Endoscope manipulation device and medical robot

Abstract

The present application relates to the technical field of medical devices, and provides an endoscope control device and a medical robot, the endoscope control device comprising: a driving mechanism and a guide mechanism; the driving mechanism is connected with an operation part of an endoscope and is used for driving the endoscope to move; the guide mechanism comprises a plurality of guide rods arranged in an array, the plurality of guide rods are connected with the driving mechanism through a flexible connecting piece, and the guide rods are provided with guide holes which are connected with an insertion part of the endoscope in a matched manner; when the driving mechanism drives the endoscope to move, the plurality of guide rods are driven to unfold or fold. The present application can drive the endoscope to move in and out in a smaller space, and medical staff do not need to hold the endoscope, so that the physical burden of the medical staff is effectively reduced, and the present application has the characteristics of simple structure, small space occupation, accurate action, high reliability and the like.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an endoscope control device and a medical robot. Background Technology

[0002] In related technologies, endoscopes are detection instruments that integrate traditional optics, ergonomics, precision mechanics, and modern electronics. They have structures such as image sensors, optical lenses, illumination sources, and water and air control channels, and can enter the stomach through the mouth or other natural orifices.

[0003] Currently, endoscopic examinations or treatments are mainly performed manually, and some endoscopic examinations or treatments are completed with the assistance of X-rays. Doctors are exposed to X-rays for a long time, which can easily cause harm to their bodies. Moreover, long-term operation increases the burden on doctors, consumes physical strength, and the operation process is cumbersome, with low accuracy and reliability. Summary of the Invention

[0004] This invention provides an endoscope control device and a medical robot that can drive the endoscope to move forward and backward in a small space, eliminating the need for medical staff to hold the endoscope, preventing X-ray damage to medical staff, effectively reducing the physical burden on medical staff, and featuring simple structure, small space occupation, precise movement and high reliability.

[0005] This invention provides an endoscope control device, comprising:

[0006] A drive mechanism, connected to the operating part of the endoscope, is used to drive the endoscope to move;

[0007] The guiding mechanism includes multiple guide rods arranged in a row. The multiple guide rods are connected to the driving mechanism via a flexible connector. The guide rods are provided with guide holes that are adapted to and connected to the insertion part of the endoscope.

[0008] When the drive mechanism moves the endoscope, it causes the multiple guide rods to unfold or fold.

[0009] According to an endoscope control device provided by the present invention, all the guide holes are distributed on an arc-shaped trajectory with the center located on the rotation axis of the drive mechanism, and the drive mechanism drives the endoscope to move along the arc-shaped trajectory.

[0010] According to an endoscope control device provided by the present invention, the guide rod includes: a first rod body and a second rod body, the first rod body being rotatably connected to a connecting shaft, the connecting shaft being coaxially arranged with the rotation shaft of the drive mechanism; a first end of the second rod body being connected to the first rod body, and a second end of the second rod body being provided with the guide hole.

[0011] According to an endoscope control device provided by the present invention, the first rod body is provided with a first connecting hole, and the first connecting hole is rotatably connected to the connecting shaft.

[0012] According to an endoscope control device provided by the present invention, the guiding mechanism further includes:

[0013] Multiple slide rails are provided, each slide rail having a second connecting hole that is rotatably connected to the connecting shaft; the first rod body is slidably disposed on the slide rail;

[0014] A drive assembly for driving the guide rod to slide along the slide rail.

[0015] An endoscope control device according to the present invention includes a drive assembly comprising:

[0016] Multiple racks, the first rod body is provided with a guide groove extending along the length direction, the rack is disposed on the inner wall of the guide groove along the length direction of the guide groove, and the connecting shaft passes through the multiple guide grooves of the first rod body;

[0017] Multiple gears are fixedly connected to the connecting shaft at intervals along the axial direction of the connecting shaft. The gears are correspondingly connected to the rack, and the gears can rotate with the connecting shaft.

[0018] According to an endoscope control device provided by the present invention, the guide mechanism further includes: a base, the base being disposed on the drive mechanism, the base having a hollow structure and an opening on the side wall of the base, and the base containing the connecting shaft, a plurality of slide rails and the drive assembly;

[0019] The first rod extends into the base through the opening, and the second rod is located outside the base.

[0020] According to an endoscope control device provided by the present invention, a plurality of slide rails are arranged along the height direction of the base, and the side wall of the base is provided with a plurality of limiting grooves distributed along the height direction.

