CN111772795A - A handle motion device of a flexible endoscopic surgical robot system - Google Patents

Abstract

The invention discloses a handle movement device of a flexible endoscope surgical robot system, wherein an endoscope mounting position is arranged on a mounting seat, an endoscope body is mounted on the endoscope mounting position, a rotating handle is arranged on the endoscope body, a driving motor is mounted on the mounting seat, an output shaft of the driving motor is coaxially arranged with the rotating handle, a rotating arm is arranged on the output shaft, the rotating arm is connected with the rotating handle, and a strain force sensor is arranged on the rotating arm. Through the handle movement device of the flexible endoscope surgical robot system with the optimized design, the servo motor is used as a driving device to control the forward and reverse rotation, the rotation angle and the like of the handle, and the strain sensor is used for collecting strain analysis in real time, so that the handle movement is in the set safe strain and angle range, and the precision and the response speed are improved.

Description

A handle motion device of a flexible endoscopic surgical robot system

technical field

The invention relates to the field of endoscopic surgery, in particular to a handle motion device of a flexible endoscopic surgical robot system.

Background technique

During the operation of uretero-pyeloscope, the direction and position of the front end of the insertion tube need to be adjusted according to the location of the lesion. In the past, the operation was performed by the doctor himself, and the operation was performed through the imaging system and hand feeling. Every time the endoscope handle controls the rotation angle of the tip of the insertion tube, it is judged by the eyes, and manual operation has certain risks. As the operation time goes on, the doctor's physical strength gradually declines, and the endoscope in the hand will feel heavier and heavier, thereby prolonging the operation time and prolonging the postoperative recovery process of the patient.

SUMMARY OF THE INVENTION

In order to solve the technical problems existing in the background art, the present invention proposes a handle motion device of a flexible endoscopic surgical robot system.

A handle motion device of a flexible endoscopic surgical robot system proposed by the present invention includes: a mounting seat, an endoscope body, and a drive motor;

The installation seat is provided with an endoscope installation position, the endoscope body is installed on the endoscope installation position, the endoscope body is provided with a rotating handle, the drive motor is installed on the installation seat, and the output shaft of the drive motor is connected to the endoscope. The rotating handle is coaxially arranged, a rotating arm is arranged on the output shaft, the rotating arm is connected with the rotating handle, and a strain force sensor is arranged on the rotating arm.

Preferably, the endoscope mounting position is provided with a pressure plate, one end of the pressure plate is provided with a rotating shaft and is rotatably mounted on the mounting seat through the rotating shaft, and one end of the pressure plate away from the rotating shaft is provided with a locking structure for fixing with the mounting seat.

Preferably, an in-situ sensor is also provided on the rotating arm.

Preferably, the drive motor is a servo motor, and the servo motor is provided with a rotary encoder.

In the present invention, the handle motion device of the proposed flexible endoscopic surgical robot system has an endoscope installation position on the installation seat, and an endoscope body is installed on the endoscope installation position. There is a rotating handle on the top, the driving motor is installed on the mounting seat, the output shaft of the driving motor is arranged coaxially with the rotating handle, the output shaft is provided with a rotating arm, the rotating arm is connected with the rotating handle, and the rotating arm is provided with a strain force sensor. Through the above optimally designed handle motion device of the flexible endoscopic surgical robot system, the servo motor is used as the driving device to control the forward and reverse rotation, rotation angle, etc. of the handle, and the strain force sensor is used to collect the strain force analysis in real time to make the handle move. Within the set safe strain force and angle range, thereby improving accuracy and responsiveness.

Description of drawings

FIG. 1 is a schematic top-view structural diagram of a handle motion device of a flexible endoscopic surgical robot system proposed by the present invention.

FIG. 2 is a schematic front view of the structure of a handle motion device of a flexible endoscopic surgical robot system proposed by the present invention.

3 is a schematic three-dimensional structural diagram of a handle motion device of a flexible endoscopic surgical robot system proposed by the present invention.

Detailed ways

As shown in FIGS. 1 to 3 , FIG. 1 is a schematic top view of a handle motion device of a flexible endoscopic surgical robot system proposed by the present invention, and FIG. 2 is a flexible endoscopic surgical robot proposed by the present invention. FIG. 3 is a schematic diagram of the three-dimensional structure of the handle movement device of a flexible endoscopic surgical robot system proposed by the present invention.

