An endoscopic surgery auxiliary operation system

Abstract

The utility model discloses a kind of digestive endoscope operation auxiliary operation systems, including external structure and internal structure, external structure includes base, column and shell fixed on base, workstation support fixed on column top, workstation top set on workstation support and liquid crystal screen set on workstation top, internal structure includes lower bottom plate, lower L connecting piece, electrical box, upper mainboard, main hand operating device, driving device, main connection vertical frame and the sub-connection frame fixed together with main connection vertical frame, two connecting frames are used to connect upper and lower two structure.The utility model is divided into upper and lower structure, compact structure, the height of overall structure is set to 1.2m, meet the hand operation habit and height of general height personnel, easy to operate, and use performance is more stable.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to an auxiliary operating system for digestive endoscopy surgery. Background Technology

[0002] Traditional endoscopic submucosal dissection (ESD) is a surgical procedure performed by a gastroenterologist using a digestive endoscope to cut away diseased mucosa. The digestive endoscopy-assisted surgical system is a novel medical device integrating multiple disciplines. It represents a significant development direction in the informatization, programming, and intelligentization of medical devices and has broad application prospects in the field of minimally invasive surgery. The digestive endoscopy-assisted surgical system employs a master-slave remote control method. The physician operates the master hand device from a console. The master hand device's movement information is transmitted remotely to the end effector located at the lesion site within the patient's body. The end effector moves synchronously with the master hand device to perform the surgery. During the procedure, the drive unit primarily assists the master hand device, providing additional support and assistance.

[0003] In existing systems for assisting digestive endoscopy, a height-adjustable worktable is often used. However, in actual use, the height-adjustment function is used infrequently and generates a lot of noise. Furthermore, the lack of an operating screen makes operation inconvenient. Utility Model Content

[0004] In order to solve the technical problems existing in the prior art, the present invention provides a digestive endoscopy surgical auxiliary operating system with a more compact and reasonable structure and a height that is more suitable for ergonomic requirements, meeting the needs of doctors in daily operation.

[0005] This utility model provides a digestive endoscopy surgical assistance operating system, comprising an external structure and an internal structure. The external structure includes a base, a column and a shell fixed on the base, a worktable support fixed above the column, a worktable surface disposed on the worktable support, and an LCD screen disposed on the worktable surface. The internal structure comprises upper and lower parts, wherein the lower part includes:

[0006] The bottom plate is used to fix the electrical box and the lower L-shaped connector.

[0007] The lower L-shaped connector is fixed to the lower base plate by nuts at the bottom, and has two latches on the side for fixing and positioning the main connecting vertical frame;

[0008] The electrical control box contains an industrial control computer for data processing.

[0009] The upper part of the structure includes:

[0010] The mainboard is fixed on the worktable tray and used to install the main hand operating device and drive device;

[0011] The master operating device is used to control the movement of the end effector.

[0012] The drive unit uses a motor to drive the end effector to achieve corresponding movements with the main hand operating device;

[0013] The internal structure also includes:

[0014] The main connecting frame and the secondary connecting frame are fixed together to connect the upper and lower structural parts.

[0015] The secondary connecting frame is fixed together with the main connecting frame and is used to connect the upper and lower structural parts.

[0016] Preferably, a cover plate is provided above the driving device. A second slide groove and a first slide groove are respectively provided on the left and right sides of the cover plate. A second slider is fixed in the middle of the second slide groove and a first slider is fixed in the middle of the first slide groove. A limit opening is also provided in the middle of the rear side of the cover plate. A sliding cover is provided at the top of the cover plate. A second linear guide rail is fixed in the lower left side of the sliding cover. The second linear guide rail slides in the second slide groove under the limitation of the second slider. A first linear guide rail is fixed in the lower right side of the sliding cover. The first linear guide rail slides in the first slide groove under the limitation of the first slider. A handle is provided in the middle of the rear side of the sliding cover. The handle is used to pull the sliding cover to slide.

