CN113952038A - Colonoscope robot system with enteroscope following function - Google Patents
Colonoscope robot system with enteroscope following function Download PDFInfo
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- CN113952038A CN113952038A CN202111237617.1A CN202111237617A CN113952038A CN 113952038 A CN113952038 A CN 113952038A CN 202111237617 A CN202111237617 A CN 202111237617A CN 113952038 A CN113952038 A CN 113952038A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 238000007689 inspection Methods 0.000 abstract description 3
- 210000000936 intestine Anatomy 0.000 abstract 2
- 238000002052 colonoscopy Methods 0.000 description 10
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- 206010048832 Colon adenoma Diseases 0.000 description 1
- 208000035984 Colonic Polyps Diseases 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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- 238000011846 endoscopic investigation Methods 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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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
- A61B1/31—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 rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention discloses a colonoscope robot system with an enteroscope following function, which relates to the field of medical instruments and comprises the following components: the medical mobile cart, UR arm, handle position appearance adjusting device, handle controlling means, mirror body advancing device, UR arm and handle position appearance adjusting device install on medical mobile cart, mirror body advancing device connects at UR arm end, can replace the doctor to push the colonoscope into the human body, UR arm can adjust the angle of pushing and drive the mirror body rotatory, handle controlling means can control the colonoscope handle, replace traditional doctor's handheld operation, effectively alleviate the working strength when doctor's inspection, handle position appearance adjusting device connects handle controlling means, can realize according to the suitable position of the intestines mirror length automatic adjustment of carrying and according to the rotatory automatic rotation that follows of intestines mirror, simplify the operation degree of difficulty, improve colonoscope inspection efficiency.
Description
Technical Field
The invention relates to a medical instrument, in particular to a colonoscope robot system with an enteroscope following function.
Background
With the development of social industrialization, people suffering from intestinal diseases such as enteritis, intestinal tumor and intestinal cancer are increasing due to the influence of factors such as environmental pollution, mental stress and dietary structure change. Colorectal cancer is the first digestive tract malignant tumor with morbidity and mortality in the global scope, most of the malignant tumors belong to middle and late stages when being diagnosed, and the health of people is seriously influenced. Early discovery, early diagnosis and early treatment of colorectal cancer can obviously improve the survival rate of patients and reduce the related mortality rate.
Early detection of colon cancer is performed by various methods, such as stool examination, imaging examination, and endoscopy. Indirect means such as stool examination and imaging examination have certain errors. Colorectal diseases are difficult to be diagnosed accurately and comprehensively through medical history and physical signs. At present, colorectal and other digestive system-related diseases are examined mainly using endoscopic techniques in clinical practice. Colonoscopy is the only screening technique with the functions of early diagnosis and treatment of colonic polyps and adenomas, and the effect and accuracy of colonoscopy cannot be achieved by other examination methods.
Because colonoscopy needs to be operated by interventional operation through a natural orifice of a human body, the operations can be mastered by doctors through very strict training, the process is complex, the success rate of inserting the colonoscope into the tail end of the colon through the doctors who are trained professionally can only reach 85-90%, the doctors can have higher requirements in actual operation, the number of the colonoscope examination is more and more at present, medical staff who can skillfully operate the colonoscope need a longer training period, the working strength of the colonoscope operating doctors can be increased, meanwhile, the examination is highly centralized, long-time operation can cause greater burden to the bodies of the doctors, and the doctors can hardly guarantee the operation stability under continuous work.
Based on the above problems, the present invention is to design a robot system capable of performing colonoscopy. By utilizing the characteristics of the robot such as accuracy, sustainable work and the like, the robot is added to replace the two arms of a doctor on the basis of the existing colonoscope system, the examination operation is simplified, the accurate control of the colonoscope is realized, the working intensity of the doctor is reduced, and the diagnosis and treatment safety and efficiency are ensured.
Disclosure of Invention
The invention provides a robot system with an enteroscope following function, which can be remotely controlled to carry out colonoscopy, a colonoscope handle can automatically follow and rotate, the colonoscope examination operation is simplified, more accurate control than manual operation can be realized, the patient examination comfort level is improved, the doctor working strength is reduced, and meanwhile, the robot system has higher safety and examination efficiency.
The technical scheme of the invention is as follows:
the invention relates to a colonoscope robot system with an enteroscope following function, which comprises: the medical treatment device comprises a medical mobile cart, a UR mechanical arm, a handle pose adjusting device, a handle control device and a scope propelling device; the device is characterized in that the UR mechanical arm is fixed on the left side of the medical mobile cart, the endoscope body propelling device is installed at the tail end of the UR mechanical arm, the handle pose adjusting device is movably connected to the right side of the medical mobile cart, the handle control device is installed at the tail end of the handle pose adjusting device, one end of the colonoscope is installed in the handle control device, and the other end of the colonoscope is connected with the colonoscope propelling mechanism.
