CN110507388A - A flexible robotic arm and endoscope assembly - Google Patents

Abstract

The invention relates to the field of medical equipment, and discloses a flexible mechanical arm and an endoscope assembly. The flexible mechanical arm includes a main body, a transmission mechanism and a driving mechanism. The free end of the main body is provided with a clip assembly, and the driving mechanism drives the clip assembly through the transmission mechanism. Deflection and telescopic movement occurs relative to the main body and drives the clip assembly to open or close. There is a clip on the robotic arm. The clip has multiple degrees of freedom and can freely clamp and lift the superficial mucosa of the lesion area. The endoscope component corresponding to the robotic arm can install the flexible robotic arm to the endoscope and move together with the endoscope. The original structure of the endoscope also has the lifting function.

Description

A flexible robotic arm and endoscope assembly

technical field

The invention relates to the field of medical instruments, in particular to a flexible mechanical arm and an endoscope assembly.

Background technique

Traditional endoscopic submucosal dissection (ESD surgery) is a gastroenterologist who completes the resection of submucosal lesions with the help of a digestive endoscope. At present, the gastrointestinal endoscope systems used in hospitals are all single-channel. When performing ESD surgery, after inserting the electric knife through the channel, it is not possible to add other auxiliary surgical cutting tools from the inside of the endoscope to help remove the superficial membrane tissue. Avoid or pull it up, when the electric knife excises submucosal lesions, the endoscopic field of view is easily covered by the superficial mucosa. This kind of operation requires very high experience and skills of the operating doctor, and the operation efficiency is relatively low, and it is also prone to the risk of complications and perforation. Therefore, in order to avoid the blocking of the superficial mucosa, the superficial mucosa needs to be lifted during the operation. Therefore, a flexible mechanical arm capable of lifting the superficial mucosa of the lesion area and a corresponding endoscope assembly are needed.

Contents of the invention

In order to overcome the deficiencies of the prior art, the present invention provides a flexible mechanical arm and an endoscope assembly, which solves the problem in the prior art that there is no suitable tool for lifting the superficial mucosa of the lesion area in endoscopic submucosal dissection.

The technical solution adopted by the present invention to solve its technical problems is:

A flexible mechanical arm is provided, including a main body, a transmission mechanism and a driving mechanism, a clip assembly is provided at the free end of the main body, and the driving mechanism drives the clip assembly relative to the main body through the transmission mechanism. Deflection and telescopic movement, and drive the clip assembly to open or close.

As a further improvement of the above technical solution, the clip assembly includes a clip that can be opened or closed, and a bracket connected to the clip, and the bracket drives the clip to deflect and telescopically move relative to the main body.

As a further improvement of the above technical solution, the main body is provided with a spring tube in the axial direction, the spring tube is connected to the bracket, and the expansion and contraction of the spring tube drives the bracket away from or close to the main body.

As a further improvement of the above technical solution, the main body is provided with a spring tube in the axial direction, and the inside of the spring tube is provided with a spring tube mandrel which is separated from the spring tube, and the spring tube mandrel enters the inside of the bracket and The clips are connected, and the movement of the spring tube mandrel drives the clips to open or close.

As a further improvement of the above technical solution, a pair of steel wire ropes are connected to both sides of the bracket, and the steel wire ropes drive the bracket to deflect relative to the main body.

As a further improvement of the above technical solution, the transmission mechanism includes a base plate, several guide rods installed on the base plate, and several slider assemblies capable of moving along the guide rods, the slider assemblies include steel wire sliders, first slider and a second slider, the steel wire slider is fixedly connected with the steel wire rope, each of the steel wire sliders corresponds to one guide rod, the first slider is connected to the spring tube, and the second The slider is connected to the spring tube mandrel, and the first slider and the second slider move along the same guide rod.

As a further improvement of the above technical solution, it also includes a motor assembly, the motor assembly includes a clip motor, a telescopic motor and a deflection motor, the deflection motor drives the wire slider to move, and the telescopic motor drives the first slider Synchronously moving with the second slider, the clip motor drives the relative movement of the first slider and the second slider to control the degree of opening and closing of the clip.

