Mechanical arm and clamping jaw for controlling endoscope

Abstract

The mechanical arm comprises a mechanical arm mechanism and an endoscope control piece fixed to the execution tail end of the mechanical arm mechanism, the mechanical arm mechanism comprises a rotating base and a large arm rotationally connected to the top end of the rotating base through a robot joint motor, and the large arm is connected with the mechanical arm through a clamping jaw. The robot joint motor is rotationally connected to a small arm at the top end of the large arm, and a control pedal is connected to the side wall of the rotating base through a cable. According to the mechanical arm used for controlling the endoscope and the clamping jaw provided in the technical scheme, wide-range internal posture control over the endoscope is achieved through the mechanical arm, and front-back and left-right movable adjustment of the endoscope can be controlled through the endoscope control piece at the tail end of the mechanical arm; moreover, the endoscope clamping jaw for clamping the endoscope is arranged at the tail end of the endoscope control piece, the servo electric cylinder is used for pushing all the connecting rods to clamp the endoscope, the servo electric cylinder is used for achieving the control effect on the rotating posture of the endoscope, and then the purposes of stabilizing the endoscope and controlling the endoscope to work are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm instruments, and in particular to a mechanical arm and a clamping claw for controlling a laparoscope. Background Art

[0002] With the rapid development of minimally invasive surgical techniques, laparoscopic surgery has been widely used in surgical operations. The significant advantages of this type of surgery are small trauma, fast recovery, and low pain, so it is increasingly favored by surgeons and patients. The main principle of laparoscopic surgery is to insert a laparoscope (a slender instrument with lighting and a camera) through a small incision on the patient's body surface, transmit the image inside the body to an external display screen, and the doctor guides and operates the surgical instruments through the image on the monitor to complete the operation. Depending on the surgical site, laparoscopic surgery includes laparoscopic surgery, arthroscopic surgery, thoracoscopic surgery, etc.

[0003] Although laparoscopic surgery has many advantages, it also faces some technical challenges. Since the operation of the laparoscope relies on the doctor's manual control, especially when stability needs to be maintained for a long time during surgery, uncontrollable factors such as the doctor's hand fatigue and slight tremors often cause slight deviation of the laparoscope. This deviation will affect the stability of the laparoscope's field of view, making the surgical area blurred, increasing the difficulty of operation, and may cause surgical errors. For example, in laparoscopic surgery, due to the limited field of view of the laparoscope, the accuracy of the operation is highly dependent on the stable control of the laparoscope. If the laparoscope shakes or the viewing angle deviates during operation, the doctor may misjudge the state of the surgical site, resulting in surgical failure or intraoperative complications.

[0004] At present, most laparoscopic devices are handheld laparoscopy devices controlled by assistants. However, due to the small space on the table and the different cooperation levels of different assistants, the uncertainty of the operation is increased. Although some institutions have developed surgical assistance robots, they are expensive and require high technology. Therefore, the market urgently needs a device that is easy to operate, relatively low in cost, can effectively stabilize the laparoscope and accurately control its posture, so as to reduce the burden on doctors and reduce surgical risks, especially in long-term laparoscopic surgery.

[0005] In order to solve the above problems, technicians have proposed an innovative solution, which is to control the automatic adjustment and stable operation of the laparoscope through a robotic arm and a clamp. This new type of laparoscope control robotic arm includes a rotating base, a large arm, a small arm, and a multi-degree-of-freedom motion function achieved through multiple robot joint motors. Through these modular robotic arm structures, doctors can easily adjust the front and back, left and right positions of the laparoscope to achieve a wider range of viewing angle adjustments. At the same time, a special laparoscope clamp is installed at the end of the robotic arm. The clamp is driven by a servo motor and multiple connecting rod structures, which can firmly clamp the laparoscope and rotate and adjust the angle according to surgical needs. This design allows the surgeon to directly control the laparoscope, freeing up the assistant and obtaining more operating space, making the laparoscope more stable during surgery, which not only reduces the doctor's operating burden, but also greatly improves the accuracy and safety of the surgery.

[0006] Unlike traditional handheld laparoscopes, the robotic arm and gripper device can achieve automatic adjustment of the laparoscope through a precise control system, reducing the shaking problem caused by doctor's hand fatigue. In addition, the device can be flexibly configured according to different surgical needs, such as adding more degrees of freedom at different joints to adapt to complex operating environments. Based on the rotation function of the servo motor, the doctor can also adjust the posture of the laparoscope 360 ​​degrees to ensure the best presentation of the surgical field of view.