[0021] Each of the slide rails has a limiting block at its end away from the opening, and the limiting block is slidably disposed in the limiting groove.

[0022] According to an endoscope control device provided by the present invention, the second end of the second rod is provided with a bayonet, the bayonet is engaged with a guide ring, and the guide ring is provided with a guide hole.

[0023] According to an endoscope control device provided by the present invention, the guiding mechanism further includes:

[0024] An arc-shaped guide rail is provided, wherein the first end of the guide rod is slidably connected to the arc-shaped guide rail, and the second end of the guide rod is provided with the guide hole.

[0025] According to an endoscope control device provided by the present invention, the drive mechanism includes:

[0026] trolley;

[0027] The positioning arm is fixed to the trolley;

[0028] A rotary drive arm is provided, which forms an angle with the positioning arm. The first end of the rotary drive arm is rotatably mounted on the trolley via the rotary shaft, and the second end of the rotary drive arm is connected to the operating part of the endoscope.

[0029] Furthermore, the guiding mechanism is positioned within the angle range between the positioning arm and the rotary drive arm, and the two ends of the flexible connector are respectively connected to the positioning arm and the rotary drive arm.

[0030] According to an endoscope control device provided by the present invention, the positioning arm and the rotary drive arm are extendable and retractable along the length direction.

[0031] The present invention also provides a medical robot, including the above-described endoscope control device.

[0032] The endoscope control device and medical robot provided by this invention can drive the endoscope forward or backward through a drive mechanism; and can support and guide the endoscope through a guide mechanism, achieving precise control of the endoscope's movement. Furthermore, when the drive mechanism moves the endoscope, it can cause multiple guide rods of the guide mechanism to unfold or fold. These guide rods are roughly distributed in a fan shape, which effectively reduces the overall size of the device and thus the space occupied. Therefore, this invention can drive the endoscope forward and backward within a smaller space, eliminating the need for medical personnel to hold the endoscope, preventing X-ray harm to medical personnel, effectively reducing the physical burden on medical personnel, and the guide rods of the guide mechanism occupy a small length of the endoscope insertion part, featuring simple structure, small space occupation, precise movement, and high reliability. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is one of the structural schematic diagrams of the endoscope control device provided by the present invention;

[0035] Figure 2 This is a schematic diagram of the guide mechanism provided by the present invention in its deployed state;

[0036] Figure 3 This is a schematic diagram of the guide mechanism provided by the present invention in a folded state;

[0037] Figure 4 This is one of the structural schematic diagrams of the guide rod provided by the present invention;

[0038] Figure 5 This is a schematic diagram of the internal structure of the base provided by the present invention;

[0039] Figure 6 This is the second schematic diagram of the guide rod provided by the present invention;

[0040] Figure 7 This is a schematic diagram of the assembly structure of the guide rod and slide rail provided by the present invention;

[0041] Figure 8 This is a schematic diagram of the bayonet structure of the guide rod provided by the present invention;

[0042] Figure 9 This is one of the structural schematic diagrams of the guide ring provided by the present invention;

[0043] Figure 10 This is the second schematic diagram of the guide ring provided by the present invention;

[0044] Figure 11 This is a schematic diagram of the assembly structure of the guide rod and guide ring provided by the present invention;

[0045] Figure 12 This is the second schematic diagram of the endoscope control device provided by the present invention.

[0046] Figure label:

[0047] 100: Endoscope control device;

[0048] 101: Guide rod; 1011: First rod body; 10111: Guide groove;

[0049] 1012: Second rod; 10121: Bayonet; 1013: First connecting hole;

[0050] 1014: Twisted rod; 102: Flexible connector; 1021: Hook;

[0051] 103: Trolley; 1031: Traveling wheel; 104: Positioning arm; 1041: Second telescopic arm;

[0052] 1042: Support frame; 105: Rotary drive arm; 1051: First telescopic arm;

[0053] 1052: Support arm; 1053: Clamping seat; 106: Guide ring;

[0054] 1061: Guide hole; 1062: Slot; 107: Connecting shaft; 108: Slide rail;

[0055] 1081: Limit block; 109: Rack; 110: Gear; 111: Main timing pulley;

[0056] 112: Secondary timing pulley; 113: Timing belt; 114: Base; 1141: Limiting groove;

[0057] 115: Curved guide rail; 116: Slider;

[0058] 117: Endoscope; 1171: Operating section; 1172: Insertion section. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0060] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "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 the embodiments of the present invention 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 the embodiments of the present invention. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0062] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0064] The following is combined Figures 1-12 The present invention describes an endoscope control device and a medical robot.