As a further improvement of the above technical solution, the drive mechanism includes a motor and a lead screw slide, and a force sensor is installed on the lead screw slide, the force sensor is connected with the slider and can drive the slider to move, and the force sensor can The current condition of the clip is monitored by measuring the force condition of the slider.

There is also provided an endoscope assembly, which includes the above-mentioned flexible mechanical arm, and also includes an endoscope, and the endoscope is detachably connected to the flexible mechanical arm.

As a further improvement of the above technical solution, an installation cap is provided on the main body, and the installation cap is socketed with the endoscope.

The beneficial effects of the present invention are as follows: a flexible mechanical arm and an endoscope assembly are provided, where the mechanical arm is provided with a clip, which has multiple degrees of freedom and can freely clamp and lift the superficial mucosa of the lesion area, and the mechanical arm corresponds to The endoscope assembly can install the flexible mechanical arm to the endoscope and move together with the endoscope, and has the lifting function while maintaining the original structure of the endoscope.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a three-dimensional schematic diagram of a flexible mechanical arm in an embodiment of the invention;

Fig. 2 is an enlarged schematic view of area A in Fig. 1;

Figure 3 is an enlarged schematic view of area B in Figure 1;

Fig. 4 is an exploded schematic view of the driving mechanism in one embodiment of the present invention;

Fig. 5 is a schematic diagram of the working principle of the parallelogram mechanism in one embodiment of the present invention.

Detailed ways

This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings, and the function of the accompanying drawings is to supplement the description of the text part of the specification with figures, so that the present invention can be intuitively and vividly understood Each technical feature and the overall technical solution, but it should not be construed as a limitation on the protection scope of the present invention.

In the description of the present invention, if it involves orientation description, for example, the orientation or positional relationship indicated by "upper", "lower", "front", "back", "left", "right" etc. is based on the The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as limiting the present invention . When a feature is said to be "set", "fixed", "connected" to another feature, it can be set, fixed, connected to another feature directly, or indirectly set, fixed, connected to another feature superior.

In the description of the present invention, if it involves "several", it means one or more; if it involves "multiple", it means more than two; if it involves "greater than", "less than", "more than ", should be understood as not including the original number, if it involves "above", "below", and "within", it should be understood as including the original number. If "first" and "second" are involved, it should be understood as used to distinguish technical features, and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the indicated The sequence of technical features.

In addition, unless otherwise defined, the technical terms and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art. The terminology used in the present invention is only for describing specific embodiments, but not for limiting the present invention.

Referring to FIG. 1 , it shows a schematic perspective view of a flexible robotic arm in an embodiment of the present invention. It includes a main body 1, a transmission mechanism 2 and a driving mechanism 3. The main body 1 is detachably connected to the endoscope 4. The end of the main body 1 is provided with a clip assembly. The clip assembly and the endoscope 4 move synchronously. During detection, the main body 1 can be used to lift the superficial mucosal tissue of the lesion area, so that the diseased tissue is exposed to the field of view of the endoscope. Since the endoscope is elastic and bendable (adapting to the human body), the main body 1 is also elastic and flexible. curved nature.

Referring to Fig. 2, it shows an enlarged schematic diagram of the A region in Fig. 1, and what shows in Fig. 2 is the specific structure of the end of the main body 1, and the clip assembly includes a clip 11 positioned at the end of the main body 1 and a bracket 13 connected to the clip 11 , the main body 1 is detachably connected with the endoscope through the installation cap 5, and the endoscope is sleeved in the installation cap 5, so as to realize the synchronous movement of the main body 1 and the endoscope.

Clip 11 links to each other with spring tube 14 by bracket 13, and spring tube 14 interior comprises spring tube mandrel 15, and bracket 13 is provided with a parallelogram structure 12, and the specific structure of parallelogram structure 12 is explained in the following text, spring tube mandrel 15 The axial movement of the clamp 11 is forced to open or close through the parallelogram structure 12.