Preferably, the medical movable cart comprises a mechanical arm mounting groove and a T-shaped hole, the mechanical arm mounting groove is a circular groove and is positioned on the left side of the upper plane of the medical movable cart, and the T-shaped hole is positioned on the right side of the upper plane of the medical movable cart and is communicated to the interior of the medical movable cart; the handle pose adjusting device comprises a lifting limiting mechanism, a lifting mechanism, a rotating mechanism and a handle self-rotating mechanism, wherein the lifting limiting mechanism comprises a manual limiting bolt, an extension spring and a connecting base, the manual limiting bolt is provided with four cylindrical pins, a limiting plate is arranged at the bottom of the connecting base, a T-shaped slideway is arranged at the upper part of the connecting base and is a through hole, the front end of the connecting base is provided with four through holes, one end of the extension spring is fixed at the middle position of the manual limiting bolt, the other end of the extension spring is fixed at the front end of the connecting base, and the four cylindrical pins of the manual limiting bolt penetrate through the four through holes in the connecting base and can move along the axial direction of the through holes; the lifting mechanism comprises a supporting plate, a screw rod, a track sliding table, a track sliding block, an anti-collision pad, a screw rod sliding block, a sliding table base, a motor base and a screw rod driving motor; two rows of through holes are formed in the two sides of the sliding table base respectively, the front end and the rear end of the sliding table base are provided with lead screw supporting frames respectively, the sliding table base is installed in the T-shaped slide way, and four cylindrical pins of the manual limiting bolt penetrate through the through holes in the two sides of the sliding table base; two ends of a lead screw are arranged in a lead screw support frame of the sliding table base through bearings, the front end of the lead screw is connected with a lead screw driving motor through a key groove, two ends of a lead screw sliding block are provided with anti-collision pads, and a through hole at the lower end of the lead screw is in threaded fit with the lead screw and can axially move; the left side and the right side of the sliding table base are provided with track sliding tables, each track sliding table is provided with two track sliding blocks, the four track sliding blocks and the screw rod sliding block are fixed with the supporting plate through screws, the screw rod supporting frame at the front end of the sliding table base is connected with the motor base through bolts, and the rear end of the motor base is connected with the screw rod driving motor through screws; the rotating mechanism comprises a motor upper end cover, a rotating motor, a motor fixing frame, a motor reducer and a bearing base, wherein a fixing plate is arranged at one end of the motor fixing frame, a circular connecting port is arranged at one end of the motor fixing frame, the fixing plate is fixedly connected with the motor upper end cover, the circular connecting port is fixed with the rear end of the motor reducer through a screw, semicircular grooves are formed in the motor upper end cover and the front end of the bearing base, the grooves clamp the middle part of the motor fixing frame, a motor shaft of the rotating motor is connected with a key groove of the motor reducer through the inside of the motor fixing frame, and the motor upper end cover is fixedly connected with the bearing base through a bolt; the handle rotation mechanism comprises an upper end cover, a belt wheel driving shaft, a first synchronous belt, a base, a rotating motor, a motor support, a first motor belt wheel, the front end of the upper end cover is provided with a circular groove, a bearing groove is formed in the inner part of the belt wheel driving shaft, a synchronous belt wheel is arranged in the middle of the belt wheel driving shaft, the upper end of the upper end cover is connected with the inner bearing groove of the upper end cover through a bearing, a positioning plate is arranged on the left side of the base, a bearing groove is formed in the right side of the upper end cover, the lower end of the driving shaft is tightly matched with the bearing groove of the base through the bearing, the motor support is fixedly connected with the positioning plate on the left side of the base, the rotating motor is connected with the motor support through a screw, the first motor belt wheel is fixed on a motor shaft of the rotating motor, the first synchronous belt wheel in the middle of the belt wheel driving shaft is connected with the front end of a motor reducer through a screw.
Preferably, the handle control device comprises a rotating frame, a first button pressing mechanism, a second button pressing mechanism, a handle fixing mechanism, a first handle driving mechanism and a second handle driving mechanism; the rotating frame comprises a connecting port, a button motor fixing plate, a mounting round hole, a thumb wheel motor fixing plate, a handle limiting hole and a button pressing mechanism positioning plate, the connecting port is positioned at the upper end of the rotating frame, the button motor fixing plate is positioned on the left side of the rotating frame, the mounting round hole is positioned in the center above the rotating frame, the thumb wheel motor fixing plate is positioned at the right lower side of the rotating frame, the handle limiting hole is positioned at the lower end of the rotating frame, and the button pressing mechanism positioning plate is fixed right above the button motor positioning plate; the first button pressing mechanism specifically comprises a button rod, a rebound spring, a cam, a motor frame I and a button motor, wherein a bearing shaft is arranged at the rear end of the button rod, a protection plate is arranged above the middle of the button rod, two square through holes are formed in the middle of a positioning plate of the button pressing mechanism, the front end of the button rod penetrates through the square through hole in the middle of the positioning plate of the button pressing mechanism, a rear-end cylindrical shaft is connected with the cam through the bearing, one end of the rebound spring is fixed on the right side surface of the button rod, one end of the rebound spring is fixed on the right side of the front face of the positioning plate of the button pressing mechanism, the motor frame I is fixed on a fixing plate of the button motor, the upper end of the motor is connected with the button motor through a screw, the cam is fixed on a shaft of the button motor, and a second button pressing mechanism is completely consistent with the first button pressing mechanism in structure; the handle fixing mechanism specifically comprises a handle mounting base and a lock catch, wherein a circular ring is arranged at the front end of the handle mounting base and is tightly matched with the mounting circular hole, the main body is fixed on the surface of the rotating frame, and the lock catch is mounted in the middle of the handle mounting base; the first handle driving mechanism comprises a first thumb wheel motor, a second motor frame, a second motor belt wheel synchronous belt and a large thumb wheel shell, wherein the outer surface of the large thumb wheel shell is provided with a tooth groove matched with the synchronous belt, a circular through hole is arranged in the middle of the large thumb wheel shell, the first thumb wheel motor is fixed on the second motor frame, the motor frame is fixed on a fixing plate of the thumb wheel motor, the second motor belt wheel is fixed on a first thumb wheel motor, the second synchronous belt is tightly matched with the second motor belt wheel and the outer tooth groove of the large thumb wheel shell, the large thumb wheel shell is arranged in the circular through hole of the handle mounting base, the handle driving mechanism II comprises a dial wheel motor II, a motor frame III, a motor belt wheel III synchronous belt III and a small dial wheel shell, the motor frame III is fixed on the upper surface of the rotating frame, the dial wheel motor II is fixed on the motor frame III, the motor belt wheel III is fixed on a dial wheel motor II shaft, an outer tooth groove is formed in the outer surface of the small dial wheel shell, and the synchronous belt III is tightly matched with the motor belt wheel III and the outer tooth groove of the small dial wheel shell; the small impeller shell is arranged in a through hole in the middle of the large dial wheel shell.
Preferably, the mirror body propulsion device comprises a shell, a propulsion motor fixing plate, a driving wheel, a driving shaft, a limiting cover, a driven wheel and a driven shaft, wherein a UR connecting flange plate is arranged on the left side of the shell, a motor groove is formed in the shell, through holes with the same position and size are formed in the front plate surface and the rear plate surface, bearing clamping grooves are formed in the upper end and the lower end of the propulsion motor fixing plate respectively, the lower end of the bearing clamping groove is connected with the driving shaft through a bearing, the upper end of the bearing clamping groove is connected with a moving shaft bearing, the propulsion motor is fixed at the lower end of the propulsion motor fixing plate, the upper end of the propulsion motor fixing plate is fixed on the inner side of the shell, the driving wheel is fixed on the driving shaft, the driven wheel is fixed on the driven shaft, a bearing groove is formed in the inner side of the limiting cover, the driving shaft and the driven shaft are connected and fixed in the bearing groove of the limiting cover through a screw.
Preferably, the limiting plate is inserted into a T-shaped hole in the medical movable trolley and fixedly connected with the T-shaped hole through a bolt, a base of the UR mechanical arm is fixedly connected with a mechanical arm mounting groove through a bolt, a fixed flange plate on the left side of a shell of the endoscope body propelling device is fixed with a screw at the tail end of the UR mechanical arm, and a belt wheel driving shaft is fixedly connected with the connecting port through a bolt; the colonoscope comprises a large thumb wheel, a small impeller, an air supply button, a suction button and a scope body, wherein the large thumb wheel is tightly connected with a large thumb wheel shell, the small thumb wheel is tightly connected with a small thumb wheel shell, the tail end of the scope body penetrates through a handle limiting hole, and the front end of the scope body penetrates through a front through hole and a rear through hole of the shell.
