CN114947966B

CN114947966B - Flexible medical device

Info

Publication number: CN114947966B
Application number: CN202210914666.2A
Authority: CN
Inventors: 王双翌; 谢亿平; 侯西龙
Original assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd; Institute of Automation of Chinese Academy of Science
Current assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd; Institute of Automation of Chinese Academy of Science
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2022-10-28
Anticipated expiration: 2042-08-01
Also published as: CN114947966A

Abstract

The invention provides flexible medical equipment, which belongs to the technical field of medical instruments, and comprises a flexible instrument and a control device; the flexible instrument has a first rotating portion and a second rotating portion; the control device comprises a support, a shell, a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein the first driving mechanism, the second driving mechanism and the third driving mechanism are respectively arranged on the shell; the shell is arranged on the support and sleeved on the flexible instrument; the first driving mechanism is connected with the first rotating part; the second driving mechanism is connected with the second rotating part; the third driving mechanism is connected with the support; the first driving mechanism is used for driving the first rotating part to rotate, the second driving mechanism is used for driving the second rotating part to rotate, and the third driving mechanism is used for driving the shell to rotate. According to the invention, the automatic control of the flexible instrument can be realized through the first driving mechanism, the second driving mechanism and the third driving mechanism without manual participation, so that the operation difficulty of the flexible instrument is reduced.

Description

Flexible medical device

Technical Field

The invention relates to the technical field of medical instruments, in particular to flexible medical equipment.

Background

Transesophageal ultrasound is an ultrasonic examination means, and can provide effective help for the diagnosis and treatment process of intracardiac and surgical patients, and is to place an ultrasonic probe in the esophagus or fundus ventriculi of the patients to scan the heart from the back of the heart, so that the limitation of ultrasonic examination of the chest wall of the heart is overcome, the ultrasonic examination device is not influenced by multiple factors such as emphysema, obesity or thoracic deformity of the patients, and the ultrasonic examination device can obtain the position map images of the chest wall such as left atrial appendage and superior vena cava which are difficult to display, and is used for detecting pulmonary hypertension, pulmonary embolism, congenital heart disease and the like. In addition, in minimally invasive interventional surgery of related heart diseases, the use of X-ray imaging and transesophageal ultrasound together for guidance has become an important auxiliary mode of the surgery.

In the tradition through esophagus ultrasonic examination, will arrange in the patient through esophagus ultrasonic probe end in vivo, medical personnel control through the crooked of the terminal two degrees of freedom of esophagus ultrasonic probe through big knob and little knob on the esophagus ultrasonic probe through manual operation to through the handheld end of esophagus ultrasonic probe of manual rotation, realize through the terminal rotation motion around self axis of esophagus ultrasonic probe, and through the handheld end removal of manual drive through esophagus ultrasonic probe, realize through the feeding and the motion of pullback of esophagus ultrasonic probe. In summary, the transesophageal ultrasound probe tip has four degrees of freedom in bending in two degrees of freedom in four directions, rotation about its axis (one degree of freedom), and advancement or retraction (one degree of freedom) for a total of four degrees of freedom.

However, in the prior art, the transesophageal ultrasound probe is manually operated in each degree of freedom, and the operation in each degree of freedom has a high requirement on the operation level of medical staff, thereby increasing the difficulty in operating the transesophageal ultrasound probe.

Disclosure of Invention

The invention provides a flexible medical device, which is used for solving the defect that the operation difficulty of a transesophageal ultrasonic probe is increased in the prior art.

The present invention provides a flexible medical device comprising: a flexible instrument and control device;

the flexible instrument has a first rotating portion and a second rotating portion;

the control device comprises a support, a shell, a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein the first driving mechanism, the second driving mechanism and the third driving mechanism are respectively arranged on the shell; the shell is arranged on the support and sleeved on the flexible instrument; the first driving mechanism is connected with the first rotating part; the second driving mechanism is connected with the second rotating part; the third driving mechanism is connected with the support;

the first driving mechanism is used for driving the first rotating portion to rotate, the second driving mechanism is used for driving the second rotating portion to rotate, and the third driving mechanism is used for driving the shell to rotate.

According to the flexible medical equipment provided by the invention, the first driving mechanism comprises a first driving piece, a first driving gear, a first transmission part and a first driven gear;

the first driving piece is arranged on the shell, the first driving gear is connected with an output shaft of the first driving piece, the first transmission part is rotatably arranged on the shell, the first transmission part is respectively meshed with the first driving gear and the first driven gear, and the first driven gear is connected with the first rotating part.

According to a flexible medical device provided by the invention, the first transmission component comprises a first slave transition gear, a first torque sensor and a first master transition gear;

the first driven transition gear is meshed with the first driving gear, the first torque sensor is connected with the first driven transition gear and the first main transition gear respectively, the first main transition gear is rotatably arranged on the shell, and the first main transition gear is meshed with the first driven gear.

According to the flexible medical device provided by the invention, the second driving mechanism comprises a second driving piece, a second driving gear, a second transmission part and a second driven gear;

the second driving part is arranged on the shell, the second driving gear is connected with an output shaft of the second driving part, the second transmission part is rotatably arranged on the shell, the second transmission part is respectively connected with the second driving gear and the second driven gear, and the second driven gear is connected with the second rotating part.

According to the flexible medical device provided by the invention, the second transmission component comprises a second slave transition gear, a second torque sensor and a second master transition gear;

the second driven transition gear is meshed with the second driving gear, the second torque sensor is respectively connected with the second driven transition gear and the second main transition gear, the second main transition gear is rotatably arranged on the shell, and the second main transition gear is meshed with the second driven gear.

According to the flexible medical device provided by the invention, the third driving mechanism comprises a third driving piece, a third driving gear and a third driven gear;

the third driving piece is arranged on the shell, the third driving gear is connected with an output shaft of the third driving piece, the third driven gear is connected with the support in a sliding mode, and a first inner annular tooth portion meshed with the third driving gear is arranged on the inner side of the third driven gear.

