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CN-224220234-U - Combined dual-purpose control robot for flexible endoscope

CN224220234UCN 224220234 UCN224220234 UCN 224220234UCN-224220234-U

Abstract

The utility model discloses a combined dual-purpose control robot for a flexible endoscope, which comprises a steering device and a control system, wherein the steering device comprises a bracket supporting plate, a steering guide piece is rotationally connected to the bracket supporting plate, a flexible endoscope bent pipe is connected to the steering guide piece, the flexible endoscope bent pipe is connected to an endoscope, a driving mechanism is connected to the bracket supporting plate, the output end of the driving mechanism is in power connection with the steering guide piece, and the steering guide piece guides the flexible endoscope bent pipe through the power of the driving mechanism.

Inventors

  • ZHAN YING
  • ZHANG LEI
  • XIONG WEI
  • LI YUCHAO

Assignees

  • 宇鷹醫療國際有限公司

Dates

Publication Date
20260512
Application Date
20250410

Claims (10)

  1. 1. The combined dual-purpose control robot for the flexible endoscope is characterized by comprising a steering device (1) and a control system (2), wherein the steering device (1) comprises a support supporting plate (101), a steering guide piece (102) is rotationally connected to the support supporting plate (101), a flexible endoscope bent pipe is connected to the steering guide piece (102), an endoscope is connected to the flexible endoscope bent pipe, a driving mechanism (103) is connected to the support supporting plate (101), and the output end of the driving mechanism (103) is in power connection with the steering guide piece (102); The driving mechanism (103) comprises a rotation adjusting part (104) and a direction adjusting part (105), the rotation adjusting part (104) comprises a rotating shaft (106), the output end of the rotating shaft (106) is fixedly connected with the support supporting plate (101), the steering guide piece (102) comprises an operation ring (110) and a central tooth (107), and the operation ring (110) is in power connection with the central tooth (107).
  2. 2. A combined dual-purpose manipulation robot for a flexible endoscope as set forth in claim 1, wherein the direction adjusting part (105) comprises a movable groove formed in the rotating shaft (106), a center tooth (107) is slidably connected to the movable groove, a connecting rod (108) is rotatably connected to the center tooth (107), the other end of the connecting rod (108) is rotatably connected to a non-rotating center on the steering guide (102), and rotation of the steering guide (102) is controlled by sliding of the center tooth (107) in the movable groove.
  3. 3. A combined dual-purpose control robot for a flexible endoscope as set forth in claim 2, wherein a first matching rod (1081) is rotatably connected to the center tooth (107), a second matching rod (1082) is rotatably connected to the steering guide (102), the first matching rod (1081) and the second matching rod (1082) are located on the same side of the support plate (101), and one end of the connecting rod (108) is connected to each of the first matching rod (1081) and the second matching rod (1082).
  4. 4. A combined dual-purpose control robot for a flexible endoscope as set forth in claim 2, wherein a pushing member for driving a center tooth (107) to move is connected to the rotating shaft (106), a pushing connecting member (1101) slidingly connected to the rotating shaft (106) is disposed on the pushing member, and the pushing connecting member (1101) is connected to the center tooth (107) and drives the center tooth (107) to move.
  5. 5. A combined dual-purpose control robot for a flexible endoscope, as set forth in claim 4, characterized in that a pushing rod (109) is fixedly connected to the rotating shaft (106), an operating ring (110) is rotatably connected to the pushing rod (109), the pushing connector (1101) is connected to the operating ring (110), and two ends of the pushing connector (1101) are rotatably connected to the operating ring (110) and the center tooth (107), respectively.
  6. 6. The combined dual-purpose control robot of the flexible endoscope as set forth in claim 1, wherein the rotating shaft (106) is connected with a conversion shaft, the conversion shaft comprises two modes of power connection and manual power connection of a mechanical arm (4), and the conversion shaft realizes power support of a driving mechanism (103) through the two modes of the mechanical arm (4) and the manual power connection.
  7. 7. The combined dual-purpose control robot of flexible endoscope of claim 6, wherein the power connection of the mechanical arm (4) of the conversion shaft comprises power output ends of the mechanical arm (4) connected with the conversion shaft, the mechanical arm (4) comprises a plurality of joint arms and joint motors arranged in the joint arms, one joint arm is connected with the power output ends of the mechanical arm (4), the joint arms are movably connected with each other, the joint arms are driven by the joint motors to further realize the direction change of the mechanical arm (4), and the power driving of the steering guide piece (102) is carried out by the mechanical arm (4).
  8. 8. A combined dual-purpose control robot for a flexible endoscope as set forth in claim 6, wherein the manual power connection of the conversion shaft comprises a rotating disc (602) connected to the conversion shaft, the rotating disc (602) is in power connection with the conversion shaft, and rotation of the rotating disc (602) drives rotation of the rotating shaft (106).
  9. 9. The combined dual-purpose robot of controlling of flexible endoscope of claim 8, wherein the manual power connection of changeover spindle still includes connecting seat (601) that is connected with on the changeover spindle rotates, be connected with displacement adjusting device on connecting seat (601), displacement adjusting device includes rotating seat (604) that is connected with on connecting seat (601), rotating seat (604) is in rotating connection between connecting seat (601), rotating seat (604) are equipped with the rotary mechanism that support connecting seat (601) revolute rotating seat (604) and rotate, and rotating seat (604) bottom is connected with sliding seat (605) and slide rail (606) that are used for the plane to remove.
  10. 10. A combined dual-purpose control robot for a flexible endoscope as set forth in claim 1, wherein the support plate (101) is rotatably connected with the steering guide member (102), a fixed caliper (113) is arranged on one side of the steering guide member (102) away from the support plate (101), and the flexible endoscope elbow is arranged in the fixed caliper (113).

