CN113520611B

CN113520611B - Sterile isolation mechanism, mirror holding arm and mirror holding robot

Info

Publication number: CN113520611B
Application number: CN202010287017.5A
Authority: CN
Inventors: 李明; 陈功; 杨飞飞; 蒋友坤; 何超
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2023-08-25
Anticipated expiration: 2040-04-13
Also published as: CN113520611A

Abstract

The invention provides a sterile isolation mechanism, a lens holding arm and a lens holding robot. The isolation bag at least can wrap up and isolate difficult sterile parts such as grip slipper, mirror holder and base, and torque transmission mechanism's setting can realize being located the outside pipe drive knob of isolation bag through the drive part drive that is located isolation bag inside, and the setting of abase can realize being located the inside grip slipper of isolation bag and being located the outside pipe protection mechanism of isolation bag effectively keep apart. The configuration can conveniently install the sterile isolation mechanism on the lens holding robot, and after one-time use, the sterile isolation mechanism can be conveniently replaced, so that the use efficiency of the whole lens holding robot is improved. The operator can control the bronchoscope through remote control, so that the operator is prevented from being exposed to a high-risk area, physical fatigue of the operator in the operation process is reduced, and the risk of infection is also reduced.

Description

Sterile isolation mechanism, mirror holding arm and mirror holding robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a sterile isolation mechanism, a lens holding arm and a lens holding robot.

Background

Bronchoscopes are medical devices that are placed into the lower respiratory tract of a patient through the mouth or nose, and are commonly used for observation, biopsy sampling, bacteriological and cytological examination of lung lobes, segments and sub Duan Zhi tracheal lesions. The bronchoscope is used for carrying out alveolar lavage treatment and examination on the lung lobes of the lower respiratory tract where the focus is located, so that the detection rate and accuracy of infectious respiratory diseases can be effectively improved. In particular, for diseases such as novel coronaviruses, the replication and burst of the lower respiratory tract are often focused, and the nucleic acid detection accuracy of a specimen obtained by lavage of the alveoli of the lower respiratory tract is higher than that of a specimen obtained by pharyngeal swab detection. And the lavage treatment directly carried out on the lung by using the bronchoscope can also relieve the symptoms of the lower respiratory tract.

However, in the traditional bronchoscope diagnosis and treatment process, a medical staff is required to hold the bronchoscope for operation, and the medical staff can be in close contact with a patient. Moreover, most critically ill patients need tracheal intubation or tracheotomy for respiratory machine assisted ventilation, and due to the high exposure in bronchoscopy, the adverse consequences of infection in the diagnosis and treatment process of operating medical staff are easily caused in the use of some respiratory diseases with high infectivity.

Disclosure of Invention

The invention aims to provide a sterile isolation mechanism, a lens holding arm and a lens holding robot, so as to solve the problem of safety risk existing in operation in the prior art, and the device has the advantages of simple structure, high applicability and high operation precision, and reduces the operation fatigue of medical staff.

To solve the above technical problem, according to a first aspect of the present invention, there is provided a sterile isolation mechanism, an isolation bag, a torque transmission mechanism and an insert;

the isolation bag is used for isolating the clamping seat of the clamping mechanism on a first side and isolating the bronchoscope and the catheter protection mechanism of the clamping mechanism on a second side;

the torque transmission mechanism is fixedly arranged on the second side of the isolation bag and used for transmitting torque from the first side to the second side through the isolation bag;

the insert is used for being detachably connected with the catheter protection mechanism, at least the part of the insert, which is used for being connected with the catheter protection mechanism, is fixedly arranged on the second side of the isolation bag, and the insert is also used for being detachably arranged in the inner cavity of the clamping seat.

Optionally, in the sterile isolation mechanism, the torque transmitting mechanism includes: the cam sleeve is used for being sleeved on a cam of the clamping mechanism and rotating along with the cam; the cam sleeve is used for being connected with the catheter driving knob of the bronchoscope and driving the catheter driving knob to rotate.

Optionally, in the aseptic isolation mechanism, the cam sleeve includes a clamping groove with an open end and two opposite arranged clamping grooves, the extending directions of the two clamping grooves are parallel, and the space between the two clamping grooves is adapted to the size of the cam; the cam sleeve is used for being sleeved on the cam from the opening end along the extending direction of the clamping groove.

Optionally, in the aseptic isolation mechanism, the insert includes a step surface for abutting against a limit surface of the holder, and the insert is limited by the limit surface in degrees of freedom of circumferential rotation and distal movement.

Optionally, in the sterile isolation mechanism, a distal end of the slug has a securing portion for detachable connection with a connection portion of the catheter protection mechanism.

Optionally, in the aseptic isolation mechanism, the fixing portion has a thread adapted to the connecting portion, and the thread is configured to drive the slug to move distally under the driving of rotation of the connecting portion, so that the step surface abuts against the limiting surface.

Optionally, the sterile isolation mechanism further includes a first adapter, where the first adapter is fixedly disposed on the isolation bag and is configured to detachably connect with the first positioning element of the clamping seat, so as to position the isolation bag in the inner cavity.

Optionally, in the aseptic isolation mechanism, the first adapter is further configured to be detachably connected to a second positioning element of a mirror fixing mechanism of the clamping mechanism, so that the mirror fixing mechanism is connected to the clamping seat.

Optionally, the aseptic isolation mechanism further comprises a lens cushion block, and the shape of the lens cushion block is matched with the outer contour of the bronchoscope body; the mirror body cushion block is fixedly connected with the first adapting piece.

Optionally, in the sterile isolation mechanism, the first adapter includes a magnetic member for engaging with the first positioning member; or, the first adapting piece comprises a clamping piece, and the clamping piece is used for being clamped with the first positioning piece.

Optionally, the sterile isolation mechanism further includes a second adapter fixedly disposed on the isolation bag and configured to detachably connect with the third positioning member of the clamping seat to position the isolation bag.

Optionally, in the aseptic isolation mechanism, the second adapting member includes a magnetic member, and the magnetic member is used for being attracted with a third positioning member of the clamping seat; or, the second adapting piece comprises a clamping piece, and the clamping piece is used for being clamped with the third positioning piece.

Optionally, the sterile isolation mechanism at least wraps the holder, the holder body, and the base, and at least exposes the lumen, the catheter protection mechanism, and the catheter holder.

Optionally, the sterile isolation mechanism includes a catheter holder fixedly disposed on the isolation bag for detachably connecting with a lens holder and the catheter protection mechanism, respectively, to define at least a radial degree of freedom of the catheter protection mechanism.

In order to solve the above-mentioned technical problem, according to a second aspect of the present invention, there is provided a lens holding arm, comprising: the base, the lens holder, the clamping mechanism and the sterile isolation mechanism are as described above; the clamping mechanism comprises a clamping seat and a catheter protection mechanism, and the clamping seat is provided with an inner cavity; the sterile isolation mechanism at least wraps the clamping seat, the lens holding seat and the base, and at least exposes the inner cavity and the catheter protection mechanism.

In order to solve the above technical problem, according to a third aspect of the present invention, there is provided a lens holding robot including: the lens holding arm, the control end and the robot body are as described above; the lens holding arm is arranged on the robot body, and the control end and the robot body are arranged at intervals.

To solve the above technical problem, according to a fourth aspect of the present invention, there is provided a sterile isolation mechanism comprising: the isolation bag, the torque transmission mechanism and the embedded block; the isolation bag is used for isolating an isolated device from a first side and isolating an exposed device from a second side; the torque transmission mechanism is arranged on the second side of the isolation bag and is used for transmitting torque from the isolated equipment on the first side to the exposed equipment on the second side through the isolation bag; the slug is for mating with the isolated device and at least a portion of the slug is disposed on the second side of the isolation pocket.

