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CN113520596B - Clamping mechanism, mirror holding arm and mirror holding robot - Google Patents

Clamping mechanism, mirror holding arm and mirror holding robot Download PDF

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Publication number
CN113520596B
CN113520596B CN202010287019.4A CN202010287019A CN113520596B CN 113520596 B CN113520596 B CN 113520596B CN 202010287019 A CN202010287019 A CN 202010287019A CN 113520596 B CN113520596 B CN 113520596B
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bronchoscope
clamping
catheter
lens
holder
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CN113520596A (en
Inventor
李明
陈功
常新朝
何超
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Shanghai Microport Medbot Group Co Ltd
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Shanghai Microport Medbot Group Co Ltd
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Priority to CN202010287019.4A priority Critical patent/CN113520596B/en
Priority to PCT/CN2021/086718 priority patent/WO2021208869A1/en
Publication of CN113520596A publication Critical patent/CN113520596A/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/72Micromanipulators
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/301Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/303Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

The invention provides a clamping mechanism, a mirror holding arm and a mirror holding robot. The body of the bronchoscope can be conveniently placed into the inner cavity of the clamping seat through the opening of the inner cavity of the clamping seat, and the body fixing mechanism is switched to a first locking state and limits the degree of freedom of the body of the bronchoscope together with the clamping seat. The valve hold-down mechanism is switched to a second locked state to apply a force to the suction valve switch of the bronchoscope to open the suction valve switch. Therefore, the whole bronchoscope is clamped, and the operation mode that an operator holds the bronchoscope is replaced. Furthermore, the clamping mechanism can be arranged on the endoscope holding arm and further arranged on the endoscope holding robot, so that an operator can control the bronchoscope through remote control, the operator is prevented from being exposed in a high-risk area, and the risk of infection of the operator is reduced.

Description

Clamping mechanism, mirror holding arm and mirror holding robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a clamping mechanism, a mirror holding arm and a mirror holding robot.
Background
Bronchoscopes are medical instruments that are placed into the lower respiratory tract of a patient orally or nasally and are commonly used for observation, biopsy sampling, bacteriological and cytological examination of lesions of pulmonary lobes, segments and subsegments. The bronchoscope is used for carrying out alveolar lavage treatment and examination on the lung lobe of the lower respiratory tract where the focus is located, so that the detection rate and the accuracy of infectious respiratory diseases can be effectively improved. Particularly for diseases such as novel coronavirus, replication and outbreak of the lower respiratory tract are often concentrated, and the nucleic acid detection accuracy of specimens obtained by alveolar lavage of the lower respiratory tract is higher than that of specimens obtained by pharyngeal swab detection. And lavage treatment directly to the lungs with a bronchoscope can also alleviate the symptoms of the lower respiratory tract.
However, the conventional bronchoscope diagnosis process requires the medical staff to hold the bronchoscope for operation, and the medical staff and the patient can be in close contact. Moreover, the critical patients mostly need to be subjected to tracheal intubation or tracheotomy for ventilator assisted ventilation, and due to the high exposure in the bronchoscopy process, adverse consequences of infection of operation medical staff in the diagnosis and treatment processes are easily caused in the use of some respiratory diseases with high infectivity.
Disclosure of Invention
The invention aims to provide a clamping mechanism, a mirror holding arm and a mirror holding robot, which are used for solving the problem of safety risk in the operation in the prior art, are simple in equipment structure, high in applicability and high in operation precision, and reduce the fatigue of medical staff in the operation.
To solve the above technical problems, according to an aspect of the present invention, there is provided a clamping mechanism for clamping a bronchoscope, comprising: the clamping seat, the valve pressing mechanism and the lens body fixing mechanism;
the holder is provided with an inner cavity, the inner cavity is provided with an opening, and the inner cavity is used for the body of the bronchoscope to be placed in from the opening;
the mirror body fixing mechanism is switched between a first locking state and a first opening state; when the endoscope body fixing mechanism is in the first locking state, the endoscope body fixing mechanism is connected with the clamping seat and defines at least one part of freedom degree of the bronchoscope together with the inner cavity; when the scope fixing mechanism is in the first opening state, the limitation on the degree of freedom of at least one part of the bronchoscope is released;
the valve pressing mechanism comprises a valve pressing block, the valve pressing mechanism is switched between a second locking state and a second opening state, and when the valve pressing mechanism is in the second locking state, the valve pressing block is used for applying force to a suction valve switch of the bronchoscope to enable the suction valve switch to be opened; and when the valve pressing mechanism is in the second opening state, the force application to the suction valve switch is released.
Optionally, in the clamping mechanism, the clamping seat includes a first positioning element, the scope fixing mechanism includes a scope pressing block and a second positioning element, and the second positioning element is fixedly disposed on the scope pressing block; when the endoscope body fixing mechanism is configured to be in the first locking state, the first positioning piece is matched and connected with the second positioning piece, and the endoscope body pressing block covers at least one part of the opening of the inner cavity.
Optionally, in the clamping mechanism, the lens body pressing block is detachably arranged relative to the clamping seat; the lens body pressing block is configured to be in the first opening state when the lens body fixing mechanism is detached from the clamping seat.
Optionally, in the clamping mechanism, the scope fixing mechanism further includes: the lens cushion block is detachably arranged on the clamping seat; the lens body fixing mechanism is configured to be in the first locking state, and the lens body cushion block is located between the lens body pressing block and the clamping seat and is in fit connection with at least one of the first positioning piece and the second positioning piece.
Optionally, in the clamping mechanism, the first positioning element and the second positioning element include magnetic elements that attract each other; or the first positioning piece and the second positioning piece comprise fastening pieces which are fastened with each other.
Optionally, in the clamping mechanism, the clamping seat includes a third positioning element, and the third positioning element is used for being connected with a corresponding component of the aseptic isolation mechanism in a matching manner, so as to fix the aseptic isolation mechanism.
Optionally, in the clamping mechanism, the valve pressing block is rotatably disposed on the clamping seat.
Optionally, in the clamping mechanism, the valve pressing mechanism includes a locking buckle disposed on the clamping seat, and the locking buckle is configured to lock rotation of the valve pressing block, so that the valve pressing mechanism is in the second locking state; the locking buckle is configured to unlock the rotation of the valve pressing block, and the valve pressing mechanism is in the second opening state.
Optionally, the clamping mechanism includes a catheter protection mechanism, and the catheter protection mechanism is detachably disposed at a distal end of the clamping seat and is used for allowing a catheter of the bronchoscope to pass through; the catheter protection mechanism comprises a telescopic sheath and a connecting part, the connecting part is detachably connected with the clamping seat, and the telescopic sheath is fixedly connected with the connecting part and is arranged in a telescopic manner along the axial direction; the connecting portion have be used for supplying the first through-hole that the pipe of bronchoscope wore to establish, flexible sheath has and is used for supplying the second through-hole that the pipe of bronchoscope wore to establish, first through-hole with the coaxial setting in second through-hole.
Optionally, in the clamping mechanism, the telescopic sheath includes a plurality of telescopic joints, and the plurality of telescopic joints are sequentially coaxially connected in a sleeving manner; the telescopic sheath is telescopic by mutual movement of the plurality of telescopic joints along the axial direction.
Optionally, the clamping mechanism further comprises: a knob drive mechanism; the knob driving mechanism comprises a driving part and a transmission part, and the transmission part is rotatably arranged on the clamping seat and is used for being coupled and connected with the catheter driving knob of the bronchoscope; the driving component is used for driving the transmission component to rotate.
Optionally, in the clamping mechanism, the transmission component includes a cam located in the inner cavity and a transmission shaft penetrating out of the inner cavity, and the driving component is disposed outside the inner cavity and coupled to the transmission shaft; the cam is eccentrically arranged relative to the transmission shaft and is used for driving the catheter driving knob of the bronchoscope to rotate under the rotation of the transmission shaft.
Optionally, in the clamping mechanism, the cam includes two oppositely disposed side edges, and the two side edges are parallel.
Optionally, in the clamping mechanism, the inner cavity has a limiting surface, and the limiting surface is used for limiting the degree of freedom of circumferential rotation and movement towards the distal end of an insert.
In order to solve the above technical problem, according to another aspect of the present invention, there is provided a mirror holding arm including: the lens holder comprises a base, a lens holding seat and the clamping mechanism; the clamping seat is movably arranged on the lens holding seat along the axial direction of the lens holding seat, and the lens holding seat is rotatably arranged on the base around the axis of the lens holding seat.
