Flexible ureteroscope control device

Abstract

The utility model discloses a flexible ureteroscope control device which comprises a footstand, a stand column, a translation mechanism, a positioning seat, a steering wheel and a flexible ureteroscope mechanism, the footstand is arranged at the bottom end of the stand column, the stand column is used for adjusting the vertical height of the flexible ureteroscope mechanism, and the top end of the stand column is connected with the translation mechanism. The translation mechanism is used for adjusting the horizontal position of the soft lens mechanism, the positioning seat is installed on the translation mechanism, the steering wheel is rotatably connected with the positioning seat, and the steering wheel is provided with a connecting ring used for being connected with the soft lens mechanism. A user does not need to keep a fixed posture for a long time, the mode that a surgeon uses an elbow, a wrist and fingers to cooperatively exert force to control displacement and rotation of the flexible lens is changed, the whole operation is stably supported, and the posture of the flexible lens can be kept through locking and damping design at any stroke and angle.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a ureteroscope control device. Background Art

[0002] The ureteroscope control mechanism will be used in transurethral bladder, ureter and kidney surgery scenarios, and can help surgeons achieve precise control of the soft mirror within the limited space in the body. It is applicable to procedures such as ureteroscope lithotripsy. The mechanism can also be integrated into the endoscopic surgical robot system as a control input device.

[0003] The existing ureteroscope control mechanism has the following disadvantages during use:

[0004] 1. Operational limitations: Insufficient coaxial rotation: The soft mirrors currently on the market lack sufficient coaxial rotation in terms of navigation and manipulation, resulting in difficulty in precise positioning when operating in a small space; Limited range of motion: Existing soft mirrors may be limited by their structure, which limits the range of motion in a specific direction and is not flexible enough;

[0005] 2. Insufficient control accuracy: Operation difficulty. The design of some soft endoscope control parts may not be fine enough to provide sufficient control accuracy, especially in surgeries that require fine manipulation; Unable to maintain posture: Some soft endoscopes may have difficulty maintaining the required posture during operation, resulting in the need to frequently adjust various position parameters at the same time;

[0006] 3. Unreasonable ergonomic design: High operating fatigue: You must stand for a long time to operate, use the movement of the elbow and wrist to drive the soft mirror, and keep it stable for a long time, which is easy to fatigue and lead to occupational diseases such as heel pain and hip joint injury. The control of the soft mirror head bending is controlled by pushing and pulling with the thumb, and long-term bending brings great pressure and fatigue to the finger joints.

[0007] In summary, a ureteroscope manipulation device is needed to address the deficiencies in the prior art. Utility Model Content

[0008] In view of the deficiencies in the prior art, the utility model provides a ureteroscope manipulation device, aiming to solve the above problems.

[0009] To achieve the above purpose, the utility model provides the following technical solutions: a ureteroscope control device, including a foot seat, a column, a translation mechanism, a positioning seat, a steering wheel and a soft mirror mechanism, wherein the foot seat is arranged at the bottom end of the column, the column is used to adjust the vertical height of the soft mirror mechanism, the top end of the column is connected to the translation mechanism, the translation mechanism is used to adjust the horizontal position of the soft mirror mechanism, the positioning seat is installed on the translation mechanism, the steering wheel is rotatably connected to the positioning seat, and a connecting ring for connecting the soft mirror mechanism is provided on the steering wheel. The steering wheel can realize flexible control of the soft mirror by coordinating with the soft mirror mechanism, and it is more labor-saving, and the user does not need to maintain a fixed posture for a long time, which changes the mode of the surgeon using the elbow, wrist, and finger to coordinate the force to control the displacement and rotation of the soft mirror. By adopting the foot seat, the column and the translation mechanism to drive the steering wheel and the soft mirror mechanism to move, the whole operation has stable support, and the posture of the soft mirror can be maintained by locking and damping design at any stroke and angle, making the surgical operation more labor-saving, efficient and precise.

[0010] The translation mechanism comprises a base, a slide groove, a slider and a machine platform. The base is connected to a column, the slide groove is arranged on the base, the slider is slidably connected to the slide groove, and the slider is also connected to the machine platform.

[0011] The machine platform is adaptively connected with a slide groove on the machine platform through a sliding block.

