CN117958973A - Flexible end controllable medical instrument motion control system and medical equipment - Google Patents

Abstract

The invention relates to the technical field of medical instruments and provides a flexible tail end controllable medical instrument motion control system and medical equipment, wherein the flexible tail end controllable medical instrument motion control system comprises a mounting main body, an insertion part driving mechanism, an insertion part mounting mechanism and a sheath mounting mechanism, wherein the sheath mounting mechanism is fixedly arranged at one end of the mounting main body, and the insertion part mounting mechanism is arranged at the other end of the mounting main body through the insertion part driving mechanism; the sheath mounting mechanism and the insertion portion mounting mechanism are arranged along a first direction, the insertion portion driving mechanism is used for driving the insertion portion mounting mechanism to move between a first position and a second position along the first direction, when the insertion portion mounting mechanism moves to the first position, the insertion portion mounting mechanism is far away from the sheath mounting mechanism, and when the insertion portion mounting mechanism moves to the second position, the insertion portion mounting mechanism is close to the sheath mounting mechanism, so that the insertion portion and the sheath of the flexible tail end controllable medical device can keep linear motion in the process of relative movement.

Description

Flexible end controllable medical instrument motion control system and medical equipment

Technical Field

The invention relates to the technical field of medical equipment, in particular to a flexible tail end controllable medical equipment motion control system and medical equipment.

Background

In recent years, flexible distal end-controllable medical devices and surgical instruments thereof have been used in a large number of fields for minimally invasive diagnosis and treatment. The flexible tail end controllable medical instrument is of a secondary concentric tube type structure, can enter the human body through the oral cavity, other natural human body cavity channels or minimally invasive wounds, and a doctor observes the pathological changes in the human body through the flexible tail end controllable medical instrument. With the rapid development of minimally invasive medical technology, automatic control systems for flexible end-controllable medical instruments have been developed.

In the related art, the secondary concentric tube type structure of the flexible tail end controllable medical instrument mainly comprises a sheath and an inserting part, wherein the inserting part is arranged in the sheath and needs to enter the human body through the sheath, and the sheath and the inserting part can be driven in the human body respectively. At present, a solution is to drive the sheath and the insertion part by using a linear driving system or a mechanical arm respectively, wherein the linear driving system comprises a motor, a screw rod, a guiding mechanism and other parts, and the whole mechanism is large in size and heavy in weight due to the adoption of the mode. In this case, the insertion portion is easily bent when moving relative to the sheath, and damage is caused to the power cord or the like inside the insertion portion, because the swing arm moves in a nonlinear motion, which results in a large angular deviation between the center line of the insertion portion and the center line of the sheath.

Therefore, a new solution is needed to solve the above technical problems.

Disclosure of Invention

The invention provides a flexible tail end controllable medical instrument motion control system and medical equipment, which are used for solving the problem that an insertion part is easy to damage due to larger angle deviation between the center line of the insertion part and the center line of the sheath when the conventional flexible tail end controllable medical instrument drives the sheath and the insertion part.

The invention provides a flexible tail end controllable medical instrument motion control system, which comprises a mounting main body, an insertion part driving mechanism, an insertion part mounting mechanism and a sheath mounting mechanism;

The sheath mounting mechanism is fixedly mounted at one end of the mounting main body, and the insertion part mounting mechanism is mounted at the other end of the mounting main body through the insertion part driving mechanism;

The insertion part driving mechanism is used for driving the insertion part mounting mechanism to move between a first position and a second position along a first direction, the insertion part mounting mechanism is far away from the sheath mounting mechanism when the insertion part mounting mechanism moves to the first position, and the insertion part mounting mechanism is close to the sheath mounting mechanism when the insertion part mounting mechanism moves to the second position.

According to the flexible end-controllable medical instrument motion control system provided by the invention, the insertion part mounting mechanism is used for mounting the insertion part of the flexible end-controllable medical instrument, the sheath mounting mechanism is used for mounting the sheath of the flexible end-controllable medical instrument, the sheath is sleeved on the insertion part, wherein the insertion part and the sheath relatively move in the first direction while the insertion part mounting mechanism moves in the first direction, and the insertion part and the sheath are kept to relatively move on the same horizontal line.

According to the flexible tail end controllable medical instrument motion control system provided by the invention, the insertion part driving mechanism comprises an insertion part driving motor and a connecting rod mechanism, the insertion part driving motor is arranged on the installation main body, one end of the connecting rod mechanism is connected with an output shaft of the insertion part driving motor, the other end of the connecting rod mechanism is connected with the insertion part installation mechanism, and the rotation motion of the output shaft is converted into the linear motion of the insertion part installation mechanism in the first direction through the connecting rod mechanism.