[0065] According to one embodiment of the present invention, referring to Figures 1-12 As shown, the endoscope control device 100 provided by the present invention mainly includes a drive mechanism and a guide mechanism. The drive mechanism is connected to the operating part 1171 of the endoscope 117 and is used to drive the endoscope 117 to move forward or backward.

[0066] The guiding mechanism mainly includes multiple guide rods 101 arranged in a row. These guide rods 101 are connected to the drive mechanism via flexible connectors 102. Each guide rod 101 has a guide hole 1061 that is adapted to and connected to the insertion part 1172 of the endoscope 117. That is, the insertion part 1172 of the endoscope 117 is sequentially inserted into each guide hole 1061. When the drive mechanism drives the endoscope 117 to move forward or backward, it can move the multiple guide rods 101, unfolding or folding them, thereby achieving the insertion or withdrawal of the endoscope. The guiding mechanism can support and guide the endoscope 117, achieving precise control of its movement.

[0067] It is understood that the endoscope 117 generally includes an operating part 1171 at the end and a tubular insertion part 1172, and the operating part 1171 is thicker than the insertion part 1172. When the insertion part 1172 is inserted into the guide hole 1061 of multiple guide rods 101 in sequence, the operating part 1171 cannot enter the guide hole 1061. That is, the insertion part 1172 of the endoscope 117 is adapted and connected to the guide hole 1061 of the guide rod 101.

[0068] The multiple guide rods 101 of the guiding mechanism of the present invention have an unfolded state and a folded state, such as... Figure 3 As shown, when the drive mechanism drives the endoscope 117 to advance, multiple guide rods 101 are in a folded state, and at this time, the guide holes 1061 of the multiple guide rods 101 abut against each other; as Figure 2 and Figure 12 As shown, when the drive mechanism drives the endoscope 117 to retract, the multiple guide rods 101 are in the unfolded state. At this time, the guide holes 1061 of the multiple guide rods 101 are separated from each other. This state is the initial state.

[0069] The movement trajectory of the endoscope 117 of this invention can be, for example, an arc-shaped trajectory centered on the rotation axis of the drive mechanism. In this case, the guide holes 1061 of all guide rods 101 are distributed on the arc-shaped trajectory centered on the rotation axis of the drive mechanism, and the drive mechanism drives the endoscope 117 to move along the arc-shaped trajectory. The multiple guide rods 101 are roughly distributed in a fan shape, which can effectively reduce the overall volume of the device, thereby reducing the space occupied; and the movement trajectory plane of the guide rods 101 can be perpendicular or not perpendicular to the rotation axis of the drive mechanism, which can be designed according to actual needs.

[0070] Of course, the movement trajectory of the endoscope 117 can also be a straight line, an elliptical arc, or other trajectories.

[0071] Specifically, when the movement trajectory of the endoscope 117 is an arc-shaped trajectory centered on the rotation axis of the drive mechanism, and the drive mechanism is centered on the rotation axis of the drive mechanism, Figure 1When the angle shown rotates counterclockwise, the endoscope 117 is driven to move in the corresponding direction. The end of the insertion part 1172 of the endoscope 117 advances through the guide hole 1061 of the guide rod 101 and enters the human body, i.e., insertion. Because the operating part 1171 of the endoscope 117 is thicker than the insertion part 1172, it cannot pass through the guide hole 1061. At this time, it will push the leftmost first guide rod 101 to move synchronously. Since the guide rods 101 are connected by a flexible connector 102, i.e., a soft connection, the second guide rod 101 does not move at this time. When the first guide rod 101 is pushed by the drive mechanism to contact the second guide rod 101, the first guide rod 101 and the second guide rod 101 rotate synchronously with the drive mechanism. And so on. When the last two guide rods 101 contact, the drive mechanism stops rotating, and the extension length of the insertion part 1172 of the endoscope 117 reaches its limit. At this time, the guide mechanism folds and tightens, as shown. Figure 3 As shown.

[0072] During endoscope withdrawal, the drive mechanism rotates in the reverse direction, pulling each guide rod 101 one by one through the flexible connector 102 until the endoscope 117 is completely withdrawn from the body. At this time, the guide rods 101 unfold into a roughly fan shape, as shown below. Figure 2 As shown.

