A nephroscope robot mirror clamping device with high stability

Abstract

The application discloses a kidney mirror robot mirror clamping device with high stability, which comprises a supporting plate, a movable mirror clamping component arranged on the supporting plate, and a driving component capable of driving the mirror clamping component to move; the mirror clamping component and the supporting plate are connected with each other through a sliding mechanism; under the driving of the driving component, the mirror clamping component moves along a preset path on the supporting plate; the sliding mechanism comprises a guide rail and a sliding block which are slidably connected with each other; the sliding block is provided with an anti-shake structure on the bottom surface, which can form a pressing force perpendicular to the length direction of the guide rail on both sides of the guide rail; the application can reduce the shaking generated when the mirror clamping component moves, so that the kidney mirror can smoothly puncture.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of a nephroscope robot clamping nephroscope device, in particular to a nephroscope robot clamping device with high stability. BACKGROUND

[0002] The nephroscope is a medical detection instrument with an image sensor, an optical lens, a light source illumination, a mechanical device and the like integrated; it can enter the stomach through the oral cavity or enter the body through other natural orifices; the nephroscope can see lesions that X-rays cannot display, so it is very useful for doctors.

[0003] When the medical staff uses the nephroscope to perform surgery in the prior art, the doctor needs to hold the nephroscope for a long time, which forms a large burden on the doctor's hands, is prone to shaking, and can affect the performance of the surgery, and even can cause damage to the patient's body; therefore, the nephroscope robot currently appears to assist the doctor to perform the nephroscope surgery, to replace the human hand with the machine to clamp the nephroscope, so as to avoid the doctor holding the nephroscope for a long time; however, when the nephroscope robot performs the nephroscope puncture, due to the cooperation gap of the mechanical structure performing the puncture action, the nephroscope is shaken during movement, so that the nephroscope is shaken correspondingly, and it is difficult to smoothly perform the puncture, and the nephroscope surgery belongs to a fine minimally invasive surgery, and slight shaking can bring discomfort to the patient, and even can affect the smooth performance of the surgery. SUMMARY

[0004] The purpose of the present application is to provide a nephroscope robot clamping device with high stability, which can reduce shaking and thus realize smooth nephroscope puncture.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] A nephroscope robot clamping device with high stability comprises a supporting plate, a movable clamping mirror component provided on the supporting plate, and a driving component capable of driving the clamping mirror component to move; the clamping mirror component and the supporting plate are connected to each other through a sliding mechanism, and the clamping mirror component moves along a preset path on the supporting plate under the driving of the driving component; the sliding mechanism comprises a guide rail and a sliding block connected to each other in sliding mode, and the sliding block is provided with an anti-shaking structure on the bottom surface, which can form a pressure against the two sides of the guide rail perpendicular to the length direction of the guide rail.

[0007] On the basis of the above technical solutions, the present application can be improved as follows:

[0008] Further, the anti-shaking structure comprises a fixed plate connected to the bottom surface of the sliding block at the top end, and a gap is formed between the bottom end of the fixed plate and the supporting plate; a sleeve is detachably connected to the inner side of the fixed plate, the sleeve is provided with a movable rod and an elastic member, the elastic member provides an elastic force to the movable rod, and the movable rod is driven to press against the two sides of the guide rail.

[0009] Further, the sleeve is provided with external threads at the barrel mouth, the fixing plate is provided with a connecting groove at the inner side, the connecting groove is provided with internal threads at the inner side wall, the barrel mouth of the sleeve is threadedly connected with the connecting groove on the fixing plate; the sleeve is formed with a through hole at the end away from the barrel mouth, the through hole is communicated with the barrel cavity, and the movable rod is extended out of the sleeve to press against the guide rail.

[0010] Further, one axial end of the movable rod is a force receiving end and is provided with a force receiving plate, and the other axial end of the movable rod is an extending end and is extended out of the sleeve through the through hole on the sleeve; the elastic member can exert an elastic force on the force receiving plate on the movable rod in the sleeve cavity of the sleeve, so that the extending end of the movable rod is extended out of the sleeve to press against the guide rail.