The invention has the beneficial effects that:
1. the colonoscope robot system with the enteroscope following function is integrated on a mobile cart, occupies small area, is convenient to use, can be quickly installed and adjusted, and shortens the early-stage examination preparation time.
2. The handle pose adjusting device designed by the invention can meet various poses required by a colonoscope handle in the examination process, can automatically adjust the pose in the process of pushing the endoscope body by matching with the endoscope body pushing device, reduces the working strength of doctors, and finishes the colonoscope examination with high efficiency.
3. The handle control mechanism designed by the invention adopts the belt to drive and control the thumb wheel, has compact structure and reasonable layout, controls the button through the cam structure, has simple structure and safe use, and does not wear the handle of the colonoscope because the rubber layer is adhered to the contact part of the handle.
4. The endoscope body propelling device designed by the invention has a simple structure, is connected to the tail end of the UR mechanical arm, can adjust the propelling speed, and can drive the UR mechanical arm to rotate and move, so that the requirement of colonoscopy is met. The examination can be performed manually instead of by a doctor.
5. After colonoscopy, the designed pose adjusting structure can be retracted into the medical mobile cart, the UR mechanical arm can be adjusted to be in a compact posture, the integral structure is more concentrated, the occupied area is reduced, and a doctor can conveniently install the colonoscope.
6. The invention provides a new method for driving a colonoscope by a robot, which improves the inspection efficiency and the operation safety.
Drawings
FIG. 1 is a schematic view of the overall assembly of the present invention;
FIG. 2 is a schematic structural view of the medical mobile cart according to the present invention;
FIG. 3 is a schematic structural diagram of a handle pose adjusting device according to the present invention;
FIG. 4 is a schematic view of a partial structure of a handle pose adjusting device according to the present invention;
FIG. 5 is a schematic view of a local structure of a handle pose adjusting device according to the present invention;
FIG. 6 is an exploded view of a local structure of the handle pose adjusting device according to the present invention;
FIG. 7 is an exploded view II of a local structure of the handle pose adjusting device in the invention;
FIG. 8 is a schematic view of the handle control device according to the present invention;
FIG. 9 is a partial schematic view of a first handle control apparatus of the present invention;
FIG. 10 is a second partial schematic view of the handle control apparatus of the present invention;
FIG. 11 is a partial exploded view of the handle control apparatus of the present invention;
FIG. 12 is a partial exploded view of the handle control device of the present invention;
FIG. 13 is an exploded view of a first mirror propulsion device according to the present invention;
FIG. 14 is an exploded view of a second embodiment of the present invention;
FIG. 15 is a schematic view of a colonoscope constructed in accordance with the present invention;
in the figure: 1. 1-1 part of medical movable cart, 1-2 parts of mechanical arm installation groove, 1-2 parts of T-shaped hole, 2 parts of UR mechanical arm, 3 parts of handle pose adjusting device, 3-1 parts of lifting limiting mechanism, 3-1-1 parts of manual limiting bolt, 3-1-3-1 parts of limiting plate, 3-1-3-1 parts of T-shaped slideway, 3-1-2 parts of stretching spring, 3-1-3 parts of connecting base, 3-2 parts of lifting mechanism, 3-2-1 parts of supporting plate, 3-2-2 parts of lead screw, 3-2-3 parts of track sliding table, 3-2-4 parts of track sliding block, 3-2-5 parts of anti-collision pad, 3-2-6 parts of lead screw sliding block, 3-2-7 parts of lead screw sliding table base, 3-2-8 parts of motor base, 3-2-9 parts of screw rod driving motor, 3-3 parts of rotating mechanism, 3-3-1 parts of motor upper end cover, 3-3-2 parts of rotating motor, 3-3-3 parts of motor fixing frame, 3-3-4 parts of motor reducer, 3-3-5 parts of bearing base, 3-4 parts of handle self-rotating mechanism, 3-4-1 parts of upper end cover, 3-4-2 parts of belt wheel driving shaft, 3-4-3 parts of synchronous belt I, 3-4-4 parts of base, 3-4-5 parts of rotating motor, 3-4-6 parts of motor support, 3-4-7 parts of motor belt wheel I, 4 parts of handle control device, 4-1 parts of rotating frame, 4-1-1 parts of rotating frame, The device comprises a connector, 4-1-2 parts, a button motor fixing plate, 4-1-3 parts, a mounting round hole, 4-1-4 parts, a thumb wheel motor fixing plate, 4-1-5 parts, a handle limiting hole, 4-1-6 parts, a button pressing mechanism positioning plate, 4-2 parts, a button pressing mechanism I, 4-2-1 parts, a button rod, 4-2-2 parts, a rebound spring, 4-2-3 parts, a cam, 4-2-4 parts, a motor frame I, 4-2-5 parts, a button motor, 4-3 parts, a button pressing mechanism II, 4-4 parts, a handle fixing mechanism, 4-4-1 parts, a handle mounting base, 4-4-2 parts, a lock catch, 4-5 parts, a handle driving mechanism I, 4-5-1 parts, 4-5-2 parts of a first thumb wheel motor, 4-5-2 parts of a second motor frame, 4-5-3 parts of a second motor belt wheel, 4-5-4 parts of a second synchronous belt, 4-5-5 parts of a large thumb wheel shell, 4-6 parts of a second handle driving mechanism, 4-6-1 parts of a second thumb wheel motor, 4-6-2 parts of a third motor frame, 4-6-3 parts of a third motor belt wheel, 4-6-4 parts of a third synchronous belt, 4-6-5 parts of a small thumb wheel shell, 5 parts of a mirror body propelling device, 5-1 parts of a shell, 5-2 parts of a motor propelling motor, 5-3 parts of a propelling motor fixing plate, 5-4 parts of a driving wheel, 5-5 parts of a driving shaft, 5-6 parts of a limiting cover, 5-7 parts of a driven wheel, 5-8 parts of a driven shaft, 6-3 parts of a motor propelling motor, Colonoscope, 6-1, large dial wheel, 6-2, small dial wheel, 6-3, air supply button, 6-4, suction button, 6-5 and endoscope body.
Detailed Description
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those embodiments can be easily implemented by those having ordinary skill in the art to which the present invention pertains. However, the present invention may be embodied in many different forms and is not limited to the embodiments described below. In addition, in order to more clearly describe the present invention, components not connected to the present invention will be omitted from the drawings.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the invention.
