CN111494011A - A colonoscope handle manipulator for assisting doctors in colonoscopy - Google Patents

Abstract

The invention discloses a colonoscope handle manipulator for assisting doctors to perform colonoscopy. A U-shaped support plate is provided with a dial wheel driving mechanism, a handle fixing mechanism, a biopsy forceps closing mechanism and a biopsy forceps conveying mechanism, and the handle fixing mechanism is used to connect the colon. The mirror handle is fixed on the handle fixing mechanism, and the colonoscope dial is tightly attached to the inner side of the dial shell. The doctor drives the motor to control the rotation direction and angle of the dial. The motor and the dial shell are driven by a synchronous belt to ensure the dial. The accuracy of the rotation angle, the biopsy forceps delivery mechanism can ensure the delivery of the biopsy forceps wire to the inside of the biopsy channel, the biopsy forceps closing mechanism can control the opening and closing of the biopsy forceps tip, this device can replace the traditional doctor's manual pulsator operation, It solves the problem of muscle damage to the doctor's fingers and shoulders caused by long-time pulsing. At the same time, instead of the traditional way, the assistant assists the doctor to operate the delivery and opening and closing of the biopsy forceps, so that the doctor can complete the colon examination and polyp removal work alone.

Description

A colonoscope handle manipulator for assisting doctors in colonoscopy

technical field

The invention belongs to the field of medical robots for endoscopic surgery, and particularly relates to an operation mode for doctors to perform colon examination.

Background technique

Global Cancer Statistics The morbidity and mortality of 36 types of cancer in 185 countries around the world. The data shows that there are about 18.1 million new cases and 9.6 million cancer deaths per year, of which the incidence and mortality of colorectal cancer account for 10.2% and 9.2%, respectively. , ranked third and second in cancer rankings. And 80% of colorectal cancers are transformed from benign colorectal polyps. If colorectal cancer can be detected and treated at an early stage, the survival rate will be significantly improved. Therefore, the key to preventing colorectal cancer is to find and remove polyps as soon as possible.

Colonoscopy is a type of endoscope used to examine, diagnose and treat inflammatory ulcers, polyps, tumors, etc. in the mucosa and submucosa of the colorectal wall. Colorectal disease is difficult to obtain an accurate and comprehensive diagnosis from the history and signs. Currently, colorectal diseases and other diseases related to the digestive system are mainly examined by endoscopic techniques in clinical practice.

Because colonoscopy requires interventional operations through the natural orifice of the human body, the internal space environment of the intestinal cavity is narrow, the curvature is complex, the intestinal wall is full of folds and has certain stretching characteristics. Compared with other operations, the environment is complex and the operation is difficult. And the characteristics of high risk, so higher requirements are put forward for the doctor of colonoscopy. The doctor needs to control the rotation of the size dial with one hand repeatedly for a long time, and cooperate with the other hand to advance and rotate the scope to observe the intestinal lesions. , Frequent operation will cause discomfort to the doctor, distraction makes it difficult to achieve the best effect of the operation, and at the same time, the long-term colon examination operation will cause great damage to the doctor's fingers and shoulders.

In order to solve the above technical problems, the present invention provides a handle manipulator for assisting doctors to perform colon examination, which includes a base, two support bases, a U-shaped support plate, three motor support plates, two handle fixing side plates, and a buckle frame. , Two dial housings, two dial drive mechanisms, biopsy forceps closing mechanism, biopsy forceps conveying mechanism. The method that the doctor manually drives the dial wheel to perform colon examination is improved, and the doctor is relieved from the tedious and repetitive labor. Compared with the traditional colon examination operation mode, the handle operator provided by the present invention assists the doctor to carry out the colon examination with accurate positioning, With strong flexibility and high reliability, its clinical application will improve diagnostic efficiency and reduce patient pain. At the same time, it will also provide doctors with a safer operation method.

SUMMARY OF THE INVENTION

The purpose of the present invention is to avoid the injury to the doctor's shoulder and fingers caused by the doctor operating the handle of the colonoscope for a long time during the colon examination process, and at the same time reduce the manpower under the condition of ensuring the accuracy of the examination result, so that the doctor does not need the help of an assistant , a colonoscope handle manipulator for assisting doctors to perform colonoscopy, which is proposed to complete the colonoscopy operation alone.

