CN113545739A - Manipulator auxiliary type electronic pyeloscope - Google Patents
Manipulator auxiliary type electronic pyeloscope Download PDFInfo
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- CN113545739A CN113545739A CN202110637979.3A CN202110637979A CN113545739A CN 113545739 A CN113545739 A CN 113545739A CN 202110637979 A CN202110637979 A CN 202110637979A CN 113545739 A CN113545739 A CN 113545739A
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- pyeloscope
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- movable plate
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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
- A61B1/307—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
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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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- Life Sciences & Earth Sciences (AREA)
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- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
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- Radiology & Medical Imaging (AREA)
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- Veterinary Medicine (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Urology & Nephrology (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a manipulator-assisted electronic pyeloscope, which comprises a base and a fixed plate fixedly arranged on the base and fixedly provided with a rack plate I, wherein a transverse plate is fixedly arranged on the fixed plate, a pyeloscope mechanism for observing the condition of a kidney is arranged on the base in the direction facing to the transverse plate, the pyeloscope mechanism is connected with a driving component arranged on the transverse plate through a reciprocating component, a lifting component is also arranged on the driving component, the driving component is connected with the reciprocating component through the lifting component, the driving component drives the reciprocating component to move through the lifting component so as to enable the pyeloscope mechanism connected with the reciprocating component to reach a required position more quickly, and the pyeloscope mechanism is driven manually, the invention has the advantages of novel design, simple structure, convenient operation and strong practicability.
Description
Technical Field
The invention relates to the field of a pyeloscope, in particular to a mechanical arm auxiliary type electronic pyeloscope.
Background
The pyeloscope is an auxiliary diagnosis method for checking whether the kidney is normal, ureter pyeloscope checking is an important development on the technology of an urinary endoscope, the traditional concept that the ureter part is difficult to visually check for a long time and open surgery treatment is required for ureter diseases is changed, the ureteroscope can be divided into two types of diagnosis and treatment according to the use application, the general pyeloscope camera part has a small observation angle, the position of the whole pyeloscope needs to be changed for observation, and the pyeloscope needs to be manually stored after the use is finished, so that time and labor are consumed, and therefore, a mechanical arm auxiliary type adjustable electronic pyeloscope hard mirror needs to be designed.
Disclosure of Invention
The invention aims to provide a manipulator-assisted electronic pyeloscope, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a manipulator-assisted electronic pyeloscope comprises a base and a fixed plate fixedly mounted on the base and fixed with a rack plate I, wherein a transverse plate is fixedly mounted on the fixed plate, a pyeloscope mechanism for observing the condition of the kidney is mounted on the base in the direction towards the transverse plate, and the pyeloscope mechanism is connected with a driving assembly mounted on the transverse plate through a reciprocating assembly;
still install lifting unit on the drive assembly, drive assembly passes through lifting unit with reciprocating assembly connects, the drive assembly drive reciprocating assembly motion, drive assembly still passes through lifting unit drives reciprocating assembly motion, so that with reciprocating assembly connects the required position of faster reaching of pyeloscope mechanism.
As a further scheme of the invention: the pyeloscope mechanism include with reciprocal subassembly is connected and the side is opened porose work box and is installed power component inside the work box and with the adjusting part that power component connects, two guide blocks are installed to the both sides in hole, the guide block with power component adaptation.
As a still further scheme of the invention: the power component comprises a through hole, a guide rod and a rotating part, wherein the guide rod is provided with a guide groove matched with the guide block, the guide rod is arranged on the guide rod in a rotating mode, a second gear and a disc are arranged on the guide rod, the second gear and the disc are fixedly arranged on the inner wall of the working box, the second gear is meshed with a second rack plate, the second rack plate is connected with the disc through a second belt, a protrusion is arranged on the disc, and the protrusion is connected with the adjusting component.