In summary, in the sterile isolation mechanism, the lens holding arm and the lens holding robot provided by the invention, the sterile isolation mechanism comprises an isolation bag, a torque transmission mechanism and an insert; the isolation bag is used for isolating the clamping seat of the clamping mechanism on a first side and isolating the bronchoscope and the catheter protection mechanism of the clamping mechanism on a second side; the torque transmission mechanism is fixedly arranged on the second side of the isolation bag and used for transmitting torque from the first side to the second side through the isolation bag; the insert is used for being detachably connected with the catheter protection mechanism, at least the part of the insert, which is used for being connected with the catheter protection mechanism, is fixedly arranged on the second side of the isolation bag, and the insert is also used for being detachably arranged in the inner cavity of the clamping seat. The isolation bag at least can wrap up and isolate difficult sterile parts such as grip slipper, mirror holder and base, and torque transmission mechanism's setting can realize being located the outside pipe drive knob of isolation bag through the drive part drive that is located isolation bag inside, and the setting of abase can realize being located the inside grip slipper of isolation bag and being located the outside pipe protection mechanism of isolation bag effectively keep apart. The configuration can conveniently install the sterile isolation mechanism on the lens holding robot, and after one-time use, the sterile isolation mechanism can be conveniently replaced, so that the use efficiency of the whole lens holding robot is improved. Further, the aseptic isolation mechanism wraps the lens holding arm, and further wraps the part to be isolated on the lens holding robot, so that an operator can control the bronchoscope through remote control, the operator is prevented from being exposed to a high-risk area, physical fatigue of the operator in the operation process is reduced, and the infection risk is also reduced.

Drawings

Those of ordinary skill in the art will appreciate that the figures are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention. Wherein:

FIG. 1 is a schematic view of a lens holding robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a mirror-holding arm according to an embodiment of the present invention;

FIG. 3 is a schematic view of a clamping mechanism according to an embodiment of the present invention;

FIG. 4 is a partial schematic view of a bronchoscope provided in accordance with one embodiment of the present invention;

FIG. 5 is a schematic illustration of the use of a clamping mechanism provided in an embodiment of the present invention, wherein a bronchoscope is configured to be installed into the clamping mechanism;

FIG. 6 is a schematic view of the clamping mechanism shown in FIG. 5 at another angle;

FIG. 7 is a schematic illustration of the use of a clamping mechanism provided by an embodiment of the present invention wherein a bronchoscope is configured to fit within the clamping mechanism;

FIG. 8 is a schematic illustration of the use of a clamping mechanism according to an embodiment of the present invention, wherein the valve hold-down mechanism is configured in a second locked state;

FIG. 9 is a schematic diagram of a clamping mechanism according to an embodiment of the present invention, wherein a catheter protection mechanism is mounted on a clamping base;

FIG. 10 is a schematic diagram illustrating a clamping mechanism according to an embodiment of the present invention, wherein the mirror fixing mechanism is disposed before the clamping seat;

FIG. 11 is a schematic view of a clamping mechanism according to an embodiment of the present invention, wherein the mirror fixing mechanism is configured in a first locked state;

FIG. 12 is a schematic illustration of the packaging range of a sterile isolation mechanism provided in accordance with one embodiment of the present invention;

FIG. 13 is a partial schematic view of a sterile isolation mechanism provided in accordance with an embodiment of the present invention;

FIG. 14 is a schematic view of a torque transmitting mechanism of a sterile isolation mechanism provided in accordance with an embodiment of the present invention;

FIG. 15 is a partial cross-sectional view of the torque transmitting mechanism of the sterile isolation mechanism provided in accordance with one embodiment of the present invention after being mounted on the clamping mechanism along line "A-A" of FIG. 14;

FIG. 16 is a schematic view of a first adapter of a sterile isolation mechanism provided in accordance with an embodiment of the present invention;

FIG. 17 is a schematic view of a second adapter of the sterile isolation mechanism provided in accordance with an embodiment of the present invention;

FIG. 18 is a schematic view of an slug of the sterile isolation mechanism provided by one embodiment of the present invention;

FIG. 19 is a schematic view of an embodiment of the invention providing an insert of a sterile isolation mechanism mounted on a clamping mechanism;

FIG. 20 is a schematic view of an embodiment of the invention after attachment of an slug of a sterile isolation mechanism to a catheter protection mechanism;

FIG. 21 is a schematic view of a catheter stent of a sterile isolation mechanism provided in accordance with an embodiment of the present invention;

FIG. 22 is a schematic view of a catheter holder of a sterile isolation mechanism according to an embodiment of the present invention mounted on a lens holder;

fig. 23 is a schematic view of a catheter protection mechanism according to an embodiment of the present invention penetrating a catheter holder.

In the accompanying drawings:

1-a control end; 2-a lens holding arm; 20-axis; 21-a base; 22-lens holder; 23-catheter holder; 3-robot body; 4-hospital bed; 5-bronchoscope; 51-bronchoscope body; 52-a catheter; 53-syringe; 54-suction tube; 55-suction valve switch; 56-catheter drive knob;

10-a clamping mechanism; 11-clamping seats; 110-lumen; 111-a first positioning member; 112-limit surface; 113-a third positioning member; 12-a valve hold-down mechanism; 121-valve pressing block; 122-locking buckle; 13-a mirror fixing mechanism; 131-a mirror body pressing block; 132-a second positioning member; 133-a mirror body cushion block; 14-a catheter protection mechanism; 141-a telescoping sheath; 142-a connection; 143-telescopic joint; 15-a knob driving mechanism; 152-a transmission component; 153-cam; 154-a drive shaft;

60-a sterile isolation mechanism; 61-isolating bags; 62-torque-transmitting mechanisms; 621-cam sleeve; 622-limit body; 63-an slug; 631-step surface; 632-a fixed part; 64-a first adapter; 65-second adapter.

Detailed Description

The invention will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the invention more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.

As used in this specification, the singular forms "a", "an" and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally used in the sense of including "and/or" and, unless the context clearly indicates otherwise, the term "proximal" is generally near one end of the operator and the term "distal" is generally near one end of the patient, near the lesion. In the present specification, "connected" may be a direct connection or an indirect connection unless otherwise specified.

The invention provides a clamping mechanism, a lens holding arm and a lens holding robot, which are used for solving the problem of safety risk existing in operation in the prior art.

The following description refers to the accompanying drawings.

Referring now to fig. 1-23, wherein fig. 1 is a schematic view of a lens holding robot according to an embodiment of the present invention, fig. 2 is a schematic view of a lens holding arm according to an embodiment of the present invention, fig. 3 is a schematic view of a lens holding mechanism according to an embodiment of the present invention, fig. 4 is a partial schematic view of a bronchoscope according to an embodiment of the present invention, fig. 5 is a schematic view of a lens holding mechanism according to an embodiment of the present invention, wherein before a bronchoscope is configured to fit into the holding mechanism, fig. 6 is a schematic view of another angle of the holding mechanism according to fig. 5, fig. 7 is a schematic view of a use of the holding mechanism according to an embodiment of the present invention, wherein a bronchoscope is configured to fit into the holding mechanism, fig. 8 is a schematic view of a use of a holding mechanism according to an embodiment of the present invention, wherein a valve hold down mechanism is configured to a second locking state, fig. 9 is a schematic view of a use of a holding mechanism according to an embodiment of the present invention, wherein a catheter protection mechanism is mounted on a holder, fig. 10 is a schematic view of a use of a holding mechanism according to an embodiment of the present invention, wherein a lens fixing mechanism is configured to an embodiment of the present invention, wherein before a lens fixing mechanism is mounted on the holding seat is configured to be installed, fig. 6 is a schematic view of another angle of the holding mechanism shown in fig. 5, fig. 7 is a schematic view of another angle of the holding mechanism is provided, fig. 7 is a second angle of the holding mechanism is provided, fig. 14 is provided to be provided, fig. 14 is a sterile, fig. 14 is a is provided as a sterile condition of a is provided on a transmission side of a sterile condition, fig. 14 is provided on a transmission condition, and fig. 13, fig. 16 is a schematic view of a first adapter of a sterile isolation mechanism according to an embodiment of the present invention, fig. 17 is a schematic view of a second adapter of a sterile isolation mechanism according to an embodiment of the present invention, fig. 18 is a schematic view of an insert of a sterile isolation mechanism according to an embodiment of the present invention, fig. 19 is a schematic view of an insert of a sterile isolation mechanism according to an embodiment of the present invention mounted on a clamping mechanism, fig. 20 is a schematic view of an insert of a sterile isolation mechanism according to an embodiment of the present invention connected to a catheter protection mechanism, fig. 21 is a schematic view of a catheter holder of a sterile isolation mechanism according to an embodiment of the present invention, fig. 22 is a schematic view of a catheter holder of a sterile isolation mechanism according to an embodiment of the present invention mounted on a lens holder, and fig. 23 is a schematic view of a catheter protection mechanism according to an embodiment of the present invention mounted in a catheter holder.

