CN109645935A

CN109645935A - A kind of endoscope auxiliary manipulator

Info

Publication number: CN109645935A
Application number: CN201811531671.5A
Authority: CN
Inventors: 张建国
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-12-14
Filing date: 2018-12-14
Publication date: 2019-04-19

Abstract

The invention discloses a kind of scope auxiliary manipulators, including instrument table, first fixed case and the second fixed case, the side of the instrument table is rotatably connected to backup plate, support frame is fixedly connected at left and right sides of the instrument table bottom, the top of described second fixed box cavity slidably connects rack gear by sliding shoe, mechanical shaft is fixedly connected at the top of the sliding shoe, the top of the mechanical shaft is fixedly connected with support rod, and the top of support rod is fixedly connected with fixture block, the inner rotation of the fixture block is connected with rotation axis, one end of the rotation axis runs through fixture block and extends to the outside of fixture block, one end of the rotation axis is fixedly connected with rotating wheel, it is related to endoscopic technic field.Scope auxiliary manipulator, can replace medical staff using the cooperation between mechanical shaft, support rod and fixture block, and hand steered connecting rod vacates a hand for medical staff, makes medical staff, easy to operate, and work is enable to go on smoothly.

Description

A kind of scope auxiliary uses manipulator

Technical field

The present invention relates to endoscopic technic field, specially a kind of scope auxiliary uses manipulator.

Background technique

Endoscope is to have concentrated traditional optical, ergonomics, precision machinery, hyundai electronics, mathematics, software etc. in one Detecting instrument.One has imaging sensor, optical lens, light source illumination, mechanical device etc., it can enter stomach with direct oral cavity It is interior or internal through the entrance of other natural holes.Using endoscope it can be seen that the lesion that X-ray cannot be shown, therefore it is to doctor It is highly useful.For example, ulcer or tumour in stomach can be observed by endoscope doctor, optimal treatment side is made accordingly Case.Endoscope is a pipe equipped with light, endoscope can natural hole through human body or underwent operative do it is small Notch enters in human body.There are many different types, classification methods to have nothing in common with each other, compare in general for medical examination endoscope More general has following three classification.In terms of market sale, can current most commonly used classification with clinically the side of change To being divided into hard mirror and elastic two kinds of soft lens.By the function of endoscope, it is divided into single function mirror and Multi-function mirror.Single function mirror refers to There is no service aisle, the only peephole of optical system；Multi-function mirror refers to except having the function of that peephole is, in same shank, Also with the service aisle of at least more than one, has and the multiple functions such as illuminate, perform the operation, rinse and attract；It is arrived by endoscope The position reached；The position difference reached by endoscope is classified: being divided into endoscope for ENT, stomatology endoscope, in dentistry Sight glass, neural mirror, urethrocystoscope, resectoscope, laparoscope, arthroscope, nasal sinus mirror, laryngoscope etc..It can the side of change according to shank To；It clinically can change direction according to endoscope shank to classify: be divided into hard mirror and elastic two kinds of soft lens.Hard mirror is Prism optical system, great advantage are imaging clearlies, can match multiple service aisles, choose multiple visual angles.

Patient lies on instrument table, needs by anus to send scope to caecum, during being somebody's turn to do, it usually needs one of doctor Hand holds scope, is sent by anus to caecum, and another hand operates control button etc., controls the lens direction etc. of scope, however, should Process needs two hands to cooperate, inconvenient.

Summary of the invention

(1) the technical issues of solving

In view of the deficiencies of the prior art, it the present invention provides a kind of scope auxiliary manipulator, solves and usually requires doctor A raw hand holds scope, is sent by anus to caecum, another hand operates control button etc., controls the lens direction of scope Deng, however, the process needs two hands to cooperate, inconvenient problem.

(2) technical solution

In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of scope auxiliary manipulator, packet Instrument table, the first fixed case and the second fixed case are included, the side of the instrument table is rotatably connected to backup plate, the instrument table bottom The left and right sides be fixedly connected to support frame, the top of the described second fixed box cavity is slidably connected with teeth by sliding shoe Item is fixedly connected with mechanical shaft at the top of the sliding shoe, and the top of the mechanical shaft is fixedly connected with support rod, and support rod Top be fixedly connected with fixture block, the inner rotation of the fixture block is connected with rotation axis, and fixture block is run through in one end of the rotation axis And the outside of fixture block is extended to, one end of the rotation axis is fixedly connected with rotating wheel, and the outer surface of rotation axis is arranged with branch Block, is fixedly connected with connecting rod at the top of the bearing piece, and one end of the connecting rod is fixedly connected with fixed bin, and fixed bin Side is fixedly connected with scope by strut.