[0012] The soft mirror mechanism comprises a main shell, a rotating mechanism, a body and an upper cover, wherein the main shell is connected to the upper cover, the rotating mechanism is rotatably connected to the main shell, and the rotating mechanism is also connected to the body, and the body is arranged between the main shell and the upper cover.

[0013] The rotating mechanism comprises a disc, a connecting shaft and a paddle. The disc is arranged in the main housing. The bottom of the disc is connected to the connecting shaft. The connecting shaft passes through the main housing and is connected to the paddle.

[0014] The disc is provided with a clamping groove for clamping and fixing the body.

[0015] A lower card block for fitting into the card slot is provided at one end of the body.

[0016] The machine platform is connected to a positioning seat, and the positioning seat is a positioning shaft seat, and the rotating shaft of the steering wheel is connected to the machine platform via the positioning shaft seat.

[0017] The main shell and the upper cover are provided with notches for adapting and clamping the mounting body.

[0018] A plurality of universal wheels are installed at the bottom of the foot seat, and locking pressure plates are arranged on the universal wheels.

[0019] Beneficial effects of the utility model:

[0020] 1. In the utility model, the footrest, column and translation mechanism are arranged to drive the steering wheel and the soft mirror mechanism to move, so that the whole operation has stable support, and the posture of the soft mirror can be maintained by locking and damping design at any stroke and angle, making the surgical operation more labor-saving, efficient and precise;

[0021] 2. In the present invention, the paddle can be operated by any finger or finger combination, and the paddle control is relatively labor-saving;

[0022] 3. In the utility model, the scale and angle scale design of the operating steering wheel such as the disc paddle makes the operation more intuitive and accurate, which has a certain auxiliary reference significance for doctors to change operations or surgical teaching, and has certain use value and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 It is a three-dimensional schematic diagram of the structure of the utility model.

[0025] Figure 2 It is an exploded schematic diagram of the translation mechanism of the utility model.

[0026] Figure 3 It is a structural stereoscopic schematic diagram of the soft mirror mechanism of the utility model.

[0027] Figure 4 It is a schematic diagram of the structural explosion of the soft mirror mechanism of the utility model.

[0028] Figure 5 It is a structural stereoscopic schematic diagram of the rotating mechanism of the utility model.

[0029] Figure 6 It is a schematic structural stereogram of the main body of the utility model.

[0030] Figure 7 It is a schematic side view of the structure of the utility model.

[0031] Figure 8 It is a schematic structural side view of the mounting base plate of the utility model.

[0032] In the figure: 1-foot, 11-universal wheel, 12-locking pressure plate; 2-column, 3-translation mechanism, 31-base, 32-slide groove, 33-slider, 34-machine table; 4-positioning seat, 5-steering wheel, 51-connecting ring; 6-soft mirror mechanism, 61-main shell, 611-U-shaped fixed seat, 62-rotating mechanism, 621-disc, 6211-slot, 622-connecting shaft, 623-paddle, 63-body, 631-lower block, 632-limiting block, 64-upper cover, 65-fixing ring. DETAILED DESCRIPTION

[0033] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0034] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0035] Embodiment 1:

[0036] like Figure 1 As shown, a ureteroscope control device includes a foot seat 1, a column 2, a translation mechanism 3, a positioning seat 4, a steering wheel 5 and a soft mirror mechanism 6. The foot seat 1 is arranged at the bottom end of the column 2, the column 2 is a hydraulic lifting column, and the vertical height of the soft mirror mechanism 6 is adjusted by the hydraulic lifting column. The top of the column 2 is connected to the translation mechanism 3, and the translation mechanism 3 is used to adjust the horizontal position of the soft mirror mechanism 6. The positioning seat 4 is installed on the translation mechanism 3, the steering wheel 5 is rotatably connected to the positioning seat 4, and the steering wheel 5 is provided with a connecting ring 51 for connecting the soft mirror mechanism 6.

[0037] like Figure 2 As shown, the translation mechanism 3 includes a base 31 , a slide groove 32 , a slider 33 and a platform 34 . The base 31 is connected to the column 2 , the slide groove 32 is arranged on the base 31 , the slider 33 is slidably connected to the slide groove 32 , and the slider 33 is also connected to the platform 34 .

[0038] The machine platform 34 is adapted to be connected with the slide groove 32 on the machine platform 34 through the slider 33 .

