Laparoscope supporting auxiliary device

Abstract

The invention relates to the technical field of medical equipment, in particular to a laparoscope supporting auxiliary device which comprises a support fixedly connected with a frame, and a fixing part used for fixing a laparoscope is arranged on the support. The support is provided with a steering assembly used for adjusting the position of the fixing piece. The steering assembly comprises a bevel gear set and a connecting rod; one end, far away from the frame body, of the connecting rod is fixedly connected with the fixing piece; the bevel gear set is rotationally connected to the support. The support is provided with a driving assembly used for driving the bevel gear set to rotate. The support is further provided with an inclination assembly used for adjusting the inclination angle of the fixing piece. The overturning trend caused by deviation of the laparoscope is counteracted through the reverse torque; meanwhile, the adsorption force is automatically enhanced when the pose of the lens is changed, so that the laparoscope clamping stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a laparoscope assisting device. Background Art

[0002] Laparoscopic surgery is a minimally invasive technique in which an instrument equipped with a miniature camera is inserted through a small incision in the abdominal wall. The instrument transmits real-time images to a monitor, providing the operator with a visual interface. This technique offers advantages such as minimal trauma and rapid recovery. However, the laparoscope's angle, position, and field of view must be constantly adjusted during the procedure, requiring high stability and flexibility in the operator's control of the laparoscope.

[0003] In the existing technology, some mirror-supporting devices have the defect of insufficient flexibility in actual application, which is specifically manifested in limited range of joint movement, inconvenient adjustment or inaccurate positioning. This may make it difficult for doctors to quickly adjust the field of view angle and position during surgery, affecting the smoothness and efficiency of the operation.

[0004] In summary, how to solve the problem that some devices in the existing technology may make it difficult for doctors to quickly adjust the field of view angle and position during surgery, affecting the smoothness and efficiency of the operation has become a difficult problem that needs to be solved urgently in this field. Therefore, it is necessary to propose a laparoscopic assist device. Summary of the Invention

[0005] To address the aforementioned issues, the present invention provides a laparoscopic assist device that utilizes a bevel gear set to simultaneously distribute power, achieving multifunctional integration within a confined space. Rotation of the bevel gear set drives the fixed component to undergo both revolution and rotation, enabling the laparoscope, which is fixed to the fixed component, to be adjusted to different positions. By converting complex mechanical linkages into automated operating instructions, the operator only needs to complete initial data settings to complete the process of positioning, angle fine-tuning, and enhanced installation stability. The device is easy to operate, flexible, and highly functional.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a laparoscopic assist device, comprising a bracket fixedly connected to a frame, the bracket being provided with a fixing part for fixing the laparoscope; the bracket being provided with a steering assembly for adjusting the position of the fixing part.

[0007] The steering assembly includes a bevel gear set and a connecting rod. The bevel gear set is used to drive the connecting rod to rotate; the connecting rod is rotatably matched with the frame of the bracket, and the end of the connecting rod away from the frame is fixedly connected to the fixing piece; the bevel gear set is rotatably connected to the frame of the bracket.

[0008] The bracket is provided with a driving assembly for driving the bevel gear set to rotate.

[0009] The technical principle of the above scheme is as follows:

[0010] The driving assembly drives the bevel gear set to rotate, and since the bevel gear set is rotationally connected to the frame body, the bevel gear set is used to drive the connecting rod to rotate, the connecting rod is fixedly connected with the fixing member, so that the connecting rod can be driven to revolve and rotate when the bevel gear set rotates, thereby the fixing member can be driven to revolve and rotate by the connecting rod, and the laparoscope fixedly connected with the fixing member can be adjusted to different positions.

[0011] The above scheme has the following beneficial effects:

[0012] 1. The driving assembly, the bevel gear set and the mechanical linkage of each component are used to integrate the position adjustment, the gravity compensation and the adsorption fixing function. When the driving assembly drives the bevel gear set to rotate, on the one hand, the first bevel gear drives the fixing member to revolve and rotate to realize the position adjustment, and on the other hand, the gravity adjustment mechanism of the linkage adjustment assembly is adjusted by the inclination assembly, so that the gravity deviation of the device is corrected during the adjustment of the position and posture of the fixing member.