[0017] Preferably, an industrial control computer mounting plate is fixed to the rear panel of the electrical box, and an industrial control computer is fixed to the industrial control computer mounting plate; a switching power supply mounting plate is fixed to the bottom plate inside the electrical box, and a switching power supply is fixed to the switching power supply mounting plate; a power adapter plate is also fixed to the bottom plate inside the electrical box; a wire tie fixing seat is also provided inside the electrical box for fixing the wires inside the electrical box.

[0018] Preferably, base plate supports are provided on the left and right sides below the lower base plate, and the base plate supports are fixed inside the base to support the entire internal structure.

[0019] Preferably, the upper left and right sides of the main connecting vertical frame are respectively provided with column guide rail 2 and column guide rail 1, and the lower left and right sides of the main connecting vertical frame are respectively provided with column slide rail 2 and column slide rail 1. Column slide rail 2 can slide up and down along column guide rail 2, and column slide rail 1 can slide up and down along column guide rail 1. A pin is provided at the lower part of the column guide rail for fixing the position of column slide rail 1.

[0020] Preferably, the pin fixes the column slide rail at a position where the height of the digestive endoscopy surgical auxiliary operating system is 1.2 meters.

[0021] Preferably, the worktable support has two short arms protruding forward on both sides, with a handle fixed between the two short arms; a zeroing position is provided on the front right side of the worktable support, the zeroing position is a frustum-shaped protrusion, and a proximity Hall sensor is correspondingly provided inside the zeroing position for monitoring the zeroing position of the main hand; a base is provided below the connection between the worktable support and the column to enhance the support stability of the column for the worktable support.

[0022] Preferably, medical casters are fixed at all four corners of the base, and a power filter and a network cable interface are provided at the rear of the base.

[0023] Preferably, an emergency stop button is provided on the worktable for emergency braking.

[0024] Preferably, a green light guide strip is provided at the center of the front of the housing, and a power indicator panel is provided inside the green light guide strip for displaying the power-on status.

[0025] Because of the adoption of the above technical solution, this utility model has the following advantages and positive effects compared with the prior art:

[0026] 1. The digestive endoscopy surgical assistance system is divided into upper and lower structures. The structure is compact, and the overall height of the structure is set at 1.2m according to ergonomic requirements, which is in line with the hand operation habits and height of people of average height.

[0027] 2. The structure is set up as an upper and lower structure. The lower part is an industrial control computer used for data processing and feeding back the processing results to the upper drive device. The upper operating table mainly includes a drive device, a screen control unit and a main hand operating device. The drive device is connected to the flexible arm through a mechanical structure. By controlling the main hand operating device, the clamping and lifting of diseased tissue can be realized during the operation. The operation is simple and easy to learn, and the performance is more stable. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the external structure of an embodiment of the present utility model.

[0029] Figure 2 This is a three-dimensional structural diagram of the external structure of an embodiment of the present utility model.

[0030] Figure 3 This is a left-side view of the external structure of an embodiment of the present invention.

[0031] Figure 4 This is a three-dimensional structural diagram of the internal structure of an embodiment of the present utility model.

[0032] Figure 5This is a three-dimensional structural diagram of the internal structure of an embodiment of the present utility model.

[0033] Figure 6 This is a front view schematic diagram of the internal structure of an embodiment of the present utility model.

[0034] Figure 7 for Figure 6 A three-dimensional structural diagram of the main hand operating device removed from the area within the dashed box.

[0035] Figure 8 for Figure 7 A schematic diagram of the rear view structure.

[0036] Figure 9 This is a schematic diagram of the structure of the cover plate, the second linear guide rail disposed on the left side of the cover plate, the first linear guide rail disposed on the right side of the cover plate, and the first slider, which are embodiments of the present utility model.

[0037] Figure 10 This is a schematic diagram of the internal structure of the electrical box according to an embodiment of the present utility model.

