CN219331741U

CN219331741U - Catheter instrument and catheter system

Info

Publication number: CN219331741U
Application number: CN202222344273.0U
Authority: CN
Inventors: 刘放; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2023-07-14
Anticipated expiration: 2032-09-02

Abstract

The utility model discloses a catheter instrument configured to engage a power section of a robotic arm, the catheter instrument comprising an instrument box configured to engage the power section and a flexible body connected to the instrument box, the instrument box comprising: a chassis configured to be connected to a power portion of the robot arm to engage the instrument box with the power portion; the driving wheel is arranged to be carried by the underframe, one end of a driving wire is fixed on the driving wheel, and the other end of the driving wire extends along the flexible main body and is fixed at the tail end of the flexible main body; and the tensioning mechanism is nested on the driving wheel or is positioned in a space surrounded by a plurality of driving wheels, and is configured to pull the driving wheel and provide a preloading force for the driving wheel so as to enable the driving wire to be in a tensioning state. The utility model also discloses a catheter system. The utility model can ensure the control precision of the catheter instrument.

Description

Catheter instrument and catheter system

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a catheter instrument and a catheter system.

Background

The minimally invasive medical technology is mainly used for reducing the damage to the tissues of a patient in a medical procedure, and has the advantages of small wound, light pain, quick recovery and the like. Such minimally invasive techniques may be performed through natural orifices or surgical incisions in the patient's anatomy to reach the catheter instrument at the target tissue location under the control of a controller. Catheter instruments are typically flexible and/or steerable elongate devices that can be inserted into an anatomic through-hole and navigated toward a target region within a patient's anatomy. The control of the catheter instrument relates to advancing, retracting, bending steering and the like, wherein the bending steering mainly controls the rotation of a transmission part of the catheter instrument through a power part (such as a motor) and transmits tension to the tail end of the catheter instrument through a driving wire, so that steering control of the tail end of the catheter instrument is realized.

With the increase of the control times of the catheter apparatus, the driving wire is inevitably loosened, thereby influencing the control precision of the catheter apparatus.

Disclosure of Invention

The utility model mainly aims to provide a catheter instrument and a catheter system, and aims to solve the technical problem that the control precision of the existing catheter instrument is low.

To achieve the above object, the present utility model provides a catheter instrument configured to engage with a power section of a mechanical arm, the catheter instrument including an instrument box configured to engage with the power section and a flexible main body connected with the instrument box, the instrument box including:

a chassis configured to be connected to a power portion of the mechanical arm to engage the instrument pod with the power portion;

a driving wheel configured to be carried by the chassis, and to which one end of a driving wire is fixed, the other end of the driving wire extending along the flexible body and being fixed to a distal end of the flexible body;

a tensioning mechanism nested on the driving wheel or located in a space surrounded by a plurality of the driving wheels, the tensioning mechanism being configured to pull the driving wheel and provide a preload force to the driving wheel to place the driving wire in a tensioned state; wherein the preload force pulls the drive wheel to rotate in a direction opposite to a winding direction of the drive wire on the drive wheel.

Optionally, the chassis is convexly provided with a containing part, the containing part is arranged to contain the tensioning mechanism, the tensioning mechanism comprises a coil spring, and one end of the coil spring is connected with the driving wheel, and the other end of the coil spring is fixed on the chassis; the coil spring is arranged to drive the driving wheel to rotate to tension the driving wire when the coil spring returns elastically, and the rotation direction of the driving wheel is opposite to the winding direction of the driving wire on the driving wheel.

Optionally, the accommodating portion is provided with a mounting hole, the driving wheel comprises a driving shaft, a fixing hole is formed in the driving shaft at a position corresponding to the coil spring, one end of the coil spring is clamped into the mounting hole, and the other end of the coil spring is fixed in the fixing hole.

Optionally, the tensioning mechanism further includes a protruding portion protruding outward from one end of the coil spring and a locking portion detachably connected to the protruding portion, the protruding portion being configured to be locked into the mounting hole, the locking portion being configured to restrict movement of the protruding portion relative to the mounting hole.

Optionally, the accommodating part comprises a first accommodating groove concaved on the side of the chassis facing the power part, and a second accommodating groove communicated with the first accommodating groove, and the driving wheel comprises a driving shaft and a first bearing connected with the driving shaft; the first bearing is arranged to be partially embedded in the first accommodating groove; the second receiving groove is configured to receive the coil spring.

Optionally, the instrument box further includes a second bearing connected to the drive shaft and disposed adjacent to the coil spring, the housing further includes a third housing groove disposed adjacent to the second housing groove, the third housing groove having a top wall on a side near the coil spring, the second bearing being disposed to be housed into the third housing groove and to abut against the top wall to restrict the drive wheel from moving in a direction away from the power section; the first bearing has a limiting portion extending in a circumferential direction, and the limiting portion is arranged to abut against an outer surface of the accommodating portion to limit the driving wheel from moving in a direction approaching the power portion.

Optionally, the first receiving groove has a first circumferential side wall, the third receiving groove further has a second circumferential side wall disposed adjacent to the top wall, the first bearing is disposed so that a portion embedded in the first receiving groove abuts against the first circumferential side wall, and the second bearing is disposed so as to abut against the second circumferential side wall to restrict the driving wheel from moving in a direction perpendicular to the driving shaft.

Optionally, the tensioning mechanism comprises a follower wheel body fixed on the driving wheel and a force loading part connected with the follower wheel body through a connecting wire; the force loading part is arranged to provide a pre-loading force for the follow-up wheel body, so that the pre-loading force is transmitted to the follow-up wheel body through the connecting wire and drives the driving wheel to rotate in the direction opposite to the winding direction of the driving wire on the driving wheel, and the driving wire is in a tensioning state.

Optionally, the force loading part comprises a placing disc arranged on the underframe, a power wheel penetrating through the placing disc and connected with the follow-up wheel body through the connecting wire, and a coil spring, wherein one end of the coil spring is connected with the power wheel, the other end of the coil spring is fixed on the placing disc, the coil spring is arranged to be contained in the placing disc, and when the coil spring returns elastically, the coil spring drives the driving wheel to rotate so as to tension the driving wire, and the rotating direction of the driving wheel is opposite to the winding direction of the driving wire on the driving wheel.

Optionally, the placement tray includes a movable slot configured to accommodate the coil spring, and at least two adjacent positioning portions protruding from an outer periphery of the movable slot; the chassis is concave to be equipped with the accommodation portion, the accommodation portion include from the chassis to the first holding tank that power portion direction concave was established and locate locating hole on the cell wall of first holding tank, the power loading portion still includes the fastener, the fastener is set up to block into between two adjacent location portions, and with the locating hole cooperation, and will place the dish is fixed in on the chassis.

Optionally, a plurality of positioning parts are convexly arranged on the periphery of the movable groove.

Optionally, the power wheel includes passing through the movable groove and rotatable axis of rotation relative to the movable groove, the axis of rotation is equipped with the fixed orifices in the position that corresponds the wind spring, one end of wind spring is fixed in on the cell wall of movable groove, the other end is fixed in the fixed orifices.

Optionally, the power wheel comprises a rotating shaft passing through the movable groove and rotatable relative to the movable groove, and the force loading part further comprises a driving wheel body and a third bearing which are connected with the rotating shaft and are respectively positioned on the upper side and the lower side of the coil spring; the accommodating part further comprises a second accommodating groove communicated with the first accommodating groove; the movable groove is arranged to be accommodated in the first accommodating groove, and the third bearing is arranged to be partially accommodated in the second accommodating groove, so that the rotating shaft can rotate relative to the underframe; the driving wheel body is arranged to pull the connecting wire under the action of the pre-loading force and drive the driving wheel to rotate through the connecting wire so as to tension the driving wire.

