WO2024000940A1 - 柔性末端可控医疗器械运动控制系统及医疗设备 - Google Patents
柔性末端可控医疗器械运动控制系统及医疗设备 Download PDFInfo
- Publication number
- WO2024000940A1 WO2024000940A1 PCT/CN2022/126635 CN2022126635W WO2024000940A1 WO 2024000940 A1 WO2024000940 A1 WO 2024000940A1 CN 2022126635 W CN2022126635 W CN 2022126635W WO 2024000940 A1 WO2024000940 A1 WO 2024000940A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- insertion part
- sheath
- assembly
- swing arm
- driving
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 72
- 238000003780 insertion Methods 0.000 claims abstract description 445
- 230000037431 insertion Effects 0.000 claims abstract description 445
- 230000007246 mechanism Effects 0.000 claims abstract description 207
- 238000009434 installation Methods 0.000 claims description 130
- 230000005540 biological transmission Effects 0.000 claims description 57
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000005452 bending Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 25
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 210000000078 claw Anatomy 0.000 description 7
- 230000003902 lesion Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 206010011409 Cross infection Diseases 0.000 description 2
- 206010029803 Nosocomial infection Diseases 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000214 mouth Anatomy 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- 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
- 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
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Definitions
- flexible terminal controllable medical devices and surgical instruments have been widely used in the field of minimally invasive diagnosis and treatment.
- 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.
- a flexible terminal controllable medical device mainly includes a sheath and an insertion part.
- the insertion part needs to enter the body of the subject through the sheath.
- the flexible end controllable medical device control system mainly includes a sheath installation mechanism and an insertion part installation mechanism.
- the sheath is set on the sheath installation mechanism
- the insertion part is set on the insertion part installation mechanism.
- the insertion part on the insertion part installation mechanism passes through the sheath installation mechanism and the sheath on the sheath installation mechanism and enters the body of the subject.
- the present application provides a flexible end controllable medical device motion control system and medical equipment to solve the problem in the prior art that the insertion portion is prone to bending when entering the sheath.
- This application provides a flexible terminal controllable medical device motion control system, including:
- the insertion part driving mechanism is used to drive the insertion part installation mechanism to swing between the first position and the second position by driving the insertion part swing arm mechanism.
- the insertion part installation mechanism Close to the sheath control device, when in the second position, the insertion part installation mechanism is away from the sheath control device; the insertion part swing arm mechanism is used to drive the insertion part installation mechanism in the third position and the third position. Rotating between four positions, in the third position, the insertion part installation mechanism is close to the sheath control device, and in the fourth position, the insertion part installation mechanism is away from the sheath control device.
- One end of the insertion portion swing arm is connected to the output shaft of the insertion portion driving mechanism, and the insertion portion mounting mechanism is rotationally connected to the other end of the insertion portion swing arm;
- the insertion portion attitude adjustment drive assembly is provided at the on the insertion part swing arm, and the insertion part attitude adjustment driving assembly is connected to the insertion part installation mechanism through the transmission assembly;
- the insertion part attitude adjustment driving assembly is used to drive the insertion part installation mechanism to rotate between the third position and the fourth position by driving the transmission assembly.
- the insertion part installation mechanism includes an insertion part linear wire drive assembly and an insertion part installation assembly detachably connected to the insertion part linear wire drive assembly;
- the insertion portion linear wire driving assembly is connected with the transmission assembly.
- the insertion part swing arm mechanism also includes a rotating component
- the rotating assembly includes a rotating shaft and a connecting piece connected to the rotating shaft.
- the rotating shaft is rotatably provided on the insertion part swing arm, and the rotating shaft is connected to the transmission assembly.
- the connecting piece is connected to the rotating shaft.
- the insertion portion is connected to a linear wire drive assembly.
- the transmission assembly includes a main transmission part and a slave transmission part that is transmission-cooperated with the main transmission part;
- the insertion part swing device further includes a locking component, the locking component is provided on the insertion part swing arm and/or the insertion part installation mechanism superior;
- the locking component is used to lock the insertion part installation mechanism when the insertion part installation mechanism rotates to the fourth position.
