CN106419819A - Transurethral bendable manual cystoscope - Google Patents

Abstract

The invention relates to a flexible manual transurethral cystoscope, which includes a cystoscope mirror body and a three-degree-of-freedom drive unit; the cystoscope mirror body includes a high-definition camera carrying an illumination module, a fixed plate, two first Structural bone, a second structural bone, a support member, and a thin-walled tube with a circular cross section; wherein, two first structural bones and a second structural bone are evenly distributed in a triangle, and the front ends of the three are tightly connected together. One side of the fixed plate is fixedly connected, and the other side of the fixed plate is fixedly connected with a high-definition camera. The lighting module of the high-definition camera is located on the extension line of the second structural bone; The drive unit is connected, and the support member is provided with a channel for the cables of the first structural bone, the second structural bone and the high-definition camera to pass through; the rear ends of the two first structural bones and one second structural bone pass through The supporting member is connected with the three-degree-of-freedom driving unit; the thin-walled tube is sleeved on the outside of the supporting member.

Description

A flexible manual cystoscope through urethra

technical field

The invention relates to a flexible manual cystoscope through the urethra, which belongs to the field of medical instruments.

Background technique

In the modern medical field, minimally invasive surgery has achieved success in reducing patients' postoperative pain and complications, shortening hospital stay, and improving postoperative scar conditions. In this field, the da Vinci porous laparoscopic surgical robot developed by Intuitive Surgical, which has been successfully commercialized, can meet the requirements of various minimally invasive surgeries. However, with the maturity of medical technology and the higher and higher requirements of patients, there has been naturalorifice trans-luminal endoscopic surgery (NOTES), which is characterized by the fact that no incision is required, and surgical instruments need to pass through a long and narrow cavity. The complex human cavity then arrives at the surgery department for operations such as clamping and suturing. At present, most of the existing surgical robots, including da Vinci, are difficult to meet the technical requirements of surgery through the natural orifice of the human body due to the limitations of rigid structure, appearance size, and degree of freedom configuration, especially for urinary tract surgery performed through the urethra. Surgery. Since the diameter of the urethra is usually less than 8mm, no company in the world has developed a surgical robot that can be transurethral. Therefore, as an important branch of surgery through the natural orifice of the human body, the urological surgery performed through the urethra is extremely innovative and innovative. Wide range of social application value.

Contents of the invention

In view of the above problems, an object of the present invention is to provide a flexible manual cystoscope through the urethra that can enter the bladder through the urethra for inspection.

To achieve the above object, the present invention adopts the following technical solutions: a flexible manual cystoscope through the urethra, characterized in that it includes a cystoscope mirror body and a three-degree-of-freedom drive unit; the cystoscope mirror body includes a A high-definition camera carrying a lighting module, a fixed plate, two first structural bones, a second structural bone, a support member and a thin-walled tube with a circular cross section; wherein, the two first structural bones and the One of the second structural bones is evenly distributed in a triangular shape, and the front ends of the three are jointly fastened and connected to one side of the fixed plate, and the other side of the fixed plate is fixedly connected to the high-definition camera; the supporting member is Slender body structure, the rear end of the support member is connected to the three-degree-of-freedom drive unit, and the cables for the first structural bone, the second structural bone and the high-definition camera are arranged on the support member to pass through channel; the rear ends of the two first structural bones and one second structural bone are connected to the three-degree-of-freedom drive unit after passing through the support member; the thin-walled tube is sleeved on the support The outside of the component; the three-degree-of-freedom drive unit includes a main housing and a sub-housing; the main housing includes a front end plate, a rear end plate and a cylindrical outer cover; the sub-housing is fixed connected to the front side of the front end plate, the front end of the sub-housing is fixedly connected to the thin-walled tube; the first structural bone, the second structural bone and the supporting member all pass through the interior of the sub-housing and Extending through the front end plate into the main housing; inside the main housing is provided with a first transmission mechanism mainly composed of a first screw and a first nut, mainly composed of a second screw and a second nut The second transmission mechanism and the third transmission mechanism mainly composed of worm gear and worm; three control rotary rings are arranged on the outside of the main casing; the first transmission mechanism is used to turn the first control rotary ring The rotation of the ring is converted into a push-pull support member, two first structural bones, and a second structural bone to realize the overall feed movement, and the second transmission mechanism is used to convert the rotation of the second control swivel into Pushing and pulling two first structural bones and one second structural bone to realize the movement of the two first structural bones and one second structural bone protruding from the supporting member, the third transmission mechanism is used to move the third said The rotation of the control conversion is converted into pushing and pulling the two first structural bones to realize the pitching motion of the high-definition camera.

