Mechanical arm auxiliary device for ureteroscopy

Abstract

The application discloses a mechanical arm auxiliary device for ureter flexible mirror surgery and relates to the technical field of medical devices.The mechanical arm auxiliary device for ureter flexible mirror surgery is provided with a clamping mechanism in a straight cylinder, the clamping mechanism comprises a mounting seat slidingly arranged in the straight cylinder, and a pulley is arranged on the mounting seat.When the hose is arranged in the straight cylinder, the pulley clamps the hose and limits the hose on the central position in the straight cylinder.Through clamping of the hose by the pulley and sliding of the mounting seat, the hose can be guaranteed to be always on the central position in the straight cylinder, so that the situation that the end of the straight cylinder cannot be aligned with the hole is avoided.The pulley arranged on the mounting seat can reduce the resistance generated when the hose cooperates with the clamping mechanism, and the pulley is rotationally arranged on the mounting seat, so that the surface of the pulley has an arc.The pulley can protect the hose, avoid hard friction between the hose and the clamping mechanism, and further avoid abrasion, so as to affect the use of the surgery.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of medical devices, in particular to a mechanical arm auxiliary device for ureteroscopy. BACKGROUND

[0002] Flexible ureteroscopy (FURS) has developed rapidly in the past decade, and its combination with holmium laser has become a new generation of treatment method that can replace extracorporeal shock wave lithotripsy (ESWL) and percutaneous nephrolithotomy (PCNL) in the treatment of upper urinary tract calculi. FURS is a non-invasive technique that operates through the natural channel of the human body, thereby avoiding the risks of kidney bleeding and infection in PCNL, and is safer. The soft structure design of the mirror body enables the soft mirror to reach the entire upper urinary tract renal pelvis system, greatly improving the diagnosis and treatment range and reducing the damage to the human urethra and ureter and other tissues.

[0003] A surgical auxiliary system suitable for a soft mirror is disclosed in Chinese Patent CN109452975A, in which the rotation and bending of the soft mirror are driven by a steering engine. Compared with the traditional servo motor drive, the steering engine structure is more compact, small in size and light in weight, fast in response speed, large in output torque, and convenient to control, and is more suitable for precise control of non-continuous rotation angle. In addition, under the premise of using the steering engine, the steering engine is used to control the soft mirror paddle, for example, the paddle movement angle of ±60° can be mapped to the steering engine ±120°, so that the control of the soft mirror bending angle is more precise and the sensitivity is higher when the steering engine 240° angle range is corresponded to the paddle movement 120° angle range. If more precise control is required, the range of the steering engine can be further expanded within the scope of technology.

[0004] In the field of modern medicine, a mechanical arm is used to assist surgery, and a catheter device for fixing a ureteral soft tube is arranged on the mechanical arm. The soft tube passes through the device to limit the soft tube. However, if the opening of the catheter device is arranged with a small gap relative to the size of the soft tube, the soft tube is difficult to be arranged in the device. If the opening is arranged to be too large, the soft tube is prone to be in contact in the hole, and thus it is not easy to pass out at the bottom of the hole. SUMMARY

[0005] (I) Technical problems solved

[0006] In view of the deficiencies of the prior art, the application provides a mechanical arm auxiliary device for ureteroscopy, which solves the problems mentioned in the background art.

[0007] In order to achieve the above object, the present application is realized by the following technical scheme: a mechanical arm auxiliary device for ureteroscopy surgery, comprising an auxiliary assembly, the auxiliary assembly comprises a straight cylinder and a front end fixed head installed at the bottom of the straight cylinder, a clamping mechanism is slidably arranged in the straight cylinder, and the clamping mechanism is used for clamping and conveying the hose;

[0008] The clamping mechanism comprises a mounting seat slidably arranged in the straight cylinder, and a pulley is arranged in the mounting seat, and the pulley is used for abutting and clamping the hose.

[0009] Preferably, the straight cylinder is also provided with a mounting block, the clamping mechanism is slidably arranged on the mounting block, and the straight cylinder is also provided with a cooperation mechanism, and the mounting block slides in the straight cylinder through the cooperation mechanism;

[0010] The cooperation mechanism comprises a cooperation groove opened in the straight cylinder, a cooperation block is slidably arranged in the cooperation groove, and the mounting block is arranged on the cooperation block.