- the locking component includes a first magnet and a second magnet that magnetically cooperates with the first magnet;
- the first magnet is provided on the insertion part swing arm, and the second magnet is provided on the insertion part mounting mechanism.
- the sheath control device includes a sheath arm and a sheath installation mechanism.
- the sheath installation mechanism includes a sheath linear wire drive assembly and a sheath linear wire drive assembly. Removable attachable sheath mounting assembly;
- the sheath linear wire driving assembly is connected to the installation body through the sheath arm.
- the insertion part driving mechanism includes an insertion part driving motor;
- the insertion part swing device also includes a sensing component provided on the installation body;
- the sensing component is used to detect the rotation angle of the insertion portion driving motor.
- This application also provides a medical device, including a displacement drive system and any of the above flexible end controllable medical device motion control systems;
- the installation body of the flexible end controllable medical device motion control system is connected to the displacement drive system.
- the flexible terminal controllable medical device motion control system and medical equipment connect the insertion part installation mechanism to the insertion part driving mechanism through the insertion part swing arm mechanism, and control the insertion part installation mechanism and the insertion part swing arm through the insertion part driving mechanism.
- the entire mechanism swings, so that the insertion part moves relative to the sheath during the swing process of the insertion part installation mechanism, and the posture of the insertion part installation mechanism is adjusted through the insertion part swing arm mechanism, thereby adjusting the posture of the insertion part and preventing the insertion part from entering the sheath. Bending when controlling the device.
- the insertion part driving mechanism drives the insertion part to swing.
- the insertion part has a swing motion, which enables precise control when the insertion part bends into the sheath.
- the insertion part does not need to maintain a straight state to enter the sheath.
- the insertion part has a swing motion. Save system space.
- Figure 1 is one of the structural schematic diagrams of the flexible terminal controllable medical device motion control system provided by this application;
- Figure 2 is the second structural schematic diagram of the flexible terminal controllable medical device motion control system provided by this application.
- FIG. 3 is a schematic structural diagram of the sheath control device provided by the present application.
- Figure 4 is one of the structural schematic diagrams of the insertion part swing device provided by the present application.
- Figure 5 is the second structural schematic diagram of the insertion part swing device provided by the present application.
- Figure 6 is the third structural schematic diagram of the insertion part swing device provided by this application.
- Figure 7 is the fourth structural schematic diagram of the insertion part swing device provided by this application.
- Figure 8 is a schematic structural diagram of the rotating assembly and transmission assembly provided by this application.
- Figure 9 is a partial structural schematic diagram of the insertion part swing device provided by the present application.
- Figure 10 is one of the posture schematic diagrams of the flexible terminal controllable medical device motion control system provided by this application.
- Figure 11 is the second schematic diagram of the attitude of the flexible terminal controllable medical device motion control system provided by this application.
- Figure 12 is the third schematic diagram of the posture of the flexible terminal controllable medical device motion control system provided by this application.
- Insertion part swing arm 402. Insertion part attitude adjustment drive component; 403. Transmission component; 404. Insertion part linear wire drive component; 405. Insertion part installation component; 406. Rotating component; 407. Insertion part catheter fixing piece; 408. The first magnet; 409. The second magnet;
- the flexible terminal controllable medical device of the present application can be an endoscope used in the medical field, such as a bronchoscope, a urethroscope, a duodenoscope, a choledochoscope, a pyeloscope and other slim flexible electronic endoscopes.
- the flexible terminal controllable medical device has a secondary concentric tube structure and can enter the site to be tested in the human body through the human oral cavity or other natural orifices to check whether there are any lesions in the human body.
- the flexible terminal controllable medical device mainly includes a matching sheath 101 and an insertion part 102.
- the insertion part 102 is inserted into the sheath 101 and can move relative to the sheath 101.
- the sheath 101 and the insertion part 102 can simultaneously enter the site to be measured in the human body. To detect lesions; however, when the space of the site to be tested in the human body is limited, since the radial size of the insertion part 102 is smaller than the radial size of the sheath 101, only the insertion part 102 can be driven to move, so that the insertion part 102 moves forward relative to the sheath 101 Reach out and into the area to be tested.
