CN115281746B - Flexible end-controllable medical instrument feeding system and feeding method - Google Patents
Flexible end-controllable medical instrument feeding system and feeding method Download PDFInfo
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- CN115281746B CN115281746B CN202210786893.1A CN202210786893A CN115281746B CN 115281746 B CN115281746 B CN 115281746B CN 202210786893 A CN202210786893 A CN 202210786893A CN 115281746 B CN115281746 B CN 115281746B
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- 230000007547 defect Effects 0.000 abstract description 7
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 210000000056 organ Anatomy 0.000 description 2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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Abstract
The application provides a flexible end controllable medical instrument feeding system and a feeding method, wherein the system comprises the following components: the device comprises a driving mechanism, a driving mechanical mechanism, a feeding mechanism and a feeding mechanical mechanism, wherein the driving mechanism is at least provided with a group of driving components for fixing the front end of the flexible instrument and controlling the tail end of the flexible instrument; the driving mechanical mechanism drives the driving component and the front end of the flexible instrument to move along a first direction; the feeding mechanism is provided with at least one group of driving wheels and driven wheels, is matched with and clamps the flexible instrument, and drives the flexible instrument to feed along a second direction; the feeding mechanical mechanism is connected with the feeding mechanism and used for supporting and driving the feeding mechanism. The application has low hardness requirement on the flexible instrument, does not need to lengthen the length of the part of the driving mechanism, and solves the defects of large occupied space and heavy weight of the driving mechanism.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a flexible tail end controllable medical instrument feeding system and a flexible tail end controllable medical instrument feeding method.
Background
The flexible end controllable medical instrument can enter human organs through the oral cavity or other natural human cavity channels, and doctors can observe pathological changes of the human organs or perform minimally invasive surgery by means of the flexible end controllable medical instrument. In the traditional flexible tail end controllable medical instrument inspection, a doctor holds the flexible tail end controllable medical instrument to feed back and forth and bend the tail end, the requirement on the proficiency of the doctor is higher, the doctor is easy to fatigue when working for a long time, and the problem can be solved by using a robot medical auxiliary technology.
The existing flexible tail end controllable medical instrument feeding system utilizes two mechanical arms or linear driving mechanisms to drive and feed the flexible instrument, and no independent feeding mechanism is used for realizing guide support and feeding.
Disclosure of Invention
The application provides a feeding system and a feeding method for a flexible end-controllable medical instrument, which are used for solving the defects that in the prior art, the feeding system for the flexible end-controllable medical instrument directly realizes the driving and feeding of the flexible instrument by using a mechanical arm or a linear driving mechanism, the control system for the cooperative work of the mechanical arm and the linear driving mechanism with the driving function of the flexible end-controllable medical instrument is complex, the hardness requirement on the flexible instrument is higher or the flexible instrument needs an independent supporting structure, the driving length is determined by the feeding distance, and when the feeding distance is longer, the length of a part corresponding to the linear driving mechanism is lengthened, and the occupied space is large and the weight is heavy.
The present application provides a flexible tip controllable medical instrument feeding system comprising:
the driving mechanism is at least provided with a group of driving components for fixing the front end of the flexible instrument and controlling the bending of the tail end of the flexible instrument;
the driving mechanical mechanism is connected with the driving mechanism and used for driving the driving assembly and the front end of the flexible instrument to move along a first direction;
the feeding mechanism is provided with at least one driving wheel and at least one driven wheel, and the driving wheel and the driven wheel are matched to clamp the flexible instrument and drive the flexible instrument to feed along a second direction;
and the feeding mechanical mechanism is connected with the feeding mechanism and is used for supporting and driving the feeding mechanism.
A flexible end-controllable medical instrument feeding system according to the present application, the drive mechanism includes a set of drive assemblies and a drive connection for connecting the drive assemblies and the drive mechanism together.
According to the flexible-end controllable medical instrument feeding system, two groups of driving components of the driving mechanism are respectively a first driving component used for fixing the front end of a first flexible instrument and controlling the bending of the tail end of the first flexible instrument and a second driving component used for fixing the front end of a second flexible instrument and controlling the bending of the tail end of the second flexible instrument; the first driving component is connected with the driving mechanical structure through a first motion control unit and is used for driving the front end of the first flexible instrument to independently move along a first direction relative to the front end of the second flexible instrument; the second driving component is connected with the driving mechanical structure through a second motion control unit and is used for driving the front end of the second flexible instrument to independently move along a first direction relative to the front end of the first flexible instrument; wherein the first flexible instrument is sleeved outside the second flexible instrument.