[0011] Preferably, the cooperation block is also provided with a positioning mechanism, and the mounting block is connected with the cooperation block through the positioning mechanism;

[0012] The positioning mechanism comprises a positioning groove opened in the cooperation block, a positioning rod which is adapted to the positioning groove is arranged on the mounting block, and the positioning rod is slidably arranged in the positioning groove.

[0013] Preferably, the positioning mechanism further comprises a limiting plate arranged on the positioning rod, and a positioning spring is further arranged on the mounting block, and the positioning spring is sleeved on the outer side of the positioning rod.

[0014] Preferably, the mounting block is also provided with a first moving mechanism, and the mounting seat is slidably arranged in the mounting block through the first moving mechanism;

[0015] The first moving mechanism comprises a first moving groove opened in the mounting block, a first moving block is slidably arranged in the first moving groove, and the mounting seat is installed in the first moving block.

[0016] Preferably, the mounting seat is also provided with a delay mechanism, and the mounting seat is slidably connected with the first moving block through the delay mechanism;

[0017] The delay mechanism comprises a delay sliding block arranged on the mounting seat, a guide rod is arranged in the first moving block, and the delay sliding block is slidably arranged on the guide rod;

[0018] The diameter of the guide rod gradually increases from one side to the other side;

[0019] The delay slider is further connected with the first moving block through a reset spring, and the reset spring is sleeved outside the guide rod.

[0020] Preferably, the mounting seat is provided with a righting mechanism for assisting the pulley in righting the hose.

[0021] The righting mechanism comprises an adjusting groove formed in the mounting seat, the pulley is provided with an adjusting block, the adjusting block is slidingly arranged in the adjusting groove, the adjusting block is provided with elastic arc plates, the elastic arc plates are symmetrically arranged on both sides of the adjusting block, and the adjusting block is connected with the mounting seat through the elastic arc plates.

[0022] Preferably, the mounting block is further provided with a limiting abutting mechanism for adjusting the sliding of the first moving block.

[0023] The limiting abutting mechanism comprises a through groove formed in the mounting block, and an abutting plate is slidingly arranged in the through groove, and the abutting plate is used for abutting against the first moving block.

[0024] The straight cylinder is further provided with a combination accessory, and the combination accessory is used for abutting against the abutting plate.

[0025] The abutting plate is provided with an extension rod, and the abutting plate is connected with the straight cylinder through the extension rod.

[0026] Preferably, the combination accessory comprises a supporting rod arranged on the straight cylinder, and the supporting rod is further provided with a matching rod, and the supporting rod and the matching rod are hingedly connected through a hinge shaft.

[0027] Preferably, the straight cylinder is further provided with a second moving mechanism, and the matching block is slidingly arranged in the straight cylinder through the second moving mechanism.

[0028] The second moving mechanism comprises a second moving groove formed in the straight cylinder, the matching block is provided with a second moving block matched with the second moving groove, the second moving block is slidingly arranged in the second moving groove, and the second moving groove is further provided with a limiting rod, and the second moving block is slidingly arranged on the limiting rod.

[0029] The mechanical arm auxiliary device for ureter flexible mirror surgery has the following beneficial effects:

[0030] 1. The mechanical arm auxiliary device for ureteral flexible mirror surgery, a clamping mechanism is arranged in the straight cylinder, the clamping mechanism comprises a mounting seat slidingly arranged in the straight cylinder, and a pulley is arranged on the mounting seat, when the hose is arranged in the straight cylinder, the pulley clamps the hose and limits the hose to the central position in the straight cylinder, through the clamping of the hose by the pulley and the sliding of the mounting seat, the hose can be guaranteed to be always in the central position in the straight cylinder, thereby avoiding the situation that the end of the straight cylinder cannot be aligned with the hole, and through the pulley arranged on the mounting seat, the resistance generated when the hose cooperates with the clamping mechanism can be reduced, and since the pulley is rotationally arranged on the mounting seat, the surface of the pulley has a radius, the pulley can protect the hose, avoid hard friction between the hose and the clamping mechanism, and thus affect the use of the surgery.