- FIG 3 is a schematic structural diagram of a sheath control device provided by an embodiment of the present application.
- the sheath control device 104 includes a sheath arm 201 and a sheath installation mechanism 202; one end of the sheath arm 201 is connected to the installation body 103.
- the sheath installation mechanism 202 is connected to the other end of the sheath arm 201, and the tail of the sheath 101 is installed on the sheath installation mechanism 202.
- FIG 4 is the first structural schematic diagram of the insertion part swinging device provided by the embodiment of the present application.
- Figure 5 is the second structural schematic diagram of the insertion part swinging device provided by the embodiment of the present application, as shown in Figures 2, 4 and 5.
- the insertion part swing device 105 includes an insertion part driving mechanism 203, an insertion part swing arm mechanism 204 and an insertion part installation mechanism 205.
- the insertion part driving mechanism 203 is connected to the installation body 103.
- the insertion part driving mechanism 203 can be an insertion part driving motor, or it can be It is a rotary cylinder or a servo mechanism, etc.; the fixed seat of the insertion part driving mechanism 203 is provided on the installation body 103, the insertion part swing arm mechanism 204 is connected to the output shaft of the insertion part driving mechanism 203, and the insertion part mounting mechanism 205 is connected to the insertion part swing arm mechanism 204.
- the movement of the installation body 103 can realize the synchronous movement of the insertion part 102 and the sheath 101, and the insertion part driving mechanism 203 can realize the movement of the insertion part 102 relative to the sheath 101. Between the movement of the installation body 103 and the insertion part driving mechanism 203 The movement of the sheath 101 relative to the insertion part 102 can be achieved.
- the insertion part 102 and the sheath 101 move synchronously to the vicinity of the part to be measured on the human body, due to limited space, at this time, the insertion part 102 is only driven forward (closer to the part to be measured) by the insertion part driving mechanism 203, then The head of the insertion part 102 extends out of the sheath 101 and reaches the target site to be measured.
- the head of the insertion part 102 is used for lesion detection and minimally invasive surgical treatment.
- the insertion part driving mechanism 203 drives the insertion part 102 to move in the opposite direction.
- the movement distance of the insertion part 102 is the same as the movement distance of the installation body 103, so that the sheath 101 can be driven independently.
- the sheath control device 104 and the insertion part swing device 105 are spaced back and forth on the installation body 103 .
- the insertion part driving mechanism 203 is a driving motor, and the insertion part driving mechanism 203 drives the insertion part installation mechanism.
- the insertion part driving mechanism 203 drives the insertion part swing arm mechanism 204 and the insertion part installation mechanism 205 to swing back and forth as a whole, and the insertion part
- the limit position of the mounting mechanism 205 swinging forward (the insertion part mounting mechanism 205 is close to the sheath mounting mechanism 202) is taken as the first position
- the limit position of the inserting part mounting mechanism 205 swinging backward (the inserting part mounting mechanism 205 is away from the sheath mounting mechanism 202) is taken as the first position.
- the insertion portion mounting mechanism 205 swings between the first position and the second position.
- the insertion part swing arm mechanism 204 is used to drive the insertion part installation mechanism 205 to rotate in the first direction or the second direction to adjust the posture of the insertion part installation mechanism 205, that is, to adjust the posture of the insertion part 102;
- the first direction is the insertion
- the direction in which the insertion part installation mechanism 205 is close to the sheath control device 104 is the clockwise direction in Figure 1;
- the second direction is the opposite direction to the first direction, specifically, the second direction is when the insertion part installation mechanism 205 is away from the sheath control device 104 direction, which is the counterclockwise direction in Figure 1.
- the extreme position of the insertion part mounting mechanism 205 rotating in the first direction is regarded as the third position, and the extreme position of the inserting part mounting mechanism 205 rotating along the second direction is regarded as the fourth position, then the inserting part mounting mechanism 205 is in the third position and the fourth position. Rotate between positions to adjust the posture of the insertion part 102.