The purpose of the present invention is achieved in this way: including the bottom, the support base I, the support base II, the U-shaped support plate, the small support frame, the motor support plate I, the motor support plate II, the motor support plate III, the motor support plate IV, the handle Fixed side plate I, handle fixed side plate II, snap frame, dial housing I, dial housing II, large gear, dial drive mechanism I, dial drive mechanism II, biopsy forceps closing mechanism and biopsy forceps conveying mechanism, The support base I with the shaft hole is installed on the left side of the base, the support base II with the shaft hole is installed on the right side of the base, the motor support plate IV is installed on the base, and the U-shaped support plate is installed on the base. There is a large through hole, there is a small through hole on the left side of the U-shaped support plate, and a hollow shaft is attached to the left side of the small through hole. A large gear is installed on the shaft, and the solid shaft is matched with the shaft hole of the support base II. The motor support plate I, motor support plate II, and motor support plate III are installed on the U-shaped support plate, and the middle of the U-shaped support plate is attached. The handle fixing side plate I and the handle fixing side plate II, one end of the buckle frame is connected with the handle fixing side plate II, and the other end of the buckle frame is matched with the handle supporting side plate I through the buckle, and the small support frame is Installed on the U-shaped support plate, the biopsy forceps closing mechanism is fixed above the small support frame, and the biopsy forceps delivery mechanism is fixed above the motor support plate III.

As a further optimization of the technical solution, the motor IV (20) of the present invention is installed on the motor support plate IV, the shaft of the motor IV is matched with the pinion III, the pinion III is used as the driving wheel to cooperate with the synchronous belt III, and the large gear As a driven wheel, it is matched with the timing belt III. The motor I is installed on the motor support plate I, and the motor II is installed on the motor support plate II. The inner shape of I matches the outline of the large dial of the colonoscope. The outer side of the dial housing II has teeth that match the timing belt I. The inner shape of the dial housing II matches the contour of the small dial of the colonoscope. The shell I is installed on the U-shaped support plate through the large through hole of the U-shaped support plate, the dial wheel shell II is installed on the dial wheel shell I through the dial wheel shell I, the pinion gear I is installed on the shaft of the motor I, and the pinion gear II is installed on the shaft of the motor II, the pinion I as the driving wheel cooperates with the timing belt I, the dial wheel housing II works as a driven wheel and cooperates with the timing belt I, the pinion II works as the driving wheel and cooperates with the timing belt II, and the dial wheel housing I As the driven wheel and the timing belt II, the dial drive mechanism I is composed of a motor I, a pinion gear I, a timing belt I and a dial wheel housing II, and the dial wheel drive mechanism II consists of a motor II, a pinion gear II, and a timing belt. II and the dial housing I, the doctor controls the rotation direction and rotation angle of the large dial and the small dial on the colonoscope handle by driving the motor I and the motor II, so that the colonoscope apex moves in the doctor's ideal direction, the dial wheel The driving mechanism I and the dial driving mechanism II can realize the purpose of manually dialing the dial by the doctor in the traditional way, and also solve the problem of injury to the fingers and shoulders caused by the doctor's long-term dialing of the pulsator.

As a further optimization of this technical solution, the biopsy forceps conveying mechanism includes a motor III, a double-layer bracket, a small rubber wheel, a large rubber wheel, a wire guide tube I, a wire guide tube II, and a tightening handwheel, and the motor III Installed below the motor support plate III, the double-layer bracket is fixed above the motor support plate III, the large rubber wheel is installed inside the double-layer bracket, the small rubber wheel is installed on the shaft of the motor III, and the wire guide tube I is fixed on the double-layer bracket. The front end of the layer bracket, the wire guide tube II is fixed on the rear end of the double layer bracket, the tightening handwheel is installed on the double layer bracket, and the closure mechanism of the biopsy forceps includes a profile block, a plastic material block I, a lead screw frame, Coupling, small motor, small slider, plastic block II and lead screw, the small support frame is fixed above the U-shaped support plate, the cut profile block is fixed above the small support frame, the lead screw frame Fixed on the profile block, the small motor is fixed on the front end of the screw frame, one end of the coupling is matched with the motor shaft of the small motor, the other end of the coupling is matched with the screw, and the screw is installed in the through hole of the screw frame Inside, the small slider is installed on the lead screw, the plastic block I with the same radius as the ring radius of the biopsy forceps is installed above the small slider, and the plastic block II with the same size as the plastic block I is installed below the small slider , the biopsy forceps advancing mechanism can send the forceps wire into the biopsy channel to reach the polyps in the patient's intestine, and turn the tightening handwheel to fix the position of the forceps wire of the biopsy forceps and prevent the forceps wire from moving in the patient's intestine. Put the snare on the polyp on the side wall of the patient's intestinal tract. By driving a small motor, the relative position of the slider on the lead screw changes. The position of the index finger ring and the middle finger ring relative to the thumb ring changes, and the snare is tightened by the patient. The polyps on the side wall of the intestinal tract are removed, and the biopsy forceps advancing mechanism and the biopsy forceps closing mechanism can replace the traditional way of assistants to help the doctor to advance the biopsy forceps and remove the colon polyps, so that the doctor can complete the colon examination and polyp removal alone. work.

