CN112336386B - Full-automatic double-flexible-arm visual tongue depressor - Google Patents
Full-automatic double-flexible-arm visual tongue depressor Download PDFInfo
- Publication number
- CN112336386B CN112336386B CN202010986923.4A CN202010986923A CN112336386B CN 112336386 B CN112336386 B CN 112336386B CN 202010986923 A CN202010986923 A CN 202010986923A CN 112336386 B CN112336386 B CN 112336386B
- Authority
- CN
- China
- Prior art keywords
- flexible arm
- support flexible
- tongue depressor
- binocular
- matched
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 62
- 239000010959 steel Substances 0.000 claims description 62
- 230000007704 transition Effects 0.000 claims description 25
- 238000005452 bending Methods 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 210000000214 mouth Anatomy 0.000 abstract description 16
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 4
- 239000003550 marker Substances 0.000 abstract description 2
- 241000270295 Serpentes Species 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 4
- 208000015181 infectious disease Diseases 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000003322 Coinfection Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002409 epiglottis Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B13/00—Instruments for depressing the tongue
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic double-flexible-arm visible tongue depressor which comprises a fixed flange, wherein the fixed flange is detachably connected with a tongue depressor body, and a front through hole and a rear through hole are matched in the tongue depressor body; the fixed flange is provided with a binocular support flexible arm matched with the front through hole, and a first support flexible arm matched with the rear through hole; the fixed flange is provided with a binocular support flexible arm driving group matched with the binocular support flexible arm, and a support flexible arm driving group matched with the first support flexible arm; the support flexible arm driving group and the binocular support flexible arm driving group are matched with the controller; the flexible tongue depressor is adjusted in the up-down degree of freedom through the first support flexible arm and the binocular support flexible arm, so that the force transmission and the movement performance of the flexible tongue depressor are improved, the binocular camera is adopted by the visual sensor, and the marker information in the oral cavity is detected by the binocular camera when entering the oral cavity, so that the visual feedback of the whole-process oral cavity internal environment information is formed.
Description
Technical Field
The invention belongs to the field of medical appliances, and particularly relates to a full-automatic double-flexible-arm visual tongue depressor.
Background
At present, the visual tongue depressor technology is gradually popularized in hospitals, and the probability of secondary infection of doctors is greatly reduced by indirectly observing the oral cavity of a human body through the visual technology.
Although the operation mode of the visual tongue depressor is improved, the operation of the visual tongue depressor still cannot be completely separated from that of medical staff, and the problem that automation of the tongue depressor cannot be completed can lead to the probability of infection of the medical staff on one hand, and on the other hand, the problem that the medical staff is insufficient when a patient is more, and the main problem that automation cannot be achieved is that the safety problem and the problem that a proper real-time feedback path is lack in deep oral cavity are solved.
Disclosure of Invention
The invention aims to provide a full-automatic double-flexible-arm visual tongue depressor, which aims to solve the problems that the existing visual tongue depressor in the background art cannot be automated, so that medical staff has insufficient hands and infection probability occurs.
In order to achieve the above purpose, the present invention provides the following technical solutions:
A full-automatic double-flexible-arm visual tongue depressor comprises a fixed flange, wherein the fixed flange is detachably connected with a tongue depressor body, and a front through hole and a rear through hole are matched and arranged in the tongue depressor body; the fixed flange is provided with a binocular support flexible arm matched with the front through hole, and a first support flexible arm matched with the rear through hole; the fixed flange is provided with a binocular support flexible arm driving group matched with the binocular support flexible arm, and a support flexible arm driving group matched with the first support flexible arm; the support flexible arm driving group and the binocular support flexible arm driving group are matched with the controller.
Preferably, the tongue depressor body comprises a tongue depressor part, a bending deformation part and a supporting part which are connected in sequence; the tongue depressor part is arranged obliquely upwards, and the bending deformation part is provided with a half-wrapping tool guide groove.
Preferably, the front through hole and the rear through hole are all arranged through the bending deformation part and the supporting part, and the left end of the front through hole is matched with the binocular supporting flexible arm to be fixedly connected with the transparent lens.
Preferably, the binocular support flexible arm comprises a second support flexible arm and a binocular camera, the second support flexible arm is equal in length with the first support flexible arm, and the binocular camera is fixedly connected in a front through hole at the left end of the second support flexible arm.
