CN113842102A - Flexible member, flexible probe, and endoscope device - Google Patents
Flexible member, flexible probe, and endoscope device Download PDFInfo
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- CN113842102A CN113842102A CN202111117158.3A CN202111117158A CN113842102A CN 113842102 A CN113842102 A CN 113842102A CN 202111117158 A CN202111117158 A CN 202111117158A CN 113842102 A CN113842102 A CN 113842102A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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Abstract
The present invention relates to a flexible member, a flexible probe, and an endoscope apparatus; the endoscope device comprises an endoscope and a flexible probe, wherein the flexible probe comprises a main pipe body and a flexible part, the flexible part is connected to the far end of the main pipe body, the flexible part comprises a flexible main body and a radial limiting part, the flexible main body is a hollow tubular structure, the hollow tubular structure comprises a plurality of flexible units which are axially distributed in sequence, a radial limiting part is arranged on the inner wall of at least part of the flexible units, and the radial limiting part protrudes towards the inner cavity of the flexible main body to form a radial limiting transmission wire. The invention can ensure that the flexible part has better rebound resilience and rigidity, realizes the bending of the flexible part towards any direction, and simultaneously can reduce the overall outer diameter of the flexible part, prolong the service life of the transmission wire and reduce the bending difficulty of the flexible part.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a flexible component, a flexible probe and an endoscope device.
Background
The endoscope is a commonly used detection instrument in modern medical diagnosis and treatment, can enter the stomach through a mouth or enter the body through other natural pore canals, and can also enter the body through a small incision made by an operation. The doctor can see the lesion which cannot be displayed by the X-ray by means of the endoscope, and is very useful for diagnosing the condition. Wherein the snake bone structure is a commonly used component in endoscopes.
The current snake bone structures are mainly divided into two types: the first type is that the surface of the snake bone structure adopts a certain hollow structure, so that any part of the snake bone structure is in rigid connection and has certain bending and resilience properties; the second type is that a plurality of snake bone units are connected in series to form a whole through a pin joint structure and have certain bending performance. In either configuration, it is desirable to control the bending of the snake bone structure via the drive wire. Wherein to first kind snake bone structure, conventional way is to pass the driving wire from snake bone wall thickness or double-walled between, leads to snake bone wall thickness great, has increased the whole external diameter of snake bone, makes the apparatus be difficult to through narrow and small position, and the snake bone also can increase the pulling force of driving wire when the bending in addition, and the crooked degree of difficulty of snake bone increases, also makes the frictional force between driving wire and the snake bone great, and the driving wire wearing and tearing are serious, so require the driving wire to have higher intensity. For the second snake bone structure, the pin joint structure increases the friction force when the snake bone is bent, limits the bending freedom degree of the snake bone, and ensures that the snake bone cannot face any direction range, the bending rigidity of the snake bone is insufficient, the whole snake bone does not have resilience, the service performance of an instrument is influenced, meanwhile, abrasion is generated, and the size precision and the axial rigidity of the snake bone are influenced.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention aims to provide a flexible part, a flexible probe and an endoscope device, which can realize the bending of the flexible part towards any direction on the basis of ensuring the good resilience and rigidity of the flexible part, and can also reduce the overall outer diameter of the flexible part, so that the flexible probe can pass through a narrower part, and can also reduce the friction force on a driving wire, prolong the service life of the driving wire and reduce the bending operation difficulty of the flexible part.
In order to achieve the above object, according to a first aspect of the present invention, a flexible component is provided, which includes a flexible main body and a radial limiting member, where the flexible main body is a hollow tubular structure, the hollow tubular structure includes a plurality of flexible units axially distributed in sequence, the radial limiting member is disposed on an inner wall of at least a part of the flexible units, and the radial limiting member protrudes toward an inner cavity of the flexible main body to radially limit a transmission wire.
Optionally, the flexible component is provided with a set of radial limiting structures on at least one inner wall of the most distal flexible unit and one inner wall of the most proximal flexible unit, and the set of radial limiting structures includes a plurality of radial limiting members distributed at intervals in the circumferential direction of the flexible main body.
Optionally, a set of radial limiting structures is arranged on the inner wall of each flexible unit, or a set of radial limiting structures is arranged on the distal end portion of the flexible body every N flexible units, or a set of radial limiting structures is arranged on the proximal end portion of the flexible body every M flexible units; the radial limiting structures comprise a plurality of radial limiting pieces distributed along the circumferential direction of the flexible main body at intervals, and N and M are positive integers.
Optionally, a value of N is smaller than a value of M. If N is 1, M is 2.
Optionally, the radial limiting piece is provided with a limiting hole, and the limiting hole is used for penetrating through the transmission screw; the outer wall of the flexible unit is provided with a through mounting hole, one part of the structure of the radial limiting part is fixed on the outer wall of the flexible unit, and the other part of the structure penetrates through the mounting hole and extends into the inner cavity of the flexible unit.
Optionally, the radial limiting part includes an integrated supporting arm and a fixing seat, the fixing seat is provided with the limiting hole, the supporting arm is fixed on the outer wall of the flexible unit, and the fixing seat passes through the mounting hole and partially extends into the inner cavity of the flexible unit.
Optionally, the support arm has a thickness less than a wall thickness of the flexible body.
Optionally, the ratio of the wall thickness of the supporting arm to the wall thickness of the flexible main body is 0.1-0.8.
Optionally, the mounting hole is configured to have a width in an axial direction of the flexible body of 50% to 70% of a width in the axial direction of the flexible unit.
Optionally, the flexible member further comprises an axial stop for being disposed at a distal end of the drive wire; when the driving wire is driven to move towards the proximal direction of the flexible component under the stress, the axial limiting piece can prevent the distal end of the driving wire from falling off from the radial limiting piece.