As shown in fig. 1, the colonoscope robot system with enteroscope following function comprises a medical mobile cart 1, a UR mechanical arm 2, a handle pose adjusting device 3, a handle control device 4 and a scope body propelling device 5; the device is characterized in that a UR mechanical arm 2 is fixed on the left side of a medical mobile cart 1, a colonoscope propelling device 5 is installed at the tail end of the UR mechanical arm, a handle pose adjusting device 3 is movably connected to the right side of the medical mobile cart 1, a handle control device 4 is installed at the tail end of the handle pose adjusting device 3, one end of a colonoscope 6 is installed in the handle control device 4, and the other end of the colonoscope is connected with a colonoscope propelling mechanism 5.
As shown in fig. 2, 3, 4, 5, 6 and 7, the medical mobile cart 1 in the present embodiment includes a mechanical arm mounting groove 1-1 and a T-shaped hole 1-2, the mechanical arm mounting groove 1-1 is a circular groove and is located on the left side of the upper plane of the medical mobile cart 1, and the T-shaped hole 1-2 is located on the right side of the upper plane of the medical mobile cart 1 and is communicated to the inside thereof; in the embodiment, the handle pose adjusting device 3 comprises a lifting limiting mechanism 3-1, a lifting mechanism 3-2, a rotating mechanism 3-3 and a handle self-rotating mechanism 3-4, wherein the lifting limiting mechanism 3-1 comprises a manual limiting bolt 3-1-1, an extension spring 3-1-2 and a connecting base 3-1-3, the manual limiting bolt 3-1-1 is provided with four cylindrical pins, a rectangular groove is formed in the manual limiting bolt and used for placing the extension spring 3-1-2, the bottom of the connecting base 3-1-3 is provided with a limiting plate 3-1-3-1, the upper part of the manual limiting bolt is provided with a T-shaped slideway 3-1-3-2, the T-shaped slideway 3-1-3-2 is a through hole, the front end of the manual limiting bolt is provided with four through holes, one end of the extension spring 3-1-2 is fixed on the rectangular limiting bolt 3-1-1 The middle position of the groove, the other end is fixed at the front end of the connecting base 3-1-3, four cylindrical pins of the manual limiting bolt 3-1-1 penetrate through four through holes in the connecting base 3-1-3 and can axially move along the through holes, and the extension spring 3-1-2 is in a stretching state under the normal condition, so that the moving range of the manual limiting bolt 3-1-1 can be limited, and the manual limiting bolt 3-1-1 can be pulled back through self elasticity when being pulled out; the lifting mechanism 3-2 comprises a supporting plate 3-2-1, a screw rod 3-2-2, a track sliding table 3-2-3, a track sliding block 3-2-4, an anti-collision pad 3-2-5, a screw rod sliding block 3-2-6, a sliding table base 3-2-7, a motor base 3-2-8 and a screw rod driving motor 3-2-9; a row of through holes are respectively arranged on two sides of the sliding table base 3-2-7, lead screw support frames are respectively arranged on the front end and the rear end of the sliding table base 3-2-7, the sliding table base 3-2-7 is installed in the T-shaped slide way 3-1-3-2, four cylindrical pins of the manual limiting bolt 3-1-1 penetrate through the through holes on two sides of the sliding table base 3-2-7 to limit the sliding table base to move up and down, and the stability of the lifting mechanism 3-2 is kept; two ends of a screw 3-2-2 are arranged in a screw support frame of a sliding table base 3-2-7 through bearings, the front end of the screw is connected with a screw driving motor 3-2-9 through a key groove, two ends of a screw sliding block 3-2-6 are provided with anti-collision pads 3-2-5, a through hole at the lower end is in threaded fit with the screw 3-2-2 and can axially move along the screw 3-2-2. The left side and the right side of the sliding table base 3-2-7 are provided with track sliding tables 3-2-3, each track sliding table is provided with two track sliding blocks 3-2-4, the four track sliding blocks 3-2-4 and the lead screw sliding block 3-2-6 are fixed with the support plate 3-2-1 through screws, the lead screw support frame at the front end of the sliding table base 3-2-7 is connected with the motor base 3-2-8 through bolts, the rear end of the motor base 3-2-8 is connected with the lead screw driving motor 3-2-9 through screws, and the lead screw driving motor 3-2-9 rotates forwards and backwards, so that the support plate 3-2-1 can move upwards and downwards; the rotating mechanism 3-3 comprises a motor upper end cover 3-3-1, a rotating motor 3-3-2, a motor fixing frame 3-3-3, a motor reducer 3-3-4 and a bearing base 3-3-5, one end of the motor fixing frame 3-3-3 is provided with a fixing plate, the other end of the fixing plate is provided with a circular connecting port, the fixing plate is fixedly connected with the inner side of the motor upper end cover 3-3-1, the circular connecting port is fixed with the rear end of the motor reducer 3-3-4 through a screw, the front ends of the motor upper end cover 3-3-1 and the bearing base 3-3-5 are respectively provided with a semicircular groove, the middle part of the motor fixing frame 3-3-3-3 is clamped by the grooves to play a role of stability, the motor upper end cover 3-3-1 and the bearing base 3-3-5 are fixedly connected through bolts, a motor shaft of the rotating motor 3-3-2 is connected with a motor reducer 3-3-4 key groove through the inside of the motor fixing frame 3-3-3; the handle autorotation mechanism 3-4 comprises an upper end cover 3-4-1, a belt wheel driving shaft 3-4-2, a synchronous belt I3-4-3, a base 3-4-4, a rotating motor 3-4-5, a motor bracket 3-4-6 and a motor belt wheel I3-4-7, wherein the front end of the upper end cover 3-4-1 is provided with a circular groove, the inside of the circular groove is provided with a bearing groove, the synchronous belt wheel is arranged in the middle of the belt wheel driving shaft 3-4-2, the upper end of the synchronous belt wheel is connected with the inner bearing groove of the upper end cover 3-4-1 through a bearing, the left side of the base 3-4-4 is provided with a positioning plate, the right side of the synchronous belt wheel is provided with a bearing groove, the lower end of the driving shaft is tightly matched with the bearing groove of the base 3-4-4 through a bearing, the motor bracket 3-4-6 is fixedly connected with the left positioning plate of the base 3-4-4, the rotary motor 3-4-5 is connected with the motor bracket 3-4-6 through screws, the motor belt pulley I3-4-7 is fixed on a motor shaft of the rotary motor 3-4-5 and is connected with a synchronous belt pulley in the middle of the belt pulley driving shaft 3-4-2 through a synchronous belt I3-4-3, after the rotary motor 3-4-5 works, the rotation of the belt pulley driving shaft 3-4-2 can be realized, and the front end circular groove of the upper end cover 3-4-1 is connected with the front end of the motor reducer 3-3-4 through screws.
