CN113499018A

CN113499018A - Endoscope body pushing device and digestive endoscope robot

Info

Publication number: CN113499018A
Application number: CN202110968099.4A
Authority: CN
Inventors: 刘冰熔; 付宜利; 潘博; 邱豪
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-10-15

Abstract

Endoscope mirror body pusher and digestion endoscope robot, it relates to a mirror body pusher and endoscope robot. The invention aims to solve the problems of poor patient experience and long examination or operation time of the existing endoscope body pushing device. The automatic feeding device comprises a fixed shell (10) and a feeding mechanism (12), wherein the feeding mechanism (12) is arranged in the fixed shell (10), and the feeding mechanism (12) comprises a feeding motor (1212), a transmission mechanism and two clamping moving mechanisms; the two clamping moving mechanisms are driven by the transmission mechanism driven by the feeding motor (1212) to move along opposite directions respectively, and when one clamping moving mechanism is in a clamping state, the other clamping moving mechanism is in a loosening state. The digestive endoscope robot comprises the endoscope body pushing device. The invention is used in human digestive system operation.

Description

Endoscope body pushing device and digestive endoscope robot

Technical Field

The invention relates to an endoscope body pushing device, in particular to an endoscope body pushing device and a digestive endoscope robot, which assist a doctor in completing remote or remote endoscope operation and belong to the field of medical equipment.

Background

In traditional endoscope diagnosis and treatment operations, the medical staff needs to hold the endoscope handle with the left hand in the whole course and control the advancing and retreating of the endoscope and assist in axial rotation by holding the endoscope body with the right hand, so that the endoscope operation can be accurately and smoothly completed. Doctors need to stand in front of patients, the possibility of being polluted by secretion, vomit or excrement of the patients exists, meanwhile, the doctors are easy to fatigue due to the fact that the doctors stand for a long time to hold the endoscopes, and the quality of examination or treatment is affected.

At present, a common endoscope body pushing mode is a pushing mode realized by adopting a friction wheel mode, namely two friction wheels roll, the steering directions are opposite, the endoscope body is in the middle, and the endoscope body is driven to advance and retreat, namely the endoscope body is pushed forwards to advance. If the mirror body has uneven bulges, the driving moment of the wheels is not large enough, and the mirror body is blocked. The friction wheel pushes the mirror body to move forwards, the mirror body can be subjected to resistance in a human body, and the resistance of the mirror body in the human body is detected. The resistance can reflect on the motor of friction pulley, is unfavorable for power to detect, takes place the card phenomenon of dying easily, is unfavorable for patient's safety.

The Chinese invention patent with the publication number of CN103767659B and the name of digestive endoscopy robot discloses a pushing device for the endoscope body of an endoscope; specifically, the movable clamping mechanism clamps the endoscope to move forwards under the driving of the screw rod, when a certain stroke is reached, the fixed clamping mechanism clamps the endoscope, the movable clamping mechanism loosens the endoscope and moves backwards under the reverse driving of the screw rod, when the initial position is reached, the fixed clamping mechanism loosens the endoscope, the movable clamping mechanism clamps the endoscope to move forwards under the driving of the screw rod, and thus the endoscope body of the endoscope is pushed in a reciprocating manner; the dynamic clamping mechanism is a dynamic pneumatic clamp with force feedback, and can monitor the stress condition of the endoscope in the conveying process in real time. However, endoscopes are advanced stepwise in discrete steps, which on the one hand can cause severe discomfort to the patient's body and on the other hand, waiting for each step in neutral can increase the time for examination or surgery.

Disclosure of Invention

The invention aims to solve the problems of poor patient experience and long examination or operation time of the existing endoscope body pushing device. Further provides an endoscope body pushing device and a digestive endoscope robot.

The technical scheme of the invention is as follows: an endoscope body pushing device comprises a fixed shell 10 and a feeding mechanism 12, wherein the feeding mechanism 12 is arranged in the fixed shell 10, and the feeding mechanism 12 comprises a feeding motor 1212, a transmission mechanism and two clamping moving mechanisms; the two clamping moving mechanisms are driven by the transmission mechanism driven by the feeding motor 1212 to move in opposite directions, and when one clamping moving mechanism is in a clamping state, the other clamping moving mechanism is in a loosening state.

The invention also provides a digestive endoscope robot which comprises the endoscope body pushing device.

Compared with the prior art, the invention has the following effects:

1. the endoscope conveying device can convey endoscopes forwards or backwards continuously, stably and uninterruptedly, reduces the discomfort of patients, shortens the time of examination or treatment, and improves the experience of the patients.

2. The invention adopts the same motor to drive continuously, controls the two clamping and moving mechanisms to reciprocate reversely at the same time, reduces the performance requirement on the motor and simplifies the corresponding control system.

