CN223026036U - Foldable mechanical arm system suitable for observation of cilia in nose - Google Patents

Abstract

The utility model relates to the technical field of medical devices, and provides a foldable mechanical arm system suitable for observing cilia in the nose of a body, including a base, a first adapter, a second adapter, a steering body, a six-degree-of-freedom vibration reduction assembly, an endoscope holder, an acceleration sensor, and a controller, wherein the bottom end of the first adapter is arranged on the top of the base and can move upward or downward relative to the base to adjust the height of its top end, and the second adapter can switch between a fully extended state and a folded state. The utility model enables the system to adjust the posture and direction of the nasal endoscope through the first adapter and the second adapter so that the nasal endoscope can accurately reach the target observation part of the human body. When not in use, the top end of the first adapter can be adjusted to the lowest position, and the second adapter can be adjusted to a folded state, so that the system can be folded as a whole, occupying less space, meeting the requirements of miniaturization of the instrument under the premise of realizing the function of the instrument, and having strong practicality.

Description

Foldable mechanical arm system suitable for observation of cilia in nose

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a foldable mechanical arm system suitable for observation of cilia in a nose.

Background

Nasal diseases (such as allergic rhinitis, nasal polyps, etc.) are common diseases in the population, the pathophysiological mechanisms of which are closely related to the nasal mucociliary transport system, and rhinitis and sinusitis are found to be related to cilia function in animal experiments and in vitro specimens. However, the current nasal cilia observation tools cannot realize in-vivo observation of human bodies, so that development of in-vivo nasal cilia observation equipment is required.

At present, on the basis of developing a nose microscope, in order to observe human body nose cilia, the supporting equipment needs to meet the requirements of high flexibility and convenient direction adjustment, and meanwhile, the whole size of a nose microscope observation instrument needs to be limited due to the limitation of the space of an operating room, so that the instrument meets the requirement of miniaturized storage under the condition of meeting the instrument function.

Disclosure of utility model

In view of the shortcomings in the prior art, it is an object of the present utility model to provide a foldable robotic arm system suitable for use in intrabody intranasal cilia viewing.

According to the present utility model there is provided a foldable robotic arm system adapted for intra-nasal cilia viewing comprising:

A base;

the bottom end of the first transfer piece is arranged at the top of the base and can move upwards or downwards relative to the base so as to adjust the height of the top end of the first transfer piece;

The second adapter piece can be switched between a fully-extended state and a folded state, and comprises a first extension arm and a second extension arm, wherein the proximal end of the first extension arm is rotatably arranged at the top end of the first adapter piece, the distal end of the first extension arm is in rotating fit with the proximal end of the second extension arm, when the second adapter piece is in the fully-extended state, the distal end of the second extension arm is farthest from the axis of the first adapter piece, and when the second adapter piece is in the folded state, the distal end of the second extension arm is closest to the axis of the first adapter piece;

A steering body having an upper end disposed at a lower portion of a distal end of the second stretching arm and rotatable about a vertical direction;

The top end of the six-degree-of-freedom vibration reduction assembly is arranged at the lower end of the steering body;

the endoscope retainer is arranged at the bottom end of the six-degree-of-freedom vibration reduction assembly and is used for fixing the nasal endoscope;

an acceleration sensor disposed on the endoscope holder;

and the controller is respectively connected with the acceleration sensor, the first adapter, the steering body and the six-degree-of-freedom vibration reduction assembly in a signal manner.

Preferably, the six-degree-of-freedom vibration damping assembly comprises an upper platform, a lower platform and 6 driving rods arranged between the upper platform and the lower platform, and the controller is respectively connected with the 6 driving rods in a signal mode.

Preferably, the driving rod comprises a magnetostrictive actuator, two ends of the magnetostrictive actuator are respectively connected with the upper platform and the lower platform through joints, and the magnetostrictive actuator can do extension or shortening movement.

Preferably, the first transfer member and the steering body are both driven by a motor.

Preferably, the endoscope holder is arranged at the bottom end of the six-degree-of-freedom vibration reduction assembly through an adapter, and the acceleration sensor is mounted on the adapter or the endoscope holder.

Preferably, the endoscope holder is capable of adjusting its own attitude with respect to the adapter to thereby enable the attitude of the nasal endoscope to be adjusted synchronously.

Preferably, the base has a movable state and a positioning state and is capable of flexible switching.

Preferably, the bottom of base is provided with runner and arranges electric supporting legs in runner one side, when the system work makes the runner be in the locate mode through stretching out downwards 4 electric supporting legs of base bottom, when needs remove, drives 4 electric supporting legs upward movement can make the runner contact ground and then make the base be in movable state.

Preferably, the base is provided with a stand column, and the top of the stand column is provided with an armrest.

Preferably, the system is 7-shaped in configuration when viewed from the side.

