A master operation device for a digestive endoscope surgery assisting operation system

Abstract

The utility model discloses a kind of main hand operating devices for digestive endoscope surgical auxiliary operation system, including support assembly and control assembly, wherein support assembly, including sequentially from below to above setting main hand support, lower bearing sleeve and upper bearing sleeve, and magnet mounting shaft being set in the inside of the lower bearing sleeve and the upper bearing sleeve, the magnet mounting shaft is rotatably connected with the lower bearing sleeve and the upper bearing sleeve by deep groove ball bearing one respectively;Gear is still fixed on the magnet mounting shaft below the upper bearing sleeve, gear damping is arranged between the lower bearing sleeve and the upper bearing sleeve, the gear damping is engaged with the gear, for the rotation of the magnet mounting shaft Buffer, shock attenuation;The main hand operating device of the utility model is simple in structure, can make each connecting piece movement stable, will not occur shaking, reduce the vibration when each component moves, make the movement process of end effector more stable and accurate, improve the precision of surgical operation.

Description

Technical Field

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

[0002] The digestive endoscopy surgical assistance system is a novel medical device integrating multiple disciplines. It represents an important development direction in the current informatization, programming, and intelligence of medical devices, and has broad application prospects in the field of minimally invasive surgery. The digestive endoscopy surgical assistance system adopts a master-slave remote control mode. The surgeon operates the master hand control device from the console. The movement information of the master hand control device is transmitted remotely to the end effector located at the lesion site within the patient's body. The end effector can move synchronously with the master hand control device to perform the surgery. During the surgery, the end effector can also feed back force signals to the master hand control device, achieving force feedback.

[0003] In existing technologies, when users control the end effector using the master hand, it is easy for the operating range to be too large, causing shaking or acute rebound, which leads to the master hand's rotation range exceeding the normal range and causing additional damage to the patient's affected area. Utility Model Content

[0004] The present invention aims to solve the technical problems existing in the prior art. To this end, the present invention proposes a master hand operating device for an auxiliary operating system for digestive endoscopy surgery, which can reduce the movement range of the master hand operating device, reduce the acute rebound of the master hand operating device, and maintain the positioning accuracy of the operating position, thereby improving the efficiency of the surgery.

[0005] This utility model provides a master hand operating device for an auxiliary operating system in digestive endoscopy surgery, comprising:

[0006] The support assembly includes a main arm bracket, a lower bearing sleeve, and an upper bearing sleeve arranged sequentially from bottom to top, and a magnet mounting shaft that passes through the lower bearing sleeve and the upper bearing sleeve. The magnet mounting shaft is rotatably connected to the lower bearing sleeve and the upper bearing sleeve respectively via deep groove ball bearings. A gear is also fixed on the magnet mounting shaft below the upper bearing sleeve. A gear damper is provided between the lower bearing sleeve and the upper bearing sleeve. The gear damper meshes with the gear to buffer and dampen the rotation of the magnet mounting shaft.

[0007] The control assembly includes a semi-fork, a front L-shaped adapter, a middle L-shaped connector, a rear L-shaped connector, and a main handle. The semi-fork is fixed to the top of the magnet mounting shaft. A first and a second semi-ring retaining ring are respectively provided on the upper part of the semi-fork. Deep groove ball bearings are respectively provided between the semi-fork and the first semi-ring retaining ring, and between the semi-fork and the second semi-ring retaining ring. A rotating shaft is fixed in the middle of the second deep groove ball bearing. One end of the front L-shaped adapter is rotatably connected to the semi-fork via the rotating shaft, and the other end of the front L-shaped adapter is fixed inside the hollow adapter shaft. The front L-shaped adapter... The deep groove ball bearing 3 and the bearing sleeve are rotatably connected to the intermediate L-connector. The upper end of the intermediate L-connector is fixed behind the bearing sleeve. The lower end of the intermediate L-connector is fixed with a hollow adapter shaft 2 by a nut. The hollow adapter shaft 2 is rotatably connected to an adapter block by a deep groove ball bearing 4. The adapter block is rotatably connected to the rear L-connector by a deep groove ball bearing 5. The other end of the rear L-connector is provided with a circular through hole. A deep groove ball bearing 6 is fixed in the circular through hole. A grip mounting shaft is fixed inside the deep groove ball bearing 6. The main grip is fixed on the grip mounting shaft.