[0038] Explanation of reference numerals in the attached diagram: 1. Workbench surface; 2. Workbench support; 3. Handle; 4. LCD screen; 5. Main hand operating device; 6. Column; 7. Housing; 8. Base; 9. Medical casters; 10. Green light guide strip; 11. Power filter; 12. Network cable interface; 13. Emergency stop button; 14. Zeroing position; 15. Base support; 16. Lower base plate; 17. Base plate bracket; 18. Lower L-shaped connecting frame; 19. Electrical box; 20. Power indicator light panel; 21. Main connecting vertical frame; 22. Column slide rail one; 23. Column guide rail one; 24. 25. Pin; 26. Column slide rail 2; 27. Column guide rail 2; 28. Main board; 29. ​​Drive unit; 30. Cover plate; 31. Sliding cover; 32. Secondary connecting vertical frame; 33. Linear guide rail 1; 34. Slider 1; 35. Linear guide rail 2; 36. Slider 2; 37. Industrial control computer mounting plate; 38. Industrial control computer; 39. Switching power supply mounting plate; 40. Switching power supply; 41. Power adapter plate; 42. Cable tie fixing seat; 43. Proximity Hall sensor; 44. Slide groove 1; 45. Slide groove 2; 46. Limit port; 47. Handle. Detailed Implementation

[0039] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0040] In the description of this utility model, the orientation or positional relationship indicated by terms such as up, down, left, right, etc., is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this utility model and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0041] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0042] like Figure 1-3 As shown in the figure, an auxiliary operating system for digestive endoscopy surgery according to an embodiment of the present invention includes an external structure and an internal structure. The external structure includes a base 8, a shell 7, a column 6, a worktable support 2, a worktable surface 1, and an LCD screen 4. The base 8 is located at the bottom of the system and supports the entire system. A power filter 11 and a network cable interface 12 are located behind the base 8. The power filter 11 is used to control the stability of the power signal, and the network cable interface 12 is used to provide network services to the system. Medical casters 9 are fixed at the four corners of the base 8 for moving and fixing the position of the entire system. The shell 7 is fixed on top of the base 8 to protect the internal structure. The column 6 is fixed inside the shell 7 above the base 8 for supporting and protecting the internal structure in the middle. The worktable support 2 is fixed on top of the column 6, and the worktable surface 1 is located on top of the worktable support 2. The flexible arm (not shown in the figure) is placed on the worktable surface 1. The LCD screen 4 is also located on the front of the worktable surface 1 to display the motion of the end effector of the flexible arm in real time.

[0043] The workbench support 2 of this utility model has two short arms protruding forward on both sides, with a handle 3 fixed between the two short arms. A zeroing position 14 is provided on the front right side of the workbench support 2. The zeroing position 14 is a frustum-shaped protrusion, and a proximity Hall sensor 42 is correspondingly provided inside the zeroing position 14 for monitoring the zeroing of the main hand operating device. A base support 15 is also provided below the connection between the workbench support 2 and the column 6 to enhance the support stability of the column 6 on the workbench support 2.

[0044] An emergency stop button 13 is provided on the workbench 1 of this utility model embodiment for braking in emergency situations; in addition, a green light guide strip 10 is provided at the center of the front of the outer shell 7, and a power indicator light panel 20 is provided at the corresponding position inside the green light guide strip 10 for displaying the power-on status.

[0045] like Figure 4-10As shown, the internal structure of this utility model embodiment consists of upper and lower parts and a middle connecting vertical frame. The lower part includes a lower base plate 16, a lower L-shaped connector 18, an electrical box 19, and a base plate support 17. The base plate support 17 is fixed on the base 8 and has two parts, located on the left and right sides below the lower base plate 16, for fixing the lower base plate 16 and supporting the entire internal structure. The lower base plate 16 is fixed above the base plate support 17. The electrical box 19 is fixed at the front of the lower base plate 16, and the lower L-shaped connector 18 is fixed at the rear of the electrical box 19. The lower part of the lower L-shaped connector 18 is fixed to the lower base plate 16 with nuts, and the upper part is provided with a main connecting vertical frame 21. Two latches are provided on the side for fixing and positioning the main connecting vertical frame 21.

[0046] The electrical box 19 of this utility model embodiment has an industrial control computer mounting plate 36 fixed on its rear panel, and an industrial control computer 37 fixed on the industrial control computer mounting plate 36. The industrial control computer 37 is used to process the motion operation signal data of the master hand operating device 5 and feed back the processing result to the drive device 28. Inside the electrical box 19, a switching power supply mounting plate 38 is fixed on the lower base plate 16, and a switching power supply 39 is fixed on the switching power supply mounting plate 38. Inside the electrical box 19, a power adapter plate 40 is also fixed on the lower base plate 16. Inside the electrical box 19, a wire tying bracket 41 is also provided. The wire tying bracket 41 is located on the rear panel of the electrical box 19 and on the lower base plate 16 inside the electrical box 19, and is used to fix the wires inside the electrical box 19.