[0031] 2. The mechanical arm auxiliary device for ureteral flexible mirror surgery, a first moving mechanism is arranged in the mounting block, the mounting seat can slide in the mounting block through the first moving mechanism, the first moving mechanism comprises a first moving groove opened in the mounting block, a first moving block is arranged on the mounting seat and slidingly arranged in the first moving groove, and the mounting seat can slide in the mounting block through the cooperation of the first moving groove and the first moving block, through the arrangement of the first moving mechanism, the mounting seat can slide in the mounting block, thereby satisfying the first stage delivery of the hose, i.e. reserving part of the hose, and then sliding in the straight cylinder together with the mounting block to deliver.

[0032] 3. The mechanical arm auxiliary device for ureteral flexible mirror surgery, in order to reserve the hose, the mounting seat needs to slide a certain distance on the first moving block first, and then slide together with the mounting block, therefore, a delay mechanism is further arranged on the mounting seat, the delay mechanism comprises a delay slider arranged in the mounting seat, a guide rod is arranged on the first moving block, the delay slider is slidingly arranged on the guide rod, the top diameter of the guide rod is different from the bottom diameter, and the top diameter is smaller than the bottom diameter, so that the mounting seat will slide a distance in the first moving block first, thereby causing the interference fit between the guide rod and the delay slider, and then the mounting seat will slide together with the first moving mechanism in the mounting block, thereby completing the reservation of the hose.

[0033] 4. The mechanical arm auxiliary device for ureteral flexible mirror surgery, the elastic arc plate elastically supports the adjusting block from two directions, thereby enabling the elastic arc plate to provide elastic potential energy in multiple directions to calibrate the pulley when delivering the hose, and thereby enabling the pulley to keep the hose in the center of the straight cylinder.

[0034] 5、The mechanical arm auxiliary device for ureteroscopy operation is provided with a limiting abutting mechanism in the mounting block, the limiting abutting mechanism comprises a through groove formed on the straight cylinder, and the abutting plate is slidably arranged in the through groove and used for abutting the first moving block, so that the first moving block cannot directly slide to the bottom to cause the hose to bend and then cannot automatically pop out, and meanwhile, the combined fitting is arranged at the bottom of the straight cylinder, when the combined fitting is close to the bottom of the mounting block, the combined fitting abuts against the abutting plate to slide, so that the abutting plate no longer limits the first moving block, the first moving block can continue to slide on the mounting block, the pulley drives the hose to slide in the front end fixed head, the hose is out of the front end fixed head, the preparation work of the surgical instrument is accelerated and the precision is improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is an external structure schematic diagram of the present application.

[0036] Figure 2 It is Figure 1 A partial sectional view at E-E in the figure.

[0037] Figure 3 It is a first internal structure schematic diagram of the present application.

[0038] Figure 4 It is Figure 3 A partial sectional view at G-G in the figure.

[0039] Figure 5 It is Figure 2 A partial enlarged view at A in the figure.

[0040] Figure 6 It is Figure 4 A partial enlarged view at B in the figure.

[0041] Figure 7 It is a second internal structure schematic diagram of the present application.

[0042] Figure 8 It is Figure 2 A partial enlarged view at C in the figure.

[0043] In the figure: 1, auxiliary assembly; 11, straight cylinder; 12, front end fixed head; 3, clamping mechanism; 31, mounting seat; 32, pulley; 4, mounting block; 5, first moving mechanism; 51, first moving groove; 52, first moving block; 6, matching mechanism; 61, matching groove; 62, matching block; 7, positioning mechanism; 71, positioning groove; 72, positioning rod; 73, limiting plate; 74, positioning spring; 8, delay mechanism; 81, delay sliding block; 82, guide rod; 83, return spring; 9, second moving mechanism; 91, second moving groove; 92, second moving block; 93, limiting rod; 10, limiting abutting mechanism; 101, through groove; 102, abutting plate; 103, combined fittings; 1031, supporting rod; 1032, matching rod; 13, telescopic rod; 14, righting mechanism; 141, adjusting groove; 142, adjusting block; 143, elastic arc plate. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. Embodiment 1

