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CN-122005103-A - Miniature high-flexibility master-slave mechanical arm operating system for digestive endoscopes

CN122005103ACN 122005103 ACN122005103 ACN 122005103ACN-122005103-A

Abstract

The application discloses a miniature high-flexibility master-slave mechanical arm operating system for a digestive endoscope, which comprises a sheath tube, two mechanical arms, two driving components and two surgical instruments, wherein the two mechanical arms comprise a main body, a movable joint, four first driving wires and a first quick-release structure, the main body is connected to the sheath tube, the movable joint is connected to the main body and comprises a plurality of rotating parts, the four first driving wires are distributed along the circumferential direction of the rotating parts, each first driving wire penetrates through all the rotating parts and is fixedly connected with the rotating part at the forefront end, the first quick-release structure comprises a first connecting part and a second connecting part which are mutually clamped, the first connecting part is fixed on the rotating part at the forefront end, the two driving components are respectively arranged corresponding to the two mechanical arms and respectively comprise four first driving parts which are respectively connected to the four first driving wires, and the two surgical instruments are respectively connected to the second connecting parts of the two mechanical arms. The application has high flexibility, has multiple functions and can improve the operation efficiency.

Inventors

  • ZENG WEI
  • PAN JIA

Assignees

  • 长沙市第一医院

Dates

Publication Date
20260512
Application Date
20260319

Claims (10)

  1. 1. A miniature high flexibility master-slave type mechanical arm operating system for digestion endoscope is characterized in that the system comprises: A sheath; The mechanical arm comprises a main body, a movable joint, four first driving wires and a first quick-release structure, wherein the main body is connected with the sheath tube, the front end of the main body protrudes out of the front end of the sheath tube, the movable joint is connected with the front end of the main body, the movable joint comprises a plurality of rotating parts which are sequentially hinged front and back, any two adjacent rotating parts are orthogonally arranged, the four first driving wires are uniformly distributed along the circumferential direction of the rotating parts, and each first driving wire is arranged on all the rotating parts in a penetrating manner front and back and is fixedly connected with the rotating part at the forefront end; The two driving assemblies are respectively arranged corresponding to the two mechanical arms, each driving assembly comprises four first driving parts, and the four first driving parts are respectively connected with the four first driving wires and are used for pushing and pulling the first driving wires to drive the movable joints to move; and the two surgical instruments are respectively connected with the second connecting parts of the two mechanical arms.
  2. 2. The micro high-flexibility master-slave mechanical arm operating system for a digestive endoscope according to claim 1, wherein the front end of the first connecting portion is provided with a slot, the second connecting portion is provided with an insert block, the insert block is inserted into the slot, a side wall of one of the insert block and the slot is provided with a clamping concave position, and a side wall of the other one is provided with a clamping convex part to be clamped with the clamping concave position.
  3. 3. The micro high-flexibility master-slave mechanical arm operating system for a digestive endoscope according to claim 1, wherein one of the surgical instruments is a clamp, the mechanical arm further comprises a second driving wire, the second driving wire is arranged along the length direction of the sheath, the front end of the second driving wire is detachably connected to the clamp through a second quick-release structure, and the driving assembly further comprises a second driving part, and the second driving part is connected to the rear end of the second driving wire and used for pushing and pulling the second driving wire so as to drive the clamp to open and close.
  4. 4. The micro high flexibility master slave manipulator operating system for a digestive endoscope according to claim 3, wherein said second quick release structure comprises: the lock ring is connected with the second driving wire and is of an annular closed structure; the lock catch comprises a hook-shaped lock body and an elastic sheet, wherein the hook-shaped lock body is connected with the clamp and is provided with a notch, and the elastic sheet is arranged at the notch and seals the notch so as to form a locking space with the hook-shaped lock body in a surrounding manner; the lock ring is arranged in the locking space in a penetrating mode, and the elastic piece is configured to elastically move to open the notch under the action of external force, so that the lock ring can be separated from the lock catch through the notch.
  5. 5. A miniature high flexibility master slave manipulator operating system for a digestive endoscope according to claim 3 and wherein said clamp comprises: the sliding part is arranged on the second connecting part in a sliding manner along the push-pull direction of the second driving wire and is connected with the second driving wire through the second quick-dismantling structure; The middle parts of the two clamping parts are rotationally connected to the second connecting part; The front ends of the two connecting rods are respectively connected with the rear ends of the two clamping parts in a rotating mode, the rear ends of the two connecting rods are respectively connected with the sliding parts in a rotating mode, and the two clamping parts are driven to open and close through sliding of the sliding parts relative to the second connecting parts.
  6. 6. The micro high-flexibility master-slave manipulator operating system for a digestive endoscope according to claim 1, further comprising two power supply assemblies respectively provided corresponding to two of the manipulator arms, each of the power supply assemblies comprising: The front end of the conductive wire is fixed on the corresponding first connecting part and is provided with a first conductive contact; And the power supply is connected to the rear end of the conductive wire and is used for supplying power to the conductive wire.
  7. 7. The micro high-flexibility master-slave manipulator operating system for a digestive endoscope according to claim 6, wherein one of the surgical instruments is an electric knife, and a second conductive contact is provided on the second connecting portion connected to the electric knife, and the second conductive contact abuts against the first conductive contact and is electrically connected to the electric knife.
  8. 8. The micro high flexibility master slave manipulator operating system for a digestive endoscope of claim 6, wherein the conductive wire comprises: The front end of the first wire is fixed on the first connecting part and forms the first conductive contact, and the rear end of the first wire is provided with a male plug; one end of the second wire is provided with a female plug, and the other end of the second wire is connected with the power supply; the male plug is clamped with the female plug so as to realize the electric connection between the first wire and the second wire.
  9. 9. The micro high flexibility master-slave manipulator operating system for a digestive endoscope according to claim 1, wherein the first driving wire is connected with the first driving part through a third quick release structure comprising: a third connecting part rotatably connected to the rear end of the first driving wire around the central axis of the first driving wire, the third connecting part being provided with a threaded hole with an opening at the rear end; And one end of the fourth connecting part is connected with the first driving part, and the other end of the fourth connecting part is provided with external threads and is in threaded connection with the threaded hole.
  10. 10. The micro high flexibility master slave manipulator operating system for a digestive endoscope according to claim 1, further comprising a transmission box, wherein the rear end of the sheath is detachably connected to the transmission box, and two driving assemblies are disposed in the transmission box.

