CN109381244A - A kind of lifting arm and its control method - Google Patents
A kind of lifting arm and its control method Download PDFInfo
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- CN109381244A CN109381244A CN201811365536.8A CN201811365536A CN109381244A CN 109381244 A CN109381244 A CN 109381244A CN 201811365536 A CN201811365536 A CN 201811365536A CN 109381244 A CN109381244 A CN 109381244A
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- clamping part
- lifting arm
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005452 bending Methods 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 12
- 210000004400 mucous membrane Anatomy 0.000 abstract description 9
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 210000001519 tissue Anatomy 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000001079 digestive effect Effects 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000004877 mucosa Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B90/17—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins for soft tissue, e.g. breast-holding devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Ophthalmology & Optometry (AREA)
- Neurosurgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
The present invention relates to field of medical device, disclosing a kind of lifting arm and its control method, lifting arm includes: the clamping part for executing holding action；Flexible connector, flexible connector are connect with clamping part, and flexible connector is flexible under external force, and external force removal after can elastic reset to drive clamping part to move；Actuator is connect with clamping part, actuator can the movement of relative resilient connector to drive clamping part folding to execute holding action；And driving rope, it is connect with flexible connector, driving rope is for applying external force to flexible connector.The present invention is on the basis of realizing lifting clamping function, can also due to flexible connector elastic reaction and its influence by endoscope strenuous exercise is effectively reduced, the stability of lifting function is effectively ensured, lifting arm is avoided to tear mucous membrane, and then while guaranteeing the surgical effect of endoscope, mitigate the ailing sense of sufferer.
Description
Technical field
The present invention relates to field of medical device to be specifically related to one kind more particularly, to digestive endoscopy field of surgical
Lift arm and its control method.
Background technique
Traditional endoscopic inferior mucosa stereotomy (ESD operation) is to be completed with the help of digestive endoscopy by Gastroenterology dept. doctor pair
The cutting operation of lesion mucous membrane.Most of endoscope on the market is the endoscope of single instrument channel at present, can only be met pair
The cutting of lesion mucous membrane can not realize pull lift action when cutting to it, therefore to doctor individual in entire surgical procedure
Technical ability and skill requirement are very high, increase the complication risk and operating time of operation.
To solve the above problems, presently, there are a variety of mechanical arms that mucous membrane lifting function may be implemented, and by mechanical arm with
Endoscope is used cooperatively, but since violent movement can occur in the course of surgery for endoscope, also will drive mechanical arm hair in this way
Raw movement by a relatively large margin, the mucous membrane generation that it will so lifted is serious to tear, and not only affects the operation of endoscope
Effect, while also having deepened the ailing sense of sufferer.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of lifting arm.For solving in existing lifting arm influence
The surgical effect of sight glass deepens the problems such as ailing sense of sufferer.
The present invention also provides a kind of lifting arm control methods based on above-mentioned lifting arm.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of lifting arm, comprising:
For executing the clamping part of holding action；
Flexible connector, flexible connector are connect with clamping part, and flexible connector is flexible under external force, and outside
Power removal after can elastic reset to drive clamping part to move；
Actuator is connect with clamping part, actuator can the movement of relative resilient connector to drive clamping part folding to hold
Row holding action；And
Driving rope, connect with flexible connector, and driving rope is for applying external force to flexible connector.
Mode as a further improvement of the foregoing solution, flexible connector include elastic portion and are mounted on elastic portion one end
Interconnecting piece, clamping part are installed on interconnecting piece, and elastic portion is in the strip tubular structure with inner passage, and elastic portion is at it
Radial to have elasticity, actuator is placed in inner passage, and can move along the length direction relative resilient portion of elastic portion.
Mode as a further improvement of the foregoing solution, driving rope are two, and the end of two driving ropes is all connected to connect
In the peripheral wall surfaces of socket part, to form two tie points, in which:
The line of two tie points and the central axes of flexible connector are not parallel；Alternatively,
The central axes of two tie points and flexible connector are coplanar with, axis of two tie points about flexible connector
Line is axisymmetricly arranged.
Mode as a further improvement of the foregoing solution further includes attachment base, offers first on an end face of attachment base
Hole offers the second hole on other end, and the first hole and the second hole are interconnected and are coaxially disposed, and flexible connector can be worn
First hole and the second hole, clamping part can be contained in the second hole, and third hole is also provided on attachment base, and attachment base is run through in third hole
Both ends of the surface, and drive rope can wear third hole.
