CN209332011U - A kind of laparoscope manipulator - Google Patents

Abstract

The utility model discloses a manipulator for laparoscopy, comprising a base; a support rod fixedly connected with the base; a first universal joint; a connecting rod connected with the support rod through the first universal joint; a telescopic rod; a second universal joint; a laparoscope connected with the telescopic rod through the second universal joint; and a control system for controlling the movement of the connecting rod, the telescopic rod and the laparoscope. By using the control system to automatically adjust the movement of the connecting rod, the telescopic rod and the laparoscope, the utility model can automatically adjust the depth and angle of the laparoscopic penetration into the abdomen during laparoscopic surgery, without the need for additional medical staff to support, liberating Manpower also increases the stability of support.

Description

A manipulator for laparoscopy

technical field

The utility model relates to the field of medical auxiliary instruments, in particular to a manipulator for laparoscopy.

Background technique

The laparoscope is mainly used to detect the abdominal cavity of the patient. Its structure generally includes a laparoscope and a display. The insertion end of the laparoscope is provided with a camera connected to the display. During the detection, the medical staff inserts the laparoscope into the abdominal cavity of the patient. In this way, the situation in the patient's abdominal cavity is fed back to the monitor through the camera, which facilitates the implementation of laparoscopic surgery. However, because the traditional laparoscope lacks corresponding fixing devices, in the process of laparoscopic surgery, the laparoscopic surgery is generally performed. It is fixed by the medical staff, and the angle is adjusted by the medical staff, which not only wastes manpower, but also easily fatigues the medical staff when the operation time is too long, thus affecting the stability of the handhold.

Therefore, the existing technology still needs to be improved and improved.

Utility model content

In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a manipulator for laparoscopy, which can automatically adjust the angle of the laparoscope, and does not require medical personnel to hold hands, saves manpower and also has good stability sex.

In order to achieve the above object, the utility model has adopted the following technical solutions:

A manipulator for laparoscopy, comprising:

base;

A support rod fixedly connected to the base;

The first universal joint;

A connecting rod connected to the support rod through the first universal joint;

a telescopic rod fixedly connected with the connecting rod;

The second universal joint;

A laparoscope connected to a telescopic rod through a second universal joint; and

Control system for controlling linkage, telescopic rod and laparoscope movement.

In the laparoscopic manipulator, the first universal joint and the second universal joint both include a first universal joint and a second universal joint; the first universal joint is hollow inside The second cardan shaft joint can extend into the inside of the first cardan shaft joint; a plurality of tooth-shaped grooves are opened in the inside of the first cardan shaft joint along its cross-sectional direction, and the direction of the tooth-shaped grooves is vertical On the cross section of the first cardan shaft joint, gear teeth are arranged on the outside of the second cardan shaft joint along its cross section, and the gear teeth are correspondingly inserted into the tooth-shaped grooves to cooperate with the tooth-shaped grooves.

In the laparoscopic manipulator, the connecting rod is connected with the telescopic rod through a limit pin, the surface of the connecting rod is provided with several first positioning holes, and the surface of the telescopic rod is provided with several first positioning holes. a second positioning hole corresponding to the first positioning hole, and the limiting pin is inserted into the first positioning hole and the second positioning hole.

In the manipulator for laparoscopy, the control system includes a link control unit for controlling the movement of the link, a telescopic rod control unit for controlling the telescopic rod to expand and contract in the link, and a telescopic rod control unit for controlling the rotation of the laparoscope The laparoscopic control unit, the connecting rod control unit is connected with the first universal joint, the telescopic rod control unit is connected with the telescopic rod, and the laparoscopic control unit is connected with the second universal joint.

In the manipulator for laparoscopy, the connecting rod control unit includes a first micro motor arranged inside the support rod, a first motor output shaft connecting the first micro motor and the first universal joint, and a first motor output shaft connected with the first micro motor. A first motor forward and reverse control circuit electrically connected to the micro motor, a first control chip connected with the first motor forward and reverse control circuit, a first smart button connected with the first control chip, and A first power supply for powering the motor and the first control chip.