- the flexible terminal controllable medical device motion control system connects the insertion part installation mechanism 205 to the insertion part driving mechanism 203 through the insertion part swing arm mechanism 204, and controls the insertion part installation mechanism 205 and the insertion part swing through the insertion part driving mechanism 203.
- the arm mechanism 204 as a whole swings, so that the insertion part 102 moves relative to the sheath 101 during the swing of the insertion part mounting mechanism 205, and the attitude of the insertion part mounting mechanism 205 is adjusted through the insertion part swing arm mechanism 204, thereby adjusting the insertion part 102 posture to avoid bending of the insertion part 102 when entering the sheath control device 104.
- the insertion part swing arm mechanism 204 includes an insertion part swing arm 401 , an insertion part attitude adjustment driving assembly 402 and a transmission assembly 403 ; one end of the insertion part swing arm 401 is connected to the output shaft of the insertion part driving mechanism 203 connection, the insertion part installation mechanism 205 is rotationally connected to the other end of the insertion part swing arm 401, then the insertion part installation mechanism 205 can rotate relative to the insertion part swing arm 401; the insertion part attitude adjustment drive assembly 402 is provided on the insertion part swing arm 401, And the output shaft of the insertion part attitude adjustment drive assembly 402 is connected to the input of the transmission assembly 403.
- the output shaft of the transmission assembly 403 is connected to the insertion part installation mechanism 205.
- the insertion part attitude adjustment drive assembly 402 drives the insertion part installation mechanism by driving the transmission assembly 403. 205 rotates in the first direction or the second direction relative to the insertion part swing arm 401, that is, rotates between the third position and the fourth position, thereby adjusting the posture of the insertion part mounting mechanism 205.
- the sheath installation mechanism 202 is used to install the sheath 101
- the insertion part installation mechanism 205 is used to install the insertion part 102. After each detection and treatment of the sheath 101 and the insertion part 102 is completed, the sheath 101 needs to be and the insertion part 102 are sterilized.
- the sheath 101 and the sheath installation mechanism 202 are fixedly connected, and the insertion part 102 and the insertion part installation mechanism 205 are also fixedly connected.
- the sheath 101 and the insertion part 102 cannot be disassembled and sterilized, and can only be assembled after they are assembled.
- the sheath 101 and the insertion part 102 are sterilized, but there is a hidden danger of incomplete sterilization.
- both the sheath installation mechanism 202 and the insertion part installation mechanism 205 are designed as detachable structures to realize the design of one-time replacement of the sheath 101 and the insertion part 102; after each detection and treatment, the operator must Part 102 is disinfected or replaced.
- the sheath mounting mechanism 202 includes a sheath linear wire driving assembly 301 and a sheath mounting assembly 302 detachably connected to the sheath linear wire driving assembly 301.
- the sheath linear wire driving assembly 301 is connected to the sheath arm 201.
- both the sheath linear wire driving assembly 301 and the sheath mounting assembly 302 are existing components.
- the sheath installation assembly 302 is used to install the sheath 101.
- the sheath 101 includes a sheath catheter and a sheath flexible controllable instrument provided at the front end of the sheath catheter.
- the sheath linear wire drive assembly 301 is used to control the bending of the sheath flexible controllable instrument at the front end of the sheath catheter. attitude.
- the tail of the sheath catheter is fixed on the sheath mounting assembly 302 through the sheath catheter fixing member 303.
- the sheath mounting assembly 302 is connected to the side plate of the sheath linear wire driving assembly 301.
- the sheath linear wire driving assembly 301 is connected to the sheath arm 201.
- the sheath linear wire drive assembly 301 is provided with a sheath compression assembly on the side plate. When the claws in the sheath compression assembly are opened, the sheath installation assembly 302 can be separated from the sheath linear wire drive assembly 301.
- the sheath linear wire drive assembly 210 includes a sheath linear drive mechanism and a sheath wire sensor.
- the sheath wire sensor is installed on the screw rod in the sheath linear drive mechanism.
