A multifunctional control device for assisting endoscopic intervention

Abstract

The application relates to the technical field of medical equipment, in particular to a multifunctional control device for assisting endoscope interventional treatment, which comprises a foot pedal device, a cluster control box, a holding device and a signal line, the cluster control box is connected with the foot pedal device through the signal line, a plurality of holding devices are connected with the cluster control box, a control panel center is installed in the cluster control box, the holding device comprises a fixed base, a sliding push base, a sliding block body, a half-ring supporting body and a buckle cover body, the sliding push base is slidingly installed on the fixed base, a module fixing assembly is arranged at the right end of the fixed base, L-shaped limiting edge plates are symmetrically arranged at the two sides of the sliding push base, the sliding block body is slidingly installed on the sliding push base through the limiting edge plates, the application can make a plurality of endoscope examination operation modules be concentrated together, manual control is completely replaced by foot pedal electric control through mode function switching, and the task amount of hands is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a multifunctional control device for assisting endoscopic interventional therapy. Background Technology

[0002] Currently, two-person endoscopic interventional therapy is the mainstream treatment method for gastrointestinal endoscopic interventions. However, the treatment effect is often affected by differences in experience, cooperation, and understanding between the two-person team. In two-person cooperation, the assistant's understanding of the surgeon's intentions and lesion management may differ, often leading to poor coordination, such as unsatisfactory endoscope clamping angle, submucosal injection speed or orientation, and a series of problems. Extensive clinical experience has shown that single-person operation mode is more labor-saving, cost-effective, and time-saving than the two-person mode. Prototype testing has also demonstrated that the two-person mode has better treatment results. To reduce the delay between the nurse's operation and the doctor's intentions, and to prevent inaccuracies, the doctor can control various endoscopic instruments by foot, setting different speed, tension, and angle parameters according to different instruments.

[0003] There is an urgent need for an auxiliary endoscopic control platform to enable endoscopic interventional treatments that previously required two people to perform, thereby smoothly realizing treatment operations such as endoscopic biopsy, submucosal injection, wound closure, wound hemostasis, and incision control. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a multifunctional control device for assisting endoscopic interventional therapy, which addresses the shortcomings of the prior art.

[0005] The technical problem to be solved by the present invention is achieved through the following technical solution: a multifunctional control device for assisting endoscopic interventional treatment, comprising a foot pedal device, a cluster control box, a gripping device, and a signal line. The cluster control box is connected to the foot pedal device via the signal line. The cluster control box is connected to multiple sets of gripping devices. The cluster control box is equipped with a control panel center. The gripping device comprises a fixed base, a sliding base, a slider, a semi-ring support, and a cover. The sliding base is slidably mounted on the fixed base. A module fixing component is provided at the right end of the fixed base. Limiting side plates are symmetrically provided on both sides of the sliding base. Linear displacement control can be achieved between the sliding base and the fixed base, and between the slider and the sliding base, through a driving device. Angular displacement control can be achieved between the semi-ring support and the slider through a driving device.

[0006] Furthermore, the foot pedal device includes a support base, a disc base, a pedal, and a suspension rod. The disc base is rotatably mounted on the left side of the support base. The disc base is equipped with an angle sensor. The pedal is hinged to the disc base. The bottom of the pedal is equipped with a damping buffer assembly. The top of the pedal is equipped with an extension rod. The middle part of the suspension rod is rotatably connected to the extension rod to form a suspended state.

[0007] Furthermore, a counterweight ball is provided at the bottom of the boom, a first reflector is fixedly attached to the side of the boom, an L-shaped support rod is fixed to the upper edge of the disc seat, and a distance sensor is provided at the top of the L-shaped support rod opposite to the first reflector.

[0008] Furthermore, a side plate is provided on the right side of the support base, and a top plate is provided on the top of the side plate. A second reflector is fixedly installed on the top of the suspension rod. The plane of the second reflector is perpendicular to the length direction of the suspension rod. A light spot detection sensor opposite to the second reflector is embedded in the bottom of the top plate.