According to the flexible tail end controllable medical instrument feeding system, the first driving assembly comprises a first flexible instrument linear wire driving unit and a first flexible instrument mounting unit, a plurality of first linear driving pieces are arranged in the first flexible instrument, the first flexible instrument linear wire driving unit is connected with the first linear driving pieces, the gesture of the tail end of the first flexible instrument is controlled by adjusting the movement of the first linear driving pieces, and the structure of the second driving assembly is the same as that of the first driving assembly.
According to the flexible tail end controllable medical instrument feeding system, the first motion control unit comprises a first motion control connecting piece and a first motion control driver, the first motion control driver is used for driving the first driving component and the front end of the first flexible instrument to independently move through the first motion control connecting piece, and the structure of the second motion control unit is the same as that of the first motion control unit.
A flexible end-controllable medical instrument feeding system according to the present application, the drive mechanism further comprising:
and the sensor is arranged on the side wall of the flexible instrument and used for acquiring real-time force generated on the flexible instrument when the feeding mechanism and the driving mechanism work cooperatively.
A flexible end-controllable medical instrument feeding system according to the present application, the feeding mechanism further comprising:
and the elastic component is connected with the driven wheel and used for rotationally supporting the driven wheel and providing elastic force for the driven wheel so as to adjust the clamping force of the driven wheel on the flexible instrument.
According to the flexible end controllable medical instrument feeding system, the feeding mechanical mechanism is a manipulator or a multi-axis bracket and is used for supporting and adjusting the feeding mechanism.
According to the flexible end controllable medical instrument feeding system, the driving mechanical mechanism is a manipulator or a multi-shaft driving mechanism and is used for supporting and adjusting the driving mechanism.
The application also provides a feeding method of the flexible end controllable medical instrument, which is realized based on the feeding system of the flexible end controllable medical instrument, and comprises the following steps:
the drive mechanism, and the feed mechanism cooperate to control a feed length and a feed attitude of the flexible instrument.
The application provides a feeding method of a flexible tail end controllable medical instrument, which further comprises the following steps:
and judging whether the difference value between the driving speed of the driving mechanism and the feeding speed of the feeding mechanism exceeds a target threshold value according to the sensor, and if so, adjusting the driving speed of the driving mechanism or the feeding speed of the feeding mechanism so that the difference value is lower than the target threshold value.
According to the feeding system and the feeding method for the flexible tail end controllable medical instrument, provided by the application, the integral driving and feeding can be realized through the driving mechanical mechanism, the independent driving and feeding can be realized through the driving component of the driving mechanism, the feeding mechanism is driven to the upper part of the natural cavity of the human body through the feeding mechanical mechanism, the accurate feeding can be realized through the feeding mechanism, the requirement on the hardness of the flexible instrument is low, the length of the driving mechanism part of the flexible instrument is not required to be lengthened, and the defects of large occupied space and heavy weight of the driving mechanism are overcome.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a first application of a flexible end-controllable medical device feeding system according to the present application;
FIG. 2 is a schematic view of a second application of the flexible end-controllable medical device feeding system provided by the present application;
FIG. 3 is a schematic view of a third application of the flexible end-controllable medical device feeding system provided by the present application;
FIG. 4 is a schematic diagram of a driving mechanism according to the present application;
FIG. 5 is a schematic view of a feed mechanism provided by the present application;
FIG. 6 is a schematic view of the internal structure of the feed mechanism of FIG. 5 provided by the present application;
fig. 7 is a schematic view of the elastic assembly of fig. 6 according to the present application.