1 to 3, a handle motion device of a flexible endoscopic surgical robot system proposed by the present invention includes: a mounting seat 10, an endoscope body 1, and a drive motor 6;

The mounting seat 10 is provided with an endoscope mounting position, the endoscope body 1 is mounted on the endoscope mounting position, the endoscope body 1 is provided with a rotary handle 4, and the drive motor 6 is mounted on the mounting seat 10, The output shaft of the drive motor 6 is arranged coaxially with the rotary handle 4 , the output shaft is provided with a rotary arm 7 , the rotary arm 7 is connected with the rotary handle 4 , and the rotary arm 7 is provided with a strain force sensor 5 .

In this embodiment, the handle motion device of the proposed flexible endoscopic surgical robot system has an endoscope installation position on the installation seat, the endoscope body is installed on the endoscope installation position, and the endoscope is installed at the endoscope installation position. The mirror body is provided with a rotating handle, the drive motor is installed on the mounting seat, the output shaft of the drive motor is arranged coaxially with the rotating handle, the output shaft is provided with a rotating arm, the rotating arm is connected with the rotating handle, and the rotating arm is provided with strain sensor. Through the above optimally designed handle motion device of the flexible endoscopic surgical robot system, the servo motor is used as the driving device to control the forward and reverse rotation, rotation angle, etc. of the handle, and the strain force sensor is used to collect the strain force analysis in real time to make the handle move. Within the set safe strain force and angle range, thereby improving accuracy and responsiveness.

In the specific installation method of the endoscope body, the endoscope installation position is provided with a pressure plate 2, one end of the pressure plate 2 is provided with a rotating shaft and can be rotatably installed on the mounting seat 10 through the rotating shaft, and one end of the pressure plate 2 away from the rotating shaft is provided with a The locking structure 9 fixed with the mounting seat 10, put the endoscope body on the endoscope mounting position, then rotate the pressure plate to compress the endoscope body, and lock the pressure plate on the mounting seat through the locking structure 9, Guaranteed installation reliability.

In the specific design method of the locking structure, the locking structure 9 adopts a pressing plate buckle, and the endoscope installation position is provided with a matching hook.

In other specific embodiments, a home position sensor 8 is also provided on the rotating arm 7 .

In the specific selection method of the drive motor, the drive motor 6 adopts a servo motor, and the servo motor is provided with a rotary encoder, which is convenient to realize the remote control of the operation in the surgical robot system.

During the specific working process of the handle motion device of the flexible endoscopic surgical robot system of this embodiment, the servo motor is controlled to rotate by the control program, and the rotary encoder at the end of the servo motor is used for closed-loop feedback, which is installed at the rotating shaft of the motor. Two strain force sensors monitor the changes in the movement force and angle in real time. If the alarm value is higher than the warning value, the machine will stop immediately and give an alarm, assisting the doctor in the operation, improving the accuracy of the movement process, and ensuring safety.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims (4)

1. A handle movement device of a flexible endoscopic surgical robot system, comprising: a mounting seat (10), an endoscope body (1) and a driving motor (6);

be equipped with the endoscope installation position on mount pad (10), install endoscope body (1) on the endoscope installation position, be equipped with twist grip (4) on the endoscope body (1), install on mount pad (10) driving motor (6), the output shaft and the coaxial setting of twist grip (4) of driving motor (6), be equipped with swinging boom (7) on the output shaft, swinging boom (7) are connected with twist grip (4), are equipped with on swinging boom (7) and meet an emergency force transducer (5).

2. The handle movement device of the flexible endoscopic surgery robot system according to claim 1, wherein the endoscope installation position is provided with a pressing plate (2), one end of the pressing plate (2) is provided with a rotating shaft and is rotatably installed on the installation seat (10) through the rotating shaft, and one end of the pressing plate (2) far away from the rotating shaft is provided with a locking structure (9) for being fixed with the installation seat (10).

3. A handle movement device of a robotic system for soft endoscopic surgery according to claim 1, characterized in that the rotating arm (7) is further provided with an in-situ sensor (8).

4. The handle movement device of a robotic system for soft endoscopic surgery according to claim 1, wherein the driving motor (6) is a servo motor provided with a rotary encoder.

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