Preferably, the supporting flexible arm driving group and the binocular supporting flexible arm driving group both comprise a steel wire conveying wheel, wherein two ends of a steel wire of the steel wire conveying wheel respectively penetrate through the upper part and the lower part of the first supporting flexible arm and are fixedly connected with the left end of the first supporting flexible arm, and steel wires of the other steel wire conveying wheel respectively penetrate through the upper part and the lower part of the second supporting flexible arm and are fixedly connected with the left end of the second supporting flexible arm; any steel wire conveying wheel is fixedly connected with a driving assembly, and a corresponding mounting part is arranged on the fixing flange in cooperation with any driving assembly.
Preferably, any steel wire transmission wheel shaft is connected with a magnetic encoder, and the magnetic encoder is matched with the controller.
Preferably, any one of the driving assemblies comprises a servo motor, the servo motor is matched with the controller, the servo motor is fixedly connected with a conveying vortex rod through a speed reducer, the conveying vortex rod is matched with a conveying turbine, the conveying turbine is connected with a steel wire conveying wheel shaft, and the conveying vortex rod and the conveying turbine are rotatably installed on the installation part.
Preferably, one of the mounting parts is provided with a transition wheel set in cooperation with the flexible arm steel wire driving group, the other mounting part is provided with a transition wheel set in cooperation with the binocular support flexible arm steel wire driving group, any transition wheel set comprises two transition wheels, and the distance between the two transition wheels is smaller than the diameter of the steel wire conveying wheel.
Preferably, a steel wire sleeve is sleeved outside the steel wires between the supporting flexible arm and the corresponding transition wheel and between the binocular supporting flexible arm and the corresponding transition wheel piece.
Preferably, the right surface of the fixed flange is fixedly connected with a multidimensional force sensor, and the multidimensional force sensor is matched with the controller.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the flexible tongue depressor is adjusted in the up-down degree of freedom through the first support flexible arm and the binocular support flexible arm, so that the force transmission and the movement performance of the flexible tongue depressor are improved, the binocular camera is adopted as the visual sensor, and the binocular camera detects the marker information in the oral cavity when entering the oral cavity, so that the overall process of visual feedback of the oral cavity internal environment information is formed.
Meanwhile, the six-dimensional force sensor is matched with the binocular camera, so that real-time detection of interaction force with a human body and high-precision movement are realized, and the safety of equipment is ensured while the movement precision is improved.
The full-automatic equipment can realize the treatment process of unmanned operation, avoid the secondary infection phenomenon of doctor operation, and improve the efficiency and the safety of acquisition work.
Drawings
Fig. 1 is a schematic view of an assembly structure of the present invention.
Fig. 2 is a schematic diagram of the overall structure of fig. 1.
Fig. 3 is a partial enlarged view of a in fig. 2.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, a full-automatic double-flexible-arm visible tongue depressor comprises a fixed flange 4, wherein the fixed flange 4 is detachably connected with a tongue depressor body 1, and a front through hole and a rear through hole are matched and arranged in the tongue depressor body 1; the fixed flange 4 is provided with a binocular support flexible arm 3 matched with a front through hole, and a first support flexible arm 2 matched with a rear through hole; the fixed flange 4 is provided with a binocular support flexible arm driving group 6 matched with the binocular support flexible arm, and a support flexible arm driving group 5 matched with the first support flexible arm 2; the supporting flexible arm driving group 5 and the binocular supporting flexible arm driving group 6 are matched with the controller.
In the invention, the left surface of the fixed flange is fixedly connected with a front side fixed bracket and a rear side fixed bracket respectively, the front side fixed bracket and the rear side fixed bracket are arranged in parallel and are of v-shaped structures, two ends of the front side fixed bracket are fixedly connected to the front part of the left surface of the fixed flange, and two ends of the rear side fixed bracket are fixedly connected to the rear part of the left surface of the fixed flange; the tip of the front side fixing bracket is provided with a mounting hole for mounting the binocular support flexible arm, and the right end of the binocular support flexible arm is fixedly arranged in the mounting hole; the tip of rear side fixed bolster is equipped with the mounting hole that is used for installing first flexible arm that supports, and first flexible arm right-hand member that supports is fixed to be set up in this mounting hole. The front through hole is matched with the binocular support flexible arm, the rear through hole is matched with the first support flexible arm, so that the tongue depressor body can be sleeved outside the binocular support flexible arm and the first support flexible arm, the binocular support flexible arm driving group is used for driving the binocular support flexible arm to bend up and down, and the support flexible arm driving group is used for driving the first support flexible arm to bend up and down, and the tongue depressor body bends up under the action of the first support flexible arm and the binocular support flexible arm.