[0013] 2. The gravity adjustment function of the adjustment assembly is used to adjust the displacement of the gravity of the device when the inclination angle of the fixing member is increased, and the overturning trend caused by the deviation of the laparoscope is offset by the reverse torque; at the same time, the adsorption assembly dynamically adjusts the adsorption strength according to the change of the position and posture of the fixing member, so that the adsorption force is automatically increased when the position and posture of the lens are changed, to improve the installation stability of the laparoscope clamping.

[0014] 3. The bevel gear set is used to realize the integration of multiple functions in a limited space, drive the fixing member to revolve and rotate when the bevel gear set rotates, so that the laparoscope fixedly connected with the fixing member can be adjusted to different positions. The complex mechanical linkage is converted into automatic operation instructions, and the operator only needs to complete the initial data setting to complete the positioning, angle fine adjustment and installation stability enhancement process; the device is convenient to operate, flexible and functional.

[0015] Further, the driving assembly comprises a controller and a plurality of driving members fixedly connected to the support frame body, the controller being configured to control the driving members to operate; output shafts of the driving members are fixedly connected to the support frame and the bevel gear set.

[0016] Beneficial effects: the driving members are started by the controller to drive the bevel gear set to rotate, so that the driving force forms a torque output, ensuring the structural stability under high-precision adjustment. The design synchronously improves the smoothness of the laparoscope orientation adjustment and the micro-operation precision through the linkage logic of electromechanical coupling, and is suitable for emergency scenes of quickly switching the visual field during the operation.

[0017] Further, the tilting assembly comprises a tilting rod, one end of the tilting rod being rotatably connected to the bevel gear set, and the other end of the tilting rod being rotatably connected to the connecting rod.

[0018] Beneficial effects: the rotation of the bevel gear set is converted into the spatial pose adjustment of the connecting rod through the composite transmission design of the bevel gear set and the tilting rod, so that the dynamic adjustment of the orientation adjustment and the change of the tilting angle is realized. When the driving members drive the bevel gear set to rotate, the tilting rod synchronously pushes the connecting rod to swing around the axis of rotation with the deflection, so that the fixed member automatically adjusts the tilting angle; thereby improving the adaptability of the device.

[0019] Further, the adjusting assembly comprises a horizontal rod, a rotating rod and a counterweight, one end of the horizontal rod being fixedly connected to the connecting rod away from the fixed member; the other end of the horizontal rod being hingedly connected to the rotating rod, and the end of the rotating rod away from the horizontal rod being fixedly connected to the counterweight; the hinged shaft of the horizontal rod and the rotating rod is fixedly connected to an adjusting gear, and a rack is engaged on the adjusting gear; the rack is in sliding fit with the horizontal rod; a pull wire is fixedly connected to the rack, and the end of the pull wire away from the rack is fixedly connected to the support frame, and the pull wire is tensioned on the outer wall of the tilting rod.

[0020] The horizontal rod is provided with a reset assembly for driving the rack to reset.

[0021] Beneficial effects: the dynamic cooperation of the gravity compensation and the pose adjustment is realized through the composite linkage design of the adjusting gear, the rack transmission and the flexible pull wire. When the tilting rod deflects, the pull wire drives the rack to slide along the horizontal rod, drives the rotating rod to swing through the adjusting gear, and drives the counterweight to move in the opposite direction of the laparoscope, so that a real-time torque balance is formed. The design of the reset assembly ensures that the counterweight is automatically reset after the operation is completed, so that the device can maintain a self-stabilized state in complex operations, thereby improving the safety of the operation.

[0022] Further, the reset assembly comprises a spring, one end of the spring being fixedly connected to the outer wall of the horizontal rod, and the other end of the spring being fixedly connected to the rack.

