CN112690907B - Laparoscope holding device for minimally invasive surgery - Google Patents
Laparoscope holding device for minimally invasive surgery Download PDFInfo
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- CN112690907B CN112690907B CN202011559663.9A CN202011559663A CN112690907B CN 112690907 B CN112690907 B CN 112690907B CN 202011559663 A CN202011559663 A CN 202011559663A CN 112690907 B CN112690907 B CN 112690907B
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 abstract description 7
- 230000003028 elevating effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
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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
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- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
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Abstract
The invention discloses a laparoscope holding device for minimally invasive surgery, which comprises a fixing device, a lifting device, a sliding block, an angle adjusting device, an adjusting block, a telescopic device and a fixing clamp, wherein the fixing device is arranged on the lower portion of the fixing clamp; the fixing device is used for fixing the edge of the operating table, one end of the lifting device is connected with the fixing device, the other end of the telescopic device is connected with the sliding block, and the telescopic device is used for moving the sliding block; the angle adjusting device is used for rotating the adjusting block; one end of the telescopic device is connected with the adjusting block, the other end of the telescopic device is connected with the fixing clamp, and the telescopic device is used for driving the fixing clamp to move in the plane. The fixed block passes through elevating gear link block, elevating gear adjust the height of slider, and the slider passes through angle adjusting device and connects the regulating block, and the angle of angle adjusting device control regulating block, regulating block pass through the telescoping device and drive the fixation clamp, and the telescoping device drives the fixation clamp and removes in the plane, realizes that the high degree of freedom of fixation clamp removes to easily adjust the position of peritoneoscope, obtain better art wild.
Description
Technical Field
The invention relates to the technical field of laparoscopic equipment for minimally invasive surgery, in particular to a laparoscopic endoscope supporting device for minimally invasive surgery.
Background
The transformation of the existing medical mode and the rapid development of the related scientific technology create a wide space for the popularization and application of the minimally invasive surgical technology, the laparoscope with the minimally invasive effect plays an important role in the diagnosis and treatment of abdominal diseases, and a special person is often required to support the laparoscope lens during the laparoscopic surgery, so that the position, the direction and the like of the lens can be conveniently and timely changed according to the change of the surgical position, but in the long-time surgery, the laparoscope supporter can easily deviate from the visual field required by the surgery or cannot be timely synchronized with the change of the surgical visual field, so that the surgical operation is influenced; and current holding up the mirror holder and being manually operation, holding up the altitude mixture control of mirror holder promptly and all realizing through the manual tensile height, such operation mode not only can increase operating time, has also increased the loaded down with trivial details nature of operation moreover, still needs one person's both hands to operate, greatly increased the time of executing the art, the degree of freedom of current holding up the mirror device simultaneously is lower, is difficult for adjusting the peritoneoscope and obtains better art wild to the suitable position.
Disclosure of Invention
The invention mainly aims to provide a laparoscope holding device for minimally invasive surgery, and aims to solve the problems that the existing laparoscope holding device is low in degree of freedom and not easy to adjust a laparoscope to a proper position to obtain a better surgical field.
In order to achieve the purpose, the laparoscope holding device for the minimally invasive surgery, which is provided by the invention, comprises a fixing device, a lifting device, a sliding block, an angle adjusting device, an adjusting block, a telescopic device and a fixing clamp; the fixing device is used for fixing the edge of the operating table, one end of the lifting device is connected with the fixing device, the other end of the lifting device is connected with the sliding block, and the lifting device is used for moving the sliding block; the angle adjusting device is arranged on the sliding block; the angle adjusting device is connected with the adjusting block; the angle adjusting device is used for rotating the adjusting block; one end of the telescopic device is connected with the adjusting block, and the other end of the telescopic device is connected with the fixing clamp; the telescopic device is used for driving the fixing clamp to move in a plane; the fixing clip is used for fixing the laparoscope.