[0011] Further, the movable rod is provided with a pressing block at the extending end, the pressing block has an abutting surface on the outer side which can be attached to the outer side surface of the guide rail, and the abutting surface is a smooth surface.

[0012] Further, the elastic member is a spring, the spring is contained in the barrel cavity of the sleeve, one end of the spring abuts against the inner side surface of the fixing plate, and the other end of the spring abuts against the force receiving plate on the movable rod; in a normal state, the spring is in a compressed state.

[0013] Further, the mirror clamping component comprises an activity plate, the activity plate is detachably provided with at least two clamping seats on the top surface, a plurality of installation grooves are formed on the top surface of the activity plate, the installation grooves are parallel to the length direction of the activity plate, and the installation grooves are formed with openings at both ends of the length direction of the activity plate, so that bolts are inserted into the installation grooves, and the top ends of the bolts are extended out of the top surface of the activity plate to connect the clamping seats.

[0014] Further, the clamping seat comprises two clamping blocks which are abutted against each other, the two clamping blocks are provided with clamping grooves at the middle of the abutting surfaces, and bolt holes are arranged on both sides of the clamping grooves; when the two clamping blocks are abutted against each other, the clamping grooves on the two clamping blocks are spliced to form a clamping cavity.

[0015] Further, the clamping grooves on the two clamping blocks are groove bodies with V-shaped cross sections, and when clamping, the inner side surfaces of the clamping grooves are tangent to the outer circumferential surface of the nephroscope, so that a clamping force is formed on the lateral side of the nephroscope.

[0016] Further, the driving component is an electric screw, the electric screw comprises a threaded rod and a servo motor, both ends of the threaded rod are rotatably connected to the bottom surface of the supporting plate through supports, the axial direction of the threaded rod is parallel to the length direction of the guide rail, a screw nut is threadedly connected to the threaded rod, and one side of the screw nut is fixedly connected with the mirror clamping component; the servo motor is fixedly connected to the bottom surface of the supporting plate, the output end of the servo motor is connected with one end of the threaded rod, a through groove is formed on the supporting plate, the screw nut can slide along the through groove, and the screw nut can pass through the supporting plate to connect the mirror clamping component.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] The present application has the following advantages: BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be further described in detail below in combination with the drawings and specific embodiments

[0020] Figure 1 The top surface structure of the high-stability kidney mirror robot clamping mirror device of the present embodiment is shown in the figure.

[0021] Figure 2 The bottom surface structure of the high-stability kidney mirror robot clamping mirror device of the present embodiment is shown in the figure.

[0022] Figure 3 The structure of the sliding mechanism of the present embodiment is shown in the figure.

[0023] Figure 4 The cross-sectional view of the sliding mechanism of the present embodiment is shown in the figure.

[0024] Figure 5 The structure of the sliding block of the present embodiment is shown in the figure.

[0025] Figure 6 The structure of the clamping seat of the present embodiment is shown in the figure.

[0026] The marks on the drawings: 1-mirror tube, 2-holding part, 3-operating part, 4-first interface part, 5-second interface part, 6-third interface part, 7-supporting plate, 8-connecting part, 9-rail, 9a-first straight part, 9b-second straight part, 9c-vertical part, 10-sliding block, 11-rail groove, 12-fixing plate, 13-sleeve, 14-moving rod, 15-stress plate, 16-pressing block, 17-spring, 18-threaded rod, 19-servo motor, 20-nut, 21-through groove, 22-moving plate, 23-mounting groove, 24-first clamping block, 25-second clamping block, 26-clamping groove, 27-stand. DETAILED DESCRIPTION

[0027] With reference to the description of the specific embodiments of the application in conjunction with the accompanying drawings, the description of the embodiments is used to help understand the application, but does not constitute a limitation of the application. In addition, the technical features involved in the various embodiments of the application described below can be combined with each other as long as they do not conflict with each other.