In the laparoscopic manipulator, the telescopic rod control unit includes a second micro motor arranged inside the connecting rod, a second motor output shaft connecting the second micro motor and the telescopic rod, and an electric motor with the second micro motor. The connected second motor forward and reverse control circuit, the second control chip connected with the second motor forward and reverse control circuit, the second smart button connected with the second control chip, and the 2. A second power supply for controlling the power supply of the chip.

In the laparoscopic manipulator, the laparoscopic control unit includes a third micromotor arranged inside the telescopic rod, a third motor output shaft connecting the third micromotor and the second universal joint, and a third motor output shaft connected with the third micromotor. a third motor forward and reverse rotation control circuit electrically connected to the micro motor, a third control chip connected with the third motor forward and reverse rotation control circuit, a third smart button connected with the third control chip, and a third A third power supply for the motor and the third control chip.

In the manipulator for laparoscopy, the first motor forward and reverse rotation control circuit, the second motor forward and reverse rotation control circuit and the third motor forward and reverse rotation control circuit all include a first SPDT switch and a second SPDT switch. A throw switch, the normally closed contact of the first SPDT switch and the normally closed contact of the second SPDT switch are both connected to the positive pole of the power supply, the normally open contact of the first SPDT switch and the second SPDT switch are connected to the positive pole of the power supply The normally open contacts of the SPDT switch are both connected to the negative pole of the power supply, the common contact of the first SPDT switch and the common contact of the second SPDT switch are respectively connected to the two poles of the motor, and the first SPDT switch is connected to the two poles of the motor respectively. The control terminal of the throw switch and the control terminal of the second SPDT switch are both connected to the control chip;

Wherein, the motor is a first micro motor in the forward and reverse rotation control circuit of the first motor, the control chip is a first control chip in the forward and reverse rotation control circuit of the first motor, and the power supply is used in the forward and reverse rotation of the first motor. The motor is a second micro motor in the forward and reverse rotation control circuit of the second motor, and the control chip is a second control chip in the forward and reverse rotation control circuit of the second motor. The power supply is the second power supply in the forward and reverse rotation control circuit of the second motor; the motor is the third micro-motor in the forward and reverse rotation control circuit of the third motor, and the control chip is the forward and reverse rotation control circuit of the third motor. The third control chip, the power supply is the third power supply in the forward and reverse rotation control circuit of the third motor.

In the manipulator for laparoscopy, the connecting rod control unit, the telescopic rod control unit and the laparoscopic control unit further include a Bluetooth transceiver subunit for communicating with an external remote control terminal and a Bluetooth transceiver connected to the Bluetooth transceiver subunit. Antenna, wherein, in the connecting rod control unit, the Bluetooth transceiver subunit is connected to a first control chip, in the telescopic rod control unit, the Bluetooth transceiver subunit is connected to a second control chip, and in the abdominal cavity In the mirror control unit, the Bluetooth transceiver sub-unit is connected to a third control chip.

In the laparoscopic manipulator, the models of the first control chip, the second control chip and the third control chip are all STC12C5A60S2.

In the manipulator for laparoscopy, the bottom of the base is provided with a pulley.

Compared with the prior art, the laparoscopic manipulator provided by the present invention includes a base; a support rod fixedly connected with the base; a first universal joint; a connecting rod connected with the support rod through the first universal joint; A telescopic rod fixedly connected with the connecting rod; a second universal joint; a laparoscope connected with the telescopic rod through the second universal joint; and a control system for controlling the movement of the connecting rod, the telescopic rod and the laparoscope. By using the control system to automatically adjust the movement of the connecting rod, the telescopic rod and the laparoscope, the utility model can automatically adjust the depth and angle of the laparoscopic penetration into the abdomen during laparoscopic surgery, without the need for additional medical staff to support, liberating Manpower also increases the stability of support.