As shown in fig. 8, 9, 10, 11 and 12, the handle control device 4 in the illustrated embodiment includes a rotating frame 4-1, a first button pressing mechanism 4-2, a second button pressing mechanism 4-3, a handle fixing mechanism 4-4, a first handle driving mechanism 4-5, and a second handle driving mechanism 4-6; the rotating frame 4-1 comprises a connecting port 4-1-1, a button motor fixing plate 4-1-2, a mounting round hole 4-1-3, a thumb wheel motor fixing plate 4-1-4, a handle limiting hole 4-1-5 and a button pressing mechanism positioning plate 4-1-6, the connecting port 4-1-1 is positioned at the upper end of the rotating frame 4-1, the button motor fixing plate 4-1-2 is positioned at the left side of the rotating frame 4-1, the mounting round hole 4-1-3 is positioned at the center above the rotating frame 4-1, the thumb wheel motor fixing plate 4-1-4 is positioned at the right lower side of the rotating frame 4-1, the handle limiting hole 4-1-5 is positioned at the lower end of the rotating frame 4-1, and the button pressing mechanism positioning plate 4-1-6 is fixed right above the button motor positioning plate 4-1-2; the first button pressing mechanism 4-2 specifically comprises a button rod 4-2-1, a rebound spring 4-2-2, a cam 4-2-3, a motor frame 4-2-4, a button motor 4-2-5, a bearing shaft is arranged at the rear end of the button rod 4-2-1, a protection plate is arranged above the middle of the button rod, two square through holes are arranged in the middle of a positioning plate 4-1-6 of the button pressing mechanism, the front end of the button rod 4-2-1 penetrates through the square through hole in the middle of the positioning plate 4-1-6 of the button pressing mechanism, a cylindrical shaft at the rear end of the button rod is connected with the cam 4-2-3 through a bearing, one end of the rebound spring 4-2-2 is fixed on the right side surface of the button rod 4-2-1, and the other end of the rebound spring is fixed on the right side of the front surface of the positioning plate 4-1-6 of the button pressing mechanism, in the initial position, the spring is in a stretching state and has a powerful effect on two fixed parts, the motor frame I4-2-4 is fixed on the button motor fixing plate 4-1-2, the upper end of the motor frame I is connected with the button motor 4-2-5 through a screw, the cam 4-2-3 is fixed on the shaft of the button motor 4-2-5, when the button motor 4-2-5 works, the cam 4-2-3 is driven to rotate, the button rod 4-2-1 is pushed to move forwards through a bearing, the protection plate of the button rod 4-2-1 can limit the moving distance to protect the button, and the button rod 4-2-1 and the cam 4-2-3 are always matched together because the rebound spring 4-2-2 is always in the stretching state, realizing a pressing function; the structure of the button pressing mechanism II 4-3 is completely consistent with that of the button pressing mechanism I4-2; the handle fixing mechanism 4-4 specifically comprises a handle mounting base 4-4-1 and a lock catch 4-4-2, wherein the front end of the handle mounting base 4-4-1 is provided with a circular ring which is tightly matched with a mounting circular hole (4-1-3), a main body is fixed on the plate surface of the rotating frame (4-1), the lock catch 4-4-2 is arranged in the middle of the handle mounting base 4-4-1, one end of the lock catch can be opened and closed, and the other end of the lock catch is connected with the handle mounting base 4-4-1 through a hinge; the handle driving mechanism I4-5 comprises a thumb wheel motor I4-5-1, a motor frame II 4-5-2, a motor belt wheel II 4-5-3, a synchronous belt II 4-5-4, a large thumb wheel shell 4-5-5, the outer surface of the large thumb wheel shell 4-5-5 is provided with a tooth socket matched with the synchronous belt, the inner part of the tooth socket is provided with a groove for clamping the impeller, the middle part of the tooth socket is provided with a circular through hole, the thumb wheel motor I4-5-1 is fixed on the motor frame II 4-5-2, the motor frame 4-5-2 is fixed on a thumb wheel motor fixing plate 4-1-4, the motor belt wheel II 4-5-3 is fixed on the shaft of the thumb wheel motor I4-5-1, the synchronous belt II 4-5-4 is tightly matched with the motor belt wheel II 4-5-3 and the outer tooth socket of the large thumb wheel shell 4-5-5, the large thumb wheel shell 4-5-5 is arranged in a circular through hole of the handle mounting base 4-1-1; the handle driving mechanism II 4-6 specifically comprises a thumb wheel motor II 4-6-1, a motor frame III 4-6-2, a motor belt wheel III 4-6-3, a synchronous belt III 4-6-4 and a small thumb wheel shell 4-6-5, a motor frame III 4-6-2 is fixed on the upper surface of a rotating frame 4-1, a thumb wheel motor II 4-6-1 is fixed on the motor frame III 4-6-2, a motor belt wheel III 4-6-3 is fixed on a shaft of the thumb wheel motor II 4-6-1, an outer tooth groove is arranged on the outer surface of a small thumb wheel shell 4-6-5, a thumb wheel groove is arranged inside the small thumb wheel shell, and a synchronous belt III 4-6-4 is tightly matched with the motor belt wheel III 4-6-3 and the outer tooth groove of the small thumb wheel shell 4-6-5. The small impeller shell 4-6-5 is arranged in the middle through hole of the large dial wheel shell 4-5-5.
As shown in fig. 13 and 14, the endoscope body propulsion device 5 comprises a housing 5-1, a propulsion motor 5-2, a propulsion motor fixing plate 5-3, a driving wheel 5-4, a driving shaft 5-5, a limiting cover 5-6, a driven wheel 5-7 and a driven shaft 5-8, wherein a UR connecting flange is arranged on the left side of the housing 5-1, a motor groove is arranged inside the UR connecting flange, through holes with the same position and size are arranged on the front and rear plate surfaces, a bearing clamping groove is respectively arranged at the upper end and the lower end of the propulsion motor fixing plate 5-3, the lower end bearing clamping groove is connected with the driving shaft 5-5 through a bearing, the upper end bearing clamping groove fixes the driven shaft 5-8 through a bearing, the propulsion motor 5-2 is fixed at the lower end of the propulsion motor fixing plate 5-3, the upper end is fixed on the inner side of the housing 5-1, the driving wheel 5-4 is fixed on the driving shaft 5-5, the driven wheel 5-7 is fixed on the driven shaft 5-8, the inner side of the limit cover 5-6 is provided with a bearing groove, the driving shaft 5-5 and the driven shaft 5-8 are connected and fixed in the bearing groove of the limit cover 5-6 through a bearing, and the shell 5-1 and the limit cover 5-6 are fixedly connected through a screw.
