CN113854950B - Multiplexing laparoscope - Google Patents
Multiplexing laparoscope Download PDFInfo
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- CN113854950B CN113854950B CN202111268916.1A CN202111268916A CN113854950B CN 113854950 B CN113854950 B CN 113854950B CN 202111268916 A CN202111268916 A CN 202111268916A CN 113854950 B CN113854950 B CN 113854950B
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- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 49
- 210000001503 joint Anatomy 0.000 claims abstract description 45
- 230000000007 visual effect Effects 0.000 claims abstract description 3
- 238000013016 damping Methods 0.000 claims description 66
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000010425 asbestos Substances 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 239000002783 friction material Substances 0.000 claims description 3
- 229910052895 riebeckite Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 238000005286 illumination Methods 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 6
- 239000013307 optical fiber Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/07—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
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- Pathology (AREA)
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Abstract
The invention discloses a multiplexing laparoscope, which comprises: laparoscope; the expanding part is rotationally sleeved outside the handle part of the laparoscope, and is provided with a transmission mechanism in butt joint with the tail end driving mechanism of the robot and a view angle adjusting wheel for controlling the transmission mechanism; the transmission mechanism transmits the torque generated by the control of the visual angle adjusting wheel or the tail end driving mechanism of the robot to drive the laparoscope to relatively rotate in the expansion part. According to the invention, the multiplexing of the laparoscope in the surgical robot application scene and the handheld application scene is realized by expanding the handle, so that the handle can be kept from rotating along with the rotation of the laparoscope when the rotation of the laparoscope is controlled, the comfortable holding posture can be kept all the time, and the problems of fatigue and inconvenient operation caused by angle rotation in the use process of the conventional handheld laparoscope are solved.
Description
Technical Field
The invention relates to the field of mechanical structures, in particular to a multiplexing laparoscope for two application scenes of a hand-held application scene and a robot application scene.
Background
Minimally invasive surgery refers to surgery performed by using modern medical instruments such as laparoscopes, thoracoscopes and related equipment, and has the greatest advantages of small trauma, light pain and quick recovery. With the development of related fields such as material science, electronics, optics and the like and the accumulation of clinical experience, the application range of minimally invasive surgery is wider and the success rate of the surgery is higher.
At present, minimally invasive surgery is classified into two types according to the surgical mode, one is a traditional doctor holding medical instruments for direct surgery, and the other is a doctor remotely operating a surgical robot for surgery, such as a da vinci surgical robot in the united states. The surgical operation has long operation time, the doctor can have strong fatigue feeling when holding instruments for long-time operation, the success rate of the operation is seriously influenced, the operation robot is operated to perform the operation, the doctor only needs to sit on the operation table to perform related operation, and can stop the operation to make a rest when the fatigue feeling occurs, so that the long-time operation quality is ensured, and the advantages of high operation precision, flexible operation, smaller opening and the like are added. However, surgical robots are expensive, and most patients choose conventional surgical procedures, so that the conventional surgical procedure and surgical robot coexist for a long time.
The laparoscopic body is used as a single module, all functions of the laparoscope are integrated, the laparoscopic body is simple in shape and light in weight, and when the laparoscopic body is applied to the surgical robot, the laparoscopic body is connected with the adapter of the surgical robot, so that the surgical robot can be operated through remote control; when the laparoscope is used as a handheld laparoscope, a handle which is convenient to grasp is arranged outside the laparoscope body. In the current use process of the laparoscope which is used for being handheld and robot-multiplexed, doctors need to adjust the angle of the laparoscope in real time to ensure the thoroughness of observation, the imaging angle of the head camera is changed by manually rotating the handle, and two problems occur after the handle is rotated: firstly, the most comfortable handshake position of doctors disappears, and fatigue is easy to occur; secondly, the handle can be rotated to the back of the operation button, but in the operation process, a doctor needs to adjust the button in real time to adjust the illumination intensity, optimize the imaging profile, grasp images and other operations, so that the change of the button position brings great trouble.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention provides a multiplexing laparoscope, which not only can realize multiplexing of the application scene of the laparoscope in the surgical robot and the handheld application scene, but also can solve the problem of fatigue and inconvenient operation caused by angle rotation in the use process of the conventional handheld laparoscope.