[0023] Beneficial effects: Through the linear restoring force of the spring and the precise cooperation of the rack sliding mechanism, the self-adaptive reset of the counterweight is realized. When the operation is completed, the spring pulls the rack to retract along the transverse rod, drives the adjusting gear to rotate in the opposite direction, and drives the counterweight to reset to the initial balance position. The elastic properties of the spring and the matching design of the rack sliding resistance ensure smooth and impact-free reset process, and can also offset inertial vibration in real time during dynamic adjustment, so that the device is always in a low potential energy stable state, improving the continuity and safety of rapid adjustment and reset operation in surgery.

[0024] Further, the adsorption assembly comprises a piston cylinder and an adsorption disc, the adsorption disc is fixedly connected to the bottom of the support, and the piston cylinder is fixedly connected to the outer wall of the support.

[0025] The piston cylinder is internally provided with a transmission assembly for driving the reciprocating movement of the piston plate.

[0026] Beneficial effects: The transmission assembly drives the reciprocating movement of the piston plate, the input pipe draws air in the adsorption disc into the piston cylinder, and the one-way valve design ensures one-way flow of fluid. The adsorption strength is linearly matched with the angle adjustment of the fixing member, and the more the adjustment times, the stronger the adsorption force, which matches the stable requirements at different stages of the operation. The output pipe guides the exhaust gas to the driving member for heat dissipation. The power output, negative pressure adsorption and heat dissipation functions are integrated into one, without the need for external air pump or power supply, which simplifies the structure and realizes intelligent response at the same time.

[0027] Further, the transmission assembly comprises a lead screw and a nut seat, the lead screw is coaxially fixedly connected to one side of the bevel gear set away from the inclined rod; the lead screw extends to the inside of the piston cylinder and is threadedly connected with the nut seat at the end away from the bevel gear set, and the nut seat is fixedly connected with the piston plate.

[0028] Beneficial effects: Through the threaded connection of the lead screw and the nut seat, the rotary motion of the bevel gear set is converted into the linear reciprocating motion of the piston plate, realizing dynamic regulation and control of the adsorption negative pressure. When the driving member drives the bevel gear set to rotate, the lead screw rotates synchronously and drives the nut seat to axially displace, pushing the piston plate to reciprocate to form suction or thrust. The power output is matched with the adsorption adjustment, so that the adsorption strength is automatically matched with the operation demand, avoiding the energy consumption and noise problem of traditional electric air pump, and ensuring the accuracy of piston stroke through rigid threaded transmission, improving the adsorption response speed and stability of the device in dynamic operation.

[0029] Further, the outer wall of the transverse rod is fixedly connected with a support block, and the rack is slidingly connected with the side wall of the support block.

[0030] Beneficial effects: The design of the supporting block provides a stable sliding guide structure for the rack. By limiting and supporting the rack, the rigidity and deformation resistance of the entire transmission component can be effectively improved, reducing the deviation or jitter of the rack during movement, thereby ensuring the stability and precision of the transmission.

[0031] Further, the fixing member is also fixedly connected with an angle sensor, and the controller is used for receiving and storing the angle information sent by the angle sensor, and controlling the driving member to operate based on the angle information, so as to adjust the inclination angle of the fixing member.

[0032] Beneficial effects: The angle sensor is used for real-time monitoring of the inclination angle change of the fixing member, and the inclination angle of the fixing member is adjusted based on the inclination angle change. The inclination angle change information is stored, so that the operator can trace the historical adjustment path and quickly reproduce the best view angle.

[0033] Further, the adsorption disc is also communicated with a ventilation valve, and the controller is used for controlling the opening and closing of the ventilation valve.

[0034] Beneficial effects: The ventilation valve and the controller are connected to realize intelligent closed-loop control of the adsorption force. When the adsorption needs to be released, the controller opens the ventilation valve to release the negative pressure, so that the device can be easily disassembled.

[0035] Additional aspects and advantages of the application will be described in part below, some of which will become apparent, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a perspective view of the laparoscope supporting device of the application.

[0037] Figure 2 It is an installation perspective view of the steering assembly in the laparoscope supporting device of the application.

[0038] Figure 3 It is a side view of the laparoscope supporting device of the application.

[0039] Figure 4 It is a sectional view of the adsorption disc in the laparoscope supporting device of the application.

