Foldable mechanical arm system suitable for in-vivo nose cilia observation

Abstract

The utility model relates to the technical field of medical instruments, and provides a foldable mechanical arm system suitable for in-vivo intranasal cilia observation, which comprises a base, a first adapter, a second adapter, a steering body, a six-degree-of-freedom vibration reduction component, an endoscope holder, an acceleration sensor and a controller, the bottom end of the first adapter is arranged on the top of the base and can move upwards or downwards relative to the base so as to adjust the height of the top end of the first adapter, and the second adapter can be switched between a completely-stretched state and a folded state. The system can adjust the posture and the direction of the nasal endoscope through the first adapter and the second adapter, so that the nasal endoscope can accurately reach a target observation part of a human body, when the system is not used, the top end of the first adapter can be adjusted to the lowest, the second adapter can be adjusted to be in a folded state, the system is integrally folded, the occupied space is smaller, and the system is more convenient to use. On the premise that the instrument function is achieved, the requirement for instrument miniaturization is met, and practicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly to a foldable robotic arm system suitable for observing nasal cilia in vivo. Background Art

[0002] Nasal diseases (such as allergic rhinitis, nasal polyps, etc.) are common diseases among the population, and their pathophysiological mechanisms are closely related to the nasal mucus ciliary transport system. It has been found in animal experiments and in vitro specimens that rhinitis and sinusitis are related to ciliary function. At present, all the observation tools for nasal cilia cannot achieve in vivo observation of the human body, so it is necessary to develop an in vivo nasal cilia observation device.

[0003] Currently, on the basis of the developed nasal endoscope microscope, in order to observe nasal cilia in vivo in the human body, the supporting device needs to meet the requirements of high flexibility and convenient direction adjustment. At the same time, due to the limitation of the operating room space, it is also necessary to limit the overall volume of the nasal endoscope microscope observation instrument. It is also very important to make the instrument meet the requirement of miniaturized storage while meeting the instrument functions. Summary of the Utility Model

[0004] Aiming at the defects in the prior art, the purpose of the utility model is to provide a foldable robotic arm system suitable for observing nasal cilia in vivo.

[0005] According to the foldable robotic arm system suitable for observing nasal cilia in vivo provided by the utility model, it includes:

[0006] A base;

[0007] A first adapter, the bottom end of which is arranged on the top of the base and can move up or down relative to the base so as to adjust the height of its top end;

[0008] A second adapter, which can be switched between a fully extended state and a folded state, includes a first extension arm and a second extension arm. The proximal end of the first extension arm is rotatably arranged at the top end of the first adapter, and the distal end of the first extension arm is rotationally matched with the proximal end of the second extension arm. When in the fully extended state, the distal end of the second extension arm reaches the farthest distance from the axis of the first adapter. When in the folded state, the distal end of the second extension arm reaches the closest distance from the axis of the first adapter;

[0009] A steering body, the upper end of which is arranged at the lower part of the distal end of the second extension arm and can rotate around the vertical direction;

[0010] A six-degree-of-freedom vibration damping assembly, the top end of which is arranged at the lower end of the steering body;

[0011] An endoscope holder, which is arranged at the bottom end of the six-degree-of-freedom vibration damping assembly and is used for fixing a nasal endoscope;

[0012] An acceleration sensor is arranged on the endoscope holder;

[0013] A controller is respectively in signal connection with the acceleration sensor, the first adapter, the steering body, and the six-degree-of-freedom vibration damping assembly.

[0014] Preferably, the six-degree-of-freedom vibration damping assembly includes an upper platform, a lower platform, and 6 driving rods arranged between the upper platform and the lower platform, and the controller is respectively in signal connection with the 6 driving rods.

[0015] Preferably, the driving rod includes a magnetostrictive actuator. Both ends of the magnetostrictive actuator are respectively connected to the upper platform and the lower platform through joints, and the magnetostrictive actuator can perform elongation or shortening movement.

[0016] Preferably, the actions of the first adapter and the steering body are both realized by motor drive.