Description

Combined dual-purpose control robot for flexible endoscope Technical Field The utility model relates to the technical field of endoscopes, in particular to a combined dual-purpose control robot for a flexible endoscope. Background The flexible endoscope robot is widely used for clinical operation, in particular for ureteroscope operation, gastroscope operation, bronchofiberscope operation and the like, and passes through urethra, ureter or other parts in human body to reach an operation area through the flexible endoscope robot, and then the operation is performed through the flexible endoscope. At present, when a doctor uses the flexible endoscope, the doctor can only stand and operate, and the operation posture is that the doctor holds the handle of the flexible endoscope by one hand and holds the flexible cable of the flexible endoscope by the other hand. In operation, the long shaft of the handle of the flexible endoscope is basically vertical to the ground or forms a certain included angle with the ground, in order to find the favorable viewing angle of the head of the flexible endoscope in the body, the holding hand is required to continuously adjust the wrist angle and rotate the wrist to control the position of the flexible endoscope, the holding posture is required to be kept for a long time in the operation, the holding hand cannot be put down, and doctors are easy to fatigue. Moreover, the bending of the flexible endoscope is regulated by pushing a control ring on a handle of the flexible endoscope by a thumb, and the thumb is pushed for a long time, so that the thumb is extremely easy to fatigue and damage the joint of the Shenzhen thumb, and even muscle paralysis is possibly caused, so that misoperation is caused. Meanwhile, the operation of the flexible endoscope requires a doctor to have certain experience and skill, so that the flexible endoscope can smoothly reach a designated focus position or a focus can be found in the body through continuously changing positions. Improvements are therefore needed to optimize the manner in which a physician operates. Disclosure of utility model The utility model aims to provide a combined dual-purpose control robot for a flexible endoscope, which overcomes the defects in the prior art. In order to achieve the above purpose, the present utility model provides the following technical solutions: The application discloses a combined dual-purpose control robot for a flexible endoscope, which comprises a steering device and a control system, wherein the steering device comprises a bracket supporting plate, a steering guide piece is rotationally connected to the bracket supporting plate, a flexible endoscope bent pipe is connected to the steering guide piece, the flexible endoscope bent pipe is connected with the endoscope, a driving mechanism is connected to the bracket supporting plate, the output end of the driving mechanism is in power connection with the steering guide piece, and the steering guide piece guides the flexible endoscope bent pipe through the power of the driving mechanism to control the flexible endoscope bent pipe to steer; The driving mechanism comprises a rotation adjusting part and a direction adjusting part, the rotation of the support supporting plate and the rotation of the steering guide piece are respectively controlled, the rotation adjusting part comprises a rotating shaft, the output end of the rotating shaft is fixedly connected with the support supporting plate, the support supporting plate is driven to rotate through the rotation of the rotating shaft, and therefore omni-directional steering is achieved through cooperation with the rotation of the steering guide piece. Preferably, the direction adjusting part comprises a movable groove formed in the rotating shaft, a central tooth is connected in the movable groove in a sliding mode, a connecting rod is connected to the central tooth in a rotating mode, the other end of the connecting rod is connected to a non-rotating center on the steering guide piece in a rotating mode, and the rotation of the steering guide piece is controlled through the sliding of the central tooth in the movable groove. Preferably, the first matching rod is rotatably connected to the center tooth, the second matching rod is rotatably connected to the steering guide member, the first matching rod and the second matching rod are located on the same side of the support plate, and one end of the connecting rod is connected to the first matching rod and one end of the connecting rod is connected to the second matching rod respectively. Preferably, the rotating shaft is connected with a pushing member, the pushing member is provided with a pushing connecting member which is in sliding connection with the rotating shaft, and the pushing connecting member is connected with the center tooth. Preferably, the rotating shaft is fixedly connected with a pushing rod, the pushing rod is rotationally connected with an o