[0073] Therefore, the endoscope control device 100 provided in this embodiment of the invention can drive the endoscope 117 to move forward and backward in a small space. The endoscope 117 is supported and guided by the guide rod 101 of the guide mechanism. The guide rod 101 can be evenly unfolded or folded and tightened one by one. Medical staff do not need to hold the endoscope, which can eliminate the harm of X-rays to medical staff and effectively reduce the physical burden on medical staff. In addition, the guide rod 101 of the guide mechanism occupies a small length of the endoscope insertion part, and has the characteristics of simple structure, small space occupation, precise action and high reliability.

[0074] According to one embodiment of the present invention, referring to Figure 1 and Figure 12 As shown, the drive mechanism mainly includes: trolley 103, positioning arm 104 and rotary drive arm 105.

[0075] The positioning arm 104 is fixed on the trolley 103, and the rotary drive arm 105 is at an angle to the positioning arm 104. The first end of the rotary drive arm 105 is rotatably mounted on the trolley 103 via a rotary shaft, and the second end of the rotary drive arm 105 is connected to the operating part 1171 of the endoscope 117. Furthermore, the guide mechanism is located within the angle range between the positioning arm 104 and the rotary drive arm 105, and the two ends of the flexible connector 102 are respectively connected to the positioning arm 104 and the rotary drive arm 105.

[0076] When the rotary drive arm 105 drives the endoscope 117 to advance, the angle between the rotary drive arm 105 and the positioning arm 104 decreases, and the positioning arm 104 can block and position the last guide rod 101, thus completing the folding and tightening of the guide mechanism.

[0077] Correspondingly, when the rotary drive arm 105 drives the endoscope 117 to retract, the angle between the rotary drive arm 105 and the positioning arm 104 increases, completing the deployment of the guide mechanism.

[0078] According to one embodiment of the present invention, referring to Figure 1 and Figure 12 As shown, the bottom of the trolley 103 is equipped with multiple wheels 1031 to facilitate the movement of the entire device. This allows the position of the entire device to be adjusted according to surgical needs, improving adaptability and thus adapting to different surgical scenarios.

[0079] Furthermore, the trolley 103 can be equipped with devices such as a drive motor and a controller. The drive motor drives the rotating shaft to rotate, which in turn drives the rotating drive arm 105 to rotate, thereby moving the endoscope 117 in or out. The controller can receive relevant control commands and control the operation of the entire device according to the control commands.

[0080] According to one embodiment of the present invention, the positioning arm 104 and the rotary drive arm 105 can extend and retract along the length direction to adapt to different surgical spaces.

[0081] According to one embodiment of the present invention, referring to Figure 1 As shown, the rotary drive arm 105 includes a first telescopic arm 1051 and a support arm 1052. The first end of the first telescopic arm 1051 is connected to the rotation shaft, and the second end of the first telescopic arm 1051 is connected to the support arm 1052. The end of the support arm 1052 is provided with a clamping seat 1053, and the operating part 1171 of the endoscope 117 is clamped on the clamping seat 1053.

[0082] Furthermore, the positioning arm 104 includes a second telescopic arm 1041 and a support frame 1042. The second telescopic arm 1041 is fixed on the trolley 103. The first end of the support frame 1042 is connected to the second telescopic arm 1041. The second end of the support frame 1042 can be provided with a guide ring 106, and the guide ring 106 is provided with a guide hole 1061.

[0083] In addition, hooks 1021 can be provided at both ends of the flexible connector 102. One hook 1021 can be connected to the hanging ring of the clamping seat 1053 of the rotary drive arm 105, and the other hook 1021 can be connected to the hanging ring of the support frame 1042 of the positioning arm 104, thereby realizing quick assembly and disassembly.

[0084] The specific type of the flexible connector 102 of the present invention is not particularly limited. For example, the flexible connector 102 can be a soft connecting strip, rope, etc. with a certain length. The flexible connector 102 is connected to multiple guide rods 101 respectively.

[0085] Of course, flexible connectors 102 can also be provided between each pair of adjacent guide rods 101, with the first guide rod 101 connected to the hanging ring of the clamping seat 1053 of the rotary drive arm 105 via the hook 1021 of the flexible connector 102 at its beginning, and the last guide rod 101 connected to the hanging ring of the support frame 1042 of the positioning arm 104 via the hook 1021 of the flexible connector 102 at its end. The flexible connector 102 can also be a hinge, pivot, connecting rod, or other structure, and can be designed according to actual needs.