The first screw is rotatably connected between the front end plate and the rear end plate, the rear end of the first screw passes through the rear end plate, and the first nut is mated and connected to the first screw on the first nut; a frame-shaped base is fixedly connected to the first nut; the frame-shaped base is fixedly connected to the rear end of the support member; the first control swivel is connected to the first transmission assembly The rear end of the first screw rod is connected to transmit the rotational movement of the first control swivel to the first screw rod.

The second screw rod is rotatably supported on the frame-shaped base, the second nut is mated and connected to the second screw rod, and a first pressure plate is fixedly connected to the second nut, and the first pressure plate It is fixedly connected with the rear end of the second structural bone; the second control swivel is connected with the rear end of the second screw rod through the second transmission assembly, and is used to rotate the second control swivel The motion is transmitted to the second screw.

The third transmission mechanism includes the worm, the worm wheel, a connecting rod, a slider and a first guide rod; the first guide rod is fixedly connected between the front end plate and the rear end plate , the slider is slidably connected to the first guide rod; the worm is rotatably connected to the second nut; the worm wheel is rotatably supported on the second nut and engaged with the worm; One end of the connecting rod is rotatably connected to the wheel disc near the edge of the worm wheel, and the other end of the connecting rod is rotatably connected to the slider; a second pressure plate is fixedly connected to the slider, and the first The two pressure plates are fixedly connected to the rear ends of the two first structural bones; the third control swivel is connected to the rear end of the worm through the third transmission assembly, which is used to connect the third control swivel Rotational motion is transmitted to the worm.

The first transmission assembly includes a first ring gear and a first gear, the first ring gear is fixedly arranged inside the first control swivel, and the first gear is fixedly connected to the At the rear end of the first screw, the first gear meshes with the first ring gear.

The second transmission assembly includes a second ring gear, a second gear, an idler gear, a first sleeve and a first square shaft; the second ring gear is fixedly arranged on the second the inner side of the control swivel; the second inner ring gear is connected to the second gear through the idler gear; the first sleeve is fixedly connected to the front center of the second gear, and the first sleeve The cylinder passes through the rear end plate and is rotatably connected with the rear end plate. The first sleeve is provided with a square groove along the circumference, and the first sleeve is slidably connected to the first sleeve through the square groove. A square shaft, the first square shaft is fixedly connected with the rear end of the second screw rod.

The third transmission assembly includes a third ring gear, a third gear, a second sleeve and a second square shaft; the third ring gear is fixedly arranged on the third control swivel Inside; the third gear meshes with the third ring gear; the second sleeve is fixedly connected to the center of the front side of the third gear, the second sleeve passes through the rear end plate and It is rotatably connected with the rear end plate; the second sleeve is provided with a square groove in the axial direction, and the second sleeve is slidably connected to the second square shaft through the square groove, and the second square shaft The front end is fixedly connected with the rear end of the worm.

The first transmission mechanism also includes a second guide rod, the second guide rod is fixedly connected between the front end plate and the rear end plate, and the first nut and the second guide rod are slidable Ground connection; the second transmission mechanism also includes a third guide rod, the third guide rod is fixedly connected between the front end plate and the rear end plate, the second nut and the third guide rod The rod is slidably connected.

Two ports are arranged symmetrically on both sides of the sub-housing, two cavities communicating with each of the ports are provided inside the sub-housing, and two channels connected to each of the ports are provided on both sides of the supporting member. Open cavities connected by cavities.

The lighting module of the high-definition camera is located on the extension line of the second structural bone.