Optionally, the axial limiting part includes a sleeve, the sleeve is used for being sleeved at the far end of the transmission wire, the radial limiting part has a limiting hole, and the minimum cross section width of the sleeve is greater than the aperture of the limiting hole.
Optionally, the flexible component further includes a distal end structure, the distal end of the flexible body is connected to the distal end structure, the outer surface of the distal end structure is provided with a distal end groove structure, and the distal end groove structure is used for increasing the contact force between the distal end structure and the protective sheath.
Optionally, the flexible component further includes a proximal structure, the proximal end of the flexible body is connected to the proximal structure, and a proximal groove structure is disposed on the outer surface of the proximal structure and used for increasing the contact force between the proximal structure and the protective sheath.
Optionally, a plurality of axially-through wiring holes are formed in the wall of the proximal structural member, the plurality of wiring holes are used for radially limiting the transmission wire and the lead respectively, the proximal structural member has an axially-through proximal inner cavity, and the proximal inner cavity is used for radially limiting the tool passage tube.
Optionally, the hollowed-out tubular structure comprises:
a plurality of hollowed-out portions arranged at intervals in the axial direction, and,
the flexible unit is formed between two adjacent hollow parts;
each hollowed-out part is provided with a plurality of connecting beams in the circumferential direction, and two adjacent connecting beams and two adjacent flexible units form hollowed-out grooves.
Optionally, the widths of all the flexible units in the axial direction are equal or unequal, and/or the gaps between all the flexible units are equal or unequal.
Optionally, the widths of all the axially distributed connecting beams in the circumferential direction are equal or unequal, and/or the lengths of all the axially distributed connecting beams in the axial direction are equal or unequal.
In order to achieve the above object, according to a second aspect of the present invention, there is provided a flexible probe, comprising a main tube and any one of the flexible members, wherein a distal end of the main tube is connected to the flexible member.
Optionally, the flexible probe further comprises a protective sheath, the protective sheath covering the flexible member.
Optionally, the flexible probe further includes a driving device and a driving wire set connected to each other, the driving wire set includes a plurality of driving wires, and the driving device is configured to control a bending state of the flexible member through the driving wire set.
In order to achieve the above object, according to a third aspect of the present invention, there is provided an endoscope apparatus including an endoscope module and the flexible probe of any one of the above aspects, the endoscope module being disposed at a distal end of the flexible member.
In the flexible part, the flexible probe and the endoscope device provided by the invention, the flexible main body is of an integrated hollow tubular structure, so that the flexible part is ensured to have good rigidity and resilience, and the service performance of the flexible probe is ensured; meanwhile, the radial limiting part radially limits the transmission wire in the inner cavity of the flexible main body, so that the wall thickness of the flexible part is smaller, the overall outer diameter of the flexible part is reduced, and the flexible probe is easy to pass through a narrow space and better performs surgical treatment; and the flexible part can not increase the pulling force of driving silk when crooked, has reduced the frictional force between driving silk and the flexible part, has reduced the wearing and tearing of driving silk, has improved the life of driving silk, and the flexible part bending degree of difficulty reduces, makes the operation easier, also can guarantee the size precision of flexible part, realizes the bending of flexible part towards arbitrary direction.
In the flexible component, the flexible probe and the endoscope device provided by the invention, a set of radial limiting structures is arranged at every N flexible units on the distal end part of the flexible main body, or a set of radial limiting structures is arranged at every M flexible units on the proximal end part of the flexible main body, and a set of radial limiting structures comprises a plurality of radial limiting pieces which are distributed at intervals along the circumferential direction of the flexible main body; in this way, the radial limiters are arranged non-equidistantly or equidistantly in the axial direction of the flexible part; preferably, the value of N is smaller than that of M, and the radial limiting pieces are arranged at unequal intervals in the axial direction of the flexible part in such a structure, so that the tensile force applied to the transmission wire at any position when the flexible part is bent is equal or close to the tensile force applied to the transmission wire at any position as much as possible, the friction force between the transmission wire and the flexible part is further reduced, the bending difficulty of the flexible part is reduced, and the service life of the transmission wire is further prolonged; and the distal end part of the flexible main body is provided with more dense radial stoppers, so that the turning radius of the distal end part is smaller, and the flexible main body can pass through a tortuous part more easily.
Drawings
The features, nature, and advantages of embodiments of the invention will be described with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural view of a flexible probe according to a preferred embodiment of the present invention, wherein a flexible member is surrounded by a protective sheath;
FIG. 2 is a schematic structural view of a flexible probe according to a preferred embodiment of the present invention, with the protective sheath removed from the flexible member;
FIG. 3 is a schematic perspective view of a flexible component according to a preferred embodiment of the present invention, wherein a drive wire is threaded from one end of the flexible component and extends axially to the other end;
FIG. 4 is an enlarged view of a portion of the flexible member at the location a shown in FIG. 3;
FIG. 5 is a schematic perspective view of a flexible component of a preferred embodiment of the present invention, with the drive wires of FIG. 3 omitted;
FIG. 6 is a front view of the flexible component shown in FIG. 5;
FIG. 7 is a partial schematic view of the hollow tubular structure of the preferred embodiment of the present invention;
FIG. 8 is a schematic perspective view of a radial stop according to a preferred embodiment of the present invention;
FIG. 9 is a front view of the radial stop of FIG. 8;
FIG. 10 is a cross-sectional view of an assembly of a radial stop, flexible body and drive wire in accordance with a preferred embodiment of the present invention;
FIG. 11a is a schematic view of a radial stop of the preferred embodiment of the present invention separated from a flexible body;
FIG. 11b is a schematic cross-sectional view of a radial stop of the preferred embodiment of the present invention separated from the flexible body;
FIG. 12 is a schematic perspective view of a distal structural member with a guidewire passing therethrough according to a preferred embodiment of the present invention;
FIG. 13 is a schematic structural view of the distal structural member of the preferred embodiment of the present invention, with the lead of FIG. 12 omitted;
FIG. 14 is an elevation view of a distal structural member of a preferred embodiment of the present invention;
FIG. 15 is a schematic perspective view of a proximal structural member of a preferred embodiment of the present invention, with a drive wire sleeve and a lead wire threaded therethrough;
FIG. 16 is a schematic perspective view of the proximal structural element of the preferred embodiment of the present invention, with the lead and drive wire sleeve of FIG. 15 omitted;
FIG. 17 is an elevational view of the proximal structural member of the preferred embodiment of the present invention;
FIG. 18 is a schematic perspective view of a flexible component of a preferred embodiment of the present invention, with proximal and distal structures omitted and a plurality of drive wires at the proximal end for controlling bending of the flexible component;
FIG. 19 is an elevational view of the outer wall of each flexible unit of the flexible component of the preferred embodiment of the present invention fixedly provided with a radial stop;
fig. 20 is a view showing a state where the flexible member of the preferred embodiment of the present invention is bent in different directions.