[0086] According to one embodiment of the present invention, referring to Figures 1-6 As shown, the guide rod 101 includes: a first rod body 1011 and a second rod body 1012. The first rod bodies 1011 of the multiple guide rods 101 are rotatably connected to the connecting shaft 107, which is coaxially arranged with the rotation shaft of the drive mechanism. The first end of the second rod body 1012 of the guide rod 101 is connected to the first rod body 1011, and the second end of the second rod body 1012 of the guide rod 101 is provided with a guide hole 1061.

[0087] In this embodiment of the invention, the multiple guide rods 101 of the guide mechanism are radially distributed around the rotation axis of the drive mechanism, and can rotate around the connecting shaft 107, and are roughly fan-shaped when unfolded.

[0088] According to one embodiment of the present invention, referring to Figure 4 As shown, the first rod body 1011 of the guide rod 101 is provided with a first connecting hole 1013, and the first connecting hole 1013 of the first rod body 1011 of the guide rod 101 is rotatably connected to the connecting shaft 107.

[0089] It is understood that the distance between the guide holes 1061 of the multiple guide rods 101 in this embodiment and the connecting shaft 107 is fixed and cannot be adjusted.

[0090] Unlike the embodiments described above, referring to Figures 5-7 As shown, another embodiment of the present invention provides a guiding mechanism that further includes: a plurality of slide rails 108 and a driving assembly, wherein each slide rail 108 is configured in a one-to-one correspondence with each guide rod 101; the slide rail 108 is provided with a second connecting hole, the second connecting hole being rotatably connected to the connecting shaft 107, and the first rod body 1011 of the guide rod 101 is slidably and telescopically disposed within the slide rail 108; the driving assembly is used to drive the guide rod 101 to slide telescopically along the slide rail 108.

[0091] The embodiments of the present invention can realize the distance adjustment of the guide holes 1061 of multiple guide rods 101 relative to the connecting shaft 107. When the guide rods 101 of the guide mechanism, the positioning arm 104 and the rotary drive arm 105 are synchronously extended and retracted, the space occupied by the entire device can be adjusted, effectively improving the adaptability of the device and thus adapting to different surgical scenarios.

[0092] According to one embodiment of the present invention, referring to Figures 5-7 As shown, the drive assembly includes multiple racks 109 and multiple gears 110. The number of racks 109 and gears 110 is the same as the number of guide rods 101. The multiple racks 109 and multiple gears 110 are arranged in a one-to-one correspondence with the multiple guide rods 101.

[0093] The guide rod 101 has a first rod body 1011 with a guide groove 10111 extending along its length. The rack 109 is disposed on the inner wall of the guide groove 10111 along its length. The connecting shaft 107 passes through the guide grooves 10111 of the first rod body 1011 in sequence. The rack 109 can be integrally formed on the inner wall of the guide groove 10111 or can be detachably installed on the inner wall of the guide groove 10111 by fasteners such as screws. The specific design can be made according to actual needs.

[0094] Multiple gears 110 are fixedly connected to the connecting shaft 107 at intervals along the axial direction of the connecting shaft 107. The gears 110 are correspondingly connected to the rack 109, and the gears 110 can rotate with the connecting shaft 107.

[0095] For example, the drive assembly may also include a motor, which can directly drive the connecting shaft 107 to rotate, or drive the connecting shaft 107 to rotate via a transmission assembly. When the connecting shaft 107 rotates, it can simultaneously drive all gears 110 to rotate, thereby driving all racks 109 to move simultaneously, and driving the guide rod 101 to move within the corresponding slide rail 108, thereby achieving synchronous extension and retraction of the guide rod 101.

[0096] like Figure 5 As shown, the transmission assembly may include a main synchronous pulley 111, a secondary synchronous pulley 112, and a synchronous belt 113. The main synchronous pulley 111 is connected to the motor shaft, the secondary synchronous pulley 112 is connected to the upper end of the connecting shaft 107, and the synchronous belt 113 is connected to both the main synchronous pulley 111 and the secondary synchronous pulley 112. When the motor rotates, it drives the connecting shaft 107 to rotate via the main synchronous pulley 111, the synchronous belt 113, and the secondary synchronous pulley 112.