The flexible medical equipment provided by the invention further comprises a fourth driving mechanism, wherein the fourth driving mechanism is connected with the shell and the support;

the fourth driving mechanism is used for driving the shell to move relative to the support.

According to the flexible medical device provided by the invention, the fourth driving mechanism comprises a fourth driving piece, a fourth driving gear, a transmission gear group and a rack;

the fourth driving part is arranged in the shell, the fourth driving gear is connected with an output shaft of the fourth driving part, the rack is arranged on the support, and the fourth driving gear is meshed with the rack through the transmission gear group.

According to the flexible medical device provided by the invention, the transmission gear set comprises a fourth driven gear, a third transition driven gear and a fifth driving gear;

the fourth driven gear is rotatably arranged on the shell, and a second inner annular tooth part meshed with the fourth driving gear is arranged on the inner side of the fourth driven gear; said fourth driven gear has an outer annular tooth portion outboard of said third transition slave gear; the third transition driven gear is connected with the fifth driving gear through a rotating shaft, and the rotating shaft is rotatably connected with the shell; the fifth driving gear is meshed with the rack.

According to the flexible medical equipment provided by the invention, the support comprises a frame body and at least one guide rod arranged on the frame body;

the rack is arranged on the frame body and is parallel to the guide rod.

According to the flexible medical equipment provided by the invention, the tail end of the flexible instrument is provided with a flexible pipe; the control device further comprises a guide assembly, the guide assembly comprises a base and a guide part connected with the base, and the base is connected with the frame body;

the guide part comprises a plurality of connecting rods which are sequentially hinged end to end and a guide component arranged on each connecting rod.

According to the flexible medical equipment provided by the invention, the guide component comprises two U-shaped bearings which are rotatably arranged on the connecting rod, and the two U-shaped bearings are arranged at intervals;

the flexible pipe is located between the two U-shaped bearings.

According to the flexible medical equipment provided by the invention, the control device further comprises a clamping assembly, wherein the clamping assembly comprises a clamping piece arranged on the shell and a fixing piece detachably connected with the clamping piece;

the flexible instrument is clamped between the clamping member and the fixing member.

According to the invention, the flexible medical equipment further comprises a driving device, and the support of the control device is arranged on the driving device.

According to the flexible medical equipment provided by the invention, the first rotating part of the flexible instrument is driven to rotate by the first driving mechanism arranged in the shell, so that one degree of freedom at the tail end of the flexible instrument is bent, the second rotating part of the flexible instrument is driven to rotate by the second driving mechanism arranged in the shell, so that the other degree of freedom at the tail end of the flexible instrument is bent, and the bending movement of two degrees of freedom in four directions at the tail end of the flexible instrument can be realized by the first driving mechanism and the second driving mechanism; and the shell is driven to rotate by a third driving mechanism arranged in the shell, and the shell drives the flexible instrument to synchronously rotate, so that the flexible instrument rotates around the axis of the flexible instrument. Therefore, the automatic control of the bending and rotation of the tail end of the flexible instrument can be realized through the first driving mechanism, the second driving mechanism and the third driving mechanism, and manual participation is not needed, so that the operation difficulty of the flexible instrument is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of a flexible medical device provided by the present invention;

FIG. 2 is a second schematic structural view of a flexible medical device provided by the present invention;

FIG. 3 is a schematic structural view of a flexible instrument provided by the present invention;

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

FIG. 5 is a schematic structural diagram of a first driving mechanism provided by the present invention;

FIG. 6 is a schematic structural view of a second driving mechanism provided in the present invention;

FIG. 7 is a schematic structural view of a third driving mechanism provided in the present invention;

FIG. 8 is a schematic structural view of a fourth driving mechanism provided in the present invention;

FIG. 9 is a second schematic structural view of a fourth driving mechanism provided in the present invention;

FIG. 10 is a schematic view of the mating structure of the holder and the housing provided by the present invention;

FIG. 11 is a schematic view of a flexible instrument provided in accordance with the present invention in cooperation with a guide assembly;

FIG. 12 is a schematic view of a flexible instrument provided by the present invention secured by a clamping assembly;

FIG. 13 is a third schematic structural view of a flexible medical device provided by the present invention;

reference numerals are as follows:

1. a control device; 2. A flexible instrument; 3. a drive device;

11. a support; 12. a housing; 13. a first drive mechanism; 14. a second drive mechanism; 15. a third drive mechanism; 16. a fourth drive mechanism; 17. a guide assembly; 18. a clamping assembly;

111. a frame body; 112. a guide rod; 113. a linear bearing;

121. an upper housing; 122. a lower housing;

131. a first driving member; 132. a first transmission assembly;

1321. a first motor output flange shaft; 1322. a first drive gear; 1323. A first driven transition gear; 1324. a first torque sensor; 1325. A first main transition gear; 1326. a first driven gear;

141. a second driving member; 142. A second transmission assembly;

1421. a second motor output flange shaft; 1422. a second driving gear; 1423. a transition gear; 1424. a second driven transition gear; 1425. a second torque sensor; 1426. a second main transition gear; 1427. a second driven gear;

151. a third driving member; 152. a third motor output flange shaft; 153. a third driving gear; 154. a third driven gear; 155. a support;

161. a fourth drive; 162. a fourth motor output flange shaft; 163. a fourth driving gear; 164. a fourth driven gear; 165. a third transition slave gear; 166. a fifth driving gear; 167. a rack;

171. a base; 172. a guide portion;

1721. a connecting rod; 1722. a guide member;

181. a clamping member; 182. a fixing member;

21. a mirror body; 22. a first rotating section; 23. a second rotating part; 24. a terminal position holding paddle; 25. a flexible instrument host end; 26. a flexible tube.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all 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.

