WO2023102904A1

WO2023102904A1 - Power system suitable for flexible bending

Info

Publication number: WO2023102904A1
Application number: PCT/CN2021/137138
Authority: WO
Inventors: 孟思源; 李璐; 朱军辉; 汝长海; 孙钰
Original assignee: 江苏集萃微纳自动化系统与装备技术研究所有限公司
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2023-06-15

Abstract

The present invention relates to a power system suitable for flexible bending, comprising: a power assembly, used for generating an axial braking force, and comprising a sleeve, a push rod, and a piston rod, the distal end of the sleeve being an instrument joint, the proximal end of the sleeve being a bending joint, the piston rod dividing the sleeve into a first cavity and a second cavity, the proximal end of the push rod being connected to the piston rod, and the distal end of the push rod passing through the first cavity to extend out of the distal end of the sleeve; and a driving assembly, used for driving the push rod to move, and comprising a flexible tube and a hydraulic pump, the distal end of the flexible tube passing through the bending joint to be communicated with the second cavity, and the proximal end of the flexible tube being communicated with the hydraulic pump. According to the present invention, when a surgical operation instrument is flexibly bent in any direction relative to the axial direction, enough axial braking force can be provided, moreover, no adverse acting force affecting the bending range will be generated, and the use stability of the surgical operation instrument is improved.

Description

A power system suitable for flexible bending

technical field

The invention relates to the technical field of medical devices, in particular to a power system suitable for flexible bending.

Background technique

Many surgical instruments transmit the axial braking force from the handle to the end effector to achieve a predetermined instrument action. For example, linear staplers require axial braking force to push the blade, thus relying on the contact between the blade and the anvil and the staple cartridge seat. The slide rail structure completes the grasping, cutting and anastomosis of tissues. Surgical instruments such as surgical forceps and surgical scissors need axial braking force to pull/push the connecting rod mechanism at the end of the instrument to achieve the closed state and closed state of the instrument. Switch between them, so as to complete the grabbing and cutting of tissues.

Most of the existing surgical instruments that need to transmit axial braking force are rigid structures, and the ends of a few instruments can only be bent with one degree of freedom in the axial vertical plane. In the known surgical instruments of this type, the tips do not have two degrees of freedom (pitch, yaw) or more. The main reason is that, in order to realize the bending of the end of the instrument, a part of the transmission chain of the axial braking force must be flexible and bendable. Therefore, the existing axial braking force transmission scheme that can realize two degrees of freedom rotation can only be used for a small force (for example, alimentary canal endoscopic biopsy forceps). When the above solution is used in a medical surgical instrument that requires a large braking force, the transmission chain will exert a strong squeeze on the curved side wall, thereby compressing the flexible and bendable part so that it cannot maintain the initial bending range. Due to the reason of its own structural scheme, there will be an undesirable force to restore the bending part mechanism to the initial state, so that it cannot maintain the set bending range.

The surgical instrument of the prior art solution has low rigidity and poor stability. Therefore, it is urgent to design a power system that can provide sufficient axial braking force in the case of flexible bending without generating force to restore the structure to its original state.

Contents of the invention

For this reason, the technical problem to be solved by the present invention is to overcome the defects of low rigidity and poor stability of surgical instruments in the prior art, and provide a power system that can still provide sufficient axial braking force in the case of flexible bending, and Does not affect the amount of bending.

In order to solve the above technical problems, the present invention provides a power system suitable for flexible bending, including:

The power assembly is used to generate axial braking force, including a sleeve, a push rod and a piston rod. The distal end of the sleeve is an instrument joint, and the proximal end of the sleeve is a curved joint. The piston rod will The sleeve is divided into a first chamber and a second chamber, the proximal end of the push rod is connected to the piston rod, and the distal end of the push rod passes through the first chamber from the sleeve the distal end of the tube protrudes;

The driving assembly is used to drive the push rod to move, including a hose and a hydraulic pump. The distal end of the hose passes through the curved joint to communicate with the second chamber, and the proximal end of the hose communicates with the second chamber. the hydraulic pump.

In one embodiment of the present invention, the first chamber is separated from the instrument joint by an end cover, and a vent is provided on the end cover.

In one embodiment of the present invention, a detection component is connected to the hose between the second chamber and the hydraulic pump.

In one embodiment of the present invention, the detection component includes a flow meter and/or an air pressure detector.

In one embodiment of the present invention, a sealing groove is arranged on the circumference of the piston rod, and a sealing ring is arranged in the sealing groove.