Preferably, the telescopic device comprises a first strut and a second strut; the first supporting rod and the second supporting rod are arranged in the same plane; first branch pole one end with the regulating block is articulated, the other end of first branch pole with the one end of second branch pole is articulated, deviating from of second branch the one end of first branch with the fixation clamp is connected.
Preferably, the telescopic device further comprises a first motor, a second motor, a first rotating shaft and a second rotating shaft; the first rotating shaft is parallel to the second rotating shaft, the first support rod is vertically and fixedly connected with the first rotating shaft, and the first rotating shaft is rotatably connected with the adjusting block through a bearing; the first motor is fixed on the adjusting block; the first motor is used for driving the first rotating shaft to rotate so as to drive the first supporting rod to rotate; the second support rod is vertically and fixedly connected with the second rotating shaft, and the second rotating shaft is connected with the first support rod through a bearing so that the second support rod is hinged with the first support rod; the second motor is used for driving the second rotating shaft to rotate so as to drive the second supporting rod to rotate.
Preferably, the telescoping device still includes drive component and transmission shaft, the second motor is fixed in on the regulating block, the transmission shaft with the second rotation axis is parallel, the transmission shaft passes through the drive component with the transmission of second rotation axis is connected, the transmission shaft sets up deviating from of first branch the one end of second rotation axis, the second motor is used for driving the transmission shaft is rotatory.
Preferably, the angle adjusting device comprises an angle motor and a third rotating shaft, one end of the third rotating shaft is fixedly connected with the adjusting block, the third rotating shaft is connected with the sliding block through a bearing, and the angle motor is fixed on the sliding block; the angle motor is used for driving the third rotating shaft to rotate so as to drive the adjusting block to rotate.
Preferably, the angle adjusting device further comprises a speed reducer, an output shaft of the angle motor is connected with the speed reducer, and an output shaft of the speed reducer is connected with the third rotating shaft.
Preferably, the lifting device comprises a lifting motor, a screw rod and a guide rod; the guide rod is fixedly connected to the fixing device; the screw is connected to the output end of the lifting motor; the guide rod is parallel to the screw rod; the sliding block is provided with a screw hole matched with the screw rod, the sliding block is provided with a guide hole matched with the guide rod, and the sliding block is sleeved on the guide rod in a matching manner through the guide hole; the sliding block is sleeved on the screw rod through the screw hole in a matching mode, and the lifting motor is used for driving the screw rod to rotate so that the sliding block moves along the axis direction of the screw rod.
Preferably, elevating gear still includes the protective housing, the protective housing cover is established the screw rod with the outside of guide bar, the spread groove has been seted up on the protective housing, the spread groove is used for as the sliding space of regulating block when sliding.
Preferably, the fixing device comprises a fixing block, a connecting shaft, a fixing motor, a worm wheel and a clamping member, one side of the fixing block, which is far away from the ground, is connected with the lifting device, the side of the fixing block, which faces the clamping member, is connected with one end of the connecting shaft, the other end of the connecting shaft is rotatably connected with the clamping member through a bearing, and the worm wheel is coaxially and fixedly sleeved on the connecting shaft; the fixed motor is fixedly connected with the clamping component, a worm is arranged on an output shaft of the fixed motor, and the worm is in fit engagement with the worm wheel to be connected so as to drive the connecting shaft to rotate and drive the fixed block to rotate.
According to the technical scheme, the fixed block is connected with the sliding block through the lifting device, the lifting device adjusts the height of the sliding block, the sliding block is connected with the adjusting block through the angle adjusting device, the angle adjusting device controls the angle of the adjusting block, the adjusting block drives the fixing clamp through the telescopic device, and the telescopic device drives the fixing clamp to move in a plane, so that high-freedom-degree movement of the fixing clamp is achieved, the position of the laparoscope is easily adjusted, and a better surgical field is obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of a laparoscopic laparoscope holding device for minimally invasive surgery according to the present invention.
Fig. 2 is a schematic top view of a laparoscopic laparoscope holding device for minimally invasive surgery according to the present invention.