Description of drawings

FIG. 1 is a schematic structural diagram of a manipulator for laparoscopy provided by the present invention.

FIG. 2 is a schematic structural diagram of the universal joint in the laparoscopic manipulator provided by the present invention.

FIG. 3 is a cross-sectional view along the A-A direction of FIG. 2 .

FIG. 4 is a schematic structural diagram of the support rod in the laparoscopic manipulator provided by the present invention.

5 is a schematic structural diagram of the connecting rod and the telescopic rod in the laparoscopic manipulator provided by the present invention.

6 is a schematic diagram of the forward and reverse circuit of the motor in the manipulator for laparoscopy provided by the present invention.

Detailed ways

The present utility model provides a laparoscopic manipulator. In order to make the purpose, technical scheme and effect of the present utility model clearer and clearer, the present utility model is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

Please refer to FIG. 1, the laparoscopic manipulator provided by the present utility model includes:

base 1;

The support rod 2 fixedly connected with the base 1;

The first universal joint 3;

The connecting rod 4 connected with the support rod 2 through the first universal joint 3;

The telescopic rod 5 fixedly connected with the connecting rod 4;

The second universal joint 6;

A laparoscope 7 connected to the telescopic rod 5 through a second universal joint 6; and

A control system (not shown in the figure) for controlling the movement of the connecting rod 4 , the telescopic rod 5 and the laparoscope 7 .

Specifically, the base 1 is used to support the laparoscopic manipulator, and the connecting rod 4 can perform a universal movement around the support rod 2 through the first universal joint 3, so that the laparoscope can be adjusted at a large angle; The telescopic rod 5 is used to perform telescopic movement in the connecting rod 4, so that the extension length of the laparoscope can be adjusted as required; Movement, so that the laparoscope can adjust a small angle in the abdomen of the human body; the control system is used to control the movement of the connecting rod 4 , the telescopic rod 5 and the laparoscope 7 .

By using the control system to automatically adjust the movement of the connecting rod, the telescopic rod and the laparoscope, the utility model can automatically adjust the depth and angle of the laparoscopic penetration into the abdomen during laparoscopic surgery, without the need for additional medical staff to support, liberating The manpower also increases the stability of the support; in specific use, first adjust the angle of the connecting rod 4 according to the actual situation, so that the laparoscope 7 can extend into the abdomen of the human body at this angle, and then adjust the angle of the connecting rod 4 according to the actual situation. The length of the telescopic rod 5 is adjusted. By adjusting the telescopic rod 5, the laparoscope 7 can be slowly extended into the abdomen of the human body. Finally, according to the actual situation of the operation, the second universal joint is used to make a small angle adjustment of the laparoscope 7, so that the doctor can adjust the angle of the laparoscope 7 in a small way. After the angle is adjusted, the part to be seen can be observed through the monitor, so that the laparoscopic surgery can be better implemented.

Further, please refer to FIG. 1 to FIG. 3 together, the first universal joint 3 and the second universal joint 6 both include a first universal joint 11 and a second universal joint 12; the second universal joint 11 and the second universal joint 12; The maximum cross-sectional area of the shaft joint 12 is smaller than the maximum cross-sectional area of the first cardan shaft joint 11, and the second cardan shaft joint 12 can extend into the interior of the first cardan shaft joint 11; in the first cardan shaft joint 11 A plurality of toothed grooves 13 are opened to the inside of the shaft joint 11 along its cross-sectional direction. The direction of the toothed grooves 13 is perpendicular to the cross-section of the first cardan shaft joint 11 , and is outside the second cardan shaft joint 12 . The gear teeth 13 are arranged along its cross section. The gear teeth 13 and the toothed grooves 14 are matched with a certain ulnar side clearance. The ends of the joint 11 and the second universal joint 12 are each provided with a shaft sleeve 16, and a keyway is opened inside the shaft sleeve 16 for connecting the two shafts that need to transmit torque. In this embodiment, the first universal joint is connected The two shafts are the support rod 2 and the connecting rod 4 respectively, the two shafts connected by the second universal joint are the telescopic rod 5 and the laparoscope 7 respectively, the gear teeth 13 can move in the gear teeth 13, which The movement directions are different, so that the second universal joint 12 can rotate in different directions around the first universal joint 11, thereby realizing the connection between the support rod 2 and the connecting rod 4, the telescopic rod 5 and the laparoscope 7. Universal rotation, and because the corresponding gear teeth are matched with the toothed grooves when transmitting torque, the force-bearing area is greatly increased, and greater torque can be transmitted, leaving a certain amount of space between the gear teeth and the toothed grooves. The ulnar side clearance enables the universal joint to automatically adjust the angle, reducing the failure rate.