As shown in fig. 1, 2, 4, 7, 9, 10, 11, 14 and 15, a limiting plate 3-1-3-1 is inserted into a T-shaped hole 1-2 of a medical mobile cart 1 and is fixedly connected with the T-shaped hole through a bolt, a base of a UR mechanical arm 2 is fixedly connected with a mechanical arm mounting groove 1-1 through a bolt, a UR connecting flange on the left side of a shell 5-1 of a mirror body propulsion device 5 is fixed with a tail end screw of the UR mechanical arm 2, and a pulley driving shaft 3-4-2 is fixedly connected with a connecting port 4-1-1 through a bolt, so that the handle control mechanism 4 can be driven to rotate integrally; the colonoscope 6 comprises a large thumb wheel 6-1, a small thumb wheel 6-2, an air supply button 6-3, a suction button 6-4 and a scope body 6-5, wherein the large thumb wheel 6-1 is tightly connected with a large thumb wheel shell 4-5-5, a thumb wheel motor I4-5-1 drives the large thumb wheel shell 4-5-5 to rotate through belt transmission when working, so that the large thumb wheel 6-1 is driven, the small thumb wheel 6-2 is tightly connected with the small thumb wheel shell 4-6-5, a thumb wheel motor II 4-6-1 indirectly drives the small thumb wheel 6-2 to rotate through belt transmission when working, a button pressing mechanism I4-2 and a button pressing mechanism II 4-3 respectively control the suction button 6-4 and the air supply button 6-3, the tail end of the mirror body 6-5 penetrates through the handle limiting hole 4-1-5 to play a role in stabilizing, the front end of the mirror body 6-5 penetrates through the front through hole and the rear through hole of the shell 5-1, when the propulsion motor 5-2 works, the driving wheel rotates, the mirror body 6-5 is clamped between the driving wheel 5-4 and the driven wheel 5-7, and the mirror body can be driven to feed forwards and backwards.
The working principle of the specific implementation mode of the invention is as follows:
when the invention is used, the handle of the colonoscope 1 is firstly arranged at the corresponding position of the handle control device 4, the front end of the endoscope body 6-5 penetrates through the endoscope body pushing device 5 to expose a small part, the up-and-down position of the handle pose adjusting device 3 is adjusted by pulling the manual limit bolt 3-1-1, the endoscope body pushing device 5 is pulled to the position suitable for colonoscopy, the exposed small part of the endoscope body is inserted into the anus of a patient, and a doctor operates the colonoscope robot system at a control console.
When colonoscopy is performed, the propulsion motor 5-2 starts to work to drive the endoscope body 6-5 to enter the colon, when a turn is needed, the first thumb wheel motor 4-5-1 is started to drive the large thumb wheel 6-1 to rotate, so that the front end of the endoscope body 5 can be bent up and down, and the second thumb wheel motor 4-6-1 is started to drive the small thumb wheel 6-2 to rotate, so that the front end of the endoscope body 5 can be bent left and right.
When the colonoscope 6 needs to rotate, the UR mechanical arm 2 drives the endoscope body pushing device 5 to rotate for a certain angle by taking the endoscope body 6-5 as an axis, the system judges that if the colonoscope 6 rotates, the rotating motor 3-4-5 is started to drive the handle control device 4 to rotate for the same angle in the same direction, the rotating angles of the handle of the colonoscope 6 and the endoscope body 6-5 are consistent, and the process is automatically carried out without the operation of a doctor. When the push-in angle needs to be adjusted externally, the UR mechanical arm 2 starts to work, and the push-in angle is adjusted externally with a fixed radius by taking the anus as a rotation center.
When water or air is required to be injected into the intestinal tract in the examination process, the first button pressing mechanism 4-2 and the second button pressing mechanism 4-3 start to work, the button motor 4-2-5 is started to drive the cam 4-2-3 to push the button rod 4-2-1, and the air supply button 6-3 and the suction button 6-4 are pressed according to the control of a doctor, so that the basic requirements of the examination are met.
Along with the examination, the length of the endoscope body 6-5 outside the body is shortened, the system can judge according to the rotating number of turns of the propelling motor 5-2, the pose of the handle of the colonoscope 6 is adjusted in time, and the screw rod driving motor 3-2-9 and the rotating motor 3-3-2 of the handle pose adjusting mechanism 3 are started, so that the handle of the colonoscope 6 can move up and down, rotate and automatically adjust to a proper position, and the examination operation of the colonoscope is prevented from being influenced by distance.
After the colonoscopy is finished, all joints of the handle pose adjusting device 3 are adjusted to initial positions, the manual limiting bolt 3-1-1 is pulled to enable the handle pose adjusting device 3 to descend into the movable trolley 1, the handle of the colonoscope 6 is detached from the handle control device 4, and the colonoscope body 6-5 is pulled out from the colonoscope body pushing device 5. Pushing the mirror body pushing device 5 back to the initial position.
The foregoing shows and describes the general principles and features of the present invention. The present invention is not limited to the above-described embodiments, which are merely illustrative of the principles of the invention, but various changes and modifications may be made therein without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed.
Claims (5)
1. Colonoscope robot system with enteroscope following function, its composition includes: the medical treatment device comprises a medical movable cart (1), a UR mechanical arm (2), a handle pose adjusting device (3), a handle control device (4) and a scope body propelling device (5); the colonoscope robot is characterized in that a UR mechanical arm (2) is fixed on the left side of a medical movable trolley (1), a scope propelling device (5) is installed at the tail end of the UR mechanical arm, a handle pose adjusting device (3) is movably connected to the right side of the medical movable trolley (1), a handle control device (4) is installed at the tail end of the handle pose adjusting device (3), one end of a colonoscope (6) is installed in the handle control device (4), and the other end of the colonoscope is connected with a colonoscope propelling mechanism (5).