[0045] Please refer to Figures 1-2 A mechanical arm auxiliary device for ureteroscopy surgery, comprising an auxiliary assembly 1, the auxiliary assembly 1 comprising a straight cylinder 11 and a front end fixed head 12 mounted at the bottom of the straight cylinder 11, a clamping mechanism 3 is slidably arranged in the straight cylinder 11, and the clamping mechanism 3 is used for clamping and conveying the hose;

[0046] The clamping mechanism 3 comprises a mounting seat 31 slidably arranged in the straight cylinder 11, and a pulley 32 is arranged in the mounting seat 31, and the pulley 32 is used for abutting and clamping the hose.

[0047] In this embodiment: a catheter device for fixing the ureter hose is arranged on the conventional mechanical arm, and the hose passes through the device, so that the hose is limited, but when passing through the catheter device, if the opening of the catheter device is arranged with a small gap relative to the size of the hose, the hose is difficult to be arranged in the device, and if the opening is arranged too large, the hose is easy to abut in the hole, and then it is not easy to pass out at the bottom thereof.

[0048] Therefore, in order to quickly and conveniently pass the hose through the catheter device, the clamping mechanism 3 is arranged in the straight cylinder 11, the clamping mechanism 3 comprises a mounting seat 31 which is slidingly arranged in the straight cylinder 11, and a pulley 32 is arranged on the mounting seat 31, when the hose is arranged in the straight cylinder 11, the pulley 32 clamps the hose and limits the hose to be located at the central position in the straight cylinder 11, through the clamping of the hose by the pulley 32 and the sliding of the mounting seat 31, the hose can be ensured to be located at the central position in the straight cylinder 11, so that the situation that the end of the straight cylinder 11 cannot be aligned with the hole is avoided.

[0049] And through the pulley 32 arranged on the mounting seat 31, the resistance generated when the hose cooperates with the clamping mechanism 3 can be reduced, and at the same time, since the pulley 32 is rotationally arranged on the mounting seat 31, the surface of the pulley 32 can have a curvature, the pulley 32 can protect the hose, avoid hard friction between the hose and the clamping mechanism 3, and further avoid wear and tear, so as to affect the use in surgery. Embodiment 2

[0050] Please refer to Figure 2 and Figure 5 , the mounting block 4 is further arranged in the straight cylinder 11, the clamping mechanism 3 is slidingly arranged on the mounting block 4, and the cooperation mechanism 6 is further arranged in the straight cylinder 11, the mounting block 4 slides in the straight cylinder 11 through the cooperation mechanism 6;

[0051] The cooperation mechanism 6 comprises a cooperation groove 61 which is arranged in the straight cylinder 11, and a cooperation block 62 which is slidingly arranged in the cooperation groove 61, and the mounting block 4 is arranged on the cooperation block 62.

[0052] The cooperation block 62 is further provided with the positioning mechanism 7, and the mounting block 4 is connected with the cooperation block 62 through the positioning mechanism 7;

[0053] The positioning mechanism 7 comprises a positioning groove 71 which is arranged in the cooperation block 62, and a positioning rod 72 which is arranged on the mounting block 4 and is matched with the positioning groove 71, and the positioning rod 72 is slidingly arranged in the positioning groove 71.

[0054] The positioning mechanism 7 further comprises a limiting plate 73 which is arranged on the positioning rod 72, and the mounting block 4 is further provided with a positioning spring 74 which is sleeved on the outer side of the positioning rod 72

[0055] In the embodiment: in order to enable the mounting seat 31 to slide in the straight cylinder 11, the mounting block 4 is arranged in the straight cylinder 11, the mounting seat 31 is arranged on the mounting block 4, and the mounting block 4 is further arranged in the straight cylinder 11 and slidingly arranged in the straight cylinder 11 through the cooperation mechanism 6, so as to drive the mounting seat 31 to slide in the straight cylinder 11;

[0056] The cooperation mechanism 6 comprises a cooperation groove 61 formed in the straight cylinder 11 row, and a cooperation block 62 matched with the cooperation groove 61 is arranged on the mounting block 4, the cooperation block 62 is slidingly arranged in the cooperation groove 61, and the cooperation groove 61 and the cooperation block 62 are matched with each other, so that the mounting block 4 can slide in the straight cylinder 11, thereby driving the clamping mechanism 3 to slide in the straight cylinder 11.