Mode as a further improvement of the foregoing solution, driving rope and third hole are respectively two, and two driving ropes are one by one
Correspondence is arranged in third hole, on the end face that the second hole is offered on attachment base, in the center in two third holes and the second hole
Line between the heart can surround triangle jointly.
Mode as a further improvement of the foregoing solution, the axis in two third holes is parallel with the axis in the second hole, and two
The axis in a third hole is equal to the distance between the axis in the second hole.
Mode as a further improvement of the foregoing solution is also provided with the 4th hole for installing endoscope on attachment base,
The both ends of the surface of attachment base are run through in 4th hole, and its axis is parallel with the axis in the second hole, the axis in the 4th hole and the axis in third hole
The distance between line is less than the distance between the axis in the 4th hole and the axis in the second hole.
Mode as a further improvement of the foregoing solution further includes at least one of following proposal:
Connectivity slot is also provided on one end face of attachment base, one end of connectivity slot is connected to third hole, the other end and second
Hole connection；
The side wall of attachment base is equipped with drainage hole, and the 4th hole, the second hole, third hole are connected to drainage hole respectively；
Attachment base is in have transparent configuration flexible.
A kind of control method based on above-mentioned lifting arm, comprising the following steps:
It is synchronous to push flexible connector, actuator and driving rope, so that clamping part is close to object；
Pull driving rope, driving rope band dynamic elasticity connector bending, so that clamping part is deviated to object；
Actuator is pushed or pull on, actuator drives clamping part closure or openness, to carry out clipping operation to object.
Mode as a further improvement of the foregoing solution pulls driving rope, and driving rope band dynamic elasticity connector is bent, so that
In the step of clamping part is deviated to target position:
If pulling two equal or unequal distances of drivings rope simultaneously, flexible connector can be between two drivings ropes
Any direction bending；Alternatively,
If simply pulling on one in two driving ropes, curving of the flexible connector to the driving rope being pulled.
The beneficial effects of the present invention are:
In the present invention, clamping part is connected to can be to be driven on the flexible connector of elastic bending by pulling driving rope
Dynamic elasticity connector makes flexible connector drive clamping part close to object, and then in actuator to object curving
Under the action of make clamping part folding realize holding action.In this way, above-mentioned lifting arm is gone back on the basis of realizing lifting clamping function
Can due to flexible connector elastic reaction and its influence by endoscope strenuous exercise is effectively reduced, lifting is effectively ensured
The stability of function avoids lifting arm from tearing mucous membrane, and then while guaranteeing the surgical effect of endoscope, mitigates disease
The ailing sense of trouble.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the stereoscopic schematic diagram of one embodiment of the invention；
Fig. 2 is the decomposition diagram of one embodiment of the invention；
Fig. 3 is the schematic diagram of clamping part one embodiment of the present invention；
Fig. 4 is the enlarged diagram of a-quadrant in Fig. 1；
Fig. 5 is the stereoscopic schematic diagram that attachment base of the present invention shows front end face；
Fig. 6 is the stereoscopic schematic diagram that attachment base of the present invention shows rear end face；
Fig. 7 is the front view of attachment base of the present invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as up, down, left, right, before and after used in invention are only relative to the mutual of each component part of the invention in attached drawing
For positional relationship.
In addition, unless otherwise defined, the technology of all technical and scientific terms used herein and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant listed items
Combination.
Referring to Fig.1, Fig. 2, the stereoscopic schematic diagram for respectively illustrating the lifting arm 10 of one embodiment of the invention show with decomposition
It is intended to.As shown, the lifting arm 10 of the present embodiment include clamping part 11, flexible connector 12, actuator 13, driving rope 14 with
And attachment base 15.Wherein, clamping part 11 is used to execute the holding action to tissues such as mucous membranes, clamping part 11 and driving rope 14
It is connect respectively with flexible connector 12, flexible connector 12 can bend under the pulling force effect of driving rope 14, and in pulling force
It is resetted under natural resiliency effect after effect removal, to drive the Multidirectional motion of clamping part 11.Actuator 13 and clamping part 11
Connection, 13 relative resilient connector 12 of actuator are moved to drive clamping part 11 to be opened and closed, so that clamping part 11 be made to execute folder
Hold movement.Attachment base 15 is for being sheathed on endoscope 19, to realize the connection of lifting arm 10 and endoscope 19.