Optionally, in the mirror holding arm, the range of the rotation angle of the mirror holding base is ± 170 °.
Optionally, the mirror holding arm further includes: the aseptic isolation mechanism at least wraps the clamping seat, the endoscope holding seat and the base and at least exposes the inner cavity outside.
Optionally, the mirror holding arm further includes: the catheter bracket is arranged at the distal end of the lens holder; the clamping mechanism comprises a catheter protection mechanism which is detachably arranged at the far end of the clamping seat and is used for the catheter of the bronchoscope to penetrate through; the catheter mount is configured to couple to the catheter protection mechanism and defines at least a radial degree of freedom of the catheter protection mechanism.
To solve the above technical problem, according to still another aspect of the present invention, there is provided a mirror holding robot including: the mirror holding arm, the control end and the robot body are arranged as described above; the mirror holding arm is arranged on the robot body, and the control end and the robot body are arranged at intervals.
In summary, in the clamping mechanism, the mirror holding arm and the mirror holding robot provided by the invention, the clamping mechanism comprises a clamping seat, a valve pressing mechanism and a mirror body fixing mechanism; the holder is provided with an inner cavity, the inner cavity is provided with an opening, and the inner cavity is used for the body of the bronchoscope to be placed in from the opening; the mirror body fixing mechanism is switched between a first locking state and a first opening state; when the endoscope body fixing mechanism is in the first locking state, the endoscope body fixing mechanism is connected with the clamping seat and defines at least one part of freedom degree of the bronchoscope together with the inner cavity; when the scope fixing mechanism is in the first opening state, the limitation on the degree of freedom of at least one part of the bronchoscope is released; the valve pressing mechanism comprises a valve pressing block, the valve pressing mechanism is switched between a second locking state and a second opening state, and when the valve pressing mechanism is in the second locking state, the valve pressing block is used for applying force to a suction valve switch of the bronchoscope to open the suction valve switch; and when the valve pressing mechanism is in the second opening state, the force application to the suction valve switch is released. With the arrangement, the body of the bronchoscope can be conveniently placed into the inner cavity of the clamping seat through the opening of the inner cavity of the clamping seat, and the scope body fixing mechanism is switched to the first locking state and defines the degree of freedom of the body of the bronchoscope together with the clamping seat. The valve hold-down mechanism is switched to a second locked state to apply a force to a suction valve switch of the bronchoscope to open the suction valve switch. Thus, a grip is formed on the entire bronchoscope, replacing the way the operator holds the bronchoscope. Further, the clamping mechanism can be arranged on the endoscope holding arm, and further arranged on the endoscope holding robot, so that an operator can control the bronchoscope through remote control, the operator is prevented from being exposed in a high-risk area, physical fatigue of the operator in the operation process is relieved, and the infection risk is reduced.
Drawings
It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:
FIG. 1 is a schematic diagram of a robot for holding a mirror provided in an embodiment of the present invention;
FIG. 2 is a schematic view of a mirror holding arm according to an embodiment of the present invention;
FIG. 3 is a schematic view of a clamping mechanism provided in accordance with an embodiment of the present invention;
FIG. 4 is a partially schematic view of a bronchoscope according to one embodiment of the present invention;
FIG. 5 is a schematic view of the use of a clip-on mechanism according to one embodiment of the invention, wherein the bronchoscope is configured to be inserted into the clip-on mechanism;
FIG. 6 is a schematic view of another angle of the clamping mechanism shown in FIG. 5;
FIG. 7 is a schematic illustration of the use of a clip mechanism according to an embodiment of the present invention with a bronchoscope configured to fit into the clip mechanism;
FIG. 8 is a schematic illustration of the use of the clamping mechanism provided by an embodiment of the present invention wherein the valve clamping mechanism is configured in a second locked state;
FIG. 9 is a schematic view of the use of the clamping mechanism in accordance with one embodiment of the present invention, wherein the catheter protection mechanism is mounted on the clamping base;
FIG. 10 is a schematic view of a clamping mechanism according to an embodiment of the present invention, wherein the mirror fixing mechanism is mounted on the clamping base;
FIG. 11 is a schematic view of a clamping mechanism provided in accordance with an embodiment of the present invention, wherein the mirror fixing mechanism is configured in a first locking state;
FIG. 12 is a schematic view of the packaging envelope of a sterile barrier mechanism provided by an embodiment of the present invention;
FIG. 13 is a partial schematic view of a sterile barrier mechanism provided in accordance with an embodiment of the present invention;
FIG. 14 is a schematic illustration of a torque transmitting mechanism of the sterile isolation mechanism provided in accordance with an embodiment of the present invention;
FIG. 15 is a partial cross-sectional view of the torque transmitting mechanism of the sterile isolation mechanism of the present invention installed on the clamping mechanism taken along the line A-A in FIG. 14 according to one embodiment of the present invention;
FIG. 16 is a schematic view of a first adapter of the sterile isolator mechanism provided by one embodiment of the present invention;
FIG. 17 is a schematic view of a second adapter of the sterile isolator mechanism provided by an embodiment of the present invention;
FIG. 18 is a schematic view of an insert of a sterile isolation mechanism provided in accordance with an embodiment of the present invention;
FIG. 19 is a schematic view of an insert of the sterile isolation mechanism being mounted on a clamping mechanism according to an embodiment of the present invention;
FIG. 20 is a schematic view of an insert of a sterile barrier mechanism in accordance with an embodiment of the present invention shown in connection with a catheter protection mechanism;
FIG. 21 is a schematic view of a catheter mount of the sterile isolation mechanism provided in accordance with an embodiment of the present invention;
FIG. 22 is a schematic view of a catheter holder of a sterile isolation mechanism being mounted on a lens holder according to an embodiment of the present invention;
fig. 23 is a schematic view of the catheter protection mechanism disposed through the catheter stent according to an embodiment of the present invention.
In the drawings:
1-a control end; 2-holding the lens arm; 20-axis; 21-a base; 22-holding the lens base; 23-a catheter stent; 3-a robot body; 4-a hospital bed; 5-a bronchoscope; 51-a bronchoscope body; 52-a catheter; 53-syringe; 54-a suction tube; 55-suction valve switch; 56-catheter drive knob;
10-a clamping mechanism; 11-a clamping seat; 110-lumen; 111-a first positioning member; 112-a limiting surface; 113-a third positioning element; 12-a valve hold down mechanism; 121-valve briquetting; 122-a locking buckle; 13-a lens body fixing mechanism; 131-a lens body pressing block; 132-a second positioning element; 133-mirror block; 14-a catheter protection mechanism; 141-a telescopic sheath; 142-a connecting portion; 143-expansion joint; 15-a knob drive mechanism; 152-a transmission member; 153-a cam; 154-a drive shaft;
60-a sterile isolation mechanism; 61-an isolation bag; 62-a torque transmitting mechanism; 621-cam sleeve; 622-a limiting body; 63-an insert; 631-a step surface; 632-a fixed part; 64-a first adapter; 65-second adapter.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings are intended to show different emphasis, sometimes in different proportions.
As used in this specification, the singular forms "a", "an" and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally used in its sense including "and/or" unless the content clearly dictates otherwise, the term "proximal" is generally the end near the operator and the terms "distal" and "distal" are generally the end near the patient, near the lesion. The term "connected" in the present specification may be directly connected or indirectly connected, unless otherwise specified.
The invention provides a clamping mechanism, a mirror holding arm and a mirror holding robot, and aims to solve the problem of safety risks in surgical operation in the prior art.
The following description refers to the accompanying drawings.
