WO2024000939A1 - 快速拆卸连接装置及柔性可控医疗设备 - Google Patents

快速拆卸连接装置及柔性可控医疗设备 Download PDF

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Publication number
WO2024000939A1
WO2024000939A1 PCT/CN2022/126632 CN2022126632W WO2024000939A1 WO 2024000939 A1 WO2024000939 A1 WO 2024000939A1 CN 2022126632 W CN2022126632 W CN 2022126632W WO 2024000939 A1 WO2024000939 A1 WO 2024000939A1
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WO
WIPO (PCT)
Prior art keywords
locking
sheath
component
insertion part
turntable
Prior art date
Application number
PCT/CN2022/126632
Other languages
English (en)
French (fr)
Inventor
肖莹
刘宏斌
Original Assignee
中国科学院自动化研究所
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Filing date
Publication date
Application filed by 中国科学院自动化研究所 filed Critical 中国科学院自动化研究所
Publication of WO2024000939A1 publication Critical patent/WO2024000939A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0043—Catheters; Hollow probes characterised by structural features
    • A61M25/0054—Catheters; Hollow probes characterised by structural features with regions for increasing flexibility
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • This application relates to the technical field of medical devices, and in particular to a quick-detachable connection device and flexible controllable medical equipment.
  • flexible terminal controllable medical instruments are used to check whether there are lesions inside the human body.
  • the flexible terminal controllable medical instruments have a secondary concentric tube structure and can enter the human body through the mouth or other natural orifices of the human body.
  • Flexible end controllable medical devices can observe pathological changes in the human body.
  • flexible terminal controllable medical devices mainly include a sheath and an insertion part.
  • the sheath and the insertion part are fixedly connected to their corresponding control devices. After each inspection or minimally invasive surgery is completed, the sheath and the insertion part need to be inspected. disinfect.
  • the sheath and the insertion part are fixedly connected to their corresponding control devices, and the sheath and the insertion part cannot be disassembled and sterilized. This causes the risk of incomplete sterilization of the sheath and the insertion part, making it easy to use them again. Cause cross infection.
  • the present application provides a quick-detachable connection device and flexible controllable medical equipment to solve the problem in the prior art that the sheath and the insertion part are not completely sterilized, resulting in easy cross-infection when used again.
  • This application provides a quick detachable connection device, including:
  • a driving component connected to the first connecting piece
  • Connecting components are respectively connected to the first connecting piece and the second connecting piece;
  • a first locking component is provided on the first connecting piece and is connected to the driving component.
  • the driving component is used to drive the first locking component to switch between the first locking state and the first unlocking state;
  • the first locking state the second connecting member is locked to the first connecting member through the first locking assembly.
  • the first unlocking state the first locking assembly releases the lock on the second connecting member. Locking of connectors.
  • the driving assembly includes:
  • a driving component connected to the turntable, and the driving component is used to drive the turntable to rotate;
  • a first toggle component is provided on the first connecting piece and is movably connected to the turntable. During the rotation of the turntable, the first toggle component drives the first locking component to rotate on the third Switching between a locked state and the first unlocked state.
  • the first toggle component includes:
  • a first connecting rod, the middle part of the first connecting rod is rotationally connected to the first connecting piece
  • a first main rotating part is provided at one end of the first connecting rod and is movably connected with the turntable;
  • a first slave rotating part is provided at the other end of the first link.
  • the first slave rotating part abuts the first locking component.
  • the first locking state the first slave rotating part is separated from the first locking component.
  • the turntable is provided with a first guide groove, one end of the first guide groove is away from the rotation center of the turntable, and the other end of the first guide groove is close to the rotation center of the turntable.
  • the first main rotating part is inserted into the first guide groove and slidingly cooperates with the first guide groove.
  • the first main rotating part In the first locking state, the first main rotating part is located between the first guide groove and the first guide groove. At one end, in the first unlocked state, the first main rotating part is located at the other end of the first guide groove.
  • the first locking component includes:
  • a pressing claw base is provided on the first connecting piece
  • the pressing claw is rotatably arranged on the pressing claw base;
  • a first elastic member is provided between the pressure claw base and the pressure claw.
  • the tension of the first elastic member causes the pressure claw to lock the second connecting member.
  • the pressing claw overcomes the tension force of the first elastic member and unlocks the second connecting member.
  • a quick detachable connection device provided by the present application, it also includes a positioning component provided on the first connecting piece, a protrusion is formed on the edge of the turntable, and the protrusion has a first side and a second side;
  • the positioning component In the first locked state, the positioning component is in contact with the first side;
  • the positioning component In the first unlocked state, the positioning component is in contact with the second side surface.
  • the positioning component includes:
  • the ejector sleeve is provided on the first connecting piece
  • Push rod one end is arranged in the push rod sleeve
  • a second elastic member is provided between the push rod sleeve and the push rod.
  • the first locking state the other end of the push rod abuts the first side surface, and the second elastic member
  • the member is in a first compressed state, in the first unlocked state, the other end of the push rod is in contact with the second side surface, and the second elastic member is in a second compressed state.
  • connection assembly includes a second locking component and a second toggle component
  • the second locking component includes a lock sleeve and a locking piece that cooperates with the lock sleeve.
  • the lock sleeve is movably connected to the second connecting piece, and the locking piece is connected to the first connecting piece. ;
  • the second toggle component is provided on the first connecting piece and is movably connected with the turntable.
  • the turntable is used to drive the second locking component in the second position by driving the second toggle component.
  • Switch between a locked state and a second unlocked state In the second locked state, the locking member is locked on the lock sleeve. In the second unlocked state, the locking member is released from the lock sleeve. Set of locks.
  • the locking member includes:
  • the lock tongue base is connected to the cable force sensing module, the cable force sensing module is installed on the cable driving mechanism, and the cable driving assembly is connected to the first connecting piece;
  • the lock tongue is rotatably arranged on the lock tongue base;
  • a third elastic member is provided between the lock tongue base and the lock tongue.
  • the tension of the third elastic member causes the lock tongue to lock the lock sleeve.
  • the lock tongue overcomes the tension of the third elastic member and releases the lock with the lock sleeve.
  • the turntable is provided with a second guide groove, one end of the second guide groove is close to the rotation center of the turntable, and the other end of the second guide groove is away from the rotation of the turntable. center;
  • the second toggle component includes:
  • the second main rotating part is provided at one end of the second connecting rod, inserted into the second guide groove and slidingly matched with the second guide groove;
  • the second slave rotating part is provided at the other end of the second link.
  • the second main rotating part In the second locking state, the second main rotating part is located at one end of the second guide groove, and the second slave rotating part is connected with the second connecting rod.
  • the lock tongue is separated.
  • the second unlocking state the second main rotating part is located at the other end of the second guide groove, and the second slave rotating part is in contact with the lock tongue.
  • This application also provides a flexible and controllable medical device, including a sheath flexible controllable instrument driving mechanism, a sheath installation mechanism, an insertion part flexible controllable instrument driving mechanism, an insertion part installation mechanism, and any one of the above quick-detachable connection devices;
  • the sheath flexible controllable instrument driving mechanism and the sheath mounting mechanism are connected through the quick detachable connection device; and/or,
  • the insertion part flexible controllable instrument driving mechanism and the insertion part mounting mechanism are connected through the quick detachable connection device.
  • a flexible controllable medical device provided according to the present application further includes a sheath and an insertion part;
  • the sheath includes a sheath catheter and a sheath flexible controllable instrument provided at one end of the sheath catheter;
  • the insertion part includes an insertion part catheter and a sheath catheter provided at The insertion part is a flexible and controllable instrument at one end of the insertion part catheter;
  • the sheath flexible and controllable instrument driving mechanism includes a sheath cable driving assembly and a sheath cable force sensing module connected to the sheath cable driving assembly;
  • the insertion part is flexible and controllable
  • the instrument driving mechanism includes an insertion part pull wire driving assembly and an insertion part pull wire force sensing module connected to the insertion part pull wire driving assembly;
  • the other end of the sheath catheter is arranged on a sheath installation mechanism, and the sheath installation mechanism is connected to the second connector in the quick detachable connection device; the sheath cable driving assembly is connected to the third connector in the quick detachable connection device.
  • a connecting piece connects;
  • the other end of the insertion part conduit is provided on the insertion part installation mechanism, and the insertion part installation mechanism is connected to the second connector in the quick detachment connection device; the insertion part cable driving assembly is connected to the quick detachment The first connector in the device is connected;
  • the sheath flexible controllable instrument is connected to the sheath cord force sensing module through a sheath flexible controllable instrument cord and a connection component in the quick-detach connection device;
  • the insertion part flexible controllable instrument is connected to the insertion part pull wire force sensing module through the insertion part flexible controllable instrument pull wire and the connection component in the quick detachable connection device.
  • the quick-detach connecting device and flexible controllable medical equipment provided by this application drive the first locking component to switch between the first locking state and the first unlocking state through the driving component; in the first locking state, the second connecting member passes through the first The locking component is locked to the first connecting piece to realize the connection between the first connecting piece and the second connecting piece; in the first unlocking state, the first locking assembly unlocks the second connecting piece to realize the connection between the first connecting piece and the second connecting piece. Separation of pieces.
  • the first locking component is driven by the driving component to realize the connection and separation of the second connector and the first connector; if the quick-detachable connection device is applied to flexible and controllable medical equipment, the sheath installation can be realized
  • the insertion part should be thoroughly disinfected or replaced to avoid the risk of incomplete disinfection of the sheath and the insertion part.
  • Figure 1 is one of the structural schematic diagrams of the quick detachable connection device provided by this application.
  • Figure 2 is the second structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 3 is the third structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 4 is the fourth structural schematic diagram of the quick detachable connection device provided by this application.
  • FIG. 5 is a schematic structural diagram of the turntable provided by this application.
  • Figure 6 is the fifth structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 7 is the sixth structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 8 is one of the structural schematic diagrams of the first locking component provided by this application.
  • Figure 9 is the second structural schematic diagram of the first locking component provided by this application.
  • Figure 10 is the seventh structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 11 is the eighth structural schematic diagram of the quick detachable connection device provided by the present application.
  • Figure 12 is a schematic diagram of the cooperation between the lock sleeve and the second connector provided by this application;
  • Figure 13 is one of the structural schematic diagrams of the second locking component provided by this application.
  • Figure 14 is the second structural schematic diagram of the second locking component provided by this application.
  • Figure 15 is a schematic structural diagram of the locking member provided by this application.
  • Figure 16 is the ninth structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 17 is a tenth structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 18 is an eleventh structural schematic diagram of the quick detachable connection device provided by this application.
  • Figure 19 is a schematic structural diagram of the flexible controllable medical device provided by this application.
  • the first connecting rod 302.
  • the first main rotating part 303.
  • the first slave rotating part 304.
  • Second locking component 602. Lock sleeve; 603. Locking piece; 605. Wire force sensing module; 606. Spring plunger;
  • the second connecting rod 802. The second main rotating part; 803. The second slave rotating part; 804. The second connecting rotating shaft.
  • Figure 1 is the first structural schematic diagram of a quick detachable connection device provided by an embodiment of the present application.
  • Figure 2 is a second structural schematic diagram of a quick detachable connecting device provided by an embodiment of the present application.
  • the quick detachable connection device includes a first connecting piece 101, a second connecting piece 102, a driving assembly 103, a connecting assembly and a first locking assembly 104; the first connecting piece 101 is provided on the driving assembly 103, and the connecting assembly is connected to the first connecting piece 101 and the first locking assembly 104 respectively.
  • the second connector is connected 102.
  • the first locking component 104 is disposed on the first connector 101 and is connected to the driving component 103.
  • the driving component 103 is used to drive the first locking component 104 between the first locking state and the first unlocking state. switch between.
  • the first locking component 104 locks the second connector 102, and the second connector 102 is locked to the first connector 101 through the first locking component 104, so that the second connector 102 is connected to On the first connecting piece 101; in the first unlocked state, the first locking component 104 unlocks the second connecting piece 102 so that the second connecting piece 102 can be separated from the first connecting piece 101.