Fig. 3 is a schematic structural diagram at a in fig. 1.
Fig. 4 is a schematic structural diagram at B in fig. 1.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a laparoscope holding device for minimally invasive surgery, which comprises a fixing device 1, a lifting device 2, a slider 3, an angle adjusting device 4, an adjusting block 5, a telescopic device 6 and a fixing clip 7; the fixing device 1 is used for fixing the edge of an operating table, one end of the lifting device 2 is connected with the fixing device 1, the other end of the lifting device 2 is connected with the sliding block 3, and the lifting device 2 is used for moving the sliding block 3; the angle adjusting device 4 is arranged on the sliding block 3; the angle adjusting device 4 is connected with the adjusting block 5; the angle adjusting device 4 is used for rotating the adjusting block 5; one end of the telescopic device 6 is connected with the adjusting block 5, and the other end of the telescopic device 6 is connected with the fixing clamp 7; the telescopic device 6 is used for driving the fixing clamp 7 to move in a plane; the fixing clip 7 is used to fix the laparoscope.
In the technical scheme of the invention, a fixed block 22 is connected with a slide block 3 through a lifting device 2, the lifting device 2 adjusts the height of the slide block 3, the slide block 3 is connected with an adjusting block 5 through an angle adjusting device 4, the angle adjusting device 4 controls the angle of the adjusting block 5, the adjusting block 5 drives a fixing clamp 7 through a telescopic device 6, and the telescopic device 6 drives the fixing clamp 7 to move in a plane, so that the high-freedom movement of the fixing clamp 7 is realized, the position of a laparoscope is easy to adjust, and a better surgical field is obtained.
Specifically, the fixing clamp 7 comprises a fixing ring and a fixing screw, the fixing ring is provided with a fixing screw hole matched with the fixing screw, the fixing screw is arranged in the fixing screw hole, the fixing end of the laparoscope is arranged in the fixing ring, and the fixing screw is adjusted to fix the laparoscope
Referring to fig. 1-4, in another embodiment of the present invention, the telescopic device 6 includes a first rod 8 and a second rod 9; the first strut 8 and the second strut 9 are arranged in the same plane; first branch 8 one end with regulating block 5 is articulated, first branch 8 the other end with the one end of second branch 9 is articulated, the second branch 9 deviate from first branch 8 one end with fixation clamp 7 is connected.
Specifically, the first strut 8 rotates around the hinge joint of the first strut 8 and the adjusting block 5, and the second strut 9 rotates around the hinge joint of the first strut 8 and the second strut 9, so that two degrees of freedom are provided, and the fixing clamp 7 connected with the second strut 9 moves in a plane, and more specifically, the first strut 8 and the second strut 9 are hollow struts.
Referring to fig. 1 to 4, in another embodiment of the present invention, the telescopic device 6 further includes a first motor 10, a second motor 11, a first rotating shaft 12 and a second rotating shaft 13; the first rotating shaft 12 is parallel to the second rotating shaft 13, the first support rod 8 is vertically and fixedly connected with the first rotating shaft 12, and the first rotating shaft 12 is rotatably connected with the adjusting block 5 through a bearing; the first motor 10 is fixed on the adjusting block 5, and the first motor 10 is used for driving the first rotating shaft 12 to rotate so as to drive the first supporting rod 8 to rotate; the second support rod 9 is vertically and fixedly connected with the second rotating shaft 13, and the second rotating shaft 13 is connected with the first support rod 8 through a bearing, so that the second support rod 9 is hinged with the first support rod 8; the second motor 11 is used for driving the second rotating shaft 13 to rotate so as to drive the second supporting rod 9 to rotate.
Specifically, a first motor 10 drives a first rotating shaft 12 to rotate so as to drive a first supporting rod 8 to rotate, a second motor 11 drives a second rotating shaft 13 to rotate so as to drive a second supporting rod 9 to rotate, and the first supporting rod 8 and the second supporting rod 9 rotate so that a fixing clamp 7 moves in a plane and the degree of freedom is increased; a first gear is arranged on the first rotating shaft 12 above the first motor, a first driving gear is arranged on an output shaft of the first motor 10, and the first driving gear is meshed with the first gear.