Reference numerals:
1-a driving mechanism; 11-a first drive assembly; 111-a first flexible instrument linear wire drive unit; 112-a first flexible instrument mounting unit; 12-a second drive assembly; 121-a second flexible instrument linear wire drive unit; 122-a second flexible instrument mounting unit; 13-a first motion control unit; 131-a first motion control connection; 132-a first motion control driver; 14-a second motion control unit; 141-a second motion control connection; 142-a second motion control driver; 15-a connection assembly; 2-a drive mechanism; 3-a feeding mechanism; 31-a driving wheel; 311 is a driving wheel driving motor; 32-driven wheel; 33-an elastic component; 331-a driven wheel mount; 3311-stent; 332-a guide rail; 333-an elastic member; 334-spring mount; 4-a feeding mechanical mechanism; 41-mounting a panel.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present application will be understood in detail by those of ordinary skill in the art.
In embodiments of the application, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The feeding system of the flexible-end controllable medical instrument provided by the application at least comprises two embodiments, and the feeding system corresponds to the structure of the flexible-end controllable medical instrument, and if the flexible-end controllable medical instrument comprises a first flexible instrument and a second flexible instrument, the flexible-end controllable medical instrument only comprises one flexible instrument, so the feeding system of the flexible-end controllable medical instrument is used for describing the two embodiments in detail.
Example 1
This embodiment is directed to the case where the flexible end controllable medical device comprises only one flexible device.
An embodiment of the present application provides a flexible tip controllable medical instrument feeding system, comprising:
the driving mechanism 1 is provided with a group of driving components for fixing the front end of the flexible instrument and controlling the tail end of the flexible instrument, wherein the driving components are used for controlling the bendable part of the flexible instrument, and the tail end of the flexible instrument can be seen to be one end entering the natural cavity of the human body by referring to fig. 1-3.
The driving mechanical mechanism 2 is connected with the driving mechanism 1 and is used for driving the driving assembly and the front end of the flexible instrument to move along a first direction and driving the front end of the flexible instrument to move along the first direction; referring to fig. 1-3, it can be seen that the front end of the flexible instrument refers to the end that does not enter the body and is connected to the drive mechanism 1.
The feeding mechanism 3 is provided with at least one driving wheel 31 and at least one driven wheel 32, and the driving wheel 31 and the driven wheel 32 are matched to clamp the flexible instrument and drive the flexible instrument to feed along a second direction;
and a feeding mechanical mechanism 4 connected with the feeding mechanism 3 for supporting and driving the feeding mechanism.
Optionally, the drive mechanism 1 comprises a set of drive assemblies and a drive connection (not shown) for connecting the drive assemblies and the drive mechanism together. The driving mechanism can drive the driving assembly to move along a first direction.
Optionally, the driving assembly includes a flexible apparatus linear wire driving unit and a flexible apparatus mounting unit, a plurality of linear driving members (such as a stay wire) are disposed in the flexible apparatus, the flexible apparatus linear wire driving unit is connected with the linear driving members, and the gesture of the tail end of the flexible apparatus is controlled by adjusting the movement of the linear driving members. In case of only one set of drive assemblies, the motion control unit is no longer provided.
Example two
This embodiment is directed to the case where the flexible distal end controllable medical instrument comprises a first flexible instrument and a second flexible instrument, the first flexible instrument being sleeved outside the second flexible instrument.
As shown in fig. 1-3, the present application provides a flexible, end-controllable medical instrument feeding system, the flexible, end-controllable medical instrument comprising a first flexible instrument and a second flexible instrument, the first flexible instrument being sleeved outside the second flexible instrument, the system comprising:
the driving mechanism 1 comprises two groups of driving components, namely a first driving component 11 for fixing the front end of a first flexible instrument and controlling the bending of the tail end of the first flexible instrument, and a second driving component 12, a first motion control unit 13 and a second motion control unit 14 for fixing the front end of a second flexible instrument and controlling the bending of the tail end of the second flexible instrument; the first driving component 11 is used for fixing the front end of a first flexible instrument and controlling the bendable part of the tail end of the first flexible instrument, the second driving component 12 is used for fixing the front end of a second flexible instrument and controlling the bendable part of the tail end of the second flexible instrument, and the first driving component 11 is connected with the driving mechanical structure 2 through the first motion control unit 13 and used for driving the front end of the first flexible instrument to independently move along a first direction relative to the front end of the second flexible instrument; the second driving component 12 is connected with the driving mechanical mechanism 2 through a second motion control unit 14 and is used for driving the front end of the second flexible instrument to independently move along a first direction relative to the front end of the first flexible instrument; the first flexible instrument is sleeved outside the second flexible instrument.