The technical scheme is as follows: a multiplexed laparoscope, comprising:
Laparoscope;
The expanding part is rotationally sleeved outside the handle part of the laparoscope, and is provided with a transmission mechanism in butt joint with the tail end driving mechanism of the robot and a view angle adjusting wheel for controlling the transmission mechanism;
the transmission mechanism transmits the torque generated by the control of the visual angle adjusting wheel or the tail end driving mechanism of the robot to drive the laparoscope to relatively rotate in the expansion part.
The transmission mechanism is a gear transmission mechanism and comprises a driven gear fixedly connected with the handle of the laparoscope and a driving gear meshed with the driven gear, and the driving gear is in butt joint with the tail end driving mechanism of the robot and transmits torque.
And the expansion part side is fixedly provided with a transmission seat, and the driving gear is rotatably arranged on the transmission seat.
The angle of view regulating wheel with driving gear fixed connection be provided with between angle of view regulating wheel with the driving gear through adjusting its with angle of view regulating wheel or the damping between the driving gear is with the regulation angle of view regulating wheel rotative force's damping piece.
The damping piece is made of rubber, asbestos material or carbon-based friction material.
And the middle part of the damping piece is provided with a hole, and the driving gear is fixedly connected with the angle-of-view adjusting wheel after penetrating through the hole in the middle part of the damping piece.
A mounting lug is arranged on the transmission seat and positioned on the side of the driving gear, and a damping adjusting wheel is mounted on the mounting lug through threaded fit; the damping adjusting wheel is matched with the damping piece, and drives the damping piece to move between the angle-of-view adjusting wheel and the driving gear.
A lever rotating in the vertical direction is arranged between the damping adjusting wheel and the damping piece, and two ends of the lever are respectively connected with the damping adjusting wheel and the damping piece in a matching way.
The end face, facing away from the transmission mechanism, of the transmission seat is fixedly provided with a mounting seat, a slot is formed in the mounting seat, one end of the mounting seat is formed below the gear hole to form a damping accommodating groove for accommodating the damping piece, and the other end of the mounting seat is formed to form a movable groove of the damping adjusting wheel; the mounting lug is fixedly mounted on the mounting seat and located at the movable groove.
And an intermediate gear meshed with the driving gear and the driven gear respectively is rotatably arranged on the transmission seat at a position between the driving gear and the driven gear.
The transmission seat is fixedly provided with a fixing piece, the middle part of the fixing piece extends to the position between the driving gear and the driven gear, and the middle gear is rotatably arranged in the middle of the fixing piece.
And a butt end cover is also covered outside the transmission mechanism, and the butt end cover is matched and butted with the transmission seat.
And a butt joint hole for penetrating the tail end driving mechanism of the robot is formed in the position, corresponding to the driving gear, of the end face of the butt joint end cover, and the tail end driving mechanism of the robot penetrates through the butt joint hole to be in butt joint fit with the driving gear.
And a plurality of grooves or protrusions corresponding to the protrusions or grooves arranged on the matched end face of the tail end driving mechanism of the robot are formed in the end face of the driving gear.
And a plurality of butt joint clamping grooves or butt joint clamping buckles which are correspondingly matched with the butt joint clamping grooves or butt joint clamping grooves arranged on the end face corresponding to the tail end of the robot are formed in the end face of the butt joint end cover.
A PCB board for signal processing is arranged in the handle of the laparoscope, and a signal interface connected with the PCB board is arranged on the handle; a corresponding matched plug-in interface is arranged at a corresponding position on the expansion part; and a key connected with the plug interface through a cable is arranged on the expansion part.
And the rotary disk is fixedly connected with the driven gear, and the rotary disk is fixedly connected with the handle of the laparoscope.
The laparoscopic handle is provided with a plurality of positioning holes or positioning protrusions on the end surface matched with the rotating disk, the corresponding end surface of the rotating disk is provided with corresponding positioning protrusions or positioning holes, and the laparoscopic handle and the rotating disk are matched with each other through the positioning holes and the positioning protrusions to realize quick positioning.
A plurality of buckles or clamping grooves are formed in the laparoscope handle, corresponding clamping grooves or buckles are formed in the end faces of the rotating disc, matched with the laparoscope handle, and the rotating disc is detachably mounted with the laparoscope handle through the cooperation of the buckles and the clamping grooves.
