CN112617728A

CN112617728A - Bronchoscope sheath and operating device thereof

Info

Publication number: CN112617728A
Application number: CN202011626840.0A
Authority: CN
Inventors: 孙加源; 郑筱轩; 严笠骏; 刘帅洋
Original assignee: Shanghai Chest Hospital
Current assignee: Shanghai Chest Hospital
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-04-09
Anticipated expiration: 2040-12-30
Also published as: CN112617728B

Abstract

The invention discloses a bronchoscope sheath and an operating device thereof, wherein the bronchoscope sheath comprises a deflector rod, a substrate, a hard sheath tube, a control cable and a controllable bending part, the substrate, the hard sheath tube and the controllable bending part are sequentially connected from a near end to a far end, and communicated cavities are arranged in the substrate, the hard sheath tube and the controllable bending part to form a sheath channel for inserting or pulling out an bronchoscope; the deflector rod is arranged on the substrate, a bronchoscope interface is arranged at the near end of the substrate and is communicated with the endoscope sheath channel, and an opening extending out of the far end mirror surface of the bronchoscope is formed in the far end port of the controllable bending part; the near end of the control cable is connected with the shifting lever, the far end of the control cable penetrates through the hard sheath tube to be connected with the far end of the controllable bending component, and the shifting lever controls the bending direction and the bending degree of the controllable bending component through the control cable. Avoids iatrogenic injury and brings convenience to clinical operation.

Description

Bronchoscope sheath and operating device thereof

Technical Field

The invention relates to the technical field of medical instruments, in particular to a bronchoscope sheath and an operating device thereof.

Background

At present, as the application of some complex airway interventional therapies is mature day by day, the use of the hard bronchoscope is more and more extensive and indispensable. However, the whole body of the currently used hard bronchoscope sheath is very hard, so that the entry of the whole body under general anesthesia is still a technical difficulty, and the mechanical damage to the oral cavity, teeth, throat and glottis of a patient is easily caused. In the present similar invention, patent No. 201520501193.9 discloses a bronchoscope sheath, but the bronchoscope sheath is a rigid sheath tube whose ends cannot be bent into the left and right main bronchi. The patent application No. 201720674653.7 discloses a bendable hard fiber bronchoscope, which is a fiber bronchoscope, and currently, an electronic bronchoscope is clinically used, and the fiber bronchoscope is basically eliminated. Patent application No. 201020509955.7 discloses a flexible steering endoscope with a combination of hard and soft materials, which can rotate a fallopian tube mirror and a ureteroscope, but is not suitable for rotating a bronchoscope. Therefore, there is a need for a bronchoscope sheath and an operating device thereof, which are suitable for diagnosing or treating the left and right main bronchi after the bronchoscope enters the body.

Disclosure of Invention

The invention aims to solve the technical problem of providing a bronchoscope sheath and an operating device thereof, wherein the distal end of the bronchoscope sheath can be controlled in a bending way, so that the bronchoscope sheath is suitable for diagnosing or treating left and right main bronchus after entering a body, and iatrogenic injury can be avoided.

The invention provides a bronchoscope sheath for solving the technical problems, which comprises a deflector rod, a basal body, a hard sheath tube, a control cable and a controllable bending part, wherein the basal body, the hard sheath tube and the controllable bending part are sequentially connected from a near end to a far end, and communicated cavities are arranged in the basal body, the hard sheath tube and the controllable bending part to form a sheath channel for inserting or extracting an bronchoscope; the deflector rod is arranged on the substrate, a bronchoscope interface is arranged at the near end of the substrate and is communicated with the endoscope sheath channel, and an opening extending out of the far end mirror surface of the bronchoscope is formed in the far end port of the controllable bending part; the near end of the control cable is connected with the shifting lever, the far end of the control cable penetrates through the hard sheath tube to be connected with the far end of the controllable bending component, and the shifting lever controls the bending direction and the bending degree of the controllable bending component through the control cable.

Preferably, the number of the control cables is 2, namely a first control cable and a second control cable; two ends of the shifting lever are respectively fixedly connected with a first wire wheel and a second wire wheel, the near end of the first control cable is wound on the first wire wheel, the near end of the second control cable is wound on the second wire wheel, and the wire winding directions of the first control cable and the second cable are opposite.

Preferably, the distal ends of the first control cable and the second control cable are fixed to the distal ends of the controllable bending member, respectively, and the two fixed positions are axially symmetrically distributed.

Preferably, the controllable bending part comprises a movable part and an end part, the proximal end of the movable part is connected with the hard sheath, the distal end of the movable part is connected with the end part, the movable part is composed of a plurality of annular hollow parts, and the adjacent hollow parts can be driven to swing along the mutually contacted end surfaces by the pulling force applied to the control cable.

Preferably, a first through hole and a second through hole are axially arranged on the annular wall of the hollow part in a through manner, the first control cable penetrates through the first through hole and the second control cable penetrates through the second through hole to connect the hollow parts in series, and the first through hole and the second through hole are uniformly distributed along the circumferential direction.

Preferably, a first concave arc and a second concave arc which are symmetrical are formed on the end face of the hollow part along the circumferential direction, the first through hole is located in the middle of the first concave arc, and the second through hole is located in the middle of the second concave arc.

Preferably, the distal ends of the first and second control cables are fixed to the distal end of the movable member.

Preferably, a locking knob is arranged outside the shifting lever, the locking knob is in threaded connection with the second wire wheel, and the shifting lever and the base body can be pressed tightly by rotating the locking knob, so that the shifting lever is locked.

Preferably, a breathing machine interface is arranged on the base body, and the breathing machine interface is communicated with a cavity in the base body and is used for ventilation of a breathing machine in an operation.

Preferably, the ventilator interface comprises a first interface and a second interface which are coaxially arranged outside the base body, the second interface is also communicated with an operation instrument interface, and the operation instrument interface penetrates through the second interface and is communicated with the cavity in the base body; or, the number of the breathing machine interface is one, and the breathing machine interface and the instrument interface are arranged on two sides of the base body.

Preferably, the base body comprises a main body section and a first closing section, the cross-sectional area of the main body section is larger than that of the hard sheath, and the outer diameter of the first closing section is gradually reduced from the proximal end to the distal end until the outer diameter of the first closing section is the same as that of the hard sheath.

Preferably, the outer diameter of the hard sheath is 8mm to 14mm, the length of the hard sheath in the axial direction is 300mm to 600mm, the length of the movable member in the axial direction is 30mm to 60mm, and the end member has a slope having the opening thereon.

