Endoscope holding mechanical arm for medical endoscope

Abstract

The utility model belongs to the technical field of medical instruments, and relates to an endoscope-holding mechanical arm for a medical endoscope, which comprises a mechanical arm body, a fixed base and a clamping mechanism, one end of the mechanical arm is connected with the fixed base, the other end of the mechanical arm is connected with the clamping mechanism, and a first channel and a second channel which are communicated with each other are arranged in the fixed base. An ejection block is arranged in the first channel, a locking rod is arranged in the second channel, one end of the ejection block is rotationally connected with one end of the locking rod, a U-shaped support is arranged on one side of the fixed base, a side cover plate is fixed to the other side of the fixed base to limit axial displacement of the locking rod, and the other end of the locking rod penetrates through the side cover plate to be connected with a handle. And rotation operation is facilitated. According to the endoscope clamping device, a stable clamping posture is provided, the endoscope is kept at the optimal position, and good image quality is provided.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a mirror-holding mechanical arm for a medical endoscope. Background Art

[0002] A medical endoscope is a medical device consisting of a light source and a set of lenses. The endoscope enters the human body through the body's natural orifices or through a small surgical incision and is used to observe the patient's body. When in use, the endoscope is introduced into the pre-inspected organ, and changes in the relevant parts can be directly observed. The stability of the endoscope affects the quality of the image, and the quality of the image directly affects the effectiveness of the endoscope. Usually, most medical endoscope instruments require the operator or assistant to manually fix and position the endoscope. There are situations where poor stability, one-handed operation by the operator, or poor cooperation from the assistant affect the effect and progress of the operation. Manually controlling the endoscope to maintain it in the optimal position for a long time requires extremely high endurance, and repeated actions will affect efficiency and increase the chance of injuring the patient. To this end, the utility model provides a mirror-holding robotic arm for a medical endoscope. Utility Model Content

[0003] The purpose of the utility model is to provide a mirror-holding mechanical arm for a medical endoscope to solve the above-mentioned technical problems.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a scope-holding robotic arm for a medical endoscope, comprising a robotic arm body, a fixed base and a clamping mechanism, wherein one end of the robotic arm is connected to the fixed base, and the other end is connected to the clamping mechanism, a first channel and a second channel communicating with each other are provided inside the fixed base, an ejection block is provided in the first channel, a locking rod is provided in the second channel, one end of the ejection block is rotatably connected to one end of the locking rod, a U-shaped support is provided on one side of the fixed base, and a side cover is fixed on the other side to limit the axial displacement of the locking rod, the ejection block passes through the U-shaped support and is movably connected to the locking rod, and the other end of the locking rod passes through the side cover to connect to the handle for convenient rotation operation.

[0005] It is further provided that the other end of the ejection block is movably connected to the clamping block through a connecting rod, there are two clamping blocks and they are symmetrically arranged, and a gasket is provided on the inner side of the clamping block.

[0006] It is further provided that each of the clamping blocks is provided with a hinge hole, the hinge hole includes an inner hinge hole and an outer hinge hole, and connecting holes adapted to the hinge holes are provided on both sides of the U-shaped support, and the inner hinge hole and the connecting hole are hinged.

[0007] It is further provided that the connecting rod is provided with a first hinge hole and a second hinge hole, and the outer hinge hole is hinged to the first hinge hole.

[0008] It is further provided that a third hinge hole is provided on the ejection block, and the second hinge hole and the third hinge hole are hinged.

[0009] It is further provided that an internal thread is provided inside one end of the ejection block, and an external thread is provided at one end of the locking rod to match the internal thread.

[0010] The device is further configured to include a force sensor, one end of which is connected to the robotic arm body, and the other end of which is connected to the clamping mechanism.

[0011] It is further provided that the clamping mechanism includes a shell, the shell is provided with a fixing hole, and the force sensor is connected to the shell through the fixing hole.

[0012] Furthermore, a gripper button is provided inside the housing to control the opening and closing of the gripper. The housing and the gripper are connected by screws. Two control buttons are provided on the housing to control the opening and closing of the gripper. To prevent misoperation, the free dragging function of the robotic arm can only be realized when both buttons are pressed simultaneously.

[0013] The clamping jaw is a translationally openable and closing clamping jaw, and a V-shaped groove is provided at the end of the clamping jaw to achieve self-centering when clamping the medical endoscope.

[0014] It is further provided that a micro host is provided inside the robotic arm body, and the micro host is electrically connected to the robotic arm body, the clamping mechanism and the force sensor.

[0015] Furthermore, the micro host is also connected to a foot switch via a cable for foot control during surgery, which does not require the surgeon to interrupt the surgical operation and frees his hands.