In one embodiment of the present invention, the hose is a spring tube.

In one embodiment of the present invention, the hydraulic pump is connected to a hydraulic pool, and the hydraulic pool is filled with fluid.

In one embodiment of the present invention, the fluid is high-pressure gas, water or hydraulic oil.

In one embodiment of the present invention, it further includes a flexible component and a support base, the distal end of the flexible component is connected to the bending joint, and the proximal end of the flexible component is connected to the distal end of the support base , the flexible component and the support seat are provided with an intermediate channel, and the hose passes through the intermediate channel.

In one embodiment of the present invention, the flexible assembly includes a catheter base, a joint part and an instrument base, and there are multiple joint parts, and the joint parts are connected successively in a chain shape, and between adjacent joint parts Can rotate around the contact surface, the distal end of the catheter base is connected to the proximal end of the chain composed of the joint parts, the proximal end of the catheter base is connected to the support base, the proximal end of the instrument base It is connected to the distal end of the chain composed of the joint parts, and the distal end of the instrument base is connected to the curved joint.

In one embodiment of the present invention, the flexible assembly is driven to bend by a handle assembly, the handle assembly is installed at the proximal end of the support base, the handle assembly is connected to one end of the posture force member, the flexible assembly and the support A plurality of peripheral channels are arranged in the circumferential direction of the middle channel, and the posture force member passes through the peripheral channels and is fixedly connected with the distal end of the flexible component.

In one embodiment of the present invention, the handle assembly includes a plurality of inner wheels, the plurality of inner wheels are arranged coaxially, and the inner wheels pass through the support seat and are connected with dials.

The above technical solution of the present invention has the following advantages compared with the prior art:

The power system of the present invention can not only provide sufficient axial braking force when the surgical instrument is flexibly bent in any direction relative to the axial direction, but will not produce adverse force that affects the bending range, thereby improving the use of the surgical instrument. stability.

Description of drawings

In order to make the content of the present invention more easily understood, the present invention will be described in further detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

Fig. 1 is a schematic diagram of the power system of the present invention;

Fig. 2 is the structural representation of hose of the present invention;

Fig. 3 is a schematic diagram of an embodiment of the surgical instrument of the present invention;

Fig. 4 is a sectional view of the present invention;

Fig. 5 is a schematic diagram of Embodiment 1 of the flexible component of the present invention;

Fig. 6 is a schematic diagram of the second embodiment of the flexible component of the present invention;

Fig. 7 is a schematic diagram of Embodiment 3 of the flexible component of the present invention;

Fig. 8 is a schematic diagram of the closed state of the surgical instrument assembly of the present invention;

Fig. 9 is a schematic diagram of the opened state of the surgical instrument assembly of the present invention.

Description of reference signs in the manual: 10. Power system; 1. Sleeve; 11. Hydraulic pump; 111. Air vent; 12. Hydraulic pool; 13. Fluid; 14. Detection component; 2. Push rod; 3. Hoses; 4. End cover; 5. Piston rod; 6. Seal ring; 7. Brake joint; 8. Bending joint; 9. Instrument joint;

20. Support tube;

30. Flexible component; 301. Multi-link link structure; 3011. Single link; 302. Snake-like chain structure; 303. Multi-hinge hinge structure; 3031. Single hinge joint; 3032. Hinge point; 3033. Hinge joint group ;3034, group joint hinge point;

40. Surgical instrument components; 41. Stapler end effector components; 411. Open jaws; 412. Close jaws;

50. Middle channel;

60. Peripheral channel;

70. Attitude force piece;

80. Handle assembly; 81. Braking force; 811. Far-end braking force; 812. Near-end braking force; 82. Attitude force;

91, trigger; 93, pitch; 94, deflection; 95, upper dial; 96, lower dial.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

In this specification, the term "proximal" is generally used to refer to the portion of the device that is close to the clinician, while the term "distal" is generally used to refer to the portion of the device that is remote from the clinician. The "surgical instrument assembly" referred to in this specification generally refers to a surgical instrument such as a linear stapler that needs to transmit an axial braking force from a handle to an end effector to achieve a predetermined instrument action.

In order to better understand the design scheme of the proposed power system, this specification generally introduces flexible components and posture force members that can achieve relative axial two-degree-of-freedom and multi-directional deflection in the embodiments, and introduces the handle of the surgical instrument The part connected with the end effector assembly is used as the input to realize the intended function of the end effector. In addition, this manual uses the end effector of a linear stapler as an example to illustrate how the axial braking force is transformed into instrument action.