[0028] Referring to Figures 1 to 6 The present embodiment relates to a kidney mirror robot mirror clamping device with high stability, which clamps a kidney mirror. The kidney mirror includes a mirror tube part 1 and a holding part 2 connected to each other, and the front end of the mirror tube part 1 (i.e. the end away from the holding part 2) is used for puncturing the human body; the mirror tube part 1 and the holding part 2 form a main channel communicating with each other; the rear end of the holding part 2 is provided with an operation part 3, and the holding part 2 is provided with a first interface part 4, a second interface part 5 and a third interface part 6 on the outer circumferential side; the operation part 3, the first interface part 4, the second interface part 5 and the third interface part 6 all form branch channels communicating with the main channel; wherein the operation part 3 is used to introduce a surgical instrument connected with a guide wire, the first interface part 4 is used to introduce a monitoring device connected with an optical fiber, the second interface part 5 is used to connect an external liquid supply device through a pipeline, and the third interface is used to connect an external liquid suction device through a pipeline; the specific positions of the operation part 3 and the three interface parts on the holding part 2 can be arranged accordingly according to actual needs, and in the present embodiment, the first interface part 4 of the kidney mirror is located at the front end of the holding part 2, and the second interface part 5 and the third interface part 6 are located at the rear end of the holding part 2 and symmetrically arranged on both sides of the holding part 2.

[0029] The kidney mirror is connected with the mechanical arm of the kidney mirror robot through the kidney mirror robot mirror clamping device of the present embodiment, so as to maintain the stability of the kidney mirror during use.

[0030] The kidney mirror robot mirror clamping device includes a support plate 7, a connecting part 8 for connecting the mechanical arm of the kidney mirror robot, a mirror clamping part for clamping the kidney mirror, and a driving part for driving the mirror clamping part to move on the support plate 7; the kidney mirror is fixed on the support plate 7 by the mirror clamping part and reaches the puncture position under the driving of the mechanical arm; the mirror clamping part and the support plate 7 are connected to each other through a sliding mechanism, and under the driving of the driving part, the mirror clamping part moves along a preset path on the support plate 7 to drive the kidney mirror to move correspondingly to puncture the human body; a anti-shake structure is arranged on the sliding mechanism, which is used to reduce the shaking generated when the mirror clamping part moves, so that the kidney mirror can puncture smoothly.

[0031] Specifically, the support plate 7 is a rectangular plate structure, and other shapes such as a square or circular plate structure can be used instead according to actual conditions; the support plate 7 is formed with a connecting portion 8 at one end in the length direction, the connecting portion 8 is a circular plate structure, and other shapes such as a rectangular or square plate structure can be used instead according to actual conditions; the connecting portion 8 is fixedly connected to the support plate by a bolt, so that the support plate 7 is perpendicular to the connecting portion 8, and the connecting portion 8 and the support plate 7 form a T-shaped cross-section structure combination; the second end surface of the connecting portion 8 is connected and fixed by a second bolt, and the connecting portion 8 is provided with a bolt hole for locking and fixing the bolt when the mechanical arm of the connecting portion 8 is connected to the kidney mirror robot.

[0032] The sliding mechanism includes a guide rail 9 and a sliding block 10 slidingly connected to the guide rail 9; the guide rail 9 is fixedly installed on the top surface of the support plate 7, and the sliding block 10 is fixedly connected to the mirror clamping component, and the sliding block 10 and the guide rail 9 are slidingly connected to enable the mirror clamping component to move on the support plate 7 under the driving of the driving component; the guide rail 9 is an I-shaped linear guide rail 9, which forms a linear moving path for guiding, and the guide rail 9 includes a first flat portion 9a, a second flat portion 9b, and a vertical portion 9c connected between the first flat portion 9a and the second flat portion 9b, and the first flat portion 9a is connected to the support plate 7; the sliding block 10 is a rectangular block, and the sliding block 10 is formed with a guide rail groove 11 on the bottom surface; when the sliding block 10 and the guide rail 9 are slidingly connected, the second flat portion 9b of the guide rail 9 is accommodated in the guide rail groove 11 of the sliding block 10.

[0033] In the embodiment, two sliding mechanisms are provided, and the two sliding mechanisms are arranged in parallel to form two support forces on the support plate 7 to support the mirror clamping component, so that the mirror clamping component is uniformly stressed and is prevented from tilting during movement due to uneven stress.