[0007] In summary, this technical solution not only effectively solves the problems of laparoscope stability and posture control, but also enhances the flexibility and versatility of the device through modular design, and has broad application prospects. Through the cooperation of the robotic arm and the clamp, it can not only reduce the fatigue of the doctor during the operation, but also significantly reduce the difficulty of the operation, and improve the safety and success rate of laparoscopic surgery. Summary of the invention

[0008] The purpose of the present invention is to provide a technical solution for controlling a mechanical arm and a gripper of a laparoscope to solve the shortcomings of the background technology. In order to solve the disadvantages and defects of the background technology, the present technical solution has the following contents: It includes a robotic arm mechanism and a laparoscope control component fixed to the execution end of the robotic arm mechanism, wherein the robotic arm mechanism includes a rotating base, a large arm rotatably connected to the top of the rotating base through a robot joint motor, and a small arm rotatably connected to the top of the large arm through a robot joint motor, and a control pedal is connected to the side wall of the rotating base through a cable; The laparoscope control component includes a longitudinal slide rail fixed at the end of the forearm, a longitudinal slider slidably arranged on the track of the longitudinal slide rail, a transverse slide rail is fixedly connected to the bottom surface of the longitudinal slider, and a transverse slider is slidably arranged on the track of the transverse slide rail.

[0009] As a preferred solution of the present invention: four pedal buttons for controlling the front, back, left, and right directions, and one switch button are arranged on the surface of the control pedal.

[0010] As a preferred solution of the present invention: the longitudinal slide rail is arranged longitudinally as a whole, and the longitudinal slider on the longitudinal slide rail moves forward and backward.

[0011] As a preferred solution of the present invention: the transverse slide rail is arranged horizontally as a whole, and the transverse slider on the transverse slide rail moves left and right.

[0012] A clamp for controlling a laparoscope, comprising the following components: a ball joint fixed to the bottom surface of a transverse slider, a convex block fixed to the lower surface of a fixed base of the ball joint, a movable part of the ball joint fixedly connected to the bottom surface of the slider, a servo motor fixed to the rear surface of the convex block, and a fixing plate fixed to the front surface of the convex block; Among them, 4-6 convex strips are fixedly connected to the surrounding surfaces of the fixing plate, the front end of the convex strip is hinged with a traction arm, the end of the traction arm away from the convex strip is fixed with a clamping arm, and the clamping arms clamp the laparoscope between each other; A movable plate is arranged in the front area of ​​the fixed plate, and 4-6 connecting arms are hinged on the surrounding surfaces of the movable plate. One end of the connecting arm away from the movable plate is hinged to the inner side wall of the traction arm, and a servo electric cylinder is installed on the front surface of the movable plate. The telescopic shaft of the servo electric cylinder passes through the movable plate and is connected to the front surface of the fixed plate.

[0013] As a preferred solution of the present invention: the output end of the servo motor passes through the convex block, and one end of the servo motor that passes through the front side of the convex block is fixedly connected to the rear end face of the fixed plate through a coupling.

[0014] As a preferred solution of the present invention: the convex strips are arranged in a ring array with the axis of the fixed plate as the base point, and the connecting arms are arranged in a ring array with the axis of the movable plate as the base point.

[0015] As a preferred solution of the present invention: a through hole is provided inside the convex block for the output shaft of the servo motor to pass through, and a bearing is installed inside the through hole.

[0016] In the above technical solution, the technical effects and advantages provided by the present invention are: The technical solution provides a robotic arm and a clamp for controlling the laparoscope. The robotic arm is used to control the posture of the inside of the laparoscope over a large range. The laparoscope control unit at the end of the robotic arm can control the front, back, left, and right movement adjustment of the laparoscope. Moreover, a laparoscope clamp for clamping the laparoscope is provided at the end of the laparoscope control unit. The servo electric cylinder is used to push each connecting rod to clamp the laparoscope, and the servo electric cylinder is used to control the rotation posture of the laparoscope, thereby achieving the purpose of stabilizing the laparoscope and controlling the laparoscope to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0018] Figure 1 This is the overall schematic diagram of the laparoscope control robotic arm; Figure 2 is a schematic diagram of the robotic arm mechanism; Figure 3 is a schematic diagram of a laparoscope control component; Figure 4 Schematic diagram of the laparoscope gripper.