[0016] The utility model provides a mirror-holding robotic arm for a medical endoscope, which has the following advantages: automatically clamping and positioning the medical endoscope, providing a stable clamping posture, keeping the endoscope in the optimal position, and providing good image quality; when fine-tuning and changing the posture during surgery, the surgeon's hands are freed, and there is no need to manually operate the robotic arm. The robotic arm is controlled by a foot switch to make the endoscope reach the target position and realize posture change. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic structural diagram of the fixed base of the utility model;

[0019] Figure 3 This is an exploded view of the structure of the fixed base of the utility model;

[0020] Figure 4 This is a schematic diagram of the clamping of the fixed base of the utility model;

[0021] Figure 5 This is a schematic diagram of the opening of the fixed base of the utility model;

[0022] Figure 6 This is a schematic diagram of the structure of the clamping mechanism of the utility model.

[0023] Description of the marks in the figure:

[0024] Fixed base 101, robotic arm 102, force sensor 103, clamping mechanism 104, foot switch 105, microcomputer 106;

[0025] Clamping block 201, connecting rod 202, U-shaped support 203, ejection block 204, base connector 205, locking rod 206, side cover 207, handle 208, first channel 209 and second channel 210;

[0026] Inner hinge hole 301, outer hinge hole 302, first hinge hole 303, second hinge hole 304, connecting hole 305, fixing hole 306, third hinge hole 307;

[0027] Housing 501 , clamping claw button 502 , clamping claw 503 , V-shaped groove 504 , threaded hole 505 , fixing hole 506 . DETAILED DESCRIPTION

[0028] In order to better understand the purpose, structure and function of the present invention, the following is a further detailed description of a mirror-holding mechanical arm for a medical endoscope of the present invention in conjunction with the accompanying drawings.

[0029] like Figure 1 As shown, the present invention discloses a medical endoscope-holding robotic arm, comprising a fixed base 101, a robotic arm 102, a force sensor 103, a clamping mechanism 104, and a foot switch 105. The bottom end of the robotic arm 102 is screwed to the fixed base 101, and the other end is screwed to the force sensor 103. The clamping mechanism 104 is also screwed to the force sensor 103. The foot switch 105 is connected to the bottom interface of the robotic arm 102 via a cable, allowing for intraoperative foot control without interrupting the surgical procedure, freeing the surgeon's hands. The fixed base 101 can be clamped securely to the surgical bed.

[0030] like Figure 2 and Figure 3As shown, the fixed base 101 includes: a clamping block 201, a connecting rod 202, a U-shaped support 203, an ejection block 204, a base connector 205, a locking rod 206, a side cover 207, and a handle 208. A first channel 209 and a second channel 210 are interconnected within the fixed base 101. The first channel 209 is used to install the ejection block, and the second channel 210 is used to install the locking rod. The internal threaded hole on the ejection block 204 is mated with the external thread on the locking rod 206. The locking rod 206 tightens the handle 208 through the set screw hole. The side cover 207 is fixed to the base connector 205 through the fixing hole, while limiting the axial displacement of the locking rod 206.

[0031] Each clamping block 201 is provided with an inner hinge hole 301 and an outer hinge hole 302, the connecting rod 202 is provided with a first hinge hole 303 and a second hinge hole 304, the U-shaped support 203 is provided with a connecting hole 305 and a fixing hole 306, the ejection block 204 is provided with a third hinge hole 307 and an internal threaded hole, the locking rod 206 is provided with an external thread and a set screw hole, and the side cover plate 207 is provided with a fixing hole.

[0032] The inner hinge hole 301 of each clamping block 201 is hinged to the hinge hole 305 of the U-shaped support 203, the outer hinge hole 302 of the clamping block 201 is hinged to the first hinge hole 303 on the connecting rod 202, and the second hinge hole 304 on the connecting rod 202 is hinged to the third hinge hole 307 on the ejection block 204.

[0033] The U-shaped support 203 is fixed to the base connector 205 through the fixing hole 306. The base connector 205 is provided with a side cover plate 207. The locking rod 206 extends to the outside through the side cover plate 207. The side cover plate 207 is fixed to the base connector 205 through the fixing hole, while limiting the axial displacement of the locking rod 206.

[0034] like Figure 4 and Figure 5 As shown, rotating handle 208 rotates locking rod 206. Since locking rod 206 is restricted in axial displacement, the rotation has the effect of pushing the ejection block outward or inward (depending on the direction of rotation). For example, when the ejection block moves outward, connecting rod 202 transitions from an inclined state to a vertical state, and the angle between the two clamping blocks 201 decreases, achieving a clamping function and thus securing the robotic arm to the side of the operating table. Conversely, when the ejection block moves inward, the angle between the two clamping blocks 201 increases, achieving a loosening function.