Draw a pair of wire ropes 16 from both sides of the bracket 13, pull the wire ropes 16 to make the clip 11 deflect relative to the main body 1 (the deflection in this application both includes the static bending state of the clip 11 relative to the main body 1, and also includes the clip 11 relative to the movement process of the main body 1). The steel wire rope 16 passes through the through hole on the mounting cap 5 and passes through the thin steel pipe 17 fixedly connected on the through hole (the steel wire rope 16 corresponds to the thin steel pipe 17 one by one), and the spring tube 14 passes through the supporting shell fixedly connected with the mounting cap 5 18. The thin steel pipe 17 limits the shaking of the steel wire rope 16, and the supporting shell 18 limits the shaking of the spring tube 14. And the thin steel pipe 17 and the support shell 18 are wrapped by the outer sleeve 19 of the main body 1. In actual conditions, only the clip 11 is exposed at the end of the main body 1. This figure only intercepts the outer sleeve 19 for the purpose of showing the internal structure of the main body 1. part.

In addition, the spring tube 14 can contract and expand independently of the spring tube mandrel 15, thereby driving the clip 11 to approach and move away from the mounting cap 5 (ie, approaching and moving away from the main body 1).

In general, the clip 11 can be opened and closed under the control of the spring tube mandrel 15, can be driven by a pair of steel wire ropes 16 to swing and bend, and can be driven by the spring tube 14 to approach and move away from the mounting cap 5 (or the main body 1), that is, the clip 11 Elongation and shortening are achieved relative to the main body 1 .

Referring to Fig. 3, it shows an enlarged schematic view of area B in Fig. 1, the specific structure of the transmission mechanism 2 shown in Fig. Block 222 is provided with steel wire slider 223 in addition, and each slider all corresponds to corresponding guide rod, and steel wire slider 223 drives steel wire rope 16 to move along guide rod, realizes the pulling of steel wire rope 16 thus, because steel wire rope 16 is arranged in pairs , the steel wire sliders 223 are also arranged in pairs, and the two steel wire ropes do not interfere with each other.

The first slider 221 is fixedly connected to the spring tube 14, and the second slider 222 is fixedly connected to the spring tube mandrel 15. Since the spring tube 14 and the spring tube mandrel 15 are coaxial, the first slider 221 and the second slider 222 move along the same axis. Root rod movement.

In addition, the base plate 21 is provided with a positioning plate 211, the positioning plate 211 is positioned by the positioning block 212 and installed on the base plate 21, the difference in the installation position of the positioning plate 221 on the base plate 21 can make the first slider 221, the second slider 222 and the maximum stroke of the steel wire slider 223 change, and then change the opening and closing degree, swing degree, bending degree and telescopic length of the chuck.

Referring to FIG. 4 , it shows an exploded schematic diagram of the driving mechanism in one embodiment of the present invention, and the driving mechanism is used to drive the movement of each slider in the transmission mechanism. The bottom plate 31 is fixedly connected with the cover plate 32 through the positioning column 311. The cover plate 32 is provided with a plurality of chute so that the drive mechanism drives the slider to move. The starting switch of the assembly, the driving object of the motor assembly is the lead screw slide 35, the lead screw slide 35 is equipped with a force sensor 36, and the force sensor 36 is respectively corresponding to and fixedly connected with the slider in the preceding text, so as to drive the slide to move, and Simultaneously monitor the stress situation of the slide block including the stress situation of the clip after being clamped and pulled and the stress situation of the clip keeping the bent state (pull one side of the steel wire rope to a certain predetermined position to balance the two steel ropes).

3 and 4, the motor assembly includes a deflection motor 331, a telescopic motor 332 and a clamp motor 333, the deflection motor 331 drives the wire slider 223 to move, and the telescopic motor 332 drives the first slider 221 and the second slider 222 to move synchronously, The clip motor 333 drives the relative motion of the first slide block 221 and the second slide block 222 to control the opening and closing degree of the clip. In a certain embodiment, the clip motor 333 is fixed on the first slide block 221, and the clip motor 333 controls the The position of the second slider 222 relative to the first slider 221 drives the clip to open to different degrees. When the telescopic motor drives the first slider 221 to move, the position of the second slider 222 relative to the first slider 221 remains fixed. Thereby driving the extension and retraction of the clip assembly as a whole.