[0040] Figure 5 It is a sectional view of the piston cylinder in the laparoscope supporting device of the application.

[0041] Figure 6 It is a sectional view of the supporting block in the laparoscope supporting device of the application.

[0042] Figure 7 It is an enlarged view of part A of the application. Figure 1

[0043] ​The figure marks in the drawings of the specification include: 1. bracket; 2. fixing frame; 3. support block; 4. first bevel gear; 5. double-sided bevel gear; 6. connecting rod; 7. motor; 8. second bevel gear; 9. tilt rod; 10. transverse rod; 11. rotating rod; 12. counterweight; 13. adjusting gear; 14. rack; 15. spring; 16. piston cylinder; 17. adsorption disk; 18. piston plate; 19. screw rod; 20. nut seat. DETAILED DESCRIPTION

[0044] The following is further described in detail through specific implementation methods:

[0045] Example 1, as attached Figure 1 Shown: A laparoscopic assist device comprises a bracket 1 fixedly connected to a frame by bolts, the bracket 1 is provided with a fixing part for fixing the laparoscope, in this embodiment the fixing part is a fixing frame 2; the bracket 1 is provided with a steering assembly for adjusting the position of the fixing frame 2.

[0046] Combine Figure 2 As shown, the steering assembly includes a bevel gear set and a connecting rod 6. The bevel gear set includes a first bevel gear 4, a second bevel gear 8 and a plurality of double-sided bevel gears 5. The first bevel gear 4 is coaxially fixedly connected to the connecting rod 6; the connecting rod 6 is rotationally matched with the frame of the bracket 1, and the end of the connecting rod 6 away from the first bevel gear 4 is fixedly connected to the fixing frame 2 with screws; the double-sided bevel gears 5 are symmetrically connected to the frame of the bracket 1, and the double-sided bevel gears 5 are all meshed with the first bevel gear 4.

[0047] Bracket 1 is provided with a drive assembly for rotating the double-sided bevel gear 5. The drive assembly includes a controller and several drive members bolted to bracket 1. In this embodiment, the drive members are servo motors 7. In this embodiment, there are two sets of servo motors 7, each with a uniform rotational speed. The controller is used to control the operation of motor 7. The output shafts of motor 7 pass through bracket 1 and are coaxially keyed to second bevel gear 8. Second bevel gear 8 meshes with the side of double-sided bevel gear 5 away from the first bevel gear 4. In this embodiment, a protective cover is provided on the outside of bracket 1, and the first bevel gear 4, second bevel gear 8, and double-sided bevel gear 5 are all located inside the protective cover. The design of the protective cover prevents external impurities from entering the moving parts, thereby increasing the service life of the device.

[0048] Specifically, the controller starts the motors 7 to rotate. Since the output shafts of the motors 7 are coaxially fixedly connected to the second bevel gears 8, and the second bevel gears 8 are meshed with the double-sided bevel gears 5, the motors 7 can drive the second bevel gears 8 to rotate, and the second bevel gears 8 can drive the double-sided bevel gears 5 on both sides to rotate. Figure 2For example, when the second bevel gears 8 on both sides rotate in the same direction, they can drive the double-sided bevel gears 5 on both sides to rotate in opposite directions; when the second bevel gears 8 on both sides rotate in opposite directions, they can drive the double-sided bevel gears 5 on both sides to rotate in the same direction. For example, when the second bevel gears 8 on both sides rotate counterclockwise, the double-sided bevel gear 5 on the right side rotates clockwise, while the double-sided bevel gear 5 on the left side rotates counterclockwise, making the rotation directions of the double-sided bevel gears 5 on both sides opposite. When the second bevel gear 8 on the right side rotates counterclockwise and the second bevel gear 8 on the left side rotates clockwise, the double-sided bevel gears 5 on both sides will rotate clockwise at the same time, making the double-sided bevel gears 5 on both sides rotate in the same direction.

[0049] Combine Figure 3 As shown, the bracket 1 is further provided with a tilting assembly for adjusting the tilt angle of the fixing frame 2; the driving assembly is used to drive the tilting assembly to operate so as to adjust the tilt angle of the fixing frame 2.