[0019] Description of reference numerals: 1. Robotic arm mechanism; 11. Rotating base; 12. Upper arm; 13. Lower arm; 14. Control pedal; 2. Laparoscope control component; 21. Longitudinal slide rail; 22. Longitudinal slider; 23. Transverse slide rail; 24. Transverse slider; 3. Laparoscope clamp; 31. Bump; 32. Servo motor; 33. Rotating shaft; 34. Raised strip; 35. Traction arm; 36. Clamp arm; 37. Servo electric cylinder; 38. Connecting arm; 39. Movable plate; 310. Fixed plate; 311. Ball joint; 4. Laparoscope. DETAILED DESCRIPTION

[0020] In order to more clearly explain and illustrate the technical solution and implementation of the present invention, several preferred specific embodiments for implementing the technical solution of the present invention are introduced below.

[0021] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar figure numbers indicate the same or similar parts and features. The various figures only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may use exaggerated methods to illustrate the relevant details or structures of the embodiments of the present disclosure. The various publications, patents, and published patent specifications cited herein are incorporated herein by reference in their entirety. The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention.

[0022] Embodiment, a preferred technical solution for controlling a mechanical arm and a gripper of a laparoscope, includes the following: Refer to the instruction manual Figure 1As shown: it includes a robotic arm mechanism 1 and a laparoscope control component 2 fixed at the execution end of the robotic arm mechanism 1, the robotic arm mechanism 1 includes a rotating base 11, a large arm 12 rotatably connected to the top of the rotating base 11 through a robot joint motor, and a small arm 13 rotatably connected to the top of the large arm 12 through a robot joint motor, and a control pedal 14 is connected to the side wall of the rotating base 11 through a cable; 4 pedal buttons for controlling the front, back, left, and right directions, and 1 switch button are arranged on the surface of the control pedal 14.

[0023] Among them, when the upper arm 12 rotates, the angle between its bottom hinge point and the horizontal plane of the rotating base 11 becomes smaller, and the angle between the top hinge point of the upper arm 12 and the axis of the small arm 13 becomes smaller, the overall height of the laparoscope 4 can be reduced; similarly, when the angle between the small arm 13, the upper arm 12 and the rotating base 11 becomes larger, the overall height of the laparoscope 4 increases.

[0024] Refer to the instruction manual Figure 3 As shown: the laparoscope control component 2 includes a longitudinal slide rail 21 fixed at the end of the forearm 13, a longitudinal slider 22 slidably set on the track of the longitudinal slide rail 21, a transverse slide rail 23 is fixedly connected to the bottom surface of the longitudinal slider 22, and a transverse slider 24 is slidably set on the track of the transverse slide rail 23.

[0025] Refer to the instruction manual Figure 3 As shown: the longitudinal slide rail 21 is arranged longitudinally as a whole, and the longitudinal slider 22 on the longitudinal slide rail 21 moves forward and backward, and the transverse slide rail 23 is arranged transversely as a whole, and the transverse slider 24 on the transverse slide rail 23 moves left and right.

[0026] A clamp for controlling the laparoscope: refer to the instructions Figure 4 As shown: a ball joint 311 is fixed on the bottom surface of the transverse slider 24, a protrusion 31 is fixed on the lower surface of the fixed base of the ball joint 311, the movable part of the ball joint 311 is fixedly connected to the bottom surface of the slider 24, a servo motor 32 is fixed to the rear surface of the protrusion 31, and a fixed plate 310 is fixed to the front surface of the protrusion 31; wherein, 4-6 convex strips 34 are fixedly connected to the surrounding surfaces of the fixed plate 310, a traction arm 35 is hinged at the front end of the convex strip 34, a clamping arm 36 is fixed at one end of the traction arm 35 away from the convex strip 34, and the clamping arms 36 clamp the laparoscope 4 between each other.

[0027] Refer to the instruction manual Figure 4As shown: a movable plate 39 is provided in the front area of ​​the fixed plate 310, and 4-6 connecting arms 38 are hinged on the surrounding surfaces of the movable plate 39, and one end of the connecting arm 38 away from the movable plate 39 is hinged to the inner side wall of the traction arm 35, and a servo electric cylinder 37 is installed on the front surface of the movable plate 39, and the telescopic shaft of the servo electric cylinder 37 passes through the movable plate 39 and is connected to the front surface of the fixed plate 310.

[0028] Refer to the instruction manual Figure 4 As shown: the output end of the servo motor 32 passes through the protrusion 31, and the end of the servo motor 32 that passes through the front side of the protrusion 31 is fixedly connected to the rear end face of the fixed plate 310 through a coupling, the protrusions 34 are arranged in a circular array with the axis of the fixed plate 310 as the base point, and the connecting arms 38 are arranged in a circular array with the axis of the movable plate 39 as the base point. A through hole is opened inside the protrusion 31 for the output shaft of the servo motor 32 to pass through, and a bearing is installed inside the through hole.