The reference numerals are explained below:
1-a main pipe body; 2-a flexible member; 21-a flexible body; 211-hollowed-out; 212-a flexible unit; 213-connecting beam; 214-mounting holes; 215-distal projection arrangement; 216-a proximal projection arrangement; 22-a proximal structural member; 221-a proximal recess structure; 222-an auxiliary tank; 223-through holes; 224-wiring holes; 225-proximal lumen; 226-proximal groove structure; 23-a distal structural member; 231-distal mounting groove; 232-distal recessed structure; 233-distal recess configuration; 24-a radial stop; 241-a limiting hole; 242-a support arm; 243-fixed seat; 244-a groove; 25-axial limit piece; 251-a sleeve; 26-an endoscope module; 261-lens; 262-a light source; 27-a position sensor; 271-position sensor wires; 28-drive wire sleeve; 3-protecting the jacket; 4-a tool passage tube; 5-driving wires;
g-gaps between flexible units; w1 — width of flexible unit; w2 — width of connecting beam; l2-length of connecting beam; a 1-longitudinal axis.
Detailed Description
The technical solutions in the preferred embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As used in this application, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this disclosure, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in this disclosure, the term "plurality" is generally employed in its sense including "at least one" unless the content clearly dictates otherwise. As used in this disclosure, the term "at least two" is generally employed in a sense including "two or more" unless the content clearly dictates otherwise.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or at least two of the feature. It should be noted that "distal" and "proximal" are used as terms of orientation that are commonly used in the field of interventional medical devices, wherein "distal" or "distal" refers to the end that is distal from the operator during the procedure, and "proximal" refers to the end that is proximal to the operator during the procedure. Axial, meaning a direction parallel to the line connecting the center of the distal end and the center of the proximal end of the medical device; radial, meaning a direction perpendicular to the axial direction; circumferential, refers to a direction around the axial direction.
Fig. 1 and 2 are schematic structural views of a flexible probe according to a preferred embodiment of the present invention. As shown in fig. 1 and 2, an embodiment of the present invention provides a flexible probe, including a main pipe 1 and a flexible component 2; the main pipe body 1 is usually a hose and has certain flexibility and toughness; preferably, the flexible probe further comprises a protective sheath 3, and the protective sheath 3 covers the whole flexible part 2. The distal end of the main pipe body 1 is connected with a flexible component 2, and the flexible component 2 is provided with an inner cavity which is axially communicated; the inner cavity of the main pipe body 1 is axially communicated with the inner cavity of the flexible component 2. Typically, the flexible probe also comprises a tool passage tube 4 for insertion into the inner lumens of the main tube 2 and the flexible member 2 and extending axially; the tool passage tube 4 is used for loading a surgical tool inside to provide a passage for the surgical tool, and the surgical tool can be various structures, such as a biopsy forceps, a laser ablation device or other surgical tools; the tool passage tube 4 extends axially through the entire flexible probe. It will be appreciated that the flexible member 2 is flexible and is capable of deforming when subjected to a force and of returning to its original shape when the force is lost.
Referring to fig. 2, the flexible member 2 includes a flexible body 21; further, the flexible member 2 further comprises a proximal structural member 22 and a distal structural member 23; the proximal structural member 22, the flexible body 21 and the distal structural member 23 are connected in axial sequence from the proximal end to the distal end. Further, the protective sheath 1 covers the proximal structural member 22, the flexible body 21 and the distal structural member 23. Referring to fig. 3, the flexible body 21 has a hollow tubular structure. In the embodiment shown, the flexible body 21 has a cylindrical shape in the unflexed state and extends along a longitudinal axis a 1.
Further, the flexible probe also comprises a transmission wire group, the transmission wire group comprises a plurality of transmission wires 5, the number of the transmission wires 5 is set according to the number of the bending freedom degrees to be controlled by the flexible part 2, and the application does not require the flexible probe. The flexible probe controls the bending of the flexible part 2 in any direction through the driving wire set. In this embodiment, the number of the transmission wires 5 is four, and every two transmission wires are used for respectively controlling the flexible component 2 to bend towards different directions. Further, the flexible probe also comprises a driving device connected with the driving wire set, and the driving device is used for controlling the bending state of the flexible component 2 through the driving wire set. The driving device may include a driving wheel and a motor; the drive wheel and motor are integrated into an instrument cartridge at the proximal end of the flexible probe. After the motor runs, the driving wheel is driven to rotate, and the driving wheel drives the transmission wire 5 to move. The transmission wire 5 penetrates through the main pipe body 1 and the flexible component 2, one end of the transmission wire is connected with the far end of the flexible main body 21, and the other end of the transmission wire is connected with the driving wheel.