Referring to FIG. 1 , it is a schematic diagram of a power system 10 suitable for flexible bending according to the present invention. The power system 10 of the present invention includes:

The power assembly is used to generate an axial braking force 81, including a sleeve 1, a push rod 2 and a piston rod 5, the distal end of the sleeve 1 is an instrument joint 9, and the proximal end of the sleeve 1 is a curved Joint 8, the piston rod 5 divides the casing 1 into a first chamber and a second chamber, the proximal end of the push rod 2 is connected to the piston rod 5, and the distal end of the push rod 2 end protrudes from the distal end of the cannula 1 through the first chamber;

The driving assembly is used to drive the push rod 2 to move, including a hose 3 and a hydraulic pump 11. The distal end of the hose 3 passes through the curved joint 8 and communicates with the second chamber. The hose The proximal end of 3 communicates with the hydraulic pump 11.

In the embodiment of the present invention, the hydraulic pump 11 is used as the power source input of the power system 10, and the hydraulic pump 11 uses the fluid 13 as the medium for providing the power source. In order to ensure the continuous supply of fluid 13, a hydraulic pool 12 is also provided, and the hydraulic pump 11 is connected to the hydraulic pool 12 to pump the fluid 13 in the hydraulic pool 12 into the power assembly. In this embodiment, the fluid 13 includes, but is not limited to, flowable substances such as high-pressure gas, water, and hydraulic oil. The power assembly serves as the final actuator of the power system 10 . In this way, the surgical instrument assembly 40 can provide the axial braking force 81 for the end effector under the condition that the two degrees of freedom of the pitch 93 and the yaw 94 can be changed. Specifically, when the surgical instrument has a predetermined posture relative to the two degrees of freedom in the axial direction, when the axial distal braking force 81 needs to be provided, the hydraulic pump 11 starts to work, and the fluid 13 is injected into the second chamber of the cannula 1, The fluid 13 pushes the piston rod 5 to move toward the distal end of the cannula 1 , drives the push rod 2 to move, and reduces the volume of the first chamber of the cannula 1 , thereby providing an axial distal braking force 81 . When the axial proximal braking force 81 needs to be provided, the hydraulic pump 11 starts to work, sucks out the fluid 13 in the second chamber, increases the volume of the first chamber, pushes the piston rod 5 to move toward the proximal end of the casing 1, and drives the The lever 2 returns to provide an axial proximal braking force 81 . During this process, only the piston rod 5 and the push rod 2 connected to the piston rod 5 are displaced, and the position of the hose 3 used to transport the fluid 13 remains unchanged. Therefore, when the posture of the surgical instrument is determined relative to the axial direction and multi-direction, the posture of the flexible tube 3 is consistent with the determined posture, and changes with the change of the set posture. Does not change posture. Even if the fluid 13 passes through, the main flow direction of the fluid 13 is the axial direction of the hose 3 , so the pressure of the fluid 13 on the hose 3 will not change the posture of the hose 3 . Therefore, when the axial braking force 81 is provided, under the condition that the bending position and attitude of the hose 3 do not change, the hose 3 will not squeeze the bending position of the outer wall and affect its attitude, thereby ensuring the realization of the surgical instrument. In the case of stable multi-directional attitude changes relative to the axial direction, sufficient axial braking force 81 is provided. In order to facilitate connection with the components in the surgical instrument assembly 40 that need to provide pulling force and pushing force, the distal end of the push rod 2 is provided with a brake joint 7 .

Referring to Fig. 1, in order to facilitate the installation of the push rod 2, the first chamber is separated from the instrument connector 9 by an end cover 4, so that the push rod 2 and the piston rod 5 can be inserted into the sleeve by opening the end cover 4 Inside tube 1. In order to ensure that the end cap 4 is tightly installed with the casing 1, the outer diameter of the end cap 4 should be smaller than or equal to the outer diameter of the casing 1 and larger than the inner diameter of the casing 1. When the hydraulic pump 11 injects or extracts the fluid 13 into the second chamber, in order to ensure the consistency of the pressure in the first chamber and the second chamber, the first chamber needs to exhaust or intake air, so the end cover 4 Vent 111 is arranged on it.