Drawings

FIG. 1 is an isometric view of the present invention;

fig. 2 is a schematic structural diagram of the endoscope body pushing device 1;

fig. 3 is a structural schematic view of the stationary casing 10;

FIG. 4 is a schematic structural diagram of the swing mechanism 11;

FIG. 5 is a schematic diagram of a first drive scheme in the feed mechanism 12;

FIG. 6 is a schematic illustration of a second drive scheme in the feed mechanism 12;

FIG. 7 is a schematic illustration of a third gear scheme in the feed mechanism 12;

fig. 8 is a schematic structural view of the rotating device 2;

fig. 9 is a schematic structural view of the adjustable robot arm 3;

fig. 10 is a sectional view of the small base 31;

FIG. 11 is a schematic structural view of the shaped arm 35;

fig. 12 is a schematic structural view of the base 4.

Detailed Description

The technical scheme of the invention is not limited to the specific embodiments listed below, and any reasonable combination of the specific embodiments is included.

The first embodiment is as follows: the present embodiment is described with reference to fig. 5 to 7, the endoscope body pushing device of the present embodiment includes a fixed housing 10 and a feeding mechanism 12, the feeding mechanism 12 is installed in the fixed housing 10, the feeding mechanism 12 includes a feeding motor 1212, a transmission mechanism and two clamping moving mechanisms; the two clamping moving mechanisms are driven by the transmission mechanism driven by the feeding motor 1212 to move in opposite directions, and when one clamping moving mechanism is in a clamping state, the other clamping moving mechanism is in a loosening state. The continuous feeding of the endoscope is realized through the one-open-one-close cooperative fit of the two clamping moving mechanisms, and the whole pushing process is stable.

The second embodiment is as follows: the present embodiment is described with reference to fig. 5, the clamping and moving mechanism of the present embodiment includes a horizontal moving support 1219, an air cylinder 1220 and an air cylinder clamping jaw 1221, the air cylinder 1220 and the air cylinder clamping jaw 1221 are mounted on the horizontal moving support 1219, the air cylinder 1220 controls the opening and closing of the air cylinder clamping jaw 1221 through ventilation and deflation, the air cylinder clamping jaw 1221 is used for clamping an endoscope body, and the horizontal moving support 1219 is connected with a transmission mechanism to realize horizontal movement relative to the fixed housing 10. So set up, under the drive of cylinder, realize opening and shutting fast of cylinder clamping jaw, by horizontal migration support propelling movement, the flexible operation is reliable again. Other components and connections are the same as those in the first embodiment.

The third concrete implementation mode: referring to fig. 5, the transmission mechanism of the present embodiment includes a driving gear 1213 connected to the feeding motor 1212, a driven gear 1214 engaged with the driving gear 1213, and two lead screws 1215 coaxially and fixedly connected to the driven gear 1214 and having opposite rotation directions, wherein each of the two lead screws 1215 is rotatably mounted with a lead screw nut 1217 fixedly connected to the horizontal moving bracket 1219; the feeding motor 1212 drives the two lead screws 1215 to rotate in the same direction, so as to drive the two lead screw nuts 1217 on the two lead screws 1215 to move in opposite directions, and further drive the horizontal moving bracket 1219 to move in opposite directions. So set up, two sections lead screws of opposite direction of rotation have been adopted in this kind of transmission mode one, can effectual improvement transmission efficiency, only need a motor can realize the relative motion of two horizontal migration supports 1219, saved the occupation space and the manufacturing cost of device greatly to owing to only use a motor, need not face complicated synchronous control scheduling problem. Meanwhile, the lead screw 1215 is driven to rotate by the driven gear 1214, the lead screw 1215 drives the lead screw nut 1217 to do linear motion, and finally the lead screw nut 1217 drives the horizontal moving bracket 1219 to move, so that the whole transmission process is high in precision. Other components and connection relationships are the same as those in the first or second embodiment.

The fourth concrete implementation mode: referring to fig. 6, the transmission mechanism of the present embodiment includes two driving gears 1213 respectively connected to the two feeding motors 1212, two driven gears 1214 respectively engaged with the two driving gears 1213, two lead screws 1215 coaxially and fixedly connected to the two driven gears 1214, the two lead screws 1215 being located on a straight line and having two non-interfering bearings connected to a joint, and a lead screw nut 1217 fixedly connected to the horizontal moving bracket 1219 being rotatably mounted on each of the two lead screws 1215; the two feeding motors 1212 respectively drive the two segments of lead screws 1215 to rotate, so as to drive the two lead screw nuts 1217 on the two segments of lead screws 1215 to move in opposite directions, and further drive the horizontal moving bracket 1219 to move in opposite directions. The two sections of the lead screw 1215 in the embodiment have the same or opposite rotating directions; when the rotation directions are the same, the driving directions of the two feeding motors 1212 are opposite at the same time; when the rotation directions are opposite, the driving directions of the two feeding motors 1212 at the same time are the same. With the arrangement, as a second transmission mode, the embodiment connects two bearings which do not interfere with each other at the joint of the two lead screws 1215, so that the two lead screws 1215 are driven independently, and compared with the first transmission mode, the requirement on the feeding motor 1212 is reduced. Other components and connection relationships are the same as those in the first or second embodiment.