Referring to fig. 6 and 7, the hollow tubular structure is a hollow structure formed by cutting a tube, and the hollow structure includes a plurality of hollow portions 211 arranged at intervals along an axial direction; flexible units 212 are formed between adjacent hollow parts 211, the hollow parts 211 are arranged around the circumference of the hollow tubular structure, and each hollow part 211 is arranged in parallel with each flexible unit 212; each hollow portion 211 has a plurality of connecting beams 213 in the circumferential direction, two adjacent connecting beams 213 and two adjacent flexible units 212 form hollow grooves (not labeled), the connecting beams 213 and the hollow grooves are arranged at intervals, and the connecting beams 213 are used for connecting two axially adjacent flexible units 212. The two ends of the hollow groove along the circumferential direction are preferably subjected to circular arc transition treatment to prevent stress concentration. It can be understood that, due to the spaced arrangement of the connection beams 213 and the hollowed-out grooves, the two flexible units 212 can be bent relatively under the connection of the connection beams 213. It should be understood that, this application makes the flexible main body 21 rigidly connect to any adjacent position along the axial direction through the structure of the connection beam 213 and the flexible unit 212, and also makes the force that the driving wire 5 receives be more even at any bending position, reduces the friction that the driving wire 5 received, improves the life of the driving wire 5.
The number, type, arrangement or shape of the hollowed-out portions 211 is not limited by the present application. In various embodiments, the flexible body 21 can have any number, type, shape, and arrangement of the hollowed-out portions 211. The cutouts 211 form a pattern that provides the best balance of axial bending and torsional stiffness. The hollowed-out grooves are formed substantially perpendicular to the longitudinal axis a 1. The hollowed-out portion 211 allows the flexible body 21 to bend in multiple dimensions. In some embodiments, a higher spatial frequency of the hollowed-out portion 211 may correspond to a higher flexibility. Specifically, in some embodiments, the hollow portion 211 includes a plurality of connection beams 213 connecting adjacent flexible units 212, and the hollow portion 211 further includes a plurality of hollow grooves, and the hollow grooves and the connection beams 213 are disposed at intervals along the circumference of the hollow tubular structure. In some embodiments, the axially adjacent hollowed-out grooves and the connecting beams 213 are respectively arranged in axial alignment, that is, the projections of the axially adjacent hollowed-out grooves on the same vertical projection plane are completely overlapped, and the projections of the axially adjacent connecting beams 213 on the same vertical projection plane are completely overlapped; here, the "axially adjacent connection beams 213" refer to two connection beams 213 that are located closest to each other on both ends of the flexible unit 212 in the axial direction of the hollow tubular structure. Of course, in other embodiments, the axially adjacent hollow-out grooves and the connecting beams 213 are respectively arranged in an axially staggered manner, that is, the projections of the axially adjacent hollow-out grooves on the same vertical projection plane are not completely overlapped, and the projections of the axially adjacent connecting beams 213 on the same vertical projection plane are not completely overlapped. It is to be understood that the same perpendicular projection plane refers to the same perpendicular projection plane, which is the projection plane perpendicular to the axis of the flexible body.
In more detail, as shown in fig. 7, a gap g is formed between two adjacent flexible units 212, that is, the minimum width of the hollow portion 211; each flexible unit 212 has a width W1 in the axial direction of the flexible body; the length of each connection beam 213 in the axial direction of the flexible body is L2, and the width of the connection beam 213 in the circumferential direction of the flexible body is W2. The gap g, the width W1 of the flexible unit, the length L2 of the connection beam 213, and the width W2 are not particularly limited. The widths W1 of all of the flexible units 212 may be equal or unequal and/or the gaps g between all of the flexible units 212 may be equal or unequal. The widths W2 of all axially distributed coupling beams 213 may be equal or unequal and/or the lengths L2 of all axially distributed coupling beams 213 may be equal or unequal.
Referring to fig. 4, the flexible member 2 further includes a radial position limiter 24 for radially limiting the transmission wire 5; the transmission wire 5 is used for penetrating into the flexible component 2 from the proximal end and extending to the distal end of the flexible component 2 along the axial direction; specifically, the distal end of the transmission wire 5 is connected with the distal end of the flexible main body 21, and the proximal end of the transmission wire 5 is connected with the driving device after passing through the main tube body 1. Wherein at least part of the inner wall of the flexible unit 212 is provided with a radial stop 24; the radial stop 24 protrudes toward the inner cavity of the flexible body 21 (i.e., protrudes toward the longitudinal axis of the flexible body) to radially stop the drive wire 5.
Compared with the prior art, the flexible main body 21 is of an integrated hollow tubular structure, so that the flexible part 2 has good rigidity and resilience, can be bent in any direction, and ensures the use performance of the flexible probe. And flexible component 2 can not increase the pulling force of driving wire 5 when crooked, has reduced the frictional force between driving wire 5 and the flexible component 2, has reduced the wearing and tearing of driving wire 5, has improved the life of driving wire 5, and the crooked degree of difficulty of flexible component 2 reduces, makes the operation easier, also can guarantee the size precision of flexible component 2. Meanwhile, the transmission wire 5 is radially limited in the inner cavity of the flexible main body 21 by the radial limiting part 24, so that the wall thickness of the flexible part 2 is smaller, the overall outer diameter of the flexible part 2 is reduced, and the flexible probe is easy to pass through a narrow space for better surgical treatment.
Specifically, in one embodiment, the wall thickness of the flexible body 21 may be 0.1 to 0.2mm, and more preferably 0.13 mm. Furthermore, it should be noted that the hollow tubular structure is preferably a single-layer tube, not a multi-layer tube.
