Mechanical arm and clamping jaw for controlling endoscope

Abstract

The mechanical arm comprises a mechanical arm mechanism and an endoscope control piece fixed at the execution tail end of the mechanical arm mechanism, the mechanical arm mechanism comprises a rotating base and a large arm rotationally connected to the top end of the rotating base through a robot joint motor, and the large arm is connected with the mechanical arm through a clamping jaw. The robot joint motor is rotationally connected to a small arm at the top end of the large arm, and a control pedal is connected to the side wall of the rotating base through a cable. According to the mechanical arm used for controlling the endoscope and the clamping jaw provided in the technical scheme, wide-range internal posture control over the endoscope is achieved through the mechanical arm, and front-back and left-right movable adjustment of the endoscope can be controlled through the endoscope control piece at the tail end of the mechanical arm; moreover, the endoscope clamping jaw for clamping the endoscope is arranged at the tail end of the endoscope control piece, the servo electric cylinder is used for pushing all the connecting rods to clamp the endoscope, the servo electric cylinder is used for achieving the control effect on the rotating posture of the endoscope, and then the purposes of stabilizing the endoscope and controlling the endoscope to work are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm instrument technical field, concretely relates to a kind of for controlling endoscope mechanical arm and gripper. BACKGROUND

[0002] With the rapid development of minimally invasive surgery technology, endoscopic surgery has been widely used in surgical operations. The significant advantages of this type of surgery are small trauma, quick recovery and low pain, so it is increasingly favored by surgeons and patients. The main principle of endoscopic surgery is to insert a small incision on the patient's body surface by inserting a laparoscope (an elongated instrument with illumination and camera), transmitting the image inside the body to the external display screen, and the surgeon guides and operates the surgical instrument through the image on the monitor to complete the surgical process. According to the different surgical sites, endoscopic surgery includes laparoscopic surgery, arthroscopic surgery, thoracoscopic surgery, etc.

[0003] Although endoscopic surgery has many advantages, it also faces some technical challenges. Since the operation of the endoscope relies on the manual control of the doctor, especially in the case of long-time stable maintenance during surgery, uncontrollable factors such as the doctor's hand fatigue and slight tremor often cause slight deviation of the endoscope. This deviation will affect the stability of the endoscope view, making the surgical area become blurred, increasing the operation difficulty, and may cause surgical errors. For example, in laparoscopic surgery, due to the limited field of view of the endoscope, the accuracy of the surgery is highly dependent on the stable control of the endoscope. If the endoscope shakes or the viewing angle deviates during operation, the doctor may misjudge the state of the surgical site, resulting in surgical failure or intraoperative complications.

[0004] Currently, most endoscopic devices are handheld endoscopes controlled by assistants, but due to the narrow space on the table and the different cooperation levels of different assistants, it increases the uncertainty of the surgery. Although some institutions have developed surgical assist robots, they are expensive and require high technology. Therefore, there is an urgent need in the market for a device that is easy to operate, relatively low in cost, can effectively stabilize the endoscope and accurately control its attitude, to reduce the burden on the doctor and reduce the risk of surgery, especially in long-time endoscopic surgery.

[0005] To solve the above problems, the skilled person proposes an innovative solution, namely the automatic adjustment and stable operation of the endoscope through a mechanical arm and a gripper. This new type of endoscope control mechanical arm includes a rotating base, a large arm, a small arm, and a multi-degree-of-freedom motion function achieved through multiple robot joint motors. Through these modular mechanical arm structures, the doctor can easily adjust the front and back, left and right positions of the endoscope, achieving a larger range of view angle adjustment. At the same time, the mechanical arm end is equipped with a special endoscope gripper, which is driven by a servo motor and multiple link structures, and can firmly hold the endoscope and rotate and adjust the angle according to the needs of the operation. This design allows the main surgeon to directly control the endoscope, freeing the assistant and gaining more operating space, making the endoscope more stable during the operation, not only reducing the doctor's operating burden, but also greatly improving the precision and safety of the operation.

[0006] Unlike traditional handheld endoscopes, this mechanical arm and gripper device can achieve automatic adjustment of the endoscope through a precise control system, reducing the problem of shaking caused by the doctor's hand fatigue. In addition, the device can also be flexibly configured according to different needs of the operation, such as adding more degrees of freedom at different joint positions to adapt to complex operating environments. Based on the rotation function of the servo motor, the doctor can also make 360-degree full-range attitude adjustment of the endoscope, thereby ensuring the best presentation of the surgical field of view.