The tongue depressor body 1 comprises a tongue depressor part 11, a bending deformation part 12 and a supporting part 13 which are connected in sequence; the tongue depressor 11 is disposed obliquely upward, and the bending deformation portion 12 is provided with a half-wrapped tool guide groove 14.
In the invention, the tongue depressor part is made of hard materials, and an obtuse angle is formed between the tongue depressor part and the bending deformation part, so that the epiglottis can be conveniently pressed; the bending deformation part is made of flexible materials, the bending deformation part is of a U-shaped structure with a downward opening, the front side and the rear side of the bending deformation part are both deformed blade progenitors, namely a plurality of v-shaped grooves are arranged at intervals, and the v-shaped grooves are arranged so as to be convenient for the bending deformation part to bend up and down; the semi-wrapped tool guide groove formed by the bending deformation part of the U-shaped structure is convenient for the operation tool to enter the oral cavity of a person before and after the deformation process, and the tool can be left in the oral cavity of the person at the end, the whole equipment can be evacuated, the supporting part adopts hard materials, and the supporting part is fixed on the front side fixing support and the rear side fixing support during convenient installation.
The front side fixed bolster, rear side fixed bolster all are provided with the buckle, and the supporting part right-hand member cooperation buckle of tongue depressor body sets up the draw-in groove, realizes the detachable connection of tongue depressor body and mounting flange through buckle and draw-in groove. The tongue depressor body is disposable, prevents the phenomenon of cross infection from taking place between the patient, through the mode of detachable connection, the change of tongue depressor body of being convenient for reduces use cost.
The binocular support flexible arm 3 comprises a second support flexible arm 31 and a binocular camera, the second support flexible arm 31 is equal in length with the first support flexible arm 2, and the binocular camera is fixedly connected in a front through hole at the left end of the second support flexible arm 31.
The front through hole and the rear through hole are all arranged through the bending deformation part 12 and the supporting part 13, and the left end of the front through hole is matched with the binocular supporting flexible arm 3 to be fixedly connected with the transparent lens 32.
In the invention, the front through hole is arranged on the bending deformation part and the supporting part, the rear through hole is also arranged on the bending deformation part and the supporting part, the front through hole and the rear through hole are positioned on the same horizontal plane, the first supporting flexible arm is arranged in the rear through hole in a matching way, and the transparent lens, the binocular camera and the second supporting transparent arm are arranged in the front through hole in a matching way from left to right in sequence.
According to the tongue depressor, the first support flexible arm and the second support flexible arm are equal in length, so that the tongue depressor body can be conveniently controlled in the vertical direction, and the first support flexible arm and the second support flexible arm can reach the same stroke as far as possible under the same control.
In the invention, the transparent lens is matched with the binocular camera to obtain the position and distance information of the marking point in the oral cavity, and the marking point in the oral cavity can be a throat entrance or other positions, and the position of the marking point in the oral cavity can be preset by a person skilled in the art according to actual conditions.
The supporting flexible arm driving groups 5 and the binocular supporting flexible arm driving groups 6 comprise steel wire conveying wheels a, wherein two ends of a steel wire of one steel wire conveying wheel a respectively penetrate through the upper part and the lower part of the first supporting flexible arm 2 and are fixedly connected with the left end of the first supporting flexible arm 2, and a steel wire of the other steel wire conveying wheel a respectively penetrates through the upper part and the lower part of the second supporting flexible arm 3 and is fixedly connected with the left end of the second supporting flexible arm 3; any steel wire conveying wheel a is fixedly connected with a driving component c, and the fixed flange 4 is matched with any driving component c to be provided with a corresponding mounting part 41. Any steel wire conveying wheel a is connected with a magnetic encoder b through a shaft, and the magnetic encoder is matched with the controller.