[0034] The anti-shake structure includes a fixed plate 12 connected to the bottom surface of the sliding block 10, and a gap is formed between the bottom end of the fixed plate 12 and the support plate 7 to enable the bottom end of the fixed plate 12 to contact and rub against the support plate 7 when the sliding block 10 slides relative to the guide rail 9; the fixed plate 12 is detachably connected to a sleeve 13 on the inner side, the sleeve 13 is provided with a movable rod 14 and an elastic member, the elastic member provides an elastic force to the movable rod 14, and the movable rod 14 is pressed against the vertical portion 9c of the guide rail 9 to reduce the shaking of the sliding block 10 on the guide rail 9.

[0035] The sleeve 13 is a hollow circular cylindrical structure, one end of the sleeve 13 is formed with a barrel mouth, and the sleeve 13 is provided with external threads at the barrel mouth; the fixed plate 12 is provided with a circular connecting groove on the inner side, the connecting groove is provided with internal threads on the inner side wall, the barrel mouth of the sleeve 13 is threadedly connected to the connecting groove on the fixed plate 12; the other end of the sleeve 13 is formed with a through hole communicating with the barrel cavity, and the diameter of the through hole corresponds to the diameter of the movable rod 14.

[0036] The movable rod 14 is a cylindrical rod structure. One axial end of the movable rod 14 is the force-bearing end and is provided with a force-bearing plate 15. The other axial end of the movable rod 14 is the extension end and extends out of the sleeve 13 through the through hole on the sleeve 13. The extension direction of the movable rod 14 is perpendicular to the vertical outer side of the guide rail 9. The elastic element can apply elastic force to the force-bearing plate 15 on the movable rod 14 in the cavity of the sleeve 13 so that the extension end of the movable rod 14 extends out of the sleeve 13 and presses against the vertical part 9c of the guide rail 9. The diameter of the force-bearing plate 15 is larger than the diameter of the movable rod 14 to increase the force-bearing area and prevent the movable rod 14 from detaching from the sleeve 13.

[0037] The movable rod 14 is provided with a pressing block 16 at its extended end. When the extended movable rod 14 presses against the vertical part 9c of the guide rail 9, the outer surface of the pressing block 16 is in contact with the outer surface of the vertical part 9c of the guide rail 9 to increase the contact area and make the vertical part 9c evenly stressed. At this time, the outer surface of the pressing block 16 is the contact surface, and the contact surface of the pressing block 16 is a smooth surface. When the slider 10 slides, the pressing block 16 can slide relative to the guide rail 9 on the outer surface of the vertical part 9c of the guide rail 9 to reduce the friction and vibration generated between it and the vertical part 9c of the guide rail 9 and improve the stability of nephroscopic puncture. A lubricating fluid layer is coated between the contact surface of the pressing block 16 and the outer surface of the vertical part 9c of the guide rail 9 to further reduce frictional resistance. The pressing block 16 is connected to the extended end of the movable rod 14 by bolts to facilitate disassembly and replacement during maintenance. The extended ends of both the pressing block 16 and the movable rod 14 are provided with corresponding bolt holes.

[0038] The elastic element is a spring 17, which is housed in the cavity of the sleeve 13. One end of the spring 17 abuts against the inner side of the fixed plate 12, and the other end of the spring 17 abuts against the force plate 15 on the movable rod 14. Under normal conditions, the spring 17 is in a compressed state, and by providing elastic force to the force plate 15, the extended end of the movable rod 14 is kept pressing against the vertical part 9c of the guide rail 9.