In this embodiment, it is preferable that the flexible main body 21 is provided with a set of radial limiting structures on at least the inner wall of the most distal one of the flexible units 212, and a set of radial limiting structures on the inner wall of the most proximal one of the flexible units 212; the set of radial position-limiting structures includes a plurality of radial position-limiting members 24 distributed at intervals along the circumferential direction of the flexible main body 21. It should be understood that the number of the radial position-limiting members 24 in the radial position-limiting structure set according to the number of the transmission screws 5, if the number of the transmission screws 5 is four, the four transmission screws 5 are radially limited by one radial position-limiting member 24. It should be understood, however, that a plurality of radial stops 24 may be provided per drive wire 5 in the axial direction. And the plurality of radial position limiters 24 of the set of radial position limiting structures are generally symmetrically disposed about the longitudinal axis a1 of the hollowed-out tubular structure.
In the illustrated embodiment, a set of the radial stop structures is provided on the inner wall of each flexible unit 212, in which case all the radial stops 24 distributed axially are arranged at equal distances in the axial direction. In another preferred embodiment, a set of radial position-limiting structures is disposed on the inner wall of the partial flexible unit 212, for example, a set of radial position-limiting structures is disposed at intervals of 1 or 2 or more flexible units, in this case, all the radial position-limiting members 24 distributed in the axial direction may be disposed at equal intervals in the axial direction, or may be disposed at unequal intervals. It is further preferable that a set of radial stop structures is provided for every N flexible units 212 at the distal end portion of the flexible body 21, and/or a set of radial stop structures is provided for every M flexible units 212 at the proximal end portion of the flexible body 21; n and M are positive integers, and the values of N and M can be equal or unequal; when the value of N is not equal to the value of M, the radial position-limiting members 24 are arranged at unequal intervals in the axial direction of the flexible component 2; when the value of N is equal to the value of M, the radial stoppers 24 are arranged at equal intervals in the axial direction of the flexible member 2. Preferably, the value of N is less than that of M, e.g., N is 1 and M is 2; at this time, the distance between the radial stoppers 24 of the distal end portion in the axial direction is smaller than the distance between the radial stoppers 24 of the proximal end portion in the axial direction; in this way, it is effectively ensured that the tensile force applied to the driving wire 5 at any position when the flexible component 2 is bent is as equal or close as possible, that is, the force applied to the driving wire 5 at any bending position is relatively uniform, thereby prolonging the service life of the driving wire 5; furthermore, the distal end portion of the flexible body 2 is provided with more dense radial stoppers 24, so that the distal end portion has a smaller turning radius and can more easily pass through a tortuous part. It is understood that the distal portion refers to the portion near the distal end of the flexible body 21; the proximal portion, which refers to the portion near the proximal end of the flexible body 21; the scope of the distal portion and the scope of the proximal portion are not particularly required by the present application.
Referring to fig. 4, a radial position-limiting element 24 is disposed on an inner wall of a most distal one of the flexible units 212 of the flexible main body 21, and the radial position-limiting element 24 and the flexible main body 21 are assembled together after being manufactured separately. The radial stop 24 is fixed to the flexible body 21, for example, by gluing or welding.
Referring to fig. 8 and 9, in an embodiment, the radial limiting member 24 is provided with a circumferentially closed limiting hole 241 for passing through the driving wire 5. The central axis of the limiting hole 241 is parallel to the longitudinal axis a1 of the flexible body 21. Of course, in other embodiments, the radial limiting member 24 may not limit the position through the limiting hole 241, but limit the driving wire 5 by engaging, clamping or other methods. The limiting hole 241 may be a through hole that is not circumferentially closed.
The radial stop 24 may be of various shapes, and the present application is not limited thereto. Further, in order to reduce the process difficulty, a part of the structure of the radial stop member 24 is fixed on the outer wall of the flexible unit 212, and another part of the structure passes through the mounting hole 214 on the flexible unit 212 and extends into the inner cavity of the flexible unit 212. At this time, a part of the height (i.e. the wall thickness) of the radial stop 24 overlaps with the wall thickness of the flexible main body 21, which effectively reduces the wall thickness of the flexible member 2. Preferably, the radial stop 24 includes an integrated supporting arm 242 and a fixing seat 243; the fixing seat 243 is provided with a limiting hole 241; the supporting arm 242 is fixed on the outer wall of the flexible main body 21; the fixing seat 243 passes through the mounting hole 214 and partially extends into the inner cavity of the flexible body 21.
Referring to fig. 10 and fig. 11a to 11b, a through mounting hole 214 is formed on an outer wall of the flexible main body 21. The fixing seat 243 extends into the inner cavity of the flexible body 21 through the mounting hole 214, so that the driving wire 5 passes through the limiting hole 241 on the fixing seat 243. The supporting arm 242 is fixed to the outer wall of the flexible main body 21 by bonding or welding to prevent the radial position limiter 24 from being displaced as a whole. The shape of the support arms 242 preferably matches the shape of the outer contour of the flexible body 21, e.g. the support arms 242 are circular arc shaped. It should be understood that the radial stop member 24 is fixed on the outer wall of the flexible main body 21 through the supporting arm 242, which reduces the difficulty of the process, and at the same time, since the radial stop member 24 covers the mounting hole 214 of the flexible unit 212, the two members can be stressed together during the operation, thereby ensuring the rigidity and resilience of the flexible component as a whole.