The invention also provides an operating device of the bronchoscope sheath, which aims to solve the technical problems and comprises a bending driving box, a rotating driving box and a bracket; the bending driving box is matched with the bronchoscope sheath, a space for embedding a matrix of the bronchoscope sheath is formed in the bending driving box, a first driving part is arranged in the bending driving box and used for controlling the driving lever to rotate, and the bending driving box is provided with a through third through hole in the axial direction; the rotary driving box is connected with the bending driving box, a second driving part is arranged in the rotary driving box, the second driving part is connected with the bending driving box and controls the bending driving box to do rotary motion, a through fourth through hole is formed in the rotary driving box in the axial direction, and the fourth through hole is communicated with the third through hole; the rotary driving box is connected with the bracket.

Preferably, the bending driving box comprises a first base and a first shell, the first shell is detachably connected with the first base, the first base comprises a bottom side, a first side, a second side, a third side and a fourth side, the bottom side, the first side, the second side, the third side, the fourth side and the first shell enclose a space which can accommodate the base body of the bronchoscope sheath, the first side of the first base is provided with a first groove, the second side of the first base is provided with a second groove, and the third side of the first base is provided with a third groove; a first fixing member is fixed on a side wall of a fourth side of the first base, the first driving member is a first motor, the first motor is fixed on the first fixing member, a second rotating shaft is arranged at a proximal end of the fourth side, the third through hole is arranged in the center of the second rotating shaft, and the third through hole axially penetrates through the fourth side of the first base.

Preferably, the bending driving box further includes a first bevel gear and a second bevel gear, the first fixing member includes a first fixing portion, a second fixing portion and a third fixing portion, the first fixing portion and the second fixing portion are arranged in an L shape, the first fixing portion is disposed at a proximal end side of the second fixing portion, the third fixing portion is disposed at a distal end side of the second fixing portion, the first fixing portion is fixed on a sidewall of the fourth side, an output end of the first motor passes through the second fixing portion and then is connected to the first bevel gear, the third fixing portion is provided with a first rotating shaft, one end of the first rotating shaft is fixedly provided with the second bevel gear, the second bevel gear is connected to the first bevel gear in a meshing manner, and the other end of the first rotating shaft passes through and extends out of the third fixing portion and then is provided with a pulling piece, the shifting piece is provided with a fourth groove which can be embedded and sleeved with the shifting rod.

Preferably, the second driver part is the second motor, the rotation driving box includes the shaft coupling, be provided with first trompil on the distal end terminal surface of rotation driving box, the second motor sets up in the rotation driving box, the near-end of shaft coupling with the output of second motor is connected, the distal end of shaft coupling with pass first trompil stretches into in the rotation driving box the second rotating shaft is connected, the motor shaft of second motor is the quill shaft, the cavity in the quill shaft forms the fourth through-hole.

Preferably, set up the second mounting in the rotation driving box, the second mounting includes fourth fixed part and fifth fixed part, fourth fixed part and fifth fixed part are the setting of L type, the fourth fixed part with rotation driving box casing fixed connection, the second trompil has on the fifth fixed part, the output of second motor passes behind the second trompil with the near-end of shaft coupling is connected.

Preferably, the support comprises a telescopic support which is connected with the bottom of the rotary driving box and can control the rotary driving box to move along the axial direction.

Preferably, the telescopic bracket includes fourth casing, slide rail, slider, drive block, third motor and screw rod, set up along the axial on the fourth casing the slide rail, sliding connection on the slide rail the slider, the slider with the rotary drive box is connected, the inside setting of fourth casing the third motor the screw rod with the drive block, the output of third motor with the one end of screw rod is connected, the drive block with screw rod threaded connection, the spout has been seted up along the axial to the fourth casing, the slider with the drive block passes the spout is connected.

Preferably, the slide block is connected with the rotary drive box through a screw, and the slide rail is fixed on the fourth housing through a screw.

Preferably, a third fixing member and a fourth fixing member are arranged in the fourth housing, and two ends of the screw rod are respectively connected with the third fixing member and the fourth fixing member.

Preferably, the support still includes the runing rest, the bottom of telescopic bracket with the end connection of runing rest, the runing rest includes rotor plate, first adaptor, second adaptor, fourth motor and support main part, the rotor plate has roof, first curb plate and second curb plate, first curb plate with the second curb plate sets up relatively, and all with the roof sets up perpendicularly, be provided with first adaptor on the first curb plate, be provided with the second adaptor on the second curb plate, the fourth motor is worn to establish the tip of support main part, the output of fourth motor with first adaptor circumferential connection, the other end of fourth motor with second adaptor circumferential connection, the second adaptor with press between the fourth motor tip and be equipped with first bearing.

Preferably, still include the platform truck, the tip of platform truck is provided with the backup pad, the bottom of runing rest is provided with the connection base, connect the base with the backup pad is connected.

Preferably, the platform truck includes two section at least telescopic links, the bottom of telescopic link sets up the second base, the bottom of second base sets up a plurality of wheels that remove.

Preferably, the bending driving box is connected with the bracket in a communication mode, and the rotating driving box is connected with the bracket in a communication mode.

Preferably, the display screen is arranged on the operating handle, or the display screen and the operating handle are separately and independently arranged.

Compared with the prior art, the invention has the following beneficial effects: the bronchoscope sheath provided by the invention is simultaneously provided with the hard sheath tube and the controllable bending part, the bending direction and the bending degree of the controllable bending part are controlled by controlling the deflector rod and the control cable, and the bronchoscope sheath can enter the left main bronchus and the right main bronchus to carry out diagnosis or treatment. Because the controllable bending component at the far end is arranged to be the inclined plane, the glottis can be easily entered, the iatrogenic injury is avoided, and the clinical operation is convenient and fast. Especially, the distal end of the sheath can be locked through the locking of the deflector rod during manual operation, the bent shape of the distal end of the sheath can be maintained, the channel of the sheath can be ensured, and the sheath can be used for eradicating focuses of left and right bronchi. The operating device provided by the invention can control the movement and rotation of the bronchoscope sheath, realizes the automatic operation of the bronchoscope and the bronchoscope sheath, controls the rotation of the deflector rod through the bending driving box so as to control the bending direction and the curvature of the controllable bending part, realizes the degree of freedom of the integral rotating direction of the bronchoscope sheath through the rotating driving box, controls the depth of the bronchoscope extending into the body and the back-and-forth plugging through the telescopic bracket, controls the integral inclination of the bronchoscope sheath in the pitching direction through the rotating bracket, and can be operated by the remote control handle through the bending driving box, the rotating driving box, the telescopic bracket and the rotating bracket, thereby ensuring the safety in the operation process, reducing the harm of X-ray radiation to doctors, having stronger speciality and practical value, and simultaneously, the control system of the operating device provided by the invention is simple, convenient and easy to realize, has a wide market promotion prospect.