2. A colonoscopic robotic system with enteroscopic follow-up functionality according to claim 1, wherein: the medical movable trolley (1) comprises a mechanical arm mounting groove (1-1) and a T-shaped hole (1-2), wherein the mechanical arm mounting groove (1-1) is a circular groove and is positioned on the left side of the upper plane of the medical movable trolley (1), and the T-shaped hole (1-2) is positioned on the right side of the upper plane of the medical movable trolley (1) and communicated to the interior of the medical movable trolley; the handle pose adjusting device (3) comprises a lifting limiting mechanism (3-1), a lifting mechanism (3-2), a rotating mechanism (3-3) and a handle autorotation mechanism (3-4), wherein the lifting limiting mechanism (3-1) comprises a manual limiting bolt (3-1-1), an extension spring (3-1-2) and a connecting base (3-1-3), the manual limiting bolt (3-1-1) is provided with four cylindrical pins, the bottom of the connecting base (3-1-3) is provided with a limiting plate (3-1-3-1), the upper part of the connecting base is provided with a T-shaped slideway (3-1-3-2), the T-shaped slideway (3-1-3-2) is a through hole, the front end of the connecting base is provided with four through holes, and one end of the extension spring (3-1-2) is fixed on the manual limiting bolt (3-1-1) The other end of the middle position of the connecting base (3-1-3) is fixed at the front end of the connecting base (3-1-3), and four cylindrical pins of the manual limiting bolt (3-1-1) penetrate through four through holes in the connecting base (3-1-3) and can move along the axial direction of the through holes; the lifting mechanism (3-2) comprises a supporting plate (3-2-1), a screw rod (3-2-2), a track sliding table (3-2-3), a track sliding block (3-2-4), an anti-collision pad (3-2-5), a screw rod sliding block (3-2-6), a sliding table base (3-2-7), a motor base (3-2-8) and a screw rod driving motor (3-2-9); two sides of the sliding table base (3-2-7) are respectively provided with a row of through holes, the front end and the rear end of the sliding table base are respectively provided with a screw rod support frame, the sliding table base (3-2-7) is installed in the T-shaped slide way (3-1-3-2), and four cylindrical pins of the manual limiting bolt (3-1-1) penetrate through the through holes on the two sides of the sliding table base (3-2-7); two ends of the screw rod (3-2-2) are arranged in a screw rod supporting frame of the sliding table base (3-2-7) through bearings, the front end of the screw rod is connected with a screw rod driving motor (3-2-9) through a key groove, two ends of a screw rod sliding block (3-2-6) are provided with anti-collision pads (3-2-5), and a through hole at the lower end is in threaded fit with the screw rod (3-2-2) and can axially move; the left side and the right side of the sliding table base (3-2-7) are provided with track sliding tables (3-2-3), each track sliding table is provided with two track sliding blocks (3-2-4), the four track sliding blocks (3-2-4) and the lead screw sliding block (3-2-6) are fixed with the supporting plate (3-2-1) through screws, the lead screw supporting frame at the front end of the sliding table base (3-2-7) is connected with the motor base (3-2-8) through bolts, and the rear end of the motor base (3-2-8) is connected with the lead screw driving motor (3-2-9) through screws; the rotating mechanism (3-3) comprises a motor upper end cover (3-3-1), a rotating motor (3-3-2), a motor fixing frame (3-3-3), a motor reducer (3-3-4) and a bearing base (3-3-5), one end of the motor fixing frame (3-3-3) is provided with a fixing plate, one end of the fixing plate is provided with a circular connecting port, the fixing plate is fixedly connected with the motor upper end cover (3-3-1), the circular connecting port is fixed with the rear end of the motor reducer (3-3-4) through a screw, the front ends of the motor upper end cover (3-3-1) and the bearing base (3-3-5) are respectively provided with a semicircular groove, the grooves clamp the middle part of the motor fixing frame (3-3-3), and the motor shaft of the rotating motor (3-3-2) passes through the motor fixing frame (3-3-3-3) The interior of the motor is connected with a motor reducer (3-3-4) by a key groove, and an upper end cover (3-3-1) of the motor is fixedly connected with a bearing base (3-3-5) by a bolt; the handle autorotation mechanism (3-4) comprises an upper end cover (3-4-1), a belt wheel driving shaft (3-4-2), a synchronous belt I (3-4-3), a base (3-4-4), a rotating motor (3-4-5), a motor bracket (3-4-6) and a motor belt wheel I (3-4-7), wherein the front end of the upper end cover (3-4-1) is provided with a circular groove, a bearing groove is arranged inside the circular groove, the synchronous belt wheel is arranged in the middle of the belt wheel driving shaft (3-4-2), the upper end of the synchronous belt wheel is connected with the inner bearing groove of the upper end cover (3-4-1) through a bearing, the left side of the base (3-4-4) is provided with a positioning plate, the right side of the synchronous belt wheel driving shaft is provided with a bearing groove, the lower end of the driving shaft is tightly matched with the bearing groove of the base (3-4-4), the motor support (3-4-6) is fixedly connected with the left side positioning plate of the base (3-4-4), the rotating motor (3-4-5) is connected with the motor support (3-4-6) through a screw, the motor belt pulley I (3-4-7) is fixed on a motor shaft of the rotating motor (3-4-5) and is connected with a synchronous belt pulley I (3-4-3) in the middle of the belt pulley driving shaft (3-4-2), and the front end circular groove of the upper end cover (3-4-1) is connected with the front end of the motor reducer (3-3-4) through a screw.