Referring to fig. 4, in another embodiment of the present invention, the telescopic device 6 further includes a transmission member 14 and a transmission shaft 15, the second motor 11 is fixed on the adjusting block 5, the transmission shaft 15 is parallel to the second rotating shaft 13, the transmission shaft 15 is in transmission connection with the second rotating shaft 13 through the transmission member 14, the transmission shaft 15 is disposed at an end of the first supporting rod 8 away from the second rotating shaft 13, and the second motor 11 is configured to drive the transmission shaft 15 to rotate.
Specifically, the second motor 11 drives the transmission shaft 15 to rotate, the transmission shaft 15 rotates to drive the second rotating shaft 13 to rotate through the transmission member 14, thereby, the second motor 11 is arranged on the adjusting block 5, the weight of the first supporting rod 8 is reduced, and the influence of the vibration of the first motor 10 and the second motor 11 on the fixing clip 7 is reduced, more specifically, the transmission shaft 15 is provided with a transmission chain wheel, the second rotating shaft 13 is provided with a second rotating chain wheel, the second rotating chain wheel is connected with the transmission chain wheel through a chain, the first support rod is provided with a chain hole for the chain to pass through, one end of the first support rod, which is hinged with the second support rod, is provided with a hinge seat, the outer side wall of the hollow cylindrical hinge seat is vertically and fixedly connected with the first support rod, the second rotation axis sets up in the articulated seat, just the second rotation axis pass through the bearing with the articulated seat inside wall is connected.
Referring to fig. 1 and 2, in another embodiment of the present invention, the angle adjusting device 4 includes an angle motor 16 and a third rotating shaft 17, one end of the third rotating shaft 17 is connected to the adjusting block 5, and the third rotating shaft 17 is connected to the sliding block 3 through a bearing; the angle motor is fixed to the slider, and the angle motor 16 is used for driving the third rotating shaft 17 to rotate.
Specifically, the angle motor 16 drives the third rotating shaft 17 to rotate, the third rotating shaft 17 rotates to drive the adjusting block 5 to rotate, and the third rotating shaft 17 is connected with the sliding block 3 through a bearing.
Referring to fig. 1 and 2, in another embodiment of the present invention, the angle adjusting device 4 further includes a speed reducer, an output shaft of the angle motor 16 is connected to the speed reducer, and an output shaft of the speed reducer is connected to the third rotating shaft 17.
Specifically, the speed reducer is arranged, so that the adjusting precision of the angle motor 16 is higher, and the torque is larger and more stable.
Referring to fig. 1, in another embodiment of the present invention, the lifting device 2 includes a lifting motor 18, a screw 19 and a guide rod 20; the guide rod 20 is fixedly connected to the fixing device 1; the screw rod 19 is connected to the output end of the lifting motor 18; the guide rod 20 is parallel to the screw rod 19; one end of each of the screw rod 19 and the guide rod 20 is vertically connected to the fixing device 1, a screw hole matched with the screw rod 19 is formed in the sliding block 3, a guide hole matched with the guide rod 20 is formed in the sliding block 3, and the sliding block 3 is sleeved on the guide rod 20 in a matched mode through the guide hole; the sliding block is sleeved on the screw rod 19 through the screw hole in a matching mode, and the lifting motor 18 is used for driving the screw rod 19 to rotate so as to enable the sliding block 3 to move along the axis direction of the screw rod 19.
Specifically, the lifting motor 18 drives the screw rod 19 to rotate, the screw rod 19 is matched with a screw hole in the slide block 3 to drive the slide block 3 to slide up and down, and the guide rod 20 is matched with a guide hole in the slide block 3 to limit and guide the movement of the slide block 3.