Drawings

Fig. 1a is a schematic overall structure view of a bronchoscope sheath according to an embodiment of the present invention, and fig. 1b is a schematic overall structure view of a bronchoscope sheath according to another embodiment of the present invention;

FIG. 2a is a schematic perspective view of a bronchoscope sheath according to an embodiment of the present invention, and FIG. 2b is a perspective view of the bronchoscope sheath according to another embodiment of the present invention;

FIG. 3 is a schematic view of the structure of the control cable, the controlled bending member and the operating handle according to the embodiment of the present invention;

FIG. 4a is an enlarged view of a bronchoscope sheath with a rigid sheath tube cut off according to an embodiment of the present invention, and FIG. 4b is an enlarged view of the bronchoscope sheath with the rigid sheath tube cut off according to another embodiment of the present invention;

FIG. 5 is an enlarged schematic view of a control cable cut and the controllably bendable member and operating handle of an embodiment of the present invention;

FIG. 6a is a schematic view of the overall structure of the hollow part, FIG. 6b is a side view of the hollow part of FIG. 6a, FIG. 6c is a side view of the distal hollow part, and FIG. 6d is a top view of the hollow part of FIG. 6 a;

FIG. 7 is a schematic view of a cable connected in series within two adjacent hollow parts being bent by a force;

FIG. 8a is a schematic view of a bronchoscope of an embodiment of the present invention manually inserted into a bronchoscope sheath, and FIG. 8b is a schematic view of the section at A in FIG. 8 a;

FIG. 9 is a schematic flow chart illustrating the use of a bronchoscope sheath in an embodiment of the present invention;

fig. 10a is a schematic view showing the structure of an operating device of a bronchoscope sheath according to an embodiment of the present invention, fig. 10b is a schematic view showing the operating device of fig. 10a after the bronchoscope sheath is assembled, and fig. 10c is a schematic view showing the operating device of fig. 10b after a bronchoscope is inserted into the bronchoscope sheath;

fig. 11a is a schematic overall structure view of the bending driving case, fig. 11b is a schematic partial structure view of fig. 11a with the first housing removed, fig. 11c is a perspective view of fig. 11b, and fig. 11d is a schematic partial structure view of the first fixing plate;

fig. 12a is a schematic view showing the entire structure of a rotary drive cartridge, fig. 12b is a perspective view of fig. 12a, fig. 12c is a schematic view showing the structure of fig. 12a with a second case removed, and fig. 12d is a perspective view of fig. 12 c;

FIG. 13a is a schematic view showing the entire configuration of the bending drive cassette and the rotational drive cassette after they are assembled, FIG. 13b is a perspective view of FIG. 13a, FIG. 13c is a schematic view showing the configuration of FIG. 13a with the first housing removed and the bronchoscope sheath assembled, FIG. 13d is a cross-sectional view of FIG. 13c, and FIG. 13e is a partial cross-sectional view of FIG. 13 a;

FIG. 14a is a schematic view showing the overall structure of the telescopic bracket, and FIG. 14b is a sectional view of FIG. 14 a;

fig. 15a is a schematic view showing the overall structure of a rotating bracket, and fig. 15b is a partial sectional view at a fourth motor in fig. 15 a;

FIG. 16 is a schematic view of the entire structure of the cart;

FIG. 17a is a schematic view showing the overall structure of an operating handle, and FIG. 17b is a schematic view showing the structure of another operating handle;

FIG. 18 is a schematic view of an operator manually operating a bronchoscope and its sheath using a bronchoscope sheath;

fig. 19a is a front view of an operator controlling a bronchoscope sheath using an operating device, fig. 19b is a perspective view of the operator controlling the bronchoscope sheath using the operating device, and fig. 19c is a schematic view of the operator controlling the bronchoscope and its sheath using the operating device.

Fig. 20a and 20b are schematic diagrams of the bronchoscope and the sheath thereof remotely controlled by an operator by using a separate display screen.

In the figure:

1-base, 2-deflector rod, 3-rigid sheath, 4-controllable bending part, 5, control cable, 11-bronchoscope interface, 12-ventilator interface, 121-first interface, 122-second interface, 13-instrument interface, 14-first closing section, 15-main section, 16-second closing section, 21-locking knob, 41-movable part, 42-end part, 43-opening, 411-hollow part, 51-first control cable, 52-second control cable, 61-first wire wheel, 62-second wire wheel, 412-first through hole, 413-second through hole, 414-first concave arc, 415-second concave arc, 10-scope sheath, 20-bronchoscope, 30-bending driving box, 40-rotary drive box, 50-telescopic support, 60-rotary support, 70-trolley, 201-conduit, 31-bottom side, 32-first side, 33-second side, 34-third side, 35-fourth side, 36-space, 37-first fixing piece, 38-first motor, 39-first rotating shaft, 301-first base, 302-first housing, 321-first groove, 331-second groove, 341-third groove, 351-second rotating shaft, 352-third through hole, 381-first bevel gear, 391-second bevel gear, 392-plectrum, 393-first bearing, 394-fourth groove, 401-second housing, 402-third housing, 403-coupler, 44-fourth through hole, 45-a first opening, 46-a second motor, 47-a second fixing piece, 421-a first connecting hole, 461-an output end of a fourth motor, 471-a fourth fixing piece, 472-a fifth fixing piece, 473-a second opening, 48-a motor line, 501-a fourth shell, 502-a slide rail, 53-a slide block, 54-a connecting plate, 55-a driving block, 56-a third motor, 57-a screw rod, 521-a screw, 531-a second connecting hole, 532-a slide groove, 58-a third fixing piece, 59-a fourth fixing piece, 601-a rotating plate, 602-a second bearing, 603-a top plate, 604-a first side plate, 605-a second side plate, 63-a bracket main body, 64-a connecting base, 65-a fourth motor and 66-an output shaft, 67-a first adapter, 68-a second adapter, 71-a support plate, 72-a telescopic rod, 73-a second base, 74-a moving wheel, 80, 90-an operating handle, 81, 91, 92, 93-an operating key, 82, 94-a display screen, 100-an operating device, 101-an operator, 102-a patient, 103-a hospital bed.

Detailed Description

The invention is further described below with reference to the figures and examples.

It should be noted that the terms "inner", "outer", "upper", "lower", and the like as used herein are for illustrative purposes only and do not mean a unique embodiment. The invention uses the far end, the near end and the axial direction, wherein the far end is the side far away from the bronchoscope operator; the "proximal end" is the side close to the bronchoscope operator and the "axial direction" is the direction in which the axis of the rigid sheath of the bronchoscope sheath is located or parallel.