[0047] The upper part of the structure of this utility model embodiment includes an upper main board 27, a main hand operating device 5, a drive device 28, and a cover plate device. The upper main board 27 is fixed on the worktable support 2 and is used to install the main hand operating device 5 and the drive device 28. The main hand operating device 5 is fixed at the front right corner of the upper main board 27 and is used to control the movement of the end effector. The drive device 28 is fixed at the middle rear position of the upper main board 27 and drives the end effector to achieve the corresponding movement of the main hand operating device 5 through the movement of the motor.

[0048] The cover plate device of this utility model embodiment is disposed above the driving device 28, including a cover plate 29 and a sliding cover 30. The cover plate 29 is fixed above the driving device 28, and its rear part is configured as an opening that matches the sliding cover 30. The sliding cover 30 can completely cover the opening of the cover plate 29. The left and right sides of the cover plate 29 are respectively provided with a second sliding groove 44 and a first sliding groove 43. A second slider 35 is fixed in the middle of the second sliding groove 44, and a first slider 33 is fixed in the middle of the first sliding groove 43. A limit port 45 is also provided at the middle position in front of the opening of the cover plate 29. The sliding cover 30 is provided on the upper part of the cover plate 29. A linear guide rail 2 34 is fixed to the lower left side of the cover 30. The linear guide rail 2 34 slides in the slide groove 2 44 under the limitation of the slider 2 35. A linear guide rail 1 32 is fixed to the lower right side of the cover 30. The linear guide rail 1 32 slides in the slide groove 1 43 under the limitation of the slider 1 33. A handle 46 is provided in the middle of the rear side of the cover 30. The handle 46 is used to pull the cover 30 to slide. When the cover 30 is fully opened, it is located in the limiting port 45. Pulling the handle 46 causes the cover 30 to move back and forth above the cover plate 29, controlling the exposure and closure of the connection between the drive device 28 and the flexible arm.

[0049] The intermediate connecting vertical frame of this utility model embodiment includes a main connecting vertical frame 21 and a secondary connecting vertical frame 31. The main connecting vertical frame 31 is in front, and the secondary connecting vertical frame 31 is behind. Both have a concave cross-section and are arranged opposite each other. The secondary connecting vertical frame 31 is fixed to the inner side of the main connecting vertical frame 21. Together, they are used to connect the upper and lower structural parts. In addition, the upper left and right sides of the main connecting vertical frame 21 are respectively provided with column guide rail 26 and column guide rail 23. The lower left and right sides of the main connecting vertical frame 21 are respectively provided with column slide rail 25 and column slide rail 22. Column slide rail 25 can slide up and down along column guide rail 26, and column slide rail 22 can slide up and down along column guide rail 23. A pin 24 is also provided at the lower part of column guide rail 23 to fix the position of column slide rail 22. Adjust the vertical movement of the column slide rail 22. When the height of the entire system is adjusted to 1.2 meters, fix the column slide rail 22 with pin 24.

[0050] In this embodiment of the utility model, the operating system for assisting digestive endoscopy surgery is operated by first pulling the handle of the sliding cover 30 into the limiting port 45 to expose the connection of the drive device 28, connecting the flexible arm to it. Then, the main hand operating device 5 is controlled to move, and the action signal of the main hand operating device 5 is transmitted to the industrial control computer 37. After processing, the industrial control computer 37 converts it into a motion signal for the drive device 28, and the motor of the drive device 28 starts to work, driving the connected flexible arm to move, realizing the control of the end effector of the flexible arm in four degrees of freedom: up and down, left and right, forward and backward, and opening and closing. At the same time, the LCD screen 4 displays the working progress of the end effector in real time.