Optionally, the force loading part further includes a fourth bearing connected to the rotation shaft and disposed adjacent to the third bearing, the receiving part further includes a third receiving groove disposed adjacent to the second receiving groove, and the fourth bearing is disposed to be partially received in the third receiving groove.

Optionally, a communication groove is further arranged between the second accommodating groove and the third accommodating groove, and the cross sections of the second accommodating groove, the communication groove and the third accommodating groove are I-shaped; the communication groove is provided to accommodate the remaining structure of the third bearing other than the second accommodation groove, and the remaining structure of the fourth bearing other than the third accommodation groove.

Optionally, the instrument box further comprises a transmission wheel body fixed on the driving wheel, the force loading part further comprises a power wheel connected with the follow-up wheel body through the connecting wire, the winding direction of the driving wire on the transmission wheel body is opposite to the winding direction of the connecting wire on the follow-up wheel body, and the winding directions of the connecting wire on the follow-up wheel body and the power wheel are the same.

Alternatively, gaps are provided in the circumferential direction and the up-down direction of the coil spring.

Optionally, the coil spring is any one of a hairspring, a constant torque spring, or a constant force spring.

Optionally, the driving box comprises two pairs of driving wheels, and the driving wires wound on one pair of driving wheels and the other pair of driving wheels are in mirror image distribution.

Optionally, the catheter apparatus further includes a fixing portion fixed on the chassis, and a spring tube penetrating through the flexible body, one end of the spring tube is fixed at one end of the flexible body away from the apparatus box, the other end of the spring tube is connected with the fixing portion, and the fixing portion is configured to limit movement of the spring tube along the direction of the flexible body.

Optionally, the fixing portion includes a body fixed to the chassis, and a guide fixed to or movably connected to the body, the guide being configured to allow the driving wire to pass through into the spring tube and to restrict movement of the spring tube in the direction of the flexible body by abutting against the spring tube.

Optionally, a first through hole and a second through hole are arranged in the fixing part in a penetrating manner, the diameter of the first through hole is smaller than that of the second through hole, the first through hole is used for the driving wire to penetrate through, the second through hole is used for the driving wire penetrating through the first through hole to penetrate into the spring tube, and the bottom wall of the second through hole is abutted against the spring tube to limit the spring tube to move along the direction of the flexible main body.

Optionally, the fixing portion is fan-shaped, so that each driving wire passes through the spring tube in a straight line state and then enters the spring tube.

Optionally, the chassis has a circular contour, the centre of a circle of circular contour and a plurality of the central point coincidence of drive wheel, circular contour and chassis at least partially coincide, the drive wire gets into after the spring pipe takes place the kink and is located the circular contour outside.

Optionally, the chassis comprises an accommodating groove concavely arranged inwards, and the instrument box further comprises a movable poking part accommodated in the accommodating groove, and a deformation part with one end connected with the chassis and the other end connected with the poking part; the stirring part is arranged to be matched with the power part under the elastic supporting action of the deformation part, so that the joint of the instrument box and the power part is completed.

Optionally, the chassis is provided with a stop portion protruding toward the center of the accommodating groove, and the stop portion is configured to enable the upper and lower surfaces of the poking portion to respectively abut against the poking portion and the bottom surface of the accommodating groove, so as to limit the poking portion to move in a direction perpendicular to the plane of the chassis.

The present utility model also provides a catheter system comprising an imaging trolley, a trolley and a master controller respectively connected to the imaging trolley, and a catheter instrument as described above which can be coupled to the trolley, the catheter instrument being configured to advance, retract or bend steering under actuation of the trolley under control instructions triggered by the master controller.

According to the catheter apparatus and the catheter system provided by the utility model, one end of the driving wire is fixed on the driving wheel through the chassis connected with the power part of the mechanical arm and the driving wheel borne by the chassis, the other end of the driving wire extends along the flexible main body and is fixed at the tail end of the flexible main body, in addition, the tensioning mechanism is arranged to be nested on the driving wheel or is positioned in a space enclosed by a plurality of driving wheels, the driving wheel is pulled, and a pre-loading force is provided for the driving wheel, so that the driving wire is in a tensioning state. Thus, the tensioning of the driving wire can be achieved through the tensioning mechanism without additional manual operation, for example, when the driving wire is loosened, the tensioning mechanism can automatically tension the variable tensioning wire, so that the driving wire can be always in a tensioning state, and the control precision of the catheter instrument can be ensured.

Drawings

FIG. 1 is a simplified schematic diagram of an embodiment of a catheter system of the present utility model;

FIG. 2 is a schematic view of an embodiment of the catheter apparatus of the present utility model in combination with a power section of a robotic arm;

FIG. 3 is a schematic view of an embodiment of the catheter apparatus of the present utility model with the housing removed;

FIG. 4 is a simplified schematic view of one embodiment of a chassis of the catheter apparatus of the present utility model;

FIG. 5 is a partially enlarged schematic illustration of an embodiment of a chassis of a catheter apparatus of the present utility model;

FIG. 6 is a schematic view of an embodiment of the catheter apparatus of the present utility model in which the drive wheel sets cooperate with the tensioning mechanism;

FIG. 7 is a simplified schematic view of an embodiment of the distal end of the flexible body of the catheter apparatus of the present utility model;

FIG. 8 is a schematic top view of a drive wheel set and drive wire mated in a catheter apparatus of the present utility model;

FIG. 9 is a schematic view of an embodiment of the catheter apparatus of the present utility model wherein the drive wheel cooperates with a tensioning mechanism;

FIG. 10 is a schematic structural view of an embodiment of the tensioning mechanism of FIG. 9;

FIG. 11 is a schematic view of an embodiment of a chassis of a catheter apparatus of the present utility model;

FIG. 12 is a schematic view of the structure of FIG. 11 from another perspective;

FIG. 13 is a schematic view of the partially exploded construction of FIG. 9;

FIG. 14 is a schematic cross-sectional view of a drive wheel, tensioning mechanism and undercarriage of a catheter apparatus of the present utility model;

FIG. 15 is a schematic view of another embodiment of a catheter apparatus of the present utility model with a housing removed;

FIG. 16 is a schematic view of the structure of FIG. 15 with the chassis removed;

FIG. 17 is a schematic view of the tensioning mechanism of FIG. 16;

FIG. 18 is a schematic view of the tray and coil spring of FIG. 17;

FIG. 19 is a schematic view of the power wheel of FIG. 17;

FIG. 20 is a schematic view of another embodiment of a chassis of the catheter apparatus of the present utility model;

FIG. 21 is a schematic cross-sectional view of a portion of the structure of FIG. 15;

FIG. 22 is a schematic top view of FIG. 16;

FIG. 23 is a schematic view of the mating relationship of the drive wheel, tensioning mechanism, drive wire and connecting wire of FIG. 16;

FIG. 24 is a schematic view of an embodiment of a securing portion of a catheter apparatus of the present utility model;

FIG. 25 is a cross-sectional view of the guide of FIG. 24;

FIG. 26 is a schematic view of another embodiment of a securing portion of a catheter instrument of the utility model;

FIG. 27 is a cross-sectional view of the nut member, the connecting member and the guide member of FIG. 26;

fig. 28 is a simplified schematic structural diagram of two different embodiments of the chassis of the present utility model.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear are used in the embodiments of the present utility model) are merely for explaining the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are changed accordingly.

In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Fig. 1 illustrates a catheter system 1000 according to one embodiment. Catheter system 1000 includes an imaging cart 100, a cart 200 and a master controller 300 respectively connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the cart 200, a sensor system 500 connected to the cart 200, a control system 600 for effecting control among the catheter instrument 400, the master controller 300, the sensor system 500, and the imaging cart 100, and the like. Wherein, the master controller 300 may be connected with the cart 200 by wire or wirelessly. When an operator performs various procedures on a patient beside the cart 200, the main controller 300 is operated to trigger control instructions, and the catheter instrument 400 is driven by the cart 200 to advance, retract, bend, and turn.