[0039] The driving component is an electric screw, which is arranged on the bottom surface of the supporting plate 7 and comprises a threaded rod 18 and a servo motor 19. Both ends of the threaded rod 18 are rotatably connected to the bottom surface of the supporting plate 7 through a support 27, and the axial direction of the threaded rod 18 is parallel to the length direction of the guide rail 9. A screw nut 20 is threadedly connected to the threaded rod 18, and one side of the screw nut 20 is fixedly connected to the mirror clamping component. The servo motor 19 is fixedly connected to the bottom surface of the supporting plate 7, and the output end of the servo motor 19 is connected to one end of the threaded rod 18. The servo motor 19 generates a driving force to drive the screw nut 20 to move axially, thereby driving the mirror clamping component to move on the supporting plate 7. A through slot 21 is formed on the supporting plate 7 to allow the screw nut 20 to pass through the supporting plate 7 and connect the mirror clamping component. The through slot 21 is an elongated slot body, and the screw nut 8 can slide along the through slot 21. The servo motor 19 is a servo motor 19 in the prior art, which has a self-locking component inside. When stationary, the output end is limited to rotate to achieve self-locking, so that the threaded rod 18 stops rotating, the screw nut 20 is correspondingly stationary, and the mirror clamping component remains fixed in position, so as to remain fixed when the nephroscope is punctured to the set position. Since the threaded rod 18 and the screw nut 20 are matched with each other, the transmission precision of the transmission structure is high, so as to facilitate small feed adjustment of the clamping component and realize micro movement of the nephroscope, adapt to the needs of minimally invasive surgery, and reduce the discomfort of the human body during the operation.

[0040] The mirror clamping component comprises a movable plate 22, and one side of the screw nut 20 is connected to the bottom surface of the movable plate 22 through a bolt. At least two clamping seats are detachably arranged on the top surface of the movable plate 22. The number of clamping seats can be increased or decreased according to the structure of the nephroscope to be fixed. In this embodiment, three clamping seats are arranged, which correspond to the holding part 2, the second interface part 5 and the third interface part 6 of the nephroscope to be fixed, respectively.

[0041] A plurality of installation grooves 23 are formed on the top surface of the movable plate 22. The installation groove 23 is an elongated slot body with a T-shaped cross section. The installation groove 23 is parallel to the length direction of the movable plate 22 and has openings at both ends in the length direction of the movable plate 22. A bolt is inserted into the installation groove 23 through the opening. The top end of the bolt extends out of the top surface of the movable plate 22 through the slot of the installation groove 23 to connect the clamping seat, so that the clamping seat can be adjusted in position on the movable plate 22 by moving to adapt to the clamping and fixing needs of nephroscopes of different specifications.

[0042] The clamping seat comprises a first clamping block 24 and a second clamping block 25 which are butted against each other, the first clamping block 24 and the second clamping block 25 are provided with a clamping groove 26 at the middle of the butt joint surface and bolt holes provided on both sides of the clamping groove 26; the first clamping block 24 and the second clamping block 25 are butted against each other and fastened by locking bolts into the bolt holes; when the first clamping block 24 and the second clamping block 25 are butted against each other, the clamping grooves 26 on the first clamping block 24 and the second clamping block 25 are spliced to form a clamping cavity; the clamping grooves 26 on the first clamping block 24 and the second clamping block 25 are groove bodies with a V-shaped cross section, and when clamping, the inner side surface of the clamping groove 26 is tangent to the outer peripheral surface of the nephroscope to form a clamping force on the side of the nephroscope, so as to clamp and fix the nephroscope.

[0043] The first clamping block 24 is installed on the movable plate 22, the first clamping block 24 is provided with a bolt hole at the middle, the bolt hole is used for the bolt to pass through and fasten by locking a nut, the first clamping block 24 is provided with an avoiding groove at the lowest part of the clamping groove 26, the avoiding groove is used for the nut to lock; according to the actual situation, the second clamping block 25 can also be installed on the movable plate 22, the second clamping block 25 is provided with an avoiding groove at the lowest part of the clamping groove 26, the avoiding groove is used for the nut to lock.

[0044] The first clamping block 24 and the second clamping block 25 are provided with elastic pads (not shown in the figure) on the inner side surface of the clamping groove 26, the elastic pads are used to make the clamping groove 26 elastically contact the outer peripheral surface of the nephroscope, avoid rigid contact and damage the nephroscope, increase the clamping force on the nephroscope, effectively prevent the nephroscope from loosening and improve the stability.

[0045] The above embodiments of the present application are not a limitation on the protection scope of the present application, the embodiments of the present application are not limited to this, and other various forms of modifications, replacements or changes of the above structure of the present application can be made according to the above content of the present application, ordinary technical knowledge and common means in the art, without departing from the above basic technical idea of the present application, and all of them should fall within the protection scope of the present application.