Please refer to FIG. 1 and FIG. 5 , the connecting rod 4 is connected to the telescopic rod 5 through a limit pin (not shown in the figure), and a plurality of first positioning holes 41 are provided on the surface of the connecting rod 4 . The surface of the telescopic rod 5 is provided with a plurality of second positioning holes 51 corresponding to the first positioning holes 41 , and the limit pins are inserted into the first positioning holes 41 and the second positioning holes 51 . , the diameter of the connecting rod 4 is larger than the diameter of the telescopic rod 5, and the telescopic rod 4 can adjust the length of its retraction into the connecting rod 4 through the position of the limit pin, so as to further realize the depth of the abdomen of the laparoscope. Adjustment, when adjusting, only need to adjust the positioning pins into the first positioning holes 41 at different positions and the second positioning holes 51 corresponding to the first positioning holes 41, and then the adjustment of the depth of the telescopic rod 5 can be realized. The structure is simple and the adjustment is convenient.

Further, the control system includes a link control unit (not shown in the figure) for controlling the movement of the link 4, and a telescopic rod control unit (not shown in the figure) for controlling the telescopic rod 5 to expand and contract within the link 4 (Fig. (not shown in the figure) and a laparoscope control unit (not shown in the figure) for controlling the rotation of the laparoscope 7, the connecting rod control unit is connected with the first universal joint 3, and the telescopic rod control unit is connected with the telescopic rod 5 , the laparoscope control unit is connected to the second universal joint 6 .

Specifically, the connecting rod control unit is used to control the connecting rod 4 to rotate around the support rod 2 in various directions. The user can control the connecting rod 4 by operating the connecting rod control unit. The connecting rod 4 also The telescopic rod 5 and the laparoscope 7 are driven to rotate, so that the laparoscope 7 can be adjusted at a large angle; the telescopic rod control unit is used to control the telescopic rod 5 to expand and contract in the connecting rod 4, and the user can operate the telescopic rod The control unit is used to control the movement of the telescopic rod 5, so that the laparoscope can be controlled to extend into or out of the abdomen of the human body; the laparoscope control unit is used to control the laparoscope 7 to rotate around the telescopic rod 5 in all directions, and the user can The control of the laparoscope 7 is realized by operating the laparoscope control unit, so that the laparoscope 7 can be rotated at a small angle in the abdomen of the human body, which is convenient for medical staff to observe.

Further, please refer to FIG. 4 , the connecting rod control unit includes a first micro motor 21 disposed inside the support rod, a first motor output shaft 22 connecting the first micro motor 21 and the first universal joint 3 , a first motor forward and reverse rotation control circuit (not shown in FIG. 4 ) electrically connected to the first micro motor 21 , a first control chip (not shown in FIG. 4 ) connected to the first motor forward and reverse rotation control circuit , a first smart button 23 connected to the first control chip, and a first power supply (not shown in FIG. 4 ) for supplying power to the first micromotor 21 and the first control chip.

Specifically, after receiving the key signal sent by the first smart key 23, the first control chip determines whether it is the motor forward rotation signal or the motor reverse rotation signal, and then controls the first motor forward and reverse rotation circuit to make the motor rotate forward or reverse. After receiving the signal, the first micro motor 21 drives the connecting rod 4 to rotate around the support rod 2 at various angles through the first motor output shaft 22. Preferably, the first smart button 23 includes at least a forward rotation button and a reverse rotation button. The first control chip can use the STC series chip with the model STC12C5A60S2, which has low cost and stable performance. Of course, in other embodiments, the first control chip can also use other types of chips. The new model does not limit this.