According to the flexible tail end controllable medical instrument motion control system provided by the invention, the insertion part driving mechanism further comprises a motor shaft connecting piece, a connecting rod fixing plate and a pressing assembly, wherein the connecting rod fixing plate is arranged on the output shaft side of the insertion part driving motor, the motor shaft connecting piece is arranged on the output shaft, and the connecting rod mechanism is connected with the insertion part mounting mechanism through the pressing assembly;

The connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, one end of the first connecting rod is fixedly connected with the output shaft through the motor shaft connecting piece, the other end of the first connecting rod is rotationally connected with one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected with the compressing assembly; one end of the third connecting rod is respectively connected with the motor shaft connecting piece and the connecting rod fixing plate in a rotating mode, the other end of the third connecting rod is connected with one end of the fourth connecting rod and one end of the sixth connecting rod in a coaxial rotating mode, the other end of the fourth connecting rod is connected with one end of the fifth connecting rod in a coaxial rotating mode, the other end of the fifth connecting rod is connected with the connecting rod fixing plate in a rotating mode, the fifth connecting rod is parallel to the third connecting rod, the other end of the sixth connecting rod is installed on the compressing assembly in the same side as the second connecting rod in a rotating mode, and the sixth connecting rod is parallel to the second connecting rod.

According to the flexible tail end controllable medical instrument motion control system provided by the invention, the insertion part installation mechanism comprises an insertion part linear wire driving assembly and an insertion part installation assembly, the insertion part installation assembly is detachably connected to one side, close to the sheath installation mechanism, of the insertion part linear wire driving assembly, and the insertion part linear wire driving assembly is connected with the connecting rod mechanism through the pressing assembly.

According to the flexible tail end controllable medical instrument motion control system provided by the invention, the insertion part mounting mechanism further comprises a first clamping jaw assembly, and the insertion part mounting assembly is detachably mounted on the insertion part linear wire driving assembly through the first clamping jaw assembly.

According to the flexible tail end controllable medical instrument motion control system provided by the invention, the compressing assembly comprises a base, a compressing piece and an adapter piece, one end of the adapter piece is rotatably installed on the base, the other end of the adapter piece is fixedly connected to the inserting portion linear wire driving assembly, the compressing piece is installed on the base, and the compressing piece is used for compressing and fixing the base and the inserting portion linear wire driving assembly.

According to the flexible tail end controllable medical instrument motion control system provided by the invention, the sheath mounting mechanism comprises a sheath linear wire driving assembly and a sheath mounting assembly, the sheath mounting assembly is detachably connected to one side, far away from the insertion part mounting mechanism, of the sheath linear wire driving assembly, and the sheath linear wire driving assembly is fixedly connected with the mounting main body.

According to the flexible tail end controllable medical instrument motion control system provided by the invention, the sheath mounting mechanism further comprises a second clamping jaw assembly, and the sheath mounting assembly is detachably mounted on the sheath linear wire driving assembly through the second clamping jaw assembly.

The invention also provides a medical device comprising a displacement drive system and a flexible end-controllable medical instrument motion control system as described above;

Wherein, the installation main body of the flexible tail end controllable medical instrument motion control system is connected with the displacement driving system.

The technical scheme of the invention has the following beneficial effects:

According to the flexible tail end controllable medical instrument motion control system and the medical equipment, the sheath mounting mechanism is fixedly arranged at one end of the mounting main body, and the insertion part mounting mechanism is arranged at the other end of the mounting main body through the insertion part driving mechanism, so that the sheath mounting mechanism and the insertion part mounting mechanism are distributed along the first direction; the insertion part driving mechanism is used for driving the insertion part mounting mechanism to move between a first position and a second position along a first direction, when the insertion part mounting mechanism moves to the first position, the insertion part mounting mechanism is far away from the sheath mounting mechanism, and when the insertion part mounting mechanism moves to the second position, the insertion part mounting mechanism is close to the sheath mounting mechanism, so that the insertion part and the sheath of the flexible tail end controllable medical instrument can relatively move along the first direction, and driving control of the insertion part and the sheath is realized; because the driving mode of the insertion part and the sheath is linear motion along the first direction, the center line of the insertion part and the center line of the sheath are positioned on the same horizontal line, and therefore, the problem that the insertion part is easy to damage due to larger angle deviation between the center line of the insertion part and the center line of the sheath when the conventional flexible tail end controllable medical instrument drives the sheath and the insertion part can be solved. In addition, the invention can drive the relative movement of the insertion part and the sheath through the insertion part driving mechanism, and has simple integral structure, small volume and light weight.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a flexible end-controllable medical device motion control system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an insert driving mechanism according to an embodiment of the present invention for driving an insert mounting mechanism to move to a first position;