In the present invention, clamping part 11 is connected to can be to drive rope by pulling on the flexible connector 12 of elastic bending
14 drive flexible connector 12 to object curving, and flexible connector 12 is made to drive clamping part 11 close to object,
And then the folding of clamping part 11 is made to realize holding action under the action of actuator 13.In this way, above-mentioned lifting arm 10 is realizing lifting
On the basis of clamping function, additionally it is possible to due to flexible connector 12 elastic reaction and it is effectively reduced and is acutely transported by endoscope
The stability of lifting function is effectively ensured in dynamic influence, and lifting arm 10 is avoided to tear mucous membrane, and then is guaranteeing endoscope
While 19 surgical effect, mitigate the ailing sense of sufferer.
Further, the lifting arm 10 in the present invention largely reduces the complex degree of structure of existing lifting arm,
It reduces costs, while decreasing the operation difficulty of medical staff, convenient for lifting the popularization and use of arm.
Each component of lifting arm 10 is specifically described below.
Referring to Fig. 3, the schematic diagram of one embodiment of clamping part 11 of the present invention is shown.As shown, clamping part 11 wraps
Include the first clamping limb 111, the second clamping limb 112, the first linking arm 113 and the second linking arm 114, the first clamping limb 111, second
Clamping limb 112 arranged in a crossed manner is in " X " character form structure, and the two can be rotated around the shaft of infall, which connects with elasticity simultaneously
Fitting 12 connects, so that the first clamping limb 111, the second clamping limb 112 can the rotations of relative resilient connector 12.
The head end of the head end of first clamping limb 111 and the second clamping limb 112 is respectively equipped with tooth, to enhance clamping part 11 to people
The holding capability of body tissue.The rotation connection of the head end of the tail end of first clamping limb 111 and the first linking arm 113, the second clamping limb
The rotation connection of the head end of 112 tail end and the second linking arm 114, the tail end of the first linking arm 113 and the tail of the second linking arm 114
End is rotatablely connected with actuator 13, in this way, clamping part 11 is openable or closure with the movement of actuator 13.
The elongated column structure of actuator 13 in the present embodiment, actuator 13 are rigidity on along its length
, it will not shorten in length under thrust or length elongation under a stretching force, in this way, the opening or closure of clamping part 11
It is controlled by the push-and-pull action of actuator 13.Meanwhile actuator 13 also has flexibility, with can be with the bending of flexible connector 12
And it is bent.In other embodiments of the invention, can also be arranged between the first clamping limb 111, the second clamping limb 112
The elastic components such as torsional spring, spring, actuator 13 can be only used for the opening of driving clamping part 11, the closure driving of clamping part 11 at this time
Power is provided by elastic component.
Referring to Fig.1, Fig. 4, Fig. 4 show the enlarged diagram of a-quadrant in Fig. 1.As shown, the elasticity in the present embodiment
Connector 12 includes the interconnecting piece 121 of elastic portion 122 with the end for being mounted on elastic portion 122, and wherein elastic portion 122 is that bullet occurs
Property curved part, interconnecting piece 121 is then to realize that flexible connector 12 and clamping part 11, driving are restricted 14 parts connecting.Specifically
, the first clamping limb 111,112 infall of the second clamping limb above-mentioned shaft be mounted on interconnecting piece 121 so that the first clamping limb
111, the second clamping limb 112 can the rotation of opposing connections 121.Interconnecting piece 121 is also distinguished close to the two sides of one end of elastic portion 122
It is fixed with driving rope 14, by pulling driving rope 14 to drive elastic portion 122 to be bent, so as to realize the multidirectional of clamping part 11
Movement.
In the present embodiment, driving rope 14 is two, and the end of two driving ropes 14 is all connected to the peripheral wall surfaces of interconnecting piece 121
On, to form two tie points altogether with interconnecting piece 121, wherein the line of two tie points and the central axes of flexible connector 12
It is not parallel.In this way, flexible connector 12 will be to the region bends between two driving ropes 14 when pulling two driving ropes 14.
Specifically, the central axes of two tie points and flexible connector 12 are coplanar with, and two tie points connect about elasticity
The central axes of fitting 12 are axisymmetricly arranged, in this way, can be convenient for the control of lifting arm 10.
In the present embodiment, elastic portion 122 is bourdon tube etc. with elasticity and with the tubular body of inner passage, actuator 13
It is arranged in the inner passage of elastic portion 122, and can be by driving clamping part 11 to open and close along the axial movement of the elastic portion 122.