[0017] Preferably, the endoscope holder is configured at the bottom end of the six-degree-of-freedom vibration damping assembly through an adapter, and the acceleration sensor is installed on the adapter or the endoscope holder.

[0018] Preferably, the endoscope holder can adjust its own posture relative to the adapter, so as to synchronously adjust the posture of the nasal endoscope.

[0019] Preferably, the base has a movable state and a positioning state and can be flexibly switched.

[0020] Preferably, the bottom of the base is provided with wheels and electric support feet arranged on one side of the wheels. When the system is working, the 4 electric support feet at the bottom of the base are extended downward so that the wheels are in the positioning state. When it is necessary to move, driving the 4 electric support feet to move upward can make the wheels contact the ground, so that the base is in the movable state.

[0021] Preferably, a column is arranged on the base, and a handrail is arranged at the top of the column.

[0022] Preferably, the system is in a 7-shaped structure when viewed from the side.

[0023] Compared with the prior art, the utility model has the following beneficial effects:

[0024] The utility model enables the system to adjust the posture and direction of the nasal endoscope through the first adapter and the second adapter, so that the nasal endoscope can accurately reach the target observation part of the human body, which is convenient and fast. When not in use, the top of the first adapter can be adjusted to the lowest position, and the second adapter can be adjusted to the folded state, so that the whole system can be folded up, which is convenient for storage and occupies less space. On the premise of realizing the functions of the instrument, the requirement of miniaturization of the instrument is met, and the practicability is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present utility model will become more apparent from the following detailed description of non-limiting embodiments read in conjunction with the accompanying drawings:

[0026] Figure 1 It is a schematic structural diagram of the present utility model, wherein the second adapter is in a state between the fully extended state and the folded state;

[0027] Figure 2 It is a schematic structural diagram of the present utility model, wherein the second adapter is in the folded state;

[0028] Figure 3 It is a schematic structural diagram of the framework of the present utility model;

[0029] Figure 4 It is a schematic structural diagram of the six-degree-of-freedom vibration damping component.

[0030] As shown in the figure:

[0031] Base 1

[0032] Runner 11

[0033] Handrail 12

[0034] Column 13

[0035] First adapter 2

[0036] Second adapter 3

[0037] First extension arm 31

[0038] Second extension arm 32

[0039] Steering body 4

[0040] Six-degree-of-freedom vibration damping component 5

[0041] Upper platform 51

[0042] Drive rod 52

[0043] Giant magnetostrictive actuator 521

[0044] Joint 522

[0045] Lower platform 53

[0046] Adapter 6

[0047] Endoscope holder 7

[0048] Nasal endoscope 8 Detailed implementation manners

[0049] The present utility model will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several changes and improvements can still be made. These all belong to the protection scope of the present utility model.

[0050] Embodiment 1:

[0051] The present utility model provides a foldable robotic arm system applicable to in-vivo nasal cilia observation, as shown in Figure 1 , Figure 2 , Figure 3 . It includes a base 1, a first adapter 2, a second adapter 3, a steering body 4, a six-degree-of-freedom damping assembly 5, an acceleration sensor, a controller, and an endoscope holder 7. The bottom end of the first adapter 2 is disposed on the top of the base 1 and can move up or down relative to the base 1, thereby adjusting the height of its own top end and realizing the adjustment of the system height. The second adapter 3 includes a first extension arm 31 and a second extension arm 32, and can be switched between a fully extended state and a folded state, and can be adjusted to a state between the fully extended state and the folded state according to actual needs. The proximal end of the first extension arm 31 is rotatably disposed at the top end of the first adapter 2, and the distal end of the first extension arm 31 is rotationally engaged with the proximal end of the second extension arm 32. When in the fully extended state, the distal end of the second extension arm 32 is at the farthest distance from the axis of the first adapter 2, and when in the folded state, the distal end of the second extension arm 32 is at the closest distance from the axis of the first adapter 2. It should be noted that in this embodiment, both the proximal end of the first extension arm 31 and the top end of the first adapter 2, and the distal end of the first extension arm 31 and the proximal end of the second extension arm 32 are rotational pair structures, and rotational damping is designed at the rotational pair structure. The rotational pair can be manually adjusted to realize the adjustment of the state of the second adapter 3, and after the state adjustment is in place, it will be able to stably maintain in the natural state due to the existence of rotational damping.