  • the quick detachable connection device drives the first locking component 104 through the driving component 103 to switch between the first locking state and the first unlocking state; in the first locking state, the second connection member 102 is locked through the first locking component 104 to the first connecting piece 101 to realize the connection between the first connecting piece 101 and the second connecting piece 102; in the first unlocking state, the first locking component 104 unlocks the second connecting piece 102 to realize the connection between the first connecting piece 101 and the second connecting piece 102. Separation of the second connecting piece 102 . It can be seen that in this application, the driving component 103 drives the first locking component 104 to realize the connection and separation of the second connector 102 and the first connector 101.
  • the quick-detachable connection device is applied to flexible and controllable medical equipment, that is It can realize the connection and separation of the sheath installation mechanism and the sheath flexible controllable instrument driving mechanism, as well as the connection and separation of the insertion part installation mechanism and the insertion part flexible controllable instrument driving mechanism, thereby realizing the disassembly of the sheath and the insertion part, which facilitates the removal of the sheath.
  • the disassembled sheath and insertion part must be thoroughly disinfected or replaced to avoid the risk of incomplete disinfection of the sheath and insertion part.
  • FIG 3 is the third structural schematic diagram of the quick detachable connection device provided by the embodiment of the present application.
  • the driving assembly 103 includes a turntable 201, a driving component 202 and a first toggle component 203.
  • the turntable 201 is rotated.
  • the driving component 202 is connected to the turntable 201.
  • the first toggle component 203 is provided on the first connector 101 and is movably connected with the turntable 201.
  • the driving component 202 drives the turntable 201 to rotate, and the turntable 201 rotates.
  • the movement of the first toggle component 203 is driven, and the movement of the first toggle component 203 drives the first locking component 104 to switch between the first locked state and the first unlocked state.
  • the driving component 202 can be a driving component such as a driving motor or a servo mechanism, or it can be a handheld part provided on the turntable 201.
  • the handheld part drives the turntable 201 to rotate.
  • a handle fixed on the turntable 201 is used.
  • the first toggle component 203 is rotatably disposed on the first connector 101, and the first toggle component 203 is driven by the turntable 201 to rotate to achieve the first locking component 104 in the first locking state. and the first unlocked state.
  • the first toggle component 203 can also be fixedly connected to the turntable 201, and the rotation of the turntable 201 can synchronously drive the rotation of the first toggle component 203.
  • the first locking component 104 is driven to switch between the first locking state and the first unlocking state.
  • Figure 4 is a fourth structural schematic diagram of a quick detachable connection device provided by an embodiment of the present application.
  • the turntable 201 and the driving component 202 are not shown in Figure 4.
  • the first toggle component is not shown in Figure 4.
  • 203 includes a first connecting rod 301, a first main rotating part 302 and a first slave rotating part 303; the middle part of the first connecting rod 301 is rotationally connected to the first connecting piece 101; the first main rotating part 302 is arranged vertically on the first connecting piece 101.
  • One end of the rod 301 is movably connected to the turntable 201; the first slave rotating part 303 is vertically arranged at the other end of the first connecting rod 301, and the first main rotating part 302 and the first slave rotating part 303 are perpendicular.
  • the first connecting rod 301 may be an L-shaped structure, including two vertically connected support rods.
  • the connecting position of the two rods is the middle part of the first connecting rod 301.
  • the middle part of the first connecting rod 301 passes through the first connecting shaft 304.
  • the movement of the first main rotating part 302 is to rotate around the axis of the first connecting rotating shaft 304, and synchronously drives the first slave
  • the rotating part 303 rotates around the axis of the first connecting rotating shaft 304, and the rotation of the first slave rotating part 303 changes the working state of the first locking component 104.
  • the working state of the first locking component 104 includes a first locking state and a first unlocking state; the clamping portion of the first locking component 104 can achieve the first locking due to the tension of the first elastic member 503 state, when it is necessary to switch from the first locking state to the first unlocking state, the first slave rotating part 303 contacts the clamping part of the first locking component 104, and causes the clamping part of the first locking component 104 to overcome the first elasticity.
  • the tensioning force of the member 503 is such that the first locking component 104 is in the first unlocking state; then in the first unlocking state, the first slave rotating part 303 abuts the first locking component 104, and in the first locking state, the first slave The rotating part 303 is separated from the first locking component 104 .
  • Figure 5 is a schematic structural diagram of the turntable provided by the embodiment of the present application.
  • the turntable 201 is provided with a first guide groove 401, and one end of the first guide groove 401 is away from the rotation center of the turntable 201.
  • the other end of the first guide groove 401 is close to the rotation center of the turntable 201; the first main rotating part 302 is inserted into the first guide groove 401 and slides with the first guide groove 401.
  • the shape of the first guide groove may be a long through groove or an arc-shaped through groove.
  • the first guide groove 401 may be a long through groove with the long side extending along the radial direction of the turntable 201. Since the first connecting rod 301 connected to the first main rotating part 302 is rotated and disposed on the first on the connecting piece 101, during the rotation of the turntable 201, the first main rotating part 302 cannot rotate synchronously with the turntable 201, and can only slide in the first guide groove 401, that is, move away from the rotation center of the turntable 201, or toward the rotation center of the turntable 201. Move closer to the rotation center of the turntable 201.
  • the first main rotating part 302 can slide in the first guide groove 401 to switch the working state of the first locking component 104.
  • the first main rotating part 302 In the first locking state, the first main rotating part 302 is located at the first locking state.
  • One end of a guide groove 401, in the first unlocking state, the first main rotating part 302 is located at the other end of the first guide groove 401.
  • Figure 6 is the fifth structural schematic diagram of the quick-detachable connection device provided by the embodiment of the present application
  • Figure 7 is the sixth structural schematic diagram of the quick-detachable connection device provided by the embodiment of the present application; as shown in Figure 6, the first lock
  • the first main rotating part 302 is located at one end of the first guide groove 401 (away from the rotation center of the turntable 201).
  • the first slave rotating part 303 is separated from the first locking assembly 104; during driving When the component 202 drives the turntable 201 to rotate, the first main rotating part 302 moves from one end of the first guide groove 401 (away from the rotation center of the turntable 201) to the other end (close to the rotation center of the turntable 201).
  • Figure 8 is the first structural schematic diagram of the first locking component provided by the embodiment of the present application
  • Figure 9 is the second structural schematic diagram of the first locking component provided by the embodiment of the present application, as shown in Figures 8 and 9,
  • the first locking assembly 104 includes a pressure claw base 501, a pressure claw 502 and a first elastic member 503; the pressure claw base 501 is provided on the first connecting member 101; the pressure claw 502 is rotatably provided on the pressure claw base 501, and the first elastic member 503 is provided between the pressing claw base 501 and the pressing claw 502.
  • the pressing claw 502 is arranged on the pressing claw base 501 through the pressing claw rotating shaft 504, and the pressing claw 502 can rotate relative to the pressing claw rotating shaft 504;
  • the first elastic member 503 can be a compression spring, and the two ends of the first elastic member 503 are respectively connected with the pressing claw.
  • the claw base 501 is connected to the pressing claw 502; as shown in Figure 8, when the first locking assembly 104 is in the first locking state, the pressing claw 502 is locked due to the tension of the first elastic member 503 (the rebound force of the compression spring).
  • Second connector 102 at this time, the pressing claw 502 of the first locking component 104 is in a closed state; when it is necessary to switch the first locking component 104 from the first locking state to the first unlocking state, the turntable 201 drives the first dial The component 203 rotates, and the first slave rotating portion 303 of the first toggle component 203 drives the pressing claw 502 to rotate around the pressing claw rotating shaft 504 toward the side close to the first elastic member 503 to overcome the tension of the first elastic member 503 and release the force.
  • the second connecting member 102 is locked.
  • the first locking component 104 is in the first unlocking state, and the pressing claw 502 of the first locking component 104 is in the open state, as shown in FIG. 9 .
  • a pressing block pin 505 is connected to one end of the pressing claw 502 connected to the pressing claw rotating shaft 504 .
  • the pressing block pin 505 is driven by the first slave rotating part 303 to move, thereby realizing the pressing claw 502 to move around the pressing claw.
  • the rotating shaft 504 moves toward the side closer to the first elastic member 503 to facilitate control of the rotation of the pressing claw 502 .
  • the second connecting member 102 is provided with a slot 105 that cooperates with the pressing claw 502 . While the pressing claw 502 locks the second connecting member 102 to the first connecting member 101 , it can Through the cooperation between the pressing claw 502 and the clamping groove 105, the position of the second connecting member 102 on the first connecting member 101 is locked.
  • the first connecting member 101 is provided with two pins 107
  • the second connecting member 102 is provided with two pin holes 108.
  • the two pins 107 on the first connecting member 101 are connected to the second connecting member 107.
  • the two pin holes 108 on the connecting piece 102 cooperate to realize the positioning of the first connecting piece 101 and the second connecting piece 102 before locking.
  • the quick-detach connection device also includes a positioning component 106 provided on the first connector 101.
  • a protrusion 402 is formed on the edge of the turntable 201, and the protrusion 402 has a third One side and a second side; in the first locked state, the positioning component 106 contacts the first side; in the first unlocked state, the positioning component 106 contacts the second side.
  • the turntable 201 When the protrusions 402 are formed on the edge of the turntable 201, the turntable 201 has a cam structure.
  • the positioning assembly 106 includes a push rod sleeve 204, a push rod 205 and a second elastic member 206; the push rod sleeve 204 is provided on the first connecting member 101, and one end of the push rod 205 is provided on In the ejector sleeve 204 , the second elastic member 206 is disposed between the ejector sleeve 204 and the ejector pin 205 .
  • the second elastic member 206 is sleeved on one end of the push rod 205, and the two ends of the second elastic member 206 are respectively in contact with the annular limiting boss and the Between the end faces of the ejector sleeve 204, the second elastic member 206 can push up the ejector rod 205 and position the rotating disk 201 of the cam structure. Specifically, in the first locking state, the other end of the ejector rod 205 is in contact with the first locking state. When one side is in contact, the second elastic member 206 is in the first compression state. In the first unlocking state, the other end of the push rod 205 is in contact with the second side, and the second elastic member 206 is in the second compression state.
  • the quick-detach connection device provided by the embodiment of the present application is used for a flexible terminal controllable medical device.
  • the flexible terminal controllable medical device mainly includes a matching sheath and an insertion part.
  • the insertion part is inserted into the sheath and can move relative to the sheath. , the sheath and the insertion part can simultaneously enter the part to be tested in the human body for lesion detection; however, when the space of the part to be tested in the human body is limited, since the radial size of the insertion part is smaller than the radial size of the sheath, only the insertion can be driven When the sheath is moved, the insertion part extends forward relative to the sheath and enters the site to be measured.
  • the sheath and the insertion part have corresponding driving mechanisms 200 and installation mechanisms 300.
  • the installation mechanism 300 is used to install the sheath or the insertion part.
  • the sheath includes a sheath catheter and a sheath flexible controllable instrument provided at the front end of the sheath catheter.
  • the insertion part includes an insertion part catheter and an insertion part flexible controllable instrument provided at the front end of the insertion part catheter.
  • the sheath catheter and the insertion part catheter are fixed in the installation mechanism 300 , the mounting mechanism 300 is fixed on the second connector 102 .
  • the bending postures of the sheath flexible controllable instrument and the insertion part flexible controllable instrument are respectively realized by the forward and backward displacement of the respective pull wires.
  • the driving mechanism 200 is used to drive the pulling wire to move forward and backward, thereby realizing different bending postures of the sheath or the insertion part of the flexible controllable instrument. Therefore, in this application, the driving mechanism 200 is connected to the first connector 101, and the installation mechanism 300 is connected to the second connector 102, so that the driving mechanism 200 and the installation mechanism 300 can be separated, thereby realizing the disassembly of the sheath and the insertion part. , so as to thoroughly disinfect the disassembled sheath and insertion part, or replace it with a new sheath and insertion part.