Because the present invention adopts the above technical scheme, it has the following advantages: 1. The cystoscope mirror body of the present invention can realize three degrees of freedom that can be adjusted manually under the drive of the three-degree-of-freedom drive unit, which are respectively the push-pull support member and the two degrees of freedom. The overall feed motion realized by one first structural bone and one second structural bone, and the feed motion realized by jointly pushing and pulling two first structural bones and one second structural bone (that is, adjusting the two first structural bones and one The length of the second structural bone protruding from the support member), and the pitching motion of the high-definition camera realized by simultaneously pushing and pulling the two first structural bones, can meet the requirements of entering the human urethra for inspection in terms of degrees of freedom. 2. In the present invention, two interfaces are arranged symmetrically on both sides of the sub-housing, two cavities communicating with each interface are arranged inside the sub-housing, and open cavities communicating with each cavity are provided on both sides of the supporting member , thereby providing a channel for accommodating other surgical tools, so the present invention can be used together with other surgical tools to implement transurethral urological surgery. The invention can be widely used in bladder examination and operation process.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is the structural representation of cystoscope scope body of the present invention;

Fig. 3 is a structural schematic diagram of a three-degree-of-freedom drive unit of the present invention;

Fig. 4 is a schematic structural view of a first drive mechanism and a second drive mechanism of the present invention;

Fig. 5 is a schematic structural view of a third driving mechanism of the present invention;

Fig. 6 is a partially enlarged schematic view of the third driving mechanism of the present invention.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

As shown in FIG. 1 , the present invention includes a cystoscope mirror body 10 and a three-degree-of-freedom driving unit 20 .

As shown in Figures 1 and 2, the cystoscope body 10 of the present invention includes a high-definition camera 101 carrying an illumination module, a fixed plate 102, two first structural bones 103, a second structural bone 104, a support A member 105 and a thin-walled tube 106 with a circular cross section. Wherein, two first structural bones 103 and one second structural bone 104 are evenly distributed in a triangular shape, and the front ends of the three are jointly fastened and connected to one side of the fixed plate 102 . The other side of the fixed plate 102 is fixedly connected to the high-definition camera 101 , and the lighting module of the high-definition camera 101 is located on the extension line of the second structural bone 104 . The support member 105 is a slender body structure, and its rear end is connected with the three-degree-of-freedom drive unit 20 (described in detail later), and the support member 105 is provided with a first structural bone 103, a second structural bone 104 and a high-definition camera. The channel through which the cable 107 of 105 passes. The rear ends of the two first structural bones 103 and one second structural bone 104 are connected to the three-degree-of-freedom driving unit 20 after passing through the support member 105 . The thin-walled tube 106 is sleeved on the outside of the supporting member 105 . Driven by the three-degree-of-freedom drive unit 20, the cystoscope body 10 of the present invention can realize three degrees of freedom that can be adjusted manually, which are: ① push-pull support member 105, two first structural bones 103, one first The overall feed motion realized by the two structural bones 104; ②The feed motion realized by jointly pushing and pulling two first structural bones 103 and one second structural bone 104, that is, adjusting the two first structural bones 103 and one second structural bone The bone 104 extends out the length of the supporting member 105; ③ the pitching motion of the high-definition camera 101 is realized by simultaneously pushing and pulling the two first structural bones 103 .

As shown in FIGS. 3-5 , the three-degree-of-freedom drive unit 20 of the present invention includes a main housing 201 and a sub-housing 202 . The main casing 201 includes a front end plate 203 , a rear end plate (not shown in the figure) and a cylindrical outer cover 204 . The auxiliary housing 202 is fixedly connected to the front side of the front panel 203 of the main housing 201 . The front end of the auxiliary housing 202 is fixedly connected to the thin-walled tube 106 . The first structural bone 103 , the second structural bone 104 and the support member 105 of the cystoscope body 10 all pass through the interior of the auxiliary housing 202 and extend into the main housing 201 through the front end plate 202 . A first transmission mechanism 205 , a second transmission mechanism 206 and a third transmission mechanism 207 are arranged inside the main housing 201 , which are respectively used to drive and realize the aforementioned three degrees of freedom of the cystoscope mirror body 10 . Three control swivels 208 are arranged on the outer rotation of the main housing 201, and the control swivels 208 are circular rings with internal gears, which are connected with the first transmission mechanism 205, the second transmission mechanism 206 and the third transmission mechanism 207 respectively. connection, the three control swivels 208 are control terminals for manual control.