[0051] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A digestive endoscopy surgical assistance operating system, characterized in that: The system includes an external structure and an internal structure. The external structure includes a base, a column and a shell fixed to the base, a worktable support fixed above the column, a worktable surface mounted on the worktable support, and an LCD screen mounted on the worktable surface. The internal structure includes upper and lower parts, wherein the lower part includes: The bottom plate is used to fix the electrical box and the lower L-shaped connector. The lower L-shaped connector is fixed to the lower base plate by nuts at the bottom, and has two latches on the side for fixing and positioning the main connecting vertical frame; The electrical control box contains an industrial control computer for data processing. The upper part of the structure includes: The mainboard is fixed on the worktable tray and used to install the main hand operating device and drive device; The master operating device is used to control the movement of the end effector. The drive unit uses a motor to drive the end effector to achieve corresponding movements with the main hand operating device; The internal structure also includes: The main connecting frame and the secondary connecting frame are fixed together to connect the upper and lower structural parts. The secondary connecting frame is fixed together with the main connecting frame and is used to connect the upper and lower structural parts.

2. The endoscopic surgical assistance system according to claim 1, characterized in that: A cover plate is also provided above the driving device. A second slide groove and a first slide groove are respectively provided on the left and right sides of the cover plate. A second slider is fixed in the middle of the second slide groove and a first slider is fixed in the middle of the first slide groove. A limit port is also provided in the middle of the rear side of the cover plate. A sliding cover is provided on the upper part of the cover plate. A second linear guide rail is fixed on the lower left side of the sliding cover. The second linear guide rail slides in the second slide groove under the limitation of the second slider. A first linear guide rail is fixed on the lower right side of the sliding cover. The first linear guide rail slides in the first slide groove under the limitation of the first slider. A handle is provided in the middle of the rear side of the sliding cover. The handle is used to pull the sliding cover to slide.

3. The endoscopic surgical assistance system according to claim 1, characterized in that: An industrial control computer mounting plate is fixed to the rear panel of the electrical box, and an industrial control computer is fixed to the mounting plate. A switching power supply mounting plate is fixed to the bottom plate inside the electrical box, and a switching power supply is fixed to the mounting plate. A power adapter plate is also fixed to the bottom plate inside the electrical box. A wire tie fixing seat is also provided inside the electrical box for fixing the wires inside the electrical box.

4. The endoscopic surgical assistance system according to claim 1, characterized in that: The bottom plate is provided with bottom plate supports on the left and right sides below the bottom plate. The bottom plate supports are fixed inside the base and provide support for the entire internal structure.

5. The endoscopic surgical assistance system according to claim 1, characterized in that: The upper left and right sides of the main connecting vertical frame are respectively provided with column guide rail 2 and column guide rail 1, and the lower left and right sides of the main connecting vertical frame are respectively provided with column slide rail 2 and column slide rail 1. Column slide rail 2 can slide up and down along column guide rail 2, and column slide rail 1 can slide up and down along column guide rail 1. A pin is provided at the lower part of the column guide rail for fixing the position of column slide rail 1.

6. The endoscopic surgical assistance system according to claim 5, characterized in that: The pin fixes the column slide rail at a height of 1.2 meters for the digestive endoscopy surgical auxiliary operating system.

7. The endoscopic surgical assistance system according to claim 1, characterized in that: The worktable support has two short arms protruding forward on both sides, with a handle fixed between the two arms. A zeroing position is provided on the front right side of the worktable support. The zeroing position is a frustum-shaped protrusion, and a proximity Hall sensor is correspondingly provided inside the zeroing position for monitoring the zeroing position of the main hand. A base is provided below the connection between the worktable support and the column to enhance the support stability of the column for the worktable support.

8. The digestive endoscopy surgical assistance operating system according to claim 1, characterized in that: Medical casters are fixed at all four corners of the base, and a power filter and a network cable interface are located at the rear of the base.

9. The endoscopic surgical assistance system according to claim 1, characterized in that: An emergency stop button is provided on the workbench for emergency braking.

10. The digestive endoscopy surgical assistance operating system according to claim 1, characterized in that: A green light guide strip is provided at the center of the front of the outer casing, and a power indicator panel is provided inside the green light guide strip to indicate the power-on status.

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