The beneficial effects of the present invention are:

1. Fix the colonoscope handle on the colonoscope handle manipulator, which replaces the operation of the doctor holding the colonoscope by hand, which can avoid the damage to the doctor's shoulder caused by the long-term colon examination.

2. During the combined inspection operation, the doctor can directly drive the motor to control the rotation direction and rotation angle of the dial wheel by observing the internal situation of the colonoscope in the patient's intestine on the monitor, which replaces the doctor's manual fluctuation of the pulsator and avoids the need for In the process of colon examination, the doctor's fingers are injured, and the transmission mode of the synchronous belt is more accurate than the traditional doctor's manual operation dial rotation angle.

3. The biopsy forceps conveying mechanism can ensure that the biopsy forceps wire is transported to the inside of the biopsy channel. When the tip of the biopsy forceps reaches the target position, the tightening handwheel can fix the position of the biopsy forceps wire relative to the human intestine. The effect of fixing the forceps wire is better. Fix the biopsy forceps on the biopsy forceps closing mechanism, and the thumb ring and the middle finger ring are respectively fixed on two plastic blocks, which are controlled by driving a small motor to change the position of the small slider on the lead screw. For the opening and closing of the tip of the biopsy forceps, instead of the traditional way, an assistant assists the doctor to operate the delivery and opening and closing of the biopsy forceps, so that the doctor can complete the colon examination work alone.

Description of drawings

For ease of description, the present invention is described in detail below with the following specific implementations and accompanying drawings.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation methods.

FIG. 1 is a schematic diagram of the overall structure of a colonoscope handle manipulator for assisting a doctor to perform colonoscopy in accordance with the present invention.

FIG. 2 is a schematic view of the frame structure of a colonoscope handle manipulator for assisting a doctor to perform colonoscopy in accordance with the present invention.

3 is a schematic structural diagram of a U-shaped support plate and an attached pulsator driving mechanism on a colonoscope handle manipulator for assisting a doctor to perform colonoscopy in accordance with the present invention.

4 is a schematic structural diagram of a biopsy forceps conveying mechanism on a colonoscope handle manipulator for assisting a doctor to perform colonoscopy in accordance with the present invention.

FIG. 5 is a schematic structural diagram of a biopsy forceps closing mechanism on a colonoscope handle manipulator for assisting a doctor to perform colonoscopy in accordance with the present invention.

FIG. 6 is a schematic view of the assembly of the colonoscope handle mounted on the colonoscope handle operator according to the present invention.

Figure 7 is a schematic diagram of the structure of the handle of the Olympus colonoscope.

Figure 8 is a schematic diagram of the Olympus biopsy forceps.

Figure 9 is a schematic diagram of the overall structure of the Olympus colonoscope.

In the above drawings: 1. Base, 2. U-shaped support plate, 3. Motor support plate IV, 4. Support seat II, 5. Large gear, 6. Solid shaft, 7. Large through hole, 8. Buckle frame , 9. Handle fixed side plate I, 10. Handle fixed side plate II, 11. Motor support plate III, 12. Small support frame, 13. Hollow shaft, 14. Support seat I, 15. Small through hole, 16. Motor Support plate I, 17. Motor support plate II, 18. Dial-wheel drive mechanism I, 19. Dial-wheel drive mechanism II, 20. Motor IV, 21. Buckle, 22. Biopsy forceps conveying mechanism, 23. Biopsy forceps closing mechanism , 24. Motor I, 25. Pinion I, 26. Pinion II, 27. Step belt I, 28. Timing belt II, 29. Track wheel housing I, 30. Track wheel housing II, 31. Pinion gear III, 32. Timing belt III, 33. Motor II, 34. Pliers wire guide tube I, 35. Double-layer bracket, 36. Small rubber wheel, 37. Pliers wire guide tube II, 38. Motor III, 39. Fastening handwheel , 40. Large rubber wheel, 41. Profile block, 42. Plastic block I, 43. Screw frame, 44. Coupling, 45. Small motor, 46. Small slider, 47. Plastic block II, 48 . Screw, 49. Colonoscope handle, 50. Large dial, 51. Small dial, 52. Biopsy hole, 53. Thumb ring, 54. Index finger ring, 55. Middle finger ring, 56. Snare, 57. Biopsy Forceps handle, 58. Biopsy channel, 59. Apex, 60. Forceps wire.