As a still further scheme of the invention: the adjusting part is in including fixed setting spreader and one end in the work box articulate the other end open slottedly on the spreader and with No. two connecting rods of protruding adaptation, be provided with cylinder and one end on No. two connecting rods open have the aperture and with the cylinder adaptation other end is connected with the steering column of camera.
As a still further scheme of the invention: the reciprocating assembly comprises a second movable plate connected with the lifting assembly, a first connecting rod with one end connected with the driving assembly and the other end connected with the second movable plate, and a stretching assembly arranged on the lower portion of the second movable plate.
As a still further scheme of the invention: the stretching assembly comprises a pulley which is rotatably installed on the second movable plate and is provided with a handle, a damping box which is fixedly arranged on the second movable plate, and a steel wire, one end of the steel wire is wound on the pulley, the other end of the steel wire is connected with the working box, and the steel wire penetrates through the damping box.
As a still further scheme of the invention: the driving assembly comprises a motor fixedly arranged on the transverse plate, a screw rod connected with a motor output shaft, and a threaded sleeve matched with the screw rod in a threaded manner and connected with a first connecting rod, and the screw rod is further connected with a transmission rod with a limiting block.
As a still further scheme of the invention: lifting unit sets up including sliding on the transfer line and inside open have with the worm and the fixed setting of the spacing groove of stopper adaptation are in on the worm and with a fly leaf and rotation that No. two fly leaves are connected are installed worm wheel and a gear on the fly leaf, the worm wheel with the worm meshing, the worm wheel through a belt with a gear connection, a gear with a rack plate meshing.
Compared with the prior art, the invention has the beneficial effects that: when using, when drive assembly during operation, drive the reciprocal subassembly downstream that is connected with drive assembly, simultaneously, drive assembly drive lifting unit upward movement for the parallel reciprocal subassembly motion of fixed plate arrives the horizontal position parallel with the base under initial condition, thereby transports the hard mirror mechanism of renal pelvis that is connected on reciprocal subassembly to required position.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a manipulator-assisted electronic pyeloscope.
Fig. 2 is a schematic structural diagram of a manipulator-assisted electronic pyeloscope according to an embodiment.
Fig. 3 is a schematic structural diagram of what is in an embodiment of the manipulator-assisted electronic pyeloscope.
Fig. 4 is a schematic structural diagram of what is in an embodiment of the manipulator-assisted electronic pyeloscope.
In the figure: 1-base, 2-fixed plate, 3-horizontal plate, 4-motor, 5-lead screw, 6-threaded sleeve, 7-worm, 8-worm wheel, 9-first belt, 10-first gear, 11-first connecting rod, 12-first rack plate, 13-first movable plate, 14-second movable plate, 15-pulley, 16-steel wire, 17-camera, 18-work box, 19-guide rod, 20-second gear, 21-second rack plate, 22-second belt, 23-disc, 24-second connecting rod and 25-steering rod.
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.
In addition, an element of the present invention may be said to be "fixed" or "disposed" to another element, either directly on the other element or with intervening elements present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Referring to fig. 1 to 4, in an embodiment of the present invention, a manipulator-assisted electronic pyeloscope includes a base 1 and a fixing plate 2 fixedly mounted on the base 1 and fixed with a rack plate 12, a transverse plate 3 is fixedly mounted on the fixing plate 2, a pyeloscope mechanism for observing the condition of a kidney is mounted on the base 1 in a direction toward the transverse plate 3, and the pyeloscope mechanism is connected to a driving assembly mounted on the transverse plate 3 through a reciprocating assembly;
still install lifting unit on the drive assembly, drive assembly passes through lifting unit with reciprocating assembly connects, the drive assembly drive reciprocating assembly motion, drive assembly still passes through lifting unit drives reciprocating assembly motion, so that with reciprocating assembly connects the required position of faster reaching of pyeloscope mechanism.
In the embodiment of the invention, when the driving assembly works, the reciprocating assembly connected with the driving assembly is driven to move downwards, and meanwhile, the driving assembly drives the lifting assembly to move upwards, so that the reciprocating assembly parallel to the fixed plate 2 in an initial state moves to a horizontal position parallel to the base 1, and the pyeloscope mechanism connected to the reciprocating assembly is conveyed to a required position.