As shown in FIG. 4 , the first transmission mechanism 205 includes a guide rod 209 , a gear 210 , a screw rod 211 and a nut 212 . Wherein, the guide rod 209 is fixedly connected between the front end plate 203 and the rear end plate, the screw rod 211 is rotatably connected between the front end plate 203 and the rear end plate, and the rear end of the screw rod 211 passes through the rear end plate and is fixedly connected with the center of the gear 210 , the gear 210 meshes with the ring gear of a control swivel 208 ; the nut 212 is threadedly connected to the screw rod 211 and is slidably connected with the guide rod 209 . A frame-shaped base 213 is also fixedly connected to the nut 211 , and the front end of the frame-shaped base 213 is fixedly connected to the rear end of the supporting member 105 .

The second transmission mechanism 206 includes a guide rod 214 , an idler wheel 215 , a gear 216 , a sleeve 217 , a square shaft 218 , a screw rod 219 , a nut 220 and a pressing plate 221 . Wherein, the guide rod 214 is fixedly connected between the front end plate 203 and the rear end plate, and the screw rod 219 is rotatably supported on the frame-shaped base 213 . The sleeve 217 is fixedly connected to the center of the front side of the gear 216. The sleeve 217 passes through the rear end plate and is rotatably connected with the rear end plate. The sleeve 217 is provided with a square groove along the axial direction, and the sleeve 217 is slidably connected to the square through the square groove. Shaft 218, the front end of square shaft 218 is fixedly connected with the rear end of screw rod 219. The idler gear 215 meshes with the gear 216 and the inner ring gear of a control swivel 208 at the same time, and the idler gear 215 is rotationally connected with the rear end plate through a rotating shaft. The nut 220 is slidably connected with the guide rod 214 by being threadedly connected with the screw rod 219 . The pressing plate 221 is fixedly connected to the nut 220 , which is fixedly connected to the rear end of the second structural bone 104 .

As shown in Figure 5 and Figure 6, the third transmission mechanism 207 includes a guide rod 222, a gear 223, a sleeve 224, a square shaft 225, a worm 226, a worm wheel 227, a connecting rod 228, a slider 229 and a pressing plate 230. Wherein, the guide rod 222 is fixedly connected between the front end plate 203 and the rear end plate, and the slider 229 is slidably connected to the guide rod 222 . The sleeve 224 is fixedly connected to the center of the front side of the gear 223, and the sleeve 224 passes through the rear end plate and is rotatably connected with the rear end plate. The gear 223 meshes with a control swivel 208 . The sleeve 224 is provided with a square groove along the axial direction, and the sleeve 224 is slidably connected to the square shaft 225 through the square groove. The worm wheel 227 is rotatably supported on the nut 220 and meshes with the worm 226 . One end of the connecting rod 228 is rotated at the wheel disc near the edge of the worm wheel 227, and the other end of the connecting rod 228 is connected with the slide block 229 in rotation. The pressing plate 230 is fixedly connected to the slider 229 , and the pressing plate 230 is fixedly connected to the rear ends of the two first structural bones 103 .

In the above-mentioned embodiment, two ports 231 are arranged symmetrically on both sides of the sub-housing 202, and two cavities communicating with each port 231 are provided inside the sub-casing 202, and a channel connected to each cavity is provided on both sides of the supporting member 105. Connected open cavities. This provides a channel for accommodating other surgical tools, so that the present invention can be used together with other surgical tools to perform transurethral urological surgery.

The realization process of three degrees of freedom motion of the present invention is as follows:

When the first control swivel 208 is turned, it can drive the gear 210 to rotate, thereby driving the screw rod 211 to rotate, and then drive the nut 212 to drive the frame-shaped base 213 to linearly slide along the guide rod 209, and the linear sliding of the frame-shaped base 213 can be Drive the main transmission part of the support member 105, the second transmission mechanism 206, and the third transmission mechanism 207 to move linearly at the same time, so the integrated structure of the support member 105, two first structural bones 103, and one second structural bone 104 can be realized. Feed movement.