The technical scheme provided by the embodiment of the invention can be applied to an ultrasonic examination scene, in particular to transesophageal ultrasound. In the existing transesophageal ultrasonic examination, because transesophageal ultrasonic imaging has more specific sections and visual angles, the tail end of a transesophageal ultrasonic probe needs to be controlled by four degrees of freedom bending in four directions (one degree of freedom bending has two directions, and the two degrees of freedom bending has four directions), rotating around the axis of the probe and feeding or pulling back to total four degrees of freedom, the movements of the four degrees of freedom are all manual operations, the technology belongs to clinical operations with higher difficulty and extremely dependent on experience at present, and less personnel capable of mastering the skills are basically distributed in large hospitals, and are not effectively popularized in remote areas and small and medium hospitals, so that the difference of medical conditions and areas in the aspect is larger; in addition, the conventional transesophageal ultrasound examination needs a doctor to manually control the transesophageal ultrasound probe in a close range, the patient needs to stand for a long time in the operation, and in the operation guided by X-rays together, the doctor can not remotely operate the transesophageal ultrasound probe, so that the doctor is exposed to the X-ray environment and certain body radiation is caused to the doctor, and therefore the doctor needs to wear a heavy and stuffy protective clothing, so that the working strength and the occupational risk of the doctor are increased; in addition, the operation of the transesophageal ultrasonic probe has certain influence on physical strength consumption and physical state of doctors, musculoskeletal injury is easily caused in the past, and the incidence of diseases can be greatly increased by accumulated radiation injury. Based on this, the invention carries out automatic control on the transesophageal ultrasonic probe.

The flexible medical device of the present invention is described below in conjunction with fig. 1-13.

Fig. 1 is a schematic structural diagram of a flexible medical apparatus provided by the present invention, and fig. 2 is a schematic structural diagram of a flexible medical apparatus provided by the present invention, as shown in fig. 1 and fig. 2, the flexible medical apparatus includes a flexible instrument 2 and a control device 1.

The flexible instrument 2 is provided with a first rotating part 22 and a second rotating part 23, the bending of the tail end of the flexible instrument 2 along the first direction can be realized through the rotation of the first rotating part 22, the bending of the tail end of the flexible instrument 2 along the second direction can be realized through the rotation of the second rotating part 23, and the bending of two degrees of freedom in four directions can be respectively realized through the first rotating part 22 and the second rotating part 23 at the tail end of the flexible instrument 2. For example, when the feeding or retracting direction of the flexible instrument 2 is the front-rear direction, the first direction may be the up-down direction, and the second direction may be the left-right direction, and the first direction and the second direction are perpendicular directions and are perpendicular to the feeding direction of the flexible instrument 2.

Fig. 3 is a schematic structural diagram of a flexible instrument 2 according to an embodiment of the present invention, and as shown in fig. 3, the flexible instrument may be a transesophageal ultrasound probe, which mainly includes a scope body 21, a flexible instrument host end 25 and a flexible tube 26 connected to the scope body 21, and a distal position retaining paddle 24, a first rotating portion 22 and a second rotating portion 23 disposed on the scope body 21; after the end position keeping poking piece 24 is poked to a position, the flexible tube 26 at the end of the lens body 21 can be locked to bend, even if the first rotating part 22 and the second rotating part 23 are loosened, the flexible tube 26 at the end is bent and kept still; the flexible instrument host end 25 is used for connecting an imaging system, a power supply and the like, and signal lines such as a camera and the like; the first rotating part 22 is a first knob on the endoscope body 21, the second rotating part 23 is a second knob on the endoscope body 21, and the bending of the distal end of the flexible instrument 2 with two degrees of freedom is controlled by driving the second knob and the first knob.

It should be noted that the flexible instrument 2 may also be other flexible endoscopes with similar features, including but not limited to gastroscopes, enteroscopes, and other interventional medical tools.

As shown in fig. 1 and 2, the control device 1 includes a support 11, a housing 12, and a first drive mechanism 13, a second drive mechanism 14, and a third drive mechanism 15 respectively provided on the housing 12; the shell 12 is arranged on the support 11, and the shell 12 is sleeved on the flexible instrument 2; the first driving mechanism 13 is connected to the first rotating part 22; the second driving mechanism 14 is connected to the second rotating portion 23; the third drive mechanism 15 is connected to the support 11.

The first driving mechanism 13 is used for driving the first rotating part 22 to rotate, and the first rotating part 22 rotates to bend the tail end of the flexible instrument 2 along a first direction; the second driving mechanism 14 is used for driving the second rotating part 23 to rotate, the rotation of the second rotating part 23 bends the tail end of the flexible instrument 2 along the second direction, and the first driving mechanism 13 and the second driving mechanism 14 are used for controlling the four-direction two-degree-of-freedom bending of the tail end of the flexible instrument 2.

The shell 12 is arranged on the support 11, the shell 12 can rotate relative to the support 11, the flexible instrument 2 is arranged in the shell 12, the flexible instrument 2 can synchronously move along with the shell 12, the third driving mechanism 15 is arranged in the shell 12 and connected with the support 11, the shell 12 can rotate on the support 11 under the action of the third driving mechanism 15, the flexible instrument 2 on the shell 12 synchronously rotates around the axis of the shell 12 while the shell 12 rotates, and the third driving mechanism 15 is used for controlling the flexible instrument 2 to rotate around the axis of the shell.

Wherein the housing 12 comprises an upper housing 121 and a lower housing 122 connected, the lower housing 122 is used for fixing the flexible instrument 2.