[0050] The tilting assembly includes a tilting rod 9 , one end of which is rotatably connected to the double-sided bevel gear 5 , and the other end of which is rotatably connected to the connecting rod 6 .

[0051] Specifically, by using the connection method of the tilting rod 9, when the double-sided bevel gears 5 on both sides rotate in the same direction, the double-sided bevel gears 5 always remain in mesh with the first bevel gear 4, so that the first bevel gear 4 can revolve around the double-sided bevel gear 5, and then the connecting rod 6 can drive the fixing frame 2 to tilt in different directions, thereby driving the laparoscope to tilt. In this process, the tilting rod 9 revolves synchronously with the first bevel gear 4, maintaining the connection between the bracket 1 and the connecting rod 6. Figure 3 For example, when the double-sided bevel gear 5 drives the tilt rod 9 to rotate clockwise, the top of the fixing frame 2 tilts to the right; conversely, when the double-sided bevel gear 5 drives the tilt rod 9 to rotate counterclockwise, the top of the fixing frame 2 tilts to the left.

[0052] The fixing frame 2 is also provided with an adjusting component for adjusting the center of gravity; the driving component is used to drive the adjusting component to operate synchronously to adjust the center of gravity of the device.

[0053] The adjustment assembly includes a transverse rod 10, a rotating rod 11 and a counterweight 12. One end of the transverse rod 10 is fixedly connected to the end of the connecting rod 6 away from the fixing frame 2 with screws; the other end of the transverse rod 10 is hinged to the rotating rod 11, and the end of the rotating rod 11 away from the transverse rod 10 is fixedly connected to the counterweight 12 with screws; the hinge axis of the transverse rod 10 and the rotating rod 11 is coaxially fixed with an adjustment gear 13 (such as Figure 7 As shown), a rack 14 is engaged with the adjusting gear 13, and the rack 14 slides with the transverse rod 10; a pull wire is fixedly sleeved on the rack 14, and the pull wire is a stainless steel wire in this embodiment; the end of the pull wire away from the rack 14 is fixedly sleeved with the bracket 1, and the pull wire is tensioned on the outer wall of the tilt rod 9.

[0054] The transverse rod 10 is provided with a return assembly for driving the rack 14 to return. The return assembly includes a spring 15 (such as Figure 6 As shown), one end of the spring 15 is fixedly connected to the outer wall of the transverse rod 10 with a screw, and the other end of the spring 15 is fixedly connected to the rack 14 with a screw.

[0055] Specifically, when the double-sided bevel gear 5 rotates in the same direction, the tilt rod 9 is displaced along with the deflection of the first bevel gear 4, and the wire tensioned on its outer wall is pulled and guided, thereby pulling the rack 14 to move. Figure 1 As shown, when the tilt rod 9 swings, the pull wire is tightened by the tension. After tightening, the pull wire pulls the rack 14 to slide along the transverse rod 10 toward the fixed frame 2; when the tilt rod 9 is reset, the pull wire is relaxed and the spring 15 drives the rack 14 to reset.

[0056] When the rack 14 slides, the rack 14 is engaged with the adjusting gear 13, and the adjusting gear 13 is coaxially fixed with the hinge axis of the rotating rod 11 and the transverse rod 10. Therefore, the adjusting gear 13 can be driven to rotate by the rack 14, and the adjusting rack 14 drives the hinge axis to drive the rotating rod 11 to swing, so that Figure 3 For example, when rack 14 slides to the left, driving adjustment gear 13 to rotate counterclockwise, rotating rod 11 drives counterweight 12 to rotate counterclockwise, generating a restraining torque. During adjustment of the tilt angle of mounting frame 2, counterweight 12 maintains the center of gravity of the device in balance. In this embodiment, when the tilt angle of mounting frame 2 is not adjusted, tilt rod 9 remains vertical, rotating rod 11 and transverse rod 10 are aligned horizontally, and the device remains balanced.

[0057] Combine Figure 4 and Figure 5 As shown, the bracket 1 is provided with an adsorption component for increasing the stability of laparoscope clamping; the driving component is used to drive the adsorption component to move synchronously to fix the device.