A driving mechanism 2 connected to the driving mechanism 1 for driving the first driving component 11 and the second driving component 12 to move along a first direction; the first driving component 11 will drive the front end of the first flexible instrument to move along the first direction, and the second driving component 12 will drive the front end of the second flexible instrument to move along the first direction.
The feeding mechanism 3 is provided with at least one driving wheel 31 and at least one driven wheel 32, and the driving wheel 31 and the driven wheel 32 are matched to clamp the flexible instrument and drive the flexible instrument to feed along a second direction; the driving wheel 31 and the driven wheel 32 can be oppositely arranged, and are matched to clamp the flexible instrument and realize feeding; in another embodiment, the driving wheel 31 and the driven wheel 32 may be provided in a plurality, and the same number of the driving wheels 31 and the driven wheels 32 cooperate to clamp the flexible apparatus and realize feeding.
And a feeding mechanical mechanism 4 connected with the feeding mechanism 3 for supporting and driving the feeding mechanism 3.
The driving mechanism 1 is fixed on the driving mechanism 2, the feeding mechanism 3 is fixed on the feeding mechanism 4, and if an operation or an examination is needed, the feeding mechanism 4 drives the feeding mechanism 3 to be above the natural cavity of the human body and close to the natural cavity of the human body. The second direction is the direction perpendicular to the natural cavity of the human body, so that the first flexible instrument and the second flexible instrument can conveniently enter the human body, and the first direction and the second direction have a certain included angle, so that the first flexible instrument and the second flexible instrument can be conveniently driven to enter the feeding mechanism 3.
The driving mechanism 1 can be matched with the feeding mechanism 3 to complete feeding of the flexible instrument in the human body when in different positions, the degree of freedom of placement in an operating room is higher, and the flexible instrument entering the human body is more flexible.
In the driving mechanism 1, the first driving component 11 and the second driving component 12 are arranged at intervals in front-back, the axes of the output shafts of the first driving component 11 and the second driving component 12 are parallel, and the first driving component 11 is controlled by the first motion control unit 13, and the second driving component 12 is controlled by the second motion control unit 14 to realize relatively independent motion on the same plane.
As shown in fig. 5, for the feeding mechanism 3, the driving wheel 31 is driven by a driving wheel driving motor 311 to rotate around the axis, the driving wheel 31 drives the first flexible device to feed through friction force, and the first flexible device drives the driven wheel 32 to rotate around the axis through friction force.
When the medical device is used, the first flexible device and the second flexible device of the flexible tail controllable medical device can be driven to integrally move forwards through the driving mechanical mechanism 2, the medical device is close to a natural cavity of a human body, and the flexible devices can be clamped by the two rollers of the feeding mechanism 3. After the flexible instrument is clamped by the feeding mechanism 3, the feeding mechanism 4 adjusts the specific position of the feeding mechanism 3, the driving mechanism 2 and the feeding mechanism 3 work cooperatively to drive the first flexible instrument and the second flexible instrument of the flexible tail-end controllable medical instrument to continuously enter the human body through the natural cavity of the human body, particularly when the driving mechanism 2 drives the first flexible instrument and the second flexible instrument forwards, the feeding mechanism 3 clamps the first flexible instrument and the second flexible instrument of the flexible tail-end controllable medical instrument, and front and back feeding of the first flexible instrument and the second flexible instrument is realized through rotation of the driving wheel 31. When the human body needs to enter through the thin channel, the feeding mechanism 3 stops feeding, and the second flexible instrument with smaller outer diameter is driven by the second driving component 12 under the motion control of the second motion control unit 14 to continuously drive forward to reach the affected part in the human body for detection and minimally invasive surgery.