According to the flexible medical equipment provided by the invention, the first rotating part 22 of the flexible instrument 2 is driven to rotate by the first driving mechanism 13 arranged in the shell 12, so that the tail end of the flexible instrument 2 is bent in one degree of freedom direction, the second rotating part 23 of the flexible instrument 2 is driven to rotate by the second driving mechanism 14 arranged in the shell 12, so that the tail end of the flexible instrument 2 is bent in the other degree of freedom direction, and the bending movement of the tail end of the flexible instrument 2 in four directions and two degrees of freedom can be realized by the first driving mechanism 13 and the second driving mechanism 14; and the shell 12 is driven to rotate by a third driving mechanism 15 arranged in the shell 12, and the shell 12 drives the flexible instrument 2 to synchronously rotate, so that the flexible instrument 2 rotates around the axis of the flexible instrument 2. Therefore, the bending and rotation of the tail end of the flexible instrument 2 can be automatically controlled through the first driving mechanism 13, the second driving mechanism 14 and the third driving mechanism 15, manual participation is not needed, and the operation difficulty of the flexible instrument 2 is reduced.

Further, fig. 4 is a schematic structural diagram of the first driving mechanism and the second driving mechanism provided by the present invention, as shown in fig. 4, the first driving mechanism 13 includes a first driving member 131 and a first transmission assembly 132, the first driving member 131 is fixed on the lower housing 122, the first driving member 131 is connected to the first rotating portion 22 of the flexible instrument 2 through the first transmission assembly 132, and then the first transmission assembly 132 converts the rotational motion of the first driving member 131 into the rotational motion of the first rotating portion 22. The second driving mechanism 14 includes a second driving element 141 and a second transmission assembly 142, the second driving element 141 is fixed on the lower housing 122, the second driving element 141 is connected to the second rotating portion 23 of the flexible instrument 2 through the second transmission assembly 142, and then the second transmission assembly 142 converts the rotational movement of the second driving element 141 into the rotational movement of the second rotating portion 23. Thus, the first drive mechanism 13 and the second drive mechanism 14 are mechanisms that drive the two degrees of freedom bending of the flexible instrument 2.

Fig. 5 is a schematic structural diagram of a first driving mechanism provided in the present invention according to an embodiment of the present invention, and as shown in fig. 5, the first driving member 131 may be a motor; the first transmission assembly 132 includes a first driving gear 1322, a first transmission member and a first driven gear 1326, the first driving gear 131 is disposed on the lower housing 122, the first driving gear 1322 is connected to an output shaft of the first driving gear 131, the first transmission member is rotatably disposed on the housing 12, the first transmission member is respectively engaged with the first driving gear 1322 and the first driven gear 1326, the first driven gear 1326 is connected to the first rotating portion 22 of the flexible device 2, the first driving gear 1322 is driven by the first driving gear 131 to rotate, the first driving gear 1322 drives the first driven gear 1326 to rotate through the first transmission member, and since the first driven gear 1326 is connected to the first rotating portion 22, the first driven gear 1326 synchronously drives the first rotating portion 22 to rotate, so as to achieve the purpose of driving the end of the flexible device 2 to bend along the first direction.

Further, the first transmission components include a first slave transition gear 1323, a first torque sensor 1324, and a first master transition gear 1325; the first slave transition gear 1323 is engaged with the first driving gear 1322, the first torque sensor 1324 is connected to the first slave transition gear 1323 and the first master transition gear 1325, respectively, the first master transition gear 1325 is rotatably provided on the housing 12, and the first master transition gear 1325 is engaged with the first driven gear 1326.

Specifically, in the present embodiment, the first driving gear 1322 is a driving bevel gear, the first driven transition gear 1323 is a driven bevel gear, the first driving transition gear 1325 is a driving spur gear, and the first driven gear 1326 is a driven spur gear. The first driving gear 1322 is fixed to the output shaft of the first driving member 131 through the first motor output flange shaft 1321, the first driving gear 1322 is engaged with the first slave transition gear 1323, one end of the first torque sensor 1324 is fixed to the first slave transition gear 1323, the other end of the first torque sensor 1324 is fixedly connected to the first master transition gear 1325, the first master transition gear 1325 is engaged with the first driven gear 1326, the first driven gear 1326 is engaged with the first rotating portion 22 of the flexible instrument 2, and the first master transition gear 1325 is fixed to the upper housing 121 through a bearing.

Wherein the first transmission assembly 132 may enable the transfer of motion of the first driver 131 to the first rotational portion 22 of the flexible instrument 2 and the first torque sensor 1324 may enable the measurement of torque on the first driver 131 to the first rotational portion 22 of the flexible instrument 2.

It should be noted that, the first torque sensor 1324 and the first driving element 131 are introduced into the first driving mechanism 13, the first driving element 131 is a dc motor, and the first torque sensor 1324 can realize the force sensing and the force control of the output of the first driving mechanism 13.

According to the flexible medical device provided by the invention, when the flexible instrument 2 enters the tissue in the body of the patient to be detected, the moment transmitted from the first driving piece 131 to the first rotating part 22 can be measured through the first moment sensor 1324, so that the phenomenon that the moment transmitted from the first driving piece 131 to the first rotating part 22 is too large, the tail end of the flexible instrument 2 is bent and transited along the first direction, and the tissue in the body of the patient is damaged is avoided.

When the flexible instrument 2 is used in cooperation with ultrasonic imaging, a certain contact force is required during ultrasonic imaging, so that the flexible medical equipment provided by the invention can measure the moment transmitted to the first rotating part 22 by the first driving part 131 in real time through the first moment sensor 1324, the contact force between the flexible instrument 2 and a target tissue area in a patient body can reach the target contact force, and the ultrasonic imaging quality is further ensured.