[0097] It is understandable that, in order to ensure that when the guide rod 101 is pushed by the endoscope 117 to unfold or fold and rotate, the corresponding slide rail 108 can rotate relative to the connecting shaft 107, the position of the second connecting hole of the slide rail 108 should be set within the range of the guide groove 10111 of the first rod body 1011 of the guide rod 101, that is, the connecting shaft 107 passes through the guide groove 10111. Preferably, the connecting shaft 107 is located in the guide groove 10111 near the outer end of the second rod body 1012, that is... Figure 7 The left end of the guide groove 10111 shown is designed in this way to maximize the telescopic length of the guide rod 101.

[0098] For example, before the surgery begins, the space occupied by the entire device can be adjusted according to the surgical space. The connecting shaft 107 is driven to rotate by the motor, and all guide rods 101 are driven to extend and retract radially in the corresponding slide rails 108 through the cooperation of rack 109 and gear 110. The positioning arm 104 and the rotary drive arm 105 can also be controlled to extend and retract synchronously. After the adjustment is completed, the motor is stopped, and the connecting shaft 107 is fixed. Then, the rotary drive arm 105 is controlled to drive the endoscope 107 to enter the endoscope, and drive the guide rods 101 and slide rails 108 and other components to rotate circumferentially relative to the connecting shaft 107.

[0099] Therefore, by cleverly designing the drive components, the embodiments of the present invention can ensure that the guide rod 101 and slide rail 108 rotate circumferentially, and that all guide rods 101 can be driven to extend and retract radially synchronously by only one motor. Thus, while satisfying the functions of rotation and extension, the invention simplifies the structure and reduces costs, which is beneficial to reducing the size of the entire device and thus reducing the space occupied.

[0100] In addition, it is understandable that when the guide rod 101 rotates, due to the meshing of the rack 109 and the gear 110, the guide rod 101 may extend or retract, but the extension or retraction is very small and will not affect the movement trajectory of the endoscope 117. Therefore, it can be ignored.

[0101] Furthermore, to completely avoid any interference, the rack 109 can be driven to move relative to the gear 110 by a drive device. For example, an electric push rod or other drive device can be installed inside the guide rod 101, and the side wall of the guide rod 101 is provided with a receiving opening. The drive device can drive the rack 109 to extend or retract into the receiving opening. When the drive device drives the rack 109 to extend out of the receiving opening and mesh with the gear 110, the radial extension and retraction of the guide rod 101 can be controlled. When the drive device drives the rack 109 to retract into the receiving opening and separate from the gear 110, the endoscope 117 can be controlled to move, causing the guide rod 101 to rotate circumferentially, thereby ensuring the precise movement of the endoscope 117.

[0102] According to one embodiment of the present invention, referring to Figure 1 and Figure 5 As shown, the guiding mechanism also includes: a base 114, which is mounted on the trolley 103 of the driving mechanism. The base 114 has a hollow structure and an opening on its side wall. The base 114 contains a connecting shaft 107, multiple slide rails 108, and a driving assembly. The connecting shaft 107 can be located at the center of the base 114. Furthermore, the first rods 1011 of the multiple guide rods 101 extend into the base 114 through the opening, and the second rods 1012 of the multiple guide rods 101 are located outside the base 114.

[0103] By setting a base 114, the present invention can realize the modular design of the guide mechanism. The base 114 can protect the internal structure and improve the overall aesthetics.

[0104] According to one embodiment of the present invention, referring to Figure 5 and Figure 7 As shown, multiple slide rails 108 are arranged along the height direction of the base 114, and the side wall of the base 114 is provided with multiple limiting grooves 1141 distributed along the height direction. The limiting grooves 1141 are transversely arranged strip grooves. Each slide rail 108 has a limiting block 1081 at its end away from the opening of the base 114, and the limiting block 1081 is slidably disposed in the limiting groove 1141. This design can effectively improve the overall stability of the guiding mechanism.

[0105] According to one embodiment of the present invention, referring to Figures 1-6 As shown, the guide rod 101 is a plate. The guide rod 101 also includes a twisted rod body 1014. The first rod body 1011 is connected to the second rod body 1012 via the twisted rod body 1014. The plate surface of the first rod body 1011 is horizontally arranged, and the plate surface of the second rod body 1012 is perpendicular to the plate surface of the first rod body 1011 and is arranged vertically.