Referring to fig. 1a and fig. 2a, the bronchoscope sheath provided by the present invention includes a shift lever 2, a base 1, a hard sheath 3, a control cable 5 and a controllable bending part 4, wherein the base 1, the hard sheath 3 and the controllable bending part 4 are connected in sequence from a proximal end to a distal end, and the base 1, the hard sheath 3 and the controllable bending part 4 have communicated cavities therein to form a sheath channel for inserting or extracting the bronchoscope. The hard sheath pipe 3 is a metal pipe, the material is hard and can not be bent, the material can be stainless steel, titanium alloy, tantalum alloy and the like, the controllable bending part 4 comprises a plurality of movable parts 41 which are formed by hinging annular hollow parts 411, the controllable bending part 4 is made of metal materials, and the material can be stainless steel, titanium alloy, tantalum alloy and the like.

The shift lever 2 is installed on the substrate 1, the near end of the substrate 1 is provided with a bronchoscope interface 11, the bronchoscope interface 11 is communicated with the endoscope sheath channel, and the far end port of the controllable bending part 4 is provided with an opening 43 extending out of the far end mirror surface of the bronchoscope. The near end of the control cable 5 is connected with the shift lever 2, the far end of the control cable 5 passes through the hard sheath 3 to be connected with the far end of the controllable bending component 4, and the shift lever 2 controls the bending direction and the bending degree of the controllable bending component 4 through the control cable 5. Therefore, the distal end of the bronchoscope sheath provided by the invention can be bent to reach the left and right main bronchus.

Referring to fig. 3, in a preferred embodiment, the number of the control cables 5 is 2, which are a first control cable 51 and a second control cable 52; the first wire wheel 61 and the second wire wheel 62 are connected with the base body 1 through hinges or sliding bearings so as to be capable of rotating relative to the base body 1. The shift lever 2 is fixedly connected with the first wire wheel 61 and the second wire wheel 62 through the forms of screw fixation, tight fit, glue joint, welding and the like, so that the shift lever 2 drives the first wire wheel 61 and the second wire wheel 62 to rotate when rotating. The proximal end of the first control cable 51 is wound around the first wire wheel 61, the proximal end of the second control cable 52 is wound around the second wire wheel 62, and the first control cable 51 and the second control cable 52 are wound in opposite directions, i.e., when the shift lever 2 is rotated, one control cable is unwound and the other control cable is wound. The distal ends of the first control cable 51 and the second control cable 52 are fixed to the distal end of the controllably bendable member 4, respectively, and the fixing positions are axially symmetrical, i.e., the two fixing positions are symmetrically arranged about the central axis of the controllably bendable member 4. The direction and degree of bending of the controllably bendable member 4 may be controlled by the combined action of the distal ends of the first and

second control cables

51, 52.

Referring to fig. 2a, 4a and 5, in a specific embodiment, the controllably bending part 4 includes a movable part 41 and an end part 42, a proximal end of the movable part 41 is connected to the hard sheath 3, a distal end of the movable part 41 is connected to the end part 42, and the movable part 41 is formed by hinging a plurality of hollow parts 411 in a ring shape. The distal ends of the first control cable 51 and the second control cable 52 are fixed to the distal end of the movable part 41. The movable part 41 is composed of a plurality of annular hollow parts 411, and the pulling force applied to the control cable 5 can drive the adjacent hollow parts 411 to swing along the mutually contacted end surfaces thereof, so that the bending of the controllable bending part 4 in different directions is realized. When the shift lever 2 is rotated in the direction shown in fig. 5, the first control cable 61 is tightened, the second control cable 62 is loosened, the controllable bending member 4 is rotated upward, and vice versa, the second control cable 62 is tightened, the first control cable 61 is loosened, the controllable bending member 4 is rotated downward, and in practice, the direction of the rotating base body 1 can be matched at the same time, so that the controllable bending member 4 can be bent in any desired direction in the patient. In a specific embodiment, referring to fig. 6a and 6d, a first through hole 412 and a second through hole 413 are axially and penetratingly formed on an annular wall of the hollow component 411, and the first through hole 412 and the second through hole 413 are uniformly distributed along a circumferential direction, that is, the first through hole 412 and the second through hole 413 are located on the same diameter as the top view shown in fig. 6 d. The end surface of the hollow part 411 is circumferentially formed with a first concave arc 414 and a second concave arc 415 which are symmetrical about the AA line, the first through hole 412 is located in the middle of the first concave arc 414, and the second through hole 413 is located in the middle of the second concave arc 415, so that a space swinging along the end surface is formed between two adjacent hollow parts 411, and the most distal hollow part 411 is preferably in a side view shape as shown in fig. 6c because it is fixedly connected with the end piece, that is, the end surface of the distal end is a plane, so as to be conveniently and fixedly connected with the end piece 42; the other hollow part 411 has a side view shape as shown in fig. 6b, that is, both end faces are formed with a first concave arc 414 and a second concave arc 415. Referring to fig. 7, the first control cable 51 passes through the first through hole 412 and the second control cable 52 passes through the second through hole 413 to connect the plurality of hollow parts 411 in series, and at the same time, the proximal end of the movable part 41 is movably connected to the distal end of the rigid sheath 2, and the pulling force applied to the control cable 5 can drive the adjacent hollow parts 411 to swing along the end surfaces of the adjacent hollow parts 411, which are in contact with each other, so as to control the bending degree and the bending direction of the movable part 41. Further, the distal end of the movable member 41 is connected to the proximal end of the end member 42 by gluing, welding, fitting, etc.

With continued reference to fig. 4a and 5, further, a locking knob 21 is disposed outside the shift lever 2, the locking knob 21 is in threaded connection with the second wire wheel 62, and the shift lever 2 and the base 1 can be pressed tightly by rotating the locking knob 21, so as to lock the shift lever 2. After the shift lever 2 is locked, the controllable bending component 4 at the distal end of the sheath can also be locked to maintain the bending shape of the distal end of the sheath, which is beneficial to ensuring the channel of the sheath and can also be used for eradicating the focus of left and right bronchi.

With continued reference to fig. 2a, 2b, 4a and 4b, a ventilator port 12 is provided on the base body 1, the ventilator port 12 is communicated with a cavity in the base body 1, and during operation, a ventilator is communicated with the endoscope sheath channel through the ventilator port 12, so that a patient can be ventilated. Specifically, in one embodiment, as shown in fig. 2a and 4a, the ventilator interface 12 includes a first interface 121 and a second interface 122 coaxially disposed outside the base. The second interface 122 is also communicated with an instrument interface 13, the instrument interface 13 passes through the second interface 122 and is communicated with the cavity in the base body 1, an operation instrument can enter the endoscope sheath channel through the instrument interface 13 for operation, and the instrument interface 13 can also be used as a water injection hole or a working channel of a suction tube. In the manual operation mode, the positions and shapes of the ventilator interface 12 and the instrument interface 13 are not particularly limited as long as they can be operated. In another embodiment, as shown in fig. 1b, fig. 2b and fig. 4b, the positions of the ventilator interface 12, the instrument interface 13 and the shift lever 2 are adjusted for the cooperation with the automatic operation device, the ventilator interface 12 and the instrument interface 13 are disposed on both sides of the base body 1 and directly communicated with the sheath channel, and the shift lever 2 is disposed at the proximal end of the base body 2.