Fig. 6 is a schematic structural diagram of a second driving mechanism provided in the present invention, and as shown in fig. 6, the second driving member 141 may be a motor; the second transmission assembly 142 includes a second driving gear 1422, a second transmission member and a second driven gear 1427, the second driving gear 141 is disposed on the housing 12, the second driving gear 1422 is connected to an output shaft of the second driving gear 141, the second transmission member is rotatably disposed on the housing 12, the second transmission member is respectively connected to the second driving gear 1422 and the second driven gear 1427, the second driven gear 1427 is connected to the second rotating portion 23 of the flexible instrument 2, the second driving gear 141 drives the second driving gear 1422 to rotate, the second driving gear 1422 drives the second driven gear 1427 to rotate through the second transmission member, and since the second driven gear 1427 is connected to the second rotating portion 23, the second driven gear 1427 synchronously drives the second rotating portion 23 to rotate, so as to drive the end of the flexible instrument 2 to bend along the second direction.

Further, the second transmission component includes a transition gear 1423, a second slave transition gear 1424, a second torque sensor 1425, and a second master transition gear 1426; the second slave transition gear 1424 is engaged with the second driving gear 1422 through the transition gear 1423, the second torque sensor 1425 is connected to the second slave transition gear 1424 and the second master transition gear 1426, the second master transition gear 1426 is rotatably disposed on the housing 12, and the second master transition gear 1426 is engaged with the second driven gear 1427.

Specifically, in this embodiment, the second driving gear 1422 is a driving spur gear, the second driven transition gear 1424 is a driven spur gear, the second driving transition gear 1426 is a driving bevel gear, and the second driven gear 1427 is a driven bevel gear; the second driving gear 1422 is fixed to the output shaft of the second driving element 141 through a second motor output flange shaft 1421, the second driving gear 1422 is meshed with a second driven transition gear 1424 through a transition gear 1423, the second driven transition gear 1424 is fixedly connected to one end of a second torque sensor 1425, the other end of the second torque sensor 1425 is fixedly connected to a second main transition gear 1426, the second main transition gear 1426 is meshed with a second driven gear 1427, and the second driven gear 1427 is connected to the second rotating portion 23 of the flexible instrument 2 in a matching manner. The transition gear 1423 and the second main transition gear 1426 may be both rotatably fixed on the lower housing 122 through bearings.

Wherein the second transmission assembly 142 can enable the transmission of the motion of the second driving member 141 to the second rotation portion 23 of the flexible instrument 2, and the second torque sensor 1425 can enable the measurement of the torque of the second driving member 141 to the second rotation portion 23 of the flexible instrument 2.

According to the flexible medical equipment provided by the invention, when the flexible instrument 2 enters the tissue in the body of the patient to be detected, the moment transmitted to the second rotating part 23 by the second driving part 141 can be measured through the second moment sensor 1425, so that the phenomenon that the moment transmitted to the second rotating part 23 by the second driving part 141 is too large, the tail end of the flexible instrument 2 is bent and transited along the second direction, and the tissue in the body of the patient is damaged is avoided.

It should be noted that the second torque sensor 1425 has the same function as the first torque sensor 1324 when the flexible instrument 2 is used in conjunction with ultrasonic imaging, and the description of the present invention is omitted here.

In this embodiment, the first driven gear 1326 is connected to the first rotating portion 22 of the flexible instrument 2 in a matching manner, a first mounting hole matched with the first rotating portion 22 may be formed in the middle of the first driven gear 1326, when the first rotating portion 22 is irregular round or other irregular shapes, the shape of the first mounting hole is matched with the shape of the first rotating portion 22, the first rotating portion 22 is sleeved in the first mounting hole of the first driven gear 1326, the first rotating portion 22 cannot rotate relative to the first driven gear 1326, and the first rotating portion 22 and the first driven gear 1326 rotate synchronously; when the first rotating portion 22 is regular circular, a positioning protrusion may be disposed outside the first rotating portion 22, a positioning groove engaged with the positioning protrusion may be disposed in the first mounting hole, and the first rotating portion 22 may be clamped in the first mounting hole of the first driven gear 1326 by the engagement between the positioning protrusion and the positioning groove, so that the first rotating portion 22 cannot rotate relative to the first driven gear 1326, and the first rotating portion 22 and the first driven gear 1326 rotate synchronously.

The first driven gear 1326 is coupled to the first rotating portion 22 of the flexible instrument 2, and may be coupled to the first rotating portion by a locking member or other coupling member such as a buckle.

It should be noted that the second driven gear 1427 is coupled to the second rotating portion 23 of the flexible device 2 in the same manner as the first driven gear 1326 is coupled to the first rotating portion 22 of the flexible device 2, and the description of the present invention is omitted here.

Further, fig. 7 is a schematic structural diagram of a third driving mechanism provided by the present invention, and as shown in fig. 7, the third driving mechanism 15 includes a third driving member 151, a third driving gear 153 and a third driven gear 154; the third driving member 151 is disposed on the housing 12, the third driving gear 153 is connected to an output shaft of the third driving member 151, the third driven gear 154 is slidably connected to the support 11, and a first inner annular tooth portion engaged with the third driving gear 153 is disposed inside the third driven gear 154.

The third driving member 151 may be a motor, the third driving member 151 is disposed on the lower housing 122, and the third driving gear 153 is fixed on an output shaft of the third driving member 151 through a third motor output flange shaft 152; the third driven gear 154 is a circular ring structure, the third driven gear 154 is rotatably disposed on the housing 12, the inner side of the third driven gear 154 has a first inner annular tooth portion engaged with the third driving gear 153, the outer side of the third driven gear 154 is connected to a bracket 155, the bracket 155 is slidably connected to the support 11, and the bracket 155 is movable relative to the support 11 along the feeding or retracting direction of the flexible device 2. The third driving member 151 drives the third driving gear 153 to rotate together, the third driving gear 153 drives the third driven gear 154 to rotate, the support 155 fixedly connected with the third driven gear 154 is connected with the support 11, so that the third driven gear 154 cannot rotate, the third driving gear 153 rotates relative to the third driven gear 154, the lower shell 122 is driven to rotate, the first driving mechanism 13, the second driving mechanism 14 and the flexible instrument 2 on the shell 12 rotate synchronously, and the end of the flexible instrument 2 rotates around the axis of the flexible instrument 2.

