CN111772795A - Handle movement device of flexible endoscope surgical robot system - Google Patents
Handle movement device of flexible endoscope surgical robot system Download PDFInfo
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- CN111772795A CN111772795A CN202010668113.4A CN202010668113A CN111772795A CN 111772795 A CN111772795 A CN 111772795A CN 202010668113 A CN202010668113 A CN 202010668113A CN 111772795 A CN111772795 A CN 111772795A
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- endoscope
- handle
- movement device
- robot system
- handle movement
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- 238000009434 installation Methods 0.000 claims description 26
- 238000002674 endoscopic surgery Methods 0.000 claims description 5
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
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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
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/307—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 the urinary organs, e.g. urethroscopes, cystoscopes
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Urology & Nephrology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a handle movement device of a flexible endoscope surgical robot system, wherein an endoscope mounting position is arranged on a mounting seat, an endoscope body is mounted on the endoscope mounting position, a rotating handle is arranged on the endoscope body, a driving motor is mounted on the mounting seat, an output shaft of the driving motor is coaxially arranged with the rotating handle, a rotating arm is arranged on the output shaft, the rotating arm is connected with the rotating handle, and a strain force sensor is arranged on the rotating arm. Through the handle movement device of the flexible endoscope surgical robot system with the optimized design, the servo motor is used as a driving device to control the forward and reverse rotation, the rotation angle and the like of the handle, and the strain sensor is used for collecting strain analysis in real time, so that the handle movement is in the set safe strain and angle range, and the precision and the response speed are improved.
Description
Technical Field
The invention relates to the field of endoscopic surgery, in particular to a handle movement device of a flexible endoscopic surgery robot system.
Background
During the operation of the uretero-pyeloscope, the direction and the position of the front end of the insertion tube need to be adjusted according to the position of a focus. In the past, a doctor operates the scalpel in person, the operation is performed through an imaging system and hand feeling, the rotating angle of the end of the insertion tube is controlled by the handle of the endoscope each time, the judgment is performed through eyes, and the operation is performed manually, so that certain risks exist. Along with the time of the operation, the physical strength of the doctor gradually decreases, and the palm holding the endoscope feels heavier and heavier, so that the operation time is prolonged, and the postoperative rehabilitation process of the patient is prolonged.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a handle movement device of a flexible endoscope surgical robot system.
The invention provides a handle movement device of a flexible endoscope operation robot system, which comprises: the endoscope comprises a mounting seat, an endoscope body and a driving motor;
be equipped with endoscope installation position on the mount pad, the endoscope body is installed on the endoscope installation position, be equipped with twist grip on the endoscope body, driving motor installs on the mount pad, and driving motor's output shaft and twist grip coaxial setting, be equipped with the swinging boom on the output shaft, the swinging boom is connected with twist grip, is equipped with strain transducer on the swinging boom.
Preferably, the endoscope installation position is provided with a pressing plate, one end of the pressing plate is provided with a rotating shaft and is rotatably installed on the installation seat through the rotating shaft, and one end, far away from the rotating shaft, of the pressing plate is provided with a locking structure used for being fixed with the installation seat.
Preferably, the rotating arm is further provided with an in-situ sensor.
Preferably, the driving motor is a servo motor, and a rotary encoder is arranged on the servo motor.
According to the handle movement device of the flexible endoscope surgical robot system, an endoscope installation position is arranged on an installation seat, an endoscope body is installed on the endoscope installation position, a rotating handle is arranged on the endoscope body, a driving motor is installed on the installation seat, an output shaft of the driving motor and the rotating handle are coaxially arranged, a rotating arm is arranged on the output shaft and connected with the rotating handle, and a strain force sensor is arranged on the rotating arm. Through the handle movement device of the flexible endoscope surgical robot system with the optimized design, the servo motor is used as a driving device to control the forward and reverse rotation, the rotation angle and the like of the handle, and the strain sensor is used for collecting strain analysis in real time, so that the handle movement is in the set safe strain and angle range, and the precision and the response speed are improved.