Referring to fig. 1 to 23, fig. 1 is a schematic view of a holding robot according to an embodiment of the present invention, fig. 2 is a schematic view of a holding arm according to an embodiment of the present invention, fig. 3 is a schematic view of a holding mechanism according to an embodiment of the present invention, fig. 4 is a partial schematic view of a bronchoscope according to an embodiment of the present invention, fig. 5 is a schematic view of a use of a holding mechanism according to an embodiment of the present invention, wherein the bronchoscope is configured to be installed in the holding mechanism, fig. 6 is a schematic view of another angle of the holding mechanism shown in fig. 5, fig. 7 is a schematic view of a use of a holding mechanism according to an embodiment of the present invention, wherein the bronchoscope is configured to be installed in the holding mechanism, fig. 8 is a schematic view of a use of a holding mechanism according to an embodiment of the present invention, wherein a valve pressing mechanism is configured to be in a second locking state, fig. 9 is a schematic view of a use of a holding mechanism according to an embodiment of the present invention, wherein the catheter protection mechanism is mounted on the clamping base, fig. 10 is a schematic usage view of the clamping mechanism according to an embodiment of the present invention, wherein the lens fixing mechanism is configured in a first locking state before being mounted on the clamping base, fig. 11 is a schematic usage view of the clamping mechanism according to an embodiment of the present invention, fig. 12 is a schematic wrapping range view of the sterile isolation mechanism according to an embodiment of the present invention, fig. 13 is a partial schematic view of the sterile isolation mechanism according to an embodiment of the present invention, fig. 14 is a schematic torque transmission mechanism of the sterile isolation mechanism according to an embodiment of the present invention, fig. 15 is a partial cross-sectional view of the torque transmission mechanism of the sterile isolation mechanism according to an embodiment of the present invention, which is mounted on the clamping mechanism, taken along the line of fig. 14 "a-a", fig. 16 is a schematic usage view of the first adapter of the sterile isolation mechanism according to an embodiment of the present invention, fig. 17 is a schematic view of a second adapter of the sterile isolation mechanism according to an embodiment of the invention, fig. 18 is a schematic view of an insert of the sterile isolation mechanism according to an embodiment of the invention, fig. 19 is a schematic view of the insert of the sterile isolation mechanism according to an embodiment of the invention being mounted on a holding mechanism, fig. 20 is a schematic view of the insert of the sterile isolation mechanism according to an embodiment of the invention being connected with a catheter protection mechanism, fig. 21 is a schematic view of a catheter holder of the sterile isolation mechanism according to an embodiment of the invention, fig. 22 is a schematic view of the catheter holder of the sterile isolation mechanism according to an embodiment of the invention being mounted on a lens holder, and fig. 23 is a schematic view of the catheter protection mechanism according to an embodiment of the invention being inserted into the catheter holder.
As mentioned in the background, many bronchoscopes in hospitals are handled by medical personnel, which exposes the medical personnel to infection in the face of highly contagious respiratory diseases. The inventor has found that the types of bronchoscopes currently available in medical institutions are varied, and it is difficult to use the existing bronchoscopes so that the bronchoscopes can be mechanically operated.
In order to solve one or more technical problems in the prior art, an embodiment of the present invention provides a robot for holding a mirror, as shown in fig. 1, the robot for holding a mirror includes: control end 1, patient end. The control end 1 is in communication connection with the patient end. The patient end comprises a mirror holding arm 2 and a robot body 3, and the mirror holding arm 2 is arranged on the robot body 3. The holding arm 2 is used for holding a bronchoscope 5 to treat or detect a patient on the sickbed 4. In practice, the patient end can be arranged in a room where the patient is located, the control end 1 is in communication connection with the patient end in a wired or wireless mode, and the operator and the control end 1 are preferably located in a different room from the patient end so as to realize physical isolation of the operator and the patient. The control end 1 and the patient end can be respectively arranged in different hospitals and different regions and are in communication connection through a remote communication technology.
The present invention is not particularly limited with respect to the type and size of the bronchoscope 5. Referring to fig. 4, a conventional bronchoscope 5 is shown. In the present embodiment, the bronchoscope 5 is a bronchoscope, and includes a bronchoscope body 51, a catheter 52, an injection tube 53, a suction tube 54, a suction valve switch 55, and a catheter driving knob 56. The catheter 52 includes a viewing channel for insertion into a target tissue, such as the lungs, bronchi, etc., of the patient, and the operator can view the lesion of the target tissue through a lens in the viewing channel. The catheter 52 may also include a functional channel in communication with the syringe 53 for performing a surgical procedure such as a perfusion, biopsy, or the like. For example, the operator injects a fluid (such as saline or medical fluid) into the distal end of the catheter 52 through the injection tube 53, and the fluid flows into the lungs of the patient, thereby performing a surgical operation such as bronchoalveolar lavage. In addition, the functional channel is in communication with a suction tube 54 through which suction tube 54 may draw fluid from the distal end of catheter 52 to draw the fluid accumulation from the patient. The suction valve switch 55 controls the opening and closing of the suction tube 54 to control the suction of the liquid. Typically, the operator needs to turn on suction by pressing the suction valve switch 55. A catheter drive knob 56 is used to drive the distal end of the catheter 52 in oscillation, and the operator can effect adjustment of the direction of oscillation of the distal end of the catheter 52 by turning the catheter drive knob 56. In the use of the conventional bronchoscope 5, an operator holds the bronchoscope body 51 to control the bronchoscope 5 to deliver the bronchoscope forward and backward to the distal end, so that the catheter 52 moves back and forth along the axial direction, and the distal end of the catheter 52 advances and retreats in the target tissue of the patient; the operator can also control the bronchoscope 5 to rotate circumferentially around the axis within a range of +/-120 degrees, so that the distal end of the catheter 52 rotates circumferentially on the target tissue of the patient correspondingly, and the position of the distal end of the catheter 52 is adjusted; the operator operates the catheter drive knob 56 to oscillate the distal end of the catheter 52 over the target tissue of the patient. In this way, adjustment of the distal end posture of the catheter 52 is achieved.
Based on the bronchoscope 5, referring to fig. 2, the scope holding arm 2 provided in this embodiment clamps the bronchoscope 5 and drives the bronchoscope 5 to a desired position, and preferably, can also realize the injection and suction functions of the bronchoscope 5. Preferably, the mirror holding arm 2 includes: a base 21, a lens holder 22, and a clamping mechanism 10; the holding mechanism 10 is movably disposed on the lens holder 22 along the axial direction of the lens holder 22, and the lens holder 22 is rotatably disposed on the base 21 around its axis 20. The clamping mechanism 10 is used to clamp the bronchoscope 5. The gripper mechanism 10, in turn, drives the bronchoscope 5 to move back and forth in the axial direction by moving axially on the scope holder 22. The holder 22 drives the clip mechanism 10 and the bronchoscope 5 to pivot by rotating about its own axis 20. In practice, a person skilled in the art can set a rotary joint on the base 21 to drive the lens holder 22 to rotate according to the prior art; the holder 22 is provided with a movable joint to move the holding mechanism 10. The rotary joint and the movable joint can be driven by adopting the forms of a servo motor, a linear motor, a screw rod mechanism or an air cylinder and the like, and can be in communication connection with the control end 1, so that an operator can remotely control the rotary joint and the movable joint. Further, the robot body 3 may further include more joints to provide a more flexible adjustment method, a higher adjustment precision, and a larger working space for the mirror holding arm 2, for example, the robot body 3 may be provided with a lifting joint or a plurality of rotating joints, so that the mirror holding arm 2 may be lifted or may vertically rotate around the robot body 3, and the like. Optionally, the lifting joints or the rotating joints are also in communication connection with the control end 1 and realize movement under the control of the control end 1. Further, the robot body 3 is provided with casters, which facilitate the operator to move the entire mirror holding robot.
Preferably, the range of the rotation angle of the lens holder 22 is ± 170 °. With current bronchoscopes 5, the circumferential rotation (i.e., autorotation) angle is often limited, typically to within ± 120 °. By utilizing the rotation of the holder 22, a larger rotation range is set for the rotation of the bronchoscope 5, so as to increase the working space of the bronchoscope 5. Further, since the rotation of the lens holder 22 is driven by a servo motor or the like, the accuracy of the rotation is high.
Referring to fig. 3, in an exemplary embodiment, the clamping mechanism 10 includes: a clamping seat 11, a knob driving mechanism 15 and a mirror body fixing mechanism 13. The knob drive mechanism 15 is configured to be coupled to a catheter drive knob 56 of the bronchoscope 5, so as to drive the distal end of the bronchoscope 5 to swing through the catheter drive knob 56. The holder 11 has a lumen 110, the lumen 110 having a radial opening towards the bronchoscope 5, the lumen 110 being used for the insertion of the bronchoscope body 51 from the opening; the mirror body fixing mechanism 13 is switched between a first locking state and a first opening state; when the scope fixing mechanism 13 is in the first locking state, the scope fixing mechanism 13 is connected to the holder 11 and defines the bronchoscope body 51 in the lumen 110 together with the lumen 110; when the scope fixing mechanism 13 is in the first open state, the limitation on the bronchoscope body 51 is released. Further, the clamping mechanism 10 further comprises a valve pressing mechanism 12; valve pressing mechanism 12 includes a valve pressing piece 121 (shown in fig. 5), valve pressing mechanism 12 is switched between a second locking state and a second opening state, and when valve pressing mechanism 12 is in the second locking state, valve pressing piece 121 is used for applying force to suction valve switch 55 (shown in fig. 4) of bronchoscope 5 located in lumen 110 to open suction valve switch 55; when the valve pressing mechanism 12 is in the second open state, the force applied to the suction valve switch 55 is released.
