CN114917026A - Lift pincers ware drive adjusting device and ERCP surgical robot - Google Patents

Abstract

The present invention provides a forceps lifter driving adjustment device and an ERCP surgical robot, comprising a driving component, a connecting component and a socket component; the driving component is arranged on the mounting seat, and the connecting component is connected and arranged on the driving component , the socket component is connected and arranged on the connection component; the socket component is socketed on the forceps lifter, the drive component is used to drive the connection component to move, and the connection component drives the socket The assembly moves, and the socket assembly drives the forceps lifter to rotate. The invention can realize the remote adjustment of the forceps lifter, and avoid the operator being exposed to the radiation environment.

Description

Forceps lifter drive adjustment device and ERCP surgical robot

technical field

The invention relates to the technical field of medical instruments, in particular, to a forceps lifter drive and adjustment device and an ERCP surgical robot, in particular to a forceps lifter drive and adjustment device for an ERCP surgical robot.

Background technique

ERCP is a very well-established endoscopic minimally invasive procedure for the treatment of diseases of the biliopancreatic system, also known as endoscopic retrograde cholangiopancreatography. ERCP can be used to diagnose and treat diseases such as gallstones, biliary obstruction, cholangitis, biliary tumors, and pancreatic tumors. During the operation, a duodenoscope is inserted into the descending part of the patient's duodenum, a contrast catheter is inserted into the biopsy tube to the opening of the duodenal papilla, and a contrast agent is then injected to observe under the X-ray film The specific situation of the pancreaticobiliary duct is determined to determine whether there is a lesion, and then the corresponding surgery is performed. ERCP surgery has the advantages of less trauma, shorter operation time, fewer complications, and higher safety. This type of surgery is a minimally invasive surgery, with very small surgical trauma, which will not cause too much pain to the patient, and the postoperative recovery is relatively fast.

At present, domestic ERCP surgery is performed manually by doctors and their teams. However, ERCP surgery needs to be completed with the assistance of X-rays. The surgeon is exposed to X-rays for a long time, and the operators need to wear heavy radiation protection clothing during the operation. , the arm part needs to be exposed and cannot be protected by radiation protection. The long-term surgical radiation over the years will cause serious radiation damage to the operator.

Existing ERCP surgery requires many operators and collaboration personnel, which is slightly congested in the operating room with little space. Doctors and operators need to stand all day for the operation, which is heavy and easy to fatigue, which affects the accuracy of the operation and even the operation. This leads to errors. During the operation, after the duodenoscope is inserted into the human body, it is necessary to adjust the angle of the guide wire catheter in the human body through the forceps lifter. It is difficult for doctors and operators to ensure that their hands are not shaking. Displacement occurs from time to time, and it is impossible to accurately adjust the forceps lifter. At the same time, if the forceps lifter is directly adjusted, the operator will be exposed to X-rays and cause damage to the operator.

The patent document with the publication number CN215687669U discloses a forceps lifter for an endoscope, an endoscope lens end and an endoscope, including a forceps lifter main body, and the forceps lifter main body has a function for realizing connection with the endoscope. The connecting part of the transmission part is mechanically connected, and the friction fixing part is used to abut against the treatment instrument protruding from the jaw opening and cooperate with the abutment part of the end of the endoscope to fix the treatment instrument by static friction, the The connecting part is a hard material part, and the friction fixing part is a non-slip material part.

SUMMARY OF THE INVENTION

In view of the defects in the prior art, the purpose of the present invention is to provide a forceps lifter driving adjustment device and an ERCP surgical robot.

A caliper lifter drive adjusting device provided according to the present invention is characterized in that it includes a drive assembly, a connection assembly and a socket assembly;

The drive assembly is disposed on the mounting seat, the connection assembly is connected and disposed on the drive assembly, and the socket assembly is connected and disposed on the connection assembly;

The socket assembly is sleeved on the forceps lifter, the driving component is used to drive the connection component to move, the connection component drives the socket component to move, and the socket component drives the forceps lifter to rotate .

Preferably, the drive assembly includes a push rod motor and a push rod;

The push rod motor is disposed on the mounting seat, one end of the push rod is connected to the push rod motor, and one end of the push rod away from the push rod motor is connected to the connection assembly.

Preferably, a positioning shaft is provided on the mounting seat, the push rod motor is connected and arranged on the positioning shaft, and the positioning shaft is used to limit and fix the push rod motor.

Preferably, the connecting component is a connecting block;

The push rod is connected at one end of the connection block, and the socket assembly is connected at an end of the connection block away from the push rod.

Preferably, the socket assembly includes a connecting column and a casing;

The sleeve is connected and arranged on the connection column, the connection column is detachably arranged on the connection block, and the sleeve is sleeved on the forceps lifter.

Preferably, a first magnet is provided at one end of the connecting column close to the connecting block;

The connection block is provided with a connection hole, a second magnet is arranged in the connection hole, the connection post is connected with the connection block through the connection hole, and the first magnet and the second magnet are magnetically mutually magnetic. Suck.