[0039] like Figure 3 , Figure 4 As shown, the soft mirror mechanism 6 includes a main shell 61, a rotating mechanism 62, a main body 63 and an upper cover 64. The main shell 61 is connected to the upper cover 64, the rotating mechanism 62 is rotatably connected to the main shell 61, and the rotating mechanism 62 is also connected to the main body 63. The main body 63 is arranged between the main shell 61 and the upper cover 64.

[0040] like Figure 5 As shown, the rotating mechanism 62 includes a disc 621, a connecting shaft 622 and a paddle 623. The disc 621 is arranged in the main shell 61. The bottom of the disc 621 is connected to the connecting shaft 622. The connecting shaft 622 passes through the main shell 61 and is connected to the paddle 623. The paddle 623 can be operated by any finger or combination of fingers to control the arc displacement of the soft lens buckle, thereby controlling the up and down bending of the soft cable head of the soft lens.

[0041] The disc 621 is provided with a slot 6211 for clamping and fixing the body 63 , and the body 63 can be quickly installed and positioned through the slot 6211 .

[0042] like Figure 6 As shown, a lower clamping block 631 for fitting into the clamping slot 6211 is provided at one end of the main body 63. The lower clamping block 631 cooperates with the structure of the clamping slot 6211, so the installation is very simple and the operation is convenient.

[0043] The machine platform 34 is connected to the positioning seat 4 , and the positioning seat 4 is a positioning shaft seat, and the rotating shaft of the steering wheel 5 is connected to the machine platform 34 via the positioning shaft seat.

[0044] The main housing 61 and the upper cover 64 are provided with notches for fitting and snap-fitting the body 63 .

[0045] like Figure 7 As shown, a plurality of universal wheels 11 are installed at the bottom of the footrest 1, and a locking pressure plate 12 is provided on the universal wheel 11. The locking pressure plate 12 prevents the entire device from making unnecessary displacement, thereby maintaining the overall stability.

[0046] The working principle of the utility model is as follows: when in use, the device is moved as a whole to the working area through the foot seat 1 with the universal wheel 11, and then the universal wheel 11 is fixed by the locking pressure plate 12, so as to prevent the device from having a small displacement when in use, so as to avoid affecting the accuracy during operation, and specifically, the steering wheel 5 cooperates with the column 2 and the translation mechanism 3 to control the soft mirror mechanism 6 to perform precise and flexible position adjustment, the entire operation has stable support, and the posture of the soft mirror can be maintained at any stroke and angle through the locking and damping design.

[0047] Embodiment 2:

[0048] like Figure 1-8 As shown, a ureteroscope control device includes a foot seat 1, a column 2, a translation mechanism 3, a positioning seat 4, a steering wheel 5 and a soft mirror mechanism 6. The foot seat 1 is arranged at the bottom end of the column 2, the column 2 is used to adjust the vertical height of the soft mirror mechanism 6, the top of the column 2 is connected to the translation mechanism 3, the translation mechanism 3 is used to adjust the horizontal position of the soft mirror mechanism 6, the positioning seat 4 is installed on the translation mechanism 3, the steering wheel 5 is rotatably connected to the positioning seat 4, and a connecting ring 51 for connecting the soft mirror mechanism 6 is provided on the steering wheel 5. The connecting ring 51 and the soft mirror mechanism 6 are detachably connected on the positioning seat 4 to facilitate replacement needs after each operation.

[0049] The soft mirror mechanism 6 includes a main shell 61, a rotating mechanism 62, a body 63 and an upper cover 64. The main shell 61 is connected to the upper cover 64, the rotating mechanism 62 is rotatably connected to the main shell 61, and the rotating mechanism 62 is also connected to the body 63. The body 63 is arranged between the main shell 61 and the upper cover 64.

[0050] The soft mirror mechanism 6 further includes a fixing ring 65 , which is used to fix the upper cover 64 and the rear part of the main housing 61 .

[0051] The main shell 61 is provided with a U-shaped fixing seat 611 at the soft cable outlet hole of the main body 63. The soft cable of the main body 63 can be pressed into the U-shaped fixing seat 611 from top to bottom, so that the main body 63 of the soft mirror handle can be quickly disassembled and removed without the soft cable passing in and out of the main shell 61. The U-shaped fixing seat 611 is coaxially aligned with the center of the steering wheel 5 to ensure coaxial rotation of the steering wheel 5 and the soft cable.