Please refer to FIG. 6 together, the first motor forward and reverse control circuit includes a first SPDT switch K1 and a second SPDT switch K2, the normally closed contact of the first SPDT switch K1 and the first SPDT switch K1 The normally closed contacts of the two SPDT switches K2 are both connected to the positive pole of the first power supply, and the normally open contacts of the first SPDT switch K1 and the normally open contacts of the second SPDT switch K2 are both connected to the first power supply. The negative pole of the power supply, the common contact of the first SPDT switch K1 and the common contact of the second SPDT switch K2 are respectively connected to the two poles of the first micro motor 21, the control terminal of the first SPDT switch Both the control terminal and the control terminal of the second SPDT switch are connected to the first control chip U1.

Specifically, when the first control chip U1 controls the normally open contact of the first SPDT switch K1 to conduct and the normally closed contact of the second SPDT switch K2 to conduct, the current flows from the positive pole of the first power supply through the The normally closed contact of the second SPDT switch K2, the B terminal of the first micromotor 21, the A terminal of the first micromotor 21, and the normally open contact of the first SPDT switch K1 are connected to the negative pole of the first power supply, The first micromotor 21 is reversed; when the first control chip U1 controls the normally closed contact of the first SPDT switch K1 to conduct and the normally open contact of the second SPDT switch K2 to conduct, the current flows from the first The positive pole of the power supply goes through the normally closed contact of the first SPDT switch K1, the A terminal of the first micromotor 21, the B terminal of the first micromotor 21, and the normally open contact of the second SPDT switch K2 to the first terminal. The negative pole of the power supply, the first micro motor 21 rotates forward, thereby realizing the function of controlling the forward and reverse rotation of the first micro motor 21, and achieving the purpose of controlling the rotation of the connecting rod 4 at different angles.

Please continue to refer to FIG. 5 , the telescopic rod control unit includes a second micro motor 42 disposed inside the connecting rod 4 , a second motor output shaft 43 connecting the second micro motor 42 and the telescopic rod 5 , and a second micro motor 43 . The second motor forward and reverse rotation control circuit (not shown in FIG. 5 ) electrically connected to the motor 43 , the second control chip (not shown in FIG. 5 ) connected with the second motor forward and reverse rotation control circuit, and the second control circuit The second smart button 44 connected to the chip and the second power supply (not shown in FIG. 5 ) for supplying power to the second micro motor 42 and the second control chip.

Specifically, after receiving the button signal sent by the second smart button 44, the second control chip determines whether it is the motor forward rotation signal or the motor reverse rotation signal, and then controls the second motor forward and reverse rotation circuit to make the motor rotate forward or reverse. After receiving the signal, the second micro motor 42 drives the telescopic rod 5 to telescopically move in the connecting rod 4 through the second motor output shaft 43. Preferably, the second smart button 44 at least includes a forward rotation button and a reverse rotation button. Turn the button, the second control chip can use the STC series chip with the model STC12C5A60S2, which has low cost and stable performance. Of course, in other embodiments, the second control chip can also use other types of chips. The utility model does not limit this.

Please refer to FIG. 6 together, the second motor forward and reverse control circuit includes a first SPDT switch K1 and a second SPDT switch K2, the normally closed contact of the first SPDT switch K1 and the first SPDT switch K1 The normally closed contacts of the two SPDT switches K2 are both connected to the positive pole of the second power supply, and the normally open contacts of the first SPDT switch K1 and the normally open contacts of the second SPDT switch K2 are both connected to the second power supply. The negative pole of the power supply, the common contact of the first SPDT switch K1 and the common contact of the second SPDT switch K2 are respectively connected to the two poles of the second micro motor 42, the control terminal of the first SPDT switch Both the control terminal and the control terminal of the second SPDT switch are connected to the second control chip U2.