[0052] The upper end of the steering body 4 is arranged at the lower part of the distal end of the second extension arm 32 and can rotate around the vertical direction; the top end of the six-degree-of-freedom vibration damping assembly 5 is configured at the lower end of the steering body 4; the endoscope holder 7 is configured at the bottom end of the six-degree-of-freedom vibration damping assembly 5 for fixing the nasal endoscope 8. The endoscope holder 7 is preferably configured at the bottom end of the six-degree-of-freedom vibration damping assembly 5 through the adapter 6. The acceleration sensor is installed on the adapter 6 or the endoscope holder 7. The acceleration sensor is used to collect the vibration information of the nasal endoscope 8 and can feedback the vibration information to the controller, so that the controller can control the six-degree-of-freedom vibration damping assembly 5 to adjust the posture in real time to offset the vibration at the end of the nasal endoscope 8, and finally keep the nasal endoscope 8 stable at the target position. The utility model can realize the adjustment of the up-and-down position of the nasal endoscope 8 through the first adapter 2, and can realize the adjustment of the left-and-right position of the nasal endoscope 8 through the second adapter 3. When the steering body 4 rotates, it can drive the six-degree-of-freedom vibration damping assembly 5 to rotate synchronously. The orientation of the nasal endoscope 8 can be adjusted through the steering body 4. When viewed from the side, the utility model has a 7-shaped structure. Through the simple 7-shaped structure, the support of the entire nasal endoscope 8 is realized, and the spatial position of the nasal endoscope 8 is located. The structure is simple and flexible, and the operation is convenient.

[0053] The utility model is more conducive to positioning and also reduces the accuracy requirement for the layout of the base 1 and improves the error tolerance rate: the proximal end of the first extension arm 31, the distal end of the first extension arm 31, and the distal end of the second extension arm 32 form a Scara configuration of RRR with three rotating joints, and the positioning is very flexible and convenient. The spatial position gap caused by inaccurate positioning can be compensated by adjusting the rotation angles of the three rotating joints. The volume occupied by the storage state after use is also very small. As Figure 2 shown, it is more conducive to the transportation and storage of the equipment. The utility model realizes the automation and refinement of various operations for cilia observation, integrates the flexible layout of the base, the flexible positioning of the endoscope, and the quick replacement of the inner diameter, greatly simplifies the process, and improves the fineness, accuracy, and efficiency of operation and observation, so that scientific experiments and clinical research are more standardized and the possibility of operation errors is reduced.

[0054] As Figure 4As shown in the figure, the six-degree-of-freedom vibration damping assembly 5 includes an upper platform 51, a lower platform 53, and six drive rods 52 arranged between the upper platform 51 and the lower platform 53. The controller realizes the attitude adjustment of the six-degree-of-freedom vibration damping assembly 5 by controlling the elongation or shortening of the six drive rods 52 in real time, and the six-degree-of-freedom vibration damping assembly 5 presents a low-frequency vibration output. Specifically, the drive rod 52 includes a magnetostrictive actuator 521. The two ends of the magnetostrictive actuator 521 are respectively connected to the upper platform 51 and the lower platform 53 through joints 522. The joints 522 are preferably spherical joints. By controlling the elongation or shortening of the magnetostrictive actuator 521, the cooperation between the magnetostrictive actuator 521 and the two joints 522 can realize the output of the low-frequency vibration of the six-degree-of-freedom vibration damping assembly 5, and then can cooperate with the nasal endoscope 8 and offset the vibration displacement generated by the nasal endoscope 8, realizing the vibration damping of the micro-vibration during the movement of the lens and the observation. Through the micro-vibration damping effect of the six-degree-of-freedom vibration damping assembly 5, any form of micro-vibration in the space is weakened, achieving the effect of fast and stable movement of the lens and no obvious jitter during the steady-state observation, thus not causing the feeling of dizziness and fatigue, and providing a stable observation environment.