  • the heads of the sheath and the insertion part are respectively provided with corresponding flexible controllable instruments of the sheath and flexible controllable instruments of the insertion part.
  • the pull wires connected to the flexible controllable instruments of the sheath and the flexible controllable instruments of the insertion part are detachably connected to the pull wire force sensing module 605 , the cable force sensing module 605 is used to detect the tension on the cable.
  • the sheath wire force sensing module is installed on the sheath flexible controllable instrument driving mechanism. This requires that the sheath flexible controllable instrument be ensured while the sheath installation mechanism and the sheath flexible controllable instrument driving mechanism are connected and separated.
  • connection and separation of the pull cord and the sheath flexible controllable instrument pull cord force sensing module are so that when the sheath flexible controllable instrument pull cord is connected to the sheath pull cord force sensing module, the sheath pull cord force sensing module can adjust the tension on the sheath flexible controllable instrument pull cord.
  • connection and separation of the pull wire force sensing module is to enable the insertion part pull wire force sensing module to detect the tension on the insertion part flexible controllable instrument pull wire when the insertion part flexible controllable instrument pull wire is connected to the insertion part pull wire force sensing module, To control the bending posture of the flexible controllable instrument at the insertion part.
  • Figure 10 is the seventh structural schematic diagram of the quick-detachable connection device provided by the embodiment of the present application
  • Figure 11 is the eighth structural schematic diagram of the quick-detachable connection device provided by the embodiment of the present application.
  • the connection assembly also includes a second locking component 601 and a second toggle component 207 to realize the connection and separation of the pull wire force sensing module 605 and the pull wire while the first connector 101 and the second connector 102 are connected and separated. .
  • the second locking component 601 includes a lock sleeve 602 and a locking piece 603 that cooperates with the lock sleeve 602.
  • the lock sleeve 602 is movably connected to the second connecting piece 102, and the locking piece 603 is connected to the first connecting piece 101.
  • the second toggle component 207 is disposed on the first connecting member 101 and is movably connected with the turntable 201; during the rotation of the turntable 201, it drives the movement of the first toggle component 203 and at the same time drives the second toggle component 207 to move.
  • the movement of the second toggle component 207 causes the second locking component 601 to switch between the second locking state and the second unlocking state.
  • the locking member 603 In the second locking state, the locking member 603 is locked on the lock sleeve 602.
  • the locking member 603 releases the lock with the lock sleeve 602.
  • the driving mechanism 200 is connected to the first connecting member 101 by fixing the first connecting member 101 to the driving mechanism 200 or by using the side plate of the driving mechanism 200 as the first connecting member 101; installation
  • the mechanism 300 is connected to the second connecting member 102 by either fixing the second connecting member 102 on the mounting mechanism 300 or using the side plate of the mounting mechanism 300 as the second connecting member 102 .
  • the locking member 603 is connected to the first connecting member 101
  • the pull wire force sensing module 605 is located in the driving mechanism 200 and connected to the locking member 603
  • the lock sleeve 602 is provided on the second connecting member 102, and the pull wire is fixed.
  • the locking member 603 When the second locking component 601 is in the second unlocked state, the locking member 603 is unlocked from the lock sleeve 602, and the pull wire force sensing module 605 is automatically separated from the pull wire; when the second locking component 601 is in the second locking state, the locking member 603 is locked on the lock sleeve 602, and the cable force sensing module 605 is automatically connected to the cable through the locking member 603, the lock sleeve 602, and can detect the tension on the cable.
  • the lock sleeve 602 is movably connected to the second connector 102, the pull wire is fixed to the lock sleeve 602, the locking member 603 is connected to the first connector 101, and the locking member 603 is fixed to the pull wire force sensing module 605.
  • the wire force sensing module 605 is fixed with the wire driving assembly in the driving mechanism 200 .
  • Figure 12 is a schematic diagram of the cooperation between the lock sleeve and the second connector provided by the embodiment of the present application.
  • the second connector 102 fixes the lock sleeve 602 through the spring plunger 606.
  • the second connector 102 is provided with an installation through hole for installing the lock sleeve 602.
  • the lock sleeve 602 is arranged in the installation through hole of the second connector 102, and the lock sleeve 602 is provided with a circle of grooves, and the spring plunger 606 passes through the second connection.
  • the piece 102 can be stuck in the groove of the lock sleeve 602, thereby fixing the lock sleeve 602.
  • the spring plunger 606 is separated from the second connecting piece 102, and the lock sleeve 602 can be separated from the second connecting piece 102. .
  • Figure 13 is the first structural schematic diagram of the second locking component provided by the embodiment of the present application
  • Figure 14 is the second structural schematic diagram of the second locking component provided by the embodiment of the present application
  • Figure 15 is the second structural schematic diagram of the second locking component provided by the embodiment of the present application.
  • the structural schematic diagram of the locking member is shown in Figures 13 to 15.
  • the locking member 603 includes a locking tongue base 701, a locking tongue 702 and a third elastic member; the locking tongue base 701 is provided on the first connecting member 101, and the locking tongue 702 is rotatably arranged on the lock tongue base 701 , and the third elastic member is arranged between the lock tongue base 701 and the lock tongue 702 .
  • a rotating shaft mounting piece 704 is provided on the lock tongue base 701.
  • One end of the lock tongue 702 is fixedly connected to the lock tongue rotating shaft 703.
  • the lock tongue rotating shaft 703 is arranged on the rotating shaft mounting piece 704.
  • the other end of the lock tongue 702 is used to connect with the lock sleeve 602.
  • the third elastic member has the same function as the first elastic member 503. Therefore, the third elastic member can also be a compression spring.
  • the two ends of the third elastic member are connected to the rotating shaft mounting member 704 and the lock tongue 702 respectively; as shown in the figure As shown in 13, when the second locking component 601 is in the second locking state, the lock tongue 702 hooks the lock sleeve 602 due to the tension of the third elastic member; when it is necessary to switch the second locking component 601 from the second locking state When it is in the second unlocking state, the turntable 201 drives the second toggle component 207, and the second toggle component 207 drives the lock tongue 702 to move around the lock tongue rotation axis 703 and toward the side closer to the third elastic member to overcome the force of the third elastic member. The tensioning force releases the lock between the lock tongue 702 and the lock sleeve 602. At this time, the second locking component 601 is in the second unlocked state, as shown in Figures 14 and 15.
  • the lock tongue 702 is provided with a pressure block 705 , and the second toggle component 207 drives the pressure block 705 to move, so that the lock tongue 702 moves closer to the third position around the lock tongue rotation axis 703 .
  • the elastic member moves on one side to facilitate control of the rotation of the lock tongue 702.
  • the pressing block 705 is fixedly connected to the lock tongue 702 by screws, and the second toggle component 207 can open the lock tongue 702 and the lock sleeve 602 by driving the pressing block 705.
  • the second toggle component 207 is rotatably disposed on the first connector 101, and the second toggle component 207 is driven by the turntable 201 to move the second locking component 601 in the second locking state. and the second unlocked state.
  • the second toggle component 207 can also be fixedly connected to the turntable 201, and the rotation of the turntable 201 synchronously drives the rotation of the second toggle component 207.
  • the second locking component 601 is driven to switch between the second locking state and the second unlocking state.
  • the turntable 201 is also provided with a second guide groove 403 .
  • One end of the second guide groove 403 is close to the rotation center of the turntable 201 , and the other end of the second guide groove 403 is away from the rotation center of the turntable 201 .
  • the second dialing component 207 includes a second connecting rod 801, a second main rotating part 802 and a second slave rotating part 803; the middle part of the second connecting rod 801 is connected to the first connecting rod through a second connecting rotating shaft 804.
  • the second main rotating part 802 is vertically arranged at one end of the second connecting rod 801, and the second main rotating part 802 is inserted into the second guide groove 403 and slides with the second guide groove 403; the second slave rotating part 802 is The second main rotating part 802 and the second slave rotating part 803 are perpendicular to each other.
  • the second guide groove 403 may be a long through groove or an arc-shaped through groove.
  • the second guide groove 403 is an arc-shaped through groove eccentrically provided on the turntable 201, because the second connecting rod 801 connected to the second main rotating part 802 is rotationally provided on the second connecting member 102. , then during the rotation of the turntable 201, the second main rotating part 802 cannot rotate synchronously with the turntable 201, and can only slide in the second guide groove 403, that is, move toward the rotation center away from the turntable 201, or toward the center of the turntable 201. The center of rotation moves.
  • the second main rotating part 802 is driven to move.
  • the movement of the second main rotating part 802 is to rotate around the axis of the second connecting rotating shaft 804, and the second slave rotating part 803 is synchronously driven around the second connecting shaft.
  • the axis of the rotating shaft rotates, and the rotation of the second slave rotating part 803 changes the working state of the second locking component 601.
  • the working state of the second locking component 601 includes a second locking state and a second unlocking state; as shown in Figure 6, when the second locking component 601 is in the second locking state, the second main rotating part 802 is located in the second guide groove 403 (close to the rotation center of the turntable 201). At this time, the second slave rotating part 803 is separated from the second locking component 601, and the lock tongue 702 of the second locking component 601 realizes locking due to the tension of the third spring.
  • the tongue 702 is locked in the second locking state in the lock sleeve 602; when it is necessary to switch from the second locking state to the second unlocking state, the driving component 202 drives the turntable 201 to rotate, driving the second main rotating part 802 from the second guide groove 403.
  • the second main rotating part 802 synchronously drives the second slave rotating part 803 to move close to the second locking component 601.
  • the second slave rotating part 803 In contact with the second locking component 601, the second slave rotating portion 803 of the second locking component 601 drives the locking tongue 702 to rotate toward the side closer to the third elastic member, and the locking tongue 702 overcomes the tension of the third elastic member, thereby The lock tongue 702 is released from locking with the lock sleeve 602.
  • the second locking component 601 is in the second unlocked state, as shown in FIG. 7 .
  • the number of the second locking part 601, the second guide groove 403 and the second dialing part 207 is the same as the number of the sheath and the flexible controllable instrument cable in the insertion part, and this number is not limited in this application.
  • the number of second locking parts 601 may be three, then the number of the second toggle part 207 and the second guide groove 403 on the turntable 201 is equal to the number of the second locking parts 601, and should also be three.
  • the three second locking components 601 are arranged in an equilateral triangle; there can be multiple first locking components 104, and the number of the first toggle component 203 and the first guide groove 401 on the turntable 201 is equal to the number of the first locking components 104.
  • a locking component 104 is located between two adjacent second locking parts 601 .
  • the turntable 201 When the driving component 202 is rotated, the turntable 201 will be driven to rotate.
  • the first main rotating parts 302 of the two first toggle components 203 respectively move in the two first guide grooves 401 on the turntable 201.
  • the movement of the first main rotating part 302 drives the first connecting rod 301 to rotate around the axis of the first connecting rotating shaft 304.
  • the rotation of the first connecting rod 301 drives the first slave rotating part 303 to move.
  • the two first toggle components 203 The movement of the first slave rotating parts 303 respectively changes the working states of the two first locking components 104; during the rotation of the turntable 201, at the same time, the second main rotating parts 802 of the three second dialing parts 207 respectively move on the turntable 201.
  • the three second guide grooves 403 move inward, and the movement of the second main rotating part 802 drives the second connecting rod 801 to rotate around the axis of the second connecting shaft 804.
  • the rotation of the second connecting rod 801 drives the second slave rotating part 803. Movement, the movement of the second slave rotating parts 803 of the three second dialing components 207 respectively changes the working states of the three second locking components 601.
  • Figure 16 is the ninth structural schematic diagram of the quick-detachable connection device provided by the embodiment of the present application.
  • Figure 17 is the tenth structural schematic diagram of the quick-detachable connection device provided by the embodiment of the present application.
  • Figure 18 is the quick-detachable connection provided by the embodiment of the present application.