In the above-mentioned exemplary embodiment, the patient end may further be provided with a suction device (not shown), which is in communication with the suction tube 54 and is connected to the control end 1 in communication. The operator can control the suction and drainage flow, such as the suction flow and the flow rate, by controlling the suction device at the control end 1. The suction device includes, for example, a solenoid valve, a proportional valve, or the like, and can open and close the suction passage, control the flow rate, or the like. Based on the above configuration, as shown in fig. 5 in conjunction with fig. 7 and 8, the valve pressing mechanism 12 presses the suction valve switch 55 through the valve pressing block 121, so that the suction valve switch 55 is kept in a normally open state, and the suction device is controlled to open and close the suction passage.
The inventor has found that the conduit 52 is typically a flexible tube, and that the conduit 52 may be bent during the axial movement of the clamping mechanism 10 driven by the scope holding arm 2. Further, the clamping mechanism 10 further comprises a catheter protection mechanism 14; the catheter protection mechanism 14 is detachably disposed at the distal end of the holder 11, and is used for the catheter 52 of the bronchoscope 5 to pass through. The provision of the conduit protection means 14, however, limits the radial bending of the conduit 52 and prevents undesirable bending of the conduit 52. Optionally, the distal end of the catheter protection mechanism 14 may be proximal to the head of the patient, proximal to the insertion end of the catheter 52.
Since the procedure needs to be performed in a sterile environment, the bronchoscope 5 needs to be sterilized prior to the procedure. And patients of different sizes, conditions and treatments require different types and styles of bronchoscopes. To facilitate replacement or installation of bronchoscope 5, lumen 110 is configured with a radial opening towards bronchoscope 5. So arranged, bronchoscope body 51 can be easily placed into interior cavity 110 of holder 11. Further, the bronchoscope body 51 is restricted by the scope fixing mechanism 13, and the catheter 52 of the bronchoscope 5 can be protected by the catheter protection mechanism 14. This results in a grip of the entire bronchoscope 5, instead of the operator holding the bronchoscope 5. And facilitates replacement or installation of the bronchoscope 5. Furthermore, by arranging the clamping mechanism 10 on the endoscope holding arm 2 and further on the endoscope holding robot, the operator can control the bronchoscope 5 through remote control, thereby avoiding the operator from being exposed in high-risk areas, reducing the physical fatigue of the operator in the operation process and reducing the infection risk.
Preferably, referring to fig. 5, 10, 11 and 16, the clamping seat 11 includes a first positioning member 111, the mirror fixing mechanism 13 includes a mirror pressing block 131 and a second positioning member 132, and the second positioning member 132 is fixedly disposed on the mirror pressing block 131. When the mirror body fixing mechanism 13 is in the first locking state, the first positioning element 111 and the second positioning element 132 are configured to be connected in a matching manner. Optionally, at least a part of the shape of the endoscope body pressing block 131 is matched with the external shape of the bronchoscope body 51. In some embodiments, the lens pressing block 131 is movably disposed on the holding base 11, for example, the lens pressing block 131 is rotatably disposed on the holding base 11 through a pin; or the lens body pressing block 131 is slidably disposed on the clamping seat 11 through the sliding chute. In other embodiments, the lens body pressing block 132 is detachably disposed relative to the holder. When the endoscope body pressing block 131 slides, rotates or is installed to a desired position on the holding base 11, the first positioning element 111 and the second positioning element 132 are correspondingly connected in a matching manner, so as to fix the endoscope body pressing block 131, and thus the endoscope body pressing block 131 and the inner cavity 110 jointly limit the bronchoscope body 51. It should be noted that the limitation of bronchoscope body 51 includes at least one of limiting the axial, radial and circumferential movement of bronchoscope body 51, and preferably limiting the axial, radial and circumferential movement of bronchoscope body 51, so as to reliably fix bronchoscope body 51 in inner cavity 110 of holder 11. The scope body pressing block 132 covers at least a portion of the opening of the inner cavity 110 to limit the bronchoscope body 51 from coming out of the opening. Further, when the lens pressing block 131 is movably disposed on the clamping seat 11, the first positioning element 111 is disengaged from the second positioning element 132, and the lens pressing block 131 is rotated or slid to expose the opening of the inner cavity 110, so that the lens fixing mechanism 13 is in the first open state. When the lens pressing block 131 is detachably disposed relative to the holder 11, the first positioning element 111 is disengaged from the second positioning element 132, and the lens pressing block 131 is configured to be detached from the holder 11 to expose the opening of the inner cavity 110, so that the lens fixing mechanism 13 is in a first open state.
Optionally, the first positioning element 111 and the second positioning element 132 include magnetic elements that attract each other; alternatively, the first positioning element 111 and the second positioning element 132 include fastening elements that are fastened together. In order to facilitate the rapid and convenient opening of the endoscope body pressing block 131 and the rapid replacement of the bronchoscope 5, the first positioning member 111 and the second positioning member 132 should be configured as a mechanism capable of being rapidly connected and disconnected. In some embodiments, as shown in fig. 10 and 11, the first positioning member 111 and the second positioning member 132 include magnetic members that attract each other. It should be understood that the magnetic members that are attracted to each other here are not limited to the first positioning member 111 and the second positioning member 132 both including a magnet, but one of the magnetic members may include a magnet and the other includes a ferromagnetic member, for example, the first positioning member 111 includes a permanent magnet and the second positioning member 132 includes an iron block, and the attraction between the two can also be achieved. When the first positioning element 111 and the second positioning element 132 include magnets, the opposite surfaces of the two magnets should be configured to have opposite polarities. In other embodiments, the first positioning element 111 and the second positioning element 132 include snap-fit fasteners that are engaged with each other, and the two can be separated by pressing the snap-fit members toward each other and pulling the snap-fit members away from each other. Of course, the skilled person can also configure the quick connection between the first positioning element 111 and the second positioning element 132 differently according to the prior art, and the invention is not limited thereto. It is understood that in some embodiments, the lens body pressing block 131 can be integrally formed with the second positioning member 132, and even the entire lens body pressing block 131 is made of a ferromagnetic material. It can be understood that a plurality of endoscope body pressing blocks 131 with different shapes can be provided for various types of bronchoscopes 5, so that the adaptability of the endoscope holding robot is improved.
Preferably, referring to fig. 16, the mirror fixing mechanism 13 further includes a mirror cushion block 133, the mirror cushion block 133 is detachably disposed on the clamping seat 11, and when the mirror fixing mechanism 13 is configured to be in the first locking state, the mirror cushion block 133 is located between the mirror pressing block 131 and the clamping seat 11, and is connected to at least one of the first positioning member 111 and the second positioning member 132 in a matching manner. Preferably, at least a portion of the body spacer 133 is shaped to fit the outer contour of the bronchoscope body 51. In actual use, the scope cushion 133 directly abuts against and contacts the bronchoscope body 51 to limit the bronchoscope body 51. It will be appreciated that a plurality of differently shaped scope spacers 133 may be provided for each different size of bronchoscope 5 in order to improve the adaptability of the scope holding robot. Optionally, the surface of the endoscope body pressing block 131 and the endoscope body cushion block 133, which is used for abutting against the contact with the bronchoscope body 51, may be provided with a flexible material, such as silicone rubber, to form a cushion, so as to avoid scratching and damaging the bronchoscope body 51. Of course, the lens pressing block 131 and the lens cushion 133 may be made of polymer material, so that they are relatively soft and will not scratch the bronchoscope body 51.
In some embodiments, the mirror block 133 can be provided with a magnetic member or a magnet, such as a ferromagnetic plate, at a position corresponding to the first positioning member 111 and the second positioning member 132, so that the mirror block 133 can be conveniently positioned at a proper position. In other embodiments, fixing holes may be formed in the lens cushion 133 at positions corresponding to the first positioning element 111 and the second positioning element 132, the size of the fixing holes is matched with the size of the first positioning element 111, and the fixing holes can be sleeved on the first positioning element 111 and can be clamped on the first positioning element 111, so that when the second positioning element 132 is connected with the first positioning element 111 in a matching manner, the position of the lens cushion 133 is fixed.