In the invention, the first supporting flexible arm and the second supporting flexible arm are formed by hinging a plurality of snake bone units back and forth, the front snake bone unit can rotate upwards or downwards by a certain angle relative to the rear snake bone unit, the upper and lower ends of the inner wall of any snake bone unit are respectively provided with an upper steel wire mounting groove and a lower steel wire mounting groove, one end of a steel wire penetrates through all the upper steel wire mounting grooves and is fixedly connected with the upper steel wire mounting grooves at the tail end, the other end of the steel wire penetrates through all the lower steel wire mounting grooves and is fixedly connected with the lower steel wire mounting grooves at the tail end, and the up-down driving of the two ends of the steel wire to the supporting arm is realized.
The driving assembly c comprises a servo motor c-1, the servo motor c-1 is matched with the controller, the servo motor c-1 is fixedly connected with a conveying worm rod c-3 through a speed reducer c-2, the conveying worm rod c-3 is matched with a conveying worm wheel c-4, the conveying worm wheel c-4 is connected with a steel wire conveying wheel a shaft, and the conveying worm rod c-3 and the conveying worm wheel c-4 are rotatably arranged on the mounting part 41.
According to the invention, the front end and the rear end of the fixed flange are respectively and fixedly connected with the mounting part to the right, the corresponding transmission turbine is rotatably mounted on the mounting part, the corresponding transmission turbine rod is rotatably mounted on the mounting part and is arranged right above the transmission turbine, the right end of the transmission turbine rod is connected with the servo motor through the speed reducer, and the corresponding turbine rod is driven by the servo motor to transmit, so that one end of the corresponding steel wire driving wheel is retracted, and the other end of the steel wire driving wheel is extended with the steel wire rope. The arrangement can transmit the motion to the first support flexible arm and the binocular support flexible arm along the directions of the motor speed reducer, the transmission worm, the transmission turbine and the steel wire driving wheel through the private clothes motor, so that the control of the flexible arm is realized.
According to the invention, the steel wire conveying wheel is connected with the magnetic encoder shaft, so that the actual movement length of the steel wire rope can be obtained, and a corresponding curve between the actual movement length of the steel wire and the movement stroke of the tongue depressor can be obtained through a pre-calibration test, so that real-time position control can be realized, and the movement precision of the tongue depressor can be ensured. For example, the two servo motors rotate to enable the corresponding steel wire conveying wheels to rotate by a certain angle, and the corresponding magnetic encoders obtain the actual movement length of the corresponding steel wires, such as the elongation of the steel wire ropes at the upper parts of the two corresponding flexible arms by 1cm and the contraction of the steel wire ropes at the lower parts by 1cm; and the tongue depressor portion moved 0.8cm downward.
One of the mounting parts 41 is provided with a transition wheel set d in cooperation with the supporting flexible arm driving set 5, the other mounting part 41 is provided with a transition wheel set d in cooperation with the binocular supporting flexible arm driving set 6, and any transition wheel set d comprises two transition wheels, and the distance between the two transition wheels is smaller than the diameter of the steel wire conveying wheel.
In the invention, the shaft of the transition wheel is fixedly arranged on the mounting part, the transition wheel can rotate relative to the corresponding mounting part, and one transition wheel is matched with one end of the steel wire on the steel wire conveying wheel to play roles of tensioning and transition, and meanwhile, the steel wire is prevented from falling off from the steel wire conveying wheel.
And a steel wire sleeve e is sleeved outside the steel wire rope between the first support flexible arm 2 and the corresponding transition wheel and between the second support flexible arm and the corresponding transition wheel.
Because the steel wire is hard, through setting up the steel wire sleeve pipe for the steel wire under the steel wire transfer wheel effect can normally transmit under the crooked state.
The right surface of the fixed flange 4 is fixedly connected with a six-dimensional force sensor, and the six-dimensional force sensor is matched with the controller.
According to the invention, as the first supporting flexible arm and the binocular supporting flexible arm are transversely arranged front and back, after the steel wire rope is tensioned, the tongue depressor body only has the degree of freedom of plane bending, when the tongue depressor part touches the oral cavity of a human body, the contact force can be always transmitted to the fixed flange along the first supporting flexible arm and the binocular supporting flexible arm, and the force of more than two force and moment components in two directions is acquired by the six-dimensional force sensor and fed back to the controller, so that the real-time detection of the interaction force between the tongue depressor part and the human body is realized.
In the invention, the full-automatic double-flexible-arm visual tongue depressor is fixedly connected with one end of a six-degree-of-freedom mechanical arm through a six-dimensional force sensor, and the six-degree-of-freedom mechanical arm is matched with a controller; and the left surface of the fixed flange is fixedly connected with a camera bracket for installing an external environment camera, and the external environment camera is arranged right above the supporting part.