As described in the background, bronchoscopes in many hospitals are handled by medical personnel, which makes them susceptible to exposure to infection in the face of highly contagious respiratory diseases. The inventor finds that the prior bronchoscopes of the medical institution have various types, and the prior bronchoscopes are difficult to use, so that the prior bronchoscopes can be mechanically operated.

To solve one or more technical problems in the prior art, an embodiment of the present invention provides a lens holding robot, as shown in fig. 1, including: control end 1, patient end. The control terminal 1 is in communication with the patient terminal. The patient end comprises a lens holding arm 2 and a robot body 3, wherein the lens holding arm 2 is arranged on the robot body 3. The lens holding arm 2 is used for holding a bronchoscope 5 to treat or detect a patient on the sickbed 4. In practice, the patient end may be located in a room where the patient is located, and the control end 1 is connected to the patient end by a wired or wireless communication, and the operator and the control end 1 are preferably located in different rooms from the patient end, so as to achieve physical isolation between the operator and the patient. The control end 1 and the patient end can also be arranged in different hospitals and different areas and are in communication connection through a remote communication technology.

The present invention is not particularly limited in the kind and size of the bronchoscope 5. Referring to fig. 4, a common bronchoscope 5 is shown. In this embodiment, the bronchoscope 5 is a bronchoscope, and includes a bronchoscope body 51, a catheter 52, an injection tube 53, a suction tube 54, a suction valve switch 55, and a catheter driving knob 56. Catheter 52 includes a viewing channel for insertion into a target tissue, such as a lung, bronchi, etc., of a patient, and an operator can view the target tissue lesion through a lens in the viewing channel. Catheter 52 may also include a functional channel in communication with syringe 53 for performing surgical procedures such as irrigation, biopsy, and the like. For example, the operator injects a liquid (e.g., saline or a liquid medicine) into the distal end of the catheter 52 through the syringe 53, and the liquid flows into the lungs of the patient, thereby performing a surgical operation such as bronchoalveolar lavage. In addition, the functional channels are in communication with a suction tube 54 through which fluid can be drawn from the distal end of the catheter 52 to aspirate fluid from the patient. The suction valve switch 55 can control the suction pipe 54 to be opened and closed so as to realize the control of the suction liquid. Typically, the operator needs to turn on suction by pressing the suction valve switch 55. The catheter drive knob 56 is used to drive the distal end of the catheter 52 to oscillate, and the operator can adjust the direction of oscillation of the distal end of the catheter 52 by rotating the catheter drive knob 56. In use of the existing bronchoscope 5, an operator manipulates the bronchoscope 5 to deliver distally back and forth by holding the bronchoscope body 51, so that the catheter 52 moves axially back and forth to advance and retreat the distal end of the catheter 52 in the target tissue of the patient; the operator can also control the bronchoscope 5 to circumferentially rotate within a range of +/-120 degrees around the axis, so that the distal end of the catheter 52 correspondingly circumferentially rotates in the target tissue of the patient, and the position of the distal end of the catheter 52 is adjusted; the operator manipulates catheter drive knob 56 to oscillate the distal end of catheter 52 at the patient's target tissue. In this way, adjustment of the distal pose of the catheter 52 is achieved.

Based on the bronchoscope 5, please refer to fig. 2, the lens holding arm 2 provided in this embodiment realizes the clamping of the bronchoscope 5 and drives the bronchoscope 5 to a desired pose, preferably, the injection and aspiration functions of the bronchoscope 5 can also be realized. Preferably, the lens holding arm 2 includes: a base 21, a lens holder 22, and a clamping mechanism 10; the clamping mechanism 10 is movably arranged on the lens holder 22 along the axial direction of the lens holder 22, and the lens holder 22 is rotatably arranged on the base 21 around the own axis 20. The clamping mechanism 10 is used for clamping the bronchoscope 5. The clamping mechanism 10 is then moved axially on the lens holder 22 to drive the bronchoscope 5 axially back and forth. The lens holder 22 is rotated about its own axis 20 to drive the clamping mechanism 10 and thus the bronchoscope 5 about its axis. In practice, according to the prior art, a person skilled in the art may provide a rotation joint on the base 21 to drive the lens holder 22 to rotate; a movable joint is provided on the lens holder 22 to realize movement of the clamping mechanism 10. The rotary joint and the movable joint can be driven in the forms of a servo motor, a linear motor, a screw rod mechanism or an air cylinder and the like, and can be in communication connection with the control end 1, so that an operator can remotely control the rotary joint and the movable joint. Further, the robot body 3 may further include more joints to provide a more flexible adjustment method for the mirror holding arm 2, a higher adjustment precision, and a larger working space, for example, the robot body 3 may be provided with a lifting joint or a plurality of rotation joints, etc., so that the mirror holding arm 2 may be lifted or may vertically swing around the robot body 3, etc. Optionally, these lifting joints or rotational joints are also in communication with the control terminal 1 and perform movements under the control of the control terminal 1. Further, the robot body 3 is provided with casters, which facilitate the movement of the entire mirror holding robot by an operator.

Preferably, the rotation angle of the lens holder 22 ranges between ±170°. Due to the existing bronchoscope 5, the circumferential rotation (i.e., autorotation) angle is often limited, typically in the range of ±120°. By using the rotation of the lens holder 22, a larger rotation range is set for the rotation of the bronchoscope 5, so as to increase the working space of the bronchoscope 5. Further, since the rotation of the lens holder 22 is driven by a servo motor or the like, the accuracy of the rotation is high.

Referring to fig. 3, in an exemplary embodiment, the clamping mechanism 10 includes: a clamping seat 11, a knob driving mechanism 15 and a mirror body fixing mechanism 13. The knob driving mechanism 15 is used for coupling with a catheter driving knob 56 of the bronchoscope 5 to drive the distal end of the bronchoscope 5 to swing through the catheter driving knob 56. The holder 11 has a cavity 110, the cavity 110 having a radial opening towards the bronchoscope 5, the cavity 110 being for the bronchoscope body 51 to be placed in from the opening; the mirror body fixing mechanism 13 is switched between a first locking state and a first opening state; when the lens body fixing mechanism 13 is in the first locking state, the lens body fixing mechanism 13 is connected with the clamping seat 11 and defines the bronchoscope body 51 in the inner cavity 110 together with the inner cavity 110; the scope fixing mechanism 13 releases the limitation of the bronchoscope body 51 when in the first open state. Further, the clamping mechanism 10 further comprises a valve hold-down mechanism 12; the valve hold-down mechanism 12 includes a valve hold-down block 121 (shown in fig. 5), the valve hold-down mechanism 12 being transitionable between a second locked state and a second open state, the valve hold-down block 121 being configured to apply a force to a suction valve switch 55 (shown in fig. 4) of the bronchoscope 5 located in the lumen 110 to open the suction valve switch 55 when the valve hold-down mechanism 12 is in the second locked state; the valve hold-down mechanism 12 releases the biasing force of the suction valve switch 55 in the second open state.