It will be appreciated that the embodiment of the application is provided with both the drive mechanism 1 and the feeding mechanism 3, and that the clamping and guiding function of the feeding mechanism 3 can replace the first flexible instrument catheter support structure of the flexible distal controllable medical instrument which is complex in structure and long in length. The driving mechanical mechanism 2 can realize the rapid feeding of the first flexible instrument and the second flexible instrument, when the first flexible instrument and the second flexible instrument are driven to move along the first direction, the feeding mechanism 3 simultaneously feeds the first flexible instrument and the second flexible instrument at the same speed, the first flexible instrument and the second flexible instrument stably enter the human body through the cooperative work of the driving mechanical mechanism 2, the first driving component 11 and the feeding mechanism 3, and at the moment, the feeding mechanism 3 plays a role in guiding, supporting and feeding. When the human body needs to enter through the thin channel, the driving mechanical mechanism 2, the first motion control unit 13 and the feeding mechanism 3 stop feeding, and the second flexible instrument with smaller outer diameter is continuously driven forward by the second motion control unit 14 and the second driving assembly 12 to reach the affected part in the human body for detection and minimally invasive surgery. When the first flexible instrument and the second flexible instrument are required to feed in a human body at a small distance, the feeding mechanism can be realized by only precisely controlling the rotation of the driving wheel 31 in the feeding mechanism 3, and the driving distance of the driving mechanism 1 and the driving mechanical mechanism 2 is not required to be precisely controlled, so that the control mode is simple. The feeding mechanism 3 also achieves the supporting guiding and feeding functions of the first flexible instrument and the second flexible instrument, and the mechanism does not need other first flexible instrument supporting mechanisms and does not have special requirements on the hardness of the first flexible instrument catheter. The driving length of the driving mechanism 1 is irrelevant to the feeding length required by the first flexible instrument and the second flexible instrument, the length of the driving mechanism part is not required to be lengthened, and the defects of large occupied space and heavy weight of the driving mechanism are overcome.
On the basis of the above embodiment, as an alternative embodiment, as shown in fig. 4, the first driving assembly 11 includes a first flexible apparatus linear wire driving unit 111 and a first flexible apparatus mounting unit 112, wherein a plurality of first linear driving members (not shown) are disposed in the first flexible apparatus, and the first flexible apparatus linear wire driving unit 111 is connected to the first linear driving members, and the posture of the distal end of the first flexible apparatus is controlled by adjusting the movement of the first linear driving members.
The second driving assembly 12 includes a second flexible device linear wire driving unit 121 and a second flexible device mounting unit 122, a plurality of second linear driving members (not shown in the figure) are disposed in the second flexible device, the second flexible device linear wire driving unit 121 is connected with the second linear driving members, and the gesture of the end of the second flexible device is controlled by adjusting the movement of the second linear driving members.
Optionally, the first motion control unit 13 includes a first motion control connection 131 and a first motion control driver 132, where the first motion control driver 132 is configured to drive the first driving component 11 and the first flexible instrument front end to independently move through the first motion control connection 131; the second motion control unit 14 includes a second motion control link 141 and a second motion control driver 142, where the second motion control driver 142 is configured to independently move the second drive assembly 12 and the second flexible instrument front end via the second motion control link 141.
Alternatively, the first motion control unit 13 drives the first driving assembly 11 to move in the first direction using a swing arm swing manner or a linear motion mechanism manner. The second motion control unit 14 drives the second driving assembly 12 to move in the first direction using a swing arm swing manner or a linear motion mechanism manner.
According to the example provided by the application, a swing arm swinging mode is adopted.
It will be appreciated that the first motion control driver 132 may employ a motor, and the motor may be used to drive the first drive assembly 11 back and forth through the first motion control link 131, thereby enabling back and forth driving of the first flexible instrument. The second motion control driver 142 may employ a motor, and the second motion control connector 141 may drive the second driving assembly 12 to swing back and forth through the motor, so as to implement back and forth driving of the second flexible apparatus.
On the basis of the above embodiment, as an alternative embodiment, the driving mechanism 1 further includes:
and a connection assembly 15 connected to the first motion control unit 13 and the second motion control unit 14, respectively.
It will be appreciated that the connection assembly 15 is detachably connected to the first motion control unit 13 and the second motion control unit 14 by screws, so as to facilitate the replacement and disassembly of parts in the event of a failure.
On the basis of the above embodiment, as an alternative embodiment, the driving mechanism 1 further includes:
a sensor (not shown) is provided on the side wall of the flexible instrument to obtain the real-time force generated on the flexible instrument when the feeding mechanism and the driving mechanism work cooperatively.