In this embodiment, a detection component 14 is also connected to the hose 3 between the second chamber and the hydraulic pump 11 . The detection component 14 detects the flow, volume, pressure and other information of the power system 10 in real time to provide feedback for system implementation. When it is necessary to provide the braking force 811 to the remote end, the hydraulic pump 11 starts to work and sucks the fluid 13 from the hydraulic pool 12. When the fluid 13 is liquid, the detection component 14 detects that the volume of the sucked liquid reaches the corresponding casing 1, and the hydraulic pump 11 stops. Work and maintain the pressure at this time; when the fluid 13 is gas, when the detection component 14 detects that the pressure of the gas reaches the corresponding value, the hydraulic pump 11 stops working, and maintain the pressure at this time to complete the action of providing the braking force 81 . When it is necessary to provide a braking force 812 to the distal end, the hydraulic pump 11 starts to work and sucks out the fluid 13 from the sleeve 1. When the fluid 13 is liquid, the detection component 14 detects that the volume of the suctioned liquid reaches the corresponding sleeve 1, and the hydraulic pump 11 stops. Work and maintain pressure at this point. When the fluid 13 is a gas, the detection component 14 detects that the pressure of the gas reaches a corresponding value, the hydraulic pump 11 stops working, and maintains the pressure at this time to complete the action of providing the braking force 81 . Therefore, the detection component 14 includes but is not limited to flow meters and/or air pressure detectors and other detection devices for the flow, volume and pressure of the fluid 13 .

Since the fluid 13 flows into the second chamber, in order to ensure the sealing of the second chamber, a sealing groove is arranged on the circumference of the piston rod 5, and a sealing ring 6 is arranged in the sealing groove. The piston rod 5 is short cylindrical, and the sealing groove is located on the circumference of the short cylindrical shape. The diameter of the piston rod 5 should be slightly smaller than the inner diameter of the casing 1, so that it can be easily loaded into the casing 1. The outer diameter of the sealing ring 6 should be slightly larger than the inner diameter of the casing 1 to ensure the sealing effect. The push rod 2 connected to the piston rod 5 should provide a larger thrust, so the push rod 2 should be a cuboid or cylindrical structure that can withstand a larger thrust, and the maximum length of its section should be smaller than the diameter of the piston, and its length should be slightly longer than the casing 1 length.

Referring to FIG. 2 , it is a structural diagram of several embodiments of the hose 3, which are the initial state without deflection 94 or bending at any degree of freedom relative to the axial direction and after deflection 94 at any degree of freedom relative to the axial direction. status. Figure 3 shows the bending of one degree of freedom on the plane of the reader's front view, and it can also realize the bending of another degree of freedom on the plane perpendicular to this plane and passing through the axis. The hose 3 is a spring tube, including but not limited to a spring-like structure, and also includes other structures that can be bent with two degrees of freedom and have only a small axial length change. When the hose 3 deflects 94 or bends relative to any degree of freedom in the axial direction, the spring-like structure will compress the part facing the left side of the reader, and the part facing the right side of the reader will elongate to ensure the overall axis Only minor changes occur in length. The driving method of the additional fluid 13 ensures that the bending part mechanism relative to any degree of freedom in the axial direction will not produce adverse force to restore it to the original state, and maintain its set bending range. Therefore, during the process of providing the axial braking force 81 , the bending position will not change, so that the outer wall of the surgical instrument will not be squeezed and the bending range will not be changed.

3 and 4, the power system 10 of the present invention also includes a flexible assembly 30 and a support seat, the support seat includes a shell and a support tube 20, the shell is connected to the support tube 20 to play a supporting role, and the proximal end of the shell The lower part can be connected with a trigger 91, which is connected to the switch of the hydraulic pump 11 in the driving assembly and can be used to control the operation of the hydraulic pump 11. The support tube 20 is installed at the distal end of the casing. The distal end of the support tube 20 is fixedly connected to the proximal end of the flexible assembly 30, and the distal end of the flexible assembly 30 is connected to the bending joint 8, and the flexible assembly 30 can realize bending with two degrees of freedom along the axial direction (Fig. 4 shows a bending of one degree of freedom on the plane of the reader's front view, which can also realize bending of another degree of freedom on a plane perpendicular to this plane and passing through the axis). The proximal end of the power assembly is fixedly connected to the distal end of the flexible assembly 30 . An intermediate channel 50 is disposed in the flexible component 30 and the support seat, and the hose 3 passes through the intermediate channel 50 . The hose 3 is bent with two degrees of freedom relative to the axial direction along the middle channel 50 .