FIG. 3 is a schematic view of an insert driving mechanism according to an embodiment of the present invention for driving an insert mounting mechanism to move to a second position;

FIG. 4 is a schematic diagram of an insert driving mechanism according to an embodiment of the present invention;

FIG. 5 is a second schematic diagram of an insert driving mechanism according to an embodiment of the present invention;

FIG. 6 is a third schematic diagram of an insert driving mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an insert driving mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an insert driving motor driving a compressing assembly to move to a first position according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of an insert driving motor driving a compressing assembly to move to a second position according to an embodiment of the present invention;

FIG. 10 is a schematic view of an insert mounting mechanism according to an embodiment of the present invention connected to an insert driving mechanism;

FIG. 11 is a schematic view of a sheath mounting mechanism according to an embodiment of the present invention;

Fig. 12 to 13 are schematic views illustrating a disassembly process of an insert linear wire driving assembly and an insert mounting assembly according to an embodiment of the present invention.

Reference numerals:

1. A mounting main body; 2. an insertion section driving mechanism; 21. the insertion part drives the motor; 22. a link mechanism; 221. a first link; 222. a second link; 223. a third link; 224. a fourth link; 225. a fifth link; 226. a sixth link; 23. a motor shaft connector; 24. a connecting rod fixing plate; 25. a compression assembly; 251. a base; 252. a connecting plate; 253. an adapter; 254. a pressing member; 255. a first rotating shaft; 256. a first magnetic structure; 3. an insertion portion mounting mechanism; 31. an insert linear wire drive assembly; 311. a second magnetic structure; 32. an insert mounting assembly; 33. a first jaw assembly; 4. a sheath mounting mechanism; 41. a sheath linear wire drive assembly; 42. a sheath mounting assembly; 43. a second jaw assembly; 5. a sheath; 6. an insertion portion.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, 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 flexible end-controllable medical device motion control system of the present invention is described below in connection with fig. 1-13.

Referring to fig. 1, the flexible distal end controllable medical instrument motion control system provided by the present invention includes a mounting body 1, an insertion portion driving mechanism 2, an insertion portion mounting mechanism 3, and a sheath mounting mechanism 4. The sheath mounting mechanism 4 is fixedly mounted on one end of the mounting body 1, and the insertion portion mounting mechanism 3 is mounted on the other end of the mounting body 1 via the insertion portion driving mechanism 2.

The flexible end controllable medical instrument can be an endoscope applied to the medical field, such as a bronchoscope, a urethroscope, a duodenoscope, a choledochoscope, a pyeloscope and other slim flexible electronic endoscopes. The flexible tail end controllable medical instrument is of a secondary concentric tube type structure, and can enter a part to be detected in a human body through the oral cavity or other natural cavity channels of the human body so as to check whether pathological changes exist in the human body. The flexible tail end controllable medical instrument mainly comprises a sheath 5 and an insertion part 6 which are matched, the insertion part 6 is arranged in the sheath 5 in a penetrating mode and can move relative to the sheath 5, and the sheath 5 and the insertion part 6 can synchronously enter a part to be detected in a human body to detect lesions.

Wherein, sheath installation mechanism 4 and insert portion installation mechanism 3 are arranged along first direction, insert portion installation mechanism 3 is used for installing and fixed the flexible controllable medical instrument's of flexible end insert portion 6 and insert portion flexible controllable instrument guy, sheath installation mechanism 4 is used for installing and fixed flexible controllable medical instrument's of end sheath 5 and sheath flexible controllable instrument guy, and sheath 5 cover is located on insert portion 6. When the sheath mounting mechanism 4 and the insertion portion mounting mechanism 3 are arranged in the first direction, the center line of the sheath 5 and the center line of the insertion portion 6 may be maintained on the same horizontal line.