Description

Miniature high-flexibility master-slave mechanical arm operating system for digestive endoscopes Technical Field The application relates to the technical field of medical equipment, in particular to a miniature high-flexibility master-slave mechanical arm operating system for a digestive endoscope. Background Currently, therapeutic procedures (e.g., early cancer resection (ESD), polypectomy, hemostasis, suturing, etc.) performed under digestive endoscopes (gastroscopes, enteroscopes) rely primarily on a physician holding a special instrument through the biopsy channel of the endoscope. When in use, the digestive endoscope is firstly stretched into a patient along the cavity of the human body, then the surgical instrument is inserted into the biopsy channel of the digestive endoscope, and moves to the lesion position along the biopsy channel, and then the surgical operation is performed. In addition, a plurality of actions such as clamping, lifting, cutting and the like need to be performed for one operation, but the traditional instrument can only perform one function (such as cutting or clamping) at a time, so that complex and continuous compound actions are difficult to realize, and the operation efficiency is further reduced. Disclosure of Invention The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the miniature high-flexibility master-slave mechanical arm operating system for the digestive endoscope is high in flexibility degree, has multiple functions and can improve the operation efficiency. According to an embodiment of the application, a miniature high-flexibility master-slave mechanical arm operating system for a digestive endoscope comprises: A sheath; The mechanical arm comprises a main body, a movable joint, four first driving wires and a first quick-release structure, wherein the main body is connected with the sheath tube, the front end of the main body protrudes out of the front end of the sheath tube, the movable joint is connected with the front end of the main body, the movable joint comprises a plurality of rotating parts which are sequentially hinged front and back, any two adjacent rotating parts are orthogonally arranged, the four first driving wires are uniformly distributed along the circumferential direction of the rotating parts, and each first driving wire is arranged on all the rotating parts in a penetrating manner front and back and is fixedly connected with the rotating part at the forefront end; The two driving assemblies are respectively arranged corresponding to the two mechanical arms, each driving assembly comprises four first driving parts, and the four first driving parts are respectively connected with the four first driving wires and are used for pushing and pulling the first driving wires to drive the movable joints to move; and the two surgical instruments are respectively connected with the second connecting parts of the two mechanical arms. The miniature high-flexibility master-slave mechanical arm operating system for the digestive endoscope has at least the following beneficial effects: The movable joint with a plurality of orthogonal hinged rotating parts is arranged at the front end of the sheath tube, and four first driving wires which are uniformly distributed along the circumferential direction are adopted for driving, so that the capability of flexibly adjusting the posture and the position of a surgical instrument connected to the front end of the movable joint in a three-dimensional space can be realized, the flexibility and the accuracy of surgical operation are improved, and the surgical efficiency is further improved; through setting up the first quick detach structure in the front end of the mechanical arm, make the surgical instrument can be installed and dismantled fast, when needing to carry on the multistep operation, doctor can be under the condition of not changing the whole mechanical arm, through the second connecting portion of dismouting with the quick switch surgical instrument of dismouting, has shortened the instrument change time, has improved the operation efficiency. According to some embodiments of the application, the front end of the first connecting portion is provided with a slot, the second connecting portion is provided with an insert block, the insert block is inserted into the slot, a side wall of one of the insert block and the slot is provided with a clamping concave position, and a side wall of the other one is provided with a clamping convex part so as to be clamped with the clamping concave position. According to some embodiments of the application, one of the surgical instruments is a clamp, the mechanical arm further comprises a second driving wire, the second driving wire is arranged along the length direction of the sheath, the front end of the second driving wire is detachably connected to the clamp through a second quick-release structure, and the dri