[0035] like Figure 1 As shown, a micro host 106 is provided inside the robot body.

[0036] The microcomputer 106 is fixed inside the mechanical arm body 102 , and heat dissipation holes are provided on the mechanical arm body 102 at corresponding positions to achieve heat dissipation convection between the microcomputer 106 and the outside world.

[0037] Each joint motor in the robot arm body 102 is hollow in structure, and the connecting cables pass through the holes in the joint motors, connecting all joint motors and the micro host 106 in series. At the same time, a plastic decorative shell is installed on the outside to hide the cables inside, achieving a beautiful and simple effect.

[0038] The outer material of the robot body 102 is aluminum alloy or carbon fiber, which obtains strong strength and rigidity while reducing its own weight.

[0039] like Figure 6 As shown, the clamping mechanism 104 includes: a housing 501, a clamping button 502, and a clamping jaw 503. The clamping button 502 is mounted on the housing 501, and the clamping jaw 503 is provided with a threaded hole 505 connected to the housing 501 by screws.

[0040] The clamping jaw 503 is a translationally openable clamping jaw with a V-shaped groove 504 at the end thereof, which realizes a self-centering function when clamping the end tube of the endoscope. The housing 501 is provided with a fixing hole 506, which is connected to the force sensor 103 by screws.

[0041] In addition, the housing 501 is configured as an ergonomic handle for easy gripping, and the gripper button 502 is configured to control the gripper opening and closing and free dragging functions. To prevent misoperation, the free dragging function of the robotic arm can only be realized when both buttons are pressed simultaneously.

[0042] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A medical endoscope holding robot arm, comprising a robot arm body (102), a fixed base (101) and a clamping mechanism (104), wherein one end of the robot arm body (102) is connected to the fixed base (101), and the other end is connected to the clamping mechanism (104), characterized in that: A first channel (209) and a second channel (210) are provided inside the fixed base (101), the first channel (209) is provided with an ejection block (204), the second channel (210) is provided with a locking rod (206), one end of the ejection block (204) is rotatably connected to one end of the locking rod (206), a U-shaped support (203) is provided on one side of the fixed base (101), and a side cover (207) is fixed on the other side to limit the axial displacement of the locking rod (206), and the other end of the locking rod (206) passes through the side cover (207) to connect to the handle (208).

2. The scope-holding mechanical arm for medical endoscope according to claim 1, characterized in that: The other end of the ejection block (204) is movably connected to the clamping block (201) through a connecting rod (202). There are two clamping blocks (201) and they are symmetrically arranged. A gasket is provided on the inner side of the clamping block (201).

3. The scope-holding mechanical arm for medical endoscope according to claim 2, characterized in that: Each clamping block (201) is provided with a hinge hole, and the hinge hole includes an inner hinge hole (301) and an outer hinge hole (302). Both sides of the U-shaped support (203) are provided with connecting holes (305) adapted to the hinge holes, and the inner hinge hole (301) and the connecting hole (305) are hinged.

4. The scope-holding mechanical arm for medical endoscope according to claim 3, characterized in that: The connecting rod (202) is provided with a first hinge hole (303) and a second hinge hole (304), the outer hinge hole (302) and the first hinge hole (303) are hinged, and the ejection block (204) is provided with a third hinge hole (307), and the third hinge hole (307) and the second hinge hole (304) are hinged.

5. The scope-holding mechanical arm for medical endoscope according to claim 1, characterized in that: An internal thread is provided inside one end of the ejection block (204), and an external thread matching the internal thread is provided at one end of the locking rod (206).

6. The scope-holding mechanical arm for medical endoscope according to claim 1, characterized in that: It also includes a force sensor (103), one end of the force sensor (103) is connected to the mechanical arm body (102), and the other end of the force sensor (103) is connected to the clamping mechanism (104).

7. The scope-holding mechanical arm for medical endoscope according to claim 6, characterized in that: The clamping mechanism (104) comprises a housing (501), the housing (501) is provided with a fixing hole (506), and the force sensor (103) is connected to the housing (501) through the fixing hole.

8. The scope-holding mechanical arm for medical endoscope according to claim 7, characterized in that: A clamping button (502) and a clamping jaw (503) are provided inside the housing (501) and are connected by screws. The clamping jaw (503) is a translationally openable and closing clamping jaw, and a V-shaped groove (504) is provided at the end of the clamping jaw (503).

9. The scope-holding mechanical arm for medical endoscope according to claim 1, characterized in that: A micro host (106) is provided inside the mechanical arm body (102), and the micro host (106) is electrically connected to the mechanical arm body (102), the clamping mechanism (104) and the force sensor (103).

10. The scope-holding mechanical arm for medical endoscope according to claim 9, characterized in that: The micro host (106) is also connected to a foot switch (105) via a cable.

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