[0008] Furthermore, the support assembly also includes an adapter flange, an encoder three, and a shoulder screw for fixing the upper bearing sleeve to the lower bearing sleeve. The adapter flange is located inside the main arm bracket and fixed to the lower end of the lower bearing sleeve. The encoder three is fixed to the adapter flange and is used for positioning control of the magnet mounting shaft.

[0009] Furthermore, an adapter is fixed to the front of the semi-fork, and an encoder is fixed on the adapter. The encoder is used for positioning control of the front L adapter.

[0010] Furthermore, a torsion spring is provided between the rotating shaft and the half-fork seat for controlling the rotation and reset of the front L-connector; a torsion spring is provided between the hollow adapter shaft and the intermediate L-connector for controlling the rotation and reset of the intermediate L-connector.

[0011] Furthermore, an isolation column is provided behind the end of the intermediate L-connector that is fixedly connected to the bearing sleeve, and an encoder two is fixed on the isolation column. The encoder two is used for positioning control of the intermediate L-connector.

[0012] Furthermore, the hollow adapter shaft is designed to pass through the inside of the bearing sleeve and the end of the intermediate L-connector.

[0013] Furthermore, a retaining ring is provided between the main grip and the rear L connector to limit the rotation angle of the main grip.

[0014] Furthermore, a main hand button is provided on the upper part of the main hand grip; a main hand start button is also provided on the lower part of the main hand grip for starting control of the main hand operating device.

[0015] Furthermore, the lower part of the main grip is provided with an anti-slip pad to prevent slippage during surgical operations.

[0016] Furthermore, a sensor is provided on the intermediate L-connector for automatically detecting and controlling the movement of the master hand operating device.

[0017] Because of the adoption of the above technical solution, this utility model has the following advantages and positive effects compared with the prior art:

[0018] 1. The main hand operating device for the auxiliary operating system of digestive endoscopy surgery provided by this utility model has a simpler structure, fewer parts, and improved assembly efficiency of the finished product.

[0019] 2. Add torsion springs and dampers at the joints to adjust the damping between the joints, making the operation of the main hand smoother and less strenuous during use;

[0020] 3. Each connecting part uses a double bearing structure to prevent shaking during operation of the main hand and improve the accuracy of surgical operation;

[0021] 4. It can be completely separated in the middle section, which facilitates assembly and after-sales maintenance;

[0022] 5. The main hand grip is ergonomically designed with a trigger-like structure for easier operation. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model.

[0024] Figure 2 This is a three-dimensional structural diagram of an embodiment of the present utility model.

[0025] Figure 3 This is a schematic diagram of the main structure of an embodiment of the present utility model.

[0026] Figure 4 This is a rear view structural diagram of an embodiment of the present utility model.

[0027] Figure 5 This is a schematic diagram of the left-side structure of an embodiment of the present utility model.

[0028] Figure 6 This is a schematic diagram of the right-side structure of an embodiment of the present utility model.

[0029] Figure 7 This is a top view of an embodiment of the present invention.

[0030] Figure 8 This is a bottom view of the structure of an embodiment of the present invention.