Preferably, the section of the sleeve is in the shape of a racetrack, and the sleeve is adapted and connected to the caliper lifter.

Preferably, the push rod is provided on the connecting block by screw connection.

Preferably, a motor cover is arranged on the mounting base, the motor cover is arranged on the push rod motor, and a membrane switch is arranged on the motor cover.

The present invention also provides an ERCP surgical robot, which includes the above-mentioned forceps lifter driving and adjusting device.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention can realize the remote adjustment of the clamp lifter to avoid the operator being exposed to the radiation environment;

2. The forceps lifter cover assembly in the present invention is detachably arranged through the magnet and the connecting block, and the forceps lifter cover assembly is disassembled and replaced, which is convenient for disassembly and replacement of the forceps lifter cover assembly;

3. The driving and adjusting device of the clamp lifter of the present invention has a compact structure, powerful and reliable functions;

4. The present invention mainly solves the damage to doctors caused by long-term radiation in ERCP operation, reduces the hand tremors of doctors during operation, reduces work intensity, reduces operators, and improves the success rate of the operation.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

Fig. 1 is the structure diagram of the caliper lifter drive adjustment device of the present invention;

Fig. 2 is the structural schematic diagram that highlights the forceps lifter;

Fig. 3 is a partial enlarged view of the caliper lifter drive adjusting device of the present invention;

Fig. 4 is the structural schematic diagram that highlights the forceps lifter cover assembly;

Fig. 5 is the structural schematic diagram that highlights the connection block;

FIG. 6 is a schematic diagram showing the structure of the positioning axis highlighted.

The figure shows:

Drive assembly 1 Positioning axis 4

Push rod motor 101 First magnet 5

Push rod 102 Second magnet 6

Connection kit 2 Screw 7

Lifter cover assembly 3 Membrane switch 8

Connecting post 301 Mounting seat 9

Cannula 302 Forceps Lifter 10

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the inventive concept. These all belong to the protection scope of the present invention.

Example 1:

As shown in FIGS. 1 to 6 , this embodiment provides a driving and adjusting device for a forceps lifter, including a driving component 1 , a connecting component 2 and a socket component 3 . The drive assembly 1 is arranged on the mounting seat 9, the connecting assembly 2 is connected and arranged on the driving assembly 1, the socket assembly 3 is connected and arranged on the connecting assembly 2, and the sleeve assembly 3 is sleeved on the forceps lifter 10. In order to drive the connecting assembly 2 to move, the connecting assembly 2 drives the sleeve assembly 3 to move, and the sleeve assembly 3 drives the forceps lifter 10 to rotate.

The drive assembly 1 includes a push rod motor 101 and a push rod 102 , the push rod motor 101 is arranged on the mounting base 9 , one end of the push rod 102 is connected to the push rod motor 101 , and one end of the push rod 102 away from the push rod motor 101 is connected and arranged on connection assembly 2. The mounting base 9 is provided with a positioning shaft 4 , and the push rod motor 101 is connected and arranged on the positioning shaft 4 , and the positioning shaft 4 is used to limit and fix the push rod motor 101 . A motor cover is arranged on the mounting base 9 , the motor cover is arranged on the push rod motor 101 , and the membrane switch 8 is arranged on the motor cover.

The connecting assembly 2 is a connecting block, the push rod 102 is connected and disposed at one end of the connecting block, and the socket assembly 3 is connected and disposed at one end of the connecting block away from the push rod 102 . The push rod 102 is connected and arranged on the connection block through the screw 7 .

The socket assembly 3 includes a connection post 301 and a sleeve 302 , the sleeve 302 is connected and arranged on the connection post 301 , the connection post 301 is detachably arranged on the connection block, and the sleeve 302 is sleeved on the forceps lifter 10 . The cross section of the sleeve 302 is in the shape of a racetrack, and the sleeve 302 is adapted to be connected with the forceps lifter 10 .

One end of the connecting column 301 close to the connecting block is provided with a first magnet 5, the connecting block is provided with a connecting hole, and a second magnet 6 is arranged in the connecting hole, the connecting column 301 is connected with the connecting block through the connecting hole, the first magnet 5 and the second magnet 6 are arranged in the connecting hole. The two magnets 6 magnetically attract each other.

The doctor controls the extension and retraction of the push rod motor of the actuator push rod motor through the remote control end handle, and then controls the rotation of the duodenoscope lifter, and finally controls the insertion angle of the guide wire catheter at the front end of the insertion part to achieve successful intubation .

This embodiment also provides an ERCP surgical robot, which includes the above-mentioned driving and adjusting device for a forceps lifter. ERCP surgical robot, the doctor sits on the console outside the operating room, and the entire operation can be performed by remote control, which solves the long-term radiation damage of the ERCP operation to the operator, avoids the doctor's hand tremor during operation, and reduces the work intensity. Improve the success rate of surgery.

Example 2:

Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

This embodiment provides a forceps lifter control module for an ERCP surgical robot, including a forceps lifter cover, a push rod motor, a push rod, and a connection block.