Specifically, the third driving element 151 is disposed at one end of the lower casing 122, an axis of the third driving element 151 is parallel to a center line of the casing 12, and the third driven gear 154 includes an annular tooth surface and an annular side surface connected to the annular tooth surface, the annular side surface is sleeved at one end of the casing 12, and an inner annular surface of the annular tooth surface has the first inner annular tooth portion.

It should be noted that a bearing may be provided between the annular side surface and the housing 12 to realize the rotational connection between the housing 12 and the third driven gear 154, and in this embodiment, a plurality of small bearings are circumferentially arranged on the outer side surface of the housing 12, and preferably, the inner wall of the annular side surface of the third driven gear 154 is provided with an annular positioning groove matched with the small bearings to realize the positioning of the axial position of the third driven gear 154.

It should be noted that, in the prior art, in the rotation process of the flexible instrument 2, the connection lines on the flexible instrument 2 synchronously rotate, so as to be wound on the flexible instrument 2, and when the flexible instrument 2 rotates for multiple circles, interference occurs between the connection lines, which affects the normal operation of the flexible instrument 2; to avoid interference problems, the flexible instrument 2 is typically only able to make one rotation.

According to the flexible medical equipment provided by the invention, the shell 12 is driven to rotate by the third driving mechanism 15, so that the flexible instrument 2 on the shell 12 synchronously rotates, the flexible instrument 2 and the shell 12 synchronously rotate, the flexible instrument 2 can realize more than one circle of rotation motion, and the problem of interference between connecting wires of the flexible instrument 2 is avoided.

According to an embodiment of the present invention, as shown in fig. 2, the flexible medical device further comprises a fourth driving mechanism 16, wherein the fourth driving mechanism 16 is connected with the housing 12 and is connected with the support 11; the housing 12 is driven to move relative to the support 11 by the fourth driving mechanism 16, so that the flexible instrument 2 is automatically fed or pulled back.

Wherein the housing 12 is slidably disposed on the support 11, the housing 12 is movable relative to the support 11, the fourth driving mechanism 16 drives the housing 12 to move relative to the support 11, the flexible instrument 2 on the housing 12 is synchronously moved relative to the support 11 along with the housing 12, so as to feed or pull back the flexible instrument 2, and the fourth driving mechanism 16 is used for automatically controlling the feeding or pulling back of the flexible instrument 2.

According to the flexible medical device provided by the invention, the shell 12 is driven to move relative to the support 11 through the fourth driving mechanism 16, so that the flexible instrument 2 is fed or pulled back. Therefore, the four-degree-of-freedom automatic control of the flexible instrument 2 can be realized through the first driving mechanism 13, the second driving mechanism 14, the third driving mechanism 15 and the fourth driving mechanism 16, manual participation is not needed, and the working intensity of medical staff is further reduced.

Further, fig. 8 is one of the structural schematic diagrams of the fourth driving mechanism provided by the present invention, fig. 9 is a second of the structural schematic diagrams of the fourth driving mechanism provided by the present invention, and as shown in fig. 8 and fig. 9, the fourth driving mechanism 16 includes a fourth driving member 161, a fourth driving gear 163, a set of transmission teeth, and a rack 167; the fourth driver 161 is disposed in the housing 12, the fourth driving gear 163 is connected to an output shaft of the fourth driver 161, the rack 167 is disposed on the support 11, and the fourth driving gear 163 is engaged with the rack 167 through the transmission gear set.

The fourth driving element 161 may be a motor, the fourth driving element 161 is disposed at the other end of the lower casing 122, and the third driving element 151 and the fourth driving element 161 are disposed at two ends of the lower casing 122, respectively; the fourth driving gear 163 is coaxially fixed to the output shaft of the fourth driver 161 by the fourth motor output flange shaft 162. The rotation motion output by the fourth driving member 161 drives the fourth driving gear 163 to rotate, the rotation motion output by the fourth driving gear 163 is transmitted to the rack 167 through the transmission gear set, and because the rack 167 cannot move, the fourth driving gear 163 and the transmission gear set move relative to the rack 167, so as to drive the housing 12, and the first driving mechanism 13, the second driving mechanism 14 and the flexible instrument 2 on the housing 12 to synchronously move, thereby realizing the motion of feeding or pulling back the flexible instrument 2.

Specifically, the set of drive teeth includes a fourth driven gear 164, a third transition driven gear 165, and a fifth drive gear 166; a fourth driven gear 164 is rotatably disposed on the housing 12, and a second inner annular tooth portion engaged with the fourth driving gear 163 is formed inside the fourth driven gear 164; the fourth driven gear 164 has an outer annular tooth portion outside thereof which meshes with the third transition driven gear 165; the third transition driven gear 165 is connected with the fifth driving gear 166 through a rotating shaft, and the rotating shaft is rotatably connected with the housing 12; the fifth pinion 166 is engaged with the rack 167.

The fourth driven gear 164 is rotatably disposed at the other end of the housing 12, and is axially limited by an end cover disposed on the housing 12; the third transition slave gear 165 and the rotating shaft of the fifth driving gear 166 are disposed on the outer side wall of the housing 12 through a connecting plate.

Wherein, the fourth driving gear 163 is a spur gear, the second inner annular tooth portion of the inner annular surface of the fourth driven gear 164 is a spur gear, and the outer annular tooth portion of the outer annular surface of the fourth driven gear 164 is an outer cone gear; the third transition slave gear 165 is a bevel gear and the fifth drive gear 166 is a spur gear. When the fourth driving member 161 outputs a rotational motion, the fourth driving gear 163 and the fourth driven gear 164 are driven to perform a circular motion, and the fourth driven gear 164 drives the third transition driven gear 165 and the fifth driving gear 166 to synchronously rotate, so that the fifth driving gear 166 performs a linear reciprocating motion on the rack 167, and finally, the linear reciprocating motion of the whole housing 12 relative to the support 11 is realized, thereby realizing the motion of feeding or pulling back the flexible instrument 2 on the housing 12.