Referring to fig. 3, 5, 6, 14 and 15, the knob driving mechanism 15 includes a transmission member 152 rotatably disposed on the holder 11 for driving the catheter driving knob 56 of the bronchoscope 5 to rotate. Correspondingly, the patient end further comprises a knob driving component, and the knob driving component is in communication connection with the control end 1 and is used for driving the transmission component 152 in the knob driving mechanism 15 to rotate, so that the tail end of the bronchoscope 5 swings. In one example, the driving member 152 includes a cam 153 located in the cavity 110 and a driving shaft 154 extending out of the holder 11. The driving member is disposed outside the holder 11 and coupled to the transmission shaft 154. The cam 153 is eccentrically disposed relative to the transmission shaft 154, and is coupled to the catheter drive knob 56 of the bronchoscope 5, so as to drive the catheter drive knob 56 of the bronchoscope 5 to rotate under the rotation of the transmission shaft 154. Because the cam 153 is eccentrically disposed relative to the transmission shaft 154, the transmission shaft 154 rotates under the driving of the driving part, so as to drive the cam 153 to rotate, and the coupling position of the cam 153 and the catheter driving knob 56 away from the rotation axis of the transmission shaft 154 swings around the rotation axis of the transmission shaft 154.
Alternatively, referring to fig. 14 and 15, the cam 153 is connected to the catheter drive knob 56 through a torque transmission mechanism 62. The torque transmission mechanism 62 comprises a cam sleeve 621 positioned on the outer side and a limiting body 622 positioned on the inner side, wherein the cam sleeve 621 is used for being sleeved on the cam 153, so that the torque transmission mechanism 62 rotates along with the cam 153; the stopper 622 is used to connect with the catheter drive knob 56 and drive the catheter drive knob 56 to rotate. The cam sleeve 621 is at least circumferentially stationary relative to the cam 153 after being fitted over the cam 153. The limiting body 622 is adapted to the catheter driving knob 56, and when the cam sleeve 621 rotates along with the cam 153, the limiting body 622 drives the catheter driving knob 56 to rotate, so that the catheter driving knob 56 is driven to rotate by the knob driving part. Further, the cam 153 includes two oppositely disposed sides, and the two sides are parallel. The cam sleeve 621 comprises a clamping groove which is used for accommodating the cam 153 and the size of the clamping groove is matched with the distance between two side edges of the cam 153. Further, the cam sleeve 621 is provided with an opening end along the extending direction of the clamping groove, and the cam sleeve 621 is sleeved on the cam 153 from the opening end. So configured, the cam sleeve 621 can be conveniently sleeved on the cam 153 along the opening direction of the inner cavity 110.
In other embodiments, the driving member 152 is not limited to a combination of the cam 153 and the driving shaft 154, and may also be driven by a magnetic coupling, for example, which can also conveniently transmit the torque from outside the holder 11 to the inner cavity 110.
Preferably, referring to fig. 5, 7 and 8, the valve pressing block 121 is rotatably disposed on the holder 11. The valve pressing piece 121 is rotatable between an open position and a closed position, as shown in fig. 5 and 7, the valve pressing piece 121 is in the open position, and the attraction valve switch 55 is kept in the closed state without being subjected to an external force. As shown in fig. 8, the valve lock block 121 is in the closed position, and applies a force to the suction valve switch 55 to keep the suction valve switch 55 in the open state. Further, when valve pressing block 121 is in the open position, bronchoscope body 51 can be more conveniently and freely taken out of and placed into opening of lumen 110. When the valve pressing block 121 is in the closed position, the valve pressing block 121 not only can apply force to the suction valve switch 55, but also can limit the bronchoscope body 51 in the inner cavity 110 to a certain extent, so that the fixing effect of the bronchoscope body 51 is further ensured. Preferably, the rotation axis of the valve pressing block 121 is perpendicular to the axial direction of the bronchoscope 5. Of course, in other embodiments, the valve pressing piece 121 is not limited to be rotatably disposed on the holder 11, and the valve pressing piece 121 may be slidably disposed on the holder 11, or even detachably disposed with respect to the holder 11. For example, a sliding groove may be formed in the holder 11, the valve pressing block 121 may slide on the sliding groove, and when the valve pressing block 121 slides to a desired position, the valve pressing block may overlap with the suction valve switch 55 and apply a force to the suction valve switch 55, and when the valve pressing block 121 slides in a reverse direction, the suction valve switch 55 may be exposed, the force applied to the suction valve switch 55 may be released, and the opening of the cavity 110 may be further exposed. The person skilled in the art can appropriately configure the connection of the valve pressing piece 121 to the holder 11 in combination with the practice according to the above idea.
Further, the valve pressing mechanism 12 includes a locking buckle 122 disposed on the holder 11, and the locking buckle 122 is configured to lock the rotation of the valve pressing block 121, so that the valve pressing mechanism 12 is in the second locking state; the locking buckle 122 is configured to release the locking of the rotation of the valve pressing block 121, and the valve pressing mechanism 12 is in the second open state. When the valve pressing piece 121 is in the closed position, the locking buckle 122 can lock the valve pressing piece 121 to keep the valve pressing piece 121 applying force to the suction valve switch 55. The locking buckle 122 may be configured to be locked and unlocked by pressing, and a person skilled in the art may perform appropriate configuration on the locking buckle 122 according to the prior art, which will not be described herein.
Referring to fig. 3 and 9, the catheter protection mechanism 14 includes a telescopic sheath 141 and a connecting portion 142, the connecting portion 142 is used for detachably connecting with the holder 11, and the telescopic sheath 141 is fixedly connected with the connecting portion 142 and is telescopically arranged along an axial direction; the connecting portion 142 has a first through hole for the catheter 52 of the bronchoscope 5 to pass through, the telescopic sheath 141 has a second through hole for the catheter 52 of the bronchoscope 5 to pass through, and the first through hole and the second through hole are coaxially arranged. Since the holder 11 needs to move axially along the endoscope holder 22 during use, and the robot body 3 generally does not move during use, the distance of the robot body 3 relative to the patient does not change, and the distal end of the catheter protection mechanism 14 should be close to the patient and should also be kept constant or at a distance not contacting the patient. Therefore, the catheter protection mechanism 14 needs to be configured to be retractable so that the position of the distal end of the catheter protection mechanism 14 remains unchanged or controlled when the holder 11 is moved axially. For use, the connecting portion 142 is detachable with respect to the holder 11 so as to cover the conduit protection mechanism 14 outside the conduit 52.
Referring to fig. 18, 19 and 20, in an exemplary embodiment, the connecting portion 142 is detachably connected to the holder 11 via an insert 63. Optionally, the inner cavity 110 has a limiting surface 112, the limiting surface 112 is used for limiting the circumferential rotation and the distal movement of an insert 63, the insert 63 includes a step surface 631, and the step surface 631 is used for abutting against the limiting surface 112 of the holder 11 to limit the circumferential rotation and the distal movement of the insert 63. Preferably, the distal end of the insert 63 has a fixing portion 632, and the fixing portion 632 is used for detachably connecting with the connecting portion 142 of the catheter protection mechanism 14. Optionally, the connecting portion 142 has an internal thread, the fixing portion 632 has an external thread adapted to the connecting portion 142, and the fixing portion 632 is configured to drive the insert 63 to move toward the distal end under the driving of the rotating of the connecting portion 142, so that the step surface 631 abuts against the limiting surface 112, and meanwhile, the proximal end surface of the connecting portion 142 abuts against the distal end surface of the clamping seat 11. Of course, in other embodiments, the connecting portion 142 may have external threads, and the fixing portion 632 may have internal threads. With the above arrangement, the conduit protection mechanism 14 can be fixedly connected to the holder 11 by screwing the conduit protection mechanism 14. Optionally, the insert 63 has a third through hole therethrough, and the third through hole is used for the catheter 52 of the bronchoscope 5 to pass through. Preferably, when the insert 63 is installed in the holder 11, the third through hole is coaxial with the first through hole and the second through hole. Of course, the connection manner of the conduit protection device 14 and the holder 11 is not limited to the above manner, and in other embodiments, the conduit protection device 14 may be connected with the holder 11 by means of a snap, etc., and those skilled in the art may make modifications according to the actual implementation.