[0106] The guide rod 101 in this embodiment of the invention is formed by twisting a plate material, which can make multiple first rods 1011 and multiple second rods 1012 into a flat stacked structure. It has the characteristics of simple and stable structure and small space occupation. Furthermore, when multiple guide rods 101 are folded and tightened, the length of the endoscope insertion part occupied by the guide mechanism can be reduced.

[0107] According to one embodiment of the present invention, referring to Figures 8-11 As shown, the second end of the second rod body 1012 of the guide rod 101 is provided with a bayonet 10121, which engages with a guide ring 106. The guide ring 106 is provided with a guide hole 1061. Specifically, the outer peripheral wall of the guide ring 106 is provided with an annular groove 1062, which engages with the bayonet 10121.

[0108] In this embodiment of the invention, by snapping the guide ring 106 into the bayonet 10121 at the end of the guide rod 101, the endoscope 117 can be quickly assembled and disassembled. Furthermore, the insertion part 1172 of the endoscope 117 only contacts the guide ring 106. The guide ring 106 can be a disposable product. Therefore, the number of parts to be cleaned and disinfected is reduced, which can effectively improve the efficiency of cleaning and disinfection.

[0109] According to one embodiment of the present invention, referring to Figure 12 As shown, unlike the above embodiments, the guiding mechanism provided in another embodiment of the present invention further includes: an arc-shaped guide rail 115, the arc-shaped guide rail 115 may have the same center as the arc-shaped trajectory of the aforementioned embodiments, the first ends of multiple guide rods 101 are slidably connected to the arc-shaped guide rail 115, and the second ends of multiple guide rods 101 are provided with guide holes 1061.

[0110] Specifically, the arc-shaped guide rail 115 can be fixedly installed on the support frame 1042 of the positioning arm 104. The first end of the guide rod 101 is provided with a slider 116, which is slidably connected to the arc-shaped guide rail 115. The second end of the guide rod 101 can also be provided with a bayonet 10121, in which a guide ring 106 is engaged. The guide ring 106 is provided with a guide hole 1061.

[0111] Furthermore, multiple arc-shaped guide rails 115 of the present invention can be arranged side by side. Correspondingly, the multiple guide rods 101 can be divided into multiple groups, with each arc-shaped guide rail 115 corresponding to a group of guide rods 101. Specifically, the first end of each group of guide rods 101 is connected to the corresponding arc-shaped guide rail 115, and the guide hole 1061 at the second end of each group of guide rods 101 is connected to the insertion part 1172 of the endoscope 117. This design can improve the stability of the movement of the endoscope 117.

[0112] The following is based on Figure 1 The specific examples shown illustrate the working principle of the endoscope control device provided by the present invention, which generally includes:

[0113] like Figure 1 The state shown is the initial moment. The operating part 1171 of the endoscope 117 is clamped on the clamping seat 1053 of the rotary drive arm 105. The insertion part 1172 of the endoscope 117 is sequentially inserted into the guide holes 1061 of each guide rod 101 and the guide ring 106 of the positioning arm 104. Then, the rotary drive arm 105 is operated to... Figure 1The endoscope is rotated counterclockwise from the shown perspective. The clamping base 1053 pushes the endoscope 117 to move in the corresponding direction. The end of the insertion part 1172 of the endoscope 117 advances from the guide ring 106 of the positioning arm 104 and enters the human body. Because the operating part 1171 of the endoscope 117 is thicker than the insertion part 1172, it cannot pass through the guide hole 1061. At this time, it will push the leftmost first guide rod 101 to move synchronously. Since the guide rods 101 are connected by the flexible connector 102, i.e., soft connection, the second guide rod 101 does not move at this time. When the first guide rod 101 is pushed to contact the second guide rod 101, the first guide rod 101 and the second guide rod 101 rotate synchronously with the clamping base 1053. Similarly, when the last guide rod 101 is pushed into contact with the positioning arm 104, the rotary drive arm 105 stops rotating, and the insertion part 1172 of the endoscope 117 reaches its maximum extension length. At this point, the guide mechanism folds and tightens, as... Figure 3 As shown.

[0114] During endoscope withdrawal, the rotary drive arm 105 rotates in the opposite direction, and the rotary drive arm 105 pulls each guide rod 101 apart one by one through the flexible connector 102 until the endoscope 117 is completely withdrawn from the body. At this time, the guide rods 101 unfold into a fan shape, as shown below. Figure 2 As shown.