Referring to fig. 2 and 3, the insertion portion driving mechanism 2 is configured to drive the insertion portion mounting mechanism 3 to move between a first position and a second position along a first direction, the insertion portion mounting mechanism 3 is away from the sheath mounting mechanism 4 when the insertion portion mounting mechanism 3 moves to the first position, and the insertion portion mounting mechanism 3 is close to the sheath mounting mechanism 4 when the insertion portion mounting mechanism 3 moves to the second position. Since the sheath mounting mechanism 4 is fixedly mounted on the mounting body 1, the insertion portion 6 and the sheath 5 can be relatively moved by driving the insertion portion mounting mechanism 3 in the first direction by only one insertion portion driving mechanism 2. Wherein the insertion portion 6 and the sheath 5 are relatively moved in the first direction while the insertion portion mounting mechanism 3 is moved in the first direction, and the insertion portion 6 and the sheath 5 can be kept relatively moved on the same horizontal line. Therefore, the invention can solve the problem that the insertion part is easy to be damaged due to the larger angle deviation between the center line of the insertion part and the center line of the sheath when the sheath and the insertion part are driven by the traditional flexible tail end controllable medical instrument. In addition, the invention can drive the relative movement of the insertion part and the sheath through the insertion part driving mechanism, and has simple integral structure, small volume and light weight.

Referring to fig. 1 to 3, the insertion section driving mechanism 2 includes an insertion section driving motor 21 and a link mechanism 22, the insertion section driving motor 21 is mounted on the mounting body 1, one end of the link mechanism 22 is connected to an output shaft of the insertion section driving motor 21, and the other end of the link mechanism 22 is connected to the insertion section mounting mechanism 3. The linkage mechanism 22 is provided to convert the rotational movement of the output shaft of the insertion section driving motor 21 into the linear movement of the insertion section mounting mechanism 3 in the first direction, thereby ensuring that the insertion section 6 and the sheath 5 can be kept on the same horizontal line for relative movement.

The insertion section driving motor 21 linearly drives the insertion section mounting mechanism 3 in the first direction via the link mechanism 22, and the insertion section mounting mechanism 3 linearly moves in the first direction to thereby linearly move the insertion section 6 in the first direction (e.g., the horizontal direction) with respect to the sheath 5.

The flexible end-controllable medical instrument motion control system can be installed on a displacement driving system for use, the displacement driving system can be a driving structure such as a mechanical arm or a multi-shaft driving mechanism, the displacement driving system is taken as the mechanical arm here as an example, the flexible end-controllable medical instrument motion control system can be installed at the tail end of the mechanical arm, and the feeding motion of the insertion part 6 along the linear direction can be realized by using an insertion part driving motor 21 and a connecting rod mechanism 22. Wherein the sheath 5 and the insertion part 6 can perform feeding movement simultaneously or independently. When the sheath 5 and the insertion part 6 are required to perform feeding movement simultaneously, the mechanical arm is used for integrally driving the flexible tail end controllable medical instrument movement control system to move; when the sheath 5 is required to perform feeding movement independently, the mechanical arm moves a certain distance in the feeding movement direction, and at the moment, the insertion part driving motor 21 drives the insertion part 6 to move the same distance in the opposite direction; when the insertion portion 6 is required to perform the feeding movement alone, the mechanical arm remains stationary, and only the insertion portion driving motor 21 drives the insertion portion 6 to move.

When the sheath 5 and the insertion portion 6 are independently moved in advance, the insertion portion 6 moves relative to the sheath 5. When the insertion part 6 and the sheath 5 move synchronously to the vicinity of the part to be measured of the human body, if the space is limited, the insertion part 6 can be driven to move forward (close to the part to be measured) by the insertion part driving motor 21, and then the head of the insertion part 6 extends out of the sheath 5 to reach the target part to be measured, and the head of the insertion part 6 is used for lesion detection and minimally invasive surgery treatment.

Referring to fig. 4 to 7, the insertion portion driving mechanism 2 of the flexible end-controllable medical instrument motion control system of the present invention includes an insertion portion driving motor 21, a link mechanism 22, a motor shaft connector 23, a link fixing plate 24, and a pressing assembly 25. Wherein a link fixing plate 24 is installed at the output shaft side of the insertion portion driving motor 21 for fixing the link mechanism 22; the motor shaft connecting piece 23 is sleeved on the output shaft and used for connecting the connecting rod mechanism 22 with the output shaft; the pressing assembly 25 is provided at an end of the insertion portion driving mechanism 2, and the link mechanism 22 is connected to the insertion portion mounting mechanism 3 through the pressing assembly 25.

Specifically, the link fixing plate 24 is penetrated on the output shaft and fixed on the mounting body 1, and a gap is formed between the link fixing plate 24 and the output shaft so as not to affect the normal rotation of the output shaft by the link fixing plate 24. The motor shaft connector 23 is fixed to the output shaft and rotates in synchronization with the output shaft.