- the sheath wire sensor is connected to the sheath flexible controllable instrument wire and can detect the sheath flexibility in real time. Control the pulling force on the sheath flexible controllable instrument wire.
- one end of the sheath flexible controllable instrument wire is detachably connected to the sheath wire sensor, and the other end is connected to the inside of the sheath flexible controllable instrument.
- the number of sheath linear drive mechanisms is the same as the number of sheath flexible controllable instrument wires.
- the insertion part installation mechanism 205 includes an insertion part linear wire driving assembly 404 and an insertion part mounting assembly 405 detachably connected to the insertion part linear wire driving assembly 404.
- the insertion part linear wire driving assembly 404 and the insertion part swing arm 401 is rotatably connected, and the insertion portion linear wire driving assembly 404 can rotate relative to the insertion portion swing arm 401.
- the insertion portion linear wire driving assembly 404 and the insertion portion mounting assembly 405 are both existing components.
- the insertion part installation assembly 405 is used to install the insertion part 102.
- the insertion part 102 includes an insertion part catheter and an insertion part flexible controllable instrument provided at the front end of the insertion part catheter.
- the insertion part linear wire drive assembly 404 is used to control the front end of the insertion part catheter.
- the insertion part is flexible and can control the bending posture of the instrument.
- the tail of the insertion part catheter is fixed on the insertion part installation assembly 405 through the insertion part catheter fixing piece 407.
- the insertion part installation assembly 405 is connected to the side plate of the insertion part linear wire drive assembly 404.
- the insertion part linear wire drive assembly 404 is connected to the insertion part
- the swing arm 401 is connected.
- An insertion portion pressing assembly is provided on the side plate of the insertion portion linear wire driving assembly 404. When the pressing claws of the insertion portion pressing assembly are opened, the insertion portion mounting assembly 405 can be separated from the insertion portion linear wire driving assembly 404.
- the inserting portion mounting assembly 405 can be clamped and fixed on the inserting portion linear wire driving assembly 404.
- the specific structure of the insertion part linear wire driving assembly 404 is the same as the structure of the sheath linear wire driving assembly 301, and will not be described again in this application.
- the cooperative use of the insertion part driving mechanism 203 and the insertion part attitude adjustment driving assembly 402 can prevent the insertion part 102 from being bent when it is displaced inside the sheath catheter, and can also prevent the insertion part 102 from being bent when entering the sheath control. No bending will occur in front of the device 104.
- the flexible end controllable medical device motion control system of this application is designed to have a detachable connection between the sheath linear wire drive assembly 301 and the sheath installation assembly 302, and the insertion part linear wire drive assembly 404 and the insertion part installation assembly 405 are detachably connected to facilitate each completion. After one test and treatment, the sheath 101 and the insertion part 102 are replaced to avoid incomplete disinfection of the sheath 101 and the insertion part 102, which may cause cross-infection when used again.
- the sheath mounting assembly 302, the sheath linear wire driving assembly 301, the insertion portion mounting assembly 405, and the insertion portion linear wire driving assembly 404 are arranged in sequence from front to back.
- the sheath mounting assembly The mechanism 202 and the insertion part installation mechanism 205 are both in the lowest position, and both are arranged horizontally, so that the sheath 101 and the insertion part 102 are also arranged horizontally.
- the pressing claws of the sheath pressing assembly on the side plate of the sheath linear wire driving assembly 301 are opened, and the sheath mounting assembly 302 is separated from the sheath linear wire driving assembly 301, thereby realizing the sheath mounting assembly 302. Remove, thereby realizing the removal of the sheath 101.
- the pressing claws of the insertion part pressing assembly on the side plate of the insertion part linear wire driving assembly 404 are opened.
- the insertion portion mounting assembly 405 When the insertion part mounting assembly 405 is separated from the insertion part linear wire driving assembly 404, due to the insertion part linear wire driving assembly 404, With the presence of the wire drive assembly 404, the insertion portion mounting assembly 405 cannot move backward and can only move toward the side closer to the sheath linear wire drive assembly 301. However, if the insertion portion mounting assembly 405 is moved forward to disassemble, it will interfere with the sheath linear wire. The drive assembly 301 collides, causing damage to the sheath linear wire drive assembly 301 and/or the insert mounting assembly 405.