  • the wire drive assembly 400 drives the lock sleeve 602 into the installation through hole of the second connector 102 , and the spring plunger 606 passes through the groove of the lock sleeve 602 to push the lock sleeve 602 into the installation through hole of the second connector 102 .
  • 602 is fixed on the second connecting member 102.
  • the driving component 202 rotates the turntable 201 counterclockwise, and the rotation of the turntable 201 causes the first
  • the main rotating part 302 moves from one end of the first guide groove 401 (away from the rotation center of the turntable 201) to the other end (close to the rotation center of the turntable 201).
  • the first main rotating part 302 synchronously drives the first slave rotating part 303 to approach the first The locking assembly 104 moves, and the first slave rotating part 303 drives the pressing block pin 505 to move, so that the pressing claw 502 moves around the pressing claw rotating shaft 504 to the side closer to the first elastic member 503 to overcome the tension of the first elastic member 503,
  • the pressing claw 502 of the first locking assembly 104 is opened to release the locking effect on the second connecting member 102; at the same time, the rotation of the turntable 201 causes the second main rotating part 802 to move from one end of the second guide groove 403 (near the turntable 201 center of rotation) moves toward the other end (away from the rotation center of the turntable 201), the second main rotating part 802 synchronously drives the second slave rotating part 803 to move closer to the second locking component 601, and the second slave rotating part 803 moves closer to the lock tongue 702
  • the pressing block 705 on the top moves to one side, causing the lock tongue 702 to rotate toward the side closer to the third elastic member
  • the second slave rotating part 803 is in tangential contact with the pressing block 705.
  • the lock tongue 702 is pushed up, so that the lock tongue 702 is separated from the lock sleeve 602.
  • the pressing claw 502 of the first locking component 104 is in an open state, and the lock tongue 702 of the second locking component 601 is unlocked from the lock sleeve 602.
  • the second connecting member 102 can be connected to the second locking member 102.
  • a connecting piece 101 is separated.
  • the second connector 102 is located on one side of the first connector 101.
  • the first slave rotating part 303 and the pressing claw 502 separates, and the pressing claw 502 locks the second connecting member 102 due to the tension of the first elastic member 503; at the same time, the second slave rotating part 803 separates from the lock tongue 702, and the lock tongue 702 locks due to the tension of the third elastic member. 702 locks the lock sleeve 602 in the position shown in Figure 16.
  • the quick detachable connection device drives the turntable 201 to rotate through the driving component 202.
  • the rotation of the turntable 201 drives the first slave rotation part 303 of the first toggle component 203 and the first slave rotation part 303 of the second toggle component 207 to rotate.
  • the ejector pin 205 can slide freely within the ejector pin sleeve 204. After pressing the driving component 202 and lifting the driving component 202, the second elastic member 206 will push up the ejector pin 205, allowing the turntable 201 to stay. In two positions, the rotation position of the turntable 201 is maintained, so that the first locking component 104 and the second locking component 601 are accurately positioned in the first unlocked state or the first locked state.
  • FIG. 19 is a schematic structural diagram of a flexible controllable medical device provided by an embodiment of the present application. As shown in Figure 19, the present application also provides a flexible controllable medical device.
  • the flexible controllable medical device includes a driving mechanism 200 and an installation mechanism. 300 and the quick detachable connection device 100 provided in any of the above embodiments, the driving mechanism 200 is connected to the first connection member 101 in the quick detachment connection device 100, and the mounting mechanism 300 is connected to the second connection member in the quick detachment connection device 100. 102 connections.
  • the driving mechanism 200 and the mounting mechanism 300 are in a separated and disassembled state.
  • the driving mechanism 200 is a sheath flexible controllable instrument driving mechanism.
  • the sheath flexible controllable instrument driving mechanism is connected to the first connector 101 in the quick detachable connection device 100, and the sheath installation mechanism is connected to the quick detachable device 100.
  • the connection and separation of the second connector 102 and the first connector 101 can realize the connection and separation of the sheath installation mechanism and the sheath flexible controllable instrument driving mechanism, and thus The sheath can be disassembled to facilitate thorough disinfection or replacement of the disassembled sheath.
  • the driving mechanism 200 is a flexible and controllable instrument driving mechanism for the insertion part.
  • the installation mechanism 300 is an insertion part installation mechanism
  • the flexible and controllable instrument driving mechanism for the insertion part is connected to the first connector 101 in the quick-detachable connection device 100, and the insertion part installation mechanism
  • the connection and separation of the second connector 102 and the first connector 101 can realize the connection between the insertion part installation mechanism and the insertion part flexible controllable instrument driving mechanism. and separation, thereby realizing the disassembly of the insertion part, so as to facilitate thorough disinfection or replacement of the sheath behind the insertion part.
  • the installation mechanism 300 can move in the front-rear direction relative to the driving mechanism 200 to achieve separation and connection with the driving mechanism 200; the installation mechanism 300 can also move laterally away from and closer to the driving mechanism 200 to achieve connection with the driving mechanism 200. 200 separation and connection; wherein, the lateral direction can be any radial direction of the turntable. Lateral separation of the mounting mechanism 300 relative to the driving mechanism 200 facilitates disinfection.
  • the sheath flexible controllable instrument can be A quick detachable connection device 100 is provided between the driving mechanism and the sheath installation mechanism, and between the flexible controllable instrument driving mechanism of the insertion part and the insertion part installation mechanism to realize the disassembly of the sheath and the insertion part and facilitate the disassembly of the sheath and the insertion part. Thoroughly disinfect or replace.
  • the driving mechanism 200 is connected to the first connecting member 101 by fixing the first connecting member 101 to the driving mechanism 200 or by using the side plate of the driving mechanism 200 as the first connecting member 101; installation
  • the mechanism 300 is connected to the second connecting member 102 by either fixing the second connecting member 102 on the mounting mechanism 300 or using the side plate of the mounting mechanism 300 as the second connecting member 102 .
  • the wire driving assembly 400 of the driving mechanism 200 controls the bending posture of the sheath and the flexible controllable instrument at the insertion part by linearly driving the wire.
  • the installation mechanism 300 and the driving mechanism cannot be realized by linearly driving the wire. 200 quick release connection.
  • the driving mechanism 200 and the installation mechanism 300 are connected through a quick detachable connection device, which can realize quick connection and separation of the driving mechanism 200 and the installation mechanism 300, thereby realizing the sterilization or one-time replacement of the sheath and the insertion part.
  • the driving mechanism 200 includes a cable driving assembly 400 connected to the first connector 101 and a cable force sensing module 605 connected to the cable driving assembly 400 .
  • the sheath includes a sheath catheter and a sheath flexible controllable instrument provided at the front end of the sheath catheter;
  • the insertion part includes an insertion part catheter and an insertion part flexible controllable instrument provided at the front end of the insertion part catheter;
  • the sheath flexible controllable instrument driving mechanism includes a sheath The pull wire driving assembly and the sheath pull wire force sensing module connected to the sheath pull wire driving assembly;
  • the insertion part flexible controllable instrument driving mechanism includes the insertion part pull wire driving assembly and the insertion part pull wire force sensing module connected to the insertion part pull wire driving assembly.
  • the rear end of the sheath catheter is arranged on the sheath installation mechanism, and the sheath installation mechanism is connected to the second connector in the quick detachable connection device; the sheath cable driving assembly is connected to the first connector in the quick detachable connection device.
  • the rear end of the insertion part conduit is arranged on the insertion part installation mechanism, and the insertion part installation mechanism is connected to the second connector in the quick detachable connection device; the insertion part cable driving assembly is connected to the first connection part in the quick detachable connection device.
  • the lock sleeve 602 is used to fix the sheath flexible controllable instrument pull wire
  • the locking piece 603 is used to fix the sheath pull wire force sensing module and lock it.
  • the sheath cable force sensing module can detect the tension of the sheath flexible controllable instrument.
  • the insertion part of the flexible controllable instrument has multiple pull wires, and they are evenly welded on the inside of the insertion part of the flexible controllable instrument.
  • the lock sleeve 602 is used to fix the insertion part of the flexible controllable instrument pull wire
  • the locking piece 603 is used to fix the insertion part of the pull wire.
  • Force sensing Module when the locking piece 603 is locked with the locking sleeve 602 that fixes the cable of the flexible controllable instrument at the insertion part, the force sensing module of the cable at the insertion part can detect the tension of the flexible controllable instrument in the sheath.
  • the bending posture of the flexible controllable instrument is controlled by linearly driving the pull wire through the wire driving assembly 400 of the driving mechanism 200, and the disassembly method provided by the quick-detach connecting device 100 is compared with the motor in the prior art.
  • the bending posture of the flexible controllable instrument is controlled by rotating the wire.
  • the wire force sensing module more directly measures the tension on the wire of the flexible controllable instrument, and the friction on the wire is small.
  • the lock sleeve 602 is used to fix the sheath flexible controllable instrument cable or the insertion part flexible controllable instrument cable.
  • the locking part 603 is used to fix the sheath cable force sensing module or the insertion part cable force sensing module.
  • the locking part 603 is the same as the lock of the fixed cable.
  • the sleeve 602 When the sleeve 602 is locked, it can detect the tension of the respective pull wires on the sheath flexible controllable instrument or the insertion part flexible controllable instrument.
  • the bending postures of the sheath flexible controllable instrument and the insertion part flexible controllable instrument are respectively realized by the forward and backward displacement of the respective pull wires.
  • Flexible terminal controllable medical devices can be endoscopes used in the medical field, such as bronchoscopes, urethroscopes, duodenoscopes, choledochoscopes, pyeloscopes and other slim flexible electronic endoscopes.