[0057] In order to adjust the gap between the pulleys 32, thereby facilitating clamping of the hose, the positioning mechanism 7 is further arranged on the cooperation block 62, and the mounting block 4 is connected with the cooperation block 62 through the positioning mechanism 7.

[0058] The positioning mechanism 7 comprises a positioning groove 71 formed in the cooperation block 62, and a positioning rod 72 is arranged on the mounting block 4 and slidingly arranged in the positioning groove 71, and the positioning groove 71 and the positioning rod 72 are matched with each other, so that the mounting block 4 and the cooperation block 62 can slide, thereby changing the gap between the pulleys 32, and facilitating insertion of the hose between the two pulleys 32 for clamping.

[0059] In order to effectively clamp the hose by the pulleys 32, the positioning spring 74 is further arranged on the mounting block 4, and the mounting block 4 is elastically connected with the cooperation block 62 through the positioning spring 74, thereby providing necessary elastic potential and stability for clamping of the pulleys 32 through the positioning spring 74. Embodiment 3

[0060] Please refer to Figure 2 and Figure 5 , the first moving mechanism 5 is further arranged in the mounting block 4, and the mounting seat 31 is slidingly arranged in the mounting block 4 through the first moving mechanism 5.

[0061] The first moving mechanism 5 comprises a first moving groove 51 formed in the mounting block 4, a first moving block 52 is slidingly arranged in the first moving groove 51, and the mounting seat 31 is connected with the first moving block 52.

[0062] Please refer to Figure 1 , the delay mechanism 8 is further arranged on the mounting seat 31, and the mounting seat 31 is slidingly connected with the first moving block 52 through the delay mechanism 8.

[0063] The delay mechanism 8 comprises a delay sliding block 81 arranged on the mounting seat 31, and a guide rod 82 is arranged in the first moving block 52, and the delay sliding block 81 is slidingly arranged on the guide rod 82.

[0064] The diameter of the guide rod 82 gradually increases from one side to the other side;

[0065] The delay slider 81 is further provided with a reset spring 83, and the delay slider 81 is connected with the first moving block 52 through the reset spring 83, and the reset spring 83 is sleeved outside the guide rod 82.

[0066] In the embodiment, in order to enable the mounting seat 31 to slide in the mounting block 4, a part of the hose can be reserved, and when the mounting block 4 reaches the bottom end of the straight cylinder 11, the part can be exposed from the hole of the front fixed head 12, and then the hose exposed outside the front fixed head 12 is pulled to pull the remaining hose out of the front fixed head 12 to meet the needs of the operation.

[0067] The first moving mechanism 5 is arranged in the mounting block 4, the mounting seat 31 can slide in the mounting block 4 through the first moving mechanism 5, the first moving mechanism 5 comprises a first moving groove 51 arranged in the mounting block 4, the first moving block 52 is arranged on the mounting seat 31 and slidably arranged in the first moving groove 51, and the mounting seat 31 can slide in the mounting block 4 through cooperation of the first moving groove 51 and the first moving block 52. Through the first moving mechanism 5, the mounting seat 31 can slide in the mounting block 4, so that the first stage conveying of the hose, i.e. reserving a part of the hose, is realized, and then the mounting block 4 and the mounting seat 31 slide in the straight cylinder 11 together to realize conveying.