As an embodiment of the invention, the pyeloscope mechanism comprises a working box 18 which is connected with the reciprocating component and is provided with a hole on the side, a power component which is arranged inside the working box 18 and an adjusting component which is connected with the power component, wherein two guide blocks are arranged on two sides of the hole, and the guide blocks are matched with the power component.
In the present embodiment, when the power assembly inside the work box 18 is manually driven, the adjusting assembly connected with the power assembly is driven to move, so as to increase the observation range.
It should be noted that the upper portion of the working box 18 is a hollow cuboid, the middle position below the cuboid is connected with a hollow round table, and the lower portion of the round table is also connected with a hollow small round table.
As an embodiment of the present invention, the power assembly includes a guide rod 19 penetrating through the hole and provided with a guide groove adapted to the guide block, a second gear 20 and a circular disc 23 rotatably disposed on the guide rod 19, and a second rack plate 21 fixedly disposed on an inner wall of the work box 18 and engaged with the second gear 20, the second rack plate 21 is connected to the circular disc 23 through a second belt 22, and a protrusion is disposed on the circular disc 23 and connected to the adjustment assembly.
In the embodiment of the invention, when the guide rod 19 is driven by manpower to move up and down, the second gear 20 and the disc 23 are driven to move up and down, the second gear 20 is driven to rotate under the action of the second rack plate 21, so that the disc 23 connected with the second gear 20 through the second belt 22 is driven to rotate, and the adjusting component is driven to swing under the action of the protrusion.
As an embodiment of the present invention, the adjusting assembly includes a cross-post fixedly disposed in the working box 18, and a second connecting rod 24 having one end hinged to the cross-post and the other end opened with a groove and adapted to the protrusion, the second connecting rod 24 is provided with a cylinder and a steering rod 25 having one end opened with a small hole and adapted to the cylinder and the other end connected with a camera.
In the embodiment of the invention, when the camera is used, the protrusion moves to drive the second connecting rod 24 to rotate around the hinge point on the cross column, so as to drive the steering rod 25 matched with the cylinder to swing left and right, and the shooting range of the camera is larger.
As an embodiment of the present invention, the reciprocating assembly includes a second movable plate 14 connected to the lifting assembly, a first connecting rod 11 having one end connected to the driving assembly and the other end connected to the second movable plate 14, and a stretching assembly installed at a lower portion of the second movable plate 14.
In the embodiment of the invention, when the driving assembly and the lifting assembly move towards each other in use, the second movable plate 14 is driven to move from the vertical position to the horizontal position under the action of the first connecting rod 11, so as to drive the stretching assembly to move, and the pyeloscope mechanism can reach the required position more quickly.
As an embodiment of the present invention, the stretching assembly includes a pulley 15 rotatably mounted on the second movable plate 14 and having a handle, a damping box fixedly disposed on the second movable plate 14, and a steel wire 16 having one end wound on the pulley 15 and the other end connected to the working box 18, wherein the steel wire 16 penetrates through the damping box.
In the embodiment of the invention, when the pyeloscope mechanism moves to a required position in use, if the height is too high, the pyeloscope mechanism is directly pulled downwards, so that the steel wire 16 wound on the pulley 15 is pulled, the height is lowered, at the moment, the pyeloscope mechanism is fixed again under the action of the damping box, and after the use is finished, the handle on the pulley 15 is rotated, the steel wire 16 can be retracted, and the pyeloscope mechanism is driven to ascend.
As an embodiment of the invention, the driving assembly comprises a motor 4 fixedly arranged on the transverse plate 3, a screw rod 5 connected with an output shaft of the motor 4, and a threaded sleeve 6 in threaded fit with the screw rod 5 and connected with a first connecting rod 11, and the screw rod 5 is also connected with a transmission rod with a limiting block.