  • the device embodiments described above are only illustrative.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in one place. , or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

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Abstract

一种快速拆卸连接装置（100）及包括该快速拆卸连接装置（100）的柔性可控医疗设备，其中快速拆卸连接装置（100）包括第一连接件（101）、第二连接件（102）、驱动组件（103）、连接组件和第一锁定组件（104）。驱动组件（103）与第一连接件（101）连接；连接组件分别与第一连接件（101）和第二连接件（102）连接；第一锁定组件（104）设于第一连接件（101）上，并与驱动组件（103）连接；驱动组件（103）用于驱动第一锁定组件（104）在第一锁定状态和第一解锁状态之间切换，在第一锁定状态时第二连接件（102）锁定至第一连接件（101），在第一解锁状态时第一锁定组件（104）解除对第二连接件（102）的锁定。通过驱动组件（103）驱动第一锁定组件（104）可实现第二连接件（102）和第一连接件（101）的连接与分离，将该装置应用于柔性可控医疗设备中，可实现鞘和插入部拆卸，便于对拆卸后的鞘及插入部进行彻底消毒或更换。

Description

快速拆卸连接装置及柔性可控医疗设备
相关申请的交叉引用
本申请要求于2022年06月30日提交的申请号为202210773046.1，发明名称为“快速拆卸连接装置及柔性可控医疗设备”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及医疗器械技术领域，尤其涉及一种快速拆卸连接装置及柔性可控医疗设备。
背景技术
在柔性手术器械系统中，使用柔性末端可控医疗器械检查人体内部有无病变，而柔性末端可控医疗器械为二级同心管式结构，可通过口腔或其他人体自然腔道进入人体体内，借助柔性末端可控医疗器械可以观察人体体内的病变情况。随着微创医疗技术的快速发展，柔性末端可控医疗器械的自动控制系统应运而生，借助机器人医疗辅助技术驱动柔性末端可控医疗器械进入人体内部。
现有技术中，柔性末端可控医疗器械主要包括鞘和插入部，鞘和插入部固定连接在各自对应的控制装置上，在每完成一次检查或微创手术后，需要对鞘及插入部进行消毒。
但上述现有技术中，鞘及插入部与各自对应的控制装置均为固定连接，无法对鞘及插入部进行拆卸消毒，使得鞘及插入部存在消毒不彻底的风险，从而导致再次使用时易造成交叉感染。
发明内容
本申请提供一种连一种快速拆卸连接装置及柔性可控医疗设备，用以解决现有技术中存在鞘及插入部消毒不彻底的风险，导致再次使用时易造成交叉感染的缺陷。
本申请提供一种快速拆卸连接装置，包括：
第一连接件；
第二连接件；
驱动组件，与所述第一连接件连接；
连接组件，分别与所述第一连接件和所述第二连接件连接；
第一锁定组件，设置于所述第一连接件上，并与所述驱动组件连接，所述驱动组件用于驱动所述第一锁定组件在第一锁定状态和第一解锁状态之间切换；在所述第一锁定状态，所述第二连接件通过所述第一锁定组件锁定至所述第一连接件，在所述第一解锁状态，所述第一锁定组件解除对所述第二连接件的锁定。
根据本申请提供的一种快速拆卸连接装置，所述驱动组件包括：
转盘，转动设置于所述第一连接件上；
驱动部件，与所述转盘连接，所述驱动部件用于驱动所述转盘转动；
第一拨动部件，设置于所述第一连接件上，并与所述转盘活动连接，所述转盘转动过程中，通过所述第一拨动部件带动所述第一锁定组件在所述第一锁定状态和所述第一解锁状态之间切换。
根据本申请提供的一种快速拆卸连接装置，所述第一拨动部件包括：
第一连杆，所述第一连杆的中部与所述第一连接件转动连接；
第一主转动部，设置于所述第一连杆的一端，并与所述转盘活动连接；
第一从转动部，设置于所述第一连杆的另一端，在所述第一解锁状态，所述第一从转动部与所述第一锁定组件抵接，在所述第一锁定状态，所述第一从转动部与所述第一锁定组件分离。
根据本申请提供的一种快速拆卸连接装置，所述转盘上设有第一导向槽，所述第一导向槽的一端远离所述转盘的转动中心，所述第一导向槽的另一端靠近所述转盘的转动中心；
所述第一主转动部插入于所述第一导向槽内并与所述第一导向槽滑动配合，在所述第一锁定状态，所述第一主转动部位于所述第一导向槽的一端，在所述第一解锁状态，所述第一主转动部位于所述第一导向槽的另一端。
根据本申请提供的一种快速拆卸连接装置，所述第一锁定组件包括：
压爪底座，设置于所述第一连接件上；
压爪，转动设置于所述压爪底座上；
第一弹性件，设置于所述压爪底座和所述压爪之间，在所述第一锁定状态，所述第一弹性件的张紧力使所述压爪锁定所述第二连接件，在所述第一解锁状态，所述压爪克服所述第一弹性件的张紧力，解除锁定所述第二连接件。
根据本申请提供的一种快速拆卸连接装置，还包括设置于所述第一连接件上的定位组件，所述转盘的边缘形成有凸起，所述凸起具有第一侧面和第二侧面；
在所述第一锁定状态，所述定位组件与所述第一侧面抵接；
在所述第一解锁状态，所述定位组件与所述第二侧面抵接。
根据本申请提供的一种快速拆卸连接装置，所述定位组件包括：
顶杆轴套，设置于所述第一连接件上，
顶杆，一端设置于所述顶杆轴套内；
第二弹性件，设置于所述顶杆轴套和所述顶杆之间，在所述第一锁定状态，所述顶杆的另一端与所述第一侧面抵接，所述第二弹性件处于第一压缩状态，在所述第一解锁状态，所述顶杆的另一端与所述第二侧面抵接，所述第二弹性件处于第二压缩状态。
根据本申请提供的一种快速拆卸连接装置，所述连接组件包括第二锁定部件和第二拨动部件；
所述第二锁定部件包括锁套和与所述锁套配合的锁紧件，所述锁套活动连接于所述第二连接件上，所述锁紧件连接于所述第一连接件上；
所述第二拨动部件，设置于所述第一连接件上，并与所述转盘活动连接，所述转盘用于通过驱动所述第二拨动部件带动所述第二锁定部件在第二锁定状态和第二解锁状态之间切换，在所述第二锁定状态，所述锁紧件锁定在所述锁套上，在所述第二解锁状态，所述锁紧件解除与所述锁套的锁定。
根据本申请提供的一种快速拆卸连接装置，所述锁紧件包括：
锁舌底座，连接于拉线力感知模块上，所述拉线力感知模块安装在拉线驱动机构上，所述拉线驱动组件连接于所述第一连接件上；
锁舌，转动设置于所述锁舌底座上；
第三弹性件，设置于所述锁舌底座和所述锁舌之间，在所述第二锁定状态，所述第三弹性件的张紧力使所述锁舌锁定所述锁套，在所述第二解锁状态，所述锁舌克服所述第三弹性件的张紧力，解除与所述锁套的锁定。
根据本申请提供的一种快速拆卸连接装置，所述转盘上设有第二导向槽，所述第二导向槽的一端靠近转盘的转动中心，所述第二导向槽的另一端远离转盘的转动中心；
所述第二拨动部件包括：
第二连杆，所述第二连杆的中部与所述第一连接件转动连接；
第二主转动部，设置于所述第二连杆的一端，插入于所述第二导向槽内并与所述第二导向槽滑动配合；
第二从转动部，设置于所述第二连杆的另一端，在所述第二锁定状态，所述第二主转动部位于所述第二导向槽的一端，第二从转动部与所述锁舌分离，在所述第二解锁状态，所述第二主转动部位于所述第二导向槽的另一端，所述第二从转动部与所述锁舌抵接。
本申请还提供一种柔性可控医疗设备，包括鞘柔性可控器械驱动机构、鞘安装机构、插入部柔性可控器械驱动机构、插入部安装机构和上述任意一种快速拆卸连接装置；
所述鞘柔性可控器械驱动机构和所述鞘安装机构通过所述快速拆卸连接装置连接；和/或，
所述插入部柔性可控器械驱动机构和所述插入部安装机构通过所述快速拆卸连接装置连接。
根据本申请提供的一种柔性可控医疗设备，还包括鞘和插入部；所述鞘包括鞘导管和设置在鞘导管一端的鞘柔性可控器械；所述插入部包括插入部导管和设置在插入部导管一端的插入部柔性可控器械；所述鞘柔性可控器械驱动机构包括鞘拉线驱动组件和与所述鞘拉线驱动组件连接的鞘拉线力感知模块上；所述插入部柔性可控器械驱动机构包括插入部拉线驱动组件和与所述插入部拉线驱动组件连接的插入部拉线力感知模块上；
所述鞘导管的另一端设置在鞘安装机构上，所述鞘安装机构与所述快速拆卸连接装置中的第二连接件连接；所述鞘拉线驱动组件与所述快速拆卸连接装置中的第一连接件连接；
所述插入部导管的另一端设置在插入部安装机构上，所述插入部安装机构与所述快速拆卸连接装置中的第二连接件连接；所述插入部拉线驱动组件与所述快速拆卸连接装置中的第一连接件连接；
所述鞘柔性可控器械通过鞘柔性可控器械拉线和所述快速拆卸连接装置中的连接组件与所述鞘拉线力感知模块连接；
所述插入部柔性可控器械通过插入部柔性可控器械拉线和所述快速拆卸连接装置中的连接组件与所述插入部拉线力感知模块连接。本申请提供的快速拆卸连接装置及柔性可控医疗设备，通过驱动组件驱动第一锁定组件在第一锁定状态和第一解锁状态之间切换；在第一锁定状态，第二连接件通过第一锁定组件锁定至第一连接件，实现第一连接件和第二连接件的连接；在第一解锁状态，第一锁定组件解除对第二连接件的锁定，实现第一连接件和第二连接件的分离。可知，本申请通过驱动组件驱动第一锁定组件，可实现第二连接件和第一连接件的连接与分离；若将该快速拆卸连接装置应用于柔性可控医疗设备中，即可实现鞘安装机构与鞘柔性可控器械驱动机构的连接与分离，以及插入部安装机构与插入部柔性可控器械驱动机构的连接与分离，进而实现鞘的拆卸和插入部的拆卸，便于对拆卸后的鞘及插入部进行彻底消毒或更换，从而避免鞘及插入部消毒不彻底的风险。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的快速拆卸连接装置的结构示意图之一；
图2是本申请提供的快速拆卸连接装置的结构示意图之二；
图3是本申请提供的快速拆卸连接装置的结构示意图之三；
图4是本申请提供的快速拆卸连接装置的结构示意图之四；
图5是本申请提供的转盘的结构示意图；
图6是本申请提供的快速拆卸连接装置的结构示意图之五；
图7是本申请提供的快速拆卸连接装置的结构示意图之六；
图8是本申请提供的第一锁定组件的结构示意图之一；
图9是本申请提供的第一锁定组件的结构示意图之二；
图10是本申请提供的快速拆卸连接装置的结构示意图之七；
图11是本申请提供的快速拆卸连接装置的结构示意图之八；
图12是本申请提供的锁套与第二连接件的配合示意图；
图13是本申请提供的第二锁定部件的结构示意图之一；
图14是本申请提供的第二锁定部件的结构示意图之二；
图15是本申请提供的锁紧件的结构示意图；
图16是本申请提供的快速拆卸连接装置的结构示意图之九；
图17是本申请提供的快速拆卸连接装置的结构示意图之十；
图18是本申请提供的快速拆卸连接装置的结构示意图之十一；
图19是本申请提供的柔性可控医疗设备的结构示意图；
附图标记：
100、快速拆卸连接装置；200、驱动机构；300、安装机构；400、拉线驱动组件；
101、第一连接件；102、第二连接件；103、驱动组件；104、第一锁定组件；105、卡槽；106、定位组件；107、销钉；108、销钉孔
201、转盘；202、驱动部件；203、第一拨动部件；204、顶杆轴套，205、顶杆；206、第二弹性件；207、第二拨动部件；
301、第一连杆；302、第一主转动部；303、第一从转动部；304、第一连接转轴；
401、第一导向槽；402、凸起；403、第二导向槽；
501、压爪底座；502、压爪；503、第一弹性件；504、压爪转轴；505、压块销钉；
601、第二锁定部件；602、锁套；603、锁紧件；605、拉线力感知模块；606、弹簧柱塞；
701、锁舌底座；702、锁舌；703、锁舌转轴；704、转轴安装件；705、压块；
801、第二连杆；802、第二主转动部；803、第二从转动部，804、第 二连接转轴。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面结合图1-图19描述本申请的快速拆卸连接装置。