The working principle of the invention is as follows: the external environment camera obtains external environment information and feeds the external environment information back to the controller, the controller controls one end of the six-degree-of-freedom mechanical arm to move towards the inside of the oral cavity of the human body, after the six-degree-of-freedom mechanical arm moves to a certain position, the binocular camera obtains the internal environment information of the oral cavity and feeds the internal environment information back to the controller, the controller controls the two servo motors to rotate respectively so that the two ends of the corresponding steel wire are respectively retracted and extended, and finally the tongue depressor body bends upwards or downwards under the action of the first supporting flexible arm and the second supporting flexible arm; meanwhile, the controller also controls the six-degree-of-freedom mechanical arm to prevent the tongue depressor body from being obliquely arranged.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (7)
1. The full-automatic double-flexible-arm visual tongue depressor is characterized by comprising a fixed flange (4), wherein the fixed flange (4) is detachably connected with a tongue depressor body (1), and a front through hole and a rear through hole are matched and arranged in the tongue depressor body (1); the fixed flange (4) is provided with a binocular support flexible arm (3) matched with a front through hole, and a first support flexible arm (2) matched with a rear through hole; a binocular support flexible arm driving group (6) is arranged on the fixed flange (4) in cooperation with the binocular support flexible arm, and a support flexible arm driving group (5) is arranged in cooperation with the first support flexible arm (2); the support flexible arm driving group (5) and the binocular support flexible arm driving group (6) are matched with the controller;
The left end of the front through hole is matched with the binocular support flexible arm (3) and fixedly connected with a transparent lens (32); the binocular support flexible arm (3) comprises a second support flexible arm (31) and a binocular camera, the second support flexible arm (31) is equal to the first support flexible arm (2), and the binocular camera is fixedly connected in a front through hole at the left end of the second support flexible arm (31); the support flexible arm driving groups (5) and the binocular support flexible arm driving groups (6) comprise steel wire conveying wheels (a), wherein two ends of a steel wire of one steel wire conveying wheel (a) respectively penetrate through the upper part and the lower part of the first support flexible arm (2) and are fixedly connected with the left end of the first support flexible arm (2), and a steel wire of the other steel wire conveying wheel (a) respectively penetrates through the upper part and the lower part of the second support flexible arm (3) and is fixedly connected with the left end of the second support flexible arm (3); any steel wire conveying wheel (a) is fixedly connected with a driving component (c), and a fixed flange (4) is matched with any driving component (c) to be provided with a corresponding mounting part (41); the right surface of the fixed flange (4) is fixedly connected with a multidimensional force sensor, and the multidimensional force sensor is matched with the controller.
2. The full-automatic double-flexible-arm visual tongue depressor as claimed in claim 1, wherein the tongue depressor body (1) comprises a tongue depressor part (11), a bending deformation part (12) and a supporting part (13) which are connected in sequence; the tongue depressor part (11) is arranged obliquely upwards, and the bending deformation part (12) is provided with a semi-wrapping tool guide groove (14).
3. A fully automatic double flexible arm visual tongue depressor as claimed in claim 2, wherein the front and rear through holes are provided through the bending deformation (12) and the support (13).
4. A fully automatic double flexible arm visual tongue depressor as claimed in claim 1, wherein any wire transfer wheel (a) is pivotally connected to a magnetic encoder (b) which is arranged in cooperation with the controller.
5. A fully automatic double flexible arm visual tongue depressor as claimed in claim 1, wherein any one of the driving assemblies (c) comprises a servo motor (c-1), the servo motor (c-1) is arranged in cooperation with the controller, the servo motor (c-1) is fixedly connected with a transmission worm (c-3) through a speed reducer (c-2), the transmission worm (c-3) is arranged in cooperation with a transmission worm wheel (c-4), the transmission worm wheel (c-4) is connected with a shaft of a steel wire transmission wheel (a), and the transmission worm wheel (c-3) and the transmission worm wheel (c-4) are rotatably arranged on the mounting part (41).
6. A fully automatic double flexible arm visual tongue depressor as claimed in claim 1, wherein one mounting part (41) is provided with a transition wheel set (d) in cooperation with the supporting flexible arm driving set (5), the other mounting part (41) is provided with a transition wheel set (d) in cooperation with the binocular supporting flexible arm driving set (6), and any transition wheel set (d) comprises two transition wheels, and the distance between the two transition wheels is smaller than the diameter of the steel wire conveying wheel.