In the embodiment of the invention, when the motor 4 works, the screw rod 5 is driven to rotate, so that the threaded sleeve 6 is driven to move downwards, the first connecting rod 11 moves downwards, the second movable plate 14 is pressed to move horizontally, and the screw rod 5 drives the transmission rod to rotate.
As an embodiment of the invention, the lifting assembly comprises a worm 7 which is slidably arranged on the transmission rod and is internally provided with a limiting groove adapted to the limiting block, a first movable plate 13 which is fixedly arranged on the worm 7 and is connected with a second movable plate 14, and a worm wheel 8 and a first gear 10 which are rotatably arranged on the first movable plate 13, wherein the worm wheel 8 is engaged with the worm 7, the worm wheel 8 is connected with the first gear 10 through a first belt 9, and the first gear 10 is engaged with the first rack plate 12.
In the embodiment of the invention, when the transmission rod rotates, the worm 7 is driven to rotate under the action of the limiting block so as to drive the worm wheel 8 to rotate, the first gear 10 is driven to rotate through the first belt 9, and the first movable plate 13 is driven to move upwards and the second movable plate 14 is driven to move upwards under the action of the first rack plate 12.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The mechanical arm assisted electronic pyeloscope is characterized by comprising a base (1) and a fixing plate (2) fixedly mounted on the base (1) and fixed with a rack plate (12), wherein a transverse plate (3) is fixedly mounted on the fixing plate (2), a pyeloscope mechanism for observing the condition of the kidney is mounted on the base (1) in the direction towards the transverse plate (3), and the pyeloscope mechanism is connected with a driving assembly mounted on the transverse plate (3) through a reciprocating assembly;
still install lifting unit on the drive assembly, drive assembly passes through lifting unit with reciprocating assembly connects, the drive assembly drive reciprocating assembly motion, drive assembly still passes through lifting unit drives reciprocating assembly motion, so that with reciprocating assembly connects the required position of faster reaching of pyeloscope mechanism.
2. The mechanical arm assisted electronic pyeloscope according to claim 1, wherein the pyeloscope mechanism comprises a work box (18) connected with the reciprocating assembly and having a hole on its side, a power assembly installed inside the work box (18), and an adjusting assembly connected with the power assembly, wherein two guide blocks are installed on two sides of the hole, and the guide blocks are adapted to the power assembly.
3. The manipulator-assisted electronic pyeloscope according to claim 2, wherein the power assembly comprises a guide rod (19) penetrating through the hole and provided with a guide groove adapted to the guide block, a second gear (20) and a disc (23) rotatably arranged on the guide rod (19), and a second rack plate (21) fixedly arranged on the inner wall of the work box (18) and engaged with the second gear (20), wherein the second rack plate (21) is connected with the disc (23) through a second belt (22), a protrusion is arranged on the disc (23), and the protrusion is connected with the adjusting assembly.
4. The manipulator-assisted electronic pyeloscope according to claim 3, wherein the adjusting assembly comprises a cross column fixedly arranged in the working box (18) and a second connecting rod (24) with one end hinged to the cross column, the other end provided with a groove and adapted to the protrusion, the second connecting rod (24) is provided with a cylinder and a steering rod (25) with one end provided with a small hole and the other end adapted to the cylinder and connected with a camera.
5. The mechanical arm assisted electronic pyeloscope according to claim 1, wherein the reciprocating assembly comprises a second movable plate (14) connected with the lifting assembly, a first connecting rod (11) with one end connected with the driving assembly and the other end connected with the second movable plate (14), and a stretching assembly installed at the lower part of the second movable plate (14).
6. The mechanical arm assisted electronic pyeloscope according to claim 5, wherein the stretching assembly comprises a pulley (15) rotatably mounted on the second movable plate (14) and provided with a handle, a damping box fixedly arranged on the second movable plate (14), and a steel wire (16) with one end wound on the pulley (15) and the other end connected with the working box (18), wherein the steel wire (16) penetrates through the damping box.