[0031] Explanation of reference numerals in the attached diagram: 1. Main hand bracket; 2. Lower bearing sleeve; 3. Shoulder screw; 4. Gear damper; 5. Gear; 6. Magnet mounting shaft; 7. Upper bearing sleeve; 8. Half fork seat; 9. Adapter seat; 10. Encoder one; 11. Front L-shaped adapter; 12. Hollow adapter shaft one; 13. Bearing sleeve; 14. Deep groove ball bearing; 15. Middle L-shaped connector; 16. Sensor; 17. Main hand grip; 18. Retaining ring; 19. Encoder two; 20. Adapter block; 21. Rear L-shaped connector; 22. Half ring pressure ring one; 23. 24. Semi-ring pressure ring II; 25. Adapter flange; 26. Encoder III; 27. Grip mounting shaft; 28. Main hand start button; 29. ​​Anti-slip pad; 20. Hollow adapter shaft II; 31. Rotary shaft; 32. Torsion spring I; 33. Isolation post; 34. Main hand button; 35. Torsion spring II; 36. Deep groove ball bearing I; 37. Deep groove ball bearing II; 38. Deep groove ball bearing III; 39. Deep groove ball bearing IV; 40. Deep groove ball bearing V; 41. Deep groove ball bearing VI; 42. Protrusion; 43. Limiting block; 44. Limiting protrusion; 45. Nut. Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] like Figure 1-8As shown in the figure, a master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to an embodiment of the present invention includes a support assembly and a control assembly. The support assembly includes a master hand support 1, a lower bearing sleeve 2, an upper bearing sleeve 7, and a magnet mounting shaft 6. The master hand support 1, lower bearing sleeve 2, and upper bearing sleeve 7 are all hollow structures. The master hand support 1 provides support for the entire master hand operating device. The lower bearing sleeve 2 is fixed to the master hand support 1. The upper bearing sleeve 7 is fixed to the lower bearing sleeve 2 by shoulder screws 3. A transition flange 24 is fixed to the lower end of the lower bearing sleeve 2 inside the master hand support 1. An encoder 25 is fixed to the transition flange 24, and the encoder 25 is used for positioning control of the magnet mounting shaft 6. Deep groove ball bearings 35 are fixed inside both the lower bearing sleeve 2 and the upper bearing sleeve 7. The magnet mounting shaft 6 is fixed through the two deep groove ball bearings 35 and is rotatably connected to the lower bearing sleeve 2 and the upper bearing sleeve 7, respectively. A gear 5 is fixed on the magnet mounting shaft 6 below the upper bearing sleeve 7. A gear damper 4 is provided on the front side between the lower bearing sleeve 2 and the upper bearing sleeve 7. The gear damper 4 is fixed on the lower bearing sleeve 2 and meshes with the gear 5 to buffer and dampen the rotation of the magnet mounting shaft 6.

[0036] The control assembly of this utility model embodiment is used for motion control of the end effector, including a semi-fork seat 8, a front L-connector 11, a middle L-connector 15, a rear L-connector 21, and a main handle 17. The semi-fork seat 8 is fixed to the top of the magnet mounting shaft 6. A semi-ring pressure ring 22 and a semi-ring pressure ring 23 are respectively provided on both sides of the semi-fork seat 8. Circular through holes are formed between the semi-fork seat 8 and the semi-ring pressure ring 22, and between the semi-fork seat 8 and the semi-ring pressure ring 23. Deep groove ball bearings 36 are respectively provided in the circular through holes. Two deep groove ball bearings 36 are fixed with a rotating shaft 30 in the middle. The rotating shaft 30 has a protruding block in the middle, which is fixedly connected to one end of the front L adapter 11. A torsion spring 31 is also provided between the rotating shaft 30 and the half fork seat 8. One end of the torsion spring 31 is fixed on the half fork seat 8, and the other end is locked on the rotating shaft 30. It is used for rotation control and reset control of the front L adapter 11. An adapter seat 9 is also fixed in front of the half fork seat 8. An encoder 10 is fixed on the adapter seat 9. The encoder 10 is used for positioning control of the front L adapter 11.