The link mechanism 22 comprises a first link 221, a second link 222, a third link 223, a fourth link 224, a fifth link 225 and a sixth link 226, one end of the first link 221 is fixedly connected with the output shaft through a motor shaft connecting piece 23, the other end of the first link 221 is rotationally connected with one end of the second link 222, and the other end of the second link 222 is rotationally connected with a connecting plate 252 on the compressing assembly 25; one end of the third connecting rod 223 is rotatably connected with the motor shaft connecting piece 23 and the connecting rod fixing plate 24 respectively, the other end of the third connecting rod 223 is coaxially rotatably connected with one end of the fourth connecting rod 224 and one end of the sixth connecting rod 226, the other end of the fourth connecting rod 224 is coaxially rotatably connected with one end of the fifth connecting rod 225 at the middle part of the second connecting rod 222, the other end of the fifth connecting rod 225 is rotatably connected with the connecting rod fixing plate 24, the fifth connecting rod 225 is arranged in parallel with the third connecting rod 223, the other end of the sixth connecting rod 226 is arranged on the same side as the second connecting rod 222 and rotatably arranged on the connecting plate 252 of the compressing assembly 25, and the sixth connecting rod 226 is arranged in parallel with the second connecting rod 222.

It will be appreciated that the linkage 22 also includes a plurality of shafts through which rotational connection is made between adjacent links, between the links and the link fixing plate 24, and between the links and the connecting plate 252.

The pressing assembly 25 includes a base 251, a connection plate 252, an adapter 253, and a pressing member 254. A connection plate 252 is installed at one side of the base 251 for connection with the link mechanism 22; the adapter 253 is mounted on the opposite side of the base 251 for connection with the insert mounting mechanism 3; the pressing member 254 is mounted on the base 251 for pressing and fixing the base 251 and the insertion portion mounting mechanism 3.

The link mechanism 22 belongs to a planar four-bar mechanism, and can convert the rotary motion of the insert part driving motor 21 into the linear motion of the insert part mounting mechanism 3, and the working principle is as follows: the first connecting rod 221 is fixedly connected with the insert part driving motor 21 through a motor shaft connecting piece 23, the motor shaft connecting piece 23 is rotationally connected with the connecting rod fixing plate 24 and the third connecting rod 223, the fifth connecting rod 225 is arranged in parallel with the third connecting rod 223, and the second connecting rod 222 is arranged in parallel with the sixth connecting rod 226; the second link 222 and the sixth link 226 are rotatably connected with the connection plate 252 in the pressing assembly 25 through rotation shafts, and the insertion part mounting mechanism 3 is fixedly connected with the adapter 253 in the pressing assembly 25. When the insert driving motor 21 is driven, the motor shaft connecting piece 23 rotates with the first connecting rod 221 to drive the whole connecting rod mechanism 22 to move, so that the linear movement of the end positions of the second connecting rod 222 and the sixth connecting rod 226, namely the horizontal movement of the pressing assembly 25, can be realized. Since the insert mounting mechanism 3 is fixedly connected to the adapter 253 in the pressing assembly 25, the insert driving motor 21 can drive the insert mounting mechanism 3 to move linearly in the first direction.

Referring to fig. 8 and 9, fig. 8 is a schematic structural diagram of an insert driving motor driving a compressing assembly to move to a first position according to an embodiment of the present invention; fig. 9 is a schematic structural diagram of an insert driving motor driving a compressing assembly to move to a second position according to an embodiment of the present invention. The link mechanism 22 can drive the compressing assembly 25 to reciprocate between the first position and the second position along the first direction under the driving of the inserting portion driving motor 21, and the inserting portion mounting mechanism 3 is fixedly connected to the adapter 253 of the compressing assembly 25, so that the compressing assembly 25 can drive the inserting portion mounting mechanism 3 to synchronously move between the first position and the second position along the first direction. Compared with other mechanisms, such as a linear system with a screw rod and a guide rail or a guide rod matched with each other, or a driving scheme of two motors, the embodiment can realize the linear motion of the insertion part 6 by matching one insertion part driving motor 21 with one link mechanism 22, and has the advantages of light weight, small volume, low cost and the like.