[0068] In order to reserve the hose, the mounting seat 31 needs to slide on the first moving block 52 by a certain distance and then slide together with the mounting block 4, so the delay mechanism 8 is further arranged on the mounting seat 31, the delay mechanism 8 comprises a delay slider 81 arranged in the mounting seat 31, and the guide rod 82 is arranged on the first moving block 52. The delay slider 81 is slidably arranged on the guide rod 82, the top diameter of the guide rod 82 is different from the bottom diameter, and the top diameter is smaller than the bottom diameter, so that the mounting seat 31 first slides in the first moving block 52 by a certain distance, so that the guide rod 82 and the delay slider 81 are in interference fit, and then the mounting seat 31 slides in the mounting block 4 together with the first moving mechanism 5, thereby completing the reservation of the hose.

[0069] In order to facilitate the delay slider 81 to reset and slide on the guide rod 82 after the hose is removed, the reset spring 83 is further arranged on the delay slider 81, the delay slider 81 is elastically connected with the first moving block 52 through the reset spring 83, the reset spring 83 is used to complete the reset and sliding of the delay slider 81, and the reset spring 83 is sleeved outside the guide rod 82 to avoid bending of the reset spring 83 when the reset spring 83 is elastically deformed. Embodiment 4

[0070] Please refer to Figure 3 ,Figure 4 and Figure 6 The mounting base 31 is provided with a righting mechanism 14 for assisting the pulley 32 to right the hose;

[0071] The righting mechanism 14 comprises an adjusting groove 141 formed in the mounting base 31, and the pulley 32 is provided with an adjusting block 142 which is slidingly arranged in the adjusting groove 141. The adjusting block 142 is provided with elastic arc plates 143 which are symmetrically arranged on both sides of the adjusting block 142, and the adjusting block 142 is connected with the mounting base 31 through the elastic arc plates 143.

[0072] In this embodiment, since the angle of the conveying force cannot be consistent every time when the hose is conveyed by manpower, the mounting base 31 is further provided with the righting mechanism 14 for assisting the pulley 32 to right the hose, so that the pulley 32 can still limit the hose at the center position of the straight cylinder 11 even if the angle of the conveying force is different every time.

[0073] The righting mechanism 14 comprises the adjusting groove 141 formed in the mounting base 31, and the pulley 32 is provided with the adjusting block 142 which is adapted to the adjusting groove 141 and is slidingly arranged in the adjusting groove 141. A plurality of elastic arc plates 143 are arranged on both sides of the adjusting block 142, and the elastic arc plates 143 on both sides are symmetrically arranged on the adjusting block 142.

[0074] The elastic arc plates 143 provide elastic support to the adjusting block 142 from two directions, so that the elastic arc plates 143 can calibrate the pulley 32 by providing elastic potential energy in multiple directions even if the angle of the conveying force is different when the hose is conveyed, and the pulley 32 can keep the hose centered in the straight cylinder 11. Embodiment 5

[0075] Please refer to Figure 5 , Figure 7 and Figure 8 The mounting block 4 is further provided with a limiting abutting mechanism 10 for adjusting the sliding of the first moving block 52.

[0076] The limiting abutting mechanism 10 comprises a through groove 101 formed in the mounting block 4, and an abutting plate 102 is slidingly arranged in the through groove 101. The abutting plate 102 is used to abut against the first moving block 52.

[0077] The straight cylinder 11 is further provided with a combination accessory 103 which is used to abut against the abutting plate 102.

[0078] The abutting plate 102 is provided with an extension rod 13, and the abutting plate 102 is connected with the straight cylinder 11 through the extension rod 13.

[0079] The combination accessory 103 comprises a supporting rod 1031 arranged on the straight cylinder 11, and a matching rod 1032 arranged on the supporting rod 1031, and the supporting rod 1031 and the matching rod 1032 are movably connected through a hinge shaft.

[0080] The straight cylinder 11 is also provided with a second moving mechanism 9, and the matching block 62 is slidably arranged in the straight cylinder 11 through the second moving mechanism 9.

[0081] The second moving mechanism 9 comprises a second moving groove 91 arranged in the straight cylinder 11, and a second moving block 92 arranged on the matching block 62 and matched with the second moving groove 91, the second moving block 92 is slidably arranged in the second moving groove 91, and the second moving groove 91 is also provided with a limiting rod 93, and the second moving block 92 is slidably arranged on the limiting rod 93.