Specifically, when the second control chip U2 controls the normally open contact of the first SPDT switch K1 to conduct and the normally closed contact of the second SPDT switch K2 to conduct, the current flows from the positive pole of the second power supply through the The normally closed contact of the second SPDT switch K2, the B terminal of the second micromotor 42, the A terminal of the second micromotor 42, and the normally open contact of the first SPDT switch K1 are connected to the negative pole of the second power supply, The second micromotor 42 is reversed; when the second control chip U2 controls the normally closed contact of the first SPDT switch K1 to conduct and the normally open contact of the second SPDT switch K2 to conduct, the current flows from the second The positive pole of the power supply is connected to the second via the normally closed contact of the first SPDT switch K1, the A terminal of the second micromotor 42, the B terminal of the second micromotor 42, and the normally open contact of the second SPDT switch K2. The negative pole of the power supply, the second micro-motor 42 rotates forward, thereby realizing the function of controlling the forward and reverse rotation of the second micro-motor 42, and achieving the purpose of controlling the telescopic movement of the telescopic rod 5 in the connecting rod 4.

Please continue to refer to FIG. 5 , the laparoscopic control unit includes a third micromotor 52 disposed inside the telescopic rod 5 , a third motor output shaft 53 connecting the third micromotor 52 and the second universal joint 6 , and A third motor forward and reverse rotation control circuit (not shown in FIG. 5 ) to which the third micromotor 52 is electrically connected, a third control chip (not shown in FIG. 5 ) connected to the third motor forward and reverse rotation control circuit, and The third smart button 54 connected to the third control chip and a third power supply (not shown in FIG. 5 ) for supplying power to the third micromotor and the third control chip.

Specifically, after receiving the button signal sent by the third smart button 23, the third control chip determines whether it is the motor forward rotation signal or the motor reverse rotation signal, and then controls the third motor forward and reverse rotation circuit to make the motor rotate forward or reverse. After receiving the signal, the third micro motor 52 drives the laparoscope 7 to rotate around the telescopic rod 5 at various angles through the third motor output shaft 53. Preferably, the third smart button 54 includes at least a forward rotation button and a reverse rotation button. button, the third control chip can use the STC series chip with the model STC12C5A60S2, which has low cost and stable performance. Of course, in other embodiments, the third control chip can also use other types of chips. The new model does not limit this.

Please refer to FIG. 6 together, the third motor forward and reverse control circuit includes a first SPDT switch K1 and a second SPDT switch K2, the normally closed contact of the first SPDT switch K1 and the first SPDT switch K1 The normally closed contacts of the two SPDT switches K2 are both connected to the positive pole of the third power supply, and the normally open contacts of the first SPDT switch K1 and the normally open contacts of the second SPDT switch K2 are both connected to the third power supply The negative pole of the power supply, the common contact of the first SPDT switch K1 and the common contact of the second SPDT switch K2 are respectively connected to the two poles of the third micro motor 52, the control terminal of the first SPDT switch Both the control terminal and the control terminal of the second SPDT switch are connected to the third control chip U3.

Specifically, when the third control chip U3 controls the normally open contact of the first SPDT switch K1 to conduct and the normally closed contact of the second SPDT switch K2 to conduct, the current flows from the positive pole of the third power supply through the The normally closed contact of the second SPDT switch K2, the B terminal of the third micromotor 52, the A terminal of the third micromotor 52, and the normally open contact of the first SPDT switch K1 are connected to the negative pole of the third power supply, The third micromotor 52 is reversed; when the third control chip U3 controls the normally closed contact of the first SPDT switch K1 to conduct and the normally open contact of the second SPDT switch K2 to conduct, the current flows from the third The positive pole of the power supply is connected to the third through the normally closed contact of the first SPDT switch K1, the A terminal of the third micromotor 52, the B terminal of the third micromotor 52, and the normally open contact of the second SPDT switch K2. The negative pole of the power supply, the third micromotor 52 rotates forward, thereby realizing the function of controlling the forward and reverse rotation of the third micromotor 52, and achieving the purpose of controlling the laparoscope 7 to rotate at different angles.