3. A colonoscopic robotic system with enteroscopic follow-up functionality according to claim 1, wherein: the handle control device (4) comprises a rotating frame (4-1), a first button pressing mechanism (4-2), a second button pressing mechanism (4-3), a handle fixing mechanism (4-4), a first handle driving mechanism (4-5) and a second handle driving mechanism (4-6); the rotating frame (4-1) comprises a connecting port (4-1-1), a button motor fixing plate (4-1-2), a mounting round hole (4-1-3), a thumb wheel motor fixing plate (4-1-4), a handle limiting hole (4-1-5) and a button pressing mechanism positioning plate (4-1-6), wherein the connecting port (4-1-1) is positioned at the upper end of the rotating frame (4-1), the button motor fixing plate (4-1-2) is positioned at the left side of the rotating frame (4-1), the mounting round hole (4-1-3) is positioned at the center above the rotating frame (4-1), the thumb wheel motor fixing plate (4-1-4) is positioned at the right lower side of the rotating frame (4-1), the handle limiting hole (4-1-5) is positioned at the lower end of the rotating frame (4-1), the button pressing mechanism positioning plate (4-1-6) is fixed right above the button motor positioning plate (4-1-2); the first button pressing mechanism (4-2) specifically comprises a button rod (4-2-1), a rebound spring (4-2-2), a cam (4-2-3), a motor frame (4-2-4), a button motor (4-2-5), a bearing shaft is arranged at the rear end of the button rod (4-2-1), a protection plate is arranged above the middle of the button rod, two square through holes are formed in the middle of a positioning plate (4-1-6) of the button pressing mechanism, the front end of the button rod (4-2-1) penetrates through the square through hole in the middle of the positioning plate (4-1-6) of the button pressing mechanism, a cylindrical shaft at the rear end is connected with the cam (4-2-3) through a bearing, one end of the rebound spring (4-2-2) is fixed on the right side face of the button rod (4-2-1), one end of the motor frame I (4-2-4) is fixed on the right side of the front face of the button pressing mechanism positioning plate (4-1-6), the upper end of the motor frame I (4-2-4) is connected with the button motor (4-2-5) through a screw, the cam (4-2-3) is fixed on a shaft of the button motor (4-2-5), and the button pressing mechanism II (4-3) and the button pressing mechanism I (4-2) are completely consistent in structure; the handle fixing mechanism (4-4) specifically comprises a handle mounting base (4-4-1) and a lock catch (4-4-2), wherein a circular ring is arranged at the front end of the handle mounting base (4-4-1) and is tightly matched with the mounting circular hole (4-1-3), a main body is fixed on the plate surface of the rotating frame (4-1), and the lock catch (4-4-2) is arranged in the middle of the handle mounting base (4-4-1); the handle driving mechanism I (4-5) comprises a dial wheel motor I (4-5-1), a motor frame II (4-5-2), a motor belt wheel II (4-5-3), a synchronous belt II (4-5-4) and a large dial wheel shell (4-5-5), a tooth groove matched with the synchronous belt is arranged on the outer surface of the large dial wheel shell (4-5-5), a circular through hole is formed in the middle of the large dial wheel shell, the dial wheel motor I (4-5-1) is fixed on the motor frame II (4-5-2), the motor frame (4-5-2) is fixed on a dial wheel motor fixing plate (4-1-4), the motor belt wheel II (4-5-3) is fixed on a dial wheel motor I (4-5-1) shaft, the synchronous belt II (4-5-4), the motor belt wheel II (4-5-3) and the large dial wheel shell (4-5-4) -5-5) external tooth grooves are tightly matched, a large shifting wheel shell (4-5-5) is arranged in a circular through hole of a handle mounting base (4-1-1), a handle driving mechanism II (4-6) specifically comprises a shifting wheel motor II (4-6-1), a motor frame III (4-6-2), a motor belt wheel III (4-6-3), a synchronous belt III (4-6-4) and a small shifting wheel shell (4-6-5), the motor frame III (4-6-2) is fixed on the upper surface of a rotating frame (4-1), the shifting wheel motor II (4-6-1) is fixed on the motor frame III (4-6-2), the motor belt wheel III (4-6-3) is fixed on a shaft of the shifting wheel motor II (4-6-1), an outer tooth groove is formed in the outer surface of the small thumb wheel shell (4-6-5), and the synchronous belt III (4-6-4) is tightly matched with the motor belt wheel III (4-6-3) and the outer tooth groove of the small thumb wheel shell (4-6-5); the small impeller shell (4-6-5) is arranged in a through hole in the middle of the large dial wheel shell (4-5-5).
4. A colonoscopic robotic system with enteroscopic follow-up functionality according to claim 1, wherein: the mirror body propelling device (5) comprises a shell (5-1), a propelling motor (5-2), a propelling motor fixing plate (5-3), a driving wheel (5-4), a driving shaft (5-5), a limiting cover (5-6), a driven wheel (5-7) and a driven shaft (5-8), wherein a UR connecting flange plate is arranged on the left side of the shell (5-1), a motor groove is formed in the shell, through holes with the same positions and sizes are formed in the front plate surface and the rear plate surface, bearing clamping grooves are respectively formed in the upper end and the lower end of the propelling motor fixing plate (5-3), the lower end bearing clamping groove is connected with the driving shaft (5-5) through a bearing, the upper end bearing clamping groove is connected with a bearing of the driving shaft (5-8), the propelling motor (5-2) is fixed at the lower end of the propelling motor fixing plate (5-3), and the upper end of the propelling motor fixing plate is fixed on the inner side of the shell (5-1), the driving wheel (5-4) is fixed on the driving shaft (5-5), the driven wheel (5-7) is fixed on the driven shaft (5-8), the inner side of the limiting cover (5-6) is provided with a bearing groove, the driving shaft (5-5) and the driven shaft (5-8) are connected and fixed in the bearing groove of the limiting cover (5-6) through a bearing, and the right side of the shell (5-1) is fixedly connected with the limiting cover (5-6) through a screw.
5. A colonoscopic robotic system with enteroscopic follow-up functionality according to claim 1, claim 2, claim 3 or claim 4, and further comprising: the limiting plate (3-1-3-1) is inserted into a T-shaped hole (1-2) in the medical movable cart (1), the limiting plate and the T-shaped hole are fixedly connected through bolts, a base of the UR mechanical arm (2) is fixedly connected with a mechanical arm mounting groove (1-1) through bolts, a fixed flange plate on the left side of a shell (5-1) of the endoscope body propelling device (5) is fixed with the tail end of the UR mechanical arm (2) through a screw, and a belt wheel driving shaft (3-4-2) is fixedly connected with a connecting port (4-1-1) through bolts; the colonoscope (6) comprises a large thumb wheel (6-1), a small thumb wheel (6-2), an air supply button (6-3), a suction button (6-4) and a scope body (6-5), wherein the large thumb wheel (6-1) is tightly connected with a large thumb wheel shell (4-5-5), the small thumb wheel (6-2) is tightly connected with a small thumb wheel shell (4-6-5), the tail end of the scope body (6-5) penetrates through a handle limiting hole (4-1-5), and the front end of the scope body penetrates through a front through hole and a rear through hole of the shell (5-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111237617.1A CN113952038A (en) | 2021-10-22 | 2021-10-22 | Colonoscope robot system with enteroscope following function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111237617.1A CN113952038A (en) | 2021-10-22 | 2021-10-22 | Colonoscope robot system with enteroscope following function |
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| Publication Number | Publication Date |
|---|---|
| CN113952038A true CN113952038A (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111237617.1A Pending CN113952038A (en) | 2021-10-22 | 2021-10-22 | Colonoscope robot system with enteroscope following function |
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| CN115399892A (en) * | 2022-11-01 | 2022-11-29 | 吉林大学 | System for assisting bronchoscope in diagnosis and treatment |
| WO2024007472A1 (en) * | 2022-07-04 | 2024-01-11 | 中国科学院自动化研究所 | Feeding system and feeding method for medical instrument having controllable flexible tail end |
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| CN104757930A (en) * | 2014-01-02 | 2015-07-08 | 中国科学院沈阳自动化研究所 | Operating control device for digestive endoscopy handle |
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