The push rod motor is set on the mounting seat through a positioning shaft. One end of the push rod is connected to the telescopic end of the push rod motor, and the other end of the push rod is connected to the connecting block. The connecting block is provided with a connecting block hole. The connecting block The bottom of the hole is provided with a magnet.

The clamp lifter sleeve has a slot-shaped mouth and a magnet at the bottom. During installation, it is inserted into the connection block hole, covers the clamp lifter, and is attracted to the magnet at the bottom of the connection block hole. It can be pulled out directly when disassembling and replacing.

There is a positioning shaft at the tail of the push rod motor, the head of the push rod and the connecting block are locked with screws, the motor as a whole swings around the positioning shaft when the push rod is retracted, and the connecting block pushes and pulls the clamp lifter sleeve and rotates around the center axis of the clamp lifter.

A membrane switch is installed on the motor cover, which can manually control the advance and retreat of the motor push rod.

This embodiment relates to the field of interventional surgery robots, belongs to the field of medical devices, and mainly solves the damage to doctors caused by long-term radiation in ERCP surgery, reduces hand tremors when doctors operate, reduces work intensity, reduces operators, and improves the success rate of surgery. Yes, the doctor controls the push rod of the actuator motor to expand and contract through the remote control end handle, and then controls the rotation of the duodenoscope lifter, and finally controls the insertion angle of the guide wire catheter at the front end of the insertion part to achieve successful intubation .

Aiming at the above-mentioned shortcomings in the prior art, this embodiment provides a forceps lifter control module for an ERCP surgical robot. The control mode of this module completely replicates the actual surgical action of the doctor, and the doctor can adapt to it through a small learning process. The handle control method, this module is compact in structure, powerful and reliable.

The invention solves the problem of damage to doctors caused by long-term radiation in ERCP operation, reduces the hand tremors of doctors during operation, reduces work intensity, reduces operators, and improves the success rate of the operation.

In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the indicated device. Or elements must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essential content of the present invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily, provided that there is no conflict.

Claims (10)

1. A caliper lifter drive adjustment device, characterized in that it comprises a drive assembly (1), a connection assembly (2) and a socket assembly (3); The drive assembly (1) is arranged on the mounting seat (9), the connection assembly (2) is connected and arranged on the drive assembly (1), and the socket assembly (3) is connected and arranged on the connection assembly (2) on; The sleeve assembly (3) is sleeved on the forceps lifter (10), the drive assembly (1) is used to drive the connection assembly (2) to move, and the connection assembly (2) drives the sleeve The assembly (3) moves, and the socket assembly (3) drives the forceps lifter (10) to rotate. 2. The caliper lifter drive adjustment device according to claim 1, wherein the drive assembly (1) comprises a push rod motor (101) and a push rod (102); The push rod motor (101) is arranged on the mounting seat (9), one end of the push rod (102) is connected to the push rod motor (101), and the push rod (102) is far away from the One end of the push rod motor (101) is connected to the connection component (2). 3 . The caliper lifter drive adjusting device according to claim 2 , wherein a positioning shaft ( 4 ) is arranged on the mounting seat ( 9 ), and the push rod motor ( 101 ) is connected and arranged on the positioning shaft ( 3 ). 4 . On the shaft (4), the positioning shaft (4) is used to limit and fix the push rod motor (101). 4. The caliper lifter driving adjustment device according to claim 2, characterized in that, the connecting assembly (2) is a connecting block; The push rod (102) is connected and arranged at one end of the connection block, and the socket assembly (3) is connected and arranged at an end of the connection block away from the push rod (102). 5. The caliper lifter driving adjustment device according to claim 4, wherein the socket assembly (3) comprises a connecting column (301) and a sleeve (302); The sleeve (302) is connected and arranged on the connecting column (301), the connecting column (301) is detachably arranged on the connecting block, and the sleeve (302) is sleeved on the lifting forceps on the device (10). 6 . The device for driving and adjusting the clamp lifter according to claim 5 , wherein a first magnet ( 5 ) is provided at one end of the connecting column ( 301 ) close to the connecting block; 6 . The connection block is provided with a connection hole, a second magnet (6) is arranged in the connection hole, the connection post (301) is connected with the connection block through the connection hole, the first magnet (5) ) and the second magnet (6) magnetically attract each other. 7. The caliper lifter driving and adjusting device according to claim 5, wherein the section of the sleeve (302) is a racetrack shape, and the sleeve (302) is adapted to the caliper lifter (10). with connection. 8 . The device for driving and adjusting the forceps lifter according to claim 4 , wherein the push rod ( 102 ) is connected and arranged on the connecting block through a screw ( 7 ). 9 . 9 . The caliper lifter drive adjusting device according to claim 2 , wherein a motor cover is provided on the mounting seat ( 9 ), and the motor cover is provided on the push rod motor ( 101 ). 10 . Above, a membrane switch (8) is arranged on the motor cover. 10. An ERCP surgical robot, characterized in that it comprises the forceps lifter driving adjustment device according to any one of claims 1 to 9.

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