CN212415893U - Handle movement device of flexible endoscope surgical robot system - Google Patents
Handle movement device of flexible endoscope surgical robot system Download PDFInfo
- Publication number
- CN212415893U CN212415893U CN202021364044.XU CN202021364044U CN212415893U CN 212415893 U CN212415893 U CN 212415893U CN 202021364044 U CN202021364044 U CN 202021364044U CN 212415893 U CN212415893 U CN 212415893U
- Authority
- CN
- China
- Prior art keywords
- endoscope
- robot system
- handle
- driving motor
- movement device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a handle telecontrol equipment of soft endoscope operation robot system is equipped with endoscope installation position on the mount pad, and the endoscope body is installed on the endoscope installation position, be equipped with the twist grip on the endoscope body, driving motor installs on the mount pad, driving motor's output shaft and the coaxial setting of twist grip, be equipped with the swinging boom on the output shaft, the swinging boom is connected with the twist grip, is equipped with on the swinging boom and answers force transducer. Through the handle movement device of the flexible endoscope surgical robot system with the optimized design, the servo motor is used as a driving device to control the forward and reverse rotation, the rotation angle and the like of the handle, and the strain sensor is used for collecting strain analysis in real time, so that the handle movement is in the set safe strain and angle range, and the precision and the response speed are improved.
Description
Technical Field
The utility model relates to an endoscopic surgery field especially relates to a handle telecontrol equipment of soft endoscopic surgery robot system.
Background
During the operation of the uretero-pyeloscope, the direction and the position of the front end of the insertion tube need to be adjusted according to the position of a focus. In the past, a doctor operates the scalpel in person, the operation is performed through an imaging system and hand feeling, the rotating angle of the end of the insertion tube is controlled by the handle of the endoscope each time, the judgment is performed through eyes, and the operation is performed manually, so that certain risks exist. Along with the time of the operation, the physical strength of the doctor gradually decreases, and the palm holding the endoscope feels heavier and heavier, so that the operation time is prolonged, and the postoperative rehabilitation process of the patient is prolonged.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems existing in the background technology, the utility model provides a handle movement device of a flexible endoscope operation robot system.
The utility model provides a handle telecontrol equipment of soft endoscope operation robot system, include: the endoscope comprises a mounting seat, an endoscope body and a driving motor;
be equipped with endoscope installation position on the mount pad, the endoscope body is installed on the endoscope installation position, be equipped with twist grip on the endoscope body, driving motor installs on the mount pad, and driving motor's output shaft and twist grip coaxial setting, be equipped with the swinging boom on the output shaft, the swinging boom is connected with twist grip, is equipped with strain transducer on the swinging boom.
Preferably, the endoscope installation position is provided with a pressing plate, one end of the pressing plate is provided with a rotating shaft and is rotatably installed on the installation seat through the rotating shaft, and one end, far away from the rotating shaft, of the pressing plate is provided with a locking structure used for being fixed with the installation seat.
Preferably, the rotating arm is further provided with an in-situ sensor.
Preferably, the driving motor is a servo motor, and a rotary encoder is arranged on the servo motor.
The utility model discloses in, the handle telecontrol equipment of soft endoscope operation robot system that provides is equipped with endoscope installation position on the mount pad, and the endoscope body is installed on the endoscope installation position, be equipped with the twist grip on the endoscope body, driving motor installs on the mount pad, driving motor's output shaft and the coaxial setting of twist grip, be equipped with the swinging boom on the output shaft, the swinging boom is connected with the twist grip, is equipped with on the swinging boom and answers force transducer. Through the handle movement device of the flexible endoscope surgical robot system with the optimized design, the servo motor is used as a driving device to control the forward and reverse rotation, the rotation angle and the like of the handle, and the strain sensor is used for collecting strain analysis in real time, so that the handle movement is in the set safe strain and angle range, and the precision and the response speed are improved.
Drawings
Fig. 1 is a schematic top view of a handle movement device of a flexible endoscopic surgical robot system according to the present invention.