[0058] The adsorption assembly includes a piston cylinder 16 and an adsorption disc 17. The adsorption disc 17 is fixedly connected to the bottom of the bracket 1 by screws; the piston cylinder 16 is fixedly connected to the outer wall of the bracket 1 by screws, and the inner wall of the piston cylinder 16 is slidably fitted with a piston plate 18; in this embodiment, the sliding fit between the piston plate 18 and the inner wall of the piston cylinder 16 can provide a limit for the piston plate 18, so that the piston plate 18 maintains a linear movement trajectory. The side of the piston cylinder 16 away from the bracket 1 is connected to an input pipe and an output pipe, and the connection between the input pipe and the output pipe and the piston cylinder 16 is connected to a one-way valve; the end of the input pipe away from the piston cylinder 16 is connected to the inside of the adsorption disc 17, and the end of the output pipe away from the piston cylinder 16 is connected to the outer wall of the motor 7. In this embodiment, the one-way valve is used to maintain a one-way flow of the fluid inside the piston cylinder 16, so that the medium flows into the input pipe and then flows out through the output pipe.

[0059] A transmission assembly is located within piston cylinder 16, driving the reciprocating motion of piston plate 18. The transmission assembly includes a screw 19 and a nut holder 20. Screw 19 is coaxially fixedly secured to the side of double-sided bevel gear 5 that is distal to tilting rod 9. The end of screw 19, distal to double-sided bevel gear 5, extends into piston cylinder 16 and threads onto nut holder 20, which is then fixedly bonded to piston plate 18.

[0060] Specifically, when the double-sided bevel gear 5 rotates, the coaxially fixed screw 19 rotates synchronously. The thread of the screw 19 cooperates with the nut seat 20 in the piston cylinder 16 to convert the rotational motion into the linear displacement of the nut seat 20; thereby driving the piston plate 18 to reciprocate through the nut seat 20. When the piston plate 18 reciprocates, it can generate suction and thrust. When suction is generated, the air inside the adsorption disk 17 can be drawn into the piston cylinder 16, so that the adsorption disk 17 fits tightly with the contact surface; and when thrust is generated, the air inside the piston cylinder 16 is transmitted to the outer wall of the motor 7, and the airflow is used to dissipate heat from the motor 7. In this embodiment, the more times the position of the fixing frame 2 is adjusted, the less gas is inside the adsorption disk 17, making it more tightly fixed and the heat dissipation effect on the motor 7 stronger.

[0061] The specific implementation process is as follows:

[0062] Before performing a laparoscopic procedure, bracket 1 is secured to the operating table, and the laparoscope is secured using bracket 2. When the controller activates motor 7, the output shaft of motor 7 rotates second bevel gear 8, which meshes with double-sided bevel gear 5, transmitting power to double-sided bevel gear 5, driving it to rotate synchronously. Depending on the direction of rotation of second bevel gear 8 (in the same direction or in the opposite direction), double-sided bevel gear 5 rotates in the same or opposite direction.

[0063] When the double-sided bevel gears 5 on both sides rotate in the opposite direction, the first bevel gear 4 meshing with the double-sided bevel gears 5 rotates on its own, causing the connecting rod 6 coaxially fixed and clamped on the first bevel gear 4 to rotate synchronously. Since the fixing frame 2 is fixedly connected to the connecting rod 6 with screws, the fixing frame 2 can revolve around the connecting rod 6, thereby adjusting the laparoscope on the fixing frame 2 to different orientations to meet the adjustment requirements of different positions.

[0064] When the double-sided bevel gears 5 on both sides rotate in the same direction, the meshing first bevel gear 4 is converted into the revolution motion of the connecting rod 6, driving the fixing frame 2 and the laparoscope to tilt. Figure 3 As shown, when the double-sided bevel gear 5 rotates clockwise, the tilting rod 9 pushes the connecting rod 6 to tilt the top of the fixing frame 2 to the right; when it rotates counterclockwise, it tilts to the left.