The fifth concrete implementation mode: referring to fig. 5, the driving mechanism of this embodiment further includes a guiding rod 1205 and a guiding rail 1211, the guiding rod 1205 and the guiding rail 1211 are both fixed in the fixed housing 10 and are used for providing support and moving guidance for the horizontal moving bracket 1219, a nut mounting bracket 1216 is sleeved on the guiding rod 1205, a lead screw nut 1217 is fixedly installed on the nut mounting bracket 1216, and the horizontal moving bracket 1219 and the nut mounting bracket 1216 are relatively fixed and slidably installed on the guiding rail 1211. So set up, be convenient for guarantee scope horizontal movement's stationarity. Other components and connections are the same as those of the first, second, third or fourth embodiments.

The sixth specific implementation mode: referring to fig. 7, the transmission mechanism of the present embodiment includes two gears 1230 respectively connected to the two feeding motors 1212, and a rack 1231 horizontally disposed with respect to the fixed housing 10 and engaged with the two gears, wherein the feeding motor 1212 is fixed to the horizontal moving bracket 1219, and the driving gear 1230 rotates to drive the horizontal moving bracket 1219 to move in a translational manner with respect to the rack 1231. According to the arrangement, the transmission mode of a nut-screw pair is omitted in the third transmission scheme, the transmission mode of a gear and a rack is directly adopted, the structure is simple, and the linear motion precision is high. Other components and connection relationships are the same as those in the first or second embodiment.

The seventh embodiment: referring to fig. 5, the driving mechanism of this embodiment further includes a guide rod 1205 and a guide rail 1211, the guide rod 1205 and the guide rail 1211 are both fixed in the fixed housing 10 and are used for providing support and moving guide for the horizontal moving bracket 1219, a motor mounting bracket 1216 is sleeved on the guide rod 1205, the feeding motor 1212 is fixedly mounted on the motor mounting bracket 1216, the horizontal moving bracket 1219 and the motor mounting bracket 1216 are relatively fixed and slidably mounted on the guide rail 1211, and the rack 1231 is fixedly mounted on the side surface of the guide rail 1211 close to the feeding motor 1212. The structure is compact, and other components and connection relations are the same as those of the sixth embodiment.

The specific implementation mode is eight: referring to fig. 5, the embodiment is described, in which a U-shaped groove 1232 is formed in the guide rail 1211, a sliding shaft 1233 having a size corresponding to the U-shaped groove 1232 is mounted on the horizontal moving bracket 1219, and the sliding shaft 1233 is fitted into the U-shaped groove 1232. So set up for horizontal migration support 1219's removal is more smooth and steady, and then guarantees patient's comfortable degree. Other components and connections are the same as in any of the previous embodiments.

The specific implementation method nine: referring to fig. 1 to 12, the present embodiment will be described, and a robot for digestive endoscopy according to the present embodiment includes the endoscope body pushing device according to any one of embodiments one to eight.

Preferably, the robot for digestive endoscopy comprises an endoscope body pushing device 1, a rotating mechanism 2, an adjustable mechanical arm 3 and a base 4, wherein the adjustable mechanical arm 3 is mounted on the base 4, and the endoscope body pushing device 1 and the rotating mechanism 2 are respectively mounted on two sides of the tail end of the adjustable mechanical arm 3;

the endoscope body pushing device 1 comprises a fixed shell 10, a rotary mechanism 11 and a feeding mechanism 12, wherein the feeding mechanism 12 is installed in the fixed shell 10, the rotary mechanism 11 is installed outside the fixed shell 10, and the rotary mechanism 11 drives the feeding mechanism 12 to rotate around the axis of the rotary mechanism on the fixed shell 10; the fixed housing 10 includes an arc housing 1001, a tablet housing 1002, a front bushing 1003, a rear bushing 1004, and a rotary photoelectric switch 1005, the tablet housing 1002 is mounted at a side end of the arc housing 1001 and is integrated into a whole, wherein the front bushing 1003 is fixedly mounted at a front end of the arc housing 1001, the rear bushing 1004 is fixed on the tablet housing 1002, the rotary photoelectric switch 1005 is fixedly mounted on the tablet housing 1002, and the rotary photoelectric switch 1005 is located at left and right sides of the rear bushing 1004.

In the embodiment, the driving assembly is matched with the clamping moving mechanism and the rotating mechanism 2, so that the functions of advancing and retreating the clamping endoscope and rotating around the axis of the whole body are realized. The feeding mechanism driving assembly adopts a customized screw rod, so that the feeding process can be ensured to be continuous, stable and uninterrupted. Install the mirror body of robot scope on rotary mechanism 2, can make the mirror body at arbitrary direction and angular adjustment, special-shaped arm 35 drives the mirror body of robot scope and removes towards patient's direction, and the mirror body is advanced/returned to the scope of mirror body through scope mirror body pusher 1 steadily continuously, can realize the rotation of mirror body around self axis simultaneously.

The endoscope body pushing device 1 can stably and continuously drive the robot endoscope main body 5 to move towards the direction of a patient by driving the robot endoscope main body 5 to move towards the direction of the patient through the endoscope feeding/returning body and the special-shaped arm 35, and the endoscope body pushing device 1 can realize that the endoscope body rotates around the axis of the endoscope body to drive the robot endoscope main body to rotate synchronously.