The mounting hole 214 may have various shapes, such as an arc shape, a rectangular shape, an oval shape, etc., and may also have a special shape. The mounting hole 214 is preferably configured to have a width along the axial direction of the flexible body of 50% to 70% of the width W1 of the flexible unit 212. In addition, the extending direction of the mounting hole 214 is not limited to the radial direction, that is, the radial direction limiting member 24 may be inserted obliquely or in a curved arc shape in addition to being inserted perpendicularly into the mounting hole 214 of the flexible main body 21. It will be appreciated, therefore, that the present application is not limited to punching the mounting hole 214 in a direction perpendicular to the longitudinal axis a 1.
It is further preferred that the thickness t of the support arm 242 is less than the wall thickness of the flexible body 21. More preferably, the ratio of the wall thickness t of the supporting arm 242 to the wall thickness of the flexible main body 21 is 0.1-0.8, such as 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8; this effectively reduces the overall outside diameter of the flexible member 2. Optionally, the wall thickness of the flexible body 21 is 0.13mm, and the wall thickness t of the support arm 242 is 0.05mm, which is about 0.38.
With continued reference to fig. 9, the support arm 242 preferably has a recess 244, particularly in the area where the mounting base 243 joins the support arm 242. The groove 244 enables the radial stop 24 to be more securely engaged in the mounting hole 214, so that it is less prone to loose and fall.
Referring to fig. 4, the flexible member 2 preferably further comprises an axial stop 25 for being disposed at a distal end of the drive wire 5; when the driving wire 5 is forced to move towards the proximal direction of the flexible member 2, the axial limiting member 25 can prevent the distal end of the driving wire 5 from falling off from the radial limiting member 24. The axial limiting member 25 may include a sleeve 251, the sleeve 251 is sleeved on the distal end of the transmission wire 5, the radial limiting member 24 has a limiting hole 241 which is circumferentially closed, and the minimum cross-sectional width of the sleeve 251 is greater than the aperture of the limiting hole 241.
Referring to fig. 5, in order to connect the proximal end and the distal end of the flexible body 21 with the proximal structural member 22 and the distal structural member 23, respectively, the distal-most end of the flexible body 21 is provided with a distal protrusion 215 for mating connection with the distal structural member 23; while the proximal most end of the flexible body 21 is provided with a proximal protruding structure 216 for mating connection with the proximal structural member 22. Of course, in other cases, the protruding structures may be replaced with recessed structures, or a combination of recessed and protruding structures.
Referring to fig. 12, in one embodiment, the flexible probe is configured to further include an endoscope module 26, and particularly, the endoscope module 26 is disposed at the distal end of the distal structural member 23 to acquire an in vivo image through the endoscope module 26. The endoscope module 26 includes a lens 261 and a light source 262, the lens 261 and the light source 262 are both disposed on the end surface of the distal end structural member 23, and the lens 261 and the light source 262 are both connected with wires. Further, the flexible probe further comprises a position sensor 27 fixed to the distal structural member 23, wherein the position sensor 27 is capable of identifying the position of the distal end of the flexible probe. The position sensor 27 is also connected to a lead wire. Wherein all of the leads extend axially through the flexible probe in a proximal direction (as indicated by the arrow in fig. 12). The number of position sensors 27 on the distal structural member 24 is preferably two, and the position sensors 27 are preferably magnetic sensors.
Further, a preferred embodiment of the present invention also provides an endoscopic apparatus including an endoscopic module 26 and a flexible probe, the endoscopic module 26 being disposed at the distal end of the flexible member 2.
Referring to fig. 13 and 14, the outer wall of the distal structural member 23 is provided with a distal mounting groove 231 for mounting the position sensor 27. Preferably, the position sensor 27 is fixedly connected to the distal mounting groove 231 by glue or welding. Optionally, a distal recessed structure 232 is further disposed on an outer wall of the distal structural member 23, and is used for being matched and connected with the distal protruding structure 215 of the flexible main body 21, and the distal protruding structure 215 can be clamped and fixed by being inserted into the distal recessed structure 232. Preferably, the distal protruding structure 215 can be fixedly connected to the distal recessed structure 232 by glue or welding, and the connection is more secure and reliable. Further preferably, the distal mounting groove 231 is a hollow structure, so that glue is filled through the distal mounting groove 231, and the distal structural member 23 is more firmly connected with the flexible main body 21; alternatively, the distal structural member 23 is further welded to the flexible body 21 via the distal mounting slot 231. Further, a distal end groove structure 233 is arranged on the outer wall of the distal end structural member 23, and the shape of the distal end groove structure 233 is not limited, such as a spiral groove or an annular groove; the distal groove structure 233 is used to store glue to strengthen the connection between the distal structural member 23 and the sock 1.
Referring to fig. 15 and 16, the proximal end of the proximal structural member 22 is preferably connected to a drive wire sleeve 28, and the drive wire sleeve 28 is disposed over the drive wire 5. In actual use, the drive wire sleeve 28 does not extend into the flexible body 21, and the drive wire sleeve 28 extends through the primary tube 1 in a proximal direction (as indicated by the arrow in FIG. 15). Thus, a portion of each drive wire 5 within the main tube 1 is sleeved with a drive wire sleeve 28, while a portion within the flexible member 2 is not sleeved with a drive wire sleeve 28. Further, a position sensor 27 is provided on the proximal structural member 22, and a lead 271 of the position sensor 27 extends through the flexible probe in a proximal direction.
Specifically, in one embodiment, the distal surface of the proximal structure 22 is provided with a proximal recess 221 for mating connection with the proximal protrusion 216 of the flexible body 21; the proximal protrusion 216 is inserted into the proximal recess 221 to be engaged. For the purpose of strengthening the connection, a plurality of auxiliary grooves 222 are provided on the outer wall of the proximal structural member 22 for adding glue or facilitating welding, so as to fix the driving wire sleeve 28 and the proximal structural member 22 by means of glue or welding. Preferably, the auxiliary groove 222 also serves as a proximal end mounting groove for mounting the position sensor 27. Similarly, the number of position sensors 27 on the proximal structural member 22 is preferably two.