Compared with the prior art, the utility model has the following beneficial effects:

According to the utility model, the attitude and the direction of the nasal endoscope can be adjusted through the first adapter and the second adapter, so that the nasal endoscope can accurately reach the target observation position of a human body, the nasal endoscope is convenient and quick, the top end of the first adapter can be adjusted to be the lowest when the nasal endoscope is not used, and the second adapter is adjusted to be in a folded state, so that the whole nasal endoscope is folded, is convenient to store, occupies smaller space, meets the requirement of instrument miniaturization on the premise of realizing instrument functions, and has strong practicability.

Drawings

Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of the structure of the present utility model, wherein the second adapter is in a state between a fully extended state and a folded state;

FIG. 2 is a schematic view of the structure of the present utility model, wherein the second adaptor is in a folded state;

FIG. 3 is a schematic diagram of a skeleton structure of the present utility model;

FIG. 4 is a schematic diagram of a six degree of freedom vibration damping assembly.

The figure shows:

Base 1

Rotating wheel 11

Armrest 12

Column 13

First adapter 2

Second adapter 3

First extension arm 31

Second extension arm 32

Steering body 4

Six degree of freedom vibration damping assembly 5

Upper platform 51

Drive rod 52

Magnetostrictive actuator 521

Joint 522

Lower platform 53

Adapter 6

Endoscope holder 7

Intranasal endoscope 8

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

Example 1:

The utility model provides a foldable mechanical arm system suitable for observation of cilia in a nose, which is shown in fig. 1, 2 and 3, and comprises a base 1, a first adapter 2, a second adapter 3, a steering body 4, a six-degree-of-freedom vibration damping assembly 5, an acceleration sensor, a controller and an endoscope retainer 7, wherein the bottom end of the first adapter 2 is arranged at the top of the base 1 and can move upwards or downwards relative to the base 1 so as to adjust the height of the top end of the first adapter, thus realizing adjustment of the height of the system, the second adapter 3 comprises a first extension arm 31 and a second extension arm 32 and can be switched between a fully extended state and a folded state according to actual requirements, the proximal end of the first extension arm 31 is rotatably arranged at the top end of the first adapter 2, the distal end of the first extension arm 31 is in rotating fit with the proximal end of the second extension arm 32, when the first extension arm is in the fully extended state, the distal end of the second extension arm 32 is far away from the axis of the first adapter 2, and when the second extension arm 32 is in the most far away from the axis of the second extension arm 2, the second extension arm is in the most far away from the axis of the second extension arm 2. In the embodiment, the proximal end of the first extension arm 31 and the top end of the first adapter 2, and the distal end of the first extension arm 31 and the proximal end of the second extension arm 32 are all revolute pair structures, and the revolute pair structures are designed with rotational damping, so that the revolute pair can be manually adjusted to adjust the state of the second adapter 3, and the state can be stably maintained in a natural state due to the existence of the rotational damping after the state is adjusted in place.

The upper end of the steering body 4 is arranged at the lower part of the distal end of the second extension arm 32 and can rotate around the vertical direction, the top end of the six-degree-of-freedom vibration damping assembly 5 is arranged at the lower end of the steering body 4, the endoscope retainer 7 is arranged at the bottom end of the six-degree-of-freedom vibration damping assembly 5 and is used for fixing the nasal endoscope 8, the endoscope retainer 7 is preferably arranged at the bottom end of the six-degree-of-freedom vibration damping assembly 5 through the adapter 6, the acceleration sensor is arranged on the adapter 6 or the endoscope retainer 7, the acceleration sensor is used for collecting vibration information of the nasal endoscope 8 and can feed back the vibration information to the controller, so that the controller can control the six-degree-of-freedom vibration damping assembly 5 to adjust the gesture in real time and counteract vibration of the tail end of the nasal endoscope 8, and finally the nasal endoscope 8 is stably kept at a target position. The utility model can realize the adjustment of the up-down position of the nasal endoscope 8 through the first adapter 2, can realize the adjustment of the left-right position of the nasal endoscope 8 through the second adapter 3, can drive the six-degree-of-freedom vibration reduction assembly 5 to synchronously rotate when the steering body 4 rotates, can realize the adjustment of the orientation of the nasal endoscope 8 through the steering body 4, has a 7-shaped structure when being observed from the side, realizes the support of the whole nasal endoscope 8 through a simple 7-shaped structure, realizes the positioning of the spatial position of the nasal endoscope 8, and has simple and flexible structure and convenient operation.