Preferably, as shown in fig. 3, the telescopic sheath 141 includes a plurality of telescopic joints 143, and the plurality of telescopic joints 143 are sequentially coaxially connected in a sleeved manner; the telescopic sheath 141 is expanded and contracted by mutual movement of the plurality of telescopic joints 143 in the axial direction. As shown in fig. 22 and 23, in one example, the telescopic sheath 141 includes a plurality of telescopic joints 143 so that the telescopic sheath 141 can be axially telescopic like a fishing rod. In other embodiments, the telescopic sheath 141 may also adopt other structures, such as a bellows structure, a plurality of spaced collars, etc., and those skilled in the art can select a suitable structure according to the prior art, which is not limited by the present invention.
Referring to fig. 2 and fig. 23, optionally, the mirror holding arm 2 further includes: a catheter bracket 23, wherein the catheter bracket 23 is arranged at the far end of the lens holder 22. Preferably, the catheter holder 23 is detachably connected to the holder base 22, and is configured to facilitate the mounting of the bronchoscope 5 and the catheter protection mechanism 14. The catheter bracket 23 is used for connecting with the catheter protection mechanism 14 and restricting at least the telescopic direction of the catheter protection mechanism 14. The catheter support 23 is configured to provide additional support to the distal portion of the catheter protection mechanism 14, improving the stability of the catheter protection mechanism 14. In one example, the catheter holder 23 has a fourth through hole with an inner diameter matching with the outer diameter of the telescopic sheath 141 of the catheter protection device 14, and the catheter holder 23 is sleeved with the catheter protection device 14. Preferably, the fourth through hole and the third through hole are coaxially arranged. In other embodiments, the catheter holder 23 may also be in the form of an open cradle, which need only provide support for the distal portion of the catheter protection mechanism 14. It will thus be appreciated that the catheter support 23 limits radial oscillation of the catheter protection mechanism 14 to allow only one degree of radial freedom, such as limiting the radial freedom of the catheter protection mechanism 14 towards the direction of gravity, but not limiting the radial freedom upwards. Further, the opening bracket may also be configured to be magnetic, and correspondingly, the distal portion of the catheter protection mechanism 14 may be adapted to be magnetic or ferromagnetic, for example, the telescopic sheath 141 may be a ferrous tube, and thus, the opening bracket may also provide an attractive force to the distal portion of the catheter protection mechanism 14 to fix the distal portion of the catheter protection mechanism 14.
Preferably, the catheter support 23 is detachably connected to the catheter protection mechanism 14, i.e., the catheter protection mechanism 14 can be disposed separately from the catheter support 23, and after the catheter 52 is inserted into the catheter protection mechanism 14, the catheter protection mechanism 14 is assembled with the catheter support 23. In some embodiments, the catheter support 23 is movably disposed on the catheter protection mechanism 14, such as slidably or rotatably disposed on the catheter protection mechanism 14. In other embodiments, the catheter holder 23 may be detachably fixed to the catheter protection mechanism 14, or may be formed integrally with the catheter protection mechanism 14.
As described above, although the bronchoscope 5 needs to be replaced and sterilized before the operation under the sterile environment during the operation, it is difficult to sterilize the components such as the holder 11, the holder 22, and the base 21 by a common sterilization method because of the electronic components. Therefore, it is necessary to wrap these components during the procedure using a sterile isolation mechanism to physically isolate the portion of the component from the sterile field. The sterile isolation mechanism can be replaced after a single use.
In this regard, an embodiment of the present invention also provides a sterile isolation mechanism 60. Referring to fig. 12, an exemplary range of the sterile isolating mechanism 60 is shown, which at least covers the holder 11, the lens holder 22 and the base 21 and at least exposes the catheter protection mechanism 14. Optionally, the sterile isolation mechanism 60 also encloses the valve hold-down mechanism 12, the rotary drive component, and the like. Preferably, the sterile isolation mechanism 60 may also wrap a part of the robot body 3 or the entire robot body 3. Thus, the exposed catheter protection mechanism 14 and the covered inner cavity 110 can be conveniently replaced and installed for the bronchoscope 5, and after one-time use, the sterile isolation mechanism 60 can be quickly used for the next time after being replaced, so that the use efficiency of the whole endoscope holding robot is improved.
The sterile isolation mechanism 60 provided in the present embodiment is schematically described below with reference to an exemplary embodiment.
Referring to fig. 13, the aseptic isolation mechanism 60 includes: an isolation pocket 61, a torque transmission mechanism 62. Preferably, also includes the insert 63; the isolation bag 61 is used for isolating the grip holder 11 of the grip mechanism 10 from a first side (a sterile side) and isolating the bronchoscope 5 and the catheter protection mechanism 14 from a second side (a sterile side); the torque transmission mechanism 62 is fixedly disposed on a second side of the isolation bag 61, and is used for transmitting torque from the first side to the second side (mainly to the catheter driving knob 56 of the bronchoscope 5) through the isolation bag 61; the insert 63 is used for detachably connecting with the catheter protection mechanism 14, at least a portion of the insert 63 used for connecting with the catheter protection mechanism 14 is fixedly arranged on the second side of the isolation bag 61, and the insert 63 is also used for detachably arranging in the inner cavity 110 of the holder 11. In practice, the isolation bag 61 is mainly used for wrapping the parts to be wrapped by the mirror holding robot, such as the holder 11, the mirror holding base 22, the base 21, and even the robot body 3. The isolation bag 61 can be made of a polymer film, preferably a transparent polymer film. It should be understood that the isolation bag 61 is a flexible film and has no specific shape, and the isolation bag 61 shown in fig. 13 is only a partial illustration of an ideal shape, and the isolation bag 61 does not need to have the shape shown in the drawing and does not limit the scope of the isolation bag.
With reference to fig. 18 to 20, reference is made to the description above for the principle and structure of the insert 63, and it should be noted that at least the portion of the insert 63 for connecting to the catheter protection device 14 is located in the sterile zone on the second side of the exterior of the isolation bag 61. The insert 63 may be fixedly connected to the isolation pocket 61. The connection manner of the insert 63 and the isolation pocket 61 may be, for example, bonding or welding, and the invention is not limited thereto. The insert 63 should then be replaced with the isolation pocket 61 after a single use. It should be understood that the barrier bag 61 in fig. 18 to 20 is illustrated by a plurality of curved lines, and only a part of the barrier bag 61 is shown, without limiting the range of arrangement of the barrier bag 61. Furthermore, the insert 63 is entirely disposed on the second side of the isolation pocket 61 without penetrating the isolation pocket 61. At this time, the insert 63 may be fixed to the isolation pocket 61 in the above-described manner. The insert 63 may also abut the isolation pocket 61 as a separate component during assembly. For example, after the isolation pocket 61 covers the inner cavity 110, the insert 63 is placed on the second side of the isolation pocket 61 and then engaged with the holder 11 and the catheter protection mechanism 14. The insert 63, which is a separate component, can be sterilized by conventional methods to reduce medical contamination.
The inventor found that, after bronchoscope body 51 is mounted in lumen 110 of holder 11, catheter 52 must be extended out of catheter protection mechanism 14 to the distal end, and catheter drive knob 56 of bronchoscope 5 must be operated via isolation pocket 61. The arrangement of the torque transmission mechanism 62 can realize that the catheter driving knob 56 positioned outside the isolation bag 61 is driven by the knob driving part positioned inside the isolation bag 61, and the arrangement of the embedded block 63 can realize effective isolation of the clamping seat 11 positioned inside the isolation bag 61 and the catheter protection mechanism 14 positioned outside the isolation bag 61. It will be appreciated that at least a portion of the slug 63 is located in the sterile field outside of the isolation pocket 61, which portion is used to secure the catheter protection mechanism 14.
Referring to fig. 14 and fig. 15, the torque transmission mechanism 62 includes a cam sleeve 621, and the cam sleeve 621 can drive the catheter driving knob 56 to rotate through the knob driving part, which is specifically referred to the above description about the cam sleeve 621 and is not repeated herein. Note that the barrier bag 61 in fig. 14 is illustrated by a plurality of curves, and only a part of the barrier bag 61 is shown, without limiting the installation range of the barrier bag 61; in fig. 15, the isolation pocket 61 is not shown in order to facilitate the illustration of the cut-away form of the cam sleeve 621. It will be appreciated that the cam sleeve 621 is located in the sterile field on the second side of the exterior of the isolation bag 61. Cam sleeve 621 may be fixedly attached to barrier bag 61 by, for example, adhesive or welding. In practice, the isolation pocket 61 may have a fold in the area near the cam sleeve 621, which is loosely assembled, i.e. not under tension, so that when the cam sleeve 621 rotates, the folded isolation pocket 61 gives the cam sleeve 621 a certain degree of freedom, and the cam sleeve 621 can pull a part of the folded isolation pocket 61 to rotate together, thereby ensuring the tightness and integrity of the isolation while transmitting torque.