With continued reference to fig. 2a and 2b, the base body 1 comprises a main body section 15 and a first closing section 14, the cross-sectional area of the main body section 15 is larger than that of the hard sheath 3, and the outer diameter of the first closing section 14 gradually decreases from the proximal end to the distal end until the outer diameter of the first closing section 14 is the same as that of the hard sheath 3. The cross section of the second closing section of the cavity wall in the base body 1 is gradually reduced from the near end to the far end, so that the insertion of instruments and a bronchoscope is facilitated. The end piece 42 has a beveled surface to facilitate passage through the glottis and narrow area of the airway, while also facilitating eradication of tumors on the airway wall. The inclined surface is provided with the opening 43, preferably, the outer diameter of the hard sheath 3 is 8mm-14mm, the length of the hard sheath 3 is 300mm-600mm, and the length of the movable part 41 in the axial direction is 30mm-60 mm. In use, referring to fig. 8a and 8b, fig. 8b is a schematic view of the inside of fig. 8a at a position a, a catheter 201 of the bronchoscope 20 enters the sheath channel, and the distal end of the catheter 201 extends out of the opening 43 to perform an inspection or operation in the body.

Referring to fig. 9, the bronchoscope sheath provided by the present invention comprises the following steps:

a1, inserting the bronchoscope sheath provided by the invention into the mouth of a patient;

a2, operating the shift lever to control the distal controllable bending part to bend through the glottis and into the bronchus to the target position.

A3, screwing the locking knob to lock the shape of the controllable bending component;

a4, using the bronchoscope to enter the sheath channel through the bronchoscope interface for insertion or extraction, and carrying out related diagnosis or treatment operation.

The bronchoscope sheath provided by the invention is simultaneously provided with the hard sheath tube and the controllable bending part, the bending direction and the bending degree of the controllable bending part are controlled by controlling the deflector rod and the control cable, and the bronchoscope sheath can enter the left main bronchus and the right main bronchus to carry out diagnosis or treatment. Because the controllable bending component at the far end is arranged to be the inclined plane, the glottis can be easily entered, the iatrogenic injury is avoided, and the clinical operation is convenient and fast. Particularly, the distal end of the sheath can be locked through the locking of the shift lever, the distal bent shape of the sheath can be maintained, the channel of the sheath can be ensured, and the sheath can be used for eradicating the focus of left and right bronchi.

The bronchoscope sheath 10 provided by the present invention can be manually operated according to the above-mentioned manner, and in order to facilitate the operation and facilitate the medical staff to remotely and automatically operate the bronchoscope 20 and the bronchoscope sheath 10, please refer to fig. 10a and 10b, the present embodiment further provides an operating device 100 of the bronchoscope sheath, which comprises a bending driving box 30, a rotation driving box 40, a telescopic bracket 50, a rotation bracket 60, a trolley 70 and an

operating handle

80 or 90. The bending driving box 30 is matched with the bronchoscope sheath 10, the substrate 1 of the bronchoscope sheath 10 is embedded into the bending driving box 30, and a first driving part is arranged in the bending driving box 30 and used for controlling the rotation of the shift lever 2; the rotary driving box 40 is connected with the bending driving box 30, a second driving part is arranged in the rotary driving box 40, and the second driving part is connected with the bending driving box 30 and controls the bending driving box 30 to rotate; the rotary driving box 40 is connected with the telescopic bracket 50 to control the rotary driving box 40 to move along the axial direction, the telescopic bracket 50 is connected with the rotary bracket 60 to control the inclination between the telescopic bracket 50 and the horizontal plane, and the rotary bracket 60 is connected with the top end of the trolley 70. The bending driving box 30 has a third through hole 352 penetrating in the axial direction, the rotating driving box 40 is provided with a fourth through hole 44 penetrating in the axial direction, the fourth through hole 44 and the third through hole 352 are communicated with each other and then communicated with the sheath channel, and the duct 201 of the gas supply bronchoscope 20 respectively passes through the fourth through hole 44 and the third through hole 352 and enters the sheath channel.

In an embodiment, referring to fig. 11a, the bending driving box 30 includes a first base 301 and a first housing 302, the first housing 302 is detachably connected to the first base 301, the first base 301 includes a bottom side 31, a first side 32, a second side 33, a third side 34 and a fourth side 35, a space 36 defined by the bottom side 31, the first side 32, the second side 33, the third side 34, the fourth side 35 and the first housing 302 can accommodate the base 1 of the bronchoscope sheath 10, the first side 32 of the first base 301 has a first groove 321, the second side 33 of the first base 301 has a second groove 331, and the third side 34 of the first base 301 has a third groove 341; referring to fig. 11b and 11c, a first fixing member 37 is disposed on a sidewall of the fourth side 35 of the first base 301, the first driving member is a first motor 38, the first motor 38 is fixed on the first fixing member 37, a second rotating shaft 351 extends from a proximal end of the fourth side 35, a third through hole 352 is disposed in a center of the second rotating shaft 351, and the third through hole 352 penetrates through the fourth side 35 of the first base 301. Specifically, the first fixing member 37 includes a first fixing portion 371, a second fixing portion 372 and a third fixing portion 373, the first fixing portion 371 and the second fixing portion 372 are L-shaped, the first fixing portion 371 is disposed on a proximal side of the second fixing portion 372, the third fixing portion 373 is disposed on a distal side of the second fixing portion 372, the first fixing portion 371 is fixed on a side wall of the fourth side 35, an output end of the first motor 38 passes through the second fixing portion 372 and then is connected to a first bevel gear 381, the third fixing portion 373 is disposed with a first rotating shaft 39, one end of the first rotating shaft 39 is fixedly disposed with a second bevel gear 391, the second bevel gear 391 is connected to the first bevel gear 381 in a meshing manner, referring to fig. 11d, a first bearing 393 is disposed between the first rotating shaft 39 and the third fixing portion 373, and a pulling piece 392 is disposed after the other end of the first rotating shaft 39 passes through and extends out of the third fixing portion 373, the shifting piece 392 is provided with a fourth groove 394, the shifting rod 2 can be embedded in the fourth groove 394, the first motor 38 drives the first bevel gear 381 to rotate when working, the first bevel gear 381 drives the second bevel gear 391 to rotate, the second bevel gear 391 drives the first rotating shaft 39 to rotate, the first rotating shaft 39 drives the shifting piece 392 to rotate, and the shifting piece 392 rotates to drive the shifting rod 2 to rotate, so that the shifting rod 2 can be controlled to rotate through the first motor 38, and the bending direction and the bending degree of the controllable bending component 4 can be controlled.