Detailed ways

Specific implementation one:

1, 2, 3, 4, 5, 6, 7, 8, and 9, the present embodiment will be described below. The present invention relates to the field of medical robots for endoscopic surgery, and in particular, to the operation mode for doctors to perform colon examination, including 1. a base , 2. U-shaped support plate, 3. Motor support plate IV, 4. Support seat II, 5. Large gear, 6. Solid shaft, 8. Buckle frame, 9. Handle fixed side plate I, 10. Handle fixed side Plate II, 11. Motor support plate III, 12. Small support frame 13. Hollow shaft 14. Support seat, 16 Motor support plate I, 17. Motor support plate II, 18. Dial-wheel drive mechanism I, 19. Dial-wheel drive Mechanism II, 22. Biopsy forceps delivery mechanism, 23. Biopsy forceps closing mechanism, the device has a simple structure, and the device can help doctors to complete the work of colon inspection and polyp removal by driving the motor. Preparatory work Put the front end 59 of the colonoscope through the small through hole 15, place the colonoscope handle 49 in the large through hole 7 of the U-shaped support plate 2, and ensure that the small dial 51 is in close contact with the inner side of the dial housing II30, and the large The dial 50 is in close contact with the dial housing I29. Check whether the handle fixing side plate I9 and the handle fixing side plate II10 are in close contact with the colonoscope handle 49 without any gap, and fasten the buckle bracket 8 on the buckle 21 to ensure the colonoscope. The handle 49 is completely fixed, the index finger ring 54 of the biopsy forceps is set on the plastic material block I42, the middle finger ring 55 of the biopsy forceps is fixed on the plastic material block II47, and the biopsy forceps handle 57 is fixed on the profile of the biopsy forceps closing mechanism 23 On block 41 , the forceps wire 60 of the biopsy forceps is passed through the forceps wire guide tube I34 , the forceps wire guide tube II37 , and the colonoscope biopsy hole 52 in sequence to ensure that the forceps wire 60 enters the biopsy channel 58 smoothly.

Specific implementation two:

1, 2, 3, 4, 5, 6, 7, 8, and 9 will be used to describe this embodiment. Embodiment 1 will be further described in this embodiment. The gear teeth mesh with the teeth of the timing belt I27, the outer teeth of the dial housing II30 mesh with the teeth of the timing belt I27, and the meshing relationship of the components of the dial drive mechanism II19 is exactly the same as that of the dial drive I18. During the colon examination operation, observe the position of the colonoscope tip 59 in the monitor in the human intestine, drive the rotation direction and rotation angle of the motor I24 and the motor II33, and then complete the adjustment of the rotation direction and the rotation direction of the large dial 50 and the small dial 51. The operation of turning the angle makes the apex 59 of the colonoscope rotate to the ideal angle. During the colon examination, if there is a polyp on the side wall of the patient's intestine, stop the apex 59 of the colonoscope to the ideal position, and the doctor stops the motor I24 and the motor II33. Operation, drive motor III38, the friction between the small rubber wheel 36 on the motor III38 shaft and the large rubber wheel 40 on the double-layer bracket 35 ensures that the biopsy forceps forceps wire 60 goes along the biopsy channel 58 to the direction of the colonoscope tip 59 Move the snare 56 of the biopsy forceps to the position of the polyp on the side wall of the patient's intestinal tract, stop the operation of the motor III38, tighten the handwheel 39, clamp the forceps wire 60, the doctor drives the small motor 45, and the small slider 46 is on the wire. The change of the position on the bar 48 changes the position of the index finger ring 54 and the middle finger ring 55 of the biopsy forceps relative to the position of the thumb ring 53. At this time, the snare 56 is tightened, and the colon polyps on the patient's intestinal side wall are removed, and the completion is completed. The entire colon examination process.

Of course, the above description does not limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those of ordinary skill in the art within the essential scope of the present invention also belong to the present invention. protected range.