Wherein, as described with reference to fig. 2 to 4, the swing mechanism 11 includes a swing motor 1101, a swing motor mounting bracket 1102, a coupling 1103, a driving end pulley mounting bracket 1104, a driving end bearing 1105, a driving end pulley transmission shaft 1106, a driving end pulley 1107, a synchronous belt 1108, a driven end pulley 1109, a driven end pulley transmission shaft 1110, a driven end bearing 1111, a driven end pinion 1112 and a driven end pulley mounting bracket 1113, the driven end pulley mounting bracket 1113 and the driving end pulley mounting bracket 1104 are mounted on the outer side surface of the plate housing 1002, the swing motor mounting bracket 1102 is mounted on the driving end pulley mounting bracket 1104, the swing motor 1101 is mounted on the swing motor mounting bracket 1102, the coupling 1103 is mounted in the swing motor mounting bracket 1102, the coupling 1103 is connected with the output end of the swing motor 1101, the driving end pulley transmission shaft 1106 is rotatably mounted on the driving end pulley mounting bracket 1104 through the driving end bearing 1105, and one end of the driving end pulley transmission shaft 1106 is connected with the coupling 1103, the driving end pulley 1107 is installed at the other end of the driving end pulley transmission shaft 1106, the driven end pulley transmission shaft 1110 is rotatably installed on the driven end pulley installation rack 1113 through the driven end bearing 1111, the driven end pulley 1109 is installed at one end of the driven end pulley transmission shaft 1110, the driven end pinion 1112 is installed at the other end of the driven end pulley transmission shaft 1110, the driven end pinion 1112 is meshed with the bull gear 1206 of the feeding mechanism 12, and the driving end pulley 1107 is connected with the driven end pulley 1109 through the synchronous belt 1108. So set up, be convenient for drive mirror body upset. The mounting hole of the driving end belt wheel mounting frame 1104 is designed to be a long round hole, the left-right distance between the driving end belt wheel mounting frame 1104 and the rotary motor mounting frame 1102 can be adjusted, and the purpose of tensioning the synchronous belt 1108 is achieved.

As described with reference to fig. 5 to 7, the feeding mechanism 12 includes a front stop plate 1201, an arc plate 1202, a rear stop plate 1203, a guide bar 1205, a large gear 1206, a front end latch 1207, a rear end latch 1208, a front end photoelectric switch 1209, a rear end photoelectric switch 1210, a guide rail 1211, a feeding motor 1212, a clamping moving mechanism, a force sensor 1218, a horizontal moving support 1219, an air cylinder 1220, an air cylinder clamping jaw 1221, a slider 1222, a photoelectric trigger plate 1223, a symmetrical clamping moving mechanism 1224, and a photoelectric trigger arc 1225; the front baffle 1201 and the rear baffle 1203 are respectively installed at two ends of the opening side of the arc plate 1202, the front end and the rear end of the guide rod 1205 are respectively connected with the front baffle 1201 and the rear baffle 1203, the large gear 1206 is installed on the outer side wall of the rear baffle 1203, the photoelectric trigger cambered surface 1225 is installed on the rear baffle 1203, the photoelectric trigger cambered surface 1225 is positioned below the large gear 1206, the front end buckle 1207 and the rear end buckle 1208 are respectively installed on the front baffle 1201 and the large gear 1206, the horizontal moving support 1219 is installed in the arc plate 1202, the air cylinder 1220 is installed on the horizontal moving support 1219, the front end photoelectric switch 1209 and the rear end photoelectric switch 1210 are horizontally installed on the air cylinder 1220 from front to back, the clamping moving mechanism is installed in the arc plate 1202, the clamping moving mechanism moves horizontally along the guide rod 1205, the front end of the force sensor 1218 is installed in front of the clamping moving mechanism, the rear end of the force sensor 1218 is installed on the left protrusion of the horizontal moving support 1219, the cylinder clamping jaw 1221 is installed on the cylinder 1220, the slider 1222 is installed on the horizontal moving bracket 1219, the slider 1222 is in sliding fit with the guide rail 1211, the photoelectric trigger plate 1223 is installed on the right side surface of the horizontal moving bracket 1219 for triggering the front photoelectric switch 1209 and the rear photoelectric switch 1210 during the linear movement of the cylinder 1220, and the symmetrical clamping moving mechanism 1224 is installed on the inner side wall of the rear baffle 1203. The force sensor is arranged between the motor driving part and the lens clamping device, can sense pressure or pulling force in the integral forward or backward movement process, and can feed back the real-time resistance sense of a doctor.

In the rotation process, the clamping jaw of the cylinder clamping jaw 1221 or the clamping jaw of the symmetrical clamping moving mechanism 1224 has to clamp the mirror body, so that the mirror body is driven to rotate around the axis of the mirror body. In the clockwise rotation process, when the rotation angle exceeds 90 degrees, the photoelectric trigger arc 1225 triggers the left switch of the rotary photoelectric switch 1005, and at this time, the controller sends a signal to rotate the rotary motor 1101 in the reverse direction. In the process of counterclockwise rotation, when the photoelectric trigger arc 1225 triggers the right switch of the rotary photoelectric switch 1005, the controller sends a signal to rotate the rotary motor 1101 again, and the operations are repeated to achieve the functions of rotary reversing and protection.