Referring to fig. 13c, when the bronchoscope sheath 10 and the bending driving box 30 are assembled, the base 1 is placed in the space 36 defined by the sides of the first base 301, at this time, the first closing section 14 of the bronchoscope sheath 10 is placed in the first groove 321, the instrument interface 13 is placed in the second groove 331, the ventilator interface 12 is placed in the third groove 341, the shift lever 2 is embedded in the fourth groove of the shift plate 394, the size of the first groove 321 is smaller than that of the base 1, the first groove 321 and the fourth side 35 limit the bronchoscope sheath 10 in the axial direction, and after the first housing 302 is covered, the base 1 of the bronchoscope sheath 10 is completely limited in the space 36 of the bending driving box 30.

Referring to fig. 12a, 12b, 12c and 12d, the rotation driving box 40 includes a rotation driving box housing, and for convenience of assembly, preferably, the rotation driving box housing includes a second housing 401 and a third housing 402, the second driving component is a second motor 46, the rotation driving box 40 includes a coupler 403, a distal end surface of the rotation driving box 40 is provided with a first opening 45, the second motor 46 is disposed in the rotation driving box 40, a proximal end of the coupler 403 is connected to an output end 461 of the second motor 46, a distal end of the coupler 403 is connected to a second rotation shaft 351 of the bending driving box 30 passing through the first opening 45 and extending into the rotation driving box 40, a motor shaft of the second motor 46 is a hollow shaft, and a cavity in the hollow shaft forms a fourth opening 44.

The second fixing member 47 is disposed in the rotary driving box 40, specifically, the second fixing member 47 includes a fourth fixing portion 471 and a fifth fixing portion 472, the fourth fixing portion 471 and the fifth fixing portion 472 are disposed in an L shape, the fourth fixing portion 471 is fixedly connected to an inner wall of the third housing 402, the fifth fixing portion 472 has a second opening 473, a proximal end of the second motor 46 is connected to an inner side of a proximal end surface of the third housing 402, and an output 461 of the second motor 46 passes through the second opening 473 and is connected to a proximal end of the coupling 403.

Referring to fig. 13a, 13b, 13c and 13d, the proximal end of the bending driving box 30 and the distal end of the rotating driving box 40 are abutted together, the second rotating shaft 351 of the proximal end face of the bending driving box 30 passes through the first opening 45 and enters the rotating driving box 40 to be connected with the coupling 403, the fourth through hole 44 is communicated with the third through hole 352, and under the control of the second motor 46, the coupling 403 drives the second rotating shaft 351 to rotate, so as to drive the bending driving box 30 to rotate in the circumferential direction, so as to control the distal controllable bending part 4 to bend at any position in the circumferential direction.

The support comprises a telescopic support 50 and a rotary support 60, please refer to fig. 14a, the telescopic support 50 is connected with the bottom of the rotary driving box 40 and can control the rotary driving box 40 to move along the axial direction, the bottom of the telescopic support 50 is connected with the end of the rotary support 60, the rotary support 60 controls the telescopic support 50 to rotate along the pitch direction, and adjusts the inclination of the telescopic support 50, and finally controls the inclination angle of the bronchoscope sheath 10 relative to the horizontal plane.

Referring to fig. 14a and 14b, the telescopic bracket 50 includes a fourth housing 501, a slide rail 502, a slide block 53, a driving block 55, a third motor 56, and a screw 57, the slide rail 502 is axially disposed on a surface of the fourth housing 501, the slide rail 502 is slidably connected to the slide block 53, the slide block 53 is fixedly connected to the rotation driving box 40, the third motor 56, the screw 57, and the driving block 55 are disposed inside the fourth housing 501, the screw 57 extends in an axial direction, an output end of the third motor 56 is connected to one end of the screw 57, the driving block 55 is in threaded connection with the screw 57, a slide groove 532 is axially disposed on the fourth housing 501, and the slide block 53 and the driving block 55 are connected through the slide groove 532. Preferably, the top surface of the slider 53 has a second connection hole 531, the bottom surface of the third housing 402 of the rotation driving box 40 has a first connection hole 421, a screw passes through the first connection hole 421 and the second connection hole 531 to fixedly connect the bottom surface of the rotation driving box 40 and the top surface of the slider 53, and the slide rail 502 is fixed on the fourth housing 501 by a screw 521, and the invention does not particularly limit the connection manner between these components as long as the connection is possible. Further, a third fixing member 58 and a fourth fixing member 59 are disposed in the fourth housing 501, and both ends of the screw 57 are respectively connected with the third fixing member 58 and the fourth fixing member 59. During operation, the third motor 56 drives the screw 57 to rotate, the screw 57 drives the driving block 55 to move along the axial direction when rotating, the driving block 55 moves to drive the sliding block 53 to move along the axial direction, and the sliding block 53 drives the rotary driving box 40 to move along the axial direction, so that the depth of the far end of the catheter 201 of the bronchoscope 20 entering the body and back-and-forth plugging and unplugging are controlled.

Referring to fig. 15a and 15b, in a specific embodiment, the rotating bracket 60 includes a rotating plate 601, a first adaptor 67, a second adaptor 68, a fourth motor 65, a bracket main body 63, and a connecting base 64, the rotating plate 601 includes a top plate 603, a first side plate 604 and a second side plate 605, the first side plate 604 and the second side plate 605 are disposed opposite to each other and perpendicular to the top plate 603, a connecting plate 54 is disposed at the bottom of the telescopic bracket 50, the connecting plate 54 is connected to the top plate 603, the first side plate 604 is provided with the first adaptor 67, the second side plate 605 is provided with the second adaptor 68, the fourth motor 65 is disposed at an end of the bracket main body 63 in a penetrating manner, an output shaft 66 of the fourth motor 65 is connected to the first adaptor 67, and the other end of the fourth motor 65 is connected to the second adaptor 68, a second bearing 602 is pressed between the second adaptor 68 and the end of the fourth motor 65, and when the bronchoscope sheath 10 is in operation, the fourth motor 65 drives the rotating plate 601 to rotate along the pitching direction, so as to adjust the inclination of the telescopic bracket 50 relative to the horizontal plane, thereby controlling the bronchoscope sheath 10 to be inserted into the body from the mouth of the patient at a proper inclination according to the position of the patient.