[0007] In summary, this technical solution not only effectively solves the problems of endoscope stability and attitude control, but also enhances the flexibility and versatility of the device through modular design, with wide application prospects. Through the cooperation of the mechanical arm and the gripper, not only can the doctor's fatigue during the operation be reduced, but also the operation difficulty of the operation can be significantly reduced, improving the safety and success rate of the endoscopic surgery. Practical new type content

[0008] The purpose of the present utility model is to provide a technical solution for controlling the mechanical arm and gripper of the endoscope, to solve the deficiencies mentioned in the background art. In order to solve the drawbacks and defects described in the background art, the present technical solution has the following contents:

[0009] It comprises a mechanical arm mechanism and an endoscope control member fixed at the execution end of the mechanical arm mechanism, the mechanical arm mechanism comprises a rotating base, a large arm rotatably connected at the top end of the rotating base through a robot joint motor, and a small arm rotatably connected at the top end of the large arm through a robot joint motor, and a control foot pedal is connected to the side wall of the rotating base through a cable;

[0010] The endoscope control member comprises a longitudinal slide rail fixed at the end of the small arm, a longitudinal slide block slidingly arranged on the track of the longitudinal slide rail, a horizontal slide rail fixedly connected to the bottom surface of the longitudinal slide block, and a horizontal slide block slidingly arranged on the track of the horizontal slide rail.

[0011] As a preferred scheme of the utility model: the surface of the control pedal is provided with four control front and back and left and right direction pedal keys and one switch key.

[0012] As a preferred scheme of the utility model: the longitudinal slide rail is longitudinally arranged as a whole, and the longitudinal slide block on the longitudinal slide rail track moves forward and backward.

[0013] As a preferred scheme of the utility model: the transverse slide rail is transversely arranged as a whole, and the transverse slide block on the transverse slide rail track moves left and right.

[0014] A kind of gripper for controlling endoscope, including as follows composition: ball joint fixed in the bottom surface of transverse slide block, the fixed base lower surface of ball joint is fixed with protruding block, the bottom surface of slide block is fixedly connected with the movable part of ball joint, the rear side surface of protruding block is fixed with servo motor, the front side surface of protruding block is fixed with fixed plate;

[0015] Wherein, the periphery surface of the fixed plate is fixedly connected with 4-6 protrusions, the front end of protrusion is hinged with traction arm, the end of traction arm away from protrusion is fixed with clamping arm, and clamping arm is clamped with endoscope between each other;

[0016] The front side region of the fixed plate is provided with movable plate, the periphery surface of movable plate is hinged with 4-6 connecting arms, the end of connecting arm away from movable plate is hinged with the inner side wall of traction arm, and the front side surface of movable plate is provided with servo cylinder, the telescopic shaft of servo cylinder penetrates movable plate and is connected with the front side surface of fixed plate.

[0017] As a preferred scheme of the utility model: the output end of servo motor penetrates protruding block, and the end of servo motor penetrating protruding block front side is fixedly connected with the rear side end face of fixed plate through shaft coupling.

[0018] As a preferred scheme of the utility model: the protrusions are arranged in annular array with the axis of fixed plate as base point, and the connecting arms are arranged in annular array with the axis of movable plate as base point.

[0019] As a preferred scheme of the utility model: the inside of protruding block is provided with through hole for servo motor output shaft to penetrate, and bearing is installed in the inside of through hole.

[0020] In the above technical scheme, the technical effect and advantage provided by the utility model are as follows:

[0021] The mechanical arm and the clamping jaw for controlling the endoscope are provided in the technical scheme, the posture control of the inside of the endoscope in a large range is realized through the mechanical arm, the front-back and left-right movement of the endoscope is adjusted through the endoscope control member at the end of the mechanical arm, the endoscope clamping jaw is arranged at the end of the endoscope control member, each connecting rod is clamped to clamp the endoscope through the servo cylinder, and the rotation posture of the endoscope is controlled through the servo cylinder, so that the endoscope is stabilized and the endoscope is controlled to work. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly explain the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to these drawings.

[0023] Figure 1 It is a whole schematic view of the endoscope control mechanical arm.

[0024] Figure 2 It is a schematic view of the mechanical arm mechanism.

[0025] Figure 3 It is a schematic view of the endoscope control member.

[0026] Figure 4 It is a schematic view of the endoscope clamping jaw.

[0027] BRIEF DESCRIPTION OF DRAWINGS

[0028] 1, mechanical arm mechanism; 11, rotating base; 12, large arm; 13, small arm; 14, control foot pedal; 2, endoscope control member; 21, longitudinal slide rail; 22, longitudinal slide block; 23, transverse slide rail; 24, transverse slide block; 3, endoscope clamping jaw; 31, protruding block; 32, servo motor; 33, rotating shaft; 34, protruding strip; 35, traction arm; 36, clamping arm; 37, servo cylinder; 38, connecting arm; 39, movable plate; 310, fixed plate; 311, ball joint; 4, endoscope. DETAILED DESCRIPTION

[0029] In order to more clearly explain and describe the technical scheme and implementation mode of the present application, the following introduces several preferred specific embodiments for realizing the technical scheme of the present application.