[0029] According to the above-mentioned preferred technical solution, the workflow of the technical solution is described as follows: The telescopic shaft of the servo electric cylinder 37 is extended and retracted to pull the movable plate 39 closer to or away from the fixed plate 310, and the movable plate 39 pulls the connecting arm 38 to move, thereby pulling the traction arms 35 together or away from each other, forcing the clamping arms 36 to gather together and clamp the laparoscope 4. The output shaft of the servo motor 32 is controlled to drive the rotating shaft 33 to rotate, thereby rotating the fixed plate 310 and the laparoscope 4 clamped by the clamping arms 36.

[0030] The case on the control pedal 14 is used to control the longitudinal slider 22 on the longitudinal slide rail 21 to move forward and backward, thereby driving the transverse slide rail 23, the laparoscope clamp 3 and the laparoscope 4 to move forward and backward. By moving the transverse slider 24 on the transverse slide rail 23 left and right, the laparoscope clamp 3 and the laparoscope 4 can be driven to move left and right.

[0031] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robotic arm for controlling a laparoscope, comprising a robotic arm mechanism (1) and a laparoscope control component (2) fixed to an execution end of the robotic arm mechanism (1), characterized in that: The robot arm mechanism (1) comprises a rotating base (11), a large arm (12) rotatably connected to the top of the rotating base (11) via a robot joint motor, and a small arm (13) rotatably connected to the top of the large arm (12) via a robot joint motor, and a control pedal (14) is connected to the side wall of the rotating base (11) via a cable; The laparoscope control component (2) comprises a longitudinal slide rail (21) fixed to the end of the forearm (13), a longitudinal slider (22) slidably arranged on the track of the longitudinal slide rail (21), a transverse slide rail (23) fixedly connected to the bottom surface of the longitudinal slider (22), and a transverse slider (24) slidably arranged on the track of the transverse slide rail (23).

2. A mechanical arm for controlling a laparoscope according to claim 1, characterized in that: The control pedal (14) is provided with four pedal buttons for controlling the front, back, left, and right directions, and one switching button on the surface thereof.

3. The mechanical arm for controlling a laparoscope according to claim 1, characterized in that: The longitudinal slide rail (21) is arranged longitudinally as a whole, and the longitudinal slider (22) on the track of the longitudinal slide rail (21) moves forward and backward.

4. The mechanical arm for controlling a laparoscope according to claim 1, characterized in that: The transverse slide rail (23) is arranged transversely as a whole, and the transverse slider (24) on the track of the transverse slide rail (23) moves left and right.

5. A clamp for controlling a laparoscope, characterized in that: A mechanical arm for controlling a laparoscope according to any one of claims 1 to 4, wherein the clamp comprises the following components: a ball joint (311) fixed to the bottom surface of a transverse slider (24), a protrusion (31) fixed to the lower surface of a fixed base of the ball joint (311), a movable part of the ball joint (311) fixedly connected to the bottom surface of the slider (24), a servo motor (32) fixed to the rear surface of the protrusion (31), and a fixing plate (310) fixed to the front surface of the protrusion (31); Wherein, 4 to 6 convex strips (34) are fixedly connected to the surrounding surfaces of the fixing plate (310), a traction arm (35) is hingedly connected to the front end of the convex strip (34), a clamping arm (36) is fixed to one end of the traction arm (35) away from the convex strip (34), and the clamping arms (36) clamp the laparoscope (4) between each other; A movable plate (39) is arranged in the front area of ​​the fixed plate (310), 4-6 connecting arms (38) are hingedly connected to the surrounding surfaces of the movable plate (39), one end of the connecting arm (38) away from the movable plate (39) is hingedly connected to the inner side wall of the traction arm (35), and a servo electric cylinder (37) is installed on the front surface of the movable plate (39), and the telescopic shaft of the servo electric cylinder (37) passes through the movable plate (39) and is connected to the front surface of the fixed plate (310).

6. The clamp for controlling a laparoscope according to claim 5, characterized in that: The output end of the servo motor (32) passes through the protrusion (31), and one end of the servo motor (32) that passes through the front side of the protrusion (31) is fixedly connected to the rear end surface of the fixing plate (310) via a coupling.

7. The clamp for controlling a laparoscope according to claim 5, characterized in that: The convex strips (34) are arranged in a circular array with the axis of the fixed plate (310) as a base point, and the connecting arms (38) are arranged in a circular array with the axis of the movable plate (39) as a base point.

8. The clamp for controlling a laparoscope according to claim 5, characterized in that: A through hole is provided inside the convex block (31) for the output shaft of the servo motor (32) to pass through, and a bearing is installed inside the through hole.

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