图1是本申请实施例提供的快速拆卸连接装置的结构示意图之一，图2是本申请实施例提供的快速拆卸连接装置的结构示意图之二，如图1和图2所示，该快速拆卸连接装置包括第一连接件101、第二连接件102、驱动组件103、连接组件和第一锁定组件104；第一连接件101设置于驱动组件103上，连接组件分别与第一连接件101和第二连接件连接102，第一锁定组件104设置于第一连接件101上，并与驱动组件103连接，驱动组件103用于驱动第一锁定组件104在第一锁定状态和第一解锁状态之间切换。
其中，在第一锁定状态时，第一锁定组件104对第二连接件102锁定，则第二连接件102通过第一锁定组件104锁定至第一连接件101，使第二连接件102连接在第一连接件101上；在第一解锁状态时，第一锁定组件104解除对第二连接件102的锁定，使第二连接件102可与第一连接件101分离。
本申请提供的快速拆卸连接装置通过驱动组件103驱动第一锁定组件104在第一锁定状态和第一解锁状态之间切换；在第一锁定状态，第二连接件102通过第一锁定组件104锁定至第一连接件101，实现第一连接件101和第二连接件102的连接；在第一解锁状态，第一锁定组件104解除对第二连接件102的锁定，实现第一连接件101和第二连接件102的分离。可知，本申请通过驱动组件103驱动第一锁定组件104，可实现第二连接件102和第一连接件101的连接与分离，若将该快速拆卸连接装置应用于柔性可控医疗设备中，即可实现鞘安装机构与鞘柔性可控器械驱动机 构的连接与分离，以及插入部安装机构与插入部柔性可控器械驱动机构的连接与分离，进而实现鞘的拆卸和插入部的拆卸，便于对拆卸后的鞘及插入部进行彻底消毒或更换，从而避免鞘及插入部消毒不彻底的风险。
进一步地，图3是本申请实施例提供的快速拆卸连接装置的结构示意图之三，如图3所示，驱动组件103包括转盘201、驱动部件202和第一拨动部件203，转盘201转动设置于第一连接件101上，驱动部件202与转盘201连接，第一拨动部件203设置于第一连接件101上，并与转盘201活动连接，驱动部件202驱动转盘201转动，在转盘201转动过程中带动第一拨动部件203的运动，第一拨动部件203的运动驱动第一锁定组件104在第一锁定状态和第一解锁状态之间切换。
其中，驱动部件202可以是驱动电机或伺服机构等驱动元器件，也可以是设置在转盘201上的手持部，通过手持部带动转盘201转动，本实施例中采用固连在转盘201上的手柄作为手持部。
需要说明的是，本实施例第一拨动部件203可转动设置于第一连接件101上，通过转盘201带动第一拨动部件203的转动，以实现第一锁定组件104在第一锁定状态和第一解锁状态之间切换，在另一实施例中，也可将第一拨动部件203与转盘201固连，通过转盘201转动，同步带动第一拨动部件203的转动，在第一拨动部件203的转动过程中，驱动第一锁定组件104在第一锁定状态和第一解锁状态之间切换。
根据本申请的实施例，图4是本申请实施例提供的快速拆卸连接装置的结构示意图之四，如图4所示，图4中未示出转盘201和驱动部件202，第一拨动部件203包括第一连杆301、第一主转动部302和第一从转动部303；第一连杆301的中部与第一连接件101转动连接；第一主转动部302垂直设置于第一连杆301的一端，并与转盘201活动连接；第一从转动部303垂直设置于第一连杆301的另一端，且第一主转动部302和第一从转动部303相垂直。
其中，第一连杆301可以为L形结构，包括垂直相连的两个支杆，两支杆的相连位置为第一连杆301的中部，第一连杆301的中部通过第一连接转轴304与第一连接件101转动连接；在转盘201转动过程中，带动第一主转动部302移动，第一主转动部302的移动是绕第一连接转轴304的 轴线发生转动，同步带动第一从转动部303绕该第一连接转轴304的轴线转动，第一从转动部303的转动改变第一锁定组件104的工作状态。
需要说明的是，第一锁定组件104的工作状态包括第一锁定状态和第一解锁状态；第一锁定组件104的夹持部由于第一弹性件503张紧力作用，即可实现第一锁定状态，在需要第一锁定状态向第一解锁状态切换时，第一从转动部303与第一锁定组件104的夹持部抵接，并使第一锁定组件104的夹持部克服第一弹性件503张紧力，从而使第一锁定组件104处于第一解锁状态；则在第一解锁状态，第一从转动部303与第一锁定组件104抵接，在第一锁定状态，第一从转动部303与第一锁定组件104分离。
进一步地，图5是本申请实施例提供的转盘的结构示意图，如图3和图5所示，转盘201上设有第一导向槽401，第一导向槽401的一端远离转盘201的转动中心，第一导向槽401的另一端靠近转盘201的转动中心；第一主转动部302插入于第一导向槽401内并与第一导向槽401滑动配合。
其中，第一导向槽形状可为长条形通槽或圆弧形通槽。
根据本申请的实施例，第一导向槽401可为长条形通槽，长边沿转盘201的径向延伸设置，由于与第一主转动部302连接的第一连杆301转动设置在第一连接件101上，则在转盘201转动过程中，第一主转动部302无法与转盘201同步转动，只能在第一导向槽401内滑动，也就是向远离转盘201的转动中心移动，或者向靠近转盘201的转动中心移动。在转盘201转动过程中，第一主转动部302可在第一导向槽401内滑动，以实现第一锁定组件104的工作状态的切换，在第一锁定状态，第一主转动部302位于第一导向槽401的一端，在第一解锁状态，第一主转动部302位于第一导向槽401的另一端。
具体地，图6是本申请实施例提供的快速拆卸连接装置的结构示意图之五，图7是本申请实施例提供的快速拆卸连接装置的结构示意图之六；如图6所示，第一锁定组件104在第一锁定状态，第一主转动部302位于第一导向槽401的一端(远离转盘201的转动中心)，此时，第一从转动部303与第一锁定组件104分离；在驱动部件202驱动转盘201转动的过程中，第一主转动部302从第一导向槽401的一端(远离转盘201的转动 中心)向另一端(靠近转盘201的转动中心)移动，第一主转动部302同步带动第一从转动部303靠近第一锁定组件104移动，直至第一从转动部303与第一锁定组件104抵接，使第一锁定组件104的夹持部克服第一弹性件503张紧力，此时，第一锁定组件104处于第一解锁状态，如图7所示。
进一步地，图8是本申请实施例提供的第一锁定组件的结构示意图之一，图9是本申请实施例提供的第一锁定组件的结构示意图之二，如图8和图9所示，第一锁定组件104包括压爪底座501、压爪502和第一弹性件503；压爪底座501设置于第一连接件101上；压爪502转动设置于压爪底座501上，第一弹性件503设置于压爪底座501和压爪502之间。
其中，压爪502通过压爪转轴504设置在压爪底座501上，压爪502可相对压爪转轴504转动；第一弹性件503可以为压缩弹簧，第一弹性件503的两端分别与压爪底座501和压爪502连接；如图8所示，在第一锁定组件104在第一锁定状态时，由于第一弹性件503的张紧力(压缩弹簧的反弹力)使压爪502锁定第二连接件102，此时，第一锁定组件104的压爪502为闭合状态；在需要将第一锁定组件104由第一锁定状态切换为第一解锁状态时，转盘201驱动第一拨动部件203转动，第一拨动部件203的第一从转动部303驱动压爪502绕压爪转轴504向靠近第一弹性件503一侧转动，以克服第一弹性件503的张紧力，解除锁定第二连接件102，此时，第一锁定组件104处于第一解锁状态，第一锁定组件104的压爪502为打开状态，如图9所示。
更进一步地，如图9所示，在压爪502连接压爪转轴504的一端连接有压块销钉505，通过第一从转动部303驱动压块销钉505移动，从而实现压爪502绕压爪转轴504向靠近第一弹性件503一侧移动，便于对压爪502的转动进行控制。
又进一步地，如图1所示，第二连接件102上开设有与压爪502配合的卡槽105，在实现压爪502将第二连接件102锁定至第一连接件101的同时，可通过压爪502和卡槽105配合，实现第二连接件102在第一连接件101上的位置锁紧。
优选地，如图1所示，第一连接件101上设有两个销钉107，第二连 接件102上设有两个销钉孔108，通过第一连接件101上两个销钉107同第二连接件102上两个销钉孔108相配合，实现第一连接件101同第二连接件102在锁紧前的定位。
根据本申请的实施例，如图2和图5所示，快速拆卸连接装置还包括设置于第一连接件101上的定位组件106，转盘201的边缘形成有凸起402，凸起402具有第一侧面和第二侧面；在第一锁定状态，定位组件106与第一侧面抵接；在第一解锁状态，定位组件106与第二侧面抵接。
其中，转盘201的边缘形成有凸起402时，转盘201为凸轮结构。
具体地，如图3所示，定位组件106包括顶杆轴套204、顶杆205和第二弹性件206；顶杆轴套204设置于第一连接件101上，顶杆205的一端设置于顶杆轴套204内，第二弹性件206设置于顶杆轴套204和顶杆205之间。
本实施例中，顶杆轴套204上设有安装孔，顶杆205的外表面中部设有环形限位凸台，顶杆205的一端设置在顶杆轴套204的安装孔，顶杆205可相对顶杆轴套204滑动，第二弹性件206为弹簧，第二弹性件206套装在顶杆205的一端上，且第二弹性件206的两端分别抵接于环形限位凸台和顶杆轴套204端面之间，第二弹性件206可使顶杆205顶起，对凸轮结构的转盘201的位置进行定位，具体地，在第一锁定状态，顶杆205的另一端与第一侧面抵接，第二弹性件206处于第一压缩状态，在第一解锁状态，顶杆205的另一端与第二侧面抵接，第二弹性件206处于第二压缩状态。
本申请实施例提供的快速拆卸连接装置用于柔性末端可控医疗器械时，其中，柔性末端可控医疗器械主要包括相配合的鞘和插入部，插入部穿设在鞘内并可相对鞘移动，鞘和插入部可同步进入人体内的待测部位，进行病变检测；但在人体内的待测部位空间受限时，由于插入部的径向尺寸小于鞘的径向尺寸，可仅驱动插入部移动，则插入部相对鞘向前伸出并进入待测部位，鞘及插入部具有各自对应的驱动机构200和安装机构300，安装机构300用于安装鞘或插入部。鞘包括鞘导管及设置在鞘导管前端的鞘柔性可控器械，插入部包括插入部导管及设置在插入部导管前端的插入部柔性可控器械，鞘导管及插入部导管固定在安装机构300中，安装机构 300固定第二连接件102上。鞘柔性可控器械及插入部柔性可控器械的弯曲姿态分别由各自拉线前后位移实现。驱动机构200用于驱动拉线的前后移动，进而实现鞘或插入部柔性可控器械不同的弯曲姿态。因此，本申请将驱动机构200与第一连接件101连接，安装机构300与第二连接件102连接，即可实现驱动机构200和安装机构300的分离，进而实现鞘的拆卸和插入部的拆卸，从而对拆卸后的鞘及插入部进行彻底消毒，或者重新更换新的鞘及插入部。鞘及插入部的头部设置各自对应的鞘柔性可控器械及插入部柔性可控器械，与鞘柔性可控器械及插入部柔性可控器械连接的拉线可拆卸连接在拉线力感知模块605上，拉线力感知模块605用于检测拉线上的张力。具体地，对于鞘，将鞘拉线力感知模块安装在鞘柔性可控器械驱动机构上，这就需要在鞘安装机构和鞘柔性可控器械驱动机构连接与分离的同时，保证鞘柔性可控器械拉线和鞘柔性可控器械拉线力感知模块的连接与分离，以便于在鞘柔性可控器械拉线与鞘拉线力感知模块连接时，实现鞘拉线力感知模块对鞘柔性可控器械拉线上的张力的检测，以控制鞘柔性可控器械的弯曲姿态；对于插入部，也需要插入部安装机构和插入部柔性可控器械驱动机构连接与分离的同时，保证插入部柔性可控器械拉线和插入部拉线力感知模块的连接与分离，以便于在插入部柔性可控器械拉线与插入部拉线力感知模块连接时，实现插入部拉线力感知模块对插入部柔性可控器械拉线上的张力的检测，以控制插入部柔性可控器械的弯曲姿态。因此，图10是本申请实施例提供的快速拆卸连接装置的结构示意图之七，图11是本申请实施例提供的快速拆卸连接装置的结构示意图之八，如图3、图10和图11所示，连接组件还包括第二锁定部件601和第二拨动部件207，在第一连接件101和第二连接件102连接与分离的同时，以实现拉线力感知模块605和拉线的连接与分离。