The expansion part is an expansion handle and comprises a handle sleeve rotationally sleeved outside the handle part of the laparoscope and a rear cover matched with the handle sleeve.
The handle sleeve is provided with a holding groove which is opened according to human engineering.
The beneficial effects are that: according to the invention, the multiplexing of the laparoscope in the surgical robot application scene and the handheld application scene is realized through the extension handle, so that the multiplexing of the laparoscope in the surgical robot application scene and the handheld application scene can be realized, the extension handle is designed to be in accordance with the human engineering structure, the handle can be kept from rotating along with the rotation of the laparoscope when the rotation of the laparoscope is controlled, the comfortable holding posture can be kept all the time, and the problems of fatigue and inconvenient operation caused by the rotation of the angle in the use process of the conventional handheld laparoscope are solved.
Drawings
FIG. 1 is an assembled isometric view of the present invention;
FIG. 2 is a block diagram of a lens assembly according to the present invention;
FIG. 3 is a schematic view of an extension handle assembly of the present invention;
FIG. 4 is an exploded view of the extension handle of the present invention;
Fig. 5 is a schematic diagram of a transmission seat structure of the present invention.
The lens comprises a lens assembly, a long sleeve, a handle assembly, an expansion handle assembly and a cable, wherein the lens assembly, the long sleeve, the handle assembly, the expansion handle assembly and the cable are arranged in sequence;
11. the lens, 12, the fixed cylinder, 13, the illumination optical fiber, 14, the miniature camera;
31. The handle body, 32, end caps, 33, a first key;
321. a signal interface 322. A locating hole;
41. The handle sleeve, 42, the rear cover, 43, the transmission mechanism, 44, the angle adjusting mechanism, 45, the butt joint end cover;
411. a second key;
431. rotary disk, 432, driven gear, 433, driving seat, 434, driving gear, 435, intermediate gear, 436, fixing element;
441. mounting base 442, angle of view adjusting wheel 443, mounting lug 444, lever 445, damping adjusting wheel 446;
451. Docking aperture 452. Docking interface.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
FIG. 1 is an isometric view of the assembly of the present invention, as shown in FIG. 1, the reusable laparoscope of the present invention comprises a lens assembly 1, a long cannula 2, a handle assembly 3, and an extension handle assembly 4; the long sleeve 2 is of a hollow structure, is fixedly arranged on the handle assembly 3, the lens assembly 1 is fixedly arranged at the tail end of the long sleeve 2, and a cable 5 sequentially penetrates through the handle assembly 3 and the long sleeve 2 to be connected with the lens assembly 1 so as to supply power and transmit signals to the long sleeve 2; the expansion handle component 4 is sleeved outside the handle component 3 and is matched with the handle component 3 through a bearing.
Fig. 2 is a view showing a lens assembly structure of the present invention, and as shown in fig. 2, the lens assembly 1 includes a fixed barrel 12 fixedly installed at the end of a long sleeve 2, and an illumination optical fiber 13 and a miniature camera 14 disposed in the fixed barrel 12; wherein, a plurality of clapboards are arranged in the fixed cylinder 12 to form an illumination cavity for accommodating the illumination optical fiber 13 and a camera cavity for accommodating the miniature camera 14 respectively, and the illumination optical fiber 13 and the miniature camera 14 are connected with the cable 5 penetrating through the long sleeve 2 respectively; a lens 11 is fixedly mounted on the outer end surface of the fixed barrel 12.
As shown in fig. 1, the handle assembly 3 includes a handle body 31, and a PCB board installed in the handle body 31 for signal processing, and the PCB board is connected with a power source and an external device through a cable 5 to supply power and perform signal communication. A first key 33 is installed on the handle body 31 to control the PCB; an end cover 32 is fixedly arranged on the end face of the handle body 31, and a signal interface 321 connected with a PCB board and a plurality of positioning holes 322 butted with the expansion handle assembly 4 are arranged on the handle body 31 or the end cover 32.