It will be appreciated that the sensor may be a multi-axis sensor, and that when the drive speed of the drive mechanism and the feed speed of the feed mechanism differ too much, the drive speed of the drive mechanism or the feed speed of the feed mechanism may be changed by the change in force of the sensor, so that the two are matched, and the feeding process of the flexible end controllable medical device is smoother.
On the basis of the above-described embodiment, as an alternative embodiment, as shown in fig. 5 and 6, the feeding mechanism 3 further includes:
and an elastic assembly 33 connected with the driven wheel 32 and used for rotatably supporting the driven wheel 32 and providing elastic force for the driven wheel so as to adjust the clamping force of the driven wheel 32 on the flexible tail end controllable medical instrument.
It will be appreciated that, as shown in fig. 7, the elastic component 33 includes a driven wheel mounting seat 331, a guide rail 332 disposed below the driven wheel mounting seat 331, an elastic member 333 connected with the driven wheel mounting seat 331, and an elastic member mounting seat 334 for fixing the elastic member 333, where the driven wheel mounting seat 331 constructs a support 3311 for rotatably supporting the driven wheel 32, and by pressing the driven wheel mounting seat 331, the elastic force of the elastic member 333 is adjusted, and the clamping force of the driven wheel 32 on the flexible device is adjusted by the elastic force, so as to adapt to different outer diameters of different parts of the flexible device, and facilitate the insertion or the extraction of the flexible terminal device.
On the basis of the above embodiment, as an alternative embodiment, the feeding mechanism 4 is a robot arm or a multi-axis bracket for supporting and adjusting the feeding mechanism.
Alternatively, the feeding mechanism 4 is detachably connected to the feeding mechanism 3 through a mounting panel 41, facilitating replacement.
Optionally, the driving mechanism 2 is a manipulator or a multi-axis driving mechanism, so as to support and adjust the driving mechanism.
It will be appreciated that by providing a manipulator or multi-axis support, angular variation and multi-position placement of the drive mechanism 1 and feed mechanism 3 can be achieved, increasing flexibility. The driving mechanism 1 can be matched with the feeding mechanism 3 to complete feeding of the flexible instrument in the human body when in different positions, the robot in an operating room has higher freedom degree, is more flexible, and the flexible tail end controllable medical instrument entering the human body is also softer.
The flexible-end-controllable medical instrument feeding method provided by the application is described below, and the flexible-end-controllable medical instrument feeding method described below and the flexible-end-controllable medical instrument feeding system described above can be referred to correspondingly.
The application also provides a feeding method of the flexible-end controllable medical instrument, which is realized based on the feeding system of the flexible-end controllable medical instrument, and comprises the following steps of:
the driving mechanism 1, the driving mechanical mechanism 2 and the feeding mechanism 3 work cooperatively to control the feeding length and the feeding posture of the flexible instrument. Specifically, the driving mechanical mechanism 2 can realize the rapid feeding of the flexible instrument, when the flexible instrument is driven to move along the first direction, the feeding mechanism 3 simultaneously feeds the flexible instrument at the same speed, the flexible instrument stably enters the human body through the cooperative work of the driving mechanical mechanism 2 and the feeding mechanism 3, at the moment, the feeding mechanism 3 plays a role in guiding, supporting and feeding, and the driving assembly controls the bending of the tail end of the flexible instrument. The flexible instrument reaches the affected part of the human body for detection and minimally invasive surgery.
When the flexible instrument is required to feed at a small distance in a human body, for example, two millimeters, the flexible instrument can be realized by only precisely controlling the rotation of the driving wheel 31 in the feeding mechanism 3, and the driving distance of the driving mechanical mechanism 2 is not required to be precisely controlled, so that the control mode is simple. The feeding mechanism 3 also achieves a supporting and guiding function for the flexible instrument, which mechanism does not require other flexible instrument supporting mechanisms and does not require special requirements for the stiffness of the flexible instrument. The driving length of the driving mechanism 1 is irrelevant to the feeding length required by the flexible instrument, the length of the driving mechanism part is not required to be lengthened, and the defects of large occupied space and heavy weight of the driving mechanism are overcome.