Actuator 13 is flexible, so as to bending synchronous with elastic portion 122.
The stereoscopic schematic diagram on 15 different directions of attachment base of the present invention is respectively illustrated referring to Fig. 5 to Fig. 7, Fig. 5, Fig. 6, is schemed
7 show the front view of attachment base 15 of the present invention.As shown, attachment base 15 have both ends of the surface, set wherein an end face before
End face, other end are rear end face, then, the first hole for installing flexible connector 12 are offered on the rear end face of attachment base 15
152, the second hole 153 for placing clamping part 11 is offered on front end face, the first hole 152 is connected and protects with the second hole 153
It holds coaxially, the diameter in the second hole 153 is greater than the first hole 152, in order to which when advancing along body cavities, clamping part 11 can be accommodated
In in the second hole 153, prevent beyond attachment base 15 front end face and cause body cavities to be damaged.
In addition, being also provided with third hole 154 on attachment base 15, the both ends of the surface of attachment base 15 are run through in third hole 154, and drive
Rope 14 can wear third hole 154.Since third hole 154 deviates from the second hole 153, when pulling driving rope 14, the second hole 153
Interior flexible connector 12 can drive clamping part 11 deviate the second hole 153 axis, and to close to third hole 154 a lateral bending
It is bent.
Further, third hole 154 is two, on the end face that the second hole 153 is offered on attachment base 15, that is, is being connected
On the front end face of seat 15, the line between the center in two third holes 154 and the center in the second hole 153 can surround triangle jointly
Shape, i.e., the center in two third holes 154 is not conllinear with the center in the second hole 153, and a driving is respectively worn in two third holes 154
Rope 14, when pulling two driving ropes 14, flexible connector 12 is able to drive the region between two driving ropes 14 of clamping part 11
Interior any direction bending.For example, pull at the same time two drivings restrict 14 it is equal or unequal apart from when, 12 energy of flexible connector
Enough any direction bendings between two driving ropes 14；Or when simply pulling on driving rope 14, flexible connector 12 is to quilt
The curving of the driving rope 14 of pulling.In this way, clamping part 11 can be realized to multiple sides by pulling two driving ropes 14
To deflection.
In addition, the axis in two third holes 154 is parallel with the axis in the second hole 153, the axis in two third holes 154 is arrived
The distance between the axis in the second hole 153 is equal, so, it is possible by realizing to being precisely controlled for driving 14 pull distances of rope
Accurate control to 11 position of clamping part.
In one embodiment, the 4th hole 151 for installing endoscope 19 is offered on attachment base 15, the 4th hole 151 is passed through
The both ends of the surface of attachment base 15 are worn, the axis in the 4th hole 151 and the axis in the second hole 153 are arranged in parallel.The axis in the 4th hole 151 with
The distance between the axis in third hole 154 less than the axis in the 4th hole 151 and the distance between the axis in the second hole 153, in this way,
After endoscope 19 is installed in the 4th hole 141, the driving rope 14 in third hole 154 is pulled, the elasticity in the second hole 153 can be made
Connector 12 drives clamping part 11 to deflect to the direction close to endoscope 19, cuts away in order to clamping part 11 to endoscope 19
Mucous membrane carries out lifting operation.
On this basis, as shown in fig. 7, two third holes 154 are located at the axle center and the 4th hole 151 in the second hole 153
Axle center between line two sides, and be axisymmetricly arranged about the line.In this way, pull two driving ropes synchronous
When 14, flexible connector 12 can be made to drive clamping part 11 to 151 curving of the 4th hole, at the same also can to endoscope 19 and
Relative position between clamping part 11 is precisely controlled, and two third holes 154 can efficiently use the second hole 153 and
Space between four holes 151 makes attachment base 15 have lesser diameter in the case where meeting use.
Further, connectivity slot 156, one end and third hole of connectivity slot 156 are also provided on the front end face of mounting base 15
154 connections, the other end are connected to the second hole 153, and two third holes 154 are respectively connected by a connectivity slot 156 and the second hole 153
It is logical, after clamping part 11 is contained in the second hole 153, to drive on rope 14 close to the portion of interconnecting piece 121 on flexible connector 12
Dividing can be accommodated in connectivity slot 156.