The utility model is more beneficial to positioning, reduces the accuracy requirement when the base 1 is arranged, improves the fault tolerance, comprises a Scara configuration of the RRR with three rotary joints formed by the proximal end of the first extension arm 31, the distal end of the first extension arm 31 and the distal end of the second extension arm 32, is very flexible and convenient to position, can compensate the difference in space position caused by inaccurate positioning by adjusting the rotation angles of the three rotary joints, and occupies small volume in the storage state after the use is finished, as shown in figure 2, and is more beneficial to the transportation and storage of equipment. The utility model realizes automation and refinement of various cilia observation operations, integrates flexible arrangement of the base, flexible positioning of the endoscope and rapid and quick replacement of the inner diameter, greatly simplifies the flow, and improves the fineness, accuracy and efficiency of operation and observation, thereby enabling scientific experiments and clinical researches to be more standard and reducing the possibility of operation errors.

As shown in fig. 4, the six-degree-of-freedom vibration damping assembly 5 includes an upper stage 51, a lower stage 53, and 6 driving rods 52 disposed between the upper stage 51 and the lower stage 53, and the controller implements posture adjustment of the six-degree-of-freedom vibration damping assembly 5 by controlling the elongation or shortening of the 6 driving rods 52 in real time, and the six-degree-of-freedom vibration damping assembly 5 exhibits low-frequency vibration output. Specifically, the driving rod 52 includes a magnetostrictive actuator 521, two ends of the magnetostrictive actuator 521 are respectively connected with the upper platform 51 and the lower platform 53 through joints 522, the joints 522 are preferably spherical joints, and the magnetostrictive actuator 521 is controlled to extend or shorten, so that the magnetostrictive actuator 521 and the two joints 522 are matched to realize the output of low-frequency vibration of the six-degree-of-freedom vibration reduction assembly 5, and further can be matched with the nasal endoscope 8 and counteract vibration displacement generated by the nasal endoscope 8, thereby realizing the vibration reduction of micro-vibration during lens movement and observation. The micro-vibration damping effect of the six-degree-of-freedom damping assembly 5 is utilized to weaken any form of micro-vibration in space, so that the effects of rapid and stable moving lens and no obvious shake during steady state observation are achieved, the feelings of dizziness and fatigue are not caused, and a stable observation environment is provided.

The vibration information in the utility model comprises spatial displacement, speed and acceleration information, the acceleration sensor feeds back the acquired spatial displacement, speed and acceleration information of the nasal endoscope 8 to the controller, the controller calculates the displacement, speed and acceleration required to be output by each driving rod 52, and respectively controls each driving rod 52 to move, and the set of the movements of the driving rods 52 is presented as relative posture adjustment between the upper platform 51 and the lower platform 53, so that the nasal endoscope 8 is finally stably kept at a target position. It should be noted that, the target position in the present utility model is a position when the intranasal scope 8 extends into the nose to observe the cilia, and the position may be one position, or may be a plurality of positions under different postures of the intranasal scope 8, which may be specifically designed flexibly according to actual medical situations.

Further, in order to make the posture of the nasal endoscope 8 more accurate, the utility model designs the endoscope holder 7 to be capable of adjusting the posture of the endoscope holder 7 relative to the adapter 6, so that the posture of the nasal endoscope 8 is synchronously adjusted, and the posture adjustment of the nasal endoscope 8 is realized by the fact that the endoscope holder 7 can perform pitching motion around the bottom end of the adapter 6 and the rotating shaft performs calibration adjustment of the posture.

The controller is electrically connected with a positioning button, the patient is laid down well before the patient begins to observe the cilia in the nose, the pose of the patient is kept still, the correct observation position of the nasal endoscope 8 is found by manually adjusting the pose of the endoscope retaining member 7 relative to the adapter member 6 through the first adapter member 2, the second adapter member 3 and the steering body 4, and after the correct position is found, the doctor presses the positioning button to carry out positioning record on the position of the nasal endoscope 8. When the observation is started, the controller outputs a control command according to the received positioning information, and controls the first adapter piece 2, the steering body 4 and the six-degree-of-freedom vibration reduction assembly 5 to move so that the nasal endoscope 8 is always kept at the correct position until the observation is finished. It should be noted that in order not to cause a positional error of the nasal endoscope 8 due to the movement between the endoscope holding member 7 and the adapter member 6 after the nasal endoscope 8 is found in the correct position, the rotatable state and the locking state between the endoscope holding member 7 and the adapter member 6 can be set, and when the correct position is found, the rotatable state is adjusted between the endoscope holding member 7 and the adapter member 6, and when the instrument is kept stable by the locking state is adjusted between the endoscope holding member 7 and the adapter member 6 during the observation. The first adapter 2 and the steering body 4 can be driven by a motor, for example, the first adapter 2 can drive a screw rod to rotate by the motor, and the steering body 4 can be directly realized by the rotation of an output shaft of the motor.