The trolley 200 may be generally moved to the side of the operating table for engaging the catheter instrument 400 and controlling the catheter instrument 400 to be raised and lowered in a vertical direction or to be translated in a horizontal direction or to be moved in a non-vertical and non-horizontal direction under control instructions, thereby providing a better pre-operative preparation angle for the operation of the catheter instrument 400. The control command may be a command triggered by an operator by operating the master controller 300, or may be a command triggered by the operator directly clicking or pressing a key provided on the cart 200. Of course, in other embodiments, the control command may also be a voice control or a command triggered by a force feedback mechanism.

As shown in fig. 1, the trolley 200 may further include a base 210, a sliding base 220 capable of moving up and down along the base 210, and 2 mechanical arms 230 fixedly connected to the sliding base 220. The robotic arm 230 may include a plurality of arm segments coupled at joints that provide the robotic arm 230 with a plurality of degrees of freedom, e.g., seven degrees of freedom corresponding to seven arm segments. The distal end of the mechanical arm 230 is provided with a power portion (not shown in the figure), and the power portion of the mechanical arm 230 is used for engaging the catheter apparatus 400 and controlling the distal end of the catheter apparatus 400 to bend and turn correspondingly under the driving action of the power portion. Wherein the 2 mechanical arms 230 may be identical or partially identical in structure, one mechanical arm 230 for engaging the inner catheter instrument 410 and the other mechanical arm 230 for engaging the outer catheter instrument 420. When the outer catheter device 420 is installed, the flexible body of the inner catheter device 410 may be inserted into the flexible body of the outer catheter device 420 after the outer catheter device 420 is installed.

The sensor system 500 has one or more subsystems for receiving information about the catheter instrument 400. The subsystem may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose, and/or shape of the tip of the catheter instrument 400 and/or along one or more sections of the flexible body that may constitute the catheter instrument 400; and/or a visualization system for capturing images from the distal end of the catheter instrument 400.

The imaging vehicle 100 may be provided with a display system 110, a flushing system (not shown), and the like. The display system 110 is used to display images or representations of the surgical site and catheter instrument 400 generated by the subsystems of the sensor system 500. Real-time images of the surgical site and catheter instrument 400 captured by the visualization system may also be displayed. Image data from imaging techniques such as Computed Tomography (CT), magnetic Resonance Imaging (MRI), optical Coherence Tomography (OCT), ultrasound, and the like may also be used to present images of the surgical site recorded preoperatively or intraoperatively. The pre-or intra-operative image data may be presented as two-, three-or four-dimensional (e.g., time-based or rate-based information) images and/or as images from models created from the pre-or intra-operative image dataset. A virtual navigation image in which the actual position of the catheter instrument 400 is registered with the pre-operative image may also be displayed to externally present a virtual image of the catheter instrument 400 within the surgical site to the operator.

The control system 600 includes at least one memory and at least one computer processor. It is understood that the control system 600 may be integrated into the cart 200 or the imaging cart 100, or may be provided separately. The control system 600 may support wireless communication protocols such as IEEE802.11, irDA, bluetooth, homeRF, DECT, and wireless telemetry, among others. The control system 600 may transmit one or more signals indicative of movement of the catheter instrument 400 by the power section to move the catheter instrument 400. The catheter apparatus 400 may extend to a surgical site within the body via an opening or surgical incision of a natural orifice of the patient.

Further, the control system 600 may include a mechanical control system (not shown) for controlling the movement of the catheter instrument 400 and an image processing system (not shown), and thus may be integrated in the trolley 200. The image processing system is used for virtual navigation path planning and thus may be integrated in the video car 100. Of course, the subsystems of the control system 600 are not limited to the specific cases listed above, and may be reasonably configured according to actual situations. The image processing system can image the surgical site by using the imaging technology based on the image of the surgical site recorded before or during the operation. Software used in conjunction with manual input may also convert the recorded images into two-or three-dimensional composite images of portions or whole anatomical organs or segments. During the virtual navigation procedure, the sensor system 500 may be used to calculate the position of the catheter instrument 400 relative to the patient's anatomy, which may be used to generate external tracking images and internal virtual images of the patient's anatomy, enabling registration of the actual position of the catheter instrument 400 with the preoperative images so that the virtual images of the catheter instrument 400 within the surgical site may be presented to the operator from the outside.

The inner catheter device 410 and the outer catheter device 420 have substantially the same structural composition and have an elongated inner flexible body 41 and an outer flexible body 42, respectively, wherein the outer flexible body 42 has a slightly larger diameter than the inner flexible body 41 so that the inner flexible body 41 can pass through the outer flexible body 42 and provide a certain support for the inner flexible body 41 so that the inner flexible body 41 can reach a target location in a patient for tissue or cell sampling from the target location.

Certain movements of the master 300 may cause corresponding movements of the catheter instrument 400. For example, as an operator manipulates the directional shifter lever of master controller 300 upward or downward, the movement of the directional shifter lever of master controller 300 may be mapped to a corresponding pitching movement of the tip of catheter instrument 400; when the operator manipulates the directional shifter lever of the master controller 300 to move left or right, the movement of the directional shifter lever of the master controller 300 may be mapped to a corresponding yaw movement of the tip of the catheter instrument 400. In this embodiment, the master controller 300 may control the movement of the distal end of the catheter instrument 400 over a 360 ° spatial range.

Fig. 2 illustrates a catheter apparatus 400 according to one embodiment. The catheter instrument 400 is configured to engage the power section 240 of the robotic arm 230, the catheter instrument 400 including an instrument pod 45 configured to engage the power section 240 and a flexible body 48 coupled to the instrument pod 45. Wherein, the "engagement" refers to a state in which the driving force of the power unit 240 can be transmitted into the instrument box 45 and the flexible body 48 can be normally moved when the instrument box 45 is mounted to the power unit 240. For example, the distal end of the flexible body 48 may be bent, turned, etc., by the driving force of the power portion 240.

As shown in fig. 3, the instrument pod 45 may further include a chassis 452, a drive wheel 456 carried by the chassis 452, and a housing (not shown) that is snapped onto the chassis 452. The chassis 452 is provided with an input disc 458 (fig. 6) facing the power section in correspondence of the position of the drive wheel 456, the input disc 458 being provided on one side for connection with the power section 240 and on the other side for connection with the drive wheel 456 for transmitting the driving force of the power section 240 to the drive wheel 456 for driving the distal end of the catheter instrument 400 in a corresponding bending and steering movement.

As shown in fig. 4, the chassis 452 includes an inwardly concave receiving groove 421, and the instrument box 45 is provided with a stirring portion 422 and a deformation portion 423 at a position of the receiving groove 421, and the stirring portion 422 and the deformation portion 423 are received in the receiving groove 421 and are movable in the receiving groove 421 with respect to the chassis 452. When the stirring portion 422 is matched with the power portion 240, the stirring portion 422 applies a force to the deformation portion 423, so that the deformation portion 423 is elastically supported, and the stirring portion 422 and the power portion 240 can be prevented from being separated, thereby completing the joint of the instrument box 45 and the power portion 240. Specifically, a hook portion 424 (fig. 2) is disposed on the power portion 240, a slot 425 is disposed on the pulling portion 422 and engaged with the hook portion 424, and when the hook portion 424 slides into the slot 425, the deformation portion 423 deforms and provides a certain elastic supporting function, so as to prevent the hook portion 424 from falling out of the slot 425. Of course, the positions of the hook portion 424 and the slot 425 may be replaced, and the present invention is not limited to the above-described specific embodiments, and may be other modes such as magnetic attraction.