具体地，第二锁定部件601包括锁套602和与锁套602配合的锁紧件603，锁套602活动连接于第二连接件102上，锁紧件603连接于第一连接件101上，第二拨动部件207设置于第一连接件101上，并与转盘201活动连接；在转盘201转动过程中带动第一拨动部件203的运动的同时，带动第二拨动部件207运动，第二拨动部件207的运动使第二锁定部件601在第二锁定状态和第二解锁状态之间切换，在第二锁定状态，锁紧件 603锁定在锁套602上，在第二解锁状态，锁紧件603解除与锁套602的锁定。
需要说明的是，驱动机构200与第一连接件101连接，可以是将第一连接件101固连在驱动机构200上，也可以是将驱动机构200的侧板作为第一连接件101；安装机构300与第二连接件102连接，可以是将第二连接件102固连在安装机构300上，也可以是将安装机构300的侧板作为第二连接件102。
需要说明的是，锁紧件603连接在第一连接件101上，拉线力感知模块605位于驱动机构200内并与锁紧件603连接，锁套602设置于第二连接件102上，拉线固定在锁套602上。在第二锁定部件601在第二解锁状态时，锁紧件603解除与锁套602的锁定，拉线力感知模块605与拉线自动分离；第二锁定部件601在第二锁定状态时，锁紧件603锁定在锁套602上，拉线力感知模块605通过锁紧件603、锁套602与拉线自动连通，可实现拉线上张力的检测。
需要说明的是，锁套602活动连接在第二连接件102上，拉线固定在锁套602上，锁紧件603连接在第一连接件101上，锁紧件603固定在拉线力感知模块605上，拉线力感知模块605同驱动机构200中的拉线驱动组件固定。
需要说明的是，图12是本申请实施例提供的锁套与第二连接件的配合示意图，如图12所示，第二连接件102通过弹簧柱塞606固定锁套602，第二连接件102上设有用于安装锁套602的安装通孔，锁套602设置在第二连接件102的安装通孔内，且锁套602上设有一圈凹槽，弹簧柱塞606穿过第二连接件102并可卡在锁套602的凹槽上，进而固定锁套602，当有外力作用时，弹簧柱塞606同第二连接件102脱离，进而锁套602可与第二连接件102分离。
进一步地，图13是本申请实施例提供的第二锁定部件的结构示意图之一，图14是本申请实施例提供的第二锁定部件的结构示意图之二，图15是本申请实施例提供的锁紧件的结构示意图，如图13至图15所示，锁紧件603包括锁舌底座701、锁舌702和第三弹性件；锁舌底座701设置于第一连接件101上，锁舌702转动设置于锁舌底座701上，第三弹性件 设置于锁舌底座701和锁舌702之间。
其中，锁舌底座701上设置转轴安装件704，锁舌702的一端与锁舌转轴703固连，锁舌转轴703设置在转轴安装件704上，锁舌702的另一端用于与锁套602配合；第三弹性件与第一弹性件503具有相同的作用，因此，第三弹性件也可为压缩弹簧，第三弹性件的两端分别与转轴安装件704和锁舌702连接；如图13所示，在第二锁定部件601在第二锁定状态时，由于第三弹性件的张紧力使得锁舌702钩住锁套602；在需要将第二锁定部件601由第二锁定状态切换为第二解锁状态时，转盘201驱动第二拨动部件207，第二拨动部件207驱动锁舌702绕锁舌转轴703并向靠近第三弹性件一侧移动，以克服第三弹性件的张紧力，解除锁舌702与锁套602的锁定，此时，第二锁定部件601处于第二解锁状态，如图14和图15所示。
更进一步地，如图13至图15所示，锁舌702上设有压块705，通过第二拨动部件207驱动压块705移动，从而实现锁舌702绕锁舌转轴703向靠近第三弹性件一侧移动，便于对锁舌702的转动进行控制。压块705由螺钉固定连接在锁舌702上，第二拨动部件207可通过驱动压块705而使锁舌702和锁套602打开。
需要说明的是，本实施例第二拨动部件207可转动设置于第一连接件101上，通过转盘201带动第二拨动部件207的运动，以实现第二锁定部件601在第二锁定状态和第二解锁状态之间切换，在另一实施例中，也可将第二拨动部件207与转盘201固连，通过转盘201转动，同步带动第二拨动部件207的转动，在第二拨动部件207的转动过程中，驱动第二锁定部件601在第二锁定状态和第二解锁状态之间切换。
进一步地，如图5所示，转盘201上还设有第二导向槽403，第二导向槽403的一端靠近转盘201的转动中心，第二导向槽403的另一端远离转盘201的转动中心。如图4所示，第二拨动部件207包括第二连杆801、第二主转动部802和第二从转动部803；第二连杆801的中部通过第二连接转轴804与第一连接件101转动连接；第二主转动部802垂直设置于第二连杆801的一端，第二主转动部802插入于第二导向槽403内并与第二导向槽403滑动配合；第二从转动部803垂直设置于第二连杆801的 另一端，第二主转动部802和第二从转动部803相垂直。
其中，第二导向槽403可为长条形通槽或圆弧形通槽。
根据本申请的实施例，第二导向槽403为偏心设置在转盘201上的圆弧形通槽，由于与第二主转动部802连接的第二连杆801转动设置在第二连接件102上，则在转盘201转动过程中，第二主转动部802无法与转盘201同步转动，只能在第二导向槽403内滑动，也就是向远离转盘201的转动中心移动，或者向靠近转盘201的转动中心移动。
其中，在转盘201转动过程中，带动第二主转动部802移动，第二主转动部802的移动是绕第二连接转轴804的轴线转动，同步带动第二从转动部803绕该第二连接转轴的轴线转动，第二从转动部803的转动，改变第二锁定部件601的工作状态。
其中，第二锁定部件601的工作状态包括第二锁定状态和第二解锁状态；如图6所示，第二锁定部件601在第二锁定状态时，第二主转动部802位于第二导向槽403的一端(靠近转盘201的转动中心)，此时，第二从转动部803与第二锁定部件601分离，第二锁定部件601的锁舌702由于第三弹簧的张紧力作用，实现锁舌702锁定在锁套602内的第二锁定状态；在需要第二锁定状态向第二解锁状态切换时，驱动部件202驱动转盘201转动，带动第二主转动部802从第二导向槽403的一端(靠近转盘201的转动中心)向另一端(远离转盘201的转动中心)移动，第二主转动部802同步带动第二从转动部803靠近第二锁定部件601移动，第二从转动部803与第二锁定部件601抵接，使第二锁定部件601的第二从转动部803驱动锁舌702向靠近第三弹性件一侧转动，锁舌702克服第三弹性件的张紧力，从而使锁舌702解除与锁套602的锁定，此时，第二锁定部件601处于第二解锁状态，如图7所示。
需要说明的是，第二锁定部件601、第二导向槽403和第二拨动部件207的数量同鞘及插入部柔性可控器械拉线数量相同，本申请对该数量不做限定。
根据本申请的实施例，第二锁定部件601可以为三个，则第二拨动部件207和转盘201上的第二导向槽403与第二锁定部件601的数量相等，也应该为三个，三个第二锁定部件601呈等边三角形布置；第一锁定组件 104可以为多个，第一拨动部件203和转盘201上的第一导向槽401与第一锁定组件104的数量相等，第一锁定组件104位于相邻两个第二锁定部件601之间。
当转动驱动部件202时，会带动转盘201旋转，在转盘201转动过程，两个第一拨动部件203的第一主转动部302分别在转盘201上的两个第一导向槽401内移动，第一主转动部302的移动，带动第一连杆301绕第一连接转轴304的轴线旋转，第一连杆301的旋转会驱动第一从转动部303移动，两个第一拨动部件203的第一从转动部303的移动分别改变两个第一锁定组件104的工作状态；在转盘201转动过程，同时三个第二拨动部件207的第二主转动部802分别在转盘201上的三个第二导向槽403内移动，第二主转动部802的移动，带动第二连杆801绕第二连接转轴804的轴线旋转，第二连杆801的旋转会驱动第二从转动部803移动，三个第二拨动部件207的第二从转动部803的移动分别改变三个第二锁定部件601的工作状态。
图16是本申请实施例提供的快速拆卸连接装置的结构示意图之九，图17是本申请实施例提供的快速拆卸连接装置的结构示意图之十，图18是本申请实施例提供的快速拆卸连接装置的结构示意图之十一；如图16所示，第二连接件102通过两个第一锁定组件104连接在第一连接件101上，第一锁定组件104处于锁定状态，此时，第一弹性件503的张紧力使压爪502锁定第二连接件102，并且三个第二锁定部件601由于第三弹性件的张紧力使锁舌702锁定在锁套602内。
在需要第二连接件102与第一连接件101分离时，拉线驱动组件400驱动锁套602至第二连接件102的安装通孔内，弹簧柱塞606通过锁套602的凹槽将锁套602固定在第二连接件102上，从图16所示位置向下按压驱动部件202至图17所示位置的过程中，驱动部件202使转盘201沿逆时针旋转，转盘201的旋转使第一主转动部302从第一导向槽401的一端(远离转盘201的转动中心)向另一端(靠近转盘201的转动中心)移动，第一主转动部302同步带动第一从转动部303靠近第一锁定组件104移动，第一从转动部303驱动压块销钉505移动，使压爪502绕压爪转轴504向靠近第一弹性件503一侧移动，以克服第一弹性件503的张紧 力，使第一锁定组件104的压爪502为打开状态，解除对第二连接件102的锁定作用；同时，转盘201的旋转使第二主转动部802从第二导向槽403的一端(靠近转盘201的转动中心)向另一端(远离转盘201的转动中心)移动，第二主转动部802同步带动第二从转动部803靠近第二锁定部件601移动，第二从转动部803向靠近锁舌702上的压块705一侧移动，使锁舌702向靠近第三弹性件一侧转动，以克服第三弹性件的张紧力，从而锁舌702解除与锁套602的锁定，使锁舌702与锁套602可以分离。需要说明的是，第二从转动部803与压块705相切接触，第二从转动部803对压块705按压时，将锁舌702顶起，使锁舌702同锁套602脱离。
如图17和图18所示，第一锁定组件104的压爪502为打开状态，第二锁定部件601的锁舌702解除与锁套602的锁定，此时，第二连接件102可与第一连接件101分离。第二连接件102位于第一连接件101的一侧，在需要第二连接件102与第一连接件101连接时，从图17所示位置抬起驱动部件202至图16所示位置的过程中，驱动部件202使转盘201沿逆时针旋转，转盘201的旋转使第一拨动部件203和第二拨动部件207沿与按压驱动部件202相反方向移动，第一从转动部303与压爪502分离，由于第一弹性件503的张紧力使压爪502锁定第二连接件102；同时，第二从转动部803与锁舌702分离，由于第三弹性件的张紧力使锁舌702锁定锁套602，如图16所示位置。
需要说明的是，从图16所示位置至图17所示位置，与从图6所示位置至图7所示位置为同一运动过程。相应地，从图17所示位置至图16所示位置，与从图7所示位置至图6所示位置为同一运动过程。
本申请提供的快速拆卸连接装置通过驱动部件202带动转盘201旋转，转盘201旋转带动第一拨动部件203的第一从转动部303和第二拨动部件207的第一从转动部303转动，分别打开第一锁定组件104的压爪502和第二锁定部件601的锁舌702，以实现第一连接件101和第二连接件102的分离；并在第一锁定组件104的压爪502和第二锁定部件601的锁舌702闭合时，可实现第一连接件101和第二连接件102的连接。
需要说明的是，顶杆205可在顶杆轴套204内自由滑动，在按压驱动部件202和抬起驱动部件202后，第二弹性件206会使得顶杆205顶起， 可使转盘201停留在两个位置上，以实现转盘201旋转位置的保持，进而使第一锁定组件104和第二锁定部件601精准定位于第一解锁状态或第一锁定状态。