Referring to fig. 10, the insertion portion mounting mechanism 3 includes an insertion portion linear wire driving assembly 31 and an insertion portion mounting assembly 32, and it is to be noted that the insertion portion mounting assembly 32 is used for mounting the insertion portion 6, the insertion portion 6 includes an insertion portion catheter and an insertion portion flexible controllable device disposed at a front end of the insertion portion catheter, and the insertion portion linear wire driving assembly 31 is used for controlling a bending posture of the insertion portion flexible controllable device at the front end of the insertion portion catheter. The tail of the insertion part catheter is fixed on the insertion part mounting assembly 32 through the insertion part catheter fixing piece, the insertion part mounting assembly 32 is detachably connected to the side plate of the insertion part linear wire driving assembly 31, and the insertion part linear wire driving assembly 31 is connected with the connecting rod mechanism 22 through the pressing assembly 25. The side plates of the insert part linear wire driving assembly 31 are provided with two groups of first clamping jaw assemblies 33, when clamping jaws in the two groups of first clamping jaw assemblies 33 are opened, the insert part mounting assembly 32 can be separated from the insert part linear wire driving assembly 31, and when clamping jaws in the two groups of first clamping jaw assemblies 33 are closed, the insert part mounting assembly 32 can be clamped and fixed on the insert part linear wire driving assembly 31.

Referring to fig. 11, the sheath mounting mechanism 4 includes a sheath linear wire drive assembly 41 and a sheath mounting assembly 42. The sheath mounting assembly 42 is used for mounting the sheath 5, the sheath 5 comprises a sheath catheter and a sheath flexible controllable device arranged at the front end of the sheath catheter, and the sheath linear wire driving assembly 41 is used for controlling the bending posture of the sheath flexible controllable device at the front end of the sheath catheter. The tail part of the sheath catheter is fixed on the sheath mounting assembly 42 through a sheath catheter fixing piece, the sheath mounting assembly 42 is connected to the side plate of the sheath linear wire driving assembly 41, and the sheath linear wire driving assembly 41 is fixedly connected with the mounting main body 1 through a connecting arm. Two sets of second clamping jaw assemblies 43 are arranged on the side plates of the sheath linear wire driving assembly 41, the sheath mounting assembly 42 can be separated from the sheath linear wire driving assembly 41 when clamping jaws in the two sets of second clamping jaw assemblies 43 are opened, and the sheath mounting assembly 42 can be clamped and fixed on the sheath linear wire driving assembly 41 when clamping jaws in the two sets of second clamping jaw assemblies 43 are closed.

The number of the first jaw assembly 33 and the second jaw assembly 43 may be multiple, and may be specific according to practical use, which is not limited herein.

The sheath 5 and the insertion portion 6 are generally sterilized after each test and treatment of the sheath 5 and the insertion portion 6. In the prior art, the sheath 5 is fixedly connected with the sheath mounting mechanism, the insertion part 6 is fixedly connected with the insertion part mounting mechanism, and the assembled sheath 5 and insertion part 6 can be sterilized only, but hidden danger of incomplete sterilization exists, and cross infection is easily caused when the sheath 5 and the insertion part 6 are reused. The sheath mounting mechanism 4 and the insertion part mounting mechanism 3 are designed to be detachable, so that the design of one-time replacement of the sheath 5 and the insertion part 6 is realized; after the detection and treatment are finished once by an operator, the sheath 5 and the insertion part 6 are sterilized or replaced, so that cross infection caused by the fact that the sheath 5 and the insertion part 6 are not thoroughly sterilized and reused is avoided.

Referring to fig. 1, 10 and 11, the insertion portion linear wire driving assembly 31, the insertion portion mounting assembly 32, the sheath linear wire driving assembly 41 and the sheath mounting assembly 42 are sequentially arranged at intervals in the first direction.

Further, when the sheath 5 needs to be disassembled, the clamping jaws in all the second clamping jaw assemblies 43 on the side plates of the sheath linear wire driving assembly 41 are opened, and the sheath mounting assembly 42 is separated from the sheath linear wire driving assembly 41, so that the sheath mounting assembly 42 is disassembled, and the sheath 5 is disassembled. When the insertion portion 6 needs to be detached, the clamping jaws of all the first clamping jaw assemblies 33 on the side plate of the insertion portion linear wire driving assembly 31 are opened, and when the insertion portion mounting assembly 32 is separated from the insertion portion linear wire driving assembly 31, the insertion portion mounting assembly 32 can only move to the side close to the sheath linear wire driving assembly 41 due to the existence of the insertion portion linear wire driving assembly 31, but the insertion portion mounting assembly 32 is easy to collide with the sheath linear wire driving assembly 41, so that the sheath linear wire driving assembly 41 and/or the insertion portion mounting assembly 32 are damaged.