Preferably, infrared induction piece is fixedly connected at the top of the fixed bin inner cavity, and the side of fixed bin inner cavity is solid Surely it is connected with navigator, the other end of the connecting rod is fixedly connected with handle, and the side of handle is provided with button.

Preferably, the left side at the top of first fixed case is fixedly connected with telescopic rod, the top of the telescopic rod with lean on It is fixedly connected on the left of plate, is fixedly connected with connector sleeve at the top of first fixed case.

Preferably, the front of first fixed case is rotatably connected to cam, the inner surface of the connector sleeve by shaft Sliding block is slidably connected, the bottom of the sliding block and the top movable of cam connect.

Preferably, support column is fixedly connected at the top of the sliding block, the top of the support column is fixedly connected with connection Block, the top of the link block are fixedly connected with the bottom of backup plate.

Preferably, the inside of second fixed case is rotatably connected to gear, the side of the gear and tooth by shaft The side of item is meshed, and the bottom of second fixed case offers placing groove.

Preferably, the back side of first fixed case and the second fixed case is rotatably connected to handle, and described first is fixed The back side of case and the second fixed case and be located at handle rear be fixedly connected to dial disc.

Preferably, the side of the handle is provided with limited post, and the back side of first fixed case and the second fixed case is equal Offer limiting slot compatible with limited post.

Preferably, through slot is offered at the top of the instrument table, the inner surface of the through slot and the outer surface of support rod are sliding It is dynamic to connect, headrest is fixedly connected at the top of the backup plate.

(3) beneficial effect

The present invention provides a kind of scope auxiliary manipulators.Have it is following the utility model has the advantages that

(1), the scope auxiliary use manipulator, by include instrument table, the first fixed case and the second fixed case, instrument table Side is rotatably connected to backup plate, and support frame, the top of the second fixed box cavity are fixedly connected at left and right sides of instrument table bottom Portion slidably connects rack gear by sliding shoe, and mechanical shaft is fixedly connected at the top of sliding shoe, and the top of mechanical shaft is fixedly connected There is support rod, and the top of support rod is fixedly connected with fixture block, it can generation using the cooperation between mechanical shaft, support rod and fixture block For medical staff, hand steered connecting rod vacates a hand for medical staff, makes medical staff, easy to operate, enables work smoothly It carries out.

(2), scope auxiliary manipulator, is connected with rotation axis by the inner rotation of fixture block, one end of rotation axis is passed through It wears fixture block and extends to the outside of fixture block, one end of rotation axis is fixedly connected with rotating wheel, and the outer surface of rotation axis is arranged with Bearing piece is fixedly connected with connecting rod at the top of bearing piece, and one end of connecting rod is fixedly connected with fixed bin, and the side of fixed bin is logical It crosses strut and is fixedly connected with scope, bearing piece can be driven to rotate using the cooperation between rotating wheel, rotation axis, and then adjustable The position of connecting rod, and the angle of scope is adjusted, it is easy to operate, it is practical.

(3), scope auxiliary manipulator, by being fixedly connected with support column at the top of sliding block, the top of support column is solid Surely it is connected with link block, the top of link block is fixedly connected with the bottom of backup plate, and the inside of the second fixed case is rotated by shaft It is connected with gear, the side of gear is meshed with the side of rack gear, and the bottom of the second fixed case offers placing groove, utilizes gear Cooperation between rack gear can drive mechanical shaft side-to-side movement, and then drive scope side-to-side movement, and be able to cooperate infrared induction piece Endoscope position is determined with navigator, and thus adjust, so that the scope is accurately reached accurate position.

(4), scope auxiliary manipulator, by being fixedly connected with infrared induction piece at the top of fixed bin inner cavity, and it is solid The side for determining box inner cavity is fixedly connected with navigator, and the other end of connecting rod is fixedly connected with handle, and the side setting of handle There is button, the left side at the top of the first fixed case is fixedly connected with telescopic rod, is fixedly connected on the left of the top of telescopic rod and backup plate, It is fixedly connected with connector sleeve at the top of first fixed case, support rod can be driven using the cooperation between handle, cam and sliding block It moves up and down, and telescopic rod is cooperated to adjust the angle of backup plate, patient is enable to have comfortable lying posture.

Detailed description of the invention

Fig. 1 is schematic structural view of the invention；

Fig. 2 is structure of the invention rearview；

Fig. 3 is the schematic diagram of internal structure of fixed bin of the present invention；

Fig. 4 is the structural side view of fixture block of the present invention；

Fig. 5 is the structure top view of instrument table of the present invention；

Fig. 6 is the partial enlarged view in Fig. 1 of the present invention at A.