7. The manipulator-assisted electronic pyeloscope according to claim 5, wherein the driving assembly comprises a motor (4) fixedly arranged on the transverse plate (3), a lead screw (5) connected with an output shaft of the motor (4), and a threaded sleeve (6) in threaded fit with the lead screw (5) and connected with a first connecting rod (11), and the lead screw (5) is further connected with a transmission rod with a limiting block.
8. The manipulator-assisted electronic pyeloscope as recited in claim 7, wherein the lifting assembly comprises a worm (7) slidably disposed on the transmission rod and internally provided with a limit groove adapted to the limit block, a first movable plate (13) fixedly disposed on the worm (7) and connected to the second movable plate (14), and a worm wheel (8) and a first gear (10) rotatably mounted on the first movable plate (13), wherein the worm wheel (8) is engaged with the worm (7), the worm wheel (8) is connected with the first gear (10) through a belt (9), and the first gear (10) is engaged with the first rack plate (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110637979.3A CN113545739A (en) | 2021-06-08 | 2021-06-08 | Manipulator auxiliary type electronic pyeloscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110637979.3A CN113545739A (en) | 2021-06-08 | 2021-06-08 | Manipulator auxiliary type electronic pyeloscope |
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| Publication Number | Publication Date |
|---|---|
| CN113545739A true CN113545739A (en) | 2021-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110637979.3A Pending CN113545739A (en) | 2021-06-08 | 2021-06-08 | Manipulator auxiliary type electronic pyeloscope |
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| Country | Link |
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| CN (1) | CN113545739A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115177377A (en) * | 2022-09-13 | 2022-10-14 | 湖南中聚内窥镜有限公司 | Percutaneous nephroscope combined equipment and operation method thereof |
| CN117617873A (en) * | 2024-01-08 | 2024-03-01 | 广东埃纳生医学科技有限公司 | Medical endoscope high-definition image display device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102197989A (en) * | 2011-06-01 | 2011-09-28 | 广州宝胆医疗器械科技有限公司 | Intelligent electronic cystoscope system |
| CN103356294A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Auxiliary mechanical arm for soft lens operation and method for achieving same |
| CN111419164A (en) * | 2019-08-20 | 2020-07-17 | 杭州法博激光科技有限公司 | Soft lens device |
| CN111557737A (en) * | 2020-01-14 | 2020-08-21 | 杭州法博激光科技有限公司 | Mechanical arm system suitable for ureter lithotripsy soft lens operation |
| CN111557636A (en) * | 2020-01-14 | 2020-08-21 | 杭州法博激光科技有限公司 | Soft lens operation auxiliary system |
-
2021
- 2021-06-08 CN CN202110637979.3A patent/CN113545739A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102197989A (en) * | 2011-06-01 | 2011-09-28 | 广州宝胆医疗器械科技有限公司 | Intelligent electronic cystoscope system |
| CN103356294A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Auxiliary mechanical arm for soft lens operation and method for achieving same |
| CN111419164A (en) * | 2019-08-20 | 2020-07-17 | 杭州法博激光科技有限公司 | Soft lens device |
| CN111557737A (en) * | 2020-01-14 | 2020-08-21 | 杭州法博激光科技有限公司 | Mechanical arm system suitable for ureter lithotripsy soft lens operation |
| CN111557636A (en) * | 2020-01-14 | 2020-08-21 | 杭州法博激光科技有限公司 | Soft lens operation auxiliary system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115177377A (en) * | 2022-09-13 | 2022-10-14 | 湖南中聚内窥镜有限公司 | Percutaneous nephroscope combined equipment and operation method thereof |
| CN117617873A (en) * | 2024-01-08 | 2024-03-01 | 广东埃纳生医学科技有限公司 | Medical endoscope high-definition image display device |
| CN117617873B (en) * | 2024-01-08 | 2024-07-16 | 广东埃纳生医学科技有限公司 | Medical endoscope high-definition image display device |
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Application publication date: 20211026 |
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