As shown in fig. 1, 3 and 4, the expansion handle assembly 4 comprises a handle sleeve 41 sleeved outside the handle body 31 and a rear cover 42 matched with the handle sleeve 41 to realize the fixed installation of the expansion handle assembly, wherein a holding groove formed according to the ergonomics is arranged on the handle sleeve 41; an interface is arranged in the handle sleeve 41 at a position corresponding to the signal interface 321 on the handle body 31, a second key 411 connected with the interface through a cable is also arranged on the outer wall of the handle sleeve 41, the second key 411 is matched and connected with the signal interface 321 through the interface, and therefore, the PCB board can be controlled through the second key 411, and the rotation range of the second key 411 is +/-270 degrees when controlling the laparoscope, but the cable between the second key 411 and the interface is not influenced only in a small range of the handle sleeve 41. The rear cover 42 has a tapered structure with a hole in the middle for the cable 5 to pass through.
The handle sleeve 41 is fixedly provided with a transmission mechanism 43 and an angle adjusting mechanism 44, and as shown in fig. 4, the transmission mechanism 43 comprises a rotary disk 431 matched and butted with the end cover 32 of the handle assembly 3, a driven gear 432 fixedly connected with the rotary disk 431, a transmission seat 433 fixedly arranged on the side of the handle sleeve 41, and a driving gear 434 rotatably arranged on the transmission seat 433 and matched with the driven gear 432 to transmit torque; the rotary disk 431 and the driven gear 432 are respectively provided with a through hole, and the through holes are used for penetrating the long sleeve 2; the transmission seat 433 is fixedly arranged on the side of the handle sleeve 41 through a bolt, a mounting hole for mounting the driving gear 434 is formed in the transmission seat 433, an intermediate gear 435 is rotatably arranged at a position between the driving gear 434 and the driven gear 432, and the driving gear 434 is meshed and matched with the driven gear 432 through the intermediate gear 435 so as to realize the transmission of torque; a plurality of grooves or protrusions corresponding to the protrusions or grooves on the tail end driving mechanism of the robot are formed in the end face of the driving gear 434, and the driving gear 434 and the tail end driving mechanism of the robot are in butt joint and torque transmission through the matching of the protrusions and the grooves.
In the invention, a plurality of positioning protrusions are arranged on the end surface of the rotating disk 431 matched with the upper end cover 32 of the handle body 31, and the rotating disk 431 is matched with the positioning holes 322 on the end cover 32 through the positioning protrusions on the rotating disk 431 to realize quick positioning.
In the present invention, a positioning protrusion may be formed on the handle body 31 or the end cap 32, and a corresponding positioning hole 322 may be formed on the rotating disk 431.
In the present invention, a plurality of buckles or clamping grooves are formed on the end cover 32 of the handle body 31, corresponding clamping grooves or buckles are formed on the end surface of the rotating disk 431 matched with the upper end cover 32 of the handle body 31, and the rotating disk 431 and the end cover 32 of the handle body 31 are detachably mounted through the matching of the buckles and the clamping grooves.
Further, in the present invention, a fixing member 436 is fixedly installed on the transmission housing 433, and a middle portion of the fixing member 436 is protruded to a position between the driving gear 434 and the driven gear 432, and an intermediate gear 435 engaged with the driving gear 434 and the driven gear 432, respectively, is rotatably installed thereon.
As shown in fig. 4, a butt end cover 45 is further covered outside the transmission mechanism 43, and the butt end cover 45 is matched and butted with the transmission seat 433 and completely covers the transmission mechanism 43 to protect the transmission mechanism 43. A butt joint hole 451 is formed on the end surface of the butt joint end cover 45 at a position corresponding to the driving gear 434, and is used for butt joint with the installation of a robot tail end driving mechanism when the multiplexing laparoscope is installed at the tail end of a robot, and the robot tail end driving mechanism passes through the butt joint hole 451 to be in butt joint fit with the driving gear 434; meanwhile, a plurality of butt joints 452 corresponding to the butt joint bulges on the end surfaces corresponding to the tail ends of the robots are also arranged on the end surfaces of the butt joint end covers 45, and when the tail end driving mechanism of the robot is matched and butted with the multiplexing laparoscope, the butt joint end covers 45 and the tail end corresponding to the tail ends of the robots are matched and butted through the butt joint interfaces 452 and the butt joint bulges, so that the butt joint end covers and the tail end corresponding to the tail ends of the robots are matched and butted, and the tail end is prevented from falling off.