In figure, 1- instrument table, the first fixed case of 2-, the second fixed case of 3-, 4- backup plate, 5- support frame, 6- sliding shoe, 7- machine Tool bar, 8- support rod, 9- fixture block, 10- rotation axis, 11- rotating wheel, 12- bearing piece, 13- connecting rod, 14- fixed bin, 15- scope, 16- infrared induction piece, 17- handle, 18- button, 19- telescopic rod, 20- connector sleeve, 21- cam, 22- sliding block, 23- link block, 24- gear, 25- rack gear, 26- handle, 27- dial disc, 28- limited post, 29- limiting slot, 30- through slot, 31- headrest, 32- are put Set slot, 33- navigator.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Fig. 1-6 is please referred to, the embodiment of the present invention provides a kind of technical solution: a kind of scope auxiliary manipulator, including control Platform 1, the first fixed case 2 and the second fixed case 3 are treated, the left side at 2 top of the first fixed case is fixedly connected with telescopic rod 19, telescopic rod 19 top is fixedly connected with the left side of backup plate 4, and the top of the first fixed case 2 is fixedly connected with connector sleeve 20, the first fixed case 2 Front cam 21 is rotatably connected to by shaft, the inner surface of connector sleeve 20 slidably connects sliding block 22, the top of sliding block 22 It is fixedly connected with support column 34, the top of support column 34 is fixedly connected with link block 23, the top of link block 23 and the bottom of backup plate 4 Portion is fixedly connected, and the bottom of sliding block 22 is connect with the top movable of cam 21, and the inside of the second fixed case 3 is rotated by shaft to be connected It is connected to gear 24,7 side-to-side movement of mechanical shaft can be driven using the cooperation between 24 rack gear 25 of gear, and then drive scope 15 left Right movement, and be able to cooperate infrared induction piece 16 and navigator 33 to determine 15 position of scope, and thus adjust, keep the scope quasi- Really the errorless accurate position of arrival, the side of gear 24 are meshed with the side of rack gear 25, and the bottom of the second fixed case 3 opens up There is a placing groove 32, the back side of the first fixed case 2 and the second fixed case 3 is rotatably connected to handle 26, utilizes handle 26, cam 21 Cooperation between sliding block 22 can drive support rod 8 to move up and down, and telescopic rod 19 is cooperated to adjust the angle of backup plate 4, make disease People can have a comfortable lying posture, and the side of handle 26 is provided with limited post 28, and the back side of the first fixed case 2 and the second fixed case 3 is equal It offers limiting slot 29 compatible with limited post 28, the back side of the first fixed case 2 and the second fixed case 3 and is located at handle 26 Rear is fixedly connected to dial disc 27, and the top of instrument table 1 offers through slot 30, the inner surface and support rod 8 of through slot 30 Outer surface be slidably connected, the top of backup plate 4 is fixedly connected with headrest 31, and the side of instrument table 1 is rotatably connected to backup plate 4, controls It treats and is fixedly connected to support frame 5 at left and right sides of 1 bottom of platform, the top of 3 inner cavity of the second fixed case is connected by the sliding of sliding shoe 6 It is connected to rack gear 25, the top of sliding shoe 6 is fixedly connected with mechanical shaft 7, utilizes matching between mechanical shaft 7, support rod 8 and fixture block 9 Conjunction can replace medical staff, and hand steered connecting rod vacates a hand for medical staff, makes medical staff, easy to operate, make work Work can be gone on smoothly, and the top of mechanical shaft 7 is fixedly connected with support rod 8, and the top of support rod 8 is fixedly connected with fixture block 9, folder The inner rotation of block 9 is connected with rotation axis 10, and one end of rotation axis 10 runs through fixture block 9 and extends to the outside of fixture block 9, rotation axis 10 one end is fixedly connected with rotating wheel 11, bearing piece 12 can be driven to rotate using the cooperation between rotating wheel 11, rotation axis 10, And then the position of adjustable connecting rod 13, and the angle of scope is adjusted, and it is easy to operate, it is practical, and rotation axis 10 is outer Surface is arranged with bearing piece 12, and the top of bearing piece 12 is fixedly connected with connecting rod 13, and one end of connecting rod 13 is fixedly connected with fixation Box 14 is fixedly connected with infrared induction piece 16 at the top of 14 inner cavity of fixed bin, and the side of 14 inner cavity of fixed bin is fixedly connected with Navigator 33, the other end of connecting rod 13 is fixedly connected with handle 17, and the side of handle 17 is provided with button 18, and fixed bin 14 side is fixedly connected with scope 15 by strut.