When the feed motor 1212 rotates, the driven gear 1214 and the lead screw 1215 rotate together, and the lead screw 1215 is designed to rotate in the right-hand half and left-hand half. When feed motor 1212 rotates in the forward direction, lead screw 1215 rotates, and lead screw nut 1217, which is fixed to nut mount 1216, moves from the forward to the backward direction, and thus, pushes force sensor 1218 from the forward to the backward direction, and force sensor 1218 generates an electrical signal. The force sensor 1218 then pushes the horizontal moving bracket 1219 to move the cylinder 1220 and its associated components from front to back, while the symmetrical clamp moving mechanism 1224 moves from back to front. The force sensor 1218 is under pressure in the movement from front to back and the force sensor of the symmetrical clamp movement mechanism 1224 is under tension. When moving from back to front, the compression and tension forces are reversed. In this way, the force sensing function is achieved when pushing forward and pulling backward.

When both structures go to the middle position, the feeding motor 1212 rotates in the reverse direction to drive the cylinder 1220 and its related components to move forward from the back, and the symmetrical clamp moving mechanism 1224 moves forward from the front. The moving position limit of the cylinder 1220 is sensed by the front photoelectric switch 1209 and the rear photoelectric switch 1210, when the cylinder 1220 moves to the forefront end, the photoelectric trigger plate 1223 triggers the front photoelectric switch 1209 to send a signal to the control system, so that the feeding motor 1212 is rotated reversely, and when the cylinder 1220 moves to the rearmost end, the photoelectric trigger plate 1223 triggers the rear photoelectric switch 1210 to continue sending a signal to the control system. In this manner, symmetrical movement of the air cylinder 1220 and associated components and the symmetrical clamp movement mechanism 1224 is achieved, with both forward and rearward movement occurring.

As described with reference to fig. 8, the present rotation mechanism 2 includes a housing 2001, a rotation motor mounting bracket 2002, a rotation motor 2003, a rotation coupling 2004, a rotation encoder 2005, and a bevel pinion 2006, the rotation motor mounting bracket 2002 is mounted in the housing 2001, the rotation motor 2003 is mounted on the rotation motor mounting bracket 2002 in the housing 2001, the rotation encoder 2005 is connected to an output shaft of the rotation motor 2003 through the rotation coupling 2004, and the bevel pinion 2006 is connected to the rotation coupling 2004. The rotation angle of the endoscope can be conveniently measured.

As described with reference to fig. 9, the adjustable robot arm 3 includes a connecting base 31, a first passive arm 32, a second passive arm 33, a key 34, and a shaped arm 35; the connecting base 31 is vertically slidably mounted on the base 4, one end of the first driven arm 32 is horizontally rotatably mounted on the connecting base 31, one end of the second driven arm 33 is horizontally rotatably mounted on the other end of the first driven arm 32, the special-shaped arm 35 is rotatably mounted on the other end of the second driven arm 33, and the key 34 is mounted on the special-shaped arm 35. And the robot endoscope can be conveniently provided with multi-degree-of-freedom displacement.

As described with reference to fig. 10, the connecting base 31 includes a base lower cover 3101, a stator fixing base 3102, a brake stator 3103, a brake rotor 3104, a rotor connecting member 3105, a hollow shaft 3106, a base housing 3107, a lower bearing 3108 and an upper bearing 3109, the base lower cover 3101 is mounted on the lower end surface of the base housing 3107, the stator fixing base 3102 is mounted on the base lower cover 3101, the brake stator 3103 is mounted on the stator fixing base 3102, the brake rotor 3104 is mounted on the brake stator 3103, the hollow shaft 3106 is connected with the brake rotor 3104 through the rotor connecting member 3105, and the lower bearing 3108 and the upper bearing 3109 are mounted between the hollow shaft 3106 and the inner side wall of the base housing 3107. Facilitating connection with the base 4.

As described with reference to fig. 10, the first driven arm 32 includes a driven arm housing 3201 and a driven arm upper cover 3202, the driven arm housing 3201 is mounted on the base housing 3107, the driven arm upper cover 3202 is mounted on the driven arm housing 3201, and the driven arm housing 3201 and the driven arm upper cover 3202 rotate with the rotation of the hollow shaft 3106. The up-and-down movement is convenient to realize under the driving of the connecting seat 31, and the rotation can be realized at the same time.