In the above example, the patient side may also be provided with a suction device (not shown) which communicates with the suction tube 54 and is communicatively connected to the control side 1. The control end 1 can control the suction flow by controlling the suction device, such as suction flow rate, flow velocity and the like. The suction device includes, for example, a solenoid valve, a proportional valve, and the like, and can open and close the suction passage, control the flow rate, and the like. Based on the above configuration, as shown in fig. 5 and fig. 7 and 8, the valve pressing mechanism 12 presses the suction valve switch 55 via the valve pressing block 121, so that the suction valve switch 55 is kept in a normally open state, and the suction passage is opened and closed by controlling the suction device.

The inventors have found that the conduit 52 is typically a hose and that bending of the conduit 52 may occur during the axial movement of the clamping mechanism 10 driven by the mirror holding arm 2. Further, the clamping mechanism 10 also includes a catheter protection mechanism 14; the catheter protection mechanism 14 is detachably disposed at the distal end of the holder 11, and is used for the catheter 52 of the bronchoscope 5 to pass through. The catheter protection mechanism 14 is configured to limit radial bending of the catheter 52 to avoid undesirable bending of the catheter 52. Alternatively, the distal end of the catheter protection mechanism 14 may be proximal to the patient's head, proximal to the insertion end of the catheter 52.

Because the procedure needs to be performed in a sterile environment, bronchoscope 5 needs to be sterilized prior to the procedure. And patients of different body types, conditions and treatment methods need different models and types of bronchoscopes. To facilitate replacement or installation of bronchoscope 5, lumen 110 is configured with a radial opening toward bronchoscope 5. So configured, bronchoscope body 51 can be conveniently placed into cavity 110 of holder 11. The bronchoscope body 51 is further restricted by the scope fixing mechanism 13, and the catheter 52 of the bronchoscope 5 can be protected by the catheter protecting mechanism 14. Thereby, the clamping of the entire bronchoscope 5 is formed, thereby replacing the operation mode of holding the bronchoscope 5 by an operator. And facilitates replacement or installation of bronchoscope 5. Furthermore, by arranging the clamping mechanism 10 on the lens holding arm 2 and further arranging the clamping mechanism on the lens holding robot, an operator can control the bronchoscope 5 through remote control, so that the exposure of the operator to a high-risk area is avoided, the physical fatigue of the operator in the operation process is reduced, and the infection risk is also reduced.

Preferably, referring to fig. 5, 10, 11 and 16, the clamping seat 11 includes a first positioning member 111, the mirror fixing mechanism 13 includes a mirror pressing block 131 and a second positioning member 132, and the second positioning member 132 is fixedly disposed on the mirror pressing block 131. When the mirror fixing mechanism 13 is in the first locking state, the first positioning member 111 and the second positioning member 132 are configured to be cooperatively connected. Optionally, at least part of the shape of the lens body press 131 is adapted to the shape of the bronchoscope body 51. In some embodiments, the mirror body pressing block 131 is movably disposed on the clamping seat 11, for example, the mirror body pressing block 131 is rotatably disposed on the clamping seat 11 through a pin shaft; or the mirror body pressing block 131 is slidably arranged on the clamping seat 11 through a chute. In yet other embodiments, the mirror block 132 is removably disposed with respect to the holder. After the lens body pressing block 131 slides, rotates or is mounted at an expected position on the clamping seat 11, the first positioning piece 111 and the second positioning piece 132 are correspondingly matched and connected, so that the lens body pressing block 131 is fixed, and the lens body pressing block 131 and the inner cavity 110 limit the bronchoscope body 51 together. Here, the limitation of the bronchoscope body 51 includes limiting at least one of axial, radial and circumferential movement of the bronchoscope body 51, and preferably limiting axial, radial and circumferential movement of the bronchoscope body 51 to reliably fix the bronchoscope body 51 in the cavity 110 of the holder 11. The scope press 132 covers at least a portion of the opening of the lumen 110 to limit removal of the bronchoscope body 51 from the opening. Further, when the mirror body pressing block 131 is movably disposed on the clamping seat 11, the first positioning member 111 and the second positioning member 132 are in a disengaged connection, and the mirror body pressing block 131 is rotated or slid to expose the opening of the inner cavity 110, so that the mirror body fixing mechanism 13 is in the first open state. When the mirror body pressing block 131 is detachably disposed with respect to the clamping seat 11, the first positioning piece 111 and the second positioning piece 132 are in un-matched connection, and the mirror body pressing block 131 is configured to be detached from the clamping seat 11 to expose the opening of the inner cavity 110, so that the mirror body fixing mechanism 13 is in the first open state.

Optionally, the first positioning member 111 and the second positioning member 132 include magnetic members that attract each other; alternatively, the first positioning member 111 and the second positioning member 132 may include a locking member that is engaged with each other. In order to facilitate the quick and convenient opening of the lens block 131, and to achieve the quick replacement of the bronchoscope 5, the first positioning member 111 and the second positioning member 132 should be configured as a quick-connection and disconnection mechanism. In some embodiments, as shown in fig. 10 and 11, the first positioning member 111 and the second positioning member 132 include magnetic members that attract each other. It should be understood that the magnetic elements attracted to each other are not limited to the first positioning element 111 and the second positioning element 132, and may be one element including a magnet and the other element including a ferromagnetic body, for example, the first positioning element 111 includes a permanent magnet, and the second positioning element 132 includes a iron block, and the attraction of the two elements may be achieved. When the first positioning member 111 and the second positioning member 132 include magnets at the same time, the opposite surfaces of the two magnets should be configured as opposite poles. In other embodiments, the first positioning member 111 and the second positioning member 132 comprise snap members that snap together, and the two members can be separated by pulling apart by pressing the snap members against each other. Of course, those skilled in the art can also configure the quick connection of the first positioning member 111 and the second positioning member 132 differently according to the prior art, and the present invention is not limited thereto. It should be appreciated that in some embodiments, the mirror block 131 may be integrally formed with the second positioning member 132, and even the mirror block 131 is integrally made of a ferromagnetic material. It will be appreciated that a plurality of differently shaped lens body compacts 131 may be provided for a variety of different models of bronchoscope 5, so as to improve the suitability of the lens-holding robot.

Preferably, referring to fig. 16, the mirror fixing mechanism 13 further includes a mirror block 133, the mirror block 133 is detachably disposed on the clamping seat 11, and when the mirror fixing mechanism 13 is configured to be in the first locking state, the mirror block 133 is located between the mirror block 131 and the clamping seat 11 and is cooperatively connected with at least one of the first positioning member 111 and the second positioning member 132. Preferably, at least part of the shape of the lens pad 133 is adapted to the outer contour of the bronchoscope body 51. In actual use, the lens cushion block 133 directly abuts against the bronchoscope body 51 to limit the bronchoscope body 51. It will be appreciated that a plurality of different shaped lens blocks 133 may be provided for each different model of bronchoscope 5 in order to improve the fit of the lens holding robot. Optionally, a surface of the lens body pressing block 131 and the lens body cushion block 133, which is used for abutting contact with the bronchoscope body 51, may be provided with a flexible material, such as silica gel, to form a cushion, so as to avoid scratching and damaging the bronchoscope body 51. Of course, the lens body pressing block 131 and the lens body cushion block 133 can also be made of high polymer materials, so that the lens body pressing block is relatively soft, and the bronchoscope body 51 is not scratched and damaged.

In some embodiments, the mirror spacer 133 may be provided with a magnetic member or a magnet, such as a ferromagnetic plate, at a position corresponding to the first positioning member 111 and the second positioning member 132, so that the mirror spacer 133 may be conveniently positioned at a proper position. In other embodiments, the mirror spacer 133 may have fixing holes corresponding to the first positioning member 111 and the second positioning member 132, and the size of the fixing holes is matched with the size of the first positioning member 111, and the fixing holes can be sleeved and locked on the first positioning member 111, so that the position of the mirror spacer 133 is fixed when the second positioning member 132 is cooperatively connected with the first positioning member 111.

Referring to fig. 3, 5, 6, 14 and 15, the knob driving mechanism 15 includes a transmission member 152 rotatably disposed on the clamping seat 11 for driving the catheter driving knob 56 of the bronchoscope 5 to rotate. Correspondingly, the patient end also comprises a knob driving component which is in communication connection with the control end 1 and is used for driving a transmission component 152 in the knob driving mechanism 15 to rotate so as to realize the end swinging of the bronchoscope 5. In one example, the transmission member 152 includes a cam 153 located in the inner cavity 110 and a transmission shaft 154 extending out of the clamping seat 11. The driving component is disposed outside the clamping seat 11 and coupled to the transmission shaft 154. The cam 153 is eccentrically disposed relative to the transmission shaft 154, and is coupled to the catheter driving knob 56 of the bronchoscope 5, so as to drive the catheter driving knob 56 of the bronchoscope 5 to rotate under the rotation of the transmission shaft 154. Since the cam 153 is eccentrically disposed with respect to the transmission shaft 154, the transmission shaft 154 is rotated by the driving of the driving member, so as to drive the cam 153 to rotate, and the coupling portion of the cam 153 and the catheter driving knob 56 swings away from the rotation axis of the transmission shaft 154, i.e., around the rotation axis of the transmission shaft 154.

Alternatively, referring to fig. 14 and 15, cam 153 is coupled to catheter drive knob 56 via a torque-transmitting mechanism 62. The torque transmission mechanism 62 comprises a cam sleeve 621 positioned on the outer side and a limit body 622 positioned on the inner side, wherein the cam sleeve 621 is used for being sleeved on the cam 153 so as to enable the torque transmission mechanism 62 to rotate along with the cam 153; the limiting body 622 is connected to the catheter driving knob 56 and drives the catheter driving knob 56 to rotate. The cam sleeve 621 remains relatively stationary with respect to the cam 153 at least circumferentially after being disposed over the cam 153. And the limiting body 622 is matched with the catheter driving knob 56, when the cam sleeve 621 rotates along with the cam 153, the limiting body 622 drives the catheter driving knob 56 to rotate, so that the catheter driving knob 56 is driven to rotate by the knob driving component. Further, the cam 153 includes two opposite sides, which are parallel. The cam sleeve 621 includes a slot for receiving the cam 153, and the slot is sized to fit the distance between the two sides of the cam 153. Further, the cam sleeve 621 has an opening end along the extending direction of the slot, and the cam sleeve 621 is sleeved on the cam 153 from the opening end. So configured, the cam sleeve 621 can be conveniently fitted over the cam 153 in the opening direction of the inner chamber 110.

In other embodiments, the driving member 152 is not limited to a combination of a cam 153 and a driving shaft 154, and may be driven by a magnetic coupling, for example, so that torque may be conveniently transmitted from outside the clamping seat 11 to the inner cavity 110.

Preferably, referring to fig. 5, 7 and 8, the valve pressing block 121 is rotatably disposed on the clamping seat 11. The valve pressing 121 is rotatable between an open position and a closed position, as shown in fig. 5 and 7, the valve pressing 121 is in the open position, and the valve switch 55 is attracted to maintain the closed state without an external force. As shown in fig. 8, the valve pressing block 121 is in the closed position, and biases the suction valve switch 55, so that the suction valve switch 55 is kept in the open state. Further, when the valve pressing block 121 is in the open position, the bronchoscope body 51 can be more conveniently and freely taken out and put in from the opening of the inner cavity 110. When the valve pressing block 121 is in the closed position, the valve pressing block 121 not only can apply force to the attraction valve switch 55, but also can limit the bronchoscope body 51 in the inner cavity 110 to a certain extent, so that the fixing effect of the bronchoscope body 51 is further ensured. Preferably, the rotation axis of the valve pressing block 121 is perpendicular to the axial direction of the bronchoscope 5. Of course, in other embodiments, the valve pressing block 121 is not limited to be rotatably disposed on the clamping seat 11, and the valve pressing block 121 may be slidably disposed on the clamping seat 11, or even detachably disposed with respect to the clamping seat 11. For example, a chute may be formed on the clamping seat 11, the valve pressing block 121 slides on the chute, when the valve pressing block 121 slides to a desired position, the valve pressing block 121 may overlap with the suction valve switch 55 and apply a force to the suction valve switch 55, and when the valve pressing block 121 slides in the opposite direction, the suction valve switch 55 may be exposed, the force applied to the suction valve switch 55 may be released, and the opening of the inner cavity 110 may be further exposed. The person skilled in the art can, based on the above-described ideas, in combination with the actual connection of the valve press 121 to the clamping seat 11, be suitably configured.

Further, the valve pressing mechanism 12 includes a locking buckle 122 disposed on the clamping seat 11, where the locking buckle 122 is configured to lock the valve pressing mechanism 12 in the second locking state when the valve pressing block 121 rotates; the locking buckle 122 is configured to release the lock on the rotation of the valve pressing block 121, and the valve pressing mechanism 12 is in the second open state. When the valve press block 121 is in the closed position, the locking buckle 122 can lock the valve press block 121 to keep the valve press block 121 from applying force to attract the valve switch 55. The locking buckle 122 may be configured to be locked and unlocked by pressing, and a person skilled in the art may perform appropriate setting of the locking buckle 122 according to the prior art, which will not be described herein.

Referring to fig. 3 and 9, the catheter protection mechanism 14 includes a telescopic sheath 141 and a connecting portion 142, the connecting portion 142 is configured to be detachably connected to the clamping seat 11, and the telescopic sheath 141 is fixedly connected to the connecting portion 142 and is telescopically arranged along an axial direction; the connection portion 142 has a first through hole for the catheter 52 of the bronchoscope 5 to pass through, and the telescopic sheath 141 has a second through hole for the catheter 52 of the bronchoscope 5 to pass through, and the first through hole and the second through hole are coaxially disposed. Since the holder 11 is required to move axially along the holder 22 during use, the robot body 3 will not generally move during use, so the distance between the robot body 3 and the patient will not change, and the distal end of the catheter protection mechanism 14 should be close to the patient and should also remain unchanged or at a distance that does not contact the patient. Thus, the catheter protection mechanism 14 needs to be configured to be telescopic so that the distal position of the catheter protection mechanism 14 remains unchanged or is controlled when the clamping block 11 is moved axially. For convenience, the connecting portion 142 is detachable with respect to the holder 11, so as to cover the catheter protection mechanism 14 outside the catheter 52.

Referring to fig. 18, 19 and 20, in an exemplary embodiment, the connection portion 142 is detachably connected to the holder 11 through an insert 63. Optionally, the cavity 110 has a limiting surface 112, the limiting surface 112 is configured to limit circumferential rotation and distal movement of an insert 63, and the insert 63 includes a step surface 631, and the step surface 631 is configured to abut against the limiting surface 112 of the holder 11 to limit circumferential rotation and distal movement of the insert 63. Preferably, the distal end of the slug 63 has a securing portion 632, the securing portion 632 being adapted to be removably connected to the connecting portion 142 of the catheter protection mechanism 14. Optionally, the connecting portion 142 has an internal thread, the fixing portion 632 has an external thread matched with the connecting portion 142, and the fixing portion 632 is configured to drive the insert 63 to move distally under the driving of rotation of the connecting portion 142, so that the step surface 631 abuts against the limiting surface 112, and simultaneously, the proximal end surface of the connecting portion 142 abuts against the distal end surface of the clamping seat 11. Of course, in other embodiments, the connecting portion 142 may have external threads, and the fixing portion 632 may have internal threads. In the above configuration, by screwing the catheter protection mechanism 14, the catheter protection mechanism 14 and the holder 11 can be fixedly connected. Optionally, the insert 63 has a third through hole therethrough for the passage of the catheter 52 of the bronchoscope 5. Preferably, after the insert 63 is mounted in the holder 11, the third through hole is coaxial with the first through hole and the second through hole. Of course, the connection manner of the catheter protection mechanism 14 and the clamping seat 11 is not limited to the above manner, and in other embodiments, the catheter protection mechanism 14 may be connected to the clamping seat 11 by a snap-fit manner, and the like, and those skilled in the art may change according to the actual situation.

Preferably, as shown in fig. 3, the telescopic sheath 141 includes a plurality of telescopic joints 143, and the plurality of telescopic joints 143 are coaxially sleeved in sequence; the telescopic sheath 141 is telescopic by the mutual axial movement of the plurality of telescopic joints 143. As shown in fig. 22 and 23, in one example, the telescopic sheath 141 includes a plurality of telescopic joints 143 so that the telescopic sheath 141 can be telescopic in the axial direction like a fishing rod. In other embodiments, the telescopic sheath 141 may take other configurations, such as a bellows structure, a plurality of rings spaced apart, etc., and those skilled in the art may select a suitable configuration according to the prior art, which the present invention is not limited to.

Referring to fig. 2 and 23, optionally, the lens holding arm 2 further includes: a catheter holder 23, the catheter holder 23 being disposed at a distal end of the lens holder 22. Preferably, the catheter holder 23 is removably coupled to the lens holder 22, and is configured to facilitate installation of the bronchoscope 5 and the catheter protection mechanism 14. The catheter holder 23 is adapted to be connected to the catheter protection mechanism 14 and at least restrict the direction of extension and retraction of the catheter protection mechanism 14. The provision of the catheter holder 23 can provide additional support to the distal portion of the catheter protection mechanism 14, improving the stability of the catheter protection mechanism 14. In one exemplary embodiment, the catheter holder 23 has a fourth through hole with an inner diameter adapted to the outer diameter of the telescopic sheath 141 of the catheter protection mechanism 14, said catheter holder 23 being sleeved with said catheter protection mechanism 14. Preferably, the fourth through hole is arranged coaxially with the third through hole. In other embodiments, the catheter holder 23 may also be in the form of an open bracket that only needs to provide support for the distal portion of the catheter protection mechanism 14. It will thus be appreciated that the catheter holder 23 limits the radial oscillation of the catheter protection mechanism 14 so that only one radial degree of freedom is possible, such as limiting the radial degree of freedom of the catheter protection mechanism 14 towards the gravitational direction, and not limiting the upward radial degree of freedom. Further, the opening bracket may also be configured to be magnetic, while the distal portion of the catheter protection mechanism 14 is correspondingly a magnetic or ferromagnetic member adapted, such as the telescoping sheath 141 being a ferrous tube, so that the opening bracket may also provide an attractive force to the distal portion of the catheter protection mechanism 14 to secure the distal portion of the catheter protection mechanism 14.

Preferably, the catheter holder 23 is detachably connected to the catheter protection device 14, i.e. the catheter protection device 14 may be separated from the catheter holder 23, and the catheter protection device 14 is assembled with the catheter holder 23 after the catheter 52 is inserted into the catheter protection device 14. In some embodiments, the catheter holder 23 is movably disposed on the catheter protection mechanism 14, such as slidably or rotatably disposed on the catheter protection mechanism 14. In other embodiments, the catheter holder 23 may be detachably and fixedly disposed on the catheter protection mechanism 14, or even integrally formed with the catheter protection mechanism 14.

As described above, in the case where the surgical procedure is required to be performed in a sterile environment, the bronchoscope 5 needs to be replaced and sterilized before the operation, but it is difficult to sterilize the components such as the holder 11, the holder 22, and the base 21 by a conventional sterilization method due to the electronic components. Therefore, it is necessary to wrap these components with a sterile barrier mechanism at the time of surgery to physically isolate the components from the sterile field. After a single use, the sterile isolation mechanism may be replaced.

Based thereon, an embodiment of the present invention also provides a sterile isolation mechanism 60. Referring to fig. 12, an exemplary arrangement of the sterile isolation mechanism 60 is shown, which encloses at least the holder 11, the holder 22, and the base 21, and exposes at least the catheter protection mechanism 14. Optionally, the sterile barrier mechanism 60 also encloses the valve hold-down mechanism 12, the rotary drive components, and the like. Preferably, the sterile barrier mechanism 60 may also wrap around a portion of the robot body 3 or the entire robot body 3. In this way, the exposed catheter protection mechanism 14 and the covered inner cavity 110 can be conveniently replaced and installed for the bronchoscope 5, and after the sterile isolation mechanism 60 is replaced after one use, the catheter protection mechanism can be rapidly used for the next time, so that the use efficiency of the whole endoscope holding robot is improved.

The sterile isolation mechanism 60 provided in this embodiment is schematically described below in connection with an example.

Referring to fig. 13, the aseptic isolation mechanism 60 includes: an isolation bag 61 and a torque transmission mechanism 62. Preferably, an insert 63 is also included; the isolation bag 61 is used for isolating the clamping seat 11 of the clamping mechanism 10 on a first side (a bacteria-free side) and isolating the bronchoscope 5 and the catheter protection mechanism 14 on a second side (a bacteria-free side); the torque transmission mechanism 62 is fixedly arranged on the second side of the isolation bag 61 and is used for transmitting torque from the first side to the second side (mainly to the catheter driving knob 56 of the bronchoscope 5) through the isolation bag 61; the insert 63 is configured to be detachably connected to the catheter protection mechanism 14, at least a portion of the insert 63 configured to be connected to the catheter protection mechanism 14 is fixedly disposed on the second side of the isolation pocket 61, and the insert 63 is further configured to be detachably disposed in the cavity 110 of the holder 11. In practice, the isolation bag 61 is mainly used for wrapping components to be wrapped by the lens holding robot, such as the clamping seat 11, the lens holding seat 22, the base 21, and the robot body 3. The spacer 61 may be made of a polymer film, for example, a transparent polymer film is preferable. It should be understood that, since the isolation bag 61 is a flexible film, it has no particular shape, and the isolation bag 61 illustrated in fig. 13 is only a partial illustration of one desirable form, and is not intended to limit the form of the isolation bag 61 as illustrated, nor the scope of the isolation bag. In other embodiments, the sterile isolation mechanism comprises: the isolation bag, the torque transmission mechanism and the embedded block; the isolation bag is used for isolating an isolated device from a first side and isolating an exposed device from a second side; the torque transmission mechanism is arranged on the second side of the isolation bag and is used for transmitting torque from the isolated equipment on the first side to the exposed equipment on the second side through the isolation bag; the slug is for mating with the isolated device and at least a portion of the slug is disposed on the second side of the isolation pocket. It will be appreciated by those skilled in the art that the sterile barrier mechanism is not limited to wrapping a lens holding robot as described above, but may be used to wrap other barrier devices, and that the wrapped barrier device may be replaced by those skilled in the art in accordance with the prior art.

Referring to fig. 18-20, reference is made to the foregoing description of the principles and construction of the placement of the slug 63, wherein it is to be noted that at least the portion of the slug 63 for connection to the catheter protection mechanism 14 is in the sterile field on the second side of the exterior of the isolation pouch 61. The slug 63 may be fixedly attached to the isolation pocket 61. The connection between the insert 63 and the isolation pouch 61 may be, for example, adhesive or welding, and the present invention is not limited thereto. The slug 63 should then be replaced with the spacer 61 after a single use. It should be understood that the isolation bag 61 in fig. 18 to 20 is illustrated with a plurality of curves, and only represents one part of the isolation bag 61, and does not limit the arrangement range of the isolation bag 61. In addition, the inserts 63 are all disposed on the second side of the spacer pocket 61 without penetrating the spacer pocket 61. At this time, the insert 63 may be fixed to the isolation pouch 61 in the above-described manner. The insert 63 may also be provided as a separate component that abuts the spacer 61 during assembly. For example, after the spacer 61 covers the cavity 110, the slug 63 is placed on the second side of the spacer 61 and then mated with the holder 11 and catheter protection mechanism 14. The slug 63, which is a separate component, may be sterilized by conventional methods to reduce medical contamination.

The inventors have found that since the bronchoscope body 51 is mounted in the lumen 110 of the holder 11, on the one hand, the catheter 52 is required to extend distally from the catheter protection mechanism 14, and on the other hand, the catheter drive knob 56 of the bronchoscope 5 is required to be operated via the isolation pouch 61. The provision of the torque transmission mechanism 62 enables the catheter drive knob 56 located outside the isolation pouch 61 to be driven by the knob drive means located inside the isolation pouch 61, while the provision of the slug 63 enables effective isolation of the holder 11 located inside the isolation pouch 61 from the catheter protection mechanism 14 located outside the isolation pouch 61. It will be appreciated that at least a portion of the slug 63 is in a sterile area outside of the isolation pouch 61, which is used to secure the catheter protection mechanism 14.

Referring to fig. 14 and 15, the torque transmission mechanism 62 includes a cam sleeve 621, and the cam sleeve 621 can drive the catheter driving knob 56 to rotate by the knob driving component, and specific reference is made to the above description about the cam sleeve 621, which is not repeated herein. Note that, the isolation bag 61 in fig. 14 is schematically represented by a plurality of curves, and only one part of the isolation bag 61 is shown, and the installation range of the isolation bag 61 is not limited; the separator bag 61 is not shown in fig. 15 for ease of illustration of the cut-away configuration of the cam sleeve 621. It will be appreciated that the cam sleeve 621 is in the sterile zone on the second side of the exterior of the isolation pouch 61. The cam sleeve 621 may be fixedly attached to the spacer 61, such as by adhesive or welding. In practice, the isolation pocket 61 may have a fold in the area adjacent to the cam sleeve 621, which is loosely assembled, i.e., not in a tight state, so that when the cam sleeve 621 rotates, the folded isolation pocket 61 gives the cam sleeve 621 a certain degree of freedom, and the cam sleeve 621 can pull a part of the folded isolation pocket 61 to rotate together, thereby ensuring the isolation tightness and integrity while transmitting torque.

Further, referring to fig. 16, the aseptic isolation mechanism 60 further includes a first adaptor 64, where the first adaptor 64 is fixedly disposed on the isolation bag 61 and is configured to be detachably connected to the first positioning member 111 of the clamping seat 11 to position the isolation bag 61 in the inner cavity 110. Further, the first adaptor 64 is further configured to be detachably connected to the second positioning member 132, so as to connect the lens fixing mechanism 13 to the clamping seat 11. To simplify the number of components and increase the integration of the components, the first adapter 64 may be integrated with the mirror block 133. That is, the first adapter 64 is fixedly disposed at a position of the mirror block 133 corresponding to the first positioning member 111 and the second positioning member 132. It will be appreciated that at least the side of the lens block 133 that is intended to be in abutting contact with the bronchoscope body 51 is in a sterile area outside of the isolation pocket 61, and therefore the lens block 133 should be replaced with the entire sterile isolation mechanism 60 after a single use. The connection and the arrangement position of the first adaptor 64 on the isolation bag 61 are not limited, for example, the first adaptor 64 may be located on the first side or may be located on the second side, and the first adaptor 64 may be fixedly connected to the isolation bag 61 by bonding or welding. Of course, in other embodiments, the first adapter 64 may be separately disposed from the lens cushion block 133, i.e., the first adapter 64 is independent of the lens cushion block 133, and other positioning members may be separately disposed at corresponding positions on the clamping seat 11 for connecting and positioning the first adapter 64.

Preferably, the first adapting member 64 includes a magnetic member or a magnet for attracting with the first positioning member 111; alternatively, the first adapting member 64 includes a fastening member, and the fastening member is configured to be fastened to the first positioning member 111. As described above, since the first positioning member 111 has a plurality of arrangements, the first adapting member 64 can be correspondingly arranged differently. For example, when the first positioning member 111 includes a magnetic member, the first adapting member 64 may also include a magnetic member, such as when the first adapting member 64 includes an iron sheet, etc., to engage with the first positioning member 111. Further, the second positioning member 132 may be engaged and positioned. And when the first positioning member 111 comprises a buckle, the first adapting member 64 comprises an adaptive buckle member, which can be snapped onto the first positioning member 111. Further, after the first adapting piece 64 is engaged with the first positioning piece 111, the second positioning piece 132 may be engaged with and connected to the first adapting piece. Of course, in some embodiments, the first adapting piece 64 may be connected to the first positioning piece 111 by a magnetic attraction manner, and be connected to the second positioning piece 132 by a snap fit manner; or the first adapting piece 64 can be connected with the first positioning piece 111 in a clamping manner, and connected with the second positioning piece 132 in a magnetic attraction manner, so that the installation convenience is high.

Optionally, referring to fig. 17, the holder 11 includes a third positioning member 113. Correspondingly, the aseptic isolation mechanism 60 further comprises a second adapter 65, wherein the second adapter 65 is fixedly arranged on the isolation bag 61. The third positioning member 113 is configured to be cooperatively connected with the corresponding second adapting member 65 of the aseptic isolation mechanism 60 to fix the aseptic isolation mechanism 60. Preferably, the second adapting piece 65 comprises a magnetic member or a magnet for attracting with the third positioning piece 113; alternatively, the second adapting piece 65 includes a fastening piece, and the fastening piece is used to be fastened with the third positioning piece 113. Fig. 17 shows an exemplary embodiment of the third positioning member 113 and the second adapting member 65, wherein the third positioning member 113 and the second adapting member 65 comprise magnetic members adapted to be attracted, for example, the third positioning member 113 comprises a circular iron sheet, and the second adapting member 65 comprises a permanent magnet adapted to the size of the iron sheet, and the third positioning member 113 and the second adapting member 65 can be attracted quickly to be connected or can be separated conveniently. Optionally, a third positioning member 113 is located in the proximal region of the holder 11, near the attachment of the valve hold-down mechanism 12.

Optionally, referring to fig. 21 to 23, in some embodiments, the catheter holder 23 is fixedly disposed on the isolation bag 61 and is configured to be detachably connected to the lens holder 22 and the catheter protection mechanism 14, respectively, so as to at least restrict the extending direction of the catheter protection mechanism 14. The principle and structure of the catheter holder 23 are described above, and will not be further explained here. It should be noted that, in order to facilitate the mounting of the bronchoscope 5 with the catheter protection mechanism 14, a portion of the catheter holder 23 for connection with the catheter protection mechanism 14 is preferably provided on the second side of said isolation pouch 61, i.e. in a sterile zone outside the isolation pouch 61. Thus, after a single use, the catheter holder 23 should be replaced with the spacer bag 61. Thus, in the case where the sterile isolation mechanism 60 is provided, the catheter holder 23 may not be included in the mirror holding arm 2, but in the sterile isolation mechanism 60. The catheter holder 23 may be fixedly attached to the spacer 61, for example, by adhesive bonding. Preferably, the distal end of the lens holder 22 is provided with a mounting seat for assembling the catheter holder 23, a portion of the catheter holder 23 for connecting with the lens holder 22 is preferably provided on the first side of the isolation bag 61, i.e. inside the isolation bag 61, and a portion of the catheter holder 23 on the first side is detachably connected with the mounting seat. For example, the connection can be realized by adopting a buckling or magnetic attraction mode.

The process of mounting a bronchoscope 5 and sterile isolation mechanism 60 on arm 2 will now be described, by way of example, with reference to the accompanying drawings.

Step 0: referring to fig. 12, the isolation pouch 61 of the sterile isolation mechanism 60 is secured after the isolation pouch 61 is installed in place by telescoping the arm from the arm head.

Step 1: referring to fig. 5, the mirror fixing mechanism 13 of the clamping mechanism 10 is configured in a first open state, and the valve pressing mechanism 13 is configured in a second open state to expose the opening of the inner cavity 110 of the clamping seat 11;

step 2: referring to fig. 14 and 15, a proper 621 cam sleeve is selected according to the model of the bronchoscope 5, and the cam sleeve 621 of the sterile isolation mechanism 60 is sleeved on the cam 153;

step 3: referring to fig. 17, according to the model of the bronchoscope 5, a proper scope pad 133 is selected, and the scope pad 133 is mounted on the clamping seat 11, wherein the scope pad 133 is used for being matched with a part of the bronchoscope body 51 to be positioned in the inner cavity 110; and the first adapting piece 64 is matched and connected with the first positioning piece 111;

step 4: referring to fig. 18, insert 63 is placed over catheter 52 of bronchoscope 5;

step 5: referring to fig. 7, the bronchoscope body 51 is loaded into the cavity 110 with the catheter drive knob 56 of the bronchoscope 5 aligned with the cam sleeve 621, and the slug 63 is loaded into the cavity 110;

Step 6: referring to fig. 8, the valve pressing block 121 is turned over, and the locking buckle 122 locks the valve pressing block 121, so that the valve pressing mechanism 12 is in the second locking state, and the suction valve switch 55 is kept in the open state;

step 7: referring to fig. 9, and referring to fig. 19, the catheter protection mechanism 14 is sleeved on the catheter 52 of the bronchoscope 5, and the connecting part 142 of the catheter protection mechanism 14 is connected with the fixing part 632 of the insert 63 and screwed, so that the catheter protection mechanism 14 is connected with the clamping seat 11;

step 8: referring to fig. 10, the mirror body pressing block 131 is mounted on the clamping seat 11, so that the second positioning member 132 is in fit connection with the first positioning member 11, and the mirror body fixing mechanism 13 is configured in a first locking state; to this end, referring to fig. 11, the bronchoscope 5 is reliably clamped to the clamping mechanism 10.

Further, after completing the installation of the bronchoscope 5 on the clamping mechanism 10, the installation of the sterile isolation mechanism 60 is continued, specifically including:

step 9: referring to fig. 17, the second adaptor 65 is coupled with the third positioner 113 in cooperation to fix the isolation pouch 61;

step 10: referring to fig. 21, the catheter holder 23 is sleeved on the catheter 52 of the bronchoscope 5, and then the catheter holder 23 is mounted on the mounting seat at the distal end of the lens holder 22;

Step 11: referring to fig. 22, the telescopic sheath 141 is elongated so as to penetrate into the fourth through hole of the catheter holder 23;

step 12: and (5) finishing the installation.

By the above steps, the installation of the bronchoscope 5 and the aseptic isolation mechanism 60 on the scope holding arm 2 is completed. After one use is completed, the steps described above may be reversed to detach bronchoscope 5 and sterile isolation mechanism 60 for the next use. It should be understood that the steps are not limited to being performed in order, and the order in which some steps are performed may be modified.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.

Claims

1. A sterile isolation mechanism for a bronchoscope, comprising: the isolation bag, the torque transmission mechanism and the embedded block;

the torque transmission mechanism is fixedly arranged on the second side of the isolation bag and used for transmitting torque from the first side to the second side through the isolation bag; the torque transmission mechanism is arranged to drive a catheter driving knob outside the isolation bag through a knob driving part inside the isolation bag;

the embedded block is used for being detachably connected with the catheter protection mechanism, at least the part of the embedded block, which is used for being connected with the catheter protection mechanism, is fixedly arranged on the second side of the isolation bag, and the embedded block is also used for being detachably arranged in the inner cavity of the clamping seat so as to be matched with the clamping seat and the catheter protection mechanism; the setting of the slug can realize the isolation of the grip slipper inside the isolation bag and the catheter protection mechanism outside the isolation bag.

2. The sterile isolation mechanism of claim 1, wherein the torque transmitting mechanism comprises: the cam sleeve is used for being sleeved on a cam of the clamping mechanism and rotating along with the cam; the cam sleeve is used for being connected with the catheter driving knob of the bronchoscope and driving the catheter driving knob to rotate.

3. The sterile isolation mechanism according to claim 2, wherein the cam sleeve comprises two oppositely arranged clamping grooves with open ends, the extending directions of the two clamping grooves are parallel, and the distance between the two clamping grooves is matched with the size of the cam; the cam sleeve is used for being sleeved on the cam from the opening end along the extending direction of the clamping groove.

4. The sterile isolation mechanism of claim 1, wherein the slug includes a stepped surface for abutment with a stop surface of the holder, the slug being limited in circumferential rotation and distal movement degrees of freedom by the stop surface.

5. The sterile isolation mechanism of claim 4, wherein the distal end of the slug has a securing portion for removable connection with the connection portion of the catheter protection mechanism.

6. The sterile isolation mechanism according to claim 5, wherein the fixed portion has threads adapted to the connecting portion for driving the slug to move distally under the rotational drive of the connecting portion to abut the step surface against the stop surface.

7. The sterile isolation mechanism of claim 1, further comprising a first adapter fixedly disposed on the isolation pouch for detachable connection with a first positioning member of the holder to position the isolation pouch in the interior cavity.

8. The sterile isolation mechanism according to claim 7, wherein the first adapter is further adapted to be removably coupled to a second positioning member of a mirror mount mechanism of the clamp mechanism to couple the mirror mount mechanism to the clamp mount.

9. The sterile isolation mechanism of claim 7, further comprising a lens block shaped to fit the outer contour of the bronchoscope body; the mirror body cushion block is fixedly connected with the first adapting piece.

10. The sterile isolation mechanism according to any one of claims 7 to 9 wherein the first adapter comprises a magnetic member for engaging with the first detent; or, the first adapting piece comprises a clamping piece, and the clamping piece is used for being clamped with the first positioning piece.

11. The sterile isolation mechanism of claim 1, further comprising a second adapter fixedly disposed on the isolation pouch for detachable connection with a third positioning member of the holder to position the isolation pouch.

12. The sterile isolation mechanism of claim 11, wherein the second adapter comprises a magnetic member for engaging a third positioning member of the holder; or, the second adapting piece comprises a clamping piece, and the clamping piece is used for being clamped with the third positioning piece.

13. The sterile isolation mechanism of claim 1, wherein the sterile isolation mechanism encloses at least the holder, holder body and base and exposes at least the lumen, the catheter protection mechanism and catheter holder.

14. The sterile isolation mechanism of claim 1, comprising a catheter holder fixedly disposed on the isolation pouch for detachable connection with a lens holder and the catheter protection mechanism, respectively, to define at least radial degrees of freedom of the catheter protection mechanism.

15. A mirror-holding arm, comprising: a base, a lens holder, a clamping mechanism and a sterile isolation mechanism according to any one of claims 1 to 14; the clamping mechanism comprises a clamping seat and a catheter protection mechanism, and the clamping seat is provided with an inner cavity; the sterile isolation mechanism at least wraps the clamping seat, the lens holding seat and the base, and at least exposes the inner cavity and the catheter protection mechanism.

16. A lens holding robot, comprising: the mirror-holding arm, control end, and robot body of claim 15; the mirror holding arm is arranged on the robot body, and the control end of the mirror holding robot is arranged at intervals with the robot body.