[0009] Furthermore, the control panel center includes a control switching button, a critical release button, a thread lock button, a rotation lock button, and a smooth indicator light. The control switching button is used to switch the control object of the gripping device currently connected to the foot pedal device cluster control box. The control switching button is provided with a mode indicator window. The critical release button is provided with a temporary status indicator light. The thread lock button is provided with a thread lock indicator light. The rotation lock button is provided with a rotation lock indicator light.

[0010] Furthermore, an elastic rope is connected to the left side of the slider body and the left end of the limiting side plate. The left and right sides of the limiting side plate are provided with reversing pulleys. The left end of the sliding base is provided with a first reduction motor device. The output end of the first reduction motor device is provided with a first drum. The right side of the slider body is connected with a pull rope. The pull rope passes around the right and left reversing pulleys of the limiting side plate in sequence and is fixedly connected to the first drum.

[0011] Furthermore, the cover body is fixedly fastened to the slider body, and the cover body has symmetrical rope holes on both sides. The cover body has a second reduction motor device on the upper part, and the output end of the second reduction motor device has a second drum. The left end of the semi-ring support body is fixed with a pull rope. The pull rope passes through the rope hole and wraps around the second drum multiple times before being fixed to the right end of the semi-ring support body through another rope hole.

[0012] Furthermore, a roller assembly is embedded in the center of the inner wall of the cover body, and roller assemblies are symmetrically embedded in both sides of the inner wall of the slider body. Both the inner wall of the cover body and the inner wall of the slider body are provided with inner grooves, and the roller assembly is installed in the inner groove. The roller assembly includes a roller for free contact and rolling.

[0013] Furthermore, a replaceable elastic element is provided between the fixed base and the sliding base. The fixed base is equipped with a third reduction motor device, and the output end of the third reduction motor device is equipped with a third drum. Extendable reversing pulleys are symmetrically provided at the square corners of the fixed base. Pull ropes are connected to both sides of the right end of the sliding base. The pull ropes pass around the corresponding reversing pulleys and are fixedly connected to the third drum.

[0014] Furthermore, the limiting side plate has an L-shaped cross-section on one side, and the slider body is slidably mounted on the sliding base through the limiting side plate. The slider body is provided with a semi-cylindrical groove for accommodating the semi-ring support body, and the semi-ring support body is provided with an instrument groove, and the instrument groove is provided with anti-slip rubber.

[0015] Compared with the prior art, the present invention has the following advantages: (1) This invention can integrate multiple endoscopic examination operation modules together. By switching the mode function, the completely manual control can be replaced by foot pedal electric control, which reduces the workload of the hands and avoids problems caused by differences in understanding of biopsy location, visual differences in distance judgment, and experience differences in the timing of closing biopsy forceps in the two-person operation mode. (2) The invention can control a variety of operating instruments by integrating them into a general-purpose gripping device through modular design, and can improve the clamping part according to the different instruments, so as to realize the thread feed control, rotary feed control and critical point control process of various instruments. (3) Both the thread control and rotation control of the invention can achieve continuous movement by driving the rope through the rotation of the drum, which can reduce the use of electric push rods, improve the flexibility of the driving process and space utilization, reduce the cost of use, and facilitate production and manufacturing. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the foot pedal device 1 of the present invention; Figure 2 This is a schematic diagram of the structure of the cluster control box 2 of the present invention; Figure 3 This is a schematic diagram of the structure of the control panel center 21 of the present invention; Figure 4 This is a schematic diagram of the structure of the holding device 3 of the present invention; Figure 5 yes Figure 4 A schematic diagram of the cross-sectional structure at position A in the middle; 1-Foot pedal device, 11-Support base, 111-Side plate, 112-Top plate, 112a-Spot detection sensor, 12-Disc base, 121-Damping buffer assembly, 122-Distance sensor, 13-Pedal, 14-Hanging rod, 141-First reflector, 142-Second reflector, 15-Angle sensor, 2-Cluster control box, 21-Control panel center, A1-Control switching button, A2-Critical release button, A3-Thread lock button, A4-Rotation lock button, a1-Mode indicator window, a2-Critical release button A3-State indicator light, A4-Thread lock indicator light, B-Smoothness indicator light, 3-Holding device, 31-Fixed base, 311-Third geared motor device, 32-Sliding base, 321-Limiting side plate, 322-First geared motor device, 322a-First drum, 322b-Reversing pulley, 323-Fixed body, 324-Elastic rope, 33-Sliding body, 34-Half ring support body, 35-Closure cover body, 351-Second geared motor device, 352-Roller body assembly, 4-Signal line. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] like Figure 1-5 As shown, the present invention discloses a multifunctional control device for assisting endoscopic interventional treatment, including a foot pedal device 1, a cluster control box 2, a gripping device 3, and a signal line 4. The cluster control box 2 is connected to the foot pedal device 1 via the signal line 4.