As shown in fig. 4, the angle adjusting mechanism 44 includes a viewing angle adjusting wheel 442 fixedly connected with the driving gear 434 and a damping adjusting wheel 445 for adjusting the rotational damping of the viewing angle adjusting wheel 442; as shown in fig. 4, a gear hole is formed in the transmission seat 433, and a driving gear 434 is rotatably installed in the gear hole; a mounting seat 441 is fixedly arranged on the end surface of the transmission seat 433, which is back to the transmission mechanism 43, a slot is formed on the mounting seat 441, one end of the mounting seat forms a damping accommodating groove below the gear hole, and the other end forms a movable groove; the driving gear 434 is fixedly connected with the angle of view adjusting wheel 442 through the damping receiving groove; a pin shaft is fixedly arranged in the middle of the slot, a lever 444 is rotatably arranged in the slot through the pin shaft, two ends of the lever 444 are respectively positioned in the movable slot and the damping accommodating slot, and a damping piece 446 is fixedly connected to the end part of the lever 444 positioned in the damping accommodating slot; the mounting seat 441 is also fixedly provided with a mounting lug 443 at the position of the movable groove through a screw, the mounting lug 443 is provided with a screw hole, the inside of the mounting lug 443 is provided with a damping adjusting wheel 445 through screw thread fit, the end part of the damping adjusting wheel 445 is in propped fit with the end part of the lever 444 in the movable groove, the lever 444 is driven to rotate around a pin shaft through adjusting the screwing degree of the damping adjusting wheel 445 on the mounting lug 443, so that the other end of the lever 444 drives the damping piece 446 to move, thereby adjusting the damping between the damping piece and the angle adjusting wheel 442, and further adjusting the rotating force of the angle adjusting wheel 442, namely rotating the damping adjusting wheel 445 can increase/decrease the rotating force of the angle adjusting wheel 442, and different operators can adjust according to own requirements.
In the present invention, the damping between the damping member 446 and the angle-of-view adjusting wheel 442 is adjusted, but the present invention is not limited thereto, and as can be seen from the foregoing, the damping member 446 is mounted between the angle-of-view adjusting wheel 442 and the driving gear 434, so that the damping member 446 can be driven to move toward the driving gear 434 by the damping adjusting wheel 445 adjusting lever 444, thereby adjusting the damping between the damping member 446 and the driving gear 434, and the angle-of-view adjusting wheel 442 is fixedly connected with the driving gear 434, thereby adjusting the rotation force of the angle-of-view adjusting wheel 442.
In the present invention, the damping adjustment wheel 445 may be designed to be fixedly connected to the end of the lever 444.
In the present invention, the damping member 446 is made of rubber or other materials with a relatively high friction coefficient, such as asbestos materials and carbon-based friction materials.
Further, the damping member 446 has a central opening, and the driving gear 434 is fixedly coupled to the angle of view adjustment wheel 442 after passing through the central opening.
The working principle of the invention is as follows:
Under the hand-held use scene, when a user holds the extension handle to perform an operation and the angle of view needs to be adjusted in the operation process, the angle of view is changed directly by manually rotating the angle of view adjusting wheel 442, the angle of view adjusting wheel 442 drives the driving gear 434 to rotate, and then the driven gear 432 is driven to rotate by the intermediate gear 435, and further the whole laparoscope is driven to rotate, at this time, the extension handle does not rotate along with the rotation of the whole laparoscope; the rotation of different persons is different in proper force, and at this time, the damping adjusting wheel 445 can be rotated so that the end of the damping adjusting wheel 445 drives the lever 444 to rotate around the pin shaft, so that the distance between the damping piece 446 at the other end of the damping adjusting wheel 444 and the angle adjusting wheel 442 can be adjusted, and the damping between the damping piece 446 and the angle adjusting wheel 442 can be adjusted, so that the adjusting force of the angle adjusting wheel 442 can be changed. Thus, the handle does not need to be rotated when the angle of view needs to be changed, so that the problems of fatigue and inconvenient operation are caused.