When the second control swivel 208 is turned, it can drive the gear 216 to rotate through the idler 215, thereby driving the square shaft 218 through the sleeve 217 to drive the screw 219 to rotate, and then drive the nut 220 to linearly slide along the guide rod 214, and the nut 220 The linear sliding can drive the second structural bone 104 and the main transmission part of the third transmission mechanism 207 to move linearly at the same time, so that the feeding of two first structural bones 103 and one second structural bone 104 relative to the support member 105 can be realized sports.

When the third control swivel 208 is rotated, it can drive the gear 223 to rotate, thereby driving the square shaft 225 through the sleeve 224 to drive the worm 226 to rotate, and then drive the worm wheel 227 to rotate, and the rotation of the worm wheel 227 drives the slider 229 through the connecting rod 228 Sliding linearly along the guide rod 222 , the linear sliding of the slider 229 can drive the two first structural bones 103 to move linearly, thus realizing the pitching motion of the high-definition camera 101 .

When the present invention is applied in an operation, the surgeon can insert the sterilized cystoscope body 10 into the urethra, and after the high-definition camera 101 protrudes from the thin-walled tube 106, rotate one of the control swivels 208 to adjust the two first The structural bone 103 and a second structural bone 104 protrude from the support member 105 to a suitable length, and then rotate another control swivel 208 to control the pitch of the high-definition camera 101 to adjust the viewing angle, and then rotate the third control swivel 208 to drive The high-definition camera 101 advances as a whole to further adjust the imaging area. After the position and posture of the high-definition camera 101 are adjusted, surgical tools can be inserted through the ports 231 symmetrically arranged on both sides of the sub-housing 202 to perform transurethral urological surgery.

The present invention is only described with the above-mentioned embodiment, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvement or equivalent transformation of individual components according to the principle of the present invention shall not be excluded from the protection scope of the present invention.

Claims (10)