In conjunction with Fig. 1, Fig. 2, the present embodiment further includes the first outer tube 16, Yi Jitao for being set in 12 outside of flexible connector
It is located at second outer tube 17 in 14 outside of driving rope, flexible connector 12 can be with respect to the first outer tube 16 along first outer tube 16
Axial movement, driving rope 14 can be with respect to the second outer tube 17 along the axial movement of second outer tube 17.Outer tube is on the one hand
Flexible connector 12, driving rope 14 can be protected, on the other hand can also prevent flexible connector 12, driving rope 14 it
Between wind.Specifically, one end of the first outer tube 16 is mounted in the first hole 152 by connector 18, two second housings
Pipe 17 is each passed through the third hole 154 of two sides.
Flexible connector 12, clamping part 11 and 14 entirety that is constituted of driving rope can with respect to 15 advanced in unison of attachment base,
So that flexible connector 12, clamping part 11 and driving rope 14 stretch out the front end face of attachment base 15 and reach target position.Elasticity is even
The entirety that fitting 12, clamping part 11 and driving rope 14 are constituted synchronous with respect to attachment base 15 can retreat, so that clamping part 11 is received
It is dissolved in the second hole 153.Clamping part 11 is hidden in the second hole 153, and 11 endoscopically 19 of clamping part is avoided to enter body cavities
When tissue is damaged.
Attachment base 15 is made of transparent flexible material, and is equipped with chamfering in front end face, can avoid causing body cavities
It scratches, transparent attachment base 15 can prevent the light issued to headlamp on endoscope 19 from blocking, to expand illumination model
It encloses.Drainage hole 155, the 4th hole 151, the second hole 153 and third hole 154 are offered on the side wall of front end face on attachment base 15
It is connected to drainage hole 155, deposition of the liquid in 19 front end of endoscope when can prevent from rinsing camera lens on endoscope 19.Such as Fig. 5 institute
Show, specifically in the present embodiment, attachment base 15 is in hollow thin-wall construction at one section of front end face, and drainage hole 155 is located at thin-walled
On, the 4th hole 151, the second hole 153, third hole 154 and the drainage hole 155 preceding endface on attachment base 15 so can be realized
It is interconnected.
It, can be in the premise for the structure for not changing existing endoscope 19 by the 4th hole 151 being arranged on attachment base 15
The lower connection for realizing lifting arm 10 and endoscope 19, and then the universality of lifting arm 10 is improved, be conducive to the popularization for lifting arm 10.
When attachment base 15 is fixed on endoscope 19, the first outer tube 16, the second outer tube 17 can be fixed on adhesive tape etc. is crossed
On endoscope 19, the first outer tube 16, the second outer tube 17 is avoided to be subjected to displacement and damage tissue.
The invention also discloses a kind of lifting arm control methods based on above-mentioned lifting arm 10, specifically include following steps.
Control to clamping part feeding: it is synchronous to push flexible connector, actuator and driving rope, so that clamping part is close to mesh
Mark object；
Control to clamping part rotation direction: driving rope, driving rope band dynamic elasticity connector bending, so that clamping part are pulled
It is deviated to object；
Control to clamping part folding: actuator is pushed or pull on, actuator drives clamping part closure or openness, to mesh
It marks object and carries out clipping operation.
Further, in the case where driving is restricted there are two 14, the control to clamping part rotation direction includes following manner:
1, as shown in Figure 1, two drivings rope 14 is pulled to move equal or unequal distances simultaneously, then 12 energy of flexible connector
Enough region bends between two driving ropes 14, flexible connector 12 drive clamping part 11 close to target position.Work as driving
After the pulling force of rope disappears, clamping part 11 resets under the elastic force effect of flexible connector 12.
2, the unilateral driving rope 14 of control pulls set distance, and flexible connector 12 is to the side for the driving rope 14 being pulled
Bending, and then drive clamping part 11 close to target position；After the pulling force of driving rope 14 disappears, clamping part 11 is in elastic connection
The elastic force effect of part 12 is lower to be resetted.
It is understood that flexible connector 12 can be made by adjusting pull direction, the pull distance etc. of driving rope 14
Drive clamping part 11 towards any direction rotation between two sides driving rope 14.
Two, include following manner to the control of clamping part direction of feed:
It is whole mobile relative to attachment base 15 to control clamping part 11, flexible connector 12, actuator 13 and driving rope 14, i.e., in fact
It moves in existing clamping part 11 direction arrow C along Fig. 1.