As described with reference to fig. 11, the special-shaped arm 35 of the present embodiment includes a left housing 3501, a right housing 3502, a tip seat 3503, a cloth-blocking drum 3504, a screw supporting side 3505, a long screw 3506, a screw fixing side 3507, a screw coupling 3508, a long screw motor 3509, a slide rail fixing bracket 3510, a long slide rail 3511, a long slider 3512, a nut connector 3513, a clamp 3514, and a long screw nut 3515; the left casing 3501 and the right casing 3502 are sequentially connected from left to right and are inclined towards the upper right, the tail end seat 3503 is installed on the left casing 3501, the cloth blocking rollers 3504 are respectively installed at four corners in the right casing 3502, two ends of the long screw 3506 are respectively installed in the right casing 3502 through a screw fixing side 3507 and a screw supporting side 3505, the long screw motor 3509 is installed in the right casing 3502 and is connected with the long screw 3506 through a screw coupling 3508, the long screw nut 3515 is installed on the long screw 3506 through a nut connecting piece 3513, the clamp 3514 is installed on the nut connecting piece 3513, the long slide rail 3511 is installed on the right casing 3502 through a slide rail fixing frame 3510 and is located at one side of the long screw 3506, the long slider 3512 is slidably installed on the long slide rail 3511, and the nut connecting piece 3513 is slidably matched with the long slide rail 3511. So as to provide power for the mirror body to move at the lower left and the upper right.

As described with reference to fig. 12, the base 4 of the present embodiment includes a base 41, a column 42, an electrical cabinet 43, a module motor 44 and a linear module 45, the column 42 is installed on the base 41, the electrical cabinet 43 is installed inside the column 42, the electrical cabinet 43 is located at the lower portion of the column 42, the linear module 45 is vertically installed at the upper portion of the column 42, the module motor 44 is installed at the lower end of the linear module 45, an output shaft of the module motor 44 is connected to a lead screw of the linear module 45, and a sliding block of the linear module 45 is connected to the connecting seat 31. Base 41 can be convenient for remove required position with pusher according to actual need, and simultaneously, straight line module 45 can provide accurate vertical direction's displacement for the mirror body.

The working principle of the present invention is explained with reference to fig. 1 to 12:

in a particular operation, the front end latch 1207, the rear end latch 1208, and the cylinder jaw 1221 need to be in contact with the scope body, and are designed to be disposable, considering the disinfection problem. The front end fastener 1207 and the rear end fastener 1208 have the functions of ensuring that the endoscope body can well realize linear motion even if the endoscope body is flexible, and the cylinder clamping jaws have the functions of clamping the endoscope to move forwards or backwards. The place contacted with the lens body is designed into a disposable piece to ensure the safety.

Before an operation, the central holes of the rear end fastener 1208 and the front end fastener 1207 are sequentially penetrated through an endoscope to be used, and the distance is adjusted. Meanwhile, the control system sends an instruction to the front cylinder and the rear cylinder, the clamping jaws of the cylinders are loosened, the front end clamping buckle 1207 and the rear end clamping buckle 1208 which are sleeved on the endoscope are inserted into the front baffle plate 1201 and the large gear 1206, then the control system sends an instruction, the clamping jaws of the cylinders of the symmetrical clamping moving mechanisms 1224 clamp the endoscope, and preoperative preparation is completed. Compared with the reference 1, the structure of the reference 1 requires that the endoscope be accurately loaded into the mechanism, and the operation of doctors and nurses is hardly convenient. The invention has convenient preoperative preparation, and the contact part with the endoscope body is a disposable part, thus being convenient for disinfection.

In operation, firstly, the feeding motor 1212 rotates forwards, the air cylinder clamping jaws of the symmetrical clamping moving mechanism 1224 clamp the endoscope, the air cylinder clamping jaws 1221 are loosened, the symmetrical clamping moving mechanism 1224 clamps the endoscope to move forwards in the backward and forward movement process, and the action is marked as state one; when the photoelectric trigger plate 1223 triggers the rear-end photoelectric switch 1210, the feeding motor 1212 rotates reversely, the cylinder jaws of the symmetrical clamping and moving mechanism 1224 are loosened, the cylinder jaws 1221 clamp the endoscope, the cylinder 1220 and related components clamp the endoscope to move forward in the forward and backward movement process, and the action is recorded as state two; when the front-end optoelectronic switch 1209 is triggered by the optoelectronic trigger plate 1223, the state returns to the first state. If the endoscope is retreated, the opening and closing of the clamping jaws are reversed, and the like, the endoscope can be continuously fed or withdrawn, and only one motor is used.

After surgery, all cylinder jaws are released, the front end clasp 1207, the rear end clasp 1208 and the endoscope body are taken out together, and the front end clasp 1207, the rear end clasp 1208 and all cylinder jaws are directly discarded.

As shown in fig. 6, another implementation of the feed mechanism 12. Compared with the figure 5, the screw rod is divided into a front end and a rear end from the middle, and the front end and the rear end are respectively in positive and negative rotation. Each section of screw rod is driven by one motor, the two motors are symmetrically arranged oppositely, the driving structures are mirrored, the driving time is staggered, and the same control effect as the single-motor scheme shown in the figure 5 can be realized.

A third implementation of the feed mechanism 12 is shown in fig. 7. Compared with the figure 5, the conversion from rotary motion to linear motion is realized by adopting a gear-rack structure, the motor is connected with the nut mounting rack, the whole cylinder structure is driven by the force sensor, and when the motor rotates, the whole body can move back and forth along the rack. The two motors are arranged symmetrically, the driving structures are mirrored, the driving time is staggered, and the same control effect as the single-motor scheme shown in fig. 5 can be achieved.