图19是本申请实施例提供的柔性可控医疗设备的结构示意图，如图19所示，本申请还提供了一种柔性可控医疗设备，该柔性可控医疗设备包括驱动机构200、安装机构300和上述任一项实施例所提供的快速拆卸连接装置100，驱动机构200与快速拆卸连接装置100中的第一连接件101连接，安装机构300与快速拆卸连接装置100中的第二连接件102连接。图19中，驱动机构200和安装机构300为分离拆卸状态。
其中，驱动机构200为鞘柔性可控器械驱动机构，安装机构300为鞘安装机构时，鞘柔性可控器械驱动机构与快速拆卸连接装置100中的第一连接件101连接，鞘安装机构与快速拆卸连接装置100中的第二连接件102连接，则第二连接件102和第一连接件101的连接与分离，即可实现鞘安装机构与鞘柔性可控器械驱动机构的连接与分离，进而实现鞘的拆卸，便于对拆卸后的鞘进行彻底消毒或者更换。
驱动机构200为插入部柔性可控器械驱动机构，安装机构300为插入部安装机构时，插入部柔性可控器械驱动机构与快速拆卸连接装置100中的第一连接件101连接，插入部安装机构与快速拆卸连接装置100中的第二连接件102连接，则第二连接件102和第一连接件101的连接与分离，即可实现插入部安装机构与插入部柔性可控器械驱动机构的连接与分离，进而实现插入部的拆卸，便于对插入部后的鞘进行彻底消毒或者更换。
需要说明的是，安装机构300可相对驱动机构200沿前后方向移动，实现与驱动机构200的分离和连接；也可以是安装机构300相对驱动机构200沿侧向远离和靠近移动，实现与驱动机构200的分离和连接；其中，侧向可为转盘任一径向方向。安装机构300相对驱动机构200侧向分离有利于消毒。
需要说明的是，在驱动机构200包括鞘柔性可控器械驱动机构和插入部柔性可控器械驱动机构，安装机构300包括对应的鞘安装机构和插入部安装机构时，可在鞘柔性可控器械驱动机构和鞘安装机构之间、插入部柔性可控器械驱动机构和插入部安装机构之间均设置快速拆卸连接装置100， 实现鞘和插入部的拆卸，便于对拆卸后的鞘及插入部进行彻底消毒或者更换。
需要说明的是，驱动机构200与第一连接件101连接，可以是将第一连接件101固连在驱动机构200上，也可以是将驱动机构200的侧板作为第一连接件101；安装机构300与第二连接件102连接，可以是将第二连接件102固连在安装机构300上，也可以是将安装机构300的侧板作为第二连接件102。
需要说明的是，驱动机构200的拉线驱动组件400通过线性驱动拉线的方式控制鞘及插入部柔性可控器械的弯曲姿态，现有技术中使用线性驱动拉线的方式无法实现安装机构300和驱动机构200的快速拆卸连接。根据本申请提供的实施例，驱动机构200和安装机构300通过快速拆卸连接装置连接，可实现驱动机构200和安装机构300的快速连接和分离，进而实现鞘及插入部的消毒或一次性更换。需要说明的是，如图19所示，驱动机构200包括与第一连接件101连接的拉线驱动组件400以及与拉线驱动组件400连接的拉线力感知模块605。
进一步地，鞘包括鞘导管和设置在鞘导管前端的鞘柔性可控器械；插入部包括插入部导管和设置在插入部导管前端的插入部柔性可控器械；鞘柔性可控器械驱动机构包括鞘拉线驱动组件和与鞘拉线驱动组件连接的鞘拉线力感知模块上；插入部柔性可控器械驱动机构包括插入部拉线驱动组件和与插入部拉线驱动组件连接的插入部拉线力感知模块上。
鞘导管的后端设置在鞘安装机构上，鞘安装机构与快速拆卸连接装置中的第二连接件连接；鞘拉线驱动组件与快速拆卸连接装置中的第一连接件连接。
插入部导管的后端设置在插入部安装机构上，插入部安装机构与快速拆卸连接装置中的第二连接件连接；插入部拉线驱动组件与快速拆卸连接装置中的第一连接件连接。
鞘柔性可控器械拉线为多个，且均匀圆周焊接在鞘柔性可控器械内侧，锁套602用于固定鞘柔性可控器械拉线，锁紧件603用于固定鞘拉线力感知模块，锁紧件603同固定鞘柔性可控器械拉线的锁套602配合锁紧时，鞘拉线力感知模块可检测鞘柔性可控器械的张力。
插入部柔性可控器械拉线为多个，且均匀圆周焊接在插入部柔性可控器械内侧，锁套602用于固定插入部柔性可控器械拉线，锁紧件603用于固定插入部拉线力感知模块，锁紧件603同固定插入部柔性可控器械拉线的锁套602配合锁紧时，插入部拉线力感知模块可检测鞘柔性可控器械的张力。
柔性可控医疗设备中，通过驱动机构200的拉线驱动组件400线性驱动拉线的方式控制柔性可控器械的弯曲姿态，和快速拆卸连接装置100提供的拆卸方式，相比于现有技术中的电机旋转拉线的方式控制柔性可控器械的弯曲姿态，拉线力感知模块更直接地进行柔性可控器械拉线上拉力的测量，拉线上的摩擦力小。锁套602用于固定鞘柔性可控器械拉线或插入部柔性可控器械拉线，锁紧件603用于固定鞘拉线力感知模块或插入部拉线力感知模块，锁紧件603同固定拉线的锁套602配合锁紧时，可检测鞘柔性可控器械或插入部柔性可控器械上各自拉线的张力，鞘柔性可控器械及插入部柔性可控器械的弯曲姿态分别由各自拉线前后位移实现。
柔性末端可控医疗器械可为医疗领域中应用的内窥镜，如支气管镜、尿道镜、十二指肠镜、胆道镜、肾盂镜等纤细的柔性电子内窥镜。
以上所描述的装置实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (12)

  1. 一种快速拆卸连接装置，包括：
    第一连接件；
    第二连接件；
    驱动组件，与所述第一连接件连接；
    连接组件，分别与所述第一连接件和所述第二连接件连接；
    第一锁定组件，设置于所述第一连接件上，并与所述驱动组件连接，所述驱动组件用于驱动所述第一锁定组件在第一锁定状态和第一解锁状态之间切换；在所述第一锁定状态，所述第二连接件通过所述第一锁定组件锁定至所述第一连接件，在所述第一解锁状态，所述第一锁定组件解除对所述第二连接件的锁定。
  2. 根据权利要求1所述的快速拆卸连接装置，其中，所述驱动组件包括：
    转盘，转动设置于所述第一连接件上；
    驱动部件，与所述转盘连接，所述驱动部件用于驱动所述转盘转动；
    第一拨动部件，设置于所述第一连接件上，并与所述转盘活动连接，所述转盘转动过程中，通过所述第一拨动部件带动所述第一锁定组件在所述第一锁定状态和所述第一解锁状态之间切换。
  3. 根据权利要求2所述的快速拆卸连接装置，其中，所述第一拨动部件包括：
    第一连杆，所述第一连杆的中部与所述第一连接件转动连接；
    第一主转动部，设置于所述第一连杆的一端，并与所述转盘活动连接；
    第一从转动部，设置于所述第一连杆的另一端，在所述第一解锁状态，所述第一从转动部与所述第一锁定组件抵接，在所述第一锁定状态，所述第一从转动部与所述第一锁定组件分离。
  4. 根据权利要求3所述的快速拆卸连接装置，其中，所述转盘上设有第一导向槽，所述第一导向槽的一端远离所述转盘的转动中心，所述 第一导向槽的另一端靠近所述转盘的转动中心；
    所述第一主转动部插入于所述第一导向槽内并与所述第一导向槽滑动配合，在所述第一锁定状态，所述第一主转动部位于所述第一导向槽的一端，在所述第一解锁状态，所述第一主转动部位于所述第一导向槽的另一端。
  5. 根据权利要求2所述的快速拆卸连接装置，其中，所述第一锁定组件包括：
    压爪底座，设置于所述第一连接件上；
    压爪，转动设置于所述压爪底座上；
    第一弹性件，设置于所述压爪底座和所述压爪之间，在所述第一锁定状态，所述第一弹性件的张紧力使所述压爪锁定所述第二连接件，在所述第一解锁状态，所述压爪克服所述第一弹性件的张紧力，解除锁定所述第二连接件。
  6. 根据权利要求2所述的快速拆卸连接装置，其中，还包括设置于所述第一连接件上的定位组件，所述转盘的边缘形成有凸起，所述凸起具有第一侧面和第二侧面；
    在所述第一锁定状态，所述定位组件与所述第一侧面抵接；
    在所述第一解锁状态，所述定位组件与所述第二侧面抵接。
  7. 根据权利要求6所述的快速拆卸连接装置，其中，所述定位组件包括：
    顶杆轴套，设置于所述第一连接件上，
    顶杆，一端设置于所述顶杆轴套内；
    第二弹性件，设置于所述顶杆轴套和所述顶杆之间，在所述第一锁定状态，所述顶杆的另一端与所述第一侧面抵接，所述第二弹性件处于第一压缩状态，在所述第一解锁状态，所述顶杆的另一端与所述第二侧面抵接，所述第二弹性件处于第二压缩状态。
  8. 根据权利要求2至7任一项所述的快速拆卸连接装置，其中，所述连接组件包括第二锁定部件和第二拨动部件；
    所述第二锁定部件包括锁套和与所述锁套配合的锁紧件，所述锁套活动连接于所述第二连接件上，所述锁紧件连接于所述第一连接件上；
    所述第二拨动部件，设置于所述第一连接件上，并与所述转盘活动连接，所述转盘用于通过驱动所述第二拨动部件带动所述第二锁定部件在第二锁定状态和第二解锁状态之间切换，在所述第二锁定状态，所述锁紧件锁定在所述锁套上，在所述第二解锁状态，所述锁紧件解除与所述锁套的锁定。
  9. 根据权利要求8所述的快速拆卸连接装置，其中，所述锁紧件包括：
    锁舌底座，连接于拉线力感知模块上，所述拉线力感知模块安装在拉线驱动组件，所述拉线驱动组件连接于所述第一连接件上；
    锁舌，转动设置于所述锁舌底座上；
    第三弹性件，设置于所述锁舌底座和所述锁舌之间，在所述第二锁定状态，所述第三弹性件的张紧力使所述锁舌锁定所述锁套，在所述第二解锁状态，所述锁舌克服所述第三弹性件的张紧力，解除与所述锁套的锁定。
  10. 根据权利要求9所述的快速拆卸连接装置，其中，所述转盘上设有第二导向槽，所述第二导向槽的一端靠近转盘的转动中心，所述第二导向槽的另一端远离转盘的转动中心；
    所述第二拨动部件包括：
    第二连杆，所述第二连杆的中部与所述第一连接件转动连接；
    第二主转动部，设置于所述第二连杆的一端，插入于所述第二导向槽内并与所述第二导向槽滑动配合；
    第二从转动部，设置于所述第二连杆的另一端，在所述第二锁定状态，所述第二主转动部位于所述第二导向槽的一端，第二从转动部与所述锁舌分离，在所述第二解锁状态，所述第二主转动部位于所述第二导向槽的另一端，所述第二从转动部与所述锁舌抵接。
  11. 一种柔性可控医疗设备，包括鞘柔性可控器械驱动机构、鞘安装机构、插入部柔性可控器械驱动机构、插入部安装机构和如权利要求1至10任一项所述的快速拆卸连接装置；
    所述鞘柔性可控器械驱动机构和所述鞘安装机构通过所述快速拆卸连接装置连接；和/或，
    所述插入部柔性可控器械驱动机构和所述插入部安装机构通过所述快速拆卸连接装置连接。
  12. 根据权利要求11所述柔性可控医疗设备，其中，还包括鞘和插入部；所述鞘包括鞘导管和设置在鞘导管一端的鞘柔性可控器械；所述插入部包括插入部导管和设置在插入部导管一端的插入部柔性可控器械；所述鞘柔性可控器械驱动机构包括鞘拉线驱动组件和与所述鞘拉线驱动组件连接的鞘拉线力感知模块上；所述插入部柔性可控器械驱动机构包括插入部拉线驱动组件和与所述插入部拉线驱动组件连接的插入部拉线力感知模块上；
    所述鞘导管的另一端设置在鞘安装机构上，所述鞘安装机构与所述快速拆卸连接装置中的第二连接件连接；所述鞘拉线驱动组件与所述快速拆卸连接装置中的第一连接件连接；
    所述插入部导管的另一端设置在插入部安装机构上，所述插入部安装机构与所述快速拆卸连接装置中的第二连接件连接；所述插入部拉线驱动组件与所述快速拆卸连接装置中的第一连接件连接；
    所述鞘柔性可控器械通过鞘柔性可控器械拉线和所述快速拆卸连接装置中的连接组件与所述鞘拉线力感知模块连接；
    所述插入部柔性可控器械通过插入部柔性可控器械拉线和所述快速拆卸连接装置中的连接组件与所述插入部拉线力感知模块连接。
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