7. A fully automatic double flexible arm visual tongue depressor as claimed in claim 6, wherein the wire between the first support flexible arm (2) and the corresponding transition wheel, and the wire between the second support flexible arm (31) and the corresponding transition wheel is sheathed with a wire sleeve (e).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010986923.4A CN112336386B (en) | 2020-09-18 | 2020-09-18 | Full-automatic double-flexible-arm visual tongue depressor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010986923.4A CN112336386B (en) | 2020-09-18 | 2020-09-18 | Full-automatic double-flexible-arm visual tongue depressor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112336386A CN112336386A (en) | 2021-02-09 |
| CN112336386B true CN112336386B (en) | 2024-09-24 |
Family
ID=74357917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010986923.4A Active CN112336386B (en) | 2020-09-18 | 2020-09-18 | Full-automatic double-flexible-arm visual tongue depressor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112336386B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103284683A (en) * | 2013-06-01 | 2013-09-11 | 李文 | Multifunctional tongue depressor |
| CN109875485A (en) * | 2019-04-22 | 2019-06-14 | 浙江睿丁生物科技有限公司 | A kind of visual spatula |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012021937A1 (en) * | 2010-08-18 | 2012-02-23 | Throat Scope Pty Ltd | Tongue depressor |
| CN202740047U (en) * | 2012-07-28 | 2013-02-20 | 杜月赞 | Tongue depressor |
| CN208048750U (en) * | 2018-01-19 | 2018-11-06 | 郑嘉 | A kind of medical treatment Medical spatula |
| CN210990176U (en) * | 2019-11-19 | 2020-07-14 | 郑志强 | Laryngoscope |
| CN111643123B (en) * | 2020-05-26 | 2021-07-09 | 清华大学 | An automatic sampling device for throat swabs |
-
2020
- 2020-09-18 CN CN202010986923.4A patent/CN112336386B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103284683A (en) * | 2013-06-01 | 2013-09-11 | 李文 | Multifunctional tongue depressor |
| CN109875485A (en) * | 2019-04-22 | 2019-06-14 | 浙江睿丁生物科技有限公司 | A kind of visual spatula |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112336386A (en) | 2021-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112245749B (en) | A fully automatic double-flexible arm intubation system | |
| CN103006327B (en) | Master-slave teleoperation vascular intervention surgical robot | |
| US9565990B2 (en) | Endoscope apparatus with slave device and master device | |
| CN210354899U (en) | Medical surgical robot | |
| CN107997825B (en) | Portable teleoperation trachea cannula robot | |
| CN113598955B (en) | A minimally invasive surgical robot power transmission mechanism | |
| CN219207309U (en) | Main end operating handle module of interventional operation robot | |
| CN112336386B (en) | Full-automatic double-flexible-arm visual tongue depressor | |
| CN115281746A (en) | Flexible end controllable medical device feeding system and feeding method | |
| CN118143987A (en) | Dexterous finger mechanism of freedom degree robot | |
| CN203790029U (en) | Renal artery ablation catheter robot pusher | |
| CN219895907U (en) | Ablation needle propelling device | |
| CN104771223B (en) | Renal artery ablation catheter robot pusher | |
| CN217162063U (en) | Endoscope rotating wheel driving mechanism and endoscope auxiliary operation device | |
| CN218484534U (en) | Endoscope optical amplification driving mechanism and endoscope | |
| CN214712619U (en) | Full-automatic double-flexible-arm visible tongue depressor | |
| CN212352027U (en) | Intelligent robot based on image recognition technology | |
| CN208303564U (en) | A kind of multitube material bending device | |
| CN119366971B (en) | Throat swab collection equipment | |
| CN120616765A (en) | Catheter clamping mechanism of vascular intervention surgical robot | |
| CN117921714B (en) | A five-finger humanoid manipulator and a control method for the manipulator | |
| CN113680022A (en) | Under-actuated shoulder joint rehabilitation training device | |
| CN115590624B (en) | Guide wire catheter conveying device for endovascular interventional operation robot | |
| CN114869470A (en) | Image recognition-based flexible clamping and force measuring device and method for vascular interventional surgical robot | |
| CN116370810B (en) | Remote control particle implantation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |