CN209122386U - A kind of automatic rotary uterus raising device - Google Patents
A kind of automatic rotary uterus raising device Download PDFInfo
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- CN209122386U CN209122386U CN201821787801.7U CN201821787801U CN209122386U CN 209122386 U CN209122386 U CN 209122386U CN 201821787801 U CN201821787801 U CN 201821787801U CN 209122386 U CN209122386 U CN 209122386U
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- raising device
- swingle
- uterus raising
- motor
- automatic rotary
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Abstract
The utility model discloses a kind of automatic rotary uterus raising devices, including swinging structure, rotational structure, air bag component, height adjustable structure, support construction.The swinging structure includes pendulum palace bar, crown gear, pendulum palace bar axis, spur gear, straight-tooth wheel shaft, second shaft coupling and the second motor, and the head of the pendulum palace bar, which is connected with, lifts palace cup and air bag component；The rotational structure includes swingle, uniaxial tension sensor, first motor and first shaft coupling；The height adjustable structure includes slide unit, sliding rail, rack gear, handle fixed frame, handle, and the first motor of the rotational structure is connect with the slide unit of the height adjustable structure；The feed system includes support base, track, support frame.The execution structure of uterus raising device can suitably be fed in angle swinging, 360 ° of rotation and front and back, can successfully be solved the problems, such as that manual adjustment puts palace bar low efficiency, waste of manpower resource, be simplified surgical procedure.
Description
Technical field
The utility model relates to the field of medical instrument technology more particularly to a kind of automatic rotary uterus raising devices.
Background technique
It is universal with minimally invasive theory, the laparoscope using more and more extensive in gynecological surgery.Laparoscopic surgery is invasive
Hurt it is small, restore fast, get a clear view and operate the advantages that fine.And during most of gynecological laparoscopic operation, especially abdomen
Complete hysterectomy under hysteroscope, uterus raising device are an essential surgical instruments.
The earliest design concept of uterus raising device is to aid in operator doctor and provides tension appropriate in laparoscopic surgery, preferably
The exposure visual field, avoids damage to the adjacent tissues such as bladder.Present widely applied uterus raising device is mainly by handle, uterine neck support and pendulum palace bar
Three parts are constituted, and uterus are swung according to the needs of operation by assistant after combining, so that operator doctor be cooperated to perform the operation.Lift palace
With device must could be completed from the operation of assistant so that this inefficient and low technical content operation must arrange it is special
Doctor completes, and in the long-term deficient clinical gynaecology of human resources, this is huge waste of human resource.It is asked to solve this
Topic, continuous someone make new exploration and research, but there is no like instrument that can liberate in art the assistant for holding uterus raising device at present.
Utility model content
In order to solve the technical problems existing in the prior art, the utility model discloses a kind of automatic rotary uterus raising devices
And method.The execution structure of uterus raising device can suitably be fed in angle swinging, 360 ° of rotation and front and back, can successfully be solved artificial
Pendulum palace bar low efficiency, the problem of waste of manpower resource are adjusted, surgical procedure is simplified.
In order to solve the above technical problems, the technical solution of the utility model are as follows:
A kind of automatic rotary uterus raising device, including swinging structure, rotational structure and supporting structure, wherein the rotation knot
One end of structure is movably arranged on supporting structure, in terms of enabling rotational structure to make height and front and back relative to supporting structure
It moves back and forth, swinging structure is movably arranged on the other end of rotational structure, and air bag component is mounted on swinging structure；
The rotational structure includes first motor, swingle and first shaft coupling, and one end of swingle passes through the first shaft coupling
Device is connect with first motor, the inner hollow of the swingle；
The swinging structure includes pendulum palace bar, crown gear, pendulum palace bar axis, straight-tooth wheel shaft, pendulum palace bar axis, second shaft coupling and the
Two motors, straight-tooth wheel shaft are mounted on the inside of swingle, and spur gear is set to the outer end of straight-tooth wheel shaft, and the inner end of straight-tooth wheel shaft is logical
Second shaft coupling is crossed to connect with the second motor；Pendulum palace bar axis is arranged in the one end for putting palace bar, and crown gear is consolidated in pendulum palace bar axis, hat
Wheel is engaged with the spur gear；Under the driving of the second motor, the pendulum palace palace Gan Raobai bar axis is swung at an angle.
Preferably, the rotational structure further includes uniaxial tension sensor, and uniaxial tension sensor is mounted on the first shaft coupling
Between device and first motor.
Preferably, the automatic rotary uterus raising device further includes air bag component, and air bag component includes air bag, appendix and fills
Port, the air bag are mounted on pendulum palace bar, and inflating port is set on the side wall of the swingle, and the appendix is mounted on pendulum
Inside the bar of palace, one end is connected to air bag, and the other end extends swingle from the inflating port.
Preferably, the end of the close swingle of the pendulum palace bar, which is equipped with, lifts palace cup.
Preferably, the link position of the swingle and pendulum palace bar is enclosed with flexible boot.
Preferably, the supporting structure includes height adjustable structure, wherein the height adjustable structure includes slide unit, first
First sliding rail is vertically arranged on support frame for sliding rail, rack gear, handle and support frame, and slide unit and the sliding rail cooperate, described
First motor is fixed on the slide unit, and rack gear is fixed on the slide unit, is machined on the handle and is engaged with the rack gear
Gear.
Sliding up and down for slide unit is controlled by the rotation of handle, realizes the adjustment of whole height.
It is further preferred that the handle includes the hand-held part set gradually, cylindrical section, gear segment and thread segment, it is described
Gear segment is engaged with the rack gear.
Preferably, the supporting structure further includes feeding structure, and feeding structure includes support base and is set on support base
The track on surface, the lower surface of support frame as described above are machined with the groove with track cooperation.
Preferably, the straight-tooth wheel shaft is mounted on the inside of swingle by several ribs.
A method of it is performed the operation, is included the following steps: using the automatic rotary uterus raising device
1) lithotomy position is kept in patient's art, uterus raising device is adjusted to working condition, installed and lift palace cup, put palace bar and rotation at this time
The bull stick state parallel in axis, so that it, which passes through vagina, enters intrauterine cavity；
2) after uterus raising device can smoothly enter into intravaginal, feed system is adjusted, passes through the display pressure of uniaxial force snesor
Size further confirms that and has entered to accurate location；
3) swinging structure is controlled, makes to put the visual field that palace bar turns to swingle the excision that guarantees to perform the operation in proper angle, this
When control rotational structure, make with swingle pendulum palace bar at an angle by certain speed 360 degree rotation, it is sudden and violent according to being needed in art
Reveal surgical field of view, cooperation Single-pole electric knife cutting fornix vaginae portion tissue；
4) after confirmation excision, swinging structure is controlled, making the axis of the axis for putting palace bar and swingle is in parastate,
Gas in air bag is extracted, feed system is adjusted, makes uterus raising device Safe withdrawing vagina, and air bag component, swinging structure, rotation are tied
Disinfection is removed after structure operation, with subsequent sterile use.
The utility model has the following beneficial effects:
The automatic rotary uterus raising device of the utility model is realized using swinging structure within the scope of pendulum palace bar certain angle
Any speed of any angular position is swung, and 360 degree of rotations of uterus raising device are realized using rotational structure, utilize feed system and list
Axis pressure sensor controls its accurate position so that pendulum palace bar both can with angle swinging or with own rotation so that air bag,
Lifting the palace palace Bei Hebai bar and can lifting uterus with proper angle is that excision reserves enough visuals field；
The automatic rotary uterus raising device of the utility model realizes manual control, automatic for excision slot milling, air bag group
Part, swinging structure, rotational structure can remove disinfection after finishing operation, and with subsequent sterile use, the present apparatus may be mounted at hand
The appropriate area of art bed, occupied space is little, and facilitates carrying, stable structure.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the general illustration of a kind of automatic rotary uterus raising device of the utility model and its application method；
Fig. 2 is the utility model partial sectional view；
Fig. 3 is the utility model partial detailed part drawing；
Fig. 4 is the utility model handle and its working principle diagram.
Wherein, 1, support base, 2, track, 3, support frame, 4, first motor, 5, swingle, 6, pendulum palace bar, 7, flexible boot,
8, inflating port, 9, first shaft coupling, 10, slide unit, 11, air bag, 12, bladder port, 13, appendix, 14, act palace cup, 15, pendulum palace bar
Axis, 16, crown gear, 17, spur gear, 18, straight-tooth wheel shaft, 19, ribs I, 20, ribs II, 21, ribs III, 22, second
Axis device, the 23, second motor, 24, sliding rail, 25, rack gear, 26, port, 27, handle fixed frame, 28, handle, 28-1, hand-held part,
28-2, cylindrical section, 28-3, thread segment, 28-4, gear segment, 29, uniaxial tension sensor.
Specific embodiment
It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As shown in Figure 1, a kind of automatic rotary uterus raising device, including swinging structure, rotational structure, air bag component, height are adjusted
Whole structure and support construction.The swinging structure includes pendulum palace bar 6, crown gear 16, pendulum palace bar axis 15, spur gear 17, straight-tooth wheel shaft
18, second shaft coupling 22 and the second motor 23, the head of the pendulum palace bar 6, which is connected with, lifts palace cup 14 and air bag 11；The rotation
Structure includes swingle 5, uniaxial tension sensor 29, first motor 4 and first shaft coupling 9；The height adjustable structure includes
Slide unit 10, sliding rail 24, rack gear 25, handle fixed frame 27 and handle 28, the first motor 4 of the rotational structure and the height tune
The slide unit 10 of whole structure connects；The feed system includes support base 1, track 2 and support frame 3.
In use, air bag is pushed through vagina and cervix with contraction state and is located in intrauterine, once positioning
In intrauterine, air bag is just expanded so that uterus raising device is fixed on intrauterine.Uterus is swung by swinging structure.
As shown in Fig. 2, the crown gear 16 is fixedly arranged on pendulum palace bar axis 15 and nibbles with spur gear 17 in the swinging structure
It closes, the spur gear 17 is consolidated in straight-tooth wheel shaft 18, the straight-tooth wheel shaft 18 and the second motor 23 and is connected by second shaft coupling 22
It connects, under the driving of the second motor 23, pendulum palace bar 6 can be swung at an angle around pendulum palace bar axis 15.In the rotational structure, institute
It states 5 distal end portion of swingle and is connect with pendulum palace bar 6 by putting palace bar axis 15,5 proximal end of swingle and first shaft coupling 9 connect
It connects, the first shaft coupling 9 is connected by uniaxial tension sensor 29 and first motor 4, real by the driving of first motor 4
The rotation of existing swingle 5, and then drive rotating jointly for swing mechanism, rotating mechanism and air bag component.
The inside of swingle 5 is machined with several ribs, to fix straight-tooth wheel shaft 18, the interior cylinder of the swingle 5
The cage connection in face and the second motor 23, connection precision will guarantee the normal rotation and biography of second shaft coupling 22 and the second motor 23
Graduating power.
Uniaxial tension sensor 29 is installed between first shaft coupling 9 and first motor 4, is used in use real-time
Axial pressure size is shown, to facilitate the operating status for controlling entire uterus raising device.
The air bag component includes air bag 11, appendix 13 and inflating port 8；The air bag 11 is mounted on pendulum 6 front end of palace bar,
The inflating port 8 is located on swingle 5, and the appendix 13 is inflated by bladder port 12 toward air bag.
Flexible boot is made of flexible material, is wrapped in pendulum palace bar 6 and swingle 5, avoids uterus raising device when entering vagina
Structure inside uterus raising device causes unnecessary injury to vagina, while flexible boot surface can be applied lubricant and facilitate uterus raising device
Into.It lifts palace cup 14 to be mounted on the external cylindrical surface of pendulum palace bar 6, plays the role of lifting uterine neck during operation.
As shown in figure 3, the sliding rail 24 is installed on the support frame 3 of the supporting mechanism in the height adjustable structure,
The slide unit 10 is bolted with the first motor 4, and the rack gear 25 is installed on the back side of slide unit 10, and the one of the handle 28
Part is machined with gear, is engaged by gear parts with the rack gear 25 at 10 back side of slide unit, to realize that the rotation by handle 28 comes
The height of slide unit 10 is controlled, and then realizes the adjustment of whole height.
As shown in Figure 1, the upper surface of support base 1 is arranged in the track 2, support frame as described above 3 in the feed system
Lower section is provided with the groove matched with track, and the cross-sectional area of support base 1 wants sufficiently large, to guarantee the stabilization of entire mechanism.
As shown in figure 4, the handle fixed frame 27 includes round tube hole and internal tooth colyliform through-hole, handle fixed frame 27 and support
Frame 3 connects.The handle 28 includes hand-held part 28-1, cylindrical section 28-2, gear segment 28-4 and thread segment 28-3, when needing to adjust
When height adjustable structure, holds handle 28 and rotate, engage the gear segment 28-4 of handle 28 and the rack gear 25 at 10 back side of slide unit, lead to
The engagement of rack-and-pinion 25 is crossed to achieve the purpose that uterus raising device height adjusts；When reaching the requirement of adjustment height, handle is translated
28, so that a part of gear segment 28-4 is sticked into the internal tooth colyliform through-hole of handle fixed frame 27, so that handle 28 be made to stop operating, rises
To the effect of fixed uterus raising device proper height.
The swinging structure, rotational structure, height adjustable structure, support construction control system be desirably integrated into one piece of control
In making sheet, realize that an assistant or operator doctor complete all operationss.The air bag component, swinging structure, rotational structure can
It is connected by shaft coupling II 9 with the bolt at first motor 4 and removes disinfection after finishing operation, with subsequent sterile use；
The utility model additionally provides a kind of method performed the operation using the automatic rotary uterus raising device, specific steps
It is as follows:
Step 1: keeping lithotomy position in patient's art, and uterus raising device is adjusted to working condition, installs and lifts palace cup, puts palace at this time
Bar and swingle are in the parallel state of axis, so that it, which passes through vagina, enters intrauterine cavity；
Step 2: after uterus raising device can smoothly enter into intravaginal, feed system is adjusted, the display pressure of uniaxial force snesor is passed through
The size of power, further confirms that and has entered to accurate location；
Step 3: control swinging structure makes to put the view that palace bar turns to swingle the excision that guarantees to perform the operation in proper angle
Open country controls rotational structure at this time, makes to rotate with the 360 degree of certain speeds of pendulum palace bar of swingle at an angle, according to need in art
Expose surgical field of view, cooperation Single-pole electric knife cutting fornix vaginae portion tissue；
Step 4: after confirmation excision, controlling swinging structure, makes the axis for putting palace bar with the axis of swingle in parallel
State extracts gas in air bag, adjusts feed system, makes uterus raising device Safe withdrawing vagina, and by air bag component, swinging structure,
Disinfection is removed after rotational structure operation, with subsequent sterile use.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (9)
1. a kind of automatic rotary uterus raising device, it is characterised in that: including swinging structure, rotational structure and supporting structure, wherein institute
The one end for stating rotational structure is movably arranged on supporting structure, and rotational structure is enabled to make height with before relative to supporting structure
The reciprocating motion of aspect, swinging structure are movably arranged on the other end of rotational structure afterwards, and air bag component is mounted on swinging structure；
The rotational structure includes first motor, swingle and first shaft coupling, one end of swingle by first shaft coupling with
First motor connection, the inner hollow of the swingle；
The swinging structure includes pendulum palace bar, crown gear, pendulum palace bar axis, straight-tooth wheel shaft, pendulum palace bar axis, second shaft coupling and the second electricity
Machine, straight-tooth wheel shaft are mounted on the inside of swingle, and spur gear is set to the outer end of straight-tooth wheel shaft, and the inner end of straight-tooth wheel shaft passes through the
Two shaft couplings are connect with the second motor；Put palace bar one end be arranged pendulum palace bar axis, crown gear be consolidated in pendulum palace bar axis, crown gear and
The spur gear engagement；Under the driving of the second motor, the pendulum palace palace Gan Raobai bar axis is swung at an angle.
2. automatic rotary uterus raising device according to claim 1, it is characterised in that: the rotational structure further includes uniaxial pressure
Force snesor, uniaxial tension sensor are mounted between first shaft coupling and first motor.
3. automatic rotary uterus raising device according to claim 1, it is characterised in that: further include air bag component, air bag component
Including air bag, appendix and inflating port, the air bag is mounted on pendulum palace bar, and inflating port is set to the side wall of the swingle
On, the appendix is mounted on inside pendulum palace bar, and one end is connected to air bag, and the other end extends rotation from the inflating port
Bar.
4. automatic rotary uterus raising device according to claim 1, it is characterised in that: the close swingle of the pendulum palace bar
End, which is equipped with, lifts palace cup.
5. automatic rotary uterus raising device according to claim 1, it is characterised in that: the connection of the swingle and pendulum palace bar
Position is enclosed with flexible boot.
6. automatic rotary uterus raising device according to claim 1, it is characterised in that: the supporting structure includes that height adjusts
Structure is vertically set on support frame wherein the height adjustable structure includes slide unit, the first sliding rail, rack gear, handle and support frame
First sliding rail is set, slide unit and the sliding rail cooperate, and the first motor is fixed on the slide unit, and rack gear is fixed on described
On slide unit, it is machined on the handle and the rack gear meshed gears.
7. automatic rotary uterus raising device according to claim 6, it is characterised in that: the handle includes the hand set gradually
Portion, cylindrical section, gear segment and thread segment are held, the gear segment is engaged with the rack gear.
8. automatic rotary uterus raising device according to claim 6, it is characterised in that: the supporting structure further includes feeding knot
Structure, feeding structure include support base and the track for being set to support base upper surface, and the lower surface of support frame as described above is machined with and institute
State the groove of track cooperation.
9. automatic rotary uterus raising device according to claim 1, it is characterised in that: the straight-tooth wheel shaft is propped up by several
Stake rib is mounted on the inside of swingle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821787801.7U CN209122386U (en) | 2018-10-31 | 2018-10-31 | A kind of automatic rotary uterus raising device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821787801.7U CN209122386U (en) | 2018-10-31 | 2018-10-31 | A kind of automatic rotary uterus raising device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209122386U true CN209122386U (en) | 2019-07-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821787801.7U Expired - Fee Related CN209122386U (en) | 2018-10-31 | 2018-10-31 | A kind of automatic rotary uterus raising device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209122386U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124745A (en) * | 2018-10-31 | 2019-01-04 | 山东大学齐鲁医院 | A kind of automatic rotary uterus raising device and method |
| CN113729941A (en) * | 2021-09-23 | 2021-12-03 | 上海卓昕医疗科技有限公司 | VR-based surgery auxiliary positioning system and control method thereof |
| WO2023046077A1 (en) * | 2021-09-23 | 2023-03-30 | 上海卓昕医疗科技有限公司 | Medical robot, surgical auxiliary positioning system and control method |
-
2018
- 2018-10-31 CN CN201821787801.7U patent/CN209122386U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124745A (en) * | 2018-10-31 | 2019-01-04 | 山东大学齐鲁医院 | A kind of automatic rotary uterus raising device and method |
| CN109124745B (en) * | 2018-10-31 | 2024-05-17 | 山东大学齐鲁医院 | Automatic rotary uterine manipulator and method |
| CN113729941A (en) * | 2021-09-23 | 2021-12-03 | 上海卓昕医疗科技有限公司 | VR-based surgery auxiliary positioning system and control method thereof |
| WO2023046077A1 (en) * | 2021-09-23 | 2023-03-30 | 上海卓昕医疗科技有限公司 | Medical robot, surgical auxiliary positioning system and control method |
| CN113729941B (en) * | 2021-09-23 | 2024-01-30 | 上海卓昕医疗科技有限公司 | VR-based operation auxiliary positioning system and control method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190719 Termination date: 20201031 |
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| CF01 | Termination of patent right due to non-payment of annual fee |