[0037] The front L-shaped adapter 11 of this embodiment has one end rotatably connected to the half-fork seat 8 via a rotating shaft 30, and the other end fixed inside a hollow adapter shaft 12. The hollow adapter shaft 12 is fixed inside a deep groove ball bearing 37, which is fixed inside a bearing sleeve 13. The hollow adapter shaft 12 passes through the bearing sleeve 13 and intersects the end of the intermediate L-shaped connector 15. Through the sequential arrangement of the front L-shaped adapter 11, the hollow adapter shaft 12, the deep groove ball bearing 37, and the bearing sleeve 13, a rotatable connection between the front L-shaped adapter 11 and the bearing sleeve 13 is achieved. The intermediate L-shaped connector 15 is fixed to the rear of the bearing sleeve 13, thus enabling a rotatable connection between the front L-shaped adapter 11 and the intermediate L-shaped connector 15. Two deep groove ball bearings 37 are provided, both located inside the bearing sleeve 13.

[0038] In this embodiment of the invention, the intermediate L-connector 15 has one end fixed to the rear of the bearing sleeve 13, and the other end fixed to a hollow adapter shaft 29 via nuts 44. Four nuts 44 are provided, allowing the connection between the intermediate L-connector 15 and the hollow adapter shaft 29 to be detachable. A deep groove ball bearing 38 is fixed externally to the hollow adapter shaft 29 and is fixed inside the adapter block 20, thereby enabling the intermediate L-connector 15 to be rotatably connected to the adapter block 20. Two deep groove ball bearings 38 are provided. A protrusion 41 is provided on the hollow adapter shaft 29, and two limiting blocks 42 are provided at the rear of the adapter block 20 to restrict the movement of the protrusion 41 between the two limiting blocks 42, thereby controlling the rotation range of the adapter block 20. In addition, a torsion spring 34 is provided between the hollow adapter shaft 12 inside the bearing sleeve 13 and the intermediate L-connector 15. One end of the torsion spring 34 is fixed to the hollow adapter shaft 12, and the other end is engaged with the side of the intermediate L-connector 15 for rotation and reset control of the intermediate L-connector 15. An isolation post 32 is provided behind the end of the intermediate L-connector 15 that is fixedly connected to the bearing sleeve 13. An encoder 19 is fixed on the isolation post 32 for positioning control of the intermediate L-connector 15. A sensor 16 is also provided on the intermediate L-connector 15 for automatic detection of the movement of the main operating device.

[0039] In this embodiment of the invention, one end of the adapter block 20 is rotatably connected to the intermediate L-connector 15, and the other end is fixed with a deep groove ball bearing 39. The exterior of the deep groove ball bearing 39 is fixedly connected to one end of the rear L-connector 21, thereby rotatably connecting the adapter block 20 and the rear L-connector 21. The rotation range of the adapter block 20 directly controls the rotation range of the rear L-connector 21. Two deep groove ball bearings 39 are provided.

[0040] In this embodiment of the invention, one end of the rear L-connector 21 is rotatably connected to the adapter block 20, and the other end is provided with a circular through hole. A deep groove ball bearing 6 40 is fixed inside the circular through hole, and a grip mounting shaft 26 is fixed inside the deep groove ball bearing 6. A main grip 17 is fixed on the grip mounting shaft 26, and the main grip 17 is rotatably connected to the rear L-connector 21. A retaining ring 18 is also provided between the main grip 17 and the rear L-connector 21. Limiting protrusions 43 are symmetrically arranged on both sides of the retaining ring 18. A semi-circular protrusion (not shown in the figure) is provided at the end of the rear L-connector 21 between the limiting protrusions 43 to limit the rotation angle of the main grip 17. Two deep groove ball bearings 6 40 are provided.

[0041] The main hand grip 17 of this embodiment is provided with two main hand buttons 33 on its upper part for controlling the surgical actions of the end effector. A main hand start button 27 is also provided on the lower part of the main hand grip 17 for starting the main hand operating device. An anti-slip pad 28 is also provided on the lower part of the main hand grip 17 to prevent slippage during surgical operations.