In use, patient lies on instrument table 1, the handle 26 on the first fixed case 2 is rotated, band moving cam 21 rotates, leads to Mating band movable slider 22 before crossing cam 21 and sliding block 22 does movement downward upwards in the inner surface of connector sleeve 20, and then adjusts The angle for saving backup plate 4, lies in patient on instrument table 1 with comfortable lying posture, and scope 15 is being passed through the bearing piece in connecting rod 13 12 are stuck in the outer surface of rotation axis 10, rotate the handle 26 on the second fixed case 3, and band moving gear 24 rotates, and pass through 24 He of gear Cooperation between rack gear 25 can be moved with carry-over bar 25, and then mechanical shaft 7 is driven to move downward, and mechanical shaft 7 passes through support rod 8 It drives connecting rod 13 to move, and then scope 15 is driven to protrude into the anus of patient, by swing handle 26 come command range, medical care Personnel can be rotated rotating wheel 11 and rotation axis 10 driven to rotate, and then connecting rod 13 is driven to rotate, and adjust the angle of scope 15, complete Work.

It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.

It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims

1. An endoscopic auxiliary manipulator, comprising a treatment table (1), a first fixing box (2) and a second fixing box (3), one side of the treatment table (1) is rotatably connected with a backing plate (4) ), the left and right sides of the bottom of the treatment table (1) are fixedly connected with a support frame (5), characterized in that: the top of the inner cavity of the second fixing box (3) is slidably connected with a sliding block (6). A rack (25), a mechanical rod (7) is fixedly connected to the top of the sliding block (6), a support rod (8) is fixedly connected to the top of the mechanical rod (7), and the top of the support rod (8) A clamping block (9) is fixedly connected, a rotating shaft (10) is rotatably connected inside the clamping block (9), and one end of the rotating shaft (10) penetrates the clamping block (9) and extends to the clamping block (9) The outer surface of the rotating shaft (10) is fixedly connected with a rotating wheel (11), and a support block (12) is sleeved on the outer surface of the rotating shaft (10), and the top of the support block (12) is fixedly connected There is a connecting rod (13), one end of the connecting rod (13) is fixedly connected with a fixing box (14), and one side of the fixing box (14) is fixedly connected with an endoscope (15) through a support rod.

2. A manipulator for assisting endoscopy according to claim 1, characterized in that: the top of the inner cavity of the fixing box (14) is fixedly connected with an infrared sensing sheet (16), and the inner cavity of the fixing box (14) is fixedly connected with an infrared sensor sheet (16). A navigator (33) is fixedly connected to one side of the connecting rod (13), a handle (17) is fixedly connected to the other end of the connecting rod (13), and a button (18) is provided on one side of the handle (17).

3. The endoscope auxiliary manipulator according to claim 1, wherein a telescopic rod (19) is fixedly connected to the left side of the top of the first fixing box (2), and the telescopic rod (19) The top end of the first fixing box (2) is fixedly connected to the left side of the backing plate (4), and a connecting sleeve (20) is fixedly connected to the top of the first fixing box (2).

4. The endoscope auxiliary manipulator according to claim 3, characterized in that: the front surface of the first fixing box (2) is rotatably connected with a cam (21) through a rotating shaft, and the connecting sleeve (20) is A sliding block (22) is slidably connected on the inner surface, and the bottom of the sliding block (22) is movably connected with the top of the cam (21).

5 . The endoscope auxiliary manipulator according to claim 4 , wherein a support column ( 34 ) is fixedly connected to the top of the slider ( 22 ), and the top of the support column ( 34 ) is fixedly connected. 6 . There is a connecting block (23), and the top of the connecting block (23) is fixedly connected with the bottom of the backing plate (4).

6 . The endoscope auxiliary manipulator according to claim 1 , wherein a gear ( 24 ) is rotatably connected to the inside of the second fixing box ( 3 ) through a rotating shaft, and one of the gears ( 24 ) The side meshes with one side of the rack (25), and a placement slot (32) is provided at the bottom of the second fixing box (3).

7. The endoscope auxiliary manipulator according to claim 1, characterized in that: both the backs of the first fixing box (2) and the second fixing box (3) are rotatably connected with a handle (26), so A scale disc (27) is fixedly connected to the back of the first fixing box (2) and the second fixing box (3) and behind the handle (26).

8 . The endoscope auxiliary manipulator according to claim 7 , wherein a limiting column ( 28 ) is arranged on one side of the handle ( 26 ), the first fixing box ( 2 ) and the second The back of the fixing box (3) is provided with limit grooves (29) which are matched with the limit posts (28).

9 . The endoscope auxiliary manipulator according to claim 1 , wherein a through groove ( 30 ) is opened on the top of the treatment table ( 1 ), and the inner surface of the through groove ( 30 ) is connected to the support. 10 . The outer surfaces of the rods (8) are slidably connected, and a headrest (31) is fixedly connected to the top of the backing plate (4).