[0019] The foot pedal device 1 is further described below. The foot pedal device 1 includes a support base 11, a disc base 12, a pedal 13, and a suspension rod 14. The disc base 12 is rotatably mounted on the left side of the support base 11. The disc base 12 is equipped with an angle sensor 15. The pedal 13 is hinged to the disc base 12. A damping buffer assembly 121 is provided at the bottom of the pedal 13. An extension rod is provided at the top of the pedal 13. The middle part of the suspension rod 14 is rotatably connected to the extension rod to form a suspended state. A counterweight ball is provided at the bottom of the suspension rod 14. A first reflector plate 141 is fixedly attached to the side of the suspension rod 14. An L-shaped support rod is fixed to the upper edge of the disc base 12. A distance sensor 122 is provided at the top of the L-shaped support rod, opposite to the first reflector plate 141. The support base 11 has a side plate 111 on its right side, and a top plate 112 on top of the side plate 111. A second reflector 142 is fixedly installed on the top of the suspension rod 14. The plane of the second reflector 142 is perpendicular to the length direction of the suspension rod 14. A light spot detection sensor 112a, opposite to the second reflector 142, is embedded in the bottom of the top plate 112. The foot pedal device 1 can receive multiple control signals from the surgeon. When the surgeon steps down on the pedal 13, the first reflector 141 moves forward towards the distance sensor 122. The distance sensor 122 receives signals to control the thread length of the current holding device 3. The specific control method can be a critical point control method or an analog control method. When using critical point control, if the detected distance is greater than a threshold, the motor of the gripping device 3 continuously decreases the thread at a certain speed; if the detected distance is less than the threshold, the motor of the gripping device 3 continuously increases the thread at a certain speed. If analog control is used, the distance signal received by the distance sensor 122 is proportionally fed back to the thread control of the motor of the gripping device 3; that is, the thread ratio increases proportionally after the pedal is pressed down at a certain angle. Specifically, in setting the thread control mode, macro-level thread control and micro-level thread control can be set, thereby reducing the difficulty of control, avoiding fatigue from continuous pedaling, and improving the control accuracy of the end effector. The threshold setting is further explained below. When using critical point control, it is a digital automatic continuous control, such as... Figure 1As shown, due to the damping buffer assembly 121, when the pedal 13 is not stepped on by an external force, the angle between the plane of the pedal 13 and the disc base 12 is approximately 30°, which is the state shown in the figure. At this time, the first reflector 141 remains vertical under the gravity suspension of the hanger 14. The distance of the first reflector 141 in the current state can be set to 50mm, and the distance between the second reflector 142 and the top is 10mm. The detection threshold of the distance sensor 122 is set to 30mm. When the pedal is stepped on, the angle between the pedal 13 and the disc base 12 gradually decreases, and the distance between the first reflector 141 and the distance sensor 122 also gradually decreases, causing the first reflector 141 to move horizontally to the lower right in space. When the distance between the first reflector 141 and the distance sensor 122 changes from 50mm to 30mm, that is, when the first reflector 141 moves 20mm to the right laterally, the distance sensor... When device 122 detects a signal, it sends a control signal to the holding device 3. The holding device 3 rotates the motor at a speed set by the program. This thread speed is specifically set based on endoscopic experience in daily clinical operations. For example, the speed can be set to 5 mm / s in gastrointestinal endoscopy operations, so that the thread is released. Even if the foot pedal is pressed down again, as long as the detection distance is less than 30 mm, the holding device 3 will continue to perform this action. When it is necessary to stop, the thread lock button A3 in the center of the control panel 21 is pressed manually. The holding device 3 remains locked in the current state, and the signal sent by the foot pedal device 1 is cut off. When it is necessary to pull back or reduce the thread, the thread lock button A3 is pressed again, and the pedal 13 needs to be released at the same time. The pedal 13 springs up, so that the distance between the first reflector 141 and the distance sensor 122 is greater than 30 mm. During the thread retraction process, the thread data is continuously monitored. The above control method is applicable to macro-level thread control. As the name suggests, macro-level thread control is chosen for thread control requirements with relatively large feed rates. For example, when targeting a lesion location, rapid and continuous thread release is needed to position the end effector near the lesion. Since this process does not involve specific surgical operations, high precision is not required. However, once the end effector reaches the lesion location, more precise operations are needed. At this point, large-scale thread movement is not required. By switching modes and pressing the critical release button A2, the critical position is the lesion location. At this point, free micro-manipulation of the lesion location is performed, thus switching to analog control mode. Proportional feedback control can be implemented to track and detect the movement of pedal 13. When pedal 13 is pressed down, the first reflector 141 moves to the right, and the distance sensor 122 detects that the distance between them is slowly decreasing. For example, the speed of change of the distance between them is 10mm / s. Through program setting, the speed of change of the thread of the corresponding gripping device 3 can be made to be 1mm / s. By continuous pressing and the use of the thread locking button A3, a reciprocating control effect can be obtained. That is, when pedal 13 is pressed down, the thread moves forward a corresponding distance, and when pedal 13 is raised, the thread is retracted a corresponding distance, thus realizing a high-precision micro-thread proportional control mode.