With reference to Fig. 5, the working principle diagram of parallelogram mechanism in one embodiment of the present invention is shown, and this mechanism comprises hinge 125, and the 3rd connecting rod 123 and the 4th connecting rod 124 can rotate around hinge 125, and hinge 125 is fixed on clip assembly Inside the bracket, the third link 123 and the fourth link 124 correspond to the upper and lower parts of the clip, and the rotation of the third link 123 and the fourth link 124 around the hinge 125 corresponds to the opening and closing of the clip.

The parallelogram mechanism is located inside the bracket. The axial movement of the spring tube mandrel 15 is the left and right movement of the spring tube mandrel 15 in this figure. The ends are rotatably connected, and because the hinge 125 is fixed, when the spring tube mandrel 15 moves to the left, the first connecting rod 121 and the second connecting rod 122 are far away from each other, that is, the first connecting rod 121 and the second connecting rod 122 are opened, driving the second connecting rod 121 The three links 123 and the fourth link 124 are far away from each other, corresponding to the opening of the clip.

When the spring tube mandrel 15 moves to the right, the first connecting rod 121 and the second connecting rod 122 are close to each other, that is, the first connecting rod 121 and the second connecting rod 122 are closed, driving the third connecting rod 123 and the fourth connecting rod 124 close to each other, corresponding to the closing of the clips.

Thus, the axial movement of the spring tube mandrel 15 can drive the opening and closing of the clip.

The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the gist of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other if there is no conflict.

Claims (10)

1. a kind of flexible mechanical arm, which is characterized in that including main body, transmission mechanism and driving mechanism, the free end of the main body End is equipped with clip assembly, and the driving mechanism drives the clip assembly to send out relative to the main body by the transmission mechanism Raw deflection and stretching motion, and the clip assembly is driven to open or be closed.

2. flexible mechanical arm according to claim 1, which is characterized in that the clip assembly includes that can open or be closed Clip, and the bracket being connected with the clip, the bracket drive the clip to deflect and stretch relative to the main body Contracting movement.

3. flexible mechanical arm according to claim 2, which is characterized in that the main body edge is axially arranged with bourdon tube, described Bourdon tube is connected with the bracket, and the flexible drive bracket of the bourdon tube is away from or approaching the main body.

4. flexible mechanical arm according to claim 2, which is characterized in that the main body edge is axially arranged with bourdon tube, described The bourdon tube mandrel separated with the bourdon tube is equipped with inside bourdon tube, the bourdon tube mandrel enters the internal stent and institute It states clip to be connected, the bourdon tube mandrel movement drives the clip to open or be closed.

5. flexible mechanical arm according to claim 3, which is characterized in that the two sides of the bracket connect a pair of of wirerope, The wirerope drives the bracket to deflect relative to the main body.

6. flexible mechanical arm according to claim 5, which is characterized in that the transmission mechanism includes substrate, is installed on institute It states several guide rods of substrate and can include steel wire sliding block, the along several slide block assemblies that the guide rod moves, the slide block assembly One sliding block and the second sliding block, the steel wire sliding block and the wirerope are connected, and lead described in each described steel wire sliding block correspondence one Bar, first sliding block connect the bourdon tube, and second sliding block connects the bourdon tube mandrel, first sliding block and institute The second sliding block is stated to move along the same guide rod.

7. flexible mechanical arm according to claim 6, which is characterized in that it further include electric machine assembly, the electric machine assembly packet Clip motor, telescope motor and deflection motor are included, the deflection motor drives the steel wire slide block movement, the telescope motor band It moves first sliding block and the second sliding block moves synchronously, the clip motor drives the opposite of first sliding block and the second sliding block It moves to control the opening and closing degree of the clip.

8. flexible mechanical arm according to claim 7, which is characterized in that the driving mechanism includes that motor and lead screw are sliding Platform is equipped with force snesor in the screw slide, and force snesor is connected with the sliding block can simultaneously drive the slide block movement, power biography Sensor can monitor the present situation of the clip by measuring the stress condition of the sliding block.

9. a kind of interior mirror assembly, which is characterized in that further include interior including the described in any item flexible mechanical arms of claim 1-8 Mirror, the scope are detachably connected with the flexible mechanical arm.

10. interior mirror assembly according to claim 9, which is characterized in that the main body is equipped with mounting cap, the mounting cap It is socketed with the scope.