Further, referring to fig. 16, the sterile isolating mechanism 60 further includes a first adapter 64, and the first adapter 64 is fixedly disposed on the isolating bag 61 and is detachably connected to the first positioning member 111 of the holder 11 to position the isolating bag 61 in the inner cavity 110. Furthermore, the first adaptor 64 is also used to detachably connect with the second positioning element 132, so as to connect the mirror fixing mechanism 13 with the holder 11. To simplify the number of components and improve the integration of the components, the first adapter 64 may be integrated with the mirror block 133. That is, the first adaptor 64 is fixedly disposed at the position of the mirror block 133 corresponding to the first positioning member 111 and the second positioning member 132. It will be appreciated that at least the side of the body cushion 133 intended to be in abutting contact with the bronchoscope body 51 is in a sterile zone outside the isolation pocket 61, so that the body cushion 133 should be replaced along with the entire sterile isolation mechanism 60 after a single use. The connection and the location of the first adapter 64 on the barrier bag 61 are not limited, for example, the first adapter 64 may be located on a first side or a second side, and the first adapter 64 may be fixedly connected to the barrier bag 61 by bonding or welding. Of course, in other embodiments, the first adapter 64 can be disposed separately from the lens block 133, i.e., the first adapter 64 is independent from the lens block 133, and other positioning elements can be disposed independently at corresponding positions on the holder 11 for connecting and positioning the first adapter 64.
Preferably, the first adapting member 64 includes a magnetic member or a magnet, the magnetic member is used for attracting the first positioning member 111; alternatively, the first adapter 64 includes a latch for latching with the first positioning element 111. As mentioned above, since there are various arrangements of the first positioning element 111, the first adapting element 64 can be arranged differently correspondingly. For example, when the first positioning member 111 includes a magnetic member, the first adapting member 64 may also include a magnetic member, such as a sheet iron or the like, for engaging with the first positioning member 111. Furthermore, the second positioning member 132 can be pulled in for positioning. When the first positioning element 111 comprises a snap, the first adapting element 64 comprises a corresponding snap, which can be snapped onto the first positioning element 111. Further, after the first adapter 64 is engaged with the first positioning element 111, the second positioning element 132 can be engaged with the first adapter. Of course, in some embodiments, the first adapting member 64 can be connected to the first positioning member 111 by magnetic attraction and connected to the second positioning member 132 by snap-fit; or the first adapting member 64 can be connected with the first positioning member 111 by a snap-fit manner and connected with the second positioning member 132 by a magnetic attraction manner, so that the installation convenience is high.
Optionally, referring to fig. 17, the clamping seat 11 includes a third positioning element 113. Correspondingly, the sterile barrier mechanism 60 further comprises a second adaptor 65, and the second adaptor 65 is fixedly arranged on the barrier bag 61. The third positioning element 113 is adapted to be coupled with the corresponding second adapter 65 of the sterile isolation mechanism 60 to fix the sterile isolation mechanism 60. Preferably, the second adapting member 65 includes a magnetic member or a magnet, and the magnetic member is used for being attracted with the third positioning member 113; alternatively, the second adapting component 65 includes a latch, and the latch is used for latching with the third positioning element 113. Fig. 17 shows an exemplary embodiment of the third positioning element 113 and the second adapting element 65, wherein the third positioning element 113 and the second adapting element 65 comprise magnetic elements adapted to engage with each other, for example, the third positioning element 113 comprises a circular iron plate, and the second adapting element 65 comprises a permanent magnet adapted to the size of the iron plate, which can be engaged with each other quickly or easily. Optionally, a third positioning element 113 is located in the proximal region of the holder 11, near the attachment of the valve pressing mechanism 12.
Optionally, referring to fig. 21 to 23, in some embodiments, the catheter holder 23 is fixedly disposed on the isolation bag 61, and is used for being detachably connected to the lens holder 22 and the catheter protection mechanism 14, respectively, so as to restrict at least an extending direction of the catheter protection mechanism 14. The principle and structure of the catheter holder 23 can be referred to the above description and will not be expanded here. It should be noted that, in order to facilitate the installation of the bronchoscope 5 and the catheter protection mechanism 14, a portion of the catheter holder 23 for connection with the catheter protection mechanism 14 is preferably disposed on the second side of the isolation bag 61, i.e., in the sterile area outside the isolation bag 61. Thus, after a single use, the catheter holder 23 should be replaced along with the isolation pouch 61. Therefore, in the case where the sterile isolation mechanism 60 is provided, the catheter holder 23 may not be included in the scope holding arm 2, but included in the sterile isolation mechanism 60. The catheter stent 23 may be fixedly connected to the isolation bag 61 by means of adhesive bonding or the like. Preferably, the distal end of the lens holder 22 is provided with a mounting seat for the catheter holder 23 to be assembled, a portion of the catheter holder 23 for connection with the lens holder 22 is preferably arranged on a first side of the isolation bag 61, i.e. inside the isolation bag 61, and a portion of the catheter holder 23 on the first side is detachably connected with the mounting seat. For example, the connection can be realized by a snap or a magnetic attraction.
The procedure for mounting a bronchoscope 5 and the sterile isolation mechanism 60 on the scope holding arm 2 will be described below by way of an example with reference to the accompanying drawings.
Step 0: referring to fig. 12, after the isolation bag 61 of the sterile isolation mechanism 60 is sleeved on the head of the endoscope holding arm and is mounted in place, the isolation bag 61 is fastened.
Step 1: referring to fig. 5, the lens fixing mechanism 13 of the clamping mechanism 10 is configured in the first open state, and the valve pressing mechanism 13 is configured in the second open state, so as to expose the opening of the inner cavity 110 of the clamping base 11;
and 2, step: referring to fig. 14 and 15, according to the model of bronchoscope 5, a proper cam sleeve 621 is selected, and cam sleeve 621 of aseptic isolation mechanism 60 is sleeved on cam 153;
and step 3: referring to fig. 17, according to the model of bronchoscope 5, selecting a proper scope spacer 133, and mounting scope spacer 133 on holder 11, where the portion of scope spacer 133 for fitting bronchoscope body 51 is located in inner cavity 110; and the first adapter 64 is connected with the first positioning element 111;
and 4, step 4: referring to fig. 18, the insert 63 is fitted over the catheter 52 of the bronchoscope 5;
and 5: referring to fig. 7, bronchoscope body 51 is loaded into lumen 110 with insert 63 loaded into lumen 110 in the direction of catheter drive knob 56 of bronchoscope 5 aligned with cam sleeve 621;
step 6: referring to fig. 8, the valve pressing block 121 is turned over, and the locking fastener 122 locks the valve pressing block 121, so that the valve pressing mechanism 12 is in the second locking state, and the suction valve switch 55 is kept in the open state;
and 7: referring to fig. 9 in combination with fig. 19, the catheter protection mechanism 14 is sleeved on the catheter 52 of the bronchoscope 5, and the connecting portion 142 of the catheter protection mechanism 14 is connected and screwed to the fixing portion 632 of the insert block 63, so that the catheter protection mechanism 14 is connected to the holder 11;
and step 8: referring to fig. 10, the lens body pressing block 131 is mounted on the clamping seat 11, the second positioning element 132 is connected with the first positioning element 11 in a matching manner, and the lens body fixing mechanism 13 is configured to be in a first locking state; to this end, referring to fig. 11, the bronchoscope 5 is securely clamped on the clamping mechanism 10.
Further, after completing the installation of the bronchoscope 5 on the holding mechanism 10, the installation of the sterile isolation mechanism 60 is continued, specifically, the method includes:
and step 9: referring to fig. 17, the second adaptor 65 is cooperatively coupled with the third positioning member 113 to secure the isolation pocket 61;
step 10: referring to fig. 21, the catheter holder 23 is mounted on the catheter 52 of the bronchoscope 5, and the catheter holder 23 is mounted on the mounting base at the distal end of the scope holder 22;
step 11: referring to fig. 22, the telescopic sheath 141 is extended to penetrate into the fourth through-hole of the catheter holder 23;
step 12: and finishing the installation.
Through the above steps, the mounting of the bronchoscope 5 and the sterile isolation mechanism 60 on the scope holding arm 2 is completed. After one use, the procedure is reversed, and the bronchoscope 5 and the sterile isolation mechanism 60 are removed for the next use. It should be understood that the steps described above are not limited to being performed in order, and the order of performing some of the steps may be modified.