[0082] In the embodiment, in order to ensure that the hose can be pulled out of the front end fixing head 12 when the installation block 4 runs to the bottom of the straight cylinder 11, it is necessary to enable the first moving mechanism 5 to slide a certain distance when the installation block 4 reaches the bottom, so that the hose is automatically pulled out of the front end fixing head 12, and then only the hose needs to be pulled to make the subsequent hose pass through the straight cylinder 11 normally.

[0083] Therefore, the limiting and abutting mechanism 10 is arranged in the installation block 4, the limiting and abutting mechanism 10 comprises a through groove 101 arranged in the straight cylinder 11, and an abutting plate 102 slidably arranged in the through groove 101, and the abutting plate 102 is used for abutting the first moving block 52 to avoid the first moving block 52 directly sliding to the bottom to cause the hose to be bent and then cannot be automatically pulled out, and the combination accessory 103 is arranged at the bottom of the straight cylinder 11, when the installation block 4 approaches the bottom of the straight cylinder 11, the combination accessory 103 abuts the abutting plate 102 to slide, so that the abutting plate 102 no longer limits the first moving block 52, so that the first moving block 52 can continue to slide on the installation block 4, and then the pulley 32 drives the hose to slide in the front end fixing head 12, so that the hose is pulled out of the front end fixing head 12, and the preparation work of the surgical instrument is accelerated and the precision is improved.

[0084] Meanwhile, the abutting plate 102 is connected with the straight cylinder 11 through the telescopic rod 13, and the telescopic rod 13 comprises an outer sleeve, an inner sliding rod and a spring, the outer sleeve is arranged on the installation block 4, the sliding rod is slidably arranged in the sleeve, and the spring is arranged in the sleeve, and the inner sliding rod is elastically connected with the outer sleeve through the spring.

[0085] In order to press the abutting plate 102 and make it lose the abutting limit to the first moving block 52, the combined accessory 103 comprises a supporting rod 1031 arranged in the straight cylinder 11, a hinge shaft is arranged at the top of the supporting rod 1031, the supporting rod 1031 is movably connected with a matched rod 1032 through the hinge shaft, and a disc spring is arranged in the hinge shaft. Since the matched rod 1032 is connected with the supporting rod 1031 through the hinge shaft, the matched rod 1032 will change the angle after contacting the first moving block 52, so as to press the abutting plate 102. The abutting plate 102 slides to the direction of the straight cylinder 11 through the telescopic rod 13, and then no longer abuts against the first moving block 52, so that the first moving block 52 can continue to slide in the first moving groove 51 under the action of gravity, thereby prolonging the conveying distance, and making the reserved hose protrude out of the front end fixing head 12.

[0086] Meanwhile, the second moving mechanism 9 is arranged in the straight cylinder 11. The second moving mechanism 9 comprises a second moving groove 91 arranged in the straight cylinder 11, and a second moving block 92 arranged on the matched block 62. The matched block 62 is movably arranged in the straight cylinder 11 through the cooperation of the second moving groove 91 and the second moving block 92. Meanwhile, a limiting rod 93 is arranged in the second moving groove 91, and the second moving block 92 is slidably arranged on the limiting rod 93. The limiting rod 93 is used to limit the sliding of the second moving block 92, so that the sliding of the second moving block 92 is more stable.