As shown in fig. 8, the rotation mechanism 2 includes a housing 2001, a rotation motor mounting bracket 2002, a rotation motor 2003, a rotation coupling 2004, a rotation encoder 2005, and a bevel pinion 2006. The rotating motor mounting bracket 2002 is fixed to the housing 2001, and the rotating motor 2003 and the rotary encoder 2005 are fixed to the rotating motor mounting bracket 2002. The rotary coupling 2004 connects the rotary motor 2003 and the bevel pinion 2006. The housing 2001 is designed with an arc-shaped slot for mechanical spacing. When the endoscope body device is matched with the endoscope body device, the endoscope body device can be driven to rotate around the axis of the endoscope body device.

As shown in fig. 9, the adjustable robot arm 3 includes a small base 31, a first passive arm 32, a second passive arm 33, a key 34, and a shaped arm 35. The components are connected in sequence, wherein the joints of the small base 31 and the first driven arm 32 can rotate relatively, the joints of the first driven arm 32 and the second driven arm 33 can rotate relatively, and the joints of the second driven arm 33 and the special-shaped arm 35 can rotate relatively. The keys 34 are mounted to the upper housing of the profiled arm 35.

As shown in fig. 10, the small base 31 and the first driven arm 32 include a base lower cover 3101, a stator fixing base 3102, a brake stator 3103, a brake rotor 3104, a rotor connecting member 3105, a hollow shaft 3106, a base housing 3107, a lower bearing 3108, an upper bearing 3109, a driven arm housing 3201, and a driven arm upper cover 3202. The stator fixing base 3102 is fixed with a brake stator 3103, the brake rotor 3104 is fixed with a rotor connecting piece 3105, and the rotor connecting piece 3105 fixes a hollow shaft 3106 and a driven arm housing 3201 in sequence. Other joints of the mechanical arm are similar to the above and are not described in detail.

The electromagnetic clutch can be controlled to be powered on by pressing the key 34, and powered off when the key is released. When the electromagnetic clutch is powered on, the brake rotor 3104 and the upper part thereof can rotate around the axis, similarly, the rotation angle of the other two joints can be adjusted at will, the key 34 is pressed before the operation, the electromagnetic clutch is loosened, the adjustable mechanical arm 3 can be operated, and the endoscope body pushing device 1 is positioned at a proper position of a sickbed. After the button 34 is released, the clutch is locked, all joints cannot rotate, and the whole robot keeps stable.

As shown in fig. 11, the special-shaped arm 35 includes a left housing 3501, a right housing 3502, a tip seat 3503, a cloth blocking drum 3504, a screw supporting side 3505, a long screw 3506, a screw fixing side 3507, a screw coupling 3508, a long screw motor 3509, a slide rail fixing bracket 3510, a long slide rail 3511, a long slider 3512, a nut connector 3513, a caliper 3514, and a long screw nut 3515. The end seat 3503 is fixed between the left housing 3501 and the right housing 3502, which form an integral large arm, and the rest of the components are installed in the right housing 3502. The cloth-blocking rollers 3504 are disposed at four corners of the right housing 3502, respectively, for supporting the cloth-blocking and sliding smoothly. The left end and the right end of the long lead screw 3506 are respectively arranged on a lead screw supporting side 3505 and a lead screw fixing side 3507, the right side of the long lead screw 3506 is connected with a long lead screw motor 3509 through a lead screw coupler 3508, and a long lead screw nut 3515 can rotate on the lead screw. The long slide rail 3511 is mounted on the slide rail fixing frame 3510 and is parallel to the long lead screw 3506, the long slide block 3512 and the clamp 3514 can slide along the long slide rail 3511, and the nut connecting piece 3513 simultaneously connects the long lead screw nut 3515 and the clamp 3514.

When the long lead screw motor 3509 rotates, the long lead screw 3506 is driven to rotate, so that the long lead screw nut 3515 drives the caliper 3514 through the nut connecting piece 3513 to realize translational motion, and the long slider 3512 and the caliper 3514 are fixed with the rotating device 2. Therefore, the long lead screw motor 3509 rotates to drive the rotating device 2 to move forwards and backwards integrally. Along with the feeding or the withdrawal of the endoscope body pushing device 1, the rotating device 2 keeps synchronous advancing or retreating, and the feeding stability is ensured.

As shown in fig. 12, the base 4 includes a base 41, a column 42, an electrical cabinet 43, a module motor 44, and a linear module 45. The module motor 44 is connected with a lead screw of the linear module 45, and a sliding block of the linear module 45 is fixed with the small base 31.

Depressing the two buttons on the right side of the button 34 controls forward and reverse rotation of the module motor 44. When the module motor 44 corotates, the linear module 45 drives the whole adjustable mechanical arm 3, the endoscope body pushing device 1 and the rotating device 2 to translate upwards, and to translate downwards when rotating reversely in the same way. And the left button of the key 34 is matched for positioning the robot before operation.