In summary, in the clamping mechanism, the mirror holding arm and the mirror holding robot provided by the invention, the clamping mechanism comprises a clamping seat, a valve pressing mechanism, a mirror body fixing mechanism and a conduit protecting mechanism; the clamping seat is provided with an inner cavity, the inner cavity is provided with a radial opening facing the bronchoscope, and the inner cavity is used for taking out and placing the body of the bronchoscope from the opening; the mirror body fixing mechanism is switched between a first locking state and a first opening state; when the endoscope body fixing mechanism is in the first locking state, the endoscope body fixing mechanism is connected with the clamping seat and defines the degree of freedom of the main body of the bronchoscope together with the inner cavity; when the endoscope body fixing mechanism is in the first opening state, the limitation on the degree of freedom of the main body of the bronchoscope is removed; the valve pressing mechanism comprises a valve pressing block, the valve pressing mechanism is switched between a second locking state and a second opening state, when the valve pressing mechanism is in the second locking state, the valve pressing mechanism is connected with the clamping seat, and the valve pressing block is used for applying force to a suction valve switch of the bronchoscope to enable the suction valve switch to be opened; when the valve pressing mechanism is in the second opening state, the force application to the suction valve switch is released; the catheter protection mechanism is detachably arranged at the far end of the clamping seat and is used for the catheter of the bronchoscope to penetrate through. With the arrangement, the body of the bronchoscope can be conveniently placed into the inner cavity of the clamping seat through the opening of the inner cavity of the clamping seat, and the scope body fixing mechanism is switched to the first locking state to limit the degree of freedom of the body of the bronchoscope together with the clamping seat. The valve hold-down mechanism is switched to a second locked state to apply a force to a suction valve switch of the bronchoscope to open the suction valve switch. The catheter protection mechanism protects the catheter of the bronchoscope. Therefore, the whole bronchoscope is clamped, and the operation mode that an operator holds the bronchoscope is replaced. Furthermore, the clamping mechanism can be arranged on the endoscope holding arm through the clamping mechanism, and further arranged on the endoscope holding robot, so that an operator can control the bronchoscope through remote control, the operator is prevented from being exposed in a high-risk area, physical fatigue of the operator in the operation process is relieved, and the risk of infection is reduced
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims (19)

1. A clamping mechanism for clamping a bronchoscope, comprising: the clamping seat, the valve pressing mechanism and the lens body fixing mechanism;
the holder is provided with an inner cavity, the inner cavity is provided with an opening, and the inner cavity is used for the body of the bronchoscope to be placed in from the opening;
the mirror body fixing mechanism is switched between a first locking state and a first opening state; when the endoscope body fixing mechanism is in the first locking state, the endoscope body fixing mechanism is connected with the clamping seat and defines at least one part of freedom degree of the bronchoscope together with the inner cavity; when the scope fixing mechanism is in the first opening state, the limitation on the degree of freedom of at least one part of the bronchoscope is released;
the valve pressing mechanism comprises a valve pressing block, the valve pressing mechanism is switched between a second locking state and a second opening state, and when the valve pressing mechanism is in the second locking state, the valve pressing block is used for applying force to a suction valve switch of the bronchoscope to enable the suction valve switch to be opened; and when the valve pressing mechanism is in the second opening state, the force application to the suction valve switch is released.
2. The clamping mechanism as claimed in claim 1, wherein the clamping base comprises a first positioning member, the lens fixing mechanism comprises a lens pressing block and a second positioning member, and the second positioning member is fixedly arranged on the lens pressing block; when the endoscope body fixing mechanism is configured to be in the first locking state, the first positioning piece is matched and connected with the second positioning piece, and the endoscope body pressing block covers at least one part of the opening of the inner cavity.
3. The clamping mechanism of claim 2, wherein the lens body pressing block is detachably arranged relative to the clamping seat; the lens body pressing block is configured to be in the first opening state when the lens body fixing mechanism is detached from the clamping seat.
4. The clamping mechanism of claim 2, wherein the scope securing mechanism further comprises: the lens cushion block is detachably arranged on the clamping seat; the lens body fixing mechanism is configured to be in the first locking state, and the lens body cushion block is located between the lens body pressing block and the clamping seat and is in fit connection with at least one of the first positioning piece and the second positioning piece.
5. The clamping mechanism as recited in claim 2, wherein said first positioning member and said second positioning member comprise magnetic members engaging each other; or the first positioning piece and the second positioning piece comprise fastening pieces which are fastened with each other.
6. The fixture of claim 1, wherein the holder includes a third positioning member configured to mate with a corresponding component of a sterile isolation mechanism to secure the sterile isolation mechanism.
7. The clamping mechanism of claim 1 wherein said valve press block is rotatably disposed on said clamping shoe.
8. The clamping mechanism of claim 7, wherein said valve clamping mechanism includes a locking catch disposed on said clamping seat, said locking catch configured to lock rotation of said valve press block while said valve clamping mechanism is in said second locked state; the locking buckle is configured to release the locking of the rotation of the valve pressing block, and the valve pressing mechanism is in the second opening state.
9. The clamping mechanism of claim 1, comprising a catheter protection mechanism detachably disposed at a distal end of the clamping seat for a catheter of the bronchoscope to pass through; the catheter protection mechanism comprises a telescopic sheath and a connecting part, the connecting part is detachably connected with the clamping seat, and the telescopic sheath is fixedly connected with the connecting part and is arranged in a telescopic manner along the axial direction; the connecting portion have be used for supplying the first through-hole that the pipe of bronchoscope wore to establish, flexible sheath has and is used for supplying the second through-hole that the pipe of bronchoscope wore to establish, first through-hole with the coaxial setting of second through-hole.
10. The clamping mechanism of claim 9, wherein the telescopic sheath comprises a plurality of telescopic joints, and the plurality of telescopic joints are sequentially coaxially connected in a sleeved manner; the telescopic sheath is telescopic by mutual movement of the plurality of telescopic joints along the axial direction.
11. The clamping mechanism of claim 1, further comprising: a knob drive mechanism; the knob driving mechanism comprises a driving part and a transmission part, and the transmission part is rotatably arranged on the clamping seat and is used for being coupled and connected with the catheter driving knob of the bronchoscope; the driving component is used for driving the transmission component to rotate.
12. The clamping mechanism of claim 11, wherein the drive member includes a cam disposed in the interior cavity and a drive shaft extending out of the interior cavity, the drive member being disposed outside the interior cavity and coupled to the drive shaft; the cam is eccentrically arranged relative to the transmission shaft and is used for driving the catheter driving knob of the bronchoscope to rotate under the rotation of the transmission shaft.
13. The clamping mechanism of claim 12 wherein said cam includes two oppositely disposed sides, said sides being parallel.
14. The clamping mechanism of claim 1, wherein said internal cavity has a limiting surface for limiting the freedom of rotation and distal movement of an insert.
15. An arm for holding a mirror, comprising: a base, a lens holder and a clamping mechanism according to any one of claims 1-14; the clamping seat is movably arranged on the lens holding seat along the axial direction of the lens holding seat, and the lens holding seat is rotatably arranged on the base around the axis of the lens holding seat.
16. A mirror holding arm according to claim 15, wherein the range of the rotation angle of the mirror holding base is between ± 170 °.
17. The mirror holding arm of claim 15, further comprising: the aseptic isolation mechanism at least wraps the clamping seat, the endoscope holding seat and the base and at least exposes the inner cavity outside.
18. The mirror holding arm according to claim 15, further comprising: the catheter bracket is arranged at the distal end of the lens holder; the clamping mechanism comprises a catheter protection mechanism which is detachably arranged at the far end of the clamping seat and is used for the catheter of the bronchoscope to penetrate through; the catheter mount is configured to couple to the catheter protection mechanism and defines at least a radial degree of freedom of the catheter protection mechanism.
19. A robot for holding a mirror, comprising: a mirror holding arm, a control end and a robot body according to any one of claims 15-18; the mirror holding arm is arranged on the robot body, and the control end and the robot body are arranged at intervals.
CN202010287019.4A 2020-04-13 2020-04-13 Clamping mechanism, mirror holding arm and mirror holding robot Active CN113520596B (en)

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PCT/CN2021/086718 WO2021208869A1 (en) 2020-04-13 2021-04-12 Surgical robot system

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