[0055] The vibration information in the present utility model includes spatial displacement, velocity, and acceleration information. The acceleration sensor feeds back the spatial displacement, velocity, and acceleration information of the nasal endoscope 8 collected to the controller. The controller calculates the displacement, velocity, and acceleration required to be output by each drive rod 52 and controls the movement of each drive rod 52 respectively. The set of movements of the multiple drive rods 52 presents as the relative attitude adjustment between the upper platform 51 and the lower platform 53, thus finally realizing the stable holding of the nasal endoscope 8 at the target position. It should be noted that the target position mentioned in the present utility model is the position when the nasal endoscope 8 extends into the nose to observe the nasal cilia. This position can be a single position or multiple positions in different postures of the nasal endoscope 8, and can be flexibly designed according to the actual medical scenario.

[0056] Furthermore, in order to make the attitude of the nasal endoscope 8 more accurate, in the present utility model, the endoscope holder 7 is designed to be able to adjust its own attitude relative to the adapter 6, so that the attitude of the nasal endoscope 8 is synchronously adjusted. The adjustment of the attitude of the nasal endoscope 8 mentioned here means that the endoscope holder 7 can perform a pitching motion around the rotation axis at the bottom end of the adapter 6 to realize the calibration adjustment of the attitude.

[0057] The controller in this utility model is electrically connected to a positioning button. Before starting to observe the nasal cilia of the patient, let the patient lie down first and keep the patient's position unchanged. By means of the first adapter 2, the second adapter 3, the steering body 4 and manually adjusting the endoscope holder 7 to maintain the posture relative to the adapter 6 to find the correct observation position of the nasal endoscope 8. When the correct position is found, the doctor presses the positioning button to record the position of the nasal endoscope 8. When starting the observation, the controller outputs a control command according to the received positioning information, and controls the first adapter 2, the steering body 4, and the six-degree-of-freedom damping assembly 5 to move so that the nasal endoscope 8 always remains in the correct position until the observation ends. It should be noted that in order to prevent the position of the nasal endoscope 8 from being incorrect due to the movement between the endoscope holder 7 and the adapter 6 after the nasal endoscope 8 finds the correct position, the endoscope holder 7 and the adapter 6 can be set to a rotatable state and a locked state. When looking for the correct position, the endoscope holder 7 and the adapter 6 are adjusted to the rotatable state. When observing, the endoscope holder 7 and the adapter 6 are adjusted to the locked state to maintain the stability of the instrument. The actions of the first adapter 2 and the steering body 4 can both be realized by motor drive. For example, the first adapter 2 can realize the corresponding action by driving the screw rod of the motor to rotate, and the steering body 4 can be directly realized by the rotation of the output shaft of the motor.

[0058] As Figure 1 , Figure 2 shown, the base 1 has a movable state and a positioning state and can be flexibly switched. The bottom of the base 1 is provided with wheels 11 and electric support feet arranged on one side of the wheels 11. To increase the stability of the system, an electric support foot is provided on one side of each wheel 11. When the system is working, the 4 electric support feet at the bottom of the base 1 are extended downward to support on the ground so that the wheels 11 are suspended. At this time, the base 1 is in the positioning state. When it is necessary to move, driving the 4 electric support feet to move upward can make the wheels 11 contact the ground and the lower ends of the electric support feet leave the ground, so that the base 1 is in the movable state.

[0059] For the convenience of movement, a column 13 is provided on the base 1, and a handrail 12 is provided at the top of the column 13. When it is necessary to move, first adjust the base 1 to the movable state, and hold the handrail 12 to move the system, which is convenient, simple and highly practical.