[0065] At the same time, the displacement of the tilting rod 9 is achieved by sliding the rack 14 through the tensioning wire on its outer wall. Figure 1For example, when the tilt bar 9 swings, the pull wire is tightened to pull the rack 14 to slide to the left. The rack 14 is engaged with the adjusting gear 13, and when the rack 14 slides, the driving hinge shaft drives the rotating bar 11 to swing, so that the counterweight 12 rotates along the transverse bar 10. For example, when the fixed frame 2 tilts to the right, the counterweight 12 generates a reverse moment to reduce the overturning tendency caused by the deflection of the laparoscope. The spring 15 is designed to automatically reset the rack 14 after the operation is completed.

[0066] Furthermore, the rotation of the double helical gear 5 drives the nut base 20 to move linearly through the coaxial screw rod 19, and the nut base 20 drives the piston plate 18 to reciprocate in the piston cylinder 16, so that the piston plate 18 generates suction or thrust during reciprocation. When suction is generated, air in the adsorption disc 17 is sucked through the input pipe to enhance the adsorption force of the adsorption disc 17 on the contact surface. When thrust is generated, gas is discharged to the outer wall of the motor 7 through the output pipe to assist heat dissipation.

[0067] In this embodiment, the mechanical coupling of the gear set, the pull wire, the screw rod 19, and the nut base 20 achieves closed-loop linkage. After each orientation adjustment of the fixed frame 2, the adsorption disc 17 synchronously enhances the adsorption force, and the counterweight 12 adjusts the orientation to instantaneously correct the gravity center deviation. Through the cooperation of multiple components, the device can still maintain stability through negative pressure adsorption and counterweight compensation when the device changes during the operation.

[0068] Embodiment 2, as shown in the accompanying Figure 7 The difference between this embodiment and the above embodiments is that the transverse bar 10 is screw-fixedly connected with a support block 3, and the rack 14 is slidingly matched with the side wall of the support block 3.

[0069] The specific implementation process is as follows: the design of the support block 3 provides a stable sliding guide structure for the rack 14. By limiting and supporting the rack 14, the rigidity and anti-deformation ability of the entire transmission component can be effectively improved, the deviation or shaking of the rack 14 during movement is reduced, and the stability and precision of transmission are ensured.

[0070] Embodiment 3, the difference between this embodiment and the above embodiments is that an angle sensor is further fixedly connected to the fixed frame 2, and the controller is used to receive and store the angle information sent by the angle sensor, and control the rotation of the output shaft of the motor 7 based on the angle information to adjust the inclination angle of the fixed frame 2.

[0071] The specific implementation process is as follows: the angle sensor is used to monitor the inclination angle change of the fixed frame 2 in real time, and the inclination angle of the fixed frame 2 is adjusted based on the inclination angle change. The inclination angle change information is stored, so that the operator can trace the historical adjustment path and quickly reproduce the best view angle.

[0072] Embodiment 4, as shown in the accompanying Figure 4 The difference between this embodiment and the above embodiments is that the adsorption disc 17 is further communicated with a breather valve, and the controller is used to control the opening and closing of the breather valve.

[0073] The implementation process is as follows: the intelligent closed-loop control of adsorption force is realized by the linkage design of the breather valve and the controller. When the adsorption needs to be released, the controller opens the breather valve to release the negative pressure, so that the device can be easily disassembled.

[0074] Obviously, the above embodiments are only examples for clearly illustrating, but not limitation to the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A laparoscope assisting device, comprising a bracket (1) fixedly connected to a frame, wherein the bracket (1) is provided with a fixing member for fixing a laparoscope; characterized in that: The bracket (1) is provided with a steering assembly for adjusting the position of the fixing member; The steering assembly comprises a bevel gear set and a connecting rod (6), wherein the bevel gear set is used to drive the connecting rod (6) to rotate; the connecting rod (6) is rotationally matched with the frame of the bracket (1), and one end of the connecting rod (6) away from the frame is fixedly connected to the fixing member; the bevel gear set is rotationally connected to the frame of the bracket (1); The bracket (1) is provided with a driving assembly for driving the bevel gear set to rotate; the bracket (1) is also provided with a tilting assembly for adjusting the tilt angle of the fixing member; the driving assembly is also used to drive the tilting assembly to operate so as to adjust the tilt angle of the fixing member; The fixing member is also provided with an adjustment component for adjusting the center of gravity; the driving component is also used to drive the adjustment component to operate synchronously to adjust the center of gravity of the device; The bracket (1) is provided with an adsorption component for increasing the stability of laparoscope clamping; the driving component is also used to drive the adsorption component to move synchronously to fix the device.