Referring to fig. 1 and 2, in another embodiment of the present invention, the lifting device 2 further includes a protective shell 21, the protective shell 21 is sleeved on the outer sides of the screw rod 19 and the guide rod 20, and the protective shell 21 is provided with a connecting groove, which is used as a sliding space for the adjusting block 5 during sliding.
Specifically, the screw rod 19 and the guide rod 20 are protected by the protective shell 21, and meanwhile, the human body is prevented from obstructing the sliding of the sliding block 3, so that the sliding precision of the sliding block 3 is higher.
Referring to fig. 1, in another embodiment of the present invention, the fixing device 1 includes a fixing block 22, a connecting shaft 23, a fixing motor 24, a worm wheel 25 and a clamping member 26, one side of the fixing block 22 away from the ground is connected to the lifting device 2, a side of the fixing block 22 facing the clamping member 26 is connected to one end of the connecting shaft 23, the other end of the connecting shaft 23 is rotatably connected to the clamping member 26 through a bearing, and the worm wheel 25 is coaxially and fixedly sleeved on the connecting shaft 23; the fixed motor 24 is fixedly connected with the clamping member 26, and an output shaft of the fixed motor 24 is provided with a worm, and the worm is in fit engagement connection with the worm wheel 25 to drive the connecting shaft 23 to rotate so as to drive the fixed block 22 to rotate.
Specifically, the worm is arranged on the output shaft of the fixed motor 24, the worm drives the connecting shaft 23 to rotate through the worm wheel 25, the connecting shaft 23 drives the fixed block 22 to rotate, the fixed block 22 rotates to drive the lifting device 2 to rotate and incline, more specifically, the output shaft of the fixed motor 24 is connected with the speed reducer, the output shaft of the speed reducer is connected with the rod, and the fixed motor 24 is a servo motor.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A laparoscope holding device for minimally invasive surgery is characterized by comprising a fixing device, a lifting device, a sliding block, an angle adjusting device, an adjusting block, a telescopic device and a fixing clamp; the fixing device is used for fixing the edge of the operating table, one end of the lifting device is connected with the fixing device, the other end of the lifting device is connected with the sliding block, and the lifting device is used for moving the sliding block; the angle adjusting device is arranged on the sliding block; the angle adjusting device is connected with the adjusting block; the angle adjusting device is used for rotating the adjusting block; one end of the telescopic device is connected with the adjusting block, and the other end of the telescopic device is connected with the fixing clamp; the telescopic device is used for driving the fixing clamp to move in a plane; the fixing clip is used for fixing the laparoscope;
the telescopic device comprises a first supporting rod and a second supporting rod; the first supporting rod and the second supporting rod are arranged in the same plane; one end of the first supporting rod is hinged with the adjusting block, the other end of the first supporting rod is hinged with one end of the second supporting rod, and one end of the second supporting rod, which is far away from the first supporting rod, is connected with the fixing clamp;
the telescopic device further comprises a first motor, a second motor, a first rotating shaft and a second rotating shaft; the first rotating shaft is parallel to the second rotating shaft, the first support rod is vertically and fixedly connected with the first rotating shaft, and the first rotating shaft is rotatably connected with the adjusting block through a bearing; the first motor is fixed on the adjusting block; the first motor is used for driving the first rotating shaft to rotate so as to drive the first supporting rod to rotate; the second support rod is vertically and fixedly connected with the second rotating shaft, and the second rotating shaft is connected with the first support rod through a bearing so that the second support rod is hinged with the first support rod; the second motor is used for driving the second rotating shaft to rotate so as to drive the second supporting rod to rotate;
the telescopic device further comprises a transmission member and a transmission shaft, the second motor is fixed on the adjusting block, the transmission shaft is parallel to the second rotating shaft, the transmission shaft is in transmission connection with the second rotating shaft through the transmission member, the transmission shaft is arranged at one end, deviating from the first supporting rod, of the second rotating shaft, and the second motor is used for driving the transmission shaft to rotate.