Referring to fig. 16, the trolley 70 includes a support plate 71, an expansion link 72 and a second base 73, a supporting plate 71 is arranged at the end part of the trolley 70, a connecting base 64 is arranged at the bottom part of the rotating bracket 60, the connecting base 64 is connected with the supporting plate 71, while the support plate 71 can be used to place the operating handle 80 or 90, preferably, the trolley 70 comprises at least two telescopic rods 72, the bottom ends of the telescopic rods 72 are connected with the second base 73, the height of the operating device 100 can be adjusted, the specific structure of the telescopic rod 72 is not particularly limited as long as it can be extended and contracted up and down, and the height can be adjusted, the bottom of the second base 73 is provided with a plurality of moving wheels 74, which facilitate the movement of the operating device 100, the moving wheels 74 are preferably universal wheels, and is provided with a brake button, and when the brake button is in a pressed state, the moving wheel 74 is locked, so that the operation safety is ensured.

Referring to fig. 17a and 17b, the operating handle provided in this embodiment may have two structures, one is the operating handle 80 shown in fig. 17a, and a display 82 and an operating key 81 are disposed on the operating handle 80. One is an operation handle 90 as shown in fig. 17b, the operation handle 90 and the display screen 94 are separately and independently provided, and the operation handle 90 is provided with

operation keys

91, 92 or 93 as shown in fig. 20a and 20 b. The

operation keys

81, 91, 92, 93 may be set according to specific needs, and this embodiment does not particularly limit this. The operating handle 80 or 90 is in communication connection with the bending driving box 30, the rotating driving box 40, the telescopic bracket 50 and/or the rotating bracket 60, and the first motor 38, the second motor 46, the third motor 56 and the fourth motor 65 can be remotely controlled through the operating handle 80 or 90 to control the direction and the position of the bronchoscope 20 and the sheath 10 thereof in each degree of freedom, so as to meet the requirements of diagnosis and treatment.

Referring to fig. 18, if the operating device 100 is not used, the operator 101 may use manual operation, after the patient 102 lies on the bed 103, the operator 101 operates the bronchoscope 20 and the sheath 10 thereof, and specifically, the direction, position and curvature of the distal end of the bronchoscope sheath 10 in the body may be controlled by rotating the sheath 10 and the shift lever 2 in the circumferential direction.

Referring to fig. 19a, 19b and 19c, the operating device 100 is used to control the bronchoscope 20 and the sheath 10 thereof, so as to achieve automatic operation and remote control, after a patient 102 lies on a hospital bed 103, an operator 101 controls the rotation of the shift lever 2 by remotely controlling the bending driving box 30 through the operating handle 80 or 90, controls the sheath 10 to rotate in the circumferential direction by controlling the rotating driving box 40, controls the depth of the sheath 10 entering the body and plugging and unplugging back and forth by controlling the telescopic bracket 50, and controls the inclination of the sheath 10 relative to the horizontal plane by controlling the rotating bracket 60. Thereby realizing the diagnosis or treatment of the left and right bronchus after the distal end of the bronchoscope 20 and the sheath 10 thereof enters the body of the patient 102.

Therefore, the operating device provided by the invention can control the movement and rotation of the bronchoscope sheath, realize the automatic operation of the bronchoscope, control the rotation of the deflector rod through the bending driving box so as to control the bending direction and the curvature of the controllable bending part, realize the degree of freedom of the integral rotating direction of the bronchoscope sheath through the rotating driving box, control the depth of the bronchoscope extending into the body and the back-and-forth plugging through the telescopic bracket, control the integral inclination of the bronchoscope sheath in the pitching direction through the rotating bracket, and the bending driving box, the rotating driving box, the telescopic bracket and the rotating bracket can be remotely operated through the operating handle, thereby ensuring the safety in the operation process, reducing the harm of X-ray radiation to doctors, having stronger speciality and practical value, simultaneously, the control system of the operating device provided by the invention is simple and convenient and easy to realize, has a wide market promotion prospect.

Although the present invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A bronchoscope sheath is characterized by comprising a deflector rod, a base body, a hard sheath tube, a control cable and a controllable bending part, wherein the base body, the hard sheath tube and the controllable bending part are sequentially connected from a near end to a far end, communicated cavities are formed in the base body, the hard sheath tube and the controllable bending part, and a sheath channel for inserting or extracting an air supply bronchoscope is formed;

the deflector rod is arranged on the substrate, a bronchoscope interface is arranged at the near end of the substrate and is communicated with the endoscope sheath channel, and an opening extending out of the far end mirror surface of the bronchoscope is formed in the far end port of the controllable bending part;

the near end of the control cable is connected with the shifting lever, the far end of the control cable penetrates through the hard sheath tube to be connected with the far end of the controllable bending component, and the shifting lever controls the bending direction and the bending degree of the controllable bending component through the control cable.

2. A bronchoscope sheath according to claim 1, wherein the number of control cables is 2, respectively a first control cable and a second control cable; two ends of the shifting lever are respectively fixedly connected with a first wire wheel and a second wire wheel, the near end of the first control cable is wound on the first wire wheel, the near end of the second control cable is wound on the second wire wheel, and the wire winding directions of the first control cable and the second cable are opposite.

3. A bronchoscope sheath according to claim 2, wherein the distal ends of the first and second control cables are fixed to the distal ends of the controllably bendable member, respectively, and the two fixed positions are axially symmetrical.

4. A bronchoscope sheath according to claim 3, wherein said controllably bendable member comprises a movable member and an end member, the proximal end of said movable member being connected to said rigid sheath, the distal end of said movable member being connected to said end member, said movable member comprising a plurality of hollow members in the form of a ring, said adjacent hollow members being adapted to be swung along their end faces in contact with each other by a pulling force applied to said control cable.

5. A bronchoscope sheath according to claim 4, wherein the wall of the hollow part has a first and a second through hole axially through, the first and the second control cables pass through the first and the second through holes to connect the hollow parts in series, and the first and the second through holes are uniformly distributed along the circumferential direction.

6. A bronchoscope sheath according to claim 5, characterized in that the end face of the hollow part is formed with a first concave arc and a second concave arc which are symmetrical in the circumferential direction, the first through hole is located at the middle of the first concave arc, and the second through hole is located at the middle of the second concave arc.

7. The bronchoscope sheath of claim 4 wherein distal ends of the first and second control cables are secured to distal ends of the movable member.

8. The bronchoscope sheath as claimed in claim 2, wherein a locking knob is disposed outside the shift lever, the locking knob is connected to the second wire wheel in a threaded manner, and the shift lever is pressed against the base body by rotating the locking knob, so that the shift lever is locked.

9. A bronchoscope sheath according to claim 1, characterized in that a ventilator port is provided on the base body, which ventilator port communicates with a cavity in the base body for ventilation of a ventilator during surgery.

10. A bronchoscope sheath according to claim 9, wherein the ventilator port comprises a first port and a second port coaxially arranged outside the base body, the second port further communicating with an operation instrument port, the operation instrument port passing through the second port and communicating with the cavity in the base body; or, the number of the breathing machine interface is one, and the breathing machine interface and the instrument interface are arranged on two sides of the base body.

11. The bronchoscope sheath of claim 10 wherein the base body comprises a main body section and a first necked-in section, the main body section having a cross-sectional area larger than a cross-sectional area of the rigid sheath, the first necked-in section having an outer diameter that tapers from the proximal end to the distal end until the outer diameter of the first necked-in section is the same as the outer diameter of the rigid sheath.

12. The bronchoscope sheath according to claim 4, wherein the outer diameter of the hard sheath is 8mm to 14mm, the length of the hard sheath in the axial direction is 300mm to 600mm, the length of the movable member in the axial direction is 30mm to 60mm, and the end member has a slope having the opening thereon.

13. An operating device for a bronchoscope sheath according to any one of claims 1-12, comprising a bending drive box, a rotation drive box and a bracket;

the bending driving box is matched with the bronchoscope sheath, a space for embedding a matrix of the bronchoscope sheath is formed in the bending driving box, a first driving part is arranged in the bending driving box and used for controlling the driving lever to rotate, and the bending driving box is provided with a through third through hole in the axial direction;

the rotary driving box is connected with the bending driving box, a second driving part is arranged in the rotary driving box, the second driving part is connected with the bending driving box and controls the bending driving box to do rotary motion, a through fourth through hole is formed in the rotary driving box in the axial direction, and the fourth through hole is communicated with the third through hole;

the rotary driving box is connected with the bracket.

14. The manipulating device according to claim 13, wherein the bending driving box includes a first base and a first housing, the first housing being detachably connected to the first base, the first base including a bottom side, a first side, a second side, a third side, and a fourth side, the bottom side, the first side, the second side, the third side, the fourth side, and the first housing enclosing a space for accommodating the base of the bronchoscope sheath, the first side of the first base having a first groove, the second side of the first base having a second groove, the third side of the first base having a third groove; a first fixing member is fixed on a side wall of a fourth side of the first base, the first driving member is a first motor, the first motor is fixed on the first fixing member, a second rotating shaft is arranged at a proximal end of the fourth side, the third through hole is arranged in the center of the second rotating shaft, and the third through hole axially penetrates through the fourth side of the first base.

15. The manipulating device according to claim 14, wherein the bending actuator further includes a first bevel gear and a second bevel gear, the first fixing member includes a first fixing portion, a second fixing portion and a third fixing portion, the first fixing portion and the second fixing portion are disposed in an L-shape, the first fixing portion is disposed at a proximal end side of the second fixing portion, the third fixing portion is disposed at a distal end side of the second fixing portion, the first fixing portion is fixed to a side wall of the fourth side, an output end of the first motor passes through the second fixing portion and then is connected to the first bevel gear, the third fixing portion is provided with a first rotating shaft, one end of the first rotating shaft is fixedly provided with the second bevel gear, the second bevel gear is engaged to the first bevel gear, and the other end of the first rotating shaft passes through and extends out of the third fixing portion and then is provided with a pick, the shifting piece is provided with a fourth groove which can be embedded and sleeved with the shifting rod.

16. The manipulating device according to claim 13, wherein the second driving member is a second motor, the rotational driving box includes a coupling, a first opening is formed on a distal end surface of the rotational driving box, the second motor is disposed in the rotational driving box, a proximal end of the coupling is connected to an output end of the second motor, a distal end of the coupling is connected to the second rotational shaft extending into the rotational driving box through the first opening, a motor shaft of the second motor is a hollow shaft, and a cavity in the hollow shaft forms a fourth through hole.

17. The manipulating device according to claim 16, wherein a second fixing member is disposed in the spin drive cassette, the second fixing member includes a fourth fixing portion and a fifth fixing portion, the fourth fixing portion and the fifth fixing portion are disposed in an L shape, the fourth fixing portion is fixedly connected to the spin drive cassette housing, the fifth fixing portion has a second opening, and an output end of the second motor passes through the second opening and is connected to the proximal end of the coupling.

18. The manipulating device according to claim 13, wherein the holder includes a telescopic holder which is coupled to a bottom of the rotary drive cartridge and controls the rotary drive cartridge to move in an axial direction.

19. The operating device according to claim 18, wherein the telescopic bracket includes a fourth housing, a slide rail, a slide block, a driving block, a third motor, and a screw rod, the slide rail is axially disposed on the fourth housing, the slide rail is slidably connected to the slide block, the slide block is connected to the rotary driving box, the third motor, the screw rod, and the driving block are disposed inside the fourth housing, an output end of the third motor is connected to one end of the screw rod, the driving block is threadedly connected to the screw rod, the fourth housing is axially provided with a sliding groove, and the slide block and the driving block are connected through the sliding groove.

20. The operating device according to claim 19, wherein the slider is connected to the rotary drive case by a screw, and the slide rail is fixed to the fourth housing by a screw.

21. The manipulating device according to claim 19, wherein a third fixing member and a fourth fixing member are provided in the fourth housing, and both ends of the screw are connected to the third fixing member and the fourth fixing member, respectively.

22. The handler of claim 18, wherein the support further comprises a swivel support, a bottom of the telescoping support being connected to an end of the swivel support; the utility model discloses a support, including the roof, the roof is provided with the first adaptor, the roof is provided with the second adaptor, the first curb plate is provided with the second adaptor, the second adaptor is provided with the second adaptor, the second motor is provided with the second adaptor, the output of fourth motor with first adaptor circumference is connected, the other end of fourth motor with second adaptor circumference is connected, the second adaptor with press between the fourth motor tip and be equipped with first bearing.

23. The handling device according to claim 18, further comprising a trolley, wherein a support plate is provided at an end of the trolley, and a connection base is provided at a bottom of the rotating bracket, and the connection base is connected to the support plate.

24. The manipulating device according to claim 23, wherein the trolley comprises at least two telescopic rods, a second base is provided at the bottom end of the telescopic rods, and a plurality of moving wheels are provided at the bottom of the second base.

25. The manipulation device of claim 13 further comprising a manipulation handle communicatively coupled to said bending drive cartridge, said rotational drive cartridge, and/or said support.

26. The operating device of claim 25, further comprising a display screen disposed on the operating handle, or wherein the display screen and the operating handle are separately and independently disposed.