2. The laparoscopic assist device according to claim 1, characterized in that: The driving assembly comprises a controller and a plurality of driving members fixedly connected to the frame of the bracket (1); the controller is used to control the operation of the driving members; the output shafts of the driving members all pass through the bracket (1) and are fixedly connected to the bevel gear set.

3. The laparoscopic assist device according to claim 2, characterized in that: The tilting assembly comprises a tilting rod (9), one end of which is rotationally connected to the bevel gear set, and the other end of which is rotationally connected to the connecting rod (6).

4. The laparoscopic assist device according to claim 3, characterized in that: The adjustment assembly comprises a transverse rod (10), a rotating rod (11) and a counterweight (12), one end of the transverse rod (10) is fixedly connected to the end of the connecting rod (6) away from the fixed member; the other end of the transverse rod (10) is hinged to the rotating rod (11), and the end of the rotating rod (11) away from the transverse rod (10) is fixedly connected to the counterweight (12); the hinge axis of the transverse rod (10) and the rotating rod (11) is coaxially fixedly connected with an adjustment gear (13), a rack (14) is meshed on the adjustment gear (13), and the rack (14) and the transverse rod (10) are slidably matched; a pull wire is fixedly connected to the rack (14), and the end of the pull wire away from the rack (14) is fixedly connected to the bracket (1), and the pull wire is tensioned on the outer wall of the tilting rod (9); A return assembly for driving the rack (14) to return is provided on the transverse rod (10).

5. The laparoscopic assist device according to claim 4, characterized in that: The return assembly comprises a spring (15), one end of the spring (15) is fixedly connected to the outer wall of the transverse rod (10), and the other end of the spring (15) is fixedly connected to the rack (14).

6. The laparoscopic assist device according to claim 5, characterized in that: The adsorption assembly comprises a piston cylinder (16) and an adsorption disc (17), wherein the adsorption disc (17) is fixedly connected to the bottom of the bracket (1); the piston cylinder (16) is fixedly connected to the outer wall of the bracket (1), and the inner wall of the piston cylinder (16) is slidably fitted with a piston plate (18); an input pipe and an output pipe are connected to the side of the piston cylinder (16) away from the bracket (1), and the connection points of the input pipe and the output pipe with the piston cylinder (16) are both connected to a one-way valve; an end of the input pipe away from the piston cylinder (16) is connected to the interior of the adsorption disc (17), and an end of the output pipe away from the piston cylinder (16) is connected to the outer wall of the driving member; A transmission assembly for driving the piston plate (18) to reciprocate is provided inside the piston cylinder (16).

7. The laparoscopic assist device according to claim 6, characterized in that: The transmission assembly includes a screw rod (19) and a nut seat (20), wherein the screw rod (19) is coaxially fixedly connected to the side of the bevel gear group away from the tilting rod (9); one end of the screw rod (19) away from the bevel gear group extends to the inside of the piston cylinder (16) and is threadedly matched with the nut seat (20), and the nut seat (20) is fixedly connected to the piston plate (18).

8. The laparoscopic assist device according to claim 7, characterized in that: The outer wall of the transverse rod (10) is fixedly connected to the support block (3), and the rack (14) is slidably matched with the side wall of the support block (3).

9. The laparoscopic assist device according to claim 8, characterized in that: An angle sensor is also fixedly connected to the fixing member. The controller is used to receive and store angle information sent by the angle sensor, and control the operation of the driving member based on the angle information to adjust the tilt angle of the fixing member.

10. The laparoscopic assist device according to claim 9, characterized in that: The adsorption disc (17) is also connected to a vent valve, and the controller is used to control the opening and closing of the vent valve.

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