Under the use scene of the tail end of the robot, the butt joint end cover 45 and the corresponding end surface of the tail end of the robot are matched with each other through the butt joint hole 452 and the butt joint bulge on the butt joint end cover 45, meanwhile, the tail end driving mechanism of the robot passes through the butt joint hole 451 on the butt joint end cover 45 and the driving gear 434 to realize butt joint through the bulge and the groove between the butt joint hole 451 and the driving gear 434, the tail end driving mechanism of the robot drives the driving gear 434 to rotate, the driven gear 432 is driven to rotate through the intermediate gear 435, and the whole laparoscope is driven to rotate, and at the moment, the expansion handle does not rotate along with the rotation of the whole laparoscope; under this scheme, the adjusting force of the angle-of-view adjusting wheel 442 can be adjusted in advance, that is, before the multiplexed laparoscope of the present invention is mounted on the end of the robot, the adjusting force of the angle-of-view adjusting wheel 442 can be changed by rotating the damping adjusting wheel 445 such that its end portion drives the lever 444 to rotate about the pin shaft, thereby adjusting the distance between the damping member 446 at the other end portion of the lever 444 and the angle-of-view adjusting wheel 442 to adjust the damping therebetween.
In the present invention, it is necessary to describe only one manner of facilitating the docking installation of the robot end driving mechanism in the docking hole 451 of the docking end cover 45, but the present invention is not limited thereto, and other connection structures such as a coupling may be used to achieve the docking between the robot end driving mechanism and the driving gear 434.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.
Claims (21)
1. A multiplexing laparoscope, characterized by: comprising the following steps:
Laparoscope;
The expanding part is rotationally sleeved outside the handle part of the laparoscope, and is provided with a transmission mechanism in butt joint with the tail end driving mechanism of the robot and a view angle adjusting wheel for controlling the transmission mechanism;
the transmission mechanism transmits the torque generated by the control of the visual angle adjusting wheel or the tail end driving mechanism of the robot to drive the laparoscope to relatively rotate in the expansion part.
2. The multiplexed laparoscope according to claim 1, wherein: the transmission mechanism is a gear transmission mechanism and comprises a driven gear fixedly connected with the handle of the laparoscope and a driving gear meshed with the driven gear, and the driving gear is in butt joint with the tail end driving mechanism of the robot and transmits torque.
3. The multiplexed laparoscope according to claim 2, wherein: and the expansion part side is fixedly provided with a transmission seat, and the driving gear is rotatably arranged on the transmission seat.
4. A multiplexed laparoscope as recited in claim 3, wherein: the angle of view regulating wheel with driving gear fixed connection be provided with between angle of view regulating wheel with the driving gear through adjusting its with angle of view regulating wheel or the damping between the driving gear is with the regulation angle of view regulating wheel rotative force's damping piece.
5. The multiplexed laparoscope according to claim 4, wherein: the damping piece is made of rubber, asbestos material or carbon-based friction material.
6. The multiplexed laparoscope according to claim 4, wherein: and the middle part of the damping piece is provided with a hole, and the driving gear is fixedly connected with the angle-of-view adjusting wheel after penetrating through the hole in the middle part of the damping piece.
7. The multiplexed laparoscope according to claim 4, wherein: a mounting lug is arranged on the transmission seat and positioned on the side of the driving gear, and a damping adjusting wheel is mounted on the mounting lug through threaded fit; the damping adjusting wheel is matched with the damping piece, and drives the damping piece to move between the angle-of-view adjusting wheel and the driving gear.
8. The multiplexed laparoscope according to claim 7, wherein: a lever rotating in the vertical direction is arranged between the damping adjusting wheel and the damping piece, and two ends of the lever are respectively connected with the damping adjusting wheel and the damping piece in a matching way.
9. The multiplexed laparoscope according to claim 8, wherein: the end face, facing away from the transmission mechanism, of the transmission seat is fixedly provided with a mounting seat, a slot is formed in the mounting seat, one end of the mounting seat is formed below the gear hole to form a damping accommodating groove for accommodating the damping piece, and the other end of the mounting seat is formed to form a movable groove of the damping adjusting wheel; the mounting lug is fixedly mounted on the mounting seat and located at the movable groove.
10. A multiplexed laparoscope as recited in claim 3, wherein: and an intermediate gear meshed with the driving gear and the driven gear respectively is rotatably arranged on the transmission seat at a position between the driving gear and the driven gear.
11. The multiplexed laparoscope according to claim 10, wherein: the transmission seat is fixedly provided with a fixing piece, the middle part of the fixing piece extends to the position between the driving gear and the driven gear, and the middle gear is rotatably arranged in the middle of the fixing piece.