Further, the connecting rod control unit, the telescopic rod control unit and the laparoscope control unit also include a Bluetooth transceiver subunit (not shown in the figure) for communicating with an external remote control terminal and connected with the Bluetooth transceiver subunit. The bluetooth antenna (not shown in the figure) is convenient for medical staff to use the remote control device to control the movement of each module, so as to realize the remote control of the laparoscopic manipulator, wherein, in the connecting rod control unit, the bluetooth transceiver The subunit is connected to the first control chip U1, in the telescopic rod control unit, the Bluetooth transceiver subunit is connected to the second control chip U2, and in the laparoscope control unit, the Bluetooth transceiver subunit is connected to the third control Chip U3, after the Bluetooth transceiver sub-unit receives the control instruction of the external remote control terminal, it controls the corresponding motor to perform corresponding motion according to the instruction, thereby realizing the remote control operation of each motion module; wherein, the remote control terminal can be For smart devices with bluetooth function, such as mobile phones and tablets, the specific circuit principle of the bluetooth transceiver sub-unit is in the prior art, and the present utility model will not describe them in detail here.

Please continue to refer to FIG. 1 , in the laparoscopic manipulator provided by the present invention, the bottom of the base 1 is provided with a pulley 8, so that the laparoscopic manipulator can be pushed by the staff, and the pulley 8 has a self-locking device, When fixing is required, the self-locking device is opened so that the pulley 8 cannot roll, which is convenient for the movement of the laparoscopic manipulator and for fixing it during the operation.

To sum up, the laparoscopic manipulator provided by the present invention includes a base; a support rod fixedly connected with the base; a first universal joint; a connecting rod connected with the support rod through the first universal joint; A telescopic rod to which the rod is fixedly connected; a second universal joint; a laparoscope connected to the telescopic rod through the second universal joint; and a control system for controlling the movement of the connecting rod, the telescopic rod and the laparoscope. By using the control system to automatically adjust the movement of the connecting rod, the telescopic rod and the laparoscope, the utility model can automatically adjust the depth and angle of the laparoscopic penetration into the abdomen during laparoscopic surgery, without the need for additional medical staff to support, liberating Manpower also increases the stability of support.

It can be understood that for those of ordinary skill in the art, equivalent replacements or changes can be made according to the technical solutions of the present utility model and the utility model concept thereof, and all these changes or replacements should belong to the appended claims of the present utility model. protected range.

Claims (10)

1. a kind of laparoscope manipulator characterized by comprising

Pedestal；

The support rod being fixedly connected with pedestal；

First universal joint；

The connecting rod being connect by the first universal joint with support rod；

The telescopic rod being fixedly connected with the connecting rod；

Second universal joint；

The laparoscope being connect by the second universal joint with telescopic rod；And

Control system for the movement of controls connecting rod, telescopic rod and laparoscope.

2. laparoscope manipulator according to claim 1, which is characterized in that first universal joint and second universal Connector includes the first universal coupling and the second universal coupling；First universal coupling be inner hollow shell, second Universal coupling can extend into the inside of the first universal coupling；Multiple teeth are provided with along its cross-wise direction in the inside of the first universal coupling Shape slot, the direction of serrate slot perpendicular to the first universal coupling section, in the outside of second universal coupling along its section The gear teeth are provided with, the inside of the corresponding insertion serrate slot of the gear teeth and serrate slot cooperate.

3. laparoscope manipulator according to claim 2, which is characterized in that the connecting rod is stretched by spacer pin with described Contracting bar connects, and is provided with several first positioning holes on the surface of the connecting rod, is provided on the surface of the telescopic rod several A second location hole corresponding with the first positioning hole, the spacer pin is plugged on to be positioned in the first positioning hole and second Kong Zhong.