[0020] The cluster control box 2 is connected to multiple gripping devices 3. The cluster control box 2 is equipped with a control panel center 21, which includes a control switching button A1, a critical release button A2, a thread lock button A3, a rotation lock button A4, and a stability indicator light b. The control switching button A1 is used to switch the gripping device 3 currently controlled by the foot pedal device 1 connected to the cluster control box 2. The control switching button A1 has a corresponding mode indicator window a1. The critical release button A2 has a corresponding critical status indicator light a2. The thread lock button A3 has a corresponding thread lock indicator light a3. The rotation lock button A4 has a corresponding rotation lock indicator light a4. After the device is installed, the operator can freely switch the instrument currently controlled by the foot pedal device 1 without reinstallation. The current state can be locked using the locking buttons, reducing fatigue from continuous pedaling and simplifying control. The stability indicator light b displays the size of the light spot detected by the light spot detection sensor 112a, indicating the amplitude of the swing of the boom 14. The light spot should be smaller than a certain diameter range. When the light spot exceeds a certain threshold, it indicates that the operator's footwork amplitude is fluctuating greatly, requiring more stable footwork to improve operational accuracy. This is particularly important when the end effector requires minute linear and rotary feeds. The operator needs to keep the stability indicator light b illuminated to ensure the stability of the footwork, thereby improving operational safety and precision.

[0021] The gripping device 3 is further described below. The gripping device 3 includes a fixed base 31, a sliding base 32, a slider 33, a semi-ring support 34, and a cover 35. The sliding base 32 is slidably mounted on the fixed base 31. The fixed base 31 has a module fixing component at its right end. The sliding base 32 has L-shaped limiting side plates 321 symmetrically arranged on both sides. The sliding base 32 also has a fixing body 323 for fixing the fixed end of the instrument. The slider 33 is slidably mounted on the sliding base 32 through the limiting side plates 321. The slider 33 has a semi-cylindrical groove for accommodating the semi-ring support 34. The semi-ring support 34 has an instrument groove with anti-slip rubber inside. The linear displacement between the sliding base 32 and the fixed base 31, and between the slider 33 and the sliding base 32, can be controlled by a driving device. The angular displacement between the semi-ring support 34 and the slider 33 can be controlled by a driving device. An elastic rope 324 is connected to the left end of the limiting side plate 321 on the left side of the slider body 33. The limiting side plate 321 has reversing pulleys 322b on both its left and right sides. A first reduction motor device 322 is located at the left end of the sliding base 32, and a first drum 322a is located at the output end of the first reduction motor device 322. A pull rope is connected to the right side of the slider body 33. The pull rope passes sequentially around the reversing pulleys 322b on the right and left sides of the limiting side plate 321 and is fixedly connected to the first drum 322a. By pulling the ropes on both sides, the slider body 33 can move relative to the sliding base 32. When the ropes are released, the elastic rope 324 pulls back, thus enabling bidirectional movement.