2. The laparoscopic laparoscope holding device for minimally invasive surgery as claimed in claim 1, wherein said angle adjusting device comprises an angle motor and a third rotating shaft, one end of said third rotating shaft is fixedly connected with said adjusting block, said third rotating shaft is connected with said slide block through a bearing, said angle motor is fixed to said slide block; the angle motor is used for driving the third rotating shaft to rotate so as to drive the adjusting block to rotate.
3. The laparoscopic laparoscope holding device for minimally invasive surgery as claimed in claim 2, wherein said angle adjusting device further comprises a speed reducer, an output shaft of said angle motor is connected to said speed reducer, and an output shaft of said speed reducer is connected to said third rotating shaft.
4. The laparoscopic laparoscope holding device for minimally invasive surgery as claimed in claim 1, wherein said lifting means comprises a lifting motor, a screw and a guide rod; the guide rod is fixedly connected to the fixing device; the screw is connected to the output end of the lifting motor; the guide rod is parallel to the screw rod; the sliding block is provided with a screw hole matched with the screw rod, the sliding block is provided with a guide hole matched with the guide rod, and the sliding block is sleeved on the guide rod in a matching manner through the guide hole; the sliding block is sleeved on the screw rod through the screw hole in a matching mode, and the lifting motor is used for driving the screw rod to rotate so that the sliding block moves along the axis direction of the screw rod.
5. The laparoscopic laparoscope holding device for minimally invasive surgery as claimed in claim 4, wherein said lifting device further comprises a protective shell, said protective shell is sleeved outside said screw rod and said guide rod, said protective shell is provided with a connecting groove, said connecting groove is used as a sliding space for said adjusting block to slide.
6. The laparoscopic laparoscope holding device for minimally invasive surgery as claimed in any one of claims 1 to 5, wherein the fixing device comprises a fixing block, a connecting shaft, a fixing motor, a worm wheel and a clamping member, one side of the fixing block, which is away from the ground, is connected with the lifting device, the side of the fixing block, which faces the clamping member, is connected with one end of the connecting shaft, the other end of the connecting shaft is rotatably connected with the clamping member through a bearing, and the worm wheel is coaxially and fixedly sleeved on the connecting shaft; the fixed motor is fixedly connected with the clamping component, a worm is arranged on an output shaft of the fixed motor, and the worm is in fit engagement with the worm wheel to be connected so as to drive the connecting shaft to rotate and drive the fixed block to rotate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011559663.9A CN112690907B (en) | 2020-12-25 | 2020-12-25 | Laparoscope holding device for minimally invasive surgery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011559663.9A CN112690907B (en) | 2020-12-25 | 2020-12-25 | Laparoscope holding device for minimally invasive surgery |
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| CN112690907A CN112690907A (en) | 2021-04-23 |
| CN112690907B true CN112690907B (en) | 2022-02-11 |
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| CN202011559663.9A Active CN112690907B (en) | 2020-12-25 | 2020-12-25 | Laparoscope holding device for minimally invasive surgery |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113171054A (en) * | 2021-04-29 | 2021-07-27 | 中南大学湘雅医院 | Multifunctional choledochoscope guiding device under laparoscope |
| CN113180853B (en) * | 2021-05-20 | 2023-09-19 | 中国人民解放军陆军特色医学中心 | Laparoscope fixing device for minimally invasive abdominal surgery |
| CN113679324B (en) * | 2021-07-02 | 2024-01-26 | 福建中医药大学附属人民医院（福建省人民医院） | Laparoscope supporting fixer and using method thereof |
| CN113616344B (en) * | 2021-09-13 | 2022-07-12 | 西安交通大学医学院第一附属医院 | Peritoneoscope clamping device for uropoiesis surgery |
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| CN2713996Y (en) * | 2004-06-17 | 2005-08-03 | 浙江大学医学院附属第一医院 | Instrument supporting device for laparoscopic surgery |
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| CN205849541U (en) * | 2016-05-05 | 2017-01-04 | 青岛大学附属医院 | Novel laparoscope operation auxiliary stand |
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