1. A transurethral flexible manual cystoscope, characterized in that: it includes a cystoscope mirror body and a three-degree-of-freedom drive unit; the cystoscope mirror body includes a high-definition camera carrying an illumination module, a fixed disk , two first structural bones, a second structural bone, a support member and a thin-walled tube with a circular cross section; wherein, the two first structural bones and one second structural bone are triangular Evenly distributed and the front ends of the three are jointly fastened to one side of the fixed plate, and the other side of the fixed plate is fixedly connected to the high-definition camera; the support member is a slender body structure, and the support member The rear end is connected to the three-degree-of-freedom drive unit, and a channel for the cables of the first structural bone, the second structural bone, and the high-definition camera to pass is provided on the support member; the two first structural bones The bone and a rear end of the second structural bone pass through the support member and are connected to the three-degree-of-freedom drive unit; the thin-walled tube is sleeved outside the support member; The three-degree-of-freedom drive unit includes a main housing and an auxiliary housing; the main housing includes a front end plate, a rear end plate and a cylindrical outer cover; the auxiliary housing is fixedly connected to the The front side of the front end plate, the front end of the sub-housing is fixedly connected to the thin-walled tube; the first structural bone, the second structural bone and the supporting member all pass through the interior of the sub-housing and pass through the The front end plate extends into the main casing; the inside of the main casing is provided with a first transmission mechanism mainly composed of a first screw rod and a first nut, and a second transmission mechanism mainly composed of a second screw rod and a second nut. mechanism and a third transmission mechanism mainly composed of a worm wheel and a worm; three control swivels are arranged on the outside of the main casing; the first transmission mechanism is used to convert the rotation of the first control swivel In order to push and pull the support member, two first structural bones, and one second structural bone to realize the overall feed movement, the second transmission mechanism is used to convert the rotation of the second control swivel to push and pull the two second structural bones. A structural bone and a second structural bone are used to realize the movement of the two first structural bones and a second structural bone protruding from the supporting member, and the third transmission mechanism is used to control the rotation of the third one It is converted to push and pull the two first structural bones to realize the pitch motion of the high-definition camera. 2. A transurethral flexible manual cystoscope according to claim 1, characterized in that: said first screw rod is rotatably connected between said front end plate and said rear end plate, said first screw rod The rear end passes through the rear end plate, and the first nut is connected to the first screw; a frame-shaped base is also fixedly connected to the first nut; the frame-shaped base is connected to the The rear end of the support member is fixedly connected; the first control swivel is connected to the rear end of the first screw through the first transmission assembly, and is used to transmit the rotational movement of the first control swivel to the Describe the first screw. 3. A transurethral flexible manual cystoscope according to claim 2, characterized in that: said second screw rod is rotatably supported on said frame-shaped base, said second nut is fitly connected to said On the second screw rod, a first pressure plate is fixedly connected to the second nut, and the first pressure plate is fixedly connected to the rear end of the second structural bone; the second control swivel passes through the second transmission assembly It is connected with the rear end of the second screw rod, and is used for transmitting the rotational movement of the second control swivel to the second screw rod. 4. A transurethral flexible manual cystoscope according to claim 3, characterized in that: said third transmission mechanism comprises said worm, said worm wheel, a connecting rod, a slider and a first guide rod; the first guide rod is fixedly connected between the front end plate and the rear end plate, the slider is slidably connected to the first guide rod; the worm is rotatably connected to the On the second nut; the worm wheel is rotatably supported on the second nut and meshed with the worm; one end of the connecting rod is rotatably connected to the wheel disc near the edge of the worm wheel, and the other end of the connecting rod It is rotatably connected with the slider; a second pressure plate is fixedly connected to the slider, and the second pressure plate is fixedly connected with the rear ends of the two first structural bones; the third control swivel passes through the first The three transmission components are connected with the rear end of the worm, and are used to transmit the rotational motion of the third control swivel to the worm. 5. A transurethral flexible manual cystoscope according to claim 2, characterized in that: said first transmission assembly comprises a first inner ring gear and a first gear, said first inner ring gear The first gear is fixedly arranged inside the first control swivel, the first gear is fixedly connected to the rear end of the first screw, and the first gear meshes with the first ring gear. 6. A transurethral flexible manual cystoscope according to claim 3, characterized in that: said second transmission assembly comprises a second inner ring gear, a second gear, an idler wheel, a first a sleeve and a first square shaft; the second inner ring gear is fixedly arranged on the inner side of the second control swivel; the second inner ring gear is transmitted through the idler gear and the second gear Connection; the first sleeve is fixedly connected to the front center of the second gear, the first sleeve passes through the rear end plate and is rotatably connected with the rear end plate, and the first sleeve is along the circumference A square groove is opened in the direction, and the first sleeve is slidably connected to the first square shaft through the square groove, and the first square shaft is fixedly connected to the rear end of the second screw rod. 7. A transurethral flexible manual cystoscope according to claim 4, characterized in that: said third transmission assembly comprises a third inner ring gear, a third gear, a second sleeve and a The second square shaft; the third ring gear is fixedly arranged on the inside of the third control swivel; the third gear meshes with the third ring gear; the second sleeve is fixedly connected to At the center of the front side of the third gear, the second sleeve passes through the rear end plate and is rotatably connected with the rear end plate; the second sleeve is provided with a square groove in the axial direction, and the first The two sleeves are slidably connected to the second square shaft through the square groove, and the front end of the second square shaft is fixedly connected to the rear end of the worm. 8. A transurethral flexible manual cystoscope according to claim 3, characterized in that: said first transmission mechanism further comprises a second guide rod, said second guide rod is fixedly connected to said front end Between the plate and the rear end plate, the first nut is slidably connected to the second guide rod; The second transmission mechanism also includes a third guide rod, the third guide rod is fixedly connected between the front end plate and the rear end plate, and the second nut and the third guide rod are slidable ground connection. 9. A transurethral flexible manual cystoscope according to claim 1, characterized in that: two interfaces are arranged symmetrically on both sides of the sub-housing, and two and each interface are arranged inside the sub-housing. A channel communicating with the interface, and an open channel communicating with each of the channels is provided on both sides of the support member. 10 . The flexible manual transurethral cystoscope according to claim 1 , wherein the lighting module of the high-definition camera is located on the extension line of the second structural bone. 11 .