Based on this, the present invention can avoid this problem by designing the connection manner of the pressing assembly 25 and the insertion portion linear wire driving assembly 31, referring to fig. 12 and 13, the pressing assembly 25 includes a base 251, a connection plate 252, an adapter 253, a pressing member 254, and a first rotation shaft 255. One end of the adaptor 253 is rotatably mounted on the base 251 through the first rotation shaft 255, and the other end of the adaptor 253 is fixedly connected to the insert linear wire driving assembly 31, so that the insert linear wire driving assembly 31 can rotate around the first rotation shaft 255 relative to the base 251. The pressing member 254 is mounted on the base 251, and the pressing member 254 is used for pressing and fixing the base 251 and the insert linear wire driving assembly 31. That is, when the pressing member 254 presses, it can play a role of locking the base 251 and the insert linear wire driving assembly 31, and can limit the rotation of the insert linear wire driving assembly 31 relative to the base 251, where the pressing assembly 25 and the insert linear wire driving assembly 31 are fixedly connected; when the pressing member 254 is released, the insertion portion linear wire driving assembly 31 is rotatable about the first rotation shaft 255 with respect to the base 251, and at this time, the connection mode of the pressing assembly 25 and the insertion portion linear wire driving assembly 31 is switched to the rotation connection. As shown in fig. 12 and 13, when the insert mounting assembly 32 needs to be disassembled, the clamping jaws of all the first clamping jaw assemblies 33 are opened first, so that the insert mounting assembly 32 and the insert linear wire driving assembly 31 are separated, then the pressing piece 254 is opened, the insert linear wire driving assembly 31 can be turned around the first rotating shaft 255 by lifting the turning handle, and then the insert mounting assembly 32 can be moved to complete the disassembly or replacement after the insert linear wire driving assembly 31 is turned.

In one embodiment, the hold-down 254 may be an elbow clamp, but is not limited thereto.

Further, the pressing assembly 25 may further include a first magnetic attraction structure 256, where the first magnetic attraction structure 256 is fixedly mounted on the base 251. The second magnetic attraction structure 311 can be arranged on the insertion part linear wire driving assembly 31, when the insertion part linear wire driving assembly 31 is turned to be in a vertical state, the second magnetic attraction structure 311 is opposite to the first magnetic attraction structure 256, and the first magnetic attraction structure 256 and the second magnetic attraction structure 311 can magnetically attract each other to ensure that the insertion part linear wire driving assembly 31 stays at a vertical position, so that the insertion part installation assembly 32 can be conveniently detached or replaced.

The invention also provides medical equipment, which comprises a displacement driving system and the flexible tail end controllable medical equipment motion control system provided by any one of the embodiments, wherein the installation main body 1 of the flexible tail end controllable medical equipment motion control system is connected with an output working shaft of the displacement driving system, and the insertion part installation mechanism 3 and the sheath installation mechanism 4 can integrally move and rotate through the displacement driving system so as to adjust the positions and the postures of the sheath 5 and the insertion part 6.

The displacement driving system can be a driving structure such as a mechanical arm, a mechanical arm or a multi-shaft driving mechanism.

According to the medical equipment provided by the invention, the insertion part driving mechanism 2, the insertion part mounting mechanism 3 and the sheath mounting mechanism 4 are integrated on the mechanical arm, and the insertion part 6 can be fed along the linear direction by using the insertion part driving motor 21 and the connecting rod mechanism 22, so that the whole equipment has small occupied space, light weight and simpler control flow.

Wherein the sheath 5 and the insertion part 6 can perform feeding movement simultaneously or independently. When the sheath 5 and the insertion part 6 are required to perform feeding movement simultaneously, the mechanical arm is used for integrally driving the flexible tail end controllable medical instrument movement control system to move; when the sheath 5 is required to perform feeding movement independently, the mechanical arm moves a certain distance in the feeding movement direction, and at the moment, the insertion part driving motor 21 drives the insertion part 6 to move the same distance in the opposite direction; when the insertion portion 6 is required to perform the feeding movement alone, the mechanical arm remains stationary, and only the insertion portion driving motor 21 drives the insertion portion 6 to move. The medical equipment can drive the insertion part 6 and the sheath 5 in a straight line, so that the central line of the insertion part 6 and the central line of the sheath 5 are positioned on the same straight line, and the problem that the insertion part is easy to damage due to large angle deviation between the central line of the insertion part and the central line of the sheath when the conventional flexible tail end controllable medical equipment drives the sheath and the insertion part can be solved.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The flexible tail end controllable medical instrument motion control system is characterized by comprising a mounting main body, an insertion part driving mechanism, an insertion part mounting mechanism and a sheath mounting mechanism;

The sheath mounting mechanism is fixedly mounted at one end of the mounting main body, and the insertion part mounting mechanism is mounted at the other end of the mounting main body through the insertion part driving mechanism;

The insertion part driving mechanism is used for driving the insertion part mounting mechanism to move between a first position and a second position along a first direction, the insertion part mounting mechanism is far away from the sheath mounting mechanism when the insertion part mounting mechanism moves to the first position, and the insertion part mounting mechanism is close to the sheath mounting mechanism when the insertion part mounting mechanism moves to the second position.