[0087] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robotic arm-assisted device for flexible ureteroscopy, characterized in that: Includes an auxiliary component (1), which includes a straight cylinder (11) and a front end fixing head (12) installed at the bottom of the straight cylinder (11). A clamping mechanism (3) is slidably arranged inside the straight cylinder (11), and the clamping mechanism (3) is used to clamp and transport the hose. The clamping mechanism (3) includes a mounting base (31) slidably disposed in the straight cylinder (11), and a pulley (32) is provided in the mounting base (31), the pulley (32) being used to abut and clamp the hose; An installation block (4) is also provided inside the straight cylinder (11), and the clamping mechanism (3) is slidably disposed on the installation block (4). A cooperating mechanism (6) is also provided inside the straight cylinder (11), and the installation block (4) slides inside the straight cylinder (11) through the cooperating mechanism (6). The mating mechanism (6) includes a mating groove (61) formed on the straight cylinder (11), a mating block (62) is slidably disposed in the mating groove (61), and the mounting block (4) is disposed on the mating block (62); The mounting base (31) is also provided with a delay mechanism (8), and the mounting base (31) is slidably connected to the first moving block (52) through the delay mechanism (8); The delay mechanism (8) includes a delay slider (81) disposed on the mounting base (31), and a guide rod (82) is disposed inside the first moving block (52), and the delay slider (81) is slidably disposed on the guide rod (82); The diameter of the guide rod (82) gradually increases from one side to the other. The delay slider (81) is also provided with a reset spring (83), and the delay slider (81) is also connected to the first moving block (52) through the reset spring (83), and the reset spring (83) is sleeved on the outside of the guide rod (82); The mounting base (31) is provided with a straightening mechanism (14), which is used to assist the pulley (32) in straightening the hose; The straightening mechanism (14) includes an adjustment groove (141) opened on the mounting base (31), an adjustment block (142) is provided on the pulley (32), the adjustment block (142) is slidably disposed in the adjustment groove (141), an elastic arc plate (143) is provided on the adjustment block (142), the elastic arc plate (143) is symmetrically disposed on both sides of the adjustment block (142), and the adjustment block (142) is connected to the mounting base (31) through the elastic arc plate (143); The mounting block (4) is also provided with a limiting contact mechanism (10), which is used to adjust the sliding of the first moving block (52); The limiting contact mechanism (10) includes a through groove (101) opened on the mounting block (4), and a contact plate (102) is slidably arranged in the through groove (101). The contact plate (102) is used to contact the first moving block (52). The straight cylinder (11) is also provided with a combination fitting (103), which is used to abut against the contact plate (102). The contact plate (102) is provided with a telescopic rod (13), and the contact plate (102) is connected to the straight cylinder (11) through the telescopic rod (13).

2. The robotic arm assist device for flexible ureteroscopy surgery according to claim 1, characterized in that: The mating block (62) is also provided with a positioning mechanism (7), and the mounting block (4) is connected to the mating block (62) through the positioning mechanism (7); The positioning mechanism (7) includes a positioning groove (71) formed on the mating block (62), and a positioning rod (72) adapted to the positioning groove (71) is provided on the mounting block (4), and the positioning rod (72) is slidably disposed in the positioning groove (71).

3. The robotic arm assist device for flexible ureteroscopy surgery according to claim 2, characterized in that: The positioning mechanism (7) also includes a limiting plate (73) disposed on the positioning rod (72), and a positioning spring (74) is disposed on the mounting block (4), the positioning spring (74) being sleeved on the outside of the positioning rod (72).

4. The robotic arm assist device for flexible ureteroscopy surgery according to claim 2, characterized in that: The mounting block (4) is also provided with a first moving mechanism (5), and the mounting base (31) is slidably disposed in the mounting block (4) through the first moving mechanism (5); The first moving mechanism (5) includes a first moving groove (51) opened in the mounting block (4), a first moving block (52) is slidably disposed in the first moving groove (51), and the mounting seat (31) is installed in the first moving block (52).

5. The robotic arm assist device for flexible ureteroscopy surgery according to claim 1, characterized in that: The assembly (103) includes a support rod (1031) disposed on a straight cylinder (11), and a mating rod (1032) is also disposed on the support rod (1031). The support rod (1031) and the mating rod (1032) are movably hinged together by a hinge shaft.

6. The robotic arm assist device for flexible ureteroscopy surgery according to claim 5, characterized in that: A second moving mechanism (9) is also provided inside the straight cylinder (11), and the mating block (62) is slidably disposed inside the straight cylinder (11) through the second moving mechanism (9); The second moving mechanism (9) includes a second moving groove (91) opened in the straight cylinder (11), and a second moving block (92) adapted to the second moving groove (91) is provided on the mating block (62). The second moving block (92) is slidably disposed in the second moving groove (91). A limit rod (93) is also provided in the second moving groove (91), and the second moving block (92) is slidably disposed on the limit rod (93).

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