Further, fig. 10 is a schematic structural diagram of the support and the housing provided by the present invention, and as shown in fig. 10, the support 11 includes a frame body 111 and at least one guide rod 112 disposed on the frame body 111; the rack 167 is disposed on the frame body 111, and the rack 167 is parallel to the guide bar 112.

The frame body 111 may be two fixed mounting plates arranged in parallel at intervals, and two ends of the guide rod 112 are respectively connected with the two fixed mounting plates; the guide rods 112 provide a guiding function for the movement of the housing 12 relative to the support 11, and the guide rods 112 are two in parallel arrangement in this embodiment.

The bracket 155 on the lower housing 122 is disposed on the guide rod 112 through the linear bearing 113, and when the rotational motion of the fourth driving member 161 is finally transmitted to the fifth driving gear 166 to move along the rack 167 through the engagement motion of the fourth driving gear 163, the fourth driven gear 164 and the third transition driven gear 165, the linear bearing 113 and the guide rod 112 provide a guiding function for the movement of the fifth driving gear 166 and the rack 167.

The flexible medical device provided by the invention provides a guiding function for the movement of the fifth driving gear 166 along the rack 167 through the guide rod 112, and further provides a guiding movement for the feeding or pulling movement of the housing 12 (the flexible instrument 2 on the housing 12), so that the stability of the feeding or pulling movement of the flexible instrument 2 is improved.

Further, fig. 11 is a schematic structural view of the flexible instrument provided by the present invention in cooperation with a guide assembly, as shown in fig. 1, the flexible instrument 2 has a flexible tube 26 at the distal end thereof; the control device 1 further comprises a guide member 17, as shown in fig. 11, the guide member 17 being adapted to provide a guiding action to the flexible tube 26 at the distal end of the flexible instrument 2; the guide assembly 17 includes a base 171 and a guide portion 172 connected to the base 171, the base 171 is connected to the frame 111, and the guide portion 172 provides a guide function for the flexible tube 26 at the distal end of the flexible instrument 2.

Wherein, the guide part 172 includes a plurality of connecting rods 1721 that are sequentially hinged end to end, and a guide part 1722 is arranged on the connecting rod 1721. In this embodiment, a guide 1722 is disposed at the end of each link 1721, the head end of the link 1721 at the head is connected to the base 171, and a guide 1722 is disposed at the head end of the link 1721 at the head.

Specifically, the guide member 1722 includes a pair of U-shaped bearings rotatably disposed on the link 1721, the U-shaped bearings including two U-shaped bearings spaced apart with the flexible tube 26 of the flexible instrument 2 therebetween, and each link 1721 has a control point for controlling the flexible tube 26 of the flexible instrument 2 and is rotated by the U-shaped bearings to reduce friction during delivery of the flexible tube 26.

It should be noted that, the adjacent connecting rods 1721 are hinged, and the arrangement positions of all the guiding components 1722 on all the connecting rods 1721 are changed by adjusting the rotation angle between the adjacent connecting rods 1721, so as to change the arrangement of the flexible tubes 26 at the end of the flexible instrument 2, for example, the flexible tubes 26 at the end of the flexible instrument 2 may be arranged in a straight line, a U-shaped arrangement, a triangular arrangement, or one or more S-shaped bending arrangements.

The flexible medical device provided by the invention realizes the planning of the position and the posture of the flexible tube 26 at the tail end of the flexible instrument 2 through a plurality of hinged connecting rods 1721 and a U-shaped bearing pair arranged on the connecting rods 1721, and reduces the friction force when the flexible tube 26 is delivered through the rotation of the U-shaped bearing.

Further, fig. 12 is a schematic structural view of the flexible instrument provided by the present invention being fixed by a clamping assembly, and as shown in fig. 2 and 12, the control device 1 further includes a clamping assembly 18, the clamping assembly 18 includes a clamping member 181 disposed on the housing 12 and a fixing member 182 detachably connected to the clamping member 181; flexible instrument 2 is clamped between clamp 181 and mount 182.

When the clamping member 181 is fixed to the lower housing 122 and the fixing member 182 is connected to the clamping member 181, the clamping member 181 and the fixing member 182 fix the flexible device 2 to the lower housing 122, and at this time, the flexible device 2 is fixed relative to the lower housing 122.

It should be noted that there may be two fixing members 182 respectively located at two ends of the clamping member 181, and a gap between the two fixing members 182 may allow the first rotating portion 22 and the second rotating portion 23 of the flexible instrument 2 to extend out of the clamping assembly 18; the fixing member 182 may be one, and the fixing member 182 may be provided with an installation notch through which the first rotating portion 22 and the second rotating portion 23 extend.

In addition, when the first driving mechanism 13 is assembled, one end of the first torque sensor 1324 connected to the first slave transition gear 1323 may be disposed on the fixing member 182 through a bearing, the first slave transition gear 1323 is fixed to the first torque sensor 1324, and the other end of the first torque sensor 1324 may be connected to the first master transition gear 1325 through a key connection.

In addition, when the second driving mechanism 14 is assembled, one end of the second torque sensor 1425 connected to the second slave transition gear 1424 may be disposed on the clamping member 181 through a bearing, the second slave transition gear 1424 is fixed to the second torque sensor 1425, and the other end of the second torque sensor 1425 may be connected to the second master transition gear 1426 through a key connection. In addition, the transition gear 1423 may be provided on the clamp 181 by a bearing.