Claims

1. The utility model provides an scope mirror body pusher which characterized in that: the device comprises a fixed shell (10) and a feeding mechanism (12), wherein the feeding mechanism (12) is arranged in the fixed shell (10), and the feeding mechanism (12) comprises a feeding motor (1212), a transmission mechanism and two clamping moving mechanisms; the two clamping moving mechanisms are driven by the transmission mechanism driven by the feeding motor (1212) to move along opposite directions respectively, and when one clamping moving mechanism is in a clamping state, the other clamping moving mechanism is in a loosening state.

2. The endoscope body pushing device according to claim 1, characterized in that: the clamping moving mechanism comprises a horizontal moving support (1219), an air cylinder (1220) and an air cylinder clamping jaw (1221), the air cylinder (1220) and the air cylinder clamping jaw (1221) are installed on the horizontal moving support (1219), the air cylinder (1220) controls the opening and closing of the air cylinder clamping jaw (1221) through ventilation and deflation, the air cylinder clamping jaw (1221) is used for clamping an endoscope body, and the horizontal moving support (1219) is connected with a transmission mechanism to realize the relative movement of the fixed shell (10) in the horizontal direction.

3. The endoscope body pushing device according to claim 2, characterized in that: the transmission mechanism comprises a driving gear (1213) connected with the feeding motor (1212), a driven gear (1214) meshed with the driving gear (1213) and two sections of lead screws (1215) coaxially and fixedly connected with the driven gear (1214) and having opposite rotation directions, wherein the two sections of lead screws (1215) are respectively and rotatably provided with a lead screw nut (1217) fixedly connected with the horizontal moving bracket (1219); the feeding motor (1212) drives the two sections of lead screws (1215) to rotate in the same direction, drives the two lead screw nuts (1217) on the two sections of lead screws (1215) to move in opposite directions, and further drives the horizontal moving bracket (1219) to move in opposite directions.

4. The endoscope body pushing device according to claim 2, characterized in that: the transmission mechanism comprises two driving gears (1213) respectively connected with the two feeding motors (1212), driven gears (1214) respectively meshed with the two driving gears (1213), two sections of lead screws (1215) respectively and coaxially and fixedly connected with the two driven gears (1214), the two sections of lead screws (1215) are positioned on a straight line, the joint of the two sections of lead screws (1215) is connected with two bearings which do not interfere with each other, and the two sections of lead screws (1215) are respectively and rotatably provided with a lead screw nut (1217) fixedly connected with the horizontal moving support (1219); the two feeding motors (1212) respectively drive the two sections of lead screws (1215) to rotate, and drive the two lead screw nuts (1217) on the two sections of lead screws (1215) to move in opposite directions, so as to drive the horizontal moving bracket (1219) to move in opposite directions.

5. The endoscope body pushing device according to claim 4, characterized in that: the two sections of the screw rods (1215) are screwed in the same direction or in opposite directions; when the rotation directions are the same, the driving directions of the two feeding motors (1212) at the same time are opposite; when the rotation directions are opposite, the driving directions of the two feeding motors (1212) at the same time are the same.

6. The endoscope body pushing device according to claim 3 or 4, characterized in that: the transmission mechanism further comprises a guide rod (1205) and a guide rail (1211), wherein the guide rod (1205) and the guide rail (1211) are fixed in the fixed shell (10) and used for providing support and moving guide for the horizontal moving support (1219), a nut mounting frame (1216) is sleeved on the guide rod (1205), a screw rod nut (1217) is fixedly mounted on the nut mounting frame (1216), and the horizontal moving support (1219) and the nut mounting frame (1216) are relatively fixed and slidably mounted on the guide rail (1211).

7. The endoscope body pushing device according to claim 2, characterized in that: the transmission mechanism comprises two gears (1230) respectively connected with the two feeding motors (1212) and a rack (1231) which is meshed with the two gears simultaneously and horizontally arranged relative to the fixed shell (10), the feeding motors (1212) are fixed on the horizontal moving support (1219), and the driving gears (1230) rotate so as to drive the horizontal moving support 1219 to do translational motion relative to the rack 1231.

8. The endoscope body pushing device according to claim 7, characterized in that: the transmission mechanism further comprises a guide rod (1205) and a guide rail (1211), wherein the guide rod (1205) and the guide rail (1211) are fixed in the fixed shell (10) and used for providing support and moving guide for the horizontal moving support (1219), a motor mounting frame (1216) is sleeved on the guide rod (1205), the feeding motor (1212) is fixedly mounted on the motor mounting frame (1216), the horizontal moving support (1219) and the motor mounting frame (1216) are relatively fixed and slidably mounted on the guide rail (1211), and the rack (1231) is fixedly mounted on the side face, close to the feeding motor (1212), of the guide rail (1211).

9. The endoscope body pushing device according to claim 6 or 8, characterized in that: u-shaped groove (1232) is arranged in the guide rail (1211), a sliding shaft (1233) with the size matched with the U-shaped groove (1232) is arranged on the horizontal moving support (1219), and the sliding shaft (1233) is assembled in the U-shaped groove (1232).

10. A robot for digestive endoscopy, comprising: comprising the endoscopic scope pushing device according to any one of claims 1 to 9.