In the present invention, in order to meet the free bending of the flexible assembly 30 relative to the axial direction, the flexible assembly 30 is a joint structure, including joint parts. There are a plurality of joint parts, and the joint parts are connected successively in a chain shape. The joint parts can rotate around the contact surface, so as to realize the bending of the flexible component 30 . In order to be conveniently connected with the support tube 20 at the proximal end of the flexible assembly 30 and the power assembly at the distal end, it also includes a catheter base and an instrument base, the distal end of the catheter base is connected to the proximal end of the chain formed by the joint parts, The proximal end of the catheter base is connected to the support base, specifically the support tube 20, the proximal end of the instrument base is connected to the distal end of the chain formed by the joint parts, and the distal end of the instrument base is The power assembly is connected, specifically the bending joint 8 .

Referring to FIGS. 5-7 , they are cross-sectional views of several embodiments of the flexible component 30 in the side view direction. Wherein the flexible component 30 in FIG. 5 is a multi-link link structure 301, in which joint parts are chain links. Both ends of a single chain link 3011 are provided with rotating surfaces, the distal end is convex, and the proximal end is concave, which can realize the relative axial direction of two degrees of freedom. After the distal and proximal ends of multiple chain links are connected in sequence, a deflection 94 with two degrees of freedom relative to the axial direction can be formed. The size of the deflection 94 angle is determined by the radian of the rotating surface of the chain link and the number of chain links. The larger the number, the larger the angle of rotation. The flexible component 30 in Fig. 6 includes but is not limited to a snake-like chain structure 302, and is made of a round tube material with plastic deformation as a whole, and equally spaced grooves are opened in the circumferential direction of the round tube to ensure the stability of the whole when deflection 94 occurs sex. The flexible assembly 30 in Fig. 7 is a multi-hinge hinge structure 303, and the joint parts are hinge joints. A single hinge joint 3031 of this structure is provided with a hinge point 3032 at the proximal end and the distal end, and the two hinge joints can be carried out along the hinge point 3032. The rotation forms the hinge joint group 3033 , and the hinge joint groups 3033 are articulated through the joint hinge point 3034 , and the two hinge joint groups 3033 can rotate relative to each other along the joint hinge point 3034 . The size of the angle of deflection 94 is determined by the number of hinge joint groups 3033, the larger the arc and the more the number, the larger the angle of rotation.

Further, as shown in FIG. 3 and FIG. 4, in order to realize the bending of the flexible assembly 30, the flexible assembly 30 is driven to bend by the handle assembly 80, and the handle assembly 80 is installed on the proximal end of the support seat, the The handle assembly 80 is connected to one end of the posture force member 70, the flexible assembly 30 and the support seat are provided with a plurality of peripheral passages 60 in the circumferential direction of the middle passage 50, and the posture force member 70 passes through the peripheral passage 60 and all the peripheral passages. The distal end of the flexible component 30 is fixedly connected. In this embodiment, there are three or more peripheral passages 60 and they are evenly distributed along the cross-sectional contours of the support tube 20 and the flexible assembly 30 . The handle assembly 80 drives the posture force member 70 to move axially along the peripheral passages 60 .

Furthermore, the handle assembly 80 includes a plurality of inner wheels arranged coaxially, and the inner wheels pass through the support seat and are connected with dials. In this embodiment, two degrees of freedom are set, so the dial includes an upper dial 95 and a lower dial 96, and the upper dial 95 and the lower dial 96 can be installed on one side of the housing or evenly distributed on both sides. While the upper dial 95 provides the posture force 82 required for the bending of the posture force member 70 relative to the axial pitch 93 direction by rotating, it controls the bending range of the posture force member 70 in the relative axial pitch 93 direction, and the lower dial 96 passes The rotation provides the posture force 82 required for bending the posture force member 70 in the direction of relative axial deflection 94 , and at the same time controls the bending amplitude of the posture force member 70 in the direction of relative axial deflection 94 .