Claims

1. A kidney mirror robot clamping mirror device with high stability, comprising a support plate, a movable clamping mirror component arranged on the support plate, and a driving component capable of driving the clamping mirror component to move; the clamping mirror component and the support plate are connected to each other through a sliding mechanism, and under the driving of the driving component, the clamping mirror component moves along a preset path on the support plate; characterized in that, The sliding mechanism comprises a guide rail and a sliding block connected with each other, and the sliding block is provided with an anti-shaking structure on the bottom surface, which can form a pressing force perpendicular to the length direction of the guide rail on both sides of the guide rail; The anti-shaking structure comprises a fixed plate connected with the bottom surface of the sliding block, and a gap is formed between the bottom end of the fixed plate and the supporting plate; a sleeve is detachably connected with the inner side of the fixed plate, the sleeve is provided with a movable rod and an elastic member, the elastic member provides an elastic force to the movable rod, and the movable rod is pressed against both sides of the guide rail; The sleeve is provided with external threads at the barrel opening, the fixed plate is provided with a connecting groove on the inner side, the connecting groove is provided with internal threads on the inner side wall, and the barrel opening of the sleeve is threadedly connected with the connecting groove on the fixed plate; a through hole is formed at one end of the sleeve away from the barrel opening, and the through hole is communicated with the barrel cavity, so that the movable rod can extend out of the sleeve to press against the guide rail. The driving component is an electric screw rod, which comprises a threaded rod and a servo motor; both ends of the threaded rod are rotatably connected to the bottom surface of the supporting plate through a support, the axial direction of the threaded rod is parallel to the length direction of the guide rail, a screw nut is threadedly connected to the threaded rod, and one side of the screw nut is fixedly connected with the mirror clamping component; the servo motor is fixedly connected to the bottom surface of the supporting plate, the output end of the servo motor is connected with one end of the threaded rod, a through groove is formed in the supporting plate, the screw nut can pass through the supporting plate to connect the mirror clamping component, and the screw nut can slide along the through groove.

2. The nephroscopic robotic mirror clamp device of claim 1, wherein, One end of the movable rod in the axial direction is a force receiving end and is provided with a force receiving plate, and the other end of the movable rod in the axial direction is an extending end and extends out of the sleeve through the through hole in the sleeve; the elastic member can exert an elastic force on the force receiving plate on the movable rod in the sleeve cavity of the sleeve, so that the extending end of the movable rod extends out of the sleeve to press against the guide rail.

3. The nephroscopic robotic mirror clamp device of claim 2, wherein, The movable rod is provided with a pressing block at the extending end, the pressing block has an abutting surface on the outer side which can be in close contact with the outer side surface of the guide rail, and the abutting surface is a smooth surface.

4. The nephroscopic robotic mirror clamp device of claim 3, wherein, The elastic member is a spring, the spring is accommodated in the barrel cavity of the sleeve, one end of the spring abuts against the inner side surface of the fixed plate, and the other end of the spring abuts against the force receiving plate on the movable rod; in a normal state, the spring is in a compressed state.

5. The stable nephroscopy robot mirror clamp device according to any one of claims 1-4, wherein, The mirror clamping component comprises an activity plate, at least two clamping seats are detachably arranged on the top surface of the activity plate, a plurality of installation grooves are formed in the top surface of the activity plate, the installation grooves are parallel to the length direction of the activity plate, and the installation grooves are open at both ends in the length direction of the activity plate to accommodate bolts, and the top end of the bolt extends out of the top surface of the activity plate to connect the clamping seat.

6. The nephroscopic robotic scope holder device of claim 5, wherein, The clamping seat comprises two clamping blocks which are in abutment with each other, a clamping groove is arranged at the middle of the abutment surface of the two clamping blocks, and bolt holes are arranged on both sides of the clamping groove; when the two clamping blocks are in abutment with each other, the clamping grooves on the two clamping blocks are spliced to form a clamping cavity.

7. The nephroscopic robotic scope holder device of claim 6, wherein, The clamping grooves on the two clamping blocks are groove bodies with a V-shaped cross section, and the inner side surface of the clamping groove is tangent to the outer circumferential surface of the nephroscope during clamping, so as to form a clamping force on the lateral side of the nephroscope.

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