As shown in fig. 1 and 2, the base 1 has a movable state and a positioning state and can be flexibly switched, the bottom of the base 1 is provided with a rotating wheel 11 and electric supporting feet arranged on one side of the rotating wheel 11, one side of each rotating wheel 11 is provided with one electric supporting foot for increasing the stability of the system, 4 electric supporting feet at the bottom of the base 1 extend downwards during the operation of the system, the rotating wheels 11 are supported on the ground to be suspended, at this moment, the base 1 is in the positioning state, when the base needs to be moved, the 4 electric supporting feet are driven to move upwards to enable the rotating wheels 11 to contact the ground, the lower ends of the electric supporting feet leave the ground, and the base 1 is in the movable state.

In order to facilitate movement, the base 1 is provided with the upright post 13, the top of the upright post 13 is provided with the armrest 12, when movement is required, the base 1 is firstly adjusted to a movable state, and a movable system of the armrest 12 is held by a hand, so that the operation is convenient and simple, and the practicability is strong.

Example 2:

This embodiment differs from embodiment 1 in that the rotation of the proximal end of the first stretching arm 31 and the tip of the first adapter 2, the distal end of the first stretching arm 31 and the proximal end of the second stretching arm 32 is all achieved by motor driving.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the utility model. The embodiments of the utility model and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. A foldable robotic arm system adapted for intra-nasal cilia viewing, comprising:

A base (1);

The bottom end of the first adapter piece (2) is arranged at the top of the base (1) and can move upwards or downwards relative to the base (1) so as to adjust the height of the top end of the first adapter piece;

A second adapter (3) capable of switching between a fully extended state and a folded state, comprising a first extension arm (31) and a second extension arm (32), wherein the proximal end of the first extension arm (31) is rotatably arranged at the top end of the first adapter (2), the distal end of the first extension arm (31) is in rotary fit with the proximal end of the second extension arm (32), when in the fully extended state, the distal end of the second extension arm (32) is furthest from the axis of the first adapter (2), and when in the folded state, the distal end of the second extension arm (32) is closest to the axis of the first adapter (2);

a steering body (4) having an upper end disposed at a lower portion of a distal end of the second extension arm (32) and rotatable in a vertical direction;

A six-degree-of-freedom vibration damping assembly (5) with a top end arranged at the lower end of the steering body (4);

An endoscope holder (7) disposed at the bottom end of the six-degree-of-freedom vibration damping module (5) for fixing the nasal endoscope (8);

an acceleration sensor arranged on the endoscope holder (7);

And the controller is respectively in signal connection with the acceleration sensor, the first adapter (2), the steering body (4) and the six-degree-of-freedom vibration reduction assembly (5).

2. A collapsible robotic arm system adapted for intra-nasal cilia viewing according to claim 1, wherein the six degree of freedom vibration damping assembly (5) comprises an upper platform (51), a lower platform (53) and 6 drive rods (52) arranged between the upper platform (51) and the lower platform (53), the controller being in signal connection with the 6 drive rods (52), respectively.

3. A collapsible robotic system adapted for intra-nasal cilia viewing according to claim 2, wherein the driving rod (52) comprises a magnetostrictive actuator (521), both ends of the magnetostrictive actuator (521) being connected to the upper platform (51) and the lower platform (53) by joints (522), respectively, the magnetostrictive actuator (521) being capable of an elongating or shortening movement.

4. Foldable robotic arm system suitable for intra-nasal cilia observation according to claim 1, characterized in that the actuation of the first adapter (2), the steering body (4) is all achieved by motor driving.

5. A collapsible robotic arm system adapted for intra-nasal cilia viewing according to claim 1, wherein the endoscope holder (7) is arranged at the bottom end of the six-degree-of-freedom vibration damping assembly (5) by means of an adapter (6), and the acceleration sensor is mounted on either the adapter (6) or the endoscope holder (7).

6. A collapsible robotic arm system suitable for intra-nasal cilia viewing according to claim 5, wherein the endoscope holder (7) is capable of adjusting its own attitude relative to the adapter (6) and thereby enabling simultaneous adjustment of the attitude of the intranasal scope (8).

7. A foldable robotic arm system suitable for intra-nasal cilia viewing according to claim 1, characterized in that the base (1) has a movable state and a positioning state and is capable of flexible switching.

8. A foldable robot arm system suitable for viewing in the cilia of the nose according to claim 7, characterized in that the bottom of the base (1) is provided with a runner (11) and electric support feet arranged on one side of the runner (11), the runner (11) is in a positioned state by extending the 4 electric support feet at the bottom of the base (1) downwards when the system is in operation, and when the system needs to be moved, the 4 electric support feet are driven to move upwards to enable the runner (11) to contact the ground and further enable the base (1) to be in a movable state.

9. Foldable robotic arm system suitable for intrabody-intranasal cilia observation according to claim 1, characterized in that the base (1) is provided with a stand (13), the top of the stand (13) being provided with a handrail (12).

10. A collapsible robotic system for use in intrabody-nasal cilia viewing according to claim 1, wherein the system is in a 7-shaped configuration when viewed from the side.