4. laparoscope manipulator according to claim 3, which is characterized in that the control system includes for the company of control Bar movement connecting rod control unit, for control telescopic rod in the connecting rod stretch telescopic rod control unit and for controlling The laparoscope control unit of laparoscope rotation processed, the connecting rod control unit connect the first universal joint, the telescopic rod control Unit connection expansion link, the laparoscope control unit connect the second universal joint.

5. laparoscope manipulator according to claim 4, which is characterized in that the connecting rod control unit includes being set to The first motor output shaft of the first micromotor, the first micromotor of connection and the first universal joint inside the support rod, With the first motor positive and reverse rotation control circuit of the first micromotor electrical connection, connect with first motor positive and reverse rotation control circuit the One control chip controls the first smart key and be used to control to first micromotor and first that chip is connect with first First power supply of coremaking piece power supply.

6. laparoscope manipulator according to claim 5, which is characterized in that the telescopic rod control unit includes setting The second motor output shaft and second of the second micromotor, the second micromotor of connection and telescopic rod inside the connecting rod Second motor positive inversion control circuit of micromotor electrical connection, the second control being connect with the second motor positive inversion control circuit Chip controls the second smart key and be used for second micromotor and the second control chip that chip is connect with second The second source of power supply.

7. laparoscope manipulator according to claim 6, which is characterized in that the laparoscope control unit includes setting The third motor output of third micromotor, connection third micromotor and the second universal joint inside the telescopic rod Axis is connect with the third motor positive inversion control circuit of third micromotor electrical connection, with third motor positive inversion control circuit Third control chip, with the third third smart key that connect of control chip and be used for the third micromotor and the The third power supply of three control chip power supplies.

8. laparoscope manipulator according to claim 7, which is characterized in that the first motor positive and negative rotation control electricity Road, the second motor positive inversion control circuit and third motor positive inversion control circuit include the first single-pole double-throw switch (SPDT) and second Single-pole double-throw switch (SPDT), the normally-closed contact of first single-pole double-throw switch (SPDT) and the normally-closed contact of the second single-pole double-throw switch (SPDT) are all connected with The anode of power supply, the normally opened contact of first single-pole double-throw switch (SPDT) and the normally opened contact of the second single-pole double-throw switch (SPDT) are all connected with electricity The cathode in source, the common of first single-pole double-throw switch (SPDT) and the common of the second single-pole double-throw switch (SPDT) are separately connected electricity The two poles of the earth of machine, the control terminal of first single-pole double-throw switch (SPDT) and the control terminal of the second single-pole double-throw switch (SPDT) are all connected with control core Piece；

Wherein, the motor is the first micromotor in first motor positive and reverse rotation control circuit, and the control chip is first It is the first control chip in motor positive inversion control circuit, the power supply is the first electricity in first motor positive and reverse rotation control circuit Source；The motor in the second motor positive inversion control circuit be the second micromotor, the control chip the second motor just It is the second control chip in reverse turn control circuit, the power supply is second source in the second motor positive inversion control circuit；Institute It is third micromotor that motor, which is stated, in third motor positive inversion control circuit, and the control chip is in third motor positive and inverse control Chip is controlled for third in circuit processed, the power supply is third power supply in third motor positive inversion control circuit.

9. laparoscope manipulator according to claim 8, which is characterized in that the connecting rod control unit, telescopic rod control Unit and laparoscope control unit processed also include the bluetooth for being communicated with external remote control terminal transmitting-receiving subelement and with Bluetooth receives and dispatches the Bluetooth antenna of subelement connection, wherein in the connecting rod control unit, the bluetooth transmitting-receiving subelement connection First control chip, in the telescopic rod control unit, the bluetooth transmitting-receiving subelement connection the second control chip, described In laparoscope control unit, the bluetooth transmitting-receiving subelement connection third controls chip.

10. laparoscope manipulator according to claim 9, which is characterized in that the first control chip, the second control The model of chip and third control chip is STC12C5A60S2.