For the case where the flexible end-controllable medical device comprises a first flexible device and a second flexible device, the method comprises:
the driving mechanical mechanism 2, the first motion control unit 13, the second motion control unit 14 and the feeding mechanism 3 work cooperatively to control the feeding length of the flexible end controllable medical instrument. Specifically, the driving mechanical mechanism 2 can realize the rapid feeding of the first flexible instrument and the second flexible instrument, when the first flexible instrument and the second flexible instrument are driven to move along the first direction, the feeding mechanism 3 simultaneously feeds the first flexible instrument and the second flexible instrument at the same speed, the first flexible instrument and the second flexible instrument stably enter the human body through the cooperative work of the driving mechanical mechanism 2, the first motion control unit 13 and the feeding mechanism 3, and at the moment, the feeding mechanism 3 plays a role in guiding, supporting and feeding. When the human body needs to enter through the thinner channel, namely if the inner diameter value of the channel in the human body where the first flexible instrument and the second flexible instrument are positioned reaches the target value, the driving mechanism 2, the first motion control unit 13 and the feeding mechanism 3 stop feeding, the second flexible instrument with smaller outer diameter is continuously driven forwards by the second motion control unit 14, the first driving component 11 and the second driving component 12 can respectively control the bending of the tail ends of the first flexible instrument and the second flexible instrument, and the flexible tail end controllable instrument reaches the affected part of the human body for detection and minimally invasive surgery.
When the first flexible instrument and the second flexible instrument are required to be fed in a human body at a small distance, for example, two millimeters, the feeding mechanism can be realized by only precisely controlling the rotation of the driving wheel 31 in the feeding mechanism 3, and the driving distance of the driving mechanism 1 and the driving mechanical mechanism 2 is not required to be precisely controlled, so that the control mode is simple. The feeding mechanism 3 also provides support and guiding of the first and second flexible instruments, which does not require additional first flexible instrument support mechanisms and does not require special requirements for the stiffness of the first flexible instrument catheter. The driving length of the driving mechanism 1 is irrelevant to the feeding length required by the first flexible instrument and the second flexible instrument, the length of the driving mechanism part is not required to be lengthened, and the defects of large occupied space and heavy weight of the driving mechanism are overcome.
On the basis of the above embodiment, as an alternative embodiment, further includes:
and judging whether the difference value between the driving speed of the driving mechanism and the feeding speed of the feeding mechanism exceeds a target threshold value according to the sensor, and if so, adjusting the driving speed of the driving mechanism or the feeding speed of the feeding mechanism so that the difference value is lower than the target threshold value.
It will be appreciated that by adjusting the drive speed of the drive mechanism or the feed speed of the feed mechanism so that the difference is below the target threshold, the force variation of the sensor is matched to the drive speed or feed speed, improving the smoothness of the feed process.
According to the feeding system and the feeding method for the flexible tail end controllable medical instrument, provided by the application, the integral driving and feeding can be realized through the driving mechanical mechanism, the independent driving and feeding can be realized through the motion control unit of the driving mechanism, the feeding mechanism is driven to the upper part of the natural cavity of the human body through the feeding mechanical mechanism, the accurate feeding can be realized through the feeding mechanism, the requirement on the hardness of the flexible instrument is low, the length of the part of the driving mechanism of the flexible instrument is not required to be lengthened, and the defects of large occupied space and heavy weight of the driving mechanism are overcome.
In the market of flexible surgical instrument systems, flexible end-controllable medical instruments are mainly slender flexible endoscopes such as bronchoscopes, urethroscopes, duodenoscopes, choledochoscopes, pyeloscopes and the like. The first flexible instrument and the second flexible instrument in the embodiment of the application are parts of the flexible endoscope, which have the functions of entering the human body for examination, operation and the like, and the number of the flexible instruments is not limited.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A flexible, end-controllable medical device feeding system, comprising:
the driving mechanism is at least provided with a group of driving components for fixing the front end of the flexible instrument and controlling the bending of the tail end of the flexible instrument;
the driving mechanical mechanism is connected with the driving mechanism and used for driving the driving assembly and the front end of the flexible instrument to move along a first direction;
the feeding mechanism is provided with at least one driving wheel and at least one driven wheel, and the driving wheel and the driven wheel are matched to clamp the flexible instrument and drive the flexible instrument to feed along a second direction;
a feeding mechanical mechanism connected with the feeding mechanism for supporting and driving the feeding mechanism;
the driving mechanism comprises two groups of driving components, namely a first driving component for fixing the front end of a first flexible instrument and controlling the bending of the tail end of the first flexible instrument and a second driving component for fixing the front end of a second flexible instrument and controlling the bending of the tail end of the second flexible instrument; the first driving component is connected with the driving mechanical structure through a first motion control unit and is used for driving the front end of the first flexible instrument to independently move along a first direction relative to the front end of the second flexible instrument; the second driving component is connected with the driving mechanical structure through a second motion control unit and is used for driving the front end of the second flexible instrument to independently move along a first direction relative to the front end of the first flexible instrument; wherein the first flexible instrument is sleeved outside the second flexible instrument.