[0115] Understandable, Figure 12 The working principle of the endoscope control device 100 shown is the same as Figure 1 The working principle of the endoscope control device 100 shown is basically the same, and will not be described in detail here.

[0116] According to one embodiment of the present invention, the present invention also provides a medical robot, mainly comprising: an endoscope control device 100 of any of the above embodiments.

[0117] Since the medical robot of this embodiment includes the endoscope control device 100 of the above embodiment, it has all the technical effects of the endoscope control device 100 of the above embodiment, which will not be described in detail here.

[0118] In addition, medical robots may also include supporting devices such as control platforms, which can realize unified electronic control of all the movements of the endoscope control device 100.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscope control device, characterized in that, include: A drive mechanism, connected to the operating part of the endoscope, is used to drive the endoscope to move; The guiding mechanism includes multiple guide rods arranged in a row. The multiple guide rods are connected to the driving mechanism via a flexible connector. The guide rods are provided with guide holes that are adapted to and connected to the insertion part of the endoscope. When the drive mechanism moves the endoscope, it causes the multiple guide rods to unfold or fold. All the guide holes are distributed on an arc-shaped trajectory centered on the rotation axis of the drive mechanism, and the drive mechanism drives the endoscope to move along the arc-shaped trajectory.

2. The endoscope control device according to claim 1, characterized in that, The guide rod includes: a first rod body and a second rod body, the first rod body being rotatably connected to a connecting shaft, the connecting shaft being coaxially arranged with the rotation shaft of the drive mechanism; the first end of the second rod body is connected to the first rod body, and the second end of the second rod body is provided with the guide hole.

3. The endoscope control device according to claim 2, characterized in that, The first rod body is provided with a first connecting hole, and the first connecting hole is rotatably connected to the connecting shaft.

4. The endoscope control device according to claim 2, characterized in that, The guiding mechanism also includes: Multiple slide rails are provided, each slide rail having a second connecting hole that is rotatably connected to the connecting shaft; the first rod body is slidably disposed on the slide rail; A drive assembly for driving the guide rod to slide along the slide rail.

5. The endoscope control device according to claim 4, characterized in that, The driving component includes: Multiple racks, the first rod body is provided with a guide groove extending along the length direction, the rack is disposed on the inner wall of the guide groove along the length direction of the guide groove, and the connecting shaft passes through the multiple guide grooves of the first rod body; Multiple gears are fixedly connected to the connecting shaft at intervals along the axial direction of the connecting shaft. The gears are correspondingly connected to the rack, and the gears can rotate with the connecting shaft.

6. The endoscope control device according to claim 4, characterized in that, The guiding mechanism further includes: a base, which is disposed on the driving mechanism. The base has a hollow structure and an opening on its side wall. The base contains the connecting shaft, multiple slide rails, and the driving assembly. The first rod extends into the base through the opening, and the second rod is located outside the base.

7. The endoscope control device according to claim 6, characterized in that, Multiple slide rails are arranged along the height direction of the base, and the side wall of the base is provided with multiple limiting grooves distributed along the height direction; Each of the slide rails has a limiting block at its end away from the opening, and the limiting block is slidably disposed in the limiting groove.

8. The endoscope control device according to claim 2, characterized in that, The second end of the second rod is provided with a bayonet, which engages with a guide ring, and the guide ring is provided with a guide hole.

9. The endoscope control device according to claim 1, characterized in that, The guiding mechanism also includes: An arc-shaped guide rail is provided, wherein the first end of the guide rod is slidably connected to the arc-shaped guide rail, and the second end of the guide rod is provided with the guide hole.

10. The endoscope control device according to any one of claims 1-9, characterized in that, The drive mechanism includes: trolley; The positioning arm is fixed to the trolley; A rotary drive arm is provided, which forms an angle with the positioning arm. The first end of the rotary drive arm is rotatably mounted on the trolley via the rotary shaft, and the second end of the rotary drive arm is connected to the operating part of the endoscope. Furthermore, the guiding mechanism is positioned within the angle range between the positioning arm and the rotary drive arm, and the two ends of the flexible connector are respectively connected to the positioning arm and the rotary drive arm.

11. The endoscope control device according to claim 10, characterized in that, The positioning arm and the rotary drive arm can extend and retract along their length.

12. A medical robot, characterized in that, include: The endoscope control device according to any one of claims 1-11.

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