- the insertion part linear wire driving assembly 404 is driven to rotate relative to the insertion part swing arm 401, so that the insertion part linear wire driving assembly 404 is flipped to the fourth position, A movement space is provided for the rearward movement of the insert mounting assembly 405 .
- Figure 6 is the third structural schematic diagram of the insertion part swing device provided by the embodiment of the present application.
- Figure 7 is the fourth structural schematic diagram of the insertion part swing device provided by the embodiment of the present application.
- the insertion part 102 is in a normal working state; when the insertion part 102 needs to be disassembled and sterilized, after the insertion part installation assembly 405 and the insertion part linear wire driving assembly 404 are disassembled, the insertion part linear wire driving assembly 404 is rotated to the fourth position, which may be The insertion part linear wire driving assembly 404 is flipped to the side of the insertion part swing arm 401 away from the sheath control device 104.
- the insertion part linear wire driving assembly 404 is parallel to the insertion part swing arm 401.
- the fourth position is when the insertion part linear wire driving assembly 404 rotates 90° counterclockwise around the insertion part swing arm 401 from the state in Figure 6 and then stays in the vertical position shown in Figure 7.
- the flexible end controllable medical device motion control system of the present application rotates the insertion part installation component 405 and the insertion part swing arm 401, and provides the insertion part attitude adjustment drive component 402 and the transmission component 403 on the insertion part swing arm 401, so that The insertion portion linear wire drive assembly 404 can rotate relative to the insertion portion swing arm 401, providing movement space for the insertion portion installation assembly 405 separated from the insertion portion linear wire drive assembly 404 to move backward (move away from the sheath linear wire drive assembly 301) to avoid
- the problem of collision with the sheath linear wire drive assembly 301 during the disassembly process of the insertion part mounting assembly 405 facilitates the disassembly and installation of the insertion part mounting assembly 405 and further facilitates the disassembly and installation of the insertion part 102.
- FIG. 8 is a schematic structural diagram of the rotation assembly and the transmission assembly provided by the embodiment of the present application.
- the insertion part linear wire driving assembly 404 is rotationally connected to the insertion part swing arm 401 through the rotation assembly 406.
- the rotation assembly 406 It includes a rotating shaft 501 and a connecting piece 502 connected to the rotating shaft 501.
- the rotating shaft 501 is rotated on the insertion part swing arm 401, and the rotating shaft 501 is connected to the transmission assembly 403.
- the connecting piece 502 is connected to the inserting part linear wire driving assembly 404.
- the rotating shaft 501 is rotated on the insertion part swing arm 401 through bearings.
- the rotating shaft 501 can rotate on the insertion part swing arm 401.
- the insertion part linear wire drive assembly 404 is fixedly connected to the rotating shaft 501, so that the insertion can be realized.
- the linear wire drive assembly 404 of the insertion part rotates relative to the swing arm 401 of the insertion part; in order to facilitate the connection between the linear wire driving component 404 of the insertion part and the rotating shaft 501, a connecting piece 502 is fixed on the rotating shaft 501, and the connecting piece 502 is connected to the straight line of the inserting part
- the fixed connection of the wire drive assembly 404 can realize the fixed connection of the rotating shaft 501 and the insertion part linear wire drive assembly 404.
- the connector 502 and the insertion part linear wire drive assembly 404 can be connected by screws, then the insertion part linear wire drive assembly 404, The connecting piece 502 and the rotating shaft 501 can rotate relative to the insertion part swing arm 401.
- the transmission assembly 403 is connected to the rotation shaft 501, and the transmission assembly 403 is used to drive the rotation shaft 501 to rotate.
- the flexible end controllable medical device motion control system of the present application realizes the rotation of the insertion part linear wire drive assembly 404 through the rotation axis 501 provided on the insertion part swing arm 401, and has a simple structure; and the insertion part linear wire drive assembly 404 and the rotation axis 501 are connected through a connecting piece 502, and the connection method is simple.