Further, the deformation portion 423 may be an elastic structure such as an extension spring, where one end of the deformation portion 423 is connected to the chassis 452, and the other end of the deformation portion 423 is connected to the stirring portion 422, specifically, one end of the deformation portion 423 may be fixedly connected to a groove wall facing the opening of the accommodating groove 421, the other end may partially extend into the stirring portion 422 and be movably connected to the stirring portion 422, the other end may partially extend into the stirring portion 422 and be fixedly connected to the stirring portion 422, the other end may not extend into the stirring portion 422 and be movably connected to the stirring portion 422, and the other end may not extend into the stirring portion 422 and be fixedly connected to the stirring portion 422. It is understood that "movably connected" herein means that there is no direct connection between the structures, but there is a contact connection between the two structures when mated. The moving direction of the deformation portion 423 relative to the bottom frame 452 is not limited to the direction parallel to the bottom frame 452 in this embodiment, but may be a direction perpendicular to the bottom frame 452, and may be specifically and reasonably set according to actual needs.

Further, as shown in fig. 4, the bottom frame 452 may further include a movable column 426 disposed in the accommodating groove 421 and movable with respect to the accommodating groove 421, and the movable column 426 is fixedly connected to the stirring portion 422, and specifically, a mounting hole may be disposed on the stirring portion 422 for the movable column 426 to pass through. The movable column 426 may be fixed by means of glue or welding, etc. In other embodiments, the movable post 426 may be connected to the stirring portion 422 in an interactive manner, at this time, in order to prevent the stirring portion 422 from being separated from the accommodating groove 421, as shown in fig. 5, a stop portion 427 may be protruding toward the center of the accommodating groove 421 from the bottom frame 452, and specifically, the stop portions 427 may be disposed on both sides of the accommodating groove 421, so that when the stirring portion 422 slides into the accommodating groove 421 from the outside, the lower surface of the stirring portion 422 abuts against the bottom surface 428 of the accommodating groove 421, and the upper surface of the stirring portion 422 abuts against the stop portion 427, thereby limiting the movement of the stirring portion 422 in the direction perpendicular to the plane of the bottom frame 452.

Further, the shape of the instrument box 45 is similar to the shape of a water drop, so that the instrument box 45 is compact and small in structure, and has a certain visual and attractive effect. In addition, in order to reduce the weight of the instrument box 45, a plurality of symmetrical or asymmetrical regular or irregular groove structures may be provided on the bottom frame 452.

Fig. 6 illustrates a driving wheel set (not shown) according to an embodiment, the driving wheel set includes a plurality of driving wheels, on which one end of a driving wire is fixed, and the other end of the driving wire, which is wound several turns and then extended along the flexible body 48, is fixed at the end of the flexible body 48. The drive wheel set may comprise 2, 3, 4, 5 or 6 equal numbers of drive wheels and a corresponding number of drive wires.

In this embodiment, the driving wheel set includes 4 driving wheels disposed on the chassis 452, and the 4 driving wheels may be arranged in a square, a rectangle, or a diamond shape. The 4 driving wheels can be respectively connected by independent driving wires, or can be connected in series between each two to form a closed loop. Wherein 2 drive wheels constitute one pair of drive wheels 485 and the other 2 drive wheels constitute the other pair of drive wheels 486. In one embodiment, the pair of driving wheels 485 are mirror images of the driving wires wound around the other pair of driving wheels 486, and the configuration of the cartridge 45 can be made more compact and neat by the mirror images. In another embodiment, the pair of drive wheels 485 is the same distribution of drive wires wrapped around the other pair of drive wheels 486.

As shown in fig. 6 and 7, the 4 driving wheels are a first driving wheel 481, a second driving wheel 482, a third driving wheel 483, and a fourth driving wheel 484, which are connected by respective independent driving wires, wherein the first driving wheel 481 is connected to a first position 431 at the end of the flexible body 48 by a first driving wire 473, the second driving wheel 482 is connected to a second position 432 at the end of the flexible body 48 by a second driving wire 474, the third driving wheel 483 is connected to a third position 433 at the end of the flexible body 48 by a third driving wire 475, and the fourth driving wheel 484 is connected to a fourth position 434 at the end of the flexible body 48 by a fourth driving wire 476. The first position 431, the second position 432, the third position 433 and the fourth position 434 are all different, the first position 431 and the second position 432 may be disposed adjacent to or opposite to each other, and the third position 433 and the fourth position 434 may be disposed adjacent to or opposite to each other. In an alternative embodiment, the first location 431, the second location 432, the third location 433, and the fourth location 434 may be arranged in a square, a rectangle, or a diamond. Based on the flexibility of the flexible body 48, the positions of the 4 driving wheels on the chassis 452 may be replaced with each other according to actual needs, and correspondingly, the corresponding 4 positions may also be replaced with each other according to actual needs.

Further, as shown in fig. 8, the first driving wheel 481 and the second driving wheel 482 are the pair of driving wheels 485, and the third driving wheel 483 and the fourth driving wheel 484 are the other pair of driving wheels 486. The winding direction of the first driving wire 473 on the first driving wheel 481 is the same as the winding direction of the second driving wire 474 on the second driving wheel 482, and is the first winding direction M; the winding direction of the third driving wire 475 on the third driving wheel 483 is the same as the winding direction of the fourth driving wire 476 on the fourth driving wheel 484, and is the second winding direction N; the first winding direction M is opposite to the second winding direction N. For example, the first winding direction M may be a counterclockwise winding direction and the second winding direction N may be a clockwise winding direction. Of course, the first winding direction M and the second winding direction N may be provided alternately with each other.

Further, as shown in fig. 8, the catheter apparatus has an axis of symmetry Y, the first drive wire 473 wound on the first drive wheel 481 and the second drive wire 474 wound on the second drive wheel 482 are on the same side of the axis of symmetry Y, and the third drive wire 475 wound on the third drive wheel 483 and the fourth drive wire 476 wound on the fourth drive wheel 484 are on the same side of the axis of symmetry Y. Wherein the first driving wire 473 and the second driving wire 474 are respectively located on different sides of the symmetry axis Y than the third driving wire 475 and the fourth driving wire 476. Optionally, the first driving wires 473 and the third driving wires 475 are symmetrically distributed about the symmetry axis Y, and the second driving wires 474 and the fourth driving wires 476 are symmetrically distributed about the symmetry axis Y. By such arrangement, the layout of the first, second, third and

fourth driving wheels

481, 482, 483, 484 on the chassis 452 can be more neat, and the winding and wiring of the driving wires can be more compact and convenient.

Fig. 9 illustrates a tensioning mechanism 460 according to an embodiment. The tensioning mechanism 460 is nested on the driving wheel and is configured to pull the driving wheel and provide a pre-loading force for the driving wheel, so that the driving wire is in a tensioning state when the driving wheel is in a static state or a moving state; wherein the preload force pulls the drive wheel to rotate in a direction opposite to a winding direction of the drive wire on the drive wheel.

Specifically, as shown in fig. 10, the tensioning mechanism 460 includes a coil spring 461, a boss 462 protruding outward from one end of the coil spring 461, and a catch 463 detachably connected to the boss 462. As shown in fig. 10, the coil spring 461 has two ends, one end 464 being the end of the outer ring and the other end 465 being the end of the inner ring. The protruding portion 462 may be a separate structure fixed to the end 464 of the coil spring 461 by welding or the like, or may be a structure integrated with the coil spring 461, for example, a thickened bent structure is formed at the end 464 of the coil spring 461.