[0022] The cover body 35 is fixedly fastened to the slider body 33. The cover body 35 has symmetrical rope holes on both sides. A second reduction motor device 351 is located on the upper part of the cover body 35. A second drum is located at the output end of the second reduction motor device 351. A pull rope is fixed to the left end of the semi-ring support body 34. The pull rope passes through the rope hole, wraps around the second drum multiple times, and is then fixed to the right end of the semi-ring support body 34 through another rope hole. A roller assembly 352 is embedded in the center of the inner wall of the cover body 35. Roller assemblies 352 are symmetrically embedded in both sides of the inner wall of the slider body 33. Both the inner walls of the cover body 35 and the slider body 33 have inner grooves. The roller assemblies 352 are installed in these inner grooves and include rollers for free contact and rolling. It is important to note that the rope connection method between the second drum and the first drum 322a is different. The rope of the second drum is not fixedly connected; instead, after the rope has been wound multiple times, its two ends are connected to the semi-circular support 34. The output motion is that one end tightens while the other end loosens, thus achieving coordinated drive rotation. Specifically, the rope of the second drum can be a slightly elastic rope, and the actual rotation angle and the motor rotation angle can be matched and calibrated to simultaneously improve control speed and rotation accuracy.

[0023] A replaceable elastic element is provided between the fixed base 31 and the sliding base 32. The fixed base 31 is equipped with a third reduction motor device 311, and the output end of the third reduction motor device 311 is equipped with a third drum. Symmetrically arranged outward-extending reversing pulleys 322b are provided at the square corners of the fixed base 31. Pull ropes are connected to both sides of the right end of the sliding base 32, and the pull ropes are fixedly connected to the third drum after passing over the corresponding reversing pulleys 322b. The rotation of the third drum controls the synchronous winding and unwinding of the ropes on both sides, achieving triggering drive under the constraint of the elastic element. The replaceable elastic element can be used to adjust the triggering speed. This invention uses three sets of rope drums for control, eliminating the need for a complex push rod structure, saving space and effectively reducing costs. Of course, in actual use, the gripping device 3 can be adapted locally according to different types of instruments, or a separate gripping device 3 can be designed, depending on the actual situation. Furthermore, the feeding method driven by an electric push rod is also a retained option of this invention.

[0024] This invention relates to a multifunctional foot pedal control device for assisting endoscopic procedures. It can be used to assist in endoscopic fluid injection, submucosal tissue glue injection, and facilitate intraoperative hemostasis. It can also assist in endoscopic wound closure, using a foot pedal to control disposable soft tissue clips to close the wound, and to assist in wound hemostasis by controlling heated biopsy forceps. Furthermore, it assists in endoscopic polyp removal, using a foot pedal to control a disposable snare for resection, and an endoscopic incision knife for wound incision and dissection.

[0025] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multifunctional control device for assisting endoscopic interventional therapy, characterized in that: The device includes a foot pedal, a cluster control box, a gripping device, and a signal cable. The cluster control box is connected to the foot pedal via the signal cable and is connected to multiple gripping devices. The cluster control box has a control panel center. The gripping device includes a fixed base, a sliding base, a slider, a semi-ring support, and a cover. The sliding base is slidably mounted on the fixed base. The right end of the fixed base has a module fixing component. The sliding base has symmetrically arranged limiting plates on both sides. Linear displacement control can be achieved between the sliding base and the fixed base, and between the slider and the sliding base, through a driving device. Angular displacement control can be achieved between the semi-ring support and the slider through a driving device.