Drawings
Fig. 1 is a schematic top view of a handle movement device of a flexible endoscopic surgical robot system according to the present invention.
Fig. 2 is a schematic front view of a handle movement device of a flexible endoscopic surgical robot system according to the present invention.
Fig. 3 is a schematic perspective view of a handle movement device of a flexible endoscopic surgical robot system according to the present invention.
Detailed Description
Fig. 1 to 3 are schematic top views of a handle moving device of a flexible endoscopic surgical robot system according to the present invention, fig. 1 is a schematic front view of the handle moving device of the flexible endoscopic surgical robot system according to the present invention, fig. 2 is a schematic perspective view of the handle moving device of the flexible endoscopic surgical robot system according to the present invention, and fig. 3 is a schematic perspective view of the handle moving device of the flexible endoscopic surgical robot system according to the present invention.
Referring to fig. 1 to 3, a handle movement device of a flexible endoscopic surgical robot system according to the present invention includes: the endoscope comprises a mounting seat 10, an endoscope body 1 and a driving motor 6;
be equipped with the endoscope installation position on the mount pad 10, the endoscope body 1 is installed on the endoscope installation position, be equipped with twist grip 4 on the endoscope body 1, driving motor 6 installs on mount pad 10, and driving motor 6's output shaft and twist grip 4 coaxial settings, be equipped with swinging boom 7 on the output shaft, swinging boom 7 is connected with twist grip 4, is equipped with on the swinging boom 7 and meets a requirement for force transducer 5.
In this embodiment, the handle movement device of the flexible endoscopic surgical robot system is provided with an endoscope installation position on a mounting base, an endoscope body is installed on the endoscope installation position, a rotating handle is arranged on the endoscope body, a driving motor is installed on the mounting base, an output shaft of the driving motor is coaxially arranged with the rotating handle, a rotating arm is arranged on the output shaft and connected with the rotating handle, and a strain sensor is arranged on the rotating arm. Through the handle movement device of the flexible endoscope surgical robot system with the optimized design, the servo motor is used as a driving device to control the forward and reverse rotation, the rotation angle and the like of the handle, and the strain sensor is used for collecting strain analysis in real time, so that the handle movement is in the set safe strain and angle range, and the precision and the response speed are improved.
In the specific installation mode of the endoscope body, a pressing plate 2 is arranged on the endoscope installation position, one end of the pressing plate 2 is provided with a rotating shaft and is rotatably installed on an installation seat 10 through the rotating shaft, a locking structure 9 used for being fixed with the installation seat 10 is arranged at one end, far away from the rotating shaft, of the pressing plate 2, the endoscope body is placed on the endoscope installation position, then the pressing plate is rotated to tightly press the endoscope body, and the pressing plate is locked on the installation seat through the locking structure 9, so that the installation reliability is guaranteed.
In the specific design mode of the locking structure, the locking structure 9 adopts a pressing plate buckle, and a hook matched with the pressing plate buckle is arranged on the endoscope installation position.
In other embodiments, a home position sensor 8 is further disposed on the rotating arm 7.
In a specific selection mode of the driving motor, the driving motor 6 adopts a servo motor, and a rotary encoder is arranged on the servo motor, so that the remote control of the work in the surgical robot system is realized conveniently.
In the specific working process of the handle movement device of the flexible endoscope surgical robot system, the servo motor is controlled to rotate through the control program, the rotary encoder at the tail end of the servo motor is used for closed-loop feedback, two strain force sensors are mounted at the rotating shaft of the motor, the change of the movement force and the change of the angle are monitored in real time, the motor is stopped and alarmed immediately when the change is higher than the alarm value, a doctor is assisted to perform an operation, the precision of the movement process is improved, and the safety is guaranteed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. A handle movement device of a flexible endoscopic surgical robot system, comprising: a mounting seat (10), an endoscope body (1) and a driving motor (6);
be equipped with the endoscope installation position on mount pad (10), install endoscope body (1) on the endoscope installation position, be equipped with twist grip (4) on the endoscope body (1), install on mount pad (10) driving motor (6), the output shaft and the coaxial setting of twist grip (4) of driving motor (6), be equipped with swinging boom (7) on the output shaft, swinging boom (7) are connected with twist grip (4), are equipped with on swinging boom (7) and meet an emergency force transducer (5).