[0060] Embodiment 2:

[0061] The difference between this embodiment and Embodiment 1 is that the rotation of the proximal end of the first extension arm 31 with the top end of the first adapter 2 and the rotation of the distal end of the first extension arm 31 with the proximal end of the second extension arm 32 are both realized by motor drive.

[0062] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0063] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present utility model. Without conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A foldable robotic arm system suitable for in vivo nasal cilia observation, characterized in that: include: Base (1); A first adapter (2), the bottom end of which is arranged on the top of the base (1) and is capable of moving upward or downward relative to the base (1) to adjust the height of its top end; The second adapter (3) is switchable between a fully extended state and a folded state, and comprises a first extension arm (31) and a second extension arm (32). The proximal end of the first extension arm (31) is rotatably arranged at the top end of the first adapter (2), and the distal end of the first extension arm (31) is rotatably matched with the proximal end of the second extension arm (32). When in the fully extended state, the distal end of the second extension arm (32) is at the farthest distance from the axis of the first adapter (2); when in the folded state, the distal end of the second extension arm (32) is at the closest distance from the axis of the first adapter (2); A steering body (4), the upper end of which is arranged at the lower part of the distal end of the second extension arm (32) and is capable of rotating in a vertical direction; A six-degree-of-freedom vibration reduction assembly (5), the top end of which is arranged at the lower end of the steering body (4); An endoscope holder (7) is arranged at the bottom end of the six-degree-of-freedom vibration reduction assembly (5) and is used to fix the nasal endoscope (8); An acceleration sensor is arranged on the endoscope holder (7); The controller is respectively connected to the acceleration sensor, the first adapter (2), the steering body (4), and the six-degree-of-freedom vibration reduction assembly (5) through signals.

2. The foldable robotic arm system for in vivo nasal cilia observation according to claim 1, characterized in that: The six-degree-of-freedom vibration reduction assembly (5) comprises an upper platform (51), a lower platform (53), and six driving rods (52) arranged between the upper platform (51) and the lower platform (53), and the controller is respectively connected to the six driving rods (52) by signals.

3. The foldable robotic arm system for in vivo nasal cilia observation according to claim 2, characterized in that: The driving rod (52) comprises a magnetostrictive driver (521), the two ends of which are respectively connected to the upper platform (51) and the lower platform (53) via joints (522), and the magnetostrictive driver (521) is capable of performing extension or contraction movements.

4. The foldable robotic arm system for in vivo nasal cilia observation according to claim 1, characterized in that: The actions of the first adapter (2) and the steering body (4) are both achieved through motor drive.

5. The foldable robotic arm system for in vivo nasal cilia observation according to claim 1, characterized in that: The endoscope holder (7) is arranged at the bottom end of the six-degree-of-freedom vibration reduction assembly (5) via an adapter (6), and the acceleration sensor is mounted on the adapter (6) or the endoscope holder (7).

6. The foldable robotic arm system for in vivo nasal cilia observation according to claim 5, characterized in that: The endoscope holder (7) is capable of adjusting its own posture relative to the adapter (6) so that the posture of the nasal endoscope (8) can be adjusted synchronously.

7. The foldable robotic arm system for in vivo nasal ciliary observation according to claim 1, characterized in that: The base (1) has a movable state and a positioning state and can be flexibly switched.

8. The foldable robotic arm system for in vivo nasal cilia observation according to claim 7, characterized in that: The bottom of the base (1) is provided with a rotating wheel (11) and an electric support foot arranged on one side of the rotating wheel (11); when the system is working, the four electric support feet at the bottom of the base (1) are extended downwards so that the rotating wheel (11) is in a positioned state; when movement is required, the four electric support feet are driven upwards so that the rotating wheel (11) contacts the ground, thereby placing the base (1) in a movable state.

9. The foldable robotic arm system for in vivo nasal cilia observation according to claim 1, characterized in that: A column (13) is provided on the base (1), and a handrail (12) is provided on the top of the column (13).

10. The foldable robotic arm system for in vivo nasal cilia observation according to claim 1, characterized in that: The system has a figure-7 structure when viewed from the side.

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