Claims (4)

1. A colonoscope handle manipulator for assisting a doctor to perform colonoscopy, comprising a base (1), a support base I (14), a support base II (4), a U-shaped support plate (2), and a small support frame (12) ), motor support plate I (16), motor support plate II (17), motor support plate III (11), motor support plate IV (3), handle fixed side plate I (9), handle fixed side plate II (10 ), snap bracket (8), dial housing I (29), dial housing II (30), large gear (5), dial drive mechanism I (18), dial drive mechanism II (19), biopsy A forceps closing mechanism (23), a biopsy forceps conveying mechanism (22), the support base I (14) with a shaft hole is installed on the left side of the base (1), and the support base II (4) with a shaft hole Installed on the right side of the base (1), the motor support plate IV (3) is installed on the base (1), the U-shaped support plate (2) has a large through hole (7), and the U-shaped support plate (2) There is a small through hole (15) on the left side, and a hollow shaft (13) is attached to the left of the small through hole (15). ) is attached with a solid shaft (6) on the right side, a large gear (5) is installed on the solid shaft (6), the solid shaft (6) is matched with the shaft hole of the support seat II (4), the motor support plate I (16) The motor support plate II (17) and the motor support plate III (11) are installed on the U-shaped support plate (2), and a handle fixing side plate I (9) and a handle are attached in the middle of the U-shaped support plate (2). The side plate II (10) is fixed, one end of the buckle bracket (8) is connected with the handle fixing side plate II (10), and the other end of the buckle bracket (8) is connected with the handle fixing side plate I (9) through the buckle ( 21) In cooperation, the small support frame (12) is installed on the U-shaped support plate (2), the biopsy forceps closing mechanism (23) is fixed above the small support frame (12), and the biopsy forceps conveying mechanism (22) It is fixed above the motor support plate III (11). 2. A handle operator for assisting a doctor to perform colonoscopy according to claim 1, wherein the motor IV (20) is installed on the motor support plate IV (3), and the motor IV (20) The shaft is matched with the pinion III (31), the pinion III (31) is used as the driving wheel to cooperate with the timing belt III (32), the large gear (5) is used as the driven wheel to cooperate with the timing belt III (32), and the motor I (24) ) is installed on the motor support plate I (16), the motor II (33) is installed on the motor support plate II (17), and the outer side of the dial shell I (29) is matched with the timing belt II (28). Teeth, the shape of the inner side of the dial housing I (29) matches the outline of the large dial 50 of the colonoscope, the outer side of the dial housing II (30) has teeth that match the timing belt I (17), the dial housing II ( 30) The inner shape is matched with the outline of the small dial 51 of the colonoscope, and the dial shell I (29) is installed on the U-shaped support plate (2) through the large through hole (7) of the U-shaped support plate (2), The dial housing II (30) is mounted on the dial housing I (29) through the dial housing I (29), the pinion gear I (25) is mounted on the shaft of the motor I (24), and the pinion gear II (26) Installed on the shaft of the motor II (33), the pinion I (25) is used as the driving wheel to cooperate with the timing belt I (27), and the dial housing II (30) is used as a driven wheel to cooperate with the timing belt I (27). II (26) is used as a driving wheel to cooperate with the timing belt II (28), and the dial housing I (29) is used as a driven wheel to cooperate with the timing belt II (28). 3. A handle manipulator for assisting a doctor to perform colonoscopy according to claim 1, characterized in that: the biopsy forceps conveying mechanism (22) comprises a motor III (38), a double-layer support (35), Small rubber wheel (36), large rubber wheel (40), wire guide tube I (34), wire guide tube II (37) and tightening hand wheel (39), motor III (38) is installed on the motor support plate Below III (11), the double-layer bracket (35) is fixed above the motor support plate III (11), the large rubber wheel (40) is installed inside the double-layer bracket (35), and the small rubber wheel (36) is installed in the motor On the axis of III (38), the wire guide tube I (34) is fixed on the front end of the double-layer bracket (35), the wire guide tube II (37) is fixed on the rear end of the double-layer bracket (35), and the hand The wheel (39) is mounted on the double bracket (35). 4. The handle manipulator for assisting a doctor to perform colonoscopy according to claim 1, characterized in that: the biopsy forceps closing mechanism (23) comprises a profile block (41), a plastic block I (42) , lead screw frame (43), coupling (44), small motor (45), small slider (46), plastic block II (47) and lead screw (48), the small support frame (12) ) is fixed above the U-shaped support plate (2), the cut profile block (41) is fixed above the small support frame (12), the lead screw frame (43) is fixed on the profile block (41), and the small motor ( 45) Fixed on the front end of the screw frame (43), one end of the coupling (44) is matched with the motor shaft of the small motor (45), the other end of the coupling (44) is matched with the screw (48), and the screw The screw (48) is installed in the through hole of the screw frame (43), the small slider (46) is installed on the screw (48), and the plastic block I (42) with the same radius as that of the biopsy forceps ring is installed on the small block (42). Above the sliding block (46), a plastic material block II (47) having the same size as the plastic material block I (42) is installed below the small sliding block (46).

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