Fig. 2 is a schematic front view of a handle movement device of a flexible endoscopic surgical robot system according to the present invention.
Fig. 3 is a schematic perspective view of a handle movement device of a flexible endoscopic surgical robot system according to the present invention.
Detailed Description
As shown in fig. 1 to 3, fig. 1 is a schematic top view structure diagram of a handle motion device of a flexible endoscopic surgery robot system provided by the present invention, fig. 2 is a schematic front view structure diagram of a handle motion device of a flexible endoscopic surgery robot system provided by the present invention, and fig. 3 is a schematic three-dimensional structure diagram of a handle motion device of a flexible endoscopic surgery robot system provided by the present invention.
Referring to fig. 1 to 3, the present invention provides a handle movement device of a flexible endoscopic surgical robot system, including: the endoscope comprises a mounting seat 10, an endoscope body 1 and a driving motor 6;
be equipped with the endoscope installation position on the mount pad 10, the endoscope body 1 is installed on the endoscope installation position, be equipped with twist grip 4 on the endoscope body 1, driving motor 6 installs on mount pad 10, and driving motor 6's output shaft and twist grip 4 coaxial settings, be equipped with swinging boom 7 on the output shaft, swinging boom 7 is connected with twist grip 4, is equipped with on the swinging boom 7 and meets a requirement for force transducer 5.
In this embodiment, the handle movement device of the flexible endoscopic surgical robot system is provided with an endoscope installation position on a mounting base, an endoscope body is installed on the endoscope installation position, a rotating handle is arranged on the endoscope body, a driving motor is installed on the mounting base, an output shaft of the driving motor is coaxially arranged with the rotating handle, a rotating arm is arranged on the output shaft and connected with the rotating handle, and a strain sensor is arranged on the rotating arm. Through the handle movement device of the flexible endoscope surgical robot system with the optimized design, the servo motor is used as a driving device to control the forward and reverse rotation, the rotation angle and the like of the handle, and the strain sensor is used for collecting strain analysis in real time, so that the handle movement is in the set safe strain and angle range, and the precision and the response speed are improved.
In the specific installation mode of the endoscope body, a pressing plate 2 is arranged on the endoscope installation position, one end of the pressing plate 2 is provided with a rotating shaft and is rotatably installed on an installation seat 10 through the rotating shaft, a locking structure 9 used for being fixed with the installation seat 10 is arranged at one end, far away from the rotating shaft, of the pressing plate 2, the endoscope body is placed on the endoscope installation position, then the pressing plate is rotated to tightly press the endoscope body, and the pressing plate is locked on the installation seat through the locking structure 9, so that the installation reliability is guaranteed.
In the specific design mode of the locking structure, the locking structure 9 adopts a pressing plate buckle, and a hook matched with the pressing plate buckle is arranged on the endoscope installation position.
In other embodiments, a home position sensor 8 is further disposed on the rotating arm 7.
In a specific selection mode of the driving motor, the driving motor 6 adopts a servo motor, and a rotary encoder is arranged on the servo motor, so that the remote control of the work in the surgical robot system is realized conveniently.
In the specific working process of the handle movement device of the flexible endoscope surgical robot system, the servo motor is controlled to rotate through the control program, the rotary encoder at the tail end of the servo motor is used for closed-loop feedback, two strain force sensors are mounted at the rotating shaft of the motor, the change of the movement force and the change of the angle are monitored in real time, the motor is stopped and alarmed immediately when the change is higher than the alarm value, a doctor is assisted to perform an operation, the precision of the movement process is improved, and the safety is guaranteed.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (4)
1. A handle movement device of a flexible endoscopic surgical robot system, comprising: a mounting seat (10), an endoscope body (1) and a driving motor (6);
be equipped with the endoscope installation position on mount pad (10), install endoscope body (1) on the endoscope installation position, be equipped with twist grip (4) on the endoscope body (1), install on mount pad (10) driving motor (6), the output shaft and the coaxial setting of twist grip (4) of driving motor (6), be equipped with swinging boom (7) on the output shaft, swinging boom (7) are connected with twist grip (4), are equipped with on swinging boom (7) and meet an emergency force transducer (5).