Referring to FIG. 8 and FIG. 9 , the end effector of the surgical instrument assembly 40 is an example of a stapler end effector assembly 41 . Toggle the handle assembly 80 to drive the attitude force member 70 to move axially along the peripheral channel 60 to output the attitude force 82. The attitude force 82 is transmitted to the flexible assembly 30 through the attitude force member 70 to make the joints rotate relative to each other, thereby realizing two degrees of freedom. Bending, ie pitch 93 and yaw 94 shown in FIG. 3 . In addition, the attitude force 82 can also be controlled in other ways such as electric, which will not be described in detail. After the attitude adjustment is completed, the external hydraulic pump 11 acts on the push rod 2 in the power assembly through the injection and withdrawal of the fluid 13 through the hose 3 in the drive assembly, and finally transmits it to the surgical instrument assembly 40, along the axial direction The reciprocating motion provides a braking force 81, so as to complete the predetermined instrument actions (grasping, cutting and stapling of tissues). Specifically, when closing the jaw 412, it is necessary to provide a distal braking force 811, pull the trigger 91, the hydraulic pump 11 starts to work, and sucks the fluid 13 from the hydraulic pool 12. When the fluid 13 is a liquid, the detection component 14 detects the suction When the liquid volume reaches the corresponding casing 1, the hydraulic pump 11 stops working and maintains the pressure at this time. When the fluid 13 is gas, the detection component 14 detects that the pressure of the gas reaches a corresponding value, and the hydraulic pump 11 stops working and maintains the pressure at this time. When the jaw 411 is opened, it is necessary to provide a braking force 812 to the distal end, pull the trigger 91 again, the hydraulic pump 11 starts to work, and the fluid 13 is sucked out from the casing 1. When the fluid 13 is a liquid, the detection component 14 detects the volume of the sucked liquid When reaching the corresponding casing 1, the hydraulic pump 11 stops working and maintains the pressure at this time. When the fluid 13 is gas, the detection component 14 detects that the pressure of the gas reaches a corresponding value, and the hydraulic pump 11 stops working and maintains the pressure at this time.

Apparently, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in various forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims

A power system suitable for flexible bending, characterized in that it includes:

The power assembly is used to generate axial braking force, including a sleeve, a push rod and a piston rod. The distal end of the sleeve is an instrument joint, and the proximal end of the sleeve is a curved joint. The piston rod will The sleeve is divided into a first chamber and a second chamber, the proximal end of the push rod is connected to the piston rod, and the distal end of the push rod passes through the first chamber from the sleeve the distal end of the tube protrudes;

The driving assembly is used to drive the push rod to move, including a hose and a hydraulic pump. The distal end of the hose passes through the curved joint to communicate with the second chamber, and the proximal end of the hose communicates with the second chamber. the hydraulic pump.
The power system suitable for flexible bending according to claim 1, characterized in that, the first chamber is separated from the instrument joint by an end cover, and an air vent is provided on the end cover.
The power system suitable for flexible bending according to claim 1, characterized in that a detection component is connected to the hose between the second chamber and the hydraulic pump.
The power system suitable for flexible bending according to claim 3, wherein the detection component includes a flow meter and/or an air pressure detector.
The power system suitable for flexible bending according to claim 1, wherein a sealing groove is arranged on the circumference of the piston rod, and a sealing ring is arranged in the sealing groove.
The power system suitable for flexible bending according to claim 1, wherein the hose is a spring tube.
The power system suitable for flexible bending according to claim 1, wherein the hydraulic pump is connected to a hydraulic pool, and the hydraulic pool is filled with fluid.
The power system suitable for flexible bending according to claim 7, wherein the fluid is high-pressure gas, water or hydraulic oil.
A power system suitable for flexible bending according to claim 1, further comprising a flexible component and a support seat, the distal end of the flexible component is connected with the bending joint, and the proximal end of the flexible component is The side end is connected with the distal end of the support seat, and an intermediate passage is arranged in the flexible assembly and the support seat, and the hose passes through the intermediate passage.
A power system suitable for flexible bending according to claim 9, characterized in that, the flexible assembly includes a catheter base, a joint part and an instrument base, and there are multiple joint parts, and the joint parts are in the form of a chain The shape is connected successively, and the adjacent joint parts can rotate around the contact surface. The distal end of the catheter adapter is connected to the proximal end of the chain composed of the joint parts, and the proximal end of the catheter adapter is connected to the The support seat, the proximal end of the instrument seat is connected to the distal end of the chain composed of the joint parts, and the distal end of the instrument seat is connected to the curved joint.
A power system suitable for flexible bending according to claim 9, wherein the flexible component is driven to bend through a handle component, and the handle component is installed at the proximal end of the support seat, and the handle component One end of the posture force member is connected, the flexible component and the support seat are provided with a plurality of peripheral channels in the circumferential direction of the middle channel, and the posture force member is fixedly connected to the distal end of the flexible component through the peripheral channels .
The power system suitable for flexible bending according to claim 11, wherein the handle assembly includes a plurality of internal runners, the plurality of inner runners are arranged coaxially, and the inner runners are separated from the A thumbwheel is connected to the support seat.