As shown in fig. 11, the chassis is provided with a receiving portion 466 protruding therefrom, and the receiving portion 466 is configured to receive the tensioning mechanism 460 and the driving wheel having a driving shaft 467 (fig. 9). As shown in fig. 12, the housing portion 466 includes a first housing groove 471 recessed in the chassis 452 toward the power unit 240, a second housing groove 472 communicating with the first housing groove 471, a third housing groove 477 provided adjacent to the second housing groove 472, and a fourth housing groove 478 provided adjacent to the third housing groove 477. As shown in fig. 11 and 12, it is understood that the receiving portion 466 has a central hole 479, and the central hole 479 communicates with the first receiving groove 471, the second receiving groove 472 and the third receiving groove 477, so that the driving shaft 467 can pass through. In addition, the outer shape of the receiving portion 466 is cylindrical, and the circumferential side wall thereof may have a solid structure or a hollow structure. Of course, the external shape of the receiving portion 466 may be square, oval, or other shapes, and may be appropriately set according to actual needs. In an embodiment, the radial diameters of the first receiving groove 471, the second receiving groove 472, the third receiving groove 477, and the fourth receiving groove 478 are sequentially increased; only the radial diameter of the third receiving groove 477 may be larger than the radial diameter of the second receiving groove 472. It will be appreciated that when the outer shape of the receiving portion 466 is non-circular, the radial diameter of each receiving groove may be replaced with the lateral length, lateral width, etc. of the receiving space. The 4 receiving slots listed in this embodiment are not necessary, and the corresponding receiving slots may be selected appropriately according to actual needs, for example, in some embodiments, the third receiving slot 477 may be omitted, etc.

Further, as shown in fig. 11, the receiving portion 466 is provided with a mounting hole 480, and the mounting hole 480 may be specifically provided on a side wall of the receiving portion 466. The mounting hole 480 may be shaped to fit the boss 462 of the coil spring 461. In one embodiment, the mounting hole 480 may be only a circular hole into which the boss 462 is snapped; in another embodiment, the mounting hole 480 may include the circular hole at the bottom of the receiving portion 466, and may further include a rectangular window hole (not shown) extending from the circular hole in a direction away from the bottom frame 452. The viewing window can facilitate the specific position of the coil spring 461 to be observed in the process of mounting the coil spring 461 to the receiving portion 466, and facilitate the boss 462 to be quickly clamped into the mounting hole 480. Of course, to adapt to the shape of the mounting hole 480, a plane may be disposed on the side wall of the receiving slot, so that the mounting hole 480 has a complete planar hole structure. In order to improve the connection strength between the protruding portion 462 and the receiving portion 466, the protruding portion 462 is fixed at the position of the mounting hole 480 by the fastening portion after the protruding portion 462 is fastened in the mounting hole 480, thereby preventing the protruding portion 462 from moving. It will be appreciated that, to enhance the fixing strength between the fastening portion and the protruding portion 462, a groove may be provided on the protruding portion 462 for the fastening portion to be fastened to engage with the protruding portion 462, so as to prevent the fastening portion from falling off from the protruding portion 462.

Correspondingly, as shown in fig. 13, the driving shaft 467 is provided with a fixing hole 487 at a position corresponding to the coil spring 461, and particularly, when the coil spring 461 is mounted in place, the fixing hole 487 is provided at a height position of the coil spring 461 with respect to the driving shaft 467. The fixation of both ends of the coil spring 461 is achieved by the one end 464 of the coil spring 461, that is, the protruding portion 462, being caught in the mounting hole 480, and the other end 465 being fixed in the fixing hole 487. In some embodiments, since the other end 465 of the coil spring 461 has a bent structure, the fixing between the two ends can be achieved only by clamping the bent structure into the fixing hole 487; in other embodiments, the fixing hole 487 may be omitted, and the other end 465 of the coil spring 461 may be directly welded to the driving shaft 467. The fixing manner and fixing position of the two ends of the coil spring 461 in this embodiment are not limited. For example, the one end 464 of the coil spring 461 is not limited to being fixed to the receiving portion 466, and other structures may be added to the chassis 452, so that the one end 464 of the coil spring 461 is fixed to the other structures of the chassis 452. The other end 465 of the coil spring 461 is not limited to be fixed on the driving shaft 467, and may be indirectly connected to the driving shaft 467, for example, the other end 465 of the coil spring 461 is fixed on other structures connected to the driving shaft 467, and the specific scheme is not described in an unfolding manner, that is, the coil spring can drive the driving wheel to rotate and tension the driving wire during elastic recovery. When the two ends of the coil spring 461 are fixed, the coil spring 461 can store or unload force by driving any end of the coil spring 461 to rotate in different directions.

Further, the direction of the coil spring driving the driving wheel to rotate is opposite to the winding direction of the driving wire on the driving wheel. Specifically, the winding direction of the first driving wire 473 on the first driving wheel 481 and the winding direction of the second driving wire 474 on the second driving wheel 482 are both the first winding direction M, and accordingly, the direction in which the coil springs corresponding to the driving wheels drive the first driving wheel 481 to rotate is the second winding direction N and the direction in which the coil springs corresponding to the driving wheels drive the second driving wheel 482 to rotate is the second winding direction N. The winding direction of the third driving wire 475 on the third driving wheel 483, the winding direction of the fourth driving wire 476 on the fourth driving wheel 484 is the second winding direction N, and accordingly, the direction in which the coil springs corresponding to the driving wheels drive the third driving wheel 483 to rotate is the first winding direction M, and the direction in which the coil springs corresponding to the driving wheels drive the fourth driving wheel 484 to rotate is the first winding direction M.

As shown in fig. 13, the driving wheel includes a driving shaft 467, a driving wheel body 491 fixed to the driving shaft 467 and rotatable relative to the driving shaft 467, a first bearing 492 connected to the driving shaft 467, a second bearing 493 connected to the driving shaft 467 and disposed adjacent to the coil spring 461, and an input disc 458 fixedly connected to the second bearing 493. Specifically, the first bearing 492 is configured to be partially embedded in the first receiving groove 471, the coil spring 461 is configured to be received in the second receiving groove 472, the second bearing 493 is configured to be received in the third receiving groove 477, and the input disc 458 is configured to be received in the fourth receiving groove 478.

Further, as shown in fig. 14, the third housing 477 has a top wall 494 on a side close to the coil spring 461, and the second bearing 493 abuts against the top wall 494 to restrict the driving wheel from moving in a direction away from the power portion 240; the first bearing 492 has a limiting portion 495 extending in a circumferential direction, wherein the limiting portion 495 is located outside the first receiving groove 471, and the limiting portion 495 is disposed to abut against an outer surface 490 of the receiving portion 466 to limit the driving wheel from moving in a direction approaching the power portion 240. In this way, the drive wheel may be prevented from moving in a direction away from or towards the power section 240.

Further, as shown in fig. 14, the first receiving groove 471 has a first circumferential sidewall 511, and the first bearing 492 is inserted into the first receiving groove 471 to abut against the first circumferential sidewall 511. The third pocket 477 also has a second circumferential side wall 512 disposed adjacent to the top wall 494, the second bearing 493 being disposed to interfere with the second circumferential side wall 512. In this way, the drive wheel is restrained from moving in a direction perpendicular to the drive shaft 467 by the co-action of the two bearings. Of course, in other embodiments, only one or three or more bearings may be provided according to actual situations, and the number of bearings in this embodiment is not limited.

Fig. 15 shows a tensioning mechanism 460 according to another embodiment. The difference between this embodiment and the previous embodiment is that the tensioning mechanism 460 is located in the space enclosed by the driving wheels, and the position of the relevant structure on the chassis 452 for accommodating the tensioning mechanism 460 is also different. The method comprises the following steps:

as shown in fig. 16, the tensioning mechanism 460 includes a follower wheel 513 fixed to the driving wheel, and a force loading portion 515 connected to the follower wheel 513 by a connecting wire 514. The force loading part 515 is configured to provide a pre-loading force to the follower wheel 513, so that the pre-loading force is transmitted to the follower wheel 513 through the connecting wire 514, and drives the driving wheel to rotate in a direction opposite to a winding direction of the driving wire on the driving wheel, so that the driving wire is in a tensioned state.