2. The flexible steerable medical device motion control system of claim 1, wherein the insertion portion mounting mechanism is configured to mount an insertion portion of a flexible steerable medical device, wherein the sheath mounting mechanism is configured to mount a sheath of the flexible steerable medical device, wherein the sheath is disposed over the insertion portion, wherein the insertion portion and the sheath are configured to move relative to each other in a first direction while the insertion portion mounting mechanism is moving in the first direction, and wherein the insertion portion and the sheath remain in relative movement on a same horizontal line.

3. The flexible tip controllable medical device motion control system according to claim 1, wherein the insertion portion drive mechanism includes an insertion portion drive motor and a link mechanism, the insertion portion drive motor is mounted on the mounting body, one end of the link mechanism is connected to an output shaft of the insertion portion drive motor, the other end of the link mechanism is connected to the insertion portion mounting mechanism, and rotational movement of the output shaft is converted into linear movement of the insertion portion mounting mechanism in a first direction by the link mechanism.

4. The flexible, end-controllable, medical instrument motion control system of claim 3, wherein the insertion drive mechanism further comprises a motor shaft connector, a link-fixing plate, and a compression assembly, the link-fixing plate being mounted on an output shaft side of the insertion drive motor, the motor shaft connector being mounted on the output shaft, the link mechanism being connected to the insertion mounting mechanism by the compression assembly;

The connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, one end of the first connecting rod is fixedly connected with the output shaft through the motor shaft connecting piece, the other end of the first connecting rod is rotationally connected with one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected with the compressing assembly; one end of the third connecting rod is respectively connected with the motor shaft connecting piece and the connecting rod fixing plate in a rotating mode, the other end of the third connecting rod is connected with one end of the fourth connecting rod and one end of the sixth connecting rod in a coaxial rotating mode, the other end of the fourth connecting rod is connected with one end of the fifth connecting rod in a coaxial rotating mode, the other end of the fifth connecting rod is connected with the connecting rod fixing plate in a rotating mode, the fifth connecting rod is parallel to the third connecting rod, the other end of the sixth connecting rod is installed on the compressing assembly in the same side as the second connecting rod in a rotating mode, and the sixth connecting rod is parallel to the second connecting rod.

5. The flexible, tip-controllable medical device motion control system of claim 4, wherein the insertion-mounting mechanism comprises an insertion-linear-wire drive assembly and an insertion-mounting assembly, the insertion-mounting assembly being removably coupled to a side of the insertion-linear-wire drive assembly proximate the sheath-mounting mechanism, the insertion-linear-wire drive assembly being coupled to the linkage via the compression assembly.

6. The flexible, end-effector controllable medical device motion control system of claim 5, wherein the insert mounting mechanism further comprises a first jaw assembly, the insert mounting assembly being removably mounted to the insert linear wire drive assembly by the first jaw assembly.

7. The flexible, end-effector controllable medical device motion control system of claim 5, wherein the compression assembly comprises a base, a compression member and an adapter, one end of the adapter is rotatably mounted on the base, the other end of the adapter is fixedly connected to the insert linear wire drive assembly, the compression member is mounted on the base, and the compression member is configured to compress and fix the base and the insert linear wire drive assembly.

8. The flexible, end-effector controllable medical device motion control system of claim 1, wherein the sheath mounting mechanism comprises a sheath linear wire drive assembly and a sheath mounting assembly, the sheath mounting assembly being removably coupled to a side of the sheath linear wire drive assembly remote from the insertion portion mounting mechanism, the sheath linear wire drive assembly being fixedly coupled to the mounting body.

9. The flexible, end-effector controllable medical device motion control system of claim 8, wherein the sheath mounting mechanism further comprises a second jaw assembly, the sheath mounting assembly being removably mounted to the sheath linear wire drive assembly by the second jaw assembly.

10. A medical device comprising a displacement drive system and the flexible end-controllable medical device motion control system of any one of claims 1 to 9;

Wherein, the installation main body of the flexible tail end controllable medical instrument motion control system is connected with the displacement driving system.