2. The flexible, end-controllable medical device feeding system of claim 1, wherein said drive mechanism comprises a set of drive assemblies and a drive connection for connecting said drive assemblies and said drive mechanism together.
3. The flexible distal tip controllable medical instrument feed system of claim 1, wherein the first drive assembly comprises a first flexible instrument linear wire drive unit and a first flexible instrument mounting unit, wherein a plurality of first linear drive members are disposed in the first flexible instrument, the first flexible instrument linear wire drive unit is connected with the first linear drive members, the first flexible instrument linear wire drive unit is configured to control the attitude of the distal tip of the first flexible instrument by adjusting the movement of the first linear drive members, and the second drive assembly is configured identically to the first drive assembly.
4. The flexible, end-controllable medical device feeding system of claim 1, wherein the first motion control unit comprises a first motion control link and a first motion control driver for independently moving the first drive assembly and the first flexible device front end via the first motion control link, the second motion control unit having a structure identical to the first motion control unit.
5. The flexible, end-controllable medical device feeding system of claim 1, wherein the drive mechanism further comprises:
and the sensor is arranged on the side wall of the flexible instrument and used for acquiring real-time force generated on the flexible instrument when the feeding mechanism and the driving mechanism work cooperatively.
6. The flexible, end-controllable medical device feeding system of claim 1, wherein the feeding mechanism further comprises:
and the elastic component is connected with the driven wheel and used for rotationally supporting the driven wheel and providing elastic force for the driven wheel so as to adjust the clamping force of the driven wheel on the flexible instrument.
7. The flexible, end-controllable medical device feeding system of claim 1, wherein the feeding mechanism is a manipulator or a multi-axis support for supporting and adjusting the feeding mechanism.
8. The flexible, end-controllable medical device feeding system of claim 1, wherein the drive mechanism is a robotic arm or a multi-axis drive mechanism for supporting and adjusting the drive mechanism.
9. A method of feeding a flexible tip controllable medical device, characterized in that it is implemented based on the flexible tip controllable medical device feeding system according to any one of claims 1-8, the method comprising:
the drive mechanism, and the feed mechanism cooperate to control a feed length and a feed attitude of the flexible instrument.
10. The flexible end-controllable medical device feeding method of claim 9, further comprising:
and judging whether the difference value between the driving speed of the driving mechanism and the feeding speed of the feeding mechanism exceeds a target threshold value or not according to the sensor, and if so, adjusting the driving speed of the driving mechanism or the feeding speed of the feeding mechanism so that the difference value is lower than the target threshold value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210786893.1A CN115281746B (en) | 2022-07-04 | 2022-07-04 | Flexible end-controllable medical instrument feeding system and feeding method |
| PCT/CN2022/125022 WO2024007472A1 (en) | 2022-07-04 | 2022-10-13 | Feeding system and feeding method for medical instrument having controllable flexible tail end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210786893.1A CN115281746B (en) | 2022-07-04 | 2022-07-04 | Flexible end-controllable medical instrument feeding system and feeding method |
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| CN115281746A CN115281746A (en) | 2022-11-04 |
| CN115281746B true CN115281746B (en) | 2023-10-31 |
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| WO (1) | WO2024007472A1 (en) |
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| CN116177305A (en) * | 2022-11-09 | 2023-05-30 | 上海卓昕医疗科技有限公司 | Conveying device and robot for automatic replacement of various flexible wire harness instruments |
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Also Published As
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| CN115281746A (en) | 2022-11-04 |
| WO2024007472A1 (en) | 2024-01-11 |
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