Three, include following manner to the control of clamping part folding:
13 relative resilient connector 12 of actuator along flexible connector 12 axial movement, with drive clamping part 11 open or
Closure is to execute holding action.
It is to be illustrated to what preferable implementation of the invention carried out, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of lifting arm characterized by comprising
For executing the clamping part of holding action；
Flexible connector, the flexible connector are connect with the clamping part, flexible connector bendable under external force
Song, and after external force removal can elastic reset to drive the clamping part to move；
Actuator is connect with the clamping part, the actuator can flexible connector movement relatively to drive the folder
Portion's folding is held to execute holding action；And
Driving rope, connect with the flexible connector, and the driving rope is for applying the external force to the flexible connector.
2. lifting arm according to claim 1, which is characterized in that the flexible connector includes elastic portion and is mounted on institute
The interconnecting piece of elastic portion one end is stated, the clamping part is installed on the interconnecting piece, and the elastic portion is in inner passage
Strip tubular structure, and the elastic portion has elasticity in its radial direction, the actuator is placed in the inner passage, and energy
Enough relatively described elastic portions of length direction along the elastic portion move.
3. lifting arm according to claim 2, which is characterized in that the driving rope is two, what two drivings were restricted
End is all connected in the peripheral wall surfaces of the interconnecting piece, to form two tie points, in which:
The line of two tie points and the central axes of the flexible connector are not parallel；Alternatively,
The central axes of two tie points and the flexible connector are coplanar with, and two tie points are about the elastic connection
The central axes of part are axisymmetricly arranged.
4. lifting arm according to claim 1, which is characterized in that further include attachment base, on an end face of the attachment base
The first hole is offered, the second hole is offered on other end, first hole and second hole are interconnected and are coaxially disposed,
The flexible connector can wear first hole and second hole, and the clamping part can be contained in second hole,
Third hole is also provided on the attachment base, the both ends of the surface of the attachment base are run through in the third hole, and driving rope can
Wear the third hole.
5. lifting arm according to claim 4, which is characterized in that the driving is restricted and the third hole is respectively two,
Two driving ropes correspond and are arranged in the third hole, and the end face in second hole is offered on the attachment base
On, the line between the center in two third holes and the center in second hole can surround triangle jointly.
6. lifting arm according to claim 5, which is characterized in that the axis in two third holes with second hole
Axis it is parallel, the axis in two third holes is equal to the distance between the axis in second hole.
7. lifting arm according to claim 4, which is characterized in that be also provided on the attachment base for installing endoscope
The 4th hole, the 4th hole runs through the both ends of the surface of the attachment base, and its axis is parallel with the axis in second hole, described
The distance between the axis in the 4th hole and the axis in the third hole are less than the axis in the 4th hole and the axis in second hole
The distance between line.
8. lifting arm according to claim 7, which is characterized in that further include at least one of following proposal:
Connectivity slot is also provided on one end face of the attachment base, one end of the connectivity slot is connected to the third hole, another
End is connected to second hole；
The side wall of the attachment base be equipped with drainage hole, the 4th hole, second hole, the third hole respectively with the row
Water hole connection；
The attachment base is in have transparent configuration flexible.
9. a kind of based on the control method for lifting arm described in any one of claims 1 to 8, comprising the following steps:
It is synchronous to push the flexible connector, the actuator and driving rope, so that the clamping part is close to object；
The driving is pulled to restrict, the driving rope band moves the flexible connector bending, so that the clamping part is inclined to object
It moves；
The actuator is pushed or pull on, the actuator drives the clamping part closure or openness, to press from both sides to object
Hold operation.
10. control method according to claim 9, which is characterized in that pull the driving rope, the driving rope band moves institute
Flexible connector bending is stated, so that in the step of clamping part is deviated to target position:
If pulling two equal or unequal distances of the drivings rope simultaneously, the flexible connector can be to two drivings
Any direction bending between rope；Alternatively, the flexible connector is to being drawn if simply pulling on one in two driving ropes
The curving of the dynamic driving rope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811365536.8A CN109381244A (en) | 2018-11-16 | 2018-11-16 | A kind of lifting arm and its control method |
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| CN201811365536.8A CN109381244A (en) | 2018-11-16 | 2018-11-16 | A kind of lifting arm and its control method |
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| CN109381244A true CN109381244A (en) | 2019-02-26 |
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| CN201811365536.8A Pending CN109381244A (en) | 2018-11-16 | 2018-11-16 | A kind of lifting arm and its control method |
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