[0052] The rotating mechanism 62 includes a disc 621, a connecting shaft 622 and a paddle 623. The disc 621 is arranged in the main shell 61. The bottom of the disc 621 is connected to the connecting shaft 622. The connecting shaft 622 passes through the main shell 61 and is connected to the paddle 623. The position of the paddle 623 relative to the disc 621 is provided with an angle scale marking, so that the angle adjustment is more intuitive and accurate.

[0053] A stop block 632 for fitting and clamping the main housing 61 and the upper cover 64 is further provided at one end of the main body 63 close to the cable outlet hole.

[0054] The steering wheel 5 and the slider 33 of the translation mechanism 3 are both provided with damping, and the structural stability of the steering wheel and the slider 33 is improved through the damping design.

[0055] A seat plate 21 for folding and flipping is provided on one side of the column 2 close to the steering wheel 5. The seat plate 21 is convenient for doctors to use and can be folded and stored when not in use, so the practicability is relatively strong.

[0056] It should be noted that the preferred implementation methods of the utility model are given in the specification and drawings of the utility model. However, the utility model can be implemented in many different forms and is not limited to the implementation methods described in the specification. These implementation methods are not used as additional restrictions on the content of the utility model. The purpose of providing these implementation methods is to make the understanding of the disclosure of the utility model more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various implementation methods not listed above, which are all regarded as the scope of the description of the utility model; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the scope of protection of the claims attached to the utility model.

Claims

1. A ureteroscope manipulator, characterized in that: The invention comprises a foot seat (1), a column (2), a translation mechanism (3), a positioning seat (4), a steering wheel (5) and a soft mirror mechanism (6), wherein the foot seat (1) is arranged at the bottom end of the column (2), the column (2) is used to adjust the vertical height of the soft mirror mechanism (6), the top end of the column (2) is connected to the translation mechanism (3), the translation mechanism (3) is used to adjust the horizontal position of the soft mirror mechanism (6), the positioning seat (4) is installed on the translation mechanism (3), the steering wheel (5) is rotatably connected to the positioning seat (4), and the steering wheel (5) is provided with a connecting ring (51) for connecting to the soft mirror mechanism (6).

2. A ureteroscope manipulation device according to claim 1, characterized in that: The translation mechanism (3) comprises a base (31), a slide groove (32), a slider (33) and a machine platform (34); the base (31) is connected to the column (2); the slide groove (32) is arranged on the base (31); the slider (33) is slidably connected to the slide groove (32); and the slider (33) is also connected to the machine platform (34).

3. A ureteroscope manipulation device according to claim 2, characterized in that: The machine platform (34) is adaptively connected to the slide groove (32) on the machine platform (34) via a slider (33).

4. A ureteroscope manipulation device according to claim 1, characterized in that: The soft mirror mechanism (6) comprises a main shell (61), a rotating mechanism (62), a main body (63) and an upper cover (64); the main shell (61) is connected to the upper cover (64); the rotating mechanism (62) is rotatably connected to the main shell (61); the rotating mechanism (62) is also connected to the main body (63); and the main body (63) is arranged between the main shell (61) and the upper cover (64).

5. A ureteroscope manipulation device according to claim 4, characterized in that: The rotating mechanism (62) comprises a disc (621), a connecting shaft (622) and a paddle (623); the disc (621) is arranged in the main housing (61); the bottom of the disc (621) is connected to the connecting shaft (622); the connecting shaft (622) passes through the main housing (61) and is connected to the paddle (623).

6. A ureteroscope manipulation device according to claim 5, characterized in that: The disc (621) is provided with a slot (6211) for clamping and fixing the body (63).

7. A ureteroscope manipulation device according to claim 6, characterized in that: One end of the body (63) is provided with a lower card block (631) for adapting to the card slot (6211).

8. The ureteroscope manipulation device according to claim 3, characterized in that: The machine platform (34) is connected to the positioning seat (4), and the positioning seat (4) is a positioning shaft seat, and the rotating shaft of the steering wheel (5) is connected to the machine platform (34) via the positioning shaft seat.

9. A ureteroscope manipulation device according to claim 4, characterized in that: The main housing (61) and the upper cover (64) are provided with notches for adapting the card-connected installation body (63).

10. The flexible ureteroscope manipulation device according to claim 1, characterized in that: A plurality of universal wheels (11) are installed at the bottom of the foot seat (1), and a locking pressure plate (12) is provided on the universal wheel (11).

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