Specifically, as shown in fig. 17, the force loading part 515 includes a placing plate 510 provided on the bottom frame 452, a power wheel 516 passing through the placing plate 510 and connected to the follower wheel 513 by the connecting wire 514, and a coil spring 461 having one end 464 connected to the power wheel 516 and the other end 465 fixed to the placing plate 510. In one embodiment, the coil spring 461 is configured to be received in the placing plate 510, and to rotate the driving wheel to tension the driving wire when the coil spring is elastically restored, wherein the direction of rotation of the driving wheel is opposite to the winding direction of the driving wire on the driving wheel. The specific solution is the same as that of the previous embodiment, and will not be described in detail here. Of course, in other embodiments, the coil spring 461 may be disposed outside of the puck 510, on the puck 510, or the like. Also, in this embodiment, the coil spring 461 has two ends, one end 464 being the end of the outer ring and the other end 465 being the end of the inner ring.

Further, as shown in fig. 18, the setting plate 510 includes a movable groove 517 configured to receive the coil spring 461, and at least two adjacent positioning portions 518 protruding from an outer periphery of the movable groove 517. In an alternative embodiment, the outer circumference of the movable slot 517 is convexly provided with a plurality of positioning portions 518 that are uniformly distributed. The positioning portion 518 may be a bump, may be circular, may be trapezoid, or the like. When the positioning portion 518 has a trapezoidal shape, a plurality of positioning portions 518 uniformly distributed on the outer circumference of the movable groove 517 form a gear-like structure. It should be appreciated that the coil spring 461 may have a collapsing and expanding action within the movable slot 517.

As shown in fig. 19, the power wheel 516 includes a rotation shaft 521 passing through the movable groove 517 and rotatable with respect to the movable groove 517, a driving wheel body 522 and a third bearing 523 connected to the rotation shaft 521 and respectively located at upper and lower sides of the coil spring 461, and a fourth bearing 524 connected to the rotation shaft 521 and disposed adjacent to the third bearing 523. The rotation shaft 521 is provided with a fixing hole 487 at a position corresponding to the coil spring 461, one end 464 of the coil spring 461 is fixed to a groove wall 525 (fig. 18) of the movable groove 517, and the other end 465 is fixed to the fixing hole 487. One end 464 of the coil spring 461 may be fixed to the groove wall 525 of the movable groove 517 by welding or the like, or a strip-shaped hole may be provided on the groove wall 525, so that the one end 464 of the coil spring 461 is clamped into and forms a bending structure; the other end 465 of the coil spring 461 is of a bent structure, and the fixing between the coil spring 461 and the rotating shaft 521 can be achieved by only clamping the bent structure into the fixing hole 487, and of course, the other end 465 of the coil spring 461 can be directly welded to the rotating shaft 521 without arranging the fixing hole 487.

As shown in fig. 20, the chassis 452 is provided with a receiving portion 466 protruding upward, the receiving portion 466 is provided to receive the driving wheel, the follower wheel 513, and the like, and the chassis 452 is further provided with a receiving portion 530 recessed upward, specifically, the receiving portion 530 is located adjacent to the receiving portion 466. It will be appreciated that, in order to enable the connection wire 514 to smoothly connect between the follower wheel 513 and the power wheel 516 (specifically, the driving wheel 522 of the power wheel 516), a slot (not shown) may be provided in the receiving portion 466 or the receiving portion 530 for the connection wire 514 to pass through. The driving wheel 522 is configured to pull the connecting wire 514 under the action of the preload force of the coil spring 461, and drive the follower wheel 513 to rotate through the connecting wire 514, so as to drive the driving wheel 491 to rotate, thereby tensioning the driving wire.

Further, as shown in fig. 20 and 21, the accommodating portion 530 includes a first accommodating groove 531 recessed from the chassis 452 toward the power unit 240, a second accommodating groove 532 communicating with the first accommodating groove 531, and a third accommodating groove 533 provided adjacent to the second accommodating groove 532. A communication groove 534 is further disposed between the second accommodating groove 532 and the third accommodating groove 533, and cross sections of the second accommodating groove 532, the communication groove 534 and the third accommodating groove 533 are i-shaped. It will be appreciated that the 3 accommodating grooves and the communicating grooves 534 listed in the present embodiment are not necessary, and the corresponding grooves may be reasonably selected according to actual needs, for example, in some embodiments, the second accommodating groove 472 may be omitted.

Wherein the movable groove 517 of the placement tray 510 is received in the first receiving groove 531, the third bearing 523 is configured to be partially received in the second receiving groove 532, and the remaining portion is inserted into the communication groove 534, so that the rotation shaft 521 is rotatably rotated with respect to the bottom frame 452. The fourth bearing 524 is disposed to be partially received in the third receiving groove 533, with the remaining portion being embedded in the communication groove 534. It will be appreciated that, in order to prevent the third bearing 523, the fourth bearing 524 and the rotation shaft 521 from moving in the receiving groove, corresponding protrusion structures (not shown) may be provided on the rotation shaft 521 at positions corresponding to the third bearing 523 and the fourth bearing 524, the protrusion structures at the third bearing 523 may restrict the movement of the third bearing 523, the fourth bearing 524 and the rotation shaft 521 in a direction away from the power part 240, and the protrusion structures at the fourth bearing 524 may restrict the movement of the third bearing 523, the fourth bearing 524 and the rotation shaft 521 in a direction approaching the power part 240.

As shown in fig. 20, the groove wall of the first accommodating groove 531 may be provided with a positioning hole 535 in a protruding manner, and the positioning hole 535 may be provided in another position on the bottom frame 452, that is, the specific position of the positioning hole 535 is not limited in this embodiment. As shown in fig. 22, the force loading portion 515 further includes a fastener 536 that mates with the positioning hole 535, the fastener 536 being configured to be snapped between the two adjacent positioning portions 518 and mate with the positioning hole 535 to secure the puck 510 to the chassis 452. In this embodiment, by adjusting the mounting direction of the puck 510, the coil spring 461 can be rotated in the direction of collapsing, thereby imparting the preload force to the coil spring 461. In addition, when the plurality of positioning portions 518 are uniformly distributed on the outer periphery of the movable slot 517 and form a gear structure, the direction adjustment of the placing plate 510 may be more flexible, that is, the coil springs 461 may have the preload forces of different magnitudes by adjusting the direction of the placing plate 510.

As shown in fig. 23, the direction of the driving wire wound around the driving wheel 491 is opposite to the direction of the connecting wire 514 wound around the driven wheel 513, and the direction of the connecting wire 514 wound around the driven wheel 513 and the power wheel 516 is the same. For example, the winding direction of the connecting wire 514 on the follower wheel 513 is a first winding direction M, the winding direction of the driving wire on the driving wheel 491 is a second winding direction N, and the winding direction of the connecting wire 514 on the power wheel 516 is a first winding direction M, which is opposite to the second winding direction N. For example, the first winding direction M may be a counterclockwise winding direction and the second winding direction N may be a clockwise winding direction. Of course, the first winding direction M and the second winding direction N may be provided alternately with each other.

As shown in fig. 14 and 21, in the above two embodiments, the coil springs 461 are provided with gaps 537 in the circumferential direction and up-down direction in the corresponding receiving portions 466 or in the corresponding placement tray 510, that is, the coil springs 461 do not occupy all the space of the second receiving grooves 472, and by providing the gaps 537 in the circumferential direction and up-down direction, sufficient movement space can be reserved for folding and unfolding the coil springs 461, thereby avoiding interference to the coil springs 461.

In one embodiment, the coil spring 461 is any one of a hairspring, a constant torque spring, or a constant force spring. The hairspring is arranged to return the end of the flexible body 48 to an initial state when the cartridge 45 is not engaged with the power section 240 and the end of the flexible body 48 is bent; or the coil spring 461 is a constant torque spring configured to maintain the end of the flexible body 48 in a bent state when the end of the flexible body 48 is bent and the power portion 240 is not energized; or the coil spring 461 is a constant force spring configured to maintain the end of the flexible body 48 in a bent state when the end of the flexible body 48 is bent and the power portion 240 is not energized.