The flexible medical device provided by the invention has the advantages that the flexible instrument 2 is installed in the shell 12 through the clamping assembly 18, and the installation and the disassembly of the flexible instrument 2 are facilitated. In addition, the flexible instrument 2 is quickly detached from the shell 12 of the control device 1, so that emergencies in the operation process can be effectively dealt with.

Further, fig. 13 is a third schematic structural view of the flexible medical apparatus provided by the present invention, and as shown in fig. 13, the flexible medical apparatus further includes a driving device 3, and the support 11 of the control device 1 is disposed on the driving device 3.

The driving device 3 may be a manipulator or a driving structure such as a multi-axis driving mechanism, which can move and rotate the control device 1 and the flexible instrument 2 integrally, thereby adjusting the position and posture of the flexible instrument 2. The driving device 3 can also move the trolley, and the control device 1 and the flexible apparatus 2 can integrally move by the movement of the trolley; preferably, a multi-dimensional adjusting platform can be arranged between the control device 1 and the trolley to adjust the position of the control device 1, for example, the position of the control device 1 in the height direction can be adjusted to adapt to different working environments.

The invention provides a flexible medical device, and a driving device 3 is used for controlling the overall positioning and movement of a device 1 and a flexible instrument 2. The control device 1 is used for fixing the flexible instrument 2 and realizing the automatic control of the movement of the flexible instrument 2 with four degrees of freedom, thereby improving the control precision and reducing the physical consumption problem of medical care personnel caused by long-time operation in the traditional handheld mode; the remote automatic control of the flexible instrument 2 can be realized, the close-range operation of medical personnel is not needed, and the dangerous conditions such as radiation and the like caused by the long-term exposure of the medical personnel under X-ray are avoided.

In the flexible medical device provided by the invention, the first driving mechanism 13, the second driving mechanism 14, the third driving mechanism 15 and the fourth driving mechanism 16 are based on motor and gear transmission. If the first driving mechanism 13, the second driving mechanism 14, the third driving mechanism 15 and the fourth driving mechanism 16 are installed on different platforms, the platform moves to drive the flexible instrument 2 to move, which will bring about the problem of motion conflict caused by inconsistent driving directions of the driving mechanisms, and if the control device 1 is coordinated with the driving mechanisms in order to realize the consistency of the motion and avoid the restriction of the motion range, the overall volume and weight of the control device 1 will be larger, therefore, the driving mechanism of the present invention converts the transmission direction through the bevel gear, thereby overcoming the problem of motion conflict caused by inconsistent driving directions of the driving mechanisms; the motor power is rotated in a certain direction based on a bevel gear mode, so that the interference among the driving mechanisms is eliminated according to a mechanical structure, and the problem that the installation positions of the driving mechanisms are separated from each other to cause larger volume and weight is solved; the small bearings are arranged outside the shell 12 in a circumferential array to realize the circumferential rotation effect of integral or separated parts, so that the integral packaging of the control device 1 is facilitated, and the integrity and integration level of the flexible medical equipment are improved; the first torque sensor 1324 and the second torque sensor 1425 are integrated in the control device 1, so that the output forces of the first driving mechanism 13 and the second driving mechanism 14 of the control device 1 are measured, and the use safety is improved.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A flexible medical device, comprising: a flexible instrument and control device;

the first driving mechanism is used for driving the first rotating part to rotate, the second driving mechanism is used for driving the second rotating part to rotate, and the third driving mechanism is used for driving the shell to rotate;

the first driving mechanism comprises a first driving piece, a first driving gear, a first transmission part and a first driven gear; the first driving part is arranged on the shell, the first driving gear is connected with an output shaft of the first driving part, the first transmission part is rotationally arranged on the shell, the first transmission part is respectively meshed with the first driving gear and the first driven gear, and the first driven gear is connected with the first rotating part;

the second driving mechanism comprises a second driving piece, a second driving gear, a second transmission part and a second driven gear; the second driving part is arranged on the shell, the second driving gear is connected with an output shaft of the second driving part, the second transmission part is rotatably arranged on the shell, the second transmission part is respectively connected with the second driving gear and the second driven gear, and the second driven gear is connected with the second rotating part.

2. The flexible medical device of claim 1 wherein the first transmission member comprises a first slave transition gear, a first torque sensor, and a first master transition gear;

3. The flexible medical device of claim 1, wherein the second transmission component comprises a second slave transition gear, a second torque sensor, and a second master transition gear;

4. The flexible medical device of claim 1, wherein the third drive mechanism comprises a third driver, a third drive gear, and a third driven gear;

5. The flexible medical device of any of claims 1-4, further comprising a fourth drive mechanism coupled to the housing and coupled to the support;

6. The flexible medical device of claim 5, wherein the fourth drive mechanism comprises a fourth drive member, a fourth pinion gear, a set of drive teeth, and a rack;

7. The flexible medical device of claim 6, wherein the set of drive teeth comprises a fourth driven gear, a third transition driven gear, and a fifth drive gear;

8. The flexible medical device of claim 7, wherein the mount comprises a frame and at least one guide rod disposed on the frame;

the rack is arranged on the frame body, and the rack is parallel to the guide rod.

9. The flexible medical device of claim 8 wherein the tip of the flexible instrument has a flexible tube; the control device further comprises a guide assembly, the guide assembly comprises a base and a guide part connected with the base, and the base is connected with the frame body;

the guide part comprises a plurality of connecting rods which are sequentially hinged end to end, and a guide component arranged on each connecting rod.

10. The flexible medical device of claim 9 wherein the guide member comprises two U-shaped bearings rotatably disposed on a linkage, the two U-shaped bearings being spaced apart;

the flexible pipe is located between the two U-shaped bearings.

11. The flexible medical device of claim 5, wherein the control device further comprises a clamping assembly comprising a clamping member disposed on the housing and a securing member removably coupled to the clamping member;

12. The flexible medical device of claim 1, further comprising a drive device, the support of the control device being disposed on the drive device.