[0042] In this embodiment of the utility model, when performing minimally invasive surgery, the doctor holds the main hand handle 17 and presses the main hand start button 27. The movement of the main hand handle 17 drives the end effector to the required position for surgery. Then, the main hand button 33 controls the surgical action of the end effector to achieve the purpose of removing the diseased tissue.

[0043] 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 master hand operating device for an auxiliary operating system in digestive endoscopy surgery, characterized in that: include: The support assembly includes a main arm bracket, a lower bearing sleeve, and an upper bearing sleeve arranged sequentially from bottom to top, and a magnet mounting shaft that passes through the lower bearing sleeve and the upper bearing sleeve. The magnet mounting shaft is rotatably connected to the lower bearing sleeve and the upper bearing sleeve respectively via deep groove ball bearings. A gear is also fixed on the magnet mounting shaft below the upper bearing sleeve. A gear damper is provided between the lower bearing sleeve and the upper bearing sleeve. The gear damper meshes with the gear to buffer and dampen the rotation of the magnet mounting shaft. The control assembly includes a semi-fork, a front L-shaped adapter, a middle L-shaped connector, a rear L-shaped connector, and a main handle. The semi-fork is fixed to the top of the magnet mounting shaft. A first and a second semi-ring retaining ring are respectively provided on the upper part of the semi-fork. Deep groove ball bearings are respectively provided between the semi-fork and the first semi-ring retaining ring, and between the semi-fork and the second semi-ring retaining ring. A rotating shaft is fixed in the middle of the second deep groove ball bearing. One end of the front L-shaped adapter is rotatably connected to the semi-fork via the rotating shaft, and the other end of the front L-shaped adapter is fixed inside the hollow adapter shaft. The front L-shaped adapter... The deep groove ball bearing 3 and the bearing sleeve are rotatably connected to the intermediate L-connector. The upper end of the intermediate L-connector is fixed behind the bearing sleeve. The lower end of the intermediate L-connector is fixed with a hollow adapter shaft 2 by a nut. The hollow adapter shaft 2 is rotatably connected to an adapter block by a deep groove ball bearing 4. The adapter block is rotatably connected to the rear L-connector by a deep groove ball bearing 5. The other end of the rear L-connector is provided with a circular through hole. A deep groove ball bearing 6 is fixed in the circular through hole. A grip mounting shaft is fixed inside the deep groove ball bearing 6. The main grip is fixed on the grip mounting shaft.

2. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: The support assembly also includes an adapter flange, an encoder three, and a shoulder screw for fixing the upper bearing sleeve to the lower bearing sleeve. The adapter flange is located inside the main arm bracket and fixed to the lower end of the lower bearing sleeve. The encoder three is fixed to the adapter flange and is used for positioning control of the magnet mounting shaft.

3. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: An adapter is fixed to the front of the semi-fork, and an encoder is fixed on the adapter. The encoder is used for positioning control of the front L adapter.

4. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: A torsion spring is provided between the rotating shaft and the half-fork seat for controlling the rotation and reset of the front L-connector; a torsion spring is provided between the hollow adapter shaft and the intermediate L-connector for controlling the rotation and reset of the intermediate L-connector.

5. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: An isolation column is provided behind one end of the intermediate L-connector that is fixedly connected to the bearing sleeve. An encoder two is fixed on the isolation column, and the encoder two is used for positioning control of the intermediate L-connector.

6. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: The hollow adapter shaft is designed to pass through the inside of the bearing sleeve and connect to the end of the intermediate L-shaped connector.

7. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: A retaining ring is also provided between the main grip and the rear L-connector to limit the rotation angle of the main grip.

8. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: The upper part of the main hand grip is provided with a main hand button; the lower part of the main hand grip is also provided with a main hand start button, which is used to start and control the main hand operating device.

9. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: The lower part of the main grip is provided with an anti-slip pad to prevent slipping during surgical operations.

10. The master hand operating device for an auxiliary operating system in digestive endoscopy surgery according to claim 1, characterized in that: The intermediate L-connector is equipped with a sensor for automatically detecting and controlling the movement of the main hand operating device.

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