12. A multiplexed laparoscope as recited in claim 3, wherein: and a butt end cover is also covered outside the transmission mechanism, and the butt end cover is matched and butted with the transmission seat.
13. The multiplexed laparoscope according to claim 12, wherein: and a butt joint hole for penetrating the tail end driving mechanism of the robot is formed in the position, corresponding to the driving gear, of the end face of the butt joint end cover, and the tail end driving mechanism of the robot penetrates through the butt joint hole to be in butt joint fit with the driving gear.
14. The multiplexed laparoscope according to claim 13, wherein: and a plurality of grooves or protrusions corresponding to the protrusions or grooves arranged on the matched end face of the tail end driving mechanism of the robot are formed in the end face of the driving gear.
15. The multiplexed laparoscope according to claim 12, wherein: and a plurality of butt joint clamping grooves or butt joint clamping buckles which are correspondingly matched with the butt joint clamping grooves or butt joint clamping grooves arranged on the end face corresponding to the tail end of the robot are formed in the end face of the butt joint end cover.
16. The multiplexed laparoscope according to claim 1, wherein: a PCB board for signal processing is arranged in the handle of the laparoscope, and a signal interface connected with the PCB board is arranged on the handle; a corresponding matched plug-in interface is arranged at a corresponding position on the expansion part; and a key connected with the plug interface through a cable is arranged on the expansion part.
17. The multiplexed laparoscope according to claim 2, wherein: and the rotary disk is fixedly connected with the driven gear, and the rotary disk is fixedly connected with the handle of the laparoscope.
18. The multiplexed laparoscope according to claim 17, wherein: the laparoscopic handle is provided with a plurality of positioning holes or positioning protrusions on the end surface matched with the rotating disk, the corresponding end surface of the rotating disk is provided with corresponding positioning protrusions or positioning holes, and the laparoscopic handle and the rotating disk are matched with each other through the positioning holes and the positioning protrusions to realize quick positioning.
19. The multiplexed laparoscope according to claim 17, wherein: a plurality of buckles or clamping grooves are formed in the laparoscope handle, corresponding clamping grooves or buckles are formed in the end faces of the rotating disc, matched with the laparoscope handle, and the rotating disc is detachably mounted with the laparoscope handle through the cooperation of the buckles and the clamping grooves.
20. The multiplexed laparoscope according to claim 1, wherein: the expansion part is an expansion handle and comprises a handle sleeve rotationally sleeved outside the handle part of the laparoscope and a rear cover matched with the handle sleeve.
21. The multiplexed laparoscope according to claim 20, wherein: the handle sleeve is provided with a holding groove which is opened according to human engineering.
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| CN106137396A (en) * | 2016-06-27 | 2016-11-23 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of bindiny mechanism for laparoscopic surgery robotic tool |
| CN107205778A (en) * | 2015-01-23 | 2017-09-26 | 迈柯唯有限公司 | For the holding during performing the operation and the device of mobile laparoscope |
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| US20140371763A1 (en) * | 2013-06-18 | 2014-12-18 | Wayne L. Poll | Sheath for hand-held and robotic laparoscopes |
| US10258363B2 (en) * | 2014-04-22 | 2019-04-16 | Ethicon Llc | Method of operating an articulating ultrasonic surgical instrument |
| AU2016321332B2 (en) * | 2015-09-09 | 2020-10-08 | Auris Health, Inc. | Instrument device manipulator for a surgical robotics system |
| JP2020509798A (en) * | 2017-02-23 | 2020-04-02 | ヒューマン エクステンションズ リミテッド | Surgical instrument controller |
| CN111012501B (en) * | 2018-10-09 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| TR201819682A2 (en) * | 2018-12-18 | 2019-01-21 | Izmir Yueksek Teknoloji Enstituesue | ENDOSCOPE EASY PLUG-OFF MECHANISM |
| CN117396152A (en) * | 2021-03-31 | 2024-01-12 | 月球外科公司 | Co-operating surgical system for use with surgical instruments for performing laparoscopic surgery |
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| CN107205778A (en) * | 2015-01-23 | 2017-09-26 | 迈柯唯有限公司 | For the holding during performing the operation and the device of mobile laparoscope |
| CN106137396A (en) * | 2016-06-27 | 2016-11-23 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of bindiny mechanism for laparoscopic surgery robotic tool |
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