Preferably, at least one through hole 223 is formed on the outer wall of the proximal structure 22, and the through hole 223 is used for pouring glue, so that the proximal end of the flexible body 21 is connected with the proximal structure 22 in a reinforced manner, or the proximal end of the flexible body 21 is welded with the proximal structure 22 via the through hole 223 for connecting in a reinforced manner. Further, a plurality of axially-through wiring holes 224 are formed in the wall of the proximal structural member 22, the plurality of wiring holes 224 can be arranged at intervals along the circumferential direction of the proximal structural member 22, the plurality of wiring holes 22 are used for respectively penetrating the transmission wire 5 and each wire to realize radial limitation, and wires of different devices penetrate through different wiring holes 224. Further, the proximal structural member 22 has a proximal lumen 225 therethrough, the proximal lumen 225 being adapted to pass through the tool passage tube 4 for radial retention. Preferably, the outer wall of the proximal structural member 22 is provided with a proximal groove structure 226, and the shape of the proximal groove structure 226 is not limited, such as a spiral groove or an annular groove; the proximal groove structure 226 may be used to store glue to strengthen the connection between the proximal structural member 22 and the sock 1.
Next, the operation of the present invention will be further described with reference to fig. 18 to 20, and with reference to fig. 2 and 3.
As shown in fig. 18 and 19, the bending of the flexible component 2 can be controlled by four driving wires 5, all the driving wires 5 penetrate into the flexible component 2, and one end of each driving wire 5 is fixed at the distal end of the flexible main body 21, and the other end of each driving wire 5 is fixed on a driving wheel at the proximal end after penetrating through each radial limiting member 24, the proximal end structural member 22 and the main pipe body 1, and the driving wheel is powered by a motor; when the flexible component is bent towards a certain direction, part of the motors rotate towards the certain direction, the driving wheel pulls the transmission wire 5, so that the unit gap near the radial limiting piece 24 is reduced, meanwhile, the unit gap near the other part of the radial limiting piece 24 is inevitably enlarged, the rest of the motors are required to rotate towards the opposite direction, the driving wheel releases the pulling force of the other part of the transmission wire 5, and the flexible component is finally bent towards the certain direction through the matching between the motors. Specifically, as shown in fig. 20, the flexible main body 21 can be controlled to bend in one direction by the driving wire 5, resulting in a bent state shown by b1, and further, the flexible main body 21 can be controlled to bend in another direction by the driving wire 5, resulting in a bent state shown by b 2; thereby achieving bending of the flexible member 2 in any direction.
Finally, it should be understood that in the technical solution provided by the embodiment of the present invention, since the flexible main body is an integrated hollow tubular structure, the flexible part has good rigidity and resilience, and can be bent in any direction, thereby ensuring the usability of the flexible probe; the tensile force applied to the transmission wire at any position when the flexible component is bent is basically equal or similar, so that the friction force applied to the transmission wire is reduced, the service life of the transmission wire is prolonged, and the bending difficulty of the flexible component is also reduced; in addition, the transmission wire is limited by the radial limiting piece in the inner cavity of the flexible component instead of penetrating through the wall thickness of the flexible component, so that the inner space of the flexible component is fully utilized, the wall thickness of the flexible component can be effectively reduced, and the overall outer diameter of the flexible component is reduced; particularly, when the radial stoppers are not equidistantly fixed on the flexible component, that is, the radial stoppers at the distal end portion are not distributed at the same axial distance as the radial stoppers at the proximal end portion, and usually, the axial distance between the radial stoppers at the distal end portion is smaller than that of the proximal end portion, at this time, the tensile force applied to the driving wire at any position of the flexible component during bending is more uniform, so that the friction force of the driving wire can be further reduced, the service life of the driving wire is prolonged, and when the distal end portion of the flexible body is provided with denser radial stoppers, the turning radius of the distal end portion is smaller, and the driving wire can more easily pass through a tortuous part. It should be noted that the present invention provides radial restraint of the guide wire, drive wire and tool passage tube by the holes and slots in the proximal structural member, which helps to reduce the possibility of the flexible member twisting and tearing apart during bending. Furthermore, the groove structures on the far-end structural component and the near-end structural component strengthen the sealing performance and the connection strength between the protective sleeve and the far-end structural component and between the protective sleeve and the near-end structural component.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the present invention.
Claims (21)
1. The utility model provides a flexible component, its characterized in that includes flexible main part and radial locating part, flexible main part is fretwork tubular structure, fretwork tubular structure includes the flexible unit that a plurality of axial distribute in proper order, at least part be provided with on the inner wall of flexible unit radial locating part, radial locating part orientation the inner chamber protrusion of flexible main part is with radial spacing transmission silk.
2. The flexible component of claim 1, wherein a set of radial stops is disposed on an inner wall of at least a distal-most one of the flexible units and a proximal-most one of the flexible units, respectively, and each set of radial stops comprises a plurality of radial stops spaced apart along a circumferential direction of the flexible body.
3. The flexible component of claim 1, wherein a set of radial stops is provided on the inner wall of each of the flexible units, or wherein a distal portion of the flexible body is provided with a set of radial stops every N flexible units, or wherein a proximal portion of the flexible body is provided with a set of radial stops every M flexible units; the radial limiting structures comprise a plurality of radial limiting pieces distributed along the circumferential direction of the flexible main body at intervals, and N and M are positive integers.