2. The handle movement device of the flexible endoscopic surgery robot system according to claim 1, wherein the endoscope installation position is provided with a pressing plate (2), one end of the pressing plate (2) is provided with a rotating shaft and is rotatably installed on the installation seat (10) through the rotating shaft, and one end of the pressing plate (2) far away from the rotating shaft is provided with a locking structure (9) for being fixed with the installation seat (10).
3. A handle movement device of a robotic system for soft endoscopic surgery according to claim 1, characterized in that the rotating arm (7) is further provided with an in-situ sensor (8).
4. The handle movement device of a robotic system for soft endoscopic surgery according to claim 1, wherein the driving motor (6) is a servo motor provided with a rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021364044.XU CN212415893U (en) | 2020-07-13 | 2020-07-13 | Handle movement device of flexible endoscope surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021364044.XU CN212415893U (en) | 2020-07-13 | 2020-07-13 | Handle movement device of flexible endoscope surgical robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212415893U true CN212415893U (en) | 2021-01-29 |
Family
ID=74277786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021364044.XU Active CN212415893U (en) | 2020-07-13 | 2020-07-13 | Handle movement device of flexible endoscope surgical robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212415893U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111772795A (en) * | 2020-07-13 | 2020-10-16 | 安徽航天生物科技股份有限公司 | Handle movement device of flexible endoscope surgical robot system |
-
2020
- 2020-07-13 CN CN202021364044.XU patent/CN212415893U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111772795A (en) * | 2020-07-13 | 2020-10-16 | 安徽航天生物科技股份有限公司 | Handle movement device of flexible endoscope surgical robot system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7454268B2 (en) | Manipulator | |
| CN104783846B (en) | A kind of operation technique device of the intelligent apparatus of use Minimally Invasive Surgery | |
| CN111084661A (en) | Operation support device, method of controlling the same, and recording medium | |
| EP3192449A1 (en) | System for robot-assisted control of a transrectal probe, for example for use in carrying out prostrate echography | |
| CN112568998B (en) | Remote master-slave interactive medical system and method | |
| CN111772795A (en) | Handle movement device of flexible endoscope surgical robot system | |
| CN104783845B (en) | Intelligent instrument for minimally invasive surgery | |
| CN212415893U (en) | Handle movement device of flexible endoscope surgical robot system | |
| WO2021105703A1 (en) | Controlling a surgical instrument | |
| CN117813036A (en) | Soft endoscope system, soft endoscope auxiliary device and operation method | |
| KR101454322B1 (en) | Master Robot for Surgery Robot System | |
| US11399910B2 (en) | Medical system | |
| CN107970069B (en) | A kind of multiple degrees of freedom remote operation handle for operating robot | |
| KR20130128784A (en) | Master robot for surgery robot system | |
| EP2067462B1 (en) | System and method for rehabilitation | |
| CN215149134U (en) | Remote interactive slave robot and remote interactive medical system | |
| CN114259301B (en) | Puncture structure, master hand controller and puncture robot | |
| CN212415895U (en) | Unpowered handle of flexible endoscope surgical robot system | |
| KR20200075535A (en) | User interface device, master console for surgical robot apparatus and operating method of master console | |
| US8068941B2 (en) | User-controllable power-assisted system and method for the application of pressure | |
| RU2716353C1 (en) | Hand controller for use in robot surgery system operator's controller | |
| CN211485537U (en) | Traction device for helping patient to recover | |
| CN212415891U (en) | Whole rotary mechanism of endoscope of flexible endoscope operation robot system | |
| CN116327375A (en) | Slave operation device, surgical robot, and movement control method therefor | |
| JP6838341B2 (en) | Assist device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |