CN116784941A - Flexible driving shaft and invasive instrument - Google Patents
Flexible driving shaft and invasive instrument Download PDFInfo
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- CN116784941A CN116784941A CN202311075516.8A CN202311075516A CN116784941A CN 116784941 A CN116784941 A CN 116784941A CN 202311075516 A CN202311075516 A CN 202311075516A CN 116784941 A CN116784941 A CN 116784941A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
- A61B17/32002—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes with continuously rotating, oscillating or reciprocating cutting instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22079—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with suction of debris
Abstract
The invention relates to the field of medical instruments, and discloses a flexible driving shaft and an invasive instrument, wherein the invasive instrument comprises a flexible driving shaft, and the flexible driving shaft comprises: the rigid metal pipe section is used for being connected with the rotary driving element, and the second spring section is used for being connected with the functional element; the self-lubricating sheath is coated outside the rigid metal pipe section, the first spring section and the second spring section. The bending rigidity of the flexible driving shaft can be better matched with the working condition, and the flexible driving shaft can move along a desired path faster, and the self-lubricating sheath enables the sliding machine between the flexible driving shaft and the outer pipe fitting to be smoother.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a flexible driving shaft and an invasive instrument.
Background
Endovascular treatment remains the first choice for peripheral vascular disease, such as acute deep vein thrombosis (deep venous thrombosis, DVT) in the lower extremities, and with the continued development of endoluminal devices, particularly the advent of various percutaneous mechanical endovascular volume reduction procedures (percutaneous mechanical debulking atherectomy), has significantly increased the success rate of treatment of complex peripheral vascular lesions. Volume reduction (Debulking) is to reduce the load of intraluminal treatment by removing plaque, thrombus, intima hyperplasia, etc. from the vessel, thereby expanding the lumen volume. The invasive container reducing machine mainly comprises: directional atherectomy (directional atherectomy, DA), laser plaque ablation (excimer laser ablation, ELA), mechanical thrombi removal (percutaneous mechanical thrombectomy, PMT), orbital atherectomy (Orbital atherectomy, OA), thrombi atherectomy, and the like.
Thrombi volume reducing invasive devices such as rotational atherectomy, etc. are all required to generate or transmit torque or rotational motion within the human or animal body. Typically, the proximal end of the drive shaft of these thrombo-volumetric invasive devices is connected externally to the body with a rotary drive element, such as a drive motor, to generate and transmit torque or rotational motion to the distal end of the drive shaft; the functional element, which is designed according to the respective application, is then rotationally fixedly connected to the distal end of the drive shaft. The functional element may be, for example, a screw, a rotary cutter blade, a thrombus formation basket, or the like for conveying a thrombus mixture.
The drive shafts commonly used at present mainly have the following defects:
1. the overall rigidity of the drive shaft is consistent, and the bending rigidity of the drive shaft is required to be changed from outside to inside at least partially in the working process, and the drive shaft cannot quickly move along a desired path due to the fact that the bending rigidity of the drive shaft is not matched with the service condition of the drive shaft.
2. The outer layer of the driving shaft is generally sleeved with an outer layer pipe fitting, and the driving shaft can slide relative to the outer layer pipe fitting, so that the sliding and rotating smoothness of the driving shaft is poor due to high friction force between the driving shaft and other pipe fittings.
Therefore, how to overcome the above-mentioned drawbacks is a problem to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides a flexible driving shaft which can rapidly move along a desired path and has good smoothness of a sliding machine with an outer pipe fitting, and an invasive instrument comprising the flexible driving shaft.
In order to achieve the above object, the present invention provides the following solutions:
the present invention provides a flexible drive shaft comprising:
the device comprises a rigid metal pipe section, a first spring section and a second spring section which are coaxial and are sequentially connected along the axis direction, wherein the bending stiffness of the second spring section is smaller than that of the first spring section, the rigid metal pipe section is used for being connected with a rotary driving element, and the second spring section is used for being connected with a functional element;
the self-lubricating sheath is coated outside the rigid metal pipe section, the first spring section and the second spring section.
Optionally, the first spring section and the second spring section are spirally wound from a first wire and a second wire, respectively, the cross-sectional area of the first wire being larger than the cross-sectional area of the second wire, and/or the pitch of the first spring section being larger than the pitch of the second spring section, such that the stiffness of the first spring section is larger than the stiffness of the second spring section.
Optionally, the cross sections of the first metal wire and the second metal wire are rectangular.
Optionally, the first wire has a cross-sectional length of between 0.5 and 2.5mm and a width of between 0.1 and 1.0 mm.
Optionally, the self-lubricating sheath is made of a heat-shrinkable or thermoplastic material, and after the self-lubricating sheath is sleeved outside the rigid metal pipe section, the first spring section and the second spring section, the self-lubricating sheath is heated, so that the self-lubricating sheath is coated outside the rigid metal pipe section, the first spring section and the second spring section.
Optionally, the flexible driving shaft further comprises a third spring section, the third spring section is coaxially arranged with the second spring section and is connected to one end, far away from the first spring section, of the second spring section, the bending stiffness of the third spring section is larger than that of the second spring section, the self-lubricating sheath is coated outside the third spring section, and the third spring section is used for being connected with the functional element.
Optionally, an outer sidewall of the third spring section is provided with a protrusion for increasing the surface roughness of the third spring section.
Optionally, the flexible driving shaft provided by the present invention further includes: the positioning block is fixedly arranged at one end, close to the rotary driving element, of the self-lubricating sheath, the handle is movably sleeved outside the self-lubricating sheath, the handle can rotate relative to the self-lubricating sheath and slide along the axial direction of the rigid metal pipe section, a positioning groove matched with the shape of the positioning block and a clamping part used for clamping the handle are arranged on the rotary driving element, a concave part is arranged on the positioning groove, and the positioning block is in transmission connection with the output end of the rotary driving element.
Optionally, the positioning block includes a main body and a positioning edge disposed on a side wall of the main body, the clamping portion is a clamping groove, and the clamping portion is at least matched with a part of the handle in shape.
The present invention also provides an invasive instrument comprising: a functional element; a rotary drive element; the flexible drive shaft has the rigid metal tube section connected to the rotary drive element and the second spring section connected to the functional element.
Compared with the prior art, the invention has the following technical effects:
compared with the whole flexible driving shaft which is single bending rigidity, the flexible driving shaft provided by the invention has the advantages that the pushing performance of the flexible driving shaft is better, and the flexible driving shaft can move along a desired path more quickly. In addition, in the use process, the self-lubricating sheath of the flexible driving shaft and the outer pipe fitting relatively slide and relatively rotate, the self-lubricating sheath has good lubricating property, and the friction between the driving shaft and the outer pipe fitting can be effectively reduced, so that the sliding and rotating smoothness of the flexible driving shaft relative to the outer pipe fitting is better.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a flexible drive shaft provided in an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a flexible drive shaft provided in an embodiment of the invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a schematic diagram showing the manner in which a flexible drive shaft engages a blood vessel in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view showing the cooperation of the positioning block and the handle with the rotary driving element according to the embodiment of the present invention;
fig. 6 is a schematic view illustrating an arrangement manner of a positioning block and a handle according to an embodiment of the present invention.
Fig. 1-6 reference numerals illustrate: 100. a flexible drive shaft; 1. a self-lubricating sheath; 2. a first spring section; 201. a first wire; 3. a second spring section; 4. a third spring section; 5. a rigid metal tube section; 6. a positioning block; 601. a recessed portion; 7. a handle; 8. a rotary drive element; 801. a positioning groove; 802. a clamping groove; 9. a joint; 10. and (5) blood vessels.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a flexible driving shaft which can rapidly move along a desired path and has good smoothness of a sliding machine with an outer pipe fitting, and an invasive instrument comprising the flexible driving shaft.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1-6, in an embodiment of the present invention, there is provided a flexible drive shaft 100 comprising: the self-lubricating sheath 1 and the rigid metal pipe section 5, the first spring section 2 and the second spring section 3 which are coaxial and are connected in sequence along the axial direction.
Specifically, the rigid metal pipe section 5 is made of a rigid metal material, and the length of the rigid metal pipe section 5 is, for example, 20 mm-350 mm.
The bending stiffness of the second spring section 3 is smaller than the bending stiffness of the first spring section 2, the rigid metal tube section 5 being intended for connection with a rotary drive element 8, the second spring section 3 being intended for connection with a functional element. The rotary drive element 8 is, for example, a rotary electric machine, and the functional element is, for example, a bolt-breaking basket.
The self-lubricating sheath 1 is coated outside the rigid metal pipe section 5, the first spring section 2 and the second spring section 3, and the self-lubricating sheath 1 has a lubricating effect and can reduce friction between the flexible driving shaft 100 and the outer pipe fitting. It can be understood that after the self-lubricating sheath 1 is wrapped outside the rigid metal pipe section 5, the first spring section 2 and the second spring section 3, the self-lubricating sheath 1 is tightly matched with the rigid metal pipe section 5, the first spring section 2 and the second spring section 3, and cannot slide and rotate relatively.
The second spring section 3 is closer to the outside than the first spring section 2, and the bending stiffness of the second spring section 3 is smaller than that of the first spring section 2, so that the bending stiffness of the flexible driving shaft 100 tends to be reduced from the outside to the inside, and compared with the fact that the whole flexible driving shaft 100 is single bending stiffness, the flexible driving shaft 100 is better adapted to the service condition of the flexible driving shaft 100, and the pushing performance of the driving shaft is better, and the flexible driving shaft can move along a desired path more quickly. In addition, during the use process, the self-lubricating sheath 1 of the flexible driving shaft 100 slides relatively with the outer pipe fitting and rotates relatively, the self-lubricating sheath 1 has good lubricating performance, and the friction between the flexible driving shaft 100 and the outer pipe fitting provided by the invention can be effectively reduced, so that the sliding and rotating smoothness of the flexible driving shaft 100 relative to the outer pipe fitting provided by the invention is better.
As an alternative embodiment, the first spring section 2 and the second spring section 3 are helically wound from a first wire 201 and a second wire, respectively, the cross-sectional area of the first wire 201 being larger than the cross-sectional area of the second wire and/or the pitch of the first spring section 2 being larger than the pitch of the second spring section 3, such that the stiffness of the first spring section 2 is larger than the stiffness of the second spring section 3, the pitch referring to the position indicated by b in fig. 3.
Further, as shown in fig. 3, the cross sections of the first wire 201 and the second wire are rectangular. Typically, the drive shaft is wound from wire having a circular cross-section. It will be appreciated that when the materials are the same, the rectangular cross section has a larger bending deformation coefficient and a smaller axial deformation coefficient relative to the circular cross section, i.e. the anisotropy of the rectangular cross section in the axial direction and the circumferential direction is more obvious compared to the circular cross section, as shown in fig. 4, the rectangular cross section is easier to attach to the bending advancing direction of the blood vessel 10, and meanwhile, the pushing performance of the whole driving shaft is ensured, which is required for pushing the flexible driving shaft 100 and the distal functional element thereof to the target blood vessel 10 through the human blood vessel 10, the axial rigidity can ensure that the mechanical feedback is shorter in the process of pushing the apparatus, the mechanical feedback can enter the target blood vessel 10 more accurately, the blood vessel 10 has a plurality of branches, and the mechanical feedback is too long and is not easy to control.
The cross section refers to a section of the wire perpendicular to the axial direction thereof. In addition, the cross-sectional shapes of the first wire 201 and the second wire are not limited to rectangular, but may be other shapes having a larger bending deformation coefficient and a smaller axial deformation coefficient with respect to a circular cross-section, such as trapezoidal.
In addition, the inventors have found through a great deal of research that three limitations need to be satisfied during the operation of the drive shaft: firstly, when axial propelling movement is not performed, for example, when the driving shaft rotates, the whole circumferential dynamic stability of the driving shaft is required; secondly, when the driving shaft is in axial propelling movement and simultaneously rotates, the driving shaft is required to have axial and circumferential dynamic stability as a whole; thirdly, the drive shaft itself is required to have a certain capability of suppressing the shake. For example, in some critical applications, the functional element is required to be driven to rotate at high speed (500 or even 1500 RPM) and to wander within the target vessel 10 segment; in this application, the functional element and the drive shaft connected thereto will be in two states of rotational operation, respectively: a rotational state in which the axial relative position is unchanged (the relative position of the functional element is unchanged), and a rotational state in which the axial relative position is changed (the functional element is displaced relative to a fixed point of the blood vessel 10); in both states, it is desirable that the functional element and the drive shaft connected thereto are vibration/disturbance/shake/wobble that does not deviate from the inertial axis; because of radial deflection of the drive shaft, unwanted vibrations and/or standing waves in the drive shaft at high rotational speeds, it is possible to deflect/deviate the functional element from its intended travel path, which in turn may reduce the efficiency of the functional element and/or lead to complications caused by uncontrolled contact of the functional element with the vessel wall. Only the push-out property of the drive shaft is generally considered at present, and the vibration problem of the drive shaft is not concerned.
According to the vibration theory, when the natural frequency of a certain order of the drive shaft approaches the drive frequency, an engineering common "resonance phenomenon" will occur. A reasonable design scheme is that the local rigidity or mass of the driving shaft is changed, so that the natural frequencies of two adjacent steps are far away from the driving frequency of the driving shaft as far as possible, and the amplitude of vibration can be effectively slowed down. The first 10 th order natural frequency of the drive shaft can be obtained by a finite element modal analysis method and verified by in vitro test simulation.
For a single degree of freedom system,in->Is the natural frequency, m is the mass, and k is the stiffness. It can be easily understood by this formula that varying the mass and stiffness can vary its natural frequency. For normal objects, the object is often a complex multi-degree-of-freedom system, and the natural frequency of the object can be determined by a characteristic equation +.>To solve for. Wherein K is the rigidity matrix of the multi-degree-of-freedom system, M is the mass matrix, and +.>The characteristic root of the characteristic equation of each order, namely the natural frequency of each order.
Taking the first spring section 2 as an example, if the working rotation speed is 1500RPM (i.e. the driving frequency is 25 Hz), if the nearest 3 adjacent natural modes are obtained by solving through a finite element mode method, the 6 th order natural frequency is 15Hz, the 7 th order natural frequency is 25.457Hz, and the 8 th order natural frequency is 69.87Hz. One way is to increase the local mass and decrease the local stiffness so that its 7 th order natural frequency is increased, thus moving it away from the drive frequency to prevent the "resonance" phenomenon. More specifically, when the cross section of the first spring section 2 is rectangular, an effective method is to increase the length of the rectangular cross section, and referring to the position indicated by a in fig. 3, decrease the wall thickness of the rectangular cross section, that is, the width of the rectangular cross section, that is, increase the mass m of the first spring section 2 at the same time, and decrease the stiffness k of the first spring section 2, so that the natural frequency of the first spring section 2 is increased, thereby avoiding the vibration region.
From the above, the vibration of the drive shaft can be suppressed by reasonably controlling the aspect ratio of the rectangular cross section. Correspondingly, in order to avoid vibrations, in this embodiment, specifically, the cross-sectional length a of the first wire 201 is between 0.5 and 2.5mm and the width is between 0.1 and 1.0 mm. It should also be noted that the length and width of the cross section of the first wire 201 are not limited to the above-mentioned intervals, but are merely exemplified herein.
Further, the pitch of the first spring segments 2 is for example 0.05-0.6mm, and the length of the first spring segments 2 is for example in the range of 5 mm-200 mm.
In another embodiment of the present invention, the metal round tube is spirally cut along the axial direction to form the rigid metal tube section 5, the first spring section 2 and the second spring section 3 which are sequentially connected, and the metal round tube is spirally cut along the axial direction to form the first metal wire 201 and the second metal wire.
In another embodiment of the present invention, the self-lubricating sheath 1 is made of a heat-shrinkable or thermoplastic material, and the self-lubricating sheath 1 is made of one of polytetrafluoroethylene material, nylon, polyimide, and polyethylene, for example. After the self-lubricating sheath 1 is sleeved outside the rigid metal pipe section 5, the first spring section 2 and the second spring section 3, the self-lubricating sheath 1 is heated, and the heat shrinkage material or the thermoplastic material is heated to shrink and reduce the size, so that the self-lubricating sheath 1 is coated outside the rigid metal pipe section 5, the first spring section 2 and the second spring section 3. The thickness of the self-lubricating sheath 1 is, for example, 0.01mm to 0.1 mm.
In another embodiment of the present invention, in some critical applications, it is desirable that the distal end of the flexible drive shaft 100 is more difficult to collapse than the middle section of the flexible drive shaft 100, for which purpose, as shown in fig. 1-2, the flexible drive shaft 100 further comprises a third spring section 4, the third spring section 4 being arranged coaxially with the second spring section 3 and being connected to the end of the second spring section 3 remote from the first spring section 2, the bending stiffness of the third spring section 4 being greater than the bending stiffness of the second spring section 3, the self-lubricating sheath 1 being wrapped around the third spring section 4, the third spring section 4 being adapted for connection to a functional element. In particular, the functional element is provided with a joint 9, and the third spring section 4 is connected to the joint 9.
The length of the third spring section 4 is, for example, 5 mm-100 mm, the length of the third spring section 4 is shortest compared with the lengths of the first spring section 2 and the second spring section 3, and the length of the second spring section 3 is longest compared with the lengths of the first spring section 2 and the third spring section 4.
Further, in order to increase the friction force between the third spring section 4 and the self-lubricating sheath 1, the outer side wall of the third spring section 4 is provided with protruding portions for increasing the surface roughness of the third spring section 4, the number and arrangement mode of the protruding portions are determined according to actual needs, the protruding portions can reduce the risk of relative sliding between the third spring section 4 and the self-lubricating sheath 1 in the circumferential direction, and the occurrence of relative sliding between the self-lubricating sheath 1 and the third spring section 4 due to transmission of integral torque is avoided.
Further, the third spring section 4 is helically wound from a third wire, which is likewise rectangular in cross section, for example.
Further, the metal round tube is spirally cut along the axial direction to form four parts of a rigid metal tube section 5, a first spring section 2, a second spring section 3 and a third spring section 4 which are sequentially and continuously connected, and the metal round tube is spirally cut along the axial direction to form a third metal wire.
In another embodiment of the present invention, the materials of the first wire 201 and the second wire may be the same or different, for example, one of nickel-titanium alloy, stainless steel, cobalt-nickel alloy, platinum-iridium alloy may be selected to make the first wire 201, the second wire, and/or the third wire.
In another embodiment of the present invention, as shown in fig. 5-6, the flexible drive shaft 100 further comprises: the positioning block 6 and the handle 7 are fixedly arranged at one end, close to the rotary driving element 8, of the self-lubricating sheath 1, the handle 7 is movably sleeved outside the self-lubricating sheath 1, so that the handle 7 can rotate relative to the self-lubricating sheath 1 and can slide along the axial direction of the rigid metal pipe section 5, a positioning groove 801 matched with the positioning block 6 in shape and a clamping part used for clamping the handle 7 are arranged on the rotary driving element 8, and the positioning block 6 is in transmission connection with the output end of the rotary driving element 8. The assembly and disassembly between the flexible drive shaft 100 and the rotary drive element 8 can be quickly completed by means of the positioning block 6 and the handle 7.
Further, the positioning block 6 is provided with a concave portion, the output end of the rotary driving element 8 is provided with a convex portion, and the convex portion is arranged in the concave portion, so that the positioning block 6 is in transmission connection with the rotary driving element 8, and the positioning block and the rotary driving element can synchronously rotate.
In the specific use process, firstly, the positioning block 6 is embedded in the positioning groove 801, the protruding part is embedded in the concave part, then the handle 7 is pushed to move along the axial direction of the rigid metal pipe section 5, the axial positions of the handle 7 and the clamping part are opposite, and finally, the handle 7 is rotated, and the handle 7 is clamped in the clamping part, so that the whole connection can be completed.
Further, as shown in fig. 6, the positioning block 6 includes a main body and positioning ribs disposed on a side wall of the main body, the clamping portion is a clamping groove 802, and the clamping portion is at least matched with a part of the shape of the handle 7.
Further, the handle 7 comprises a first connecting section axially parallel to the rigid metal pipe section 5 and a second connecting section perpendicular to the first connecting section, one end of the second connecting section is movably sleeved on the rigid metal pipe section 5, and the other end of the second connecting section is connected with the first connecting section.
An invasive instrument is also provided in an embodiment of the present invention, including: a functional element; a rotary drive element 8; the flexible drive shaft 100, the rigid metal tube section 5 of the flexible drive shaft 100 is connected to the rotary drive element 8 and the second spring section 3 of the flexible drive shaft 100 is connected to the functional element.
In a specific use process, the rotation driving element 8 rotates to drive the flexible driving shaft 100 to rotate, and then the flexible driving shaft 100 is utilized to drive the functional element to rotate.
The flexible drive shaft 100 provided by the present invention is described in detail below in connection with three specific embodiments:
example 1
The flexible driving shaft 100 provided by the embodiment is provided with a self-lubricating sheath 1 which is a polytetrafluoroethylene sheath, the total length of the flexible driving shaft 100 is 1000mm, the outer diameter is 1.5mm, the wall thickness is 0.4mm, and the wall thickness of the polytetrafluoroethylene sheath is 0.015mm. The single-layer stainless steel metal round tube is spirally cut along the axial direction to form three parts of a rigid metal tube section 5, a first spring section 2 and a second spring section 3 which are sequentially and continuously connected. The cross sections of the first spring section 2 and the second spring section 3 are rectangular, the spiral line width of the first spring section 2, i.e. the cross section length of the first wire 201 is 2mm, the pitch of the first spring section 2 is 0.1mm, and the spiral angle of the first spring section 2 is 6 °. The spiral line width of the second spring segments 3, i.e. the cross-sectional length of the second wire, is 1.25mm, the pitch of the second spring segments 3 is 0.05mm and the helix angle of the second spring segments 3 is 6 °. The first spring section 2 is 20cm long, the second spring section 3 is 60cm long, and the rigid metal pipe section 5 is 20cm long. The line width of the spiral line between the first spring section 2 and the second spring section 3 is uniform.
Example two
The flexible drive shaft 100 provided in this example has a shaft length of 100cm, an outer diameter of 3mm and a wall thickness of 1.25mm. The self-lubricating sheath 1 is a polytetrafluoroethylene sheath, and the wall thickness of the polytetrafluoroethylene sheath is 0.015mm. The single-layer stainless steel metal round tube is spirally cut along the axial direction to form four parts of a rigid metal tube section 5, a first spring section 2, a second spring section 3 and a third spring section 4 which are sequentially and continuously connected. The cross sections of the first spring section 2, the second spring section 3 and the third spring section 4 are all rectangular, the spiral line width of the first spring section 2 is 2.5mm, the line width is uniform, the pitch of the first spring section 2 is 0.02mm, and the spiral angle of the first spring section 2 is 8 degrees. The spiral line width of the second spring section 3 is 1.25mm, the line width is uniform, the pitch of the second spring section 3 is 0.02mm, and the spiral angle of the second spring section 3 is 8 degrees. The helical line width of the third spring section 4 is 1.75mm, the line width is uniform, the pitch of the third spring section 4 is 0.02mm, and the helical angle of the third spring section 4 is 8 °. The first spring section 2 is 20cm long, the second spring section 3 is 50cm long, the third spring section 4 is 10cm long, and the rigid metal pipe section 5 is 20cm long. The spiral line width is evenly transited between the first winding spring section and the second winding spring section.
Example III
The flexible drive shaft 100 provided in this example has a shaft length of 100cm, an outer diameter of 3mm and a wall thickness of 1.25mm. The self-lubricating sheath 1 is a polytetrafluoroethylene sheath, and the wall thickness of the polytetrafluoroethylene sheath is 0.015mm. The single-layer stainless steel metal round tube is spirally cut along the axial direction to form four parts of a rigid metal tube section 5, a first spring section 2, a second spring section 3 and a third spring section 4 which are sequentially and continuously connected. The helical line width of the first spring section 2 is 2.5mm, the line width is uniform, the pitch of the first spring section 2 is 0.02mm, and the helical angle of the first spring section 2 is 8 °. The spiral line width of the second spring section 3 is 1.25mm, the line width is uniform, the pitch of the second spring section 3 is 0.02mm, and the spiral angle of the second spring section 3 is 8 °. The helical line width of the third spring section 4 is 1.75mm, the line width is uniform, the pitch of the third spring section 4 is 0.02mm, and the helical angle of the third spring section 4 is 8 °. The first spring section 2 is 20cm long, the second spring section 3 is 50cm long, the third spring section 4 is 10cm long, and the rigid metal pipe section 5 is 20cm long. The outer surface of the third spring section 4 is subjected to pitting treatment to form a protruding part so as to increase the surface roughness of the third spring section 4 and further increase the friction force between the third spring section 4 and the self-lubricating sheath 1. The spiral line width of the first spring section 2, the second spring section 3 and the third spring section 4 is in uniform transition.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. A flexible drive shaft, comprising:
the device comprises a rigid metal pipe section, a first spring section and a second spring section which are coaxial and are sequentially connected along the axis direction, wherein the bending stiffness of the second spring section is smaller than that of the first spring section, the rigid metal pipe section is used for being connected with a rotary driving element, and the second spring section is used for being connected with a functional element;
the self-lubricating sheath is coated outside the rigid metal pipe section, the first spring section and the second spring section.
2. The flexible drive shaft of claim 1 wherein the first and second spring segments are helically wound from first and second wires, respectively, the cross-sectional area of the first wire being greater than the cross-sectional area of the second wire, and/or the pitch of the first spring segments being greater than the pitch of the second spring segments such that the stiffness of the first spring segments is greater than the stiffness of the second spring segments.
3. The flexible drive shaft of claim 2 wherein the first wire and the second wire are rectangular in cross-section.
4. The flexible drive shaft of claim 2 wherein the first wire has a cross-sectional length of between 0.5 and 2.5mm and a width of between 0.1 and 1.0 mm.
5. The flexible drive shaft of claim 1 wherein the self-lubricating sheath is made of a heat shrink or thermoplastic material and wherein after the self-lubricating sheath is sleeved outside the rigid metal tube section, the first spring section and the second spring section, the self-lubricating sheath is heated to encase the self-lubricating sheath outside the rigid metal tube section, the first spring section and the second spring section.
6. The flexible drive shaft of any of claims 1-5 further comprising a third spring segment coaxially disposed with the second spring segment and connected to an end of the second spring segment remote from the first spring segment, the third spring segment having a bending stiffness greater than a bending stiffness of the second spring segment, the self-lubricating sheath being wrapped around the third spring segment, the third spring segment being configured to connect with the functional element.
7. The flexible drive shaft of claim 6 wherein an outer sidewall of the third spring segment is provided with a boss for increasing the surface roughness of the third spring segment.
8. The flexible drive shaft of any of claims 1-5 further comprising: the positioning block is fixedly arranged at one end, close to the rotary driving element, of the self-lubricating sheath, the handle is movably sleeved outside the self-lubricating sheath, the handle can rotate relative to the self-lubricating sheath and slide along the axial direction of the rigid metal pipe section, a positioning groove matched with the positioning block in shape and a clamping part used for clamping the handle are arranged on the rotary driving element, and the positioning block is in transmission connection with the output end of the rotary driving element.
9. The flexible drive shaft of claim 8 wherein the positioning block comprises a main body and positioning ribs disposed on a side wall of the main body, the clamping portion is a clamping groove, and the clamping portion is at least partially shaped to match the handle.
10. An invasive instrument, comprising:
a functional element;
a rotary drive element;
the flexible drive shaft of any one of claims 1-9 wherein said rigid metal tube segment of said flexible drive shaft is coupled to said rotary drive element and said second spring segment of said flexible drive shaft is coupled to said functional element.
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| CN202311075516.8A CN116784941B (en) | 2023-08-25 | 2023-08-25 | Flexible driving shaft and invasive instrument |
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| CN202311075516.8A CN116784941B (en) | 2023-08-25 | 2023-08-25 | Flexible driving shaft and invasive instrument |
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| CN116784941B (en) | 2023-11-24 |
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