanism is bent.

2. The two-degree-of-freedom minimally invasive surgical lens holding mechanism according to claim 1, wherein, A linear motion front plate (4-4) and a linear motion rear plate (4-5) are arranged on the left and right sides of the upper surface of the slider (4-3); the linear motion front plate (4-4) and the linear motion rear plate (4-5) are both rectangular structures, with a circular hole in the center, and the circular hole is coaxial with the sleeve (3-1); a flange cylindrical block (4-7) is fixed between the linear motion front plate (4-4) and the linear motion rear plate (4-5) through two left and right flange copper sleeves; the flange cylindrical block (4-7) has an axial through hole in the center, the through hole is coaxial with the sleeve (3-1), and the flange cylindrical block (4-7) is provided with a threaded hole; the inner rod (4-6) is fixed to the flange cylindrical block (4-7) through the threaded hole.

3. The two-degree-of-freedom minimally invasive surgery lens-holding mechanism according to claim 1, characterized in that, The shell (1) is a box-shaped structure, with a rectangular cavity opened upward on the upper surface, and semicircular grooves opened above the left and right side surfaces; the cover plate (2) is a box-shaped structure, with a rectangular cavity opened upward on the lower surface, and semicircular grooves opened below the left and right side surfaces, which are engaged with the semicircular grooves on the left and right sides of the shell (1) to form a circular through hole.

4. A two-degree-of-freedom minimally invasive surgery endoscope holding mechanism according to claim 1, characterized in that, The inner rod (4-6) passes through the inner rod limit block (3-5) and the sleeve (3-1), and the axis of the inner rod (4-6) is colinear with the axis of the sleeve (3-1). When the sleeve (3-1) rotates, the sleeve (3-1) drives the inner rod (4-6) to rotate synchronously through the inner rod limit block (3-5).

5. A two-degree-of-freedom minimally invasive surgical endoscope holding mechanism according to claim 1, characterized in that, The mechanical arm can bend when the inner rod (4-6) moves forward and backward.

6. A working method of the minimally invasive surgery endoscope holding mechanism according to claim 1, characterized in that, The following steps are involved: 1) Install a robotic arm on the inner rod of a two-degree-of-freedom minimally invasive surgical endoscope holding mechanism, and install an endoscope on the robotic arm; 2) controlling the second motor to rotate and drive the screw on the slide table (4-1) to rotate, thereby enabling the slider (4-3) to move forward and backward, and the slider (4-3) drives the inner rod (4-6) to move linearly relative to the sleeve, thereby bending the mechanical arm, making the field of view that the endoscope can peek into clearer and the position of the peeked field of view more accurate; 3) Controlling the first motor to rotate, the first motor thereby drives the first gear (3-3) to rotate, the first gear drives the second gear (3-2) and the sleeve (3-1) sleeved on the second gear (3-2) to rotate, the sleeve (3-1) then drives the inner rod (4-6) to rotate through the inner rod limit block (3-5), thereby realizing the rotational movement of the endoscope and observing the 360° field of view in real time.

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