2. The handle movement device of the flexible endoscopic surgery robot system according to claim 1, wherein the endoscope installation position is provided with a pressing plate (2), one end of the pressing plate (2) is provided with a rotating shaft and is rotatably installed on the installation seat (10) through the rotating shaft, and one end of the pressing plate (2) far away from the rotating shaft is provided with a locking structure (9) for being fixed with the installation seat (10).
3. A handle movement device of a robotic system for soft endoscopic surgery according to claim 1, characterized in that the rotating arm (7) is further provided with an in-situ sensor (8).
4. The handle movement device of a robotic system for soft endoscopic surgery according to claim 1, wherein the driving motor (6) is a servo motor provided with a rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010668113.4A CN111772795A (en) | 2020-07-13 | 2020-07-13 | Handle movement device of flexible endoscope surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010668113.4A CN111772795A (en) | 2020-07-13 | 2020-07-13 | Handle movement device of flexible endoscope surgical robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111772795A true CN111772795A (en) | 2020-10-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010668113.4A Pending CN111772795A (en) | 2020-07-13 | 2020-07-13 | Handle movement device of flexible endoscope surgical robot system |
Country Status (1)
| Country | Link |
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| CN (1) | CN111772795A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112450996A (en) * | 2020-11-11 | 2021-03-09 | 北京科迈启元科技有限公司 | Flexible endoscope operation executor and operation robot system |
| CN112932671A (en) * | 2021-01-28 | 2021-06-11 | 哈尔滨思哲睿智能医疗设备有限公司 | Voice prompt control method and system for laparoscopic surgery robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140243849A1 (en) * | 2013-02-26 | 2014-08-28 | Remzi Saglam | Remotely-operated robotic control system for use with a medical instrument and associated use thereof |
| US20190328470A1 (en) * | 2018-04-27 | 2019-10-31 | Kawasaki Jukogyo Kabushiki Kaisha | Surgical system and method of controlling surgical system |
| CN110916801A (en) * | 2019-11-08 | 2020-03-27 | 上海交通大学 | Surgical robot mechanical arm capable of realizing high-precision positioning and posture adjustment |
| CN212415893U (en) * | 2020-07-13 | 2021-01-29 | 安徽航天生物科技股份有限公司 | Handle movement device of flexible endoscope surgical robot system |
-
2020
- 2020-07-13 CN CN202010668113.4A patent/CN111772795A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140243849A1 (en) * | 2013-02-26 | 2014-08-28 | Remzi Saglam | Remotely-operated robotic control system for use with a medical instrument and associated use thereof |
| US20190328470A1 (en) * | 2018-04-27 | 2019-10-31 | Kawasaki Jukogyo Kabushiki Kaisha | Surgical system and method of controlling surgical system |
| CN110916801A (en) * | 2019-11-08 | 2020-03-27 | 上海交通大学 | Surgical robot mechanical arm capable of realizing high-precision positioning and posture adjustment |
| CN212415893U (en) * | 2020-07-13 | 2021-01-29 | 安徽航天生物科技股份有限公司 | Handle movement device of flexible endoscope surgical robot system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112450996A (en) * | 2020-11-11 | 2021-03-09 | 北京科迈启元科技有限公司 | Flexible endoscope operation executor and operation robot system |
| CN112932671A (en) * | 2021-01-28 | 2021-06-11 | 哈尔滨思哲睿智能医疗设备有限公司 | Voice prompt control method and system for laparoscopic surgery robot |
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