2. The multifunctional control device for assisting endoscopic interventional therapy according to claim 1, characterized in that: The foot pedal device includes a support base, a disc base, a pedal, and a suspension rod. The disc base is rotatably mounted on the left side of the support base. The disc base is equipped with an angle sensor. The pedal is hinged to the disc base. The bottom of the pedal is equipped with a damping buffer assembly. The top of the pedal is equipped with an extension rod. The middle part of the suspension rod is rotatably connected to the extension rod to form a suspended state.

3. The multifunctional control device for assisting endoscopic interventional therapy according to claim 2, characterized in that: The bottom of the boom is provided with a counterweight ball, a first reflector is fixedly attached to the side of the boom, an L-shaped support rod is fixed to the upper edge of the disc seat, and a distance sensor is provided on the top of the L-shaped support rod opposite to the first reflector.

4. The multifunctional control device for assisting endoscopic interventional therapy according to claim 2, characterized in that: The support base has a side plate on the right side, and a top plate on the top of the side plate. A second reflector is fixedly installed on the top of the rod. The plane of the second reflector is perpendicular to the length direction of the rod. A light spot detection sensor opposite to the second reflector is embedded in the bottom of the top plate.

5. The multifunctional control device for assisting endoscopic interventional therapy according to claim 1, characterized in that: The control panel center includes a control switching button, a critical release button, a thread lock button, a rotation lock button, and a smooth indicator light. The control switching button is used to switch the control object of the gripping device currently connected to the foot pedal device cluster control box. The control switching button is equipped with a mode indicator window. The critical release button is equipped with a contact status indicator light. The thread lock button is equipped with a thread lock indicator light. The rotation lock button is equipped with a rotation lock indicator light.

6. The multifunctional control device for assisting endoscopic interventional therapy according to claim 1, characterized in that: An elastic rope is connected to the left side of the slider body and the left end of the limiting side plate. The left and right sides of the limiting side plate are provided with reversing pulleys. The left end of the sliding base is provided with a first reduction motor device. The output end of the first reduction motor device is provided with a first drum. The right side of the slider body is connected with a pull rope. The pull rope passes around the right and left reversing pulleys of the limiting side plate in sequence and is fixedly connected to the first drum.

7. The multifunctional control device for assisting endoscopic interventional therapy according to claim 1, characterized in that: The cover is fixedly fastened to the slider body. The cover has symmetrical rope holes on both sides. The upper part of the cover is provided with a second reduction motor device. The output end of the second reduction motor device is provided with a second drum. The left end of the semi-ring support is fixed with a pull rope. The pull rope passes through the rope hole and wraps around the second drum multiple times before being fixed to the right end of the semi-ring support through another rope hole.

8. The multifunctional control device for assisting endoscopic interventional therapy according to claim 7, characterized in that: A roller assembly is embedded in the center of the inner wall of the cover body, and roller assemblies are symmetrically embedded on both sides of the inner wall of the slider body. Both the inner wall of the cover body and the inner wall of the slider body are provided with inner grooves. The roller assembly is installed in the inner grooves. The roller assembly includes a roller for free contact and rolling.

9. A multifunctional control device for assisting endoscopic interventional therapy according to claim 1, characterized in that: A replaceable elastic element is provided between the fixed base and the sliding base. The fixed base is equipped with a third reduction motor device. The output end of the third reduction motor device is equipped with a third drum. Extendable reversing pulleys are symmetrically provided at the square corners of the fixed base. Pull ropes are connected to both sides of the right end of the sliding base. The pull ropes are fixedly connected to the third drum after passing around the corresponding reversing pulleys.

10. A multifunctional control device for assisting endoscopic interventional therapy according to claim 1, characterized in that: The limiting side plate has an L-shaped cross-section on one side. The slider body is slidably mounted on the sliding base through the limiting side plate. The slider body is provided with a semi-cylindrical groove for accommodating the semi-ring support body. The semi-ring support body is provided with an instrument groove, and the instrument groove is provided with anti-slip rubber.

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