4. The flexible component of claim 3, wherein the value of N is less than the value of M.
5. The flexible component of any one of claims 1-4, wherein the radial stop is provided with a stop hole for passing the drive wire therethrough; the outer wall of the flexible unit is provided with a through mounting hole, one part of the structure of the radial limiting part is fixed on the outer wall of the flexible unit, and the other part of the structure penetrates through the mounting hole and extends into the inner cavity of the flexible unit.
6. The flexible component of claim 5, wherein the radial stop comprises an integrated supporting arm and a fixing seat, the fixing seat is provided with the stop hole, the supporting arm is fixed on the outer wall of the flexible unit, and the fixing seat passes through the mounting hole and partially extends into the inner cavity of the flexible unit.
7. The flexible component of claim 6, wherein the support arms have a thickness less than a wall thickness of the flexible body.
8. The flexible component of claim 7, wherein a ratio of a wall thickness of the support arm to a wall thickness of the flexible body is 0.1 to 0.8.
9. The flexible component of claim 5, wherein the mounting hole is configured to have a width in an axial direction of the flexible body that is 50% to 70% of a width of the flexible unit in the axial direction.
10. The flexible component of any one of claims 1-4, further comprising an axial stop for being disposed at a distal end of the drive wire; when the driving wire is driven to move towards the proximal direction of the flexible component under the stress, the axial limiting piece can prevent the distal end of the driving wire from falling off from the radial limiting piece.
11. The flexible component of claim 10, wherein the axial stop comprises a sleeve configured to fit over the distal end of the drive wire, and wherein the radial stop has a stop hole, and wherein the sleeve has a minimum cross-sectional width greater than a diameter of the stop hole.
12. The flexible component of any one of claims 1-4, further comprising a distal structure to which the distal end of the flexible body is connected, an outer surface of the distal structure being provided with a distal groove structure for increasing a contact force between the distal structure and the protective sheath.
13. The flexible component of any one of claims 1-4, further comprising a proximal structure, wherein the proximal end of the flexible body is connected to the proximal structure, wherein an outer surface of the proximal structure is provided with a proximal groove structure for increasing a contact force between the proximal structure and the protective sheath.
14. The flexible component of claim 13, wherein the proximal structural member has a plurality of axially through wiring holes disposed in a wall thereof for radially retaining the drive wire and the guide wire, respectively, and the proximal structural member has an axially through proximal lumen for radially retaining a tool passage tube.
15. The flexible component of any one of claims 1-4, wherein the openwork tubular structure comprises:
a plurality of hollowed-out parts arranged at intervals along the axial direction; and the number of the first and second groups,
the flexible unit is formed between two adjacent hollow parts;
each hollowed-out part is provided with a plurality of connecting beams in the circumferential direction, and two adjacent connecting beams and two adjacent flexible units form hollowed-out grooves.
16. The flexible component of claim 15, wherein all of the axially distributed connection beams have equal or unequal widths in the circumferential direction and/or have equal or unequal lengths in the axial direction.
17. The flexible component of claim 1, wherein all of the flexible units are equal or unequal in width in the axial direction; and/or the gaps between all the flexible units are equal or unequal.
18. A flexible probe comprising a main tube and a flexible member according to any of claims 1-17, wherein the distal end of the main tube is connected to the flexible member.
19. The flexible probe according to claim 18, further comprising a protective sheath that encases the flexible member.
20. The flexible sonotrode of claim 18, further comprising a drive and a drive wire set connected, said drive wire set comprising a plurality of drive wires, said drive being configured to control the bending state of said flexible member via said drive wire set.
21. An endoscopic apparatus comprising an endoscopic module and a flexible probe according to any of claims 18 to 20, the endoscopic module being disposed at a distal end of the flexible member.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111117158.3A CN113842102A (en) | 2021-09-23 | 2021-09-23 | Flexible member, flexible probe, and endoscope device |
| PCT/CN2022/119330 WO2023045846A1 (en) | 2021-09-23 | 2022-09-16 | Flexible component, flexible probe and endoscopic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111117158.3A CN113842102A (en) | 2021-09-23 | 2021-09-23 | Flexible member, flexible probe, and endoscope device |
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| Publication Number | Publication Date |
|---|---|
| CN113842102A true CN113842102A (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111117158.3A Pending CN113842102A (en) | 2021-09-23 | 2021-09-23 | Flexible member, flexible probe, and endoscope device |
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| Country | Link |
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| CN (1) | CN113842102A (en) |
| WO (1) | WO2023045846A1 (en) |
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| WO2023045846A1 (en) * | 2021-09-23 | 2023-03-30 | 上海微创微航机器人有限公司 | Flexible component, flexible probe and endoscopic device |
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| CN213155748U (en) * | 2020-07-24 | 2021-05-11 | 美迪医疗(深圳)有限公司 | Novel endoscope bending part |
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| CN113842102A (en) * | 2021-09-23 | 2021-12-28 | 上海微创医疗机器人（集团）股份有限公司 | Flexible member, flexible probe, and endoscope device |
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2021
- 2021-09-23 CN CN202111117158.3A patent/CN113842102A/en active Pending
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- 2022-09-16 WO PCT/CN2022/119330 patent/WO2023045846A1/en unknown
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| WO2023045846A1 (en) * | 2021-09-23 | 2023-03-30 | 上海微创微航机器人有限公司 | Flexible component, flexible probe and endoscopic device |
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| WO2024017109A1 (en) * | 2022-07-09 | 2024-01-25 | 深圳市精锋医疗科技股份有限公司 | Flexible surgical instrument, catheter, and joint assembly |
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| WO2023045846A1 (en) | 2023-03-30 |
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Effective date of registration: 20220325 Address after: 201203 room 209, floor 2, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai (actual floor 3) Applicant after: Shanghai Weiwei aviation robot Co.,Ltd. Address before: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Applicant before: Shanghai minimally invasive medical robot (Group) Co.,Ltd. |