Fig. 24 illustrates the fixing portion 44 and the spring tube 46 according to an embodiment, the fixing portion 44 is fixed to the bottom frame 452, and has a fan shape or an arc shape, so that each driving wire may pass through in a straight state and then enter the spring tube 46. The spring tube 46 is inserted into the flexible main body 48, and one end of the spring tube 46 is fixed to an end of the flexible main body 48 away from the instrument box 45 (specifically, may be fixed to a snake bone joint at the end of the flexible main body 48), and the other end of the spring tube 46 is connected to the fixing portion 44. It will be appreciated that there is no fixed connection between the other end of the spring tube 46 and the fixed end, and that movement of the spring tube 46 in the direction of the flexible body 48 is limited by the interference or blocking action of the fixed portion 44. Therefore, the driving wire passes through the arc-shaped fixing portion 44 in a straight line manner and enters the spring tube 46, so that the loss of the driving wire during the stretching or shrinking process of the driving wire can be avoided, and the service life of the driving wire can be prolonged.

Further, the fixing portion 44 includes a body 441 fixed to the bottom frame 452, and a guide 442 fixed to the body 441, the guide 442 being configured to pass the driving wire into the spring tube 46 and to restrict the spring tube 46 from moving in the direction of the flexible body 48 by abutting against the spring tube 46. The number of the guides 442 is adapted to the number of the driving wires, and the guides 442 are fixed to the body 441 at an angle in which the driving wires can pass straight. In addition, to further reduce the loss of contact friction of the driving wire with the guide 442 during the drawing or shrinking, the guide 442 may be provided with a chamfer structure on a side facing the driving wire.

Specifically, as shown in fig. 25, a first through hole 443 and a second through hole 444 are provided in the guide 442 in communication, the first through hole 443 having a smaller diameter than the second through hole 444, the first through hole 443 being provided for the driving wire to pass through, and the second through hole 444 being provided for the driving wire passing through the first through hole 443 to pass into the spring tube 46 and to abut against the spring tube 46 through a bottom wall 445 of the second through hole 444, thereby restricting the movement of the spring tube 46 in the direction of the flexible body 48. In this embodiment, the guide 442 is made of a flexible metal or resin, and by providing the guide 442, the movement of the spring tube 46 is not limited, and the driving wire can be threaded into the spring tube 46 in a straight line, so that the normal function of the catheter apparatus 400 can be ensured and the service life can be improved.

In addition, the body 441 may further include a support base 496 fixed to the chassis 452, and an extension portion 497 protruding from the support base 496, where the extension portion 497 has a fan-shaped structure, and the support base 496 is located on either side of the extension portion 497. Of course, the support base 496 may be omitted.

In other embodiments, the guide 442 may be omitted, and the first through hole 443 and the second through hole 444 may be provided directly on the body 441, and likewise, the groove bottom wall 445 of the second through hole 444 is provided to abut the spring tube 46. This embodiment is relatively simpler in construction than the previous embodiment, making the mounting steps of the cartridge 45 more compact.

In other embodiments, the guide 442 may be omitted, and a universal ball rotatable with respect to the body 441 may be provided directly on the body 441, and the first through hole 443 and the second through hole 444 may be provided in the universal ball. In this way, it is ensured that the drive wire enters the spring tube in a straight state, thereby reducing wear of the drive wire during movement. It will be appreciated that the ball in this case corresponds to the guide 442.

In other embodiments, as shown in fig. 26, a nut member 446 and a connecting member 447 may be further added, and the connecting member 447 is similar to the guide member 442, and as shown in fig. 27, a fifth through hole 448 and a sixth through hole 449 having different diameters are also provided therein, and the diameter of the fifth through hole 448 is smaller than the diameter of the sixth through hole 449. The fifth through hole 448 is configured to receive a smaller diameter component of the connector 447 and the sixth through hole 449 is configured to receive a larger direct component of the connector 447. Wherein the guide 442 is received in the connector 447, the nut member 446 is positioned at one side of the body 441, and the connector 447 and the guide 442 are positioned at the other side of the body 441. The connecting member 447 and the guiding member 442 are made of a metal material or a resin material having a certain flexibility, and the nut member 446 and the connecting member 447 are disposed in the present embodiment, so that the guiding member 442 and the body 441 having a relatively high hardness are prevented from directly contacting each other, and the body 441 having a relatively high hardness is prevented from wearing the guiding member 442 during the stretching or retracting process of the driving wire, so that the normal function of the catheter apparatus 400 is ensured, and the service life is improved.

In other embodiments, a rotating shaft structure may be further added to movably connect the guide 442 to the body 441, and the guide 442 may rotate relative to the body 441, so that the driving wire may be ensured to enter the spring tube in a straight line state, thereby reducing wear of the driving wire during the moving process.

It will be appreciated that the securing portion 44 may be a metal piece in order to further increase the useful life of the catheter instrument 400.

As shown in fig. 21, the plurality of drive wheels have a center point P, which is generally the center of symmetry. The bottom frame 452 has a circular contour 800, and the center of the circular contour 800 coincides with the center point P. The circular profile 800 at least partially coincides with the bottom frame 452, while the bending of the drive wire after it enters the corresponding spring tube 46 is outside the circular profile 800.

The shape of the cartridge 45, and in particular the chassis 452, may be circular or non-circular, such as a drop-shape. When the shape of the underframe 452 is circular and drop-shaped, the driving wires enter the corresponding spring tubes 46 and are bent at different angles, and when the driving wires are circular, the circular outline 800 is overlapped with the underframe 452; when drop-shaped, the circular profile 800 partially coincides with the chassis 452. Taking the second driving wheel 482 on the right side as an example, the tangent point between the driving wire wound from the second driving wheel 482 and the second driving wheel 482 is E, and the driving wire enters the flexible body through the bending point F after entering the spring tube 46, that is, the driving wire bends at the bending point F. When the shape of the bottom frame 452 is circular, the included angle between the driving wire and the straight line Z where the spring tube 46 is located is α; when the bottom frame 452 is in a drop shape, the driving wire forms an angle β with the straight line Z of the spring tube 46. It is apparent that β > α, that is, when the shape of the bottom frame 452 is a drop shape, the driving wire enters the spring tube 46 and relatively more nearly a straight state when entering the flexible body at the inflection point F, in which case not only the friction force of the spring tube 46 against the driving wire can be reduced, thereby improving the life of the driving wire, but also the control accuracy of the driving wire can be ensured.

The internal structure of the instrument box 45 in the application is relatively simple, no other additional complex structure exists, the whole structure of the instrument box 45 is small and exquisite and light in weight, and the flexible main body 48 can be stretched into a patient anatomy structure and can be correspondingly rotated in a self-adaptive manner when the branch of the anatomy structure is bent and turned, so that the tail end of the flexible main body 48 is prevented from being stretched into the anatomy structure in a fixed posture to damage the anatomy structure.

The foregoing description is only of the optional embodiments of the present utility model, and is not intended to limit the scope of the utility model, and all the equivalent structural changes made by the description of the present utility model and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims

1. A catheter instrument configured to engage a power section of a robotic arm, the catheter instrument comprising an instrument pod configured to engage the power section and a flexible body connected to the instrument pod, the instrument pod comprising:

2. The catheter apparatus of claim 1 wherein said chassis is convexly provided with a receiving portion configured to receive said tensioning mechanism, said tensioning mechanism comprising a coil spring having one end connected to said drive wheel and the other end fixed to said chassis; the coil spring is arranged to drive the driving wheel to rotate to tension the driving wire when the coil spring returns elastically, and the rotation direction of the driving wheel is opposite to the winding direction of the driving wire on the driving wheel.

3. The catheter apparatus of claim 2 wherein said receiving portion defines a mounting aperture and said drive wheel includes a drive shaft defining a mounting aperture at a location corresponding to said wrap spring, one end of said wrap spring being captured within said mounting aperture and the other end being secured within said mounting aperture.