[0030] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application and uses. It should be understood that throughout the drawings, the same or like reference numerals are used to depict the same or like components and features. The various drawings are schematic illustrations only and are not necessarily drawn to scale. Certain portions of the drawings can be shown exaggerated in size, or drawn without respect to certain dimensions, for purposes of explanation and illustration. The various publications, patents and published patent specifications referred to herein are hereby incorporated by reference in their entirety. The technical solutions of the present application will be described clearly and completely below with reference to the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application.

[0031] Embodiment, a better technical scheme for controlling the mechanical arm and the clamping jaw of the endoscope, comprising the following:

[0032] Referring to the drawings accompanying the description Figure 1 As shown in the drawings: including a mechanical arm mechanism 1 and an endoscope control member 2 fixed at the execution end of the mechanical arm mechanism 1, the mechanical arm mechanism 1 includes a rotating base 11, a large arm 12 rotatably connected at the top end of the rotating base 11 through a robot joint motor, and a small arm 13 rotatably connected at the top end of the large arm 12 through a robot joint motor, and a control pedal 14 is connected to the side wall of the rotating base 11 through a cable; four control front and rear and left and right direction pedal keys and one switch key are arranged on the surface of the control pedal 14.

[0033] Among them, when the large arm 12 rotates the horizontal angle between the bottom hinge point and the rotating base 11 becomes smaller, and the angle between the top hinge point of the large arm 12 and the axis of the small arm 13 becomes smaller, the overall height of the endoscope 4 can be reduced; similarly, after the angle between the small arm 13, the large arm 12 and the rotating base 11 becomes larger, the overall height of the endoscope 4 increases.

[0034] Referring to the drawings accompanying the description Figure 3 As shown in the drawings: the endoscope control member 2 includes a longitudinal slide rail 21 fixed at the end of the small arm 13, a longitudinal slide block 22 slidingly arranged on the track of the longitudinal slide rail 21, the bottom surface of the longitudinal slide block 22 is fixedly connected with a transverse slide rail 23, and a transverse slide block 24 is slidingly arranged on the track of the transverse slide rail 23.

[0035] Referring to the drawings accompanying the description Figure 3 As shown in the drawings: the longitudinal slide rail 21 is longitudinally arranged as a whole, and the longitudinal slide block 22 on the track of the longitudinal slide rail 21 moves forward and backward, the transverse slide rail 23 is transversely arranged as a whole, and the transverse slide block 24 on the track of the transverse slide rail 23 moves left and right.

[0036] A clamping jaw for controlling an endoscope: referring to the drawings accompanying the description Figure 4The ball joint 311 fixed on the bottom surface of the transverse slider 24 is provided with a protrusion 31 fixed on the lower surface of the fixed base of the ball joint 311, and the movable part of the ball joint 311 is fixedly connected with the bottom surface of the slider 24. The rear surface of the protrusion 31 is fixedly provided with a servo motor 32, and the front surface of the protrusion 31 is fixedly provided with a fixed plate 310. The fixed plate 310 is fixedly connected with 4-6 protrusions 34 on the circumferential surface thereof, and the front end of each protrusion 34 is hingedly connected with a traction arm 35. The end of the traction arm 35 away from the protrusion 34 is fixedly provided with a clamping arm 36, and the clamping arms 36 are clamped with each other to clamp the endoscope 4.

[0037] Referring to the drawings Figure 4 The front side region of the fixed plate 310 is provided with a movable plate 39, and the circumferential surface of the movable plate 39 is hingedly connected with 4-6 connecting arms 38. The end of each connecting arm 38 away from the movable plate 39 is hingedly connected with the inner side wall of the traction arm 35. The front surface of the movable plate 39 is provided with a servo cylinder 37, and the telescopic shaft of the servo cylinder 37 penetrates through the movable plate 39 and is connected with the front surface of the fixed plate 310.

[0038] Referring to the drawings Figure 4 The output end of the servo motor 32 penetrates through the protrusion 31, and the end of the servo motor 32 penetrating through the front side of the protrusion 31 is fixedly connected with the rear end surface of the fixed plate 310 through a shaft coupling. The protrusions 34 are arranged in a ring array with the axis of the fixed plate 310 as the base point, and the connecting arms 38 are arranged in a ring array with the axis of the movable plate 39 as the base point. The protrusion 31 is internally provided with a through hole for the output shaft of the servo motor 32 to penetrate through, and the through hole is internally provided with a bearing.