4. The catheter apparatus of claim 3 wherein the tensioning mechanism further comprises a boss protruding outwardly from one end of the coil spring and a catch removably connected to the boss, the boss configured to snap into the mounting hole, the catch configured to limit movement of the boss relative to the mounting hole.

5. The catheter apparatus of claim 2 wherein said receptacle comprises a first receptacle recessed in a side of said chassis facing said power section and a second receptacle in communication with said first receptacle, said drive wheel comprising a drive shaft and a first bearing coupled to said drive shaft; the first bearing is arranged to be partially embedded in the first accommodating groove; the second receiving groove is configured to receive the coil spring.

6. The catheter apparatus of claim 5 wherein said apparatus housing further comprises a second bearing disposed adjacent said coil spring and connected to said drive shaft, said housing further comprising a third housing disposed adjacent said second housing, said third housing having a top wall on a side adjacent said coil spring, said second bearing being disposed to be received within said third housing and to interfere with said top wall to limit movement of said drive wheel in a direction away from said power section; the first bearing has a limiting portion extending in a circumferential direction, and the limiting portion is arranged to abut against an outer surface of the accommodating portion to limit the driving wheel from moving in a direction approaching the power portion.

7. The catheter apparatus of claim 6 wherein the first receptacle has a first circumferential side wall and the third receptacle further has a second circumferential side wall disposed adjacent the top wall, the first bearing being disposed to engage a portion of the first receptacle against the first circumferential side wall, the second bearing being disposed to engage the second circumferential side wall to limit movement of the drive wheel in a direction perpendicular to the drive shaft.

8. The catheter apparatus of claim 1 wherein said tensioning mechanism comprises a follower wheel secured to said drive wheel and a force loading portion connected to said follower wheel by a connecting wire; the force loading part is arranged to provide a pre-loading force for the follow-up wheel body, so that the pre-loading force is transmitted to the follow-up wheel body through the connecting wire and drives the driving wheel to rotate in the direction opposite to the winding direction of the driving wire on the driving wheel, and the driving wire is in a tensioning state.

9. The catheter apparatus of claim 8 wherein said force loading portion comprises a placement plate disposed on said chassis, a power wheel passing through said placement plate and connected to said follower wheel body by said connecting wire, and a coil spring having one end connected to said power wheel and the other end fixed to said placement plate, said coil spring being configured to be received in said placement plate and to rotate said drive wheel to tension said drive wire upon elastic return of said coil spring, said drive wheel rotating in a direction opposite to a winding direction of said drive wire on said drive wheel.

10. The catheter apparatus of claim 9 wherein said placement plate comprises a movable slot configured to receive said coil spring, and at least two adjacent detents protruding from a periphery of said movable slot; the chassis is concave to be equipped with the accommodation portion, the accommodation portion include from the chassis to the first holding tank that power portion direction concave was established and locate locating hole on the cell wall of first holding tank, the power loading portion still includes the fastener, the fastener is set up to block into between two adjacent location portions, and with the locating hole cooperation, and will place the dish is fixed in on the chassis.

11. The catheter apparatus of claim 10 wherein said movable slot has a plurality of said positioning portions circumferentially protruding therefrom in a uniform distribution.

12. The catheter apparatus of claim 10 wherein said power wheel includes a rotatable shaft passing through and rotatable relative to said movable slot, said rotatable shaft having a fixed aperture at a location corresponding to said wrap spring, one end of said wrap spring being secured to a wall of said movable slot and the other end being secured within said fixed aperture.

13. The catheter apparatus of claim 10 wherein said power wheel includes a rotatable shaft passing through and rotatable relative to said movable slot, said force loading portion further including a drive wheel body and a third bearing connected to said rotatable shaft and located on each of said upper and lower sides of said wrap spring; the accommodating part further comprises a second accommodating groove communicated with the first accommodating groove; the movable groove is arranged to be accommodated in the first accommodating groove, and the third bearing is arranged to be partially accommodated in the second accommodating groove, so that the rotating shaft can rotate relative to the underframe; the driving wheel body is arranged to pull the connecting wire under the action of the pre-loading force and drive the driving wheel to rotate through the connecting wire so as to tension the driving wire.

14. The catheter apparatus of claim 13 wherein the force loading portion further comprises a fourth bearing coupled to the rotational shaft and disposed adjacent the third bearing, the receiving portion further comprising a third receiving groove disposed adjacent the second receiving groove, the fourth bearing being disposed to be partially received within the third receiving groove.

15. The catheter apparatus of claim 14 wherein a communication slot is further provided between the second receiving slot and the third receiving slot, the second receiving slot, the communication slot, and the third receiving slot being i-shaped in cross section; the communication groove is provided to accommodate the remaining structure of the third bearing other than the second accommodation groove, and the remaining structure of the fourth bearing other than the third accommodation groove.

16. The catheter apparatus of claim 8 wherein said apparatus housing further comprises a drive wheel secured to said drive wheel, said force loading portion further comprising a power wheel connected to said follower wheel by said connecting wire, said drive wire being wound on said drive wheel in a direction opposite to a direction of said connecting wire being wound on said follower wheel, said connecting wire being wound on said follower wheel in a same direction as said connecting wire.

17. Catheter apparatus according to claim 2 or 9 wherein said coil spring is provided with gaps in the circumferential direction and in the up-down direction.

18. The catheter apparatus of claim 2 or 9 wherein the coil spring is any one of a hairspring, a constant torque spring, or a constant force spring.

19. The catheter apparatus of claim 1 wherein the apparatus housing comprises two pairs of drive wheels, one pair of drive wheels being mirror image of drive wires wound on the other pair of drive wheels.

20. The catheter apparatus of claim 1 further comprising a securing portion secured to the chassis and a spring tube threaded through the flexible body, one end of the spring tube being secured to an end of the flexible body remote from the apparatus box, the other end of the spring tube being connected to the securing portion, the securing portion being configured to limit movement of the spring tube in a direction of the flexible body.

21. The catheter apparatus of claim 20 wherein the securing portion comprises a body secured to the chassis and a guide secured or movably coupled to the body, the guide configured to pass the drive wire into the spring tube and limit movement of the spring tube in the direction of the flexible body by abutting the spring tube.

22. The catheter apparatus of claim 20 wherein a first through hole and a second through hole are provided in the securing portion in communication, the first through hole having a diameter smaller than a diameter of the second through hole, the first through hole configured for the drive wire to pass through, the second through hole configured for the drive wire to pass through the first through hole into the spring tube and to abut the spring tube through a bottom wall of the second through hole to limit movement of the spring tube in a direction of the flexible body.

23. The catheter apparatus of claim 20 wherein said securing portion is fan-shaped in shape such that each of said drive wires passes in a straight line into said spring tube.

24. The catheter apparatus of claim 20 wherein said chassis has a circular profile, a center of said circular profile coinciding with a center point of a plurality of said drive wheels, said circular profile coinciding at least partially with said chassis, said drive wire being bent beyond said circular profile after entering said spring tube.

25. The catheter apparatus of claim 1 wherein said chassis includes an inwardly recessed receiving channel, said cartridge further including a movable toggle portion received within said receiving channel and a deformation portion having one end connected to said chassis and another end connected to said toggle portion; the stirring part is arranged to be matched with the power part under the elastic supporting action of the deformation part, so that the joint of the instrument box and the power part is completed.

26. The catheter apparatus of claim 25 wherein said chassis has a stop protruding toward a center of said receiving slot, said stop being configured to cause upper and lower surfaces of said toggle portion to abut said toggle portion, respectively, a bottom surface of said receiving slot, and to limit movement of said toggle portion in a direction perpendicular to a plane of said chassis.

27. A catheter system comprising an imaging trolley, a trolley and a master controller respectively connected to the imaging trolley, and a catheter instrument as claimed in any one of claims 1 to 26 engageable to the trolley, the catheter instrument being configured to be advanced, retracted or curved for steering by actuation of the trolley under control command triggered by the master controller.