[0039] According to the above-mentioned preferred technical scheme, the working process of the technical scheme is described as follows:

[0040] The telescopic shaft of the servo cylinder 37 is telescoped to pull the movable plate 39 close to or away from the fixed plate 310. The movable plate 39 pulls the connecting arms 38 to move, thereby pulling the traction arms 35 close to or away from each other, so as to force the clamping arms 36 to clamp the endoscope 4 after being close to each other. The output shaft of the servo motor 32 drives the rotating shaft 33 to rotate, thereby rotating the fixed plate 310 and the endoscope 4 clamped by the clamping arms 36.

[0041] The case control on the foot pedal 14 is used to control the forward and backward movement of the longitudinal slider 22 on the longitudinal slide rail 21, thereby driving the transverse slide rail 23, the endoscope clamping jaw 3 and the endoscope 4 to move forward and backward. The transverse slider 24 on the transverse slide rail 23 is moved left and right, thereby driving the endoscope clamping jaw 3 and the endoscope 4 to move left and right.

[0042] The above has only described certain exemplary embodiments of the present application by way of illustration, and it is needless to say that the described embodiments can be modified in various ways without departing from the spirit and scope of the present application for those skilled in the art. Therefore, the above drawings and descriptions are illustrative in nature, and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A mechanical arm for controlling a laparoscope, comprising a mechanical arm mechanism (1) and a laparoscope control (2) fixed at the execution end of the mechanical arm mechanism (1), characterized in that: The mechanical arm mechanism (1) comprises a rotating base (11), a large arm (12) rotatably connected to the top end of the rotating base (11) by a robot joint motor, and a small arm (13) rotatably connected to the top end of the large arm (12) by a robot joint motor, and a control pedal (14) connected to the side wall of the rotating base (11) by a cable; The endoscope control part (2) comprises a longitudinal slide rail (21) fixed to the end of the small arm (13), a longitudinal slide block (22) slidingly arranged on the track of the longitudinal slide rail (21), a horizontal slide rail (23) fixedly connected to the bottom surface of the longitudinal slide block (22), and a horizontal slide block (24) slidingly arranged on the track of the horizontal slide rail (23).

2. The mechanical arm for controlling a laparoscope according to claim 1, wherein: The surface of the control pedal (14) is provided with four control pedals for controlling the front, back, left and right directions, and one switch key.

3. The mechanical arm for controlling a laparoscope according to claim 1, wherein: The longitudinal slide rail (21) is longitudinally arranged, and the longitudinal slide block (22) on the track of the longitudinal slide rail (21) moves forward and backward.

4. The mechanical arm for controlling a laparoscope according to claim 1, wherein: The horizontal slide rail (23) is horizontally arranged, and the horizontal slide block (24) on the track of the horizontal slide rail (23) moves left and right.

5. A clamp jaw for controlling a scope, the clamp jaw comprising: A mechanical arm for controlling an endoscope is suitable for any one of claims 1-4, and the clamping jaw comprises: a ball joint (311) fixed to the bottom surface of the horizontal slide block (24), a protrusion (31) fixed to the lower surface of the fixed base of the ball joint (311), the movable part of the ball joint (311) is fixedly connected to the bottom surface of the slide block (24), a servo motor (32) is fixed to the rear surface of the protrusion (31), and a fixed plate (310) is fixed to the front surface of the protrusion (31); Wherein, the four peripheral surfaces of the fixed plate (310) are fixedly connected with 4-6 protrusions (34), the front end of the protrusion (34) is hinged with a traction arm (35), the end of the traction arm (35) away from the protrusion (34) is fixed with a clamping arm (36), and the clamping arms (36) clamping the endoscope (4) are arranged on the front side of the fixed plate (310). The front side of the fixed plate (310) is provided with a movable plate (39), the four peripheral surfaces of the movable plate (39) are hinged with 4-6 connecting arms (38), the inner side wall of the traction arm (35) is hinged with the end of the connecting arm (38) away from the movable plate (39), and the front surface of the movable plate (39) is provided with a servo cylinder (37).

6. A gripper for controlling a scope as claimed in claim 5, wherein: The output end of the servo motor (32) penetrates the protrusion (31), and the end of the servo motor (32) penetrating the front side of the protrusion (31) is fixedly connected with the rear end surface of the fixed plate (310) through a shaft coupling.

7. The clamp jaw for controlling a scope of claim 5, wherein: The protrusions (34) are arranged in a ring array with the axis of the fixed plate (310) as the base point, and the connecting arms (38) are arranged in a ring array with the axis of the movable plate (39) as the base point.

8. The clamp jaw for controlling a scope of claim 5, wherein: The inside of the protrusion (31) is provided with a through hole for the output shaft of the servo motor (32) to penetrate, and a bearing is installed in the through hole.

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