- Figure 9 is a partial structural schematic diagram of the insertion portion swing device provided by the embodiment of the present application.
- the transmission assembly 403 includes a main transmission member 503 and a slave transmission that is in transmission cooperation with the main transmission member 503.
- Part 505; the main transmission part 503 is connected to the output shaft of the insertion part attitude adjustment drive assembly 402; the slave transmission part 505 is sleeved on the rotating shaft 501, and the main transmission part 503 is driven to rotate by the insertion part attitude adjustment drive assembly 402, and the main transmission part 503 synchronously drives the slave transmission member 505 to rotate, and the slave transmission member 505 drives the rotating shaft 501 to rotate, thereby realizing the rotation of the insertion portion linear wire driving assembly 404 fixedly connected to the rotating shaft 501.
- the insertion part attitude adjustment driving assembly 402 may be an insertion part attitude adjustment driving motor, or may be a rotary cylinder or a servo mechanism.
- the insertion part attitude adjustment driving assembly 402 is a driving motor.
- the transmission component 403 can be a belt transmission, a chain transmission, a tooth transmission, etc.
- the transmission component 403 adopts a belt transmission.
- the main transmission component 503 is a driving wheel
- the slave transmission component 505 is a driven wheel.
- the driving wheel and the driven wheel are connected through a synchronous belt 504.
- the driving wheel is connected to the output shaft of the insertion part attitude adjustment drive assembly 402.
- the driven wheel is sleeved on the rotating shaft 501 and is tightened by a jack screw.
- the insertion part swing device 105 also includes a locking component, which is provided on the insertion part swing arm 401 and/or the insertion part linear wire driving assembly 404; the locking component is used to lock the insertion part at the insertion part.
- the linear wire driving assembly 404 rotates around the rotating assembly 406 to the side of the insertion portion swing arm 401 away from the sheath mounting mechanism 202. Even when the insertion portion attitude adjustment drive motor is disabled, the insertion portion linear wire driving assembly 404 can be locked. .
- the insertion part attitude adjustment drive motor can still ensure that the insertion part linear wire is driven in the vertical position.
- the insertion part installation assembly 405 when it is necessary to disassemble the insertion part installation assembly 405, first open the pressing claw in the insertion part pressing assembly, and separate the insertion part installation assembly 405 and the insertion part linear wire drive assembly 404; then adjust the drive assembly through the insertion part attitude 402 drives the main transmission member 503 to rotate, the main transmission member 503 synchronously drives the slave transmission member 505 to rotate, and the slave transmission member 505 drives the rotating shaft 501 to rotate in the second direction (counterclockwise in Figure 1), so that the rotating shaft 501 is connected to the rotating shaft 501.
- the insertion part linear wire driving assembly 404 is flipped around the axis of the rotation shaft 501, and the insertion part linear wire driving assembly 404 is flipped, as shown in FIG. 7 .
- the locking component is a pair of magnets.
- the pair of magnets includes a first magnet 408 and a second magnet 409 that magnetically cooperates with the first magnet 408; the first magnet 408 is provided on the insertion portion of the swing arm. 401, the second magnet 409 is provided on the insertion part linear wire drive assembly 404; through the magnetic attraction of the first magnet 408 and the second magnet 409, even when the insertion part attitude adjustment drive motor is disabled, the insertion part linear wire drive is ensured Assembly 404 remains in an upright position.
- the magnet pairs may be one or more pairs.
- the magnet pairs may be two pairs. The first magnet pair is disposed far away from the rotation axis 501 and the second magnet pair is disposed close to the rotation axis 501 .
- the locking component can also be a locking component provided on the insertion part swing arm 401 or the insertion part linear wire driving component 404; or a connector that realizes the connection of the insertion part swing arm 401 or the insertion part linear wire driving component 404. , such as screws; or other connection structures that can fix the insertion portion linear wire driving assembly 404 on the insertion portion swing arm 401, which is not limited in this application.
- the flexible end controllable medical device motion control system of the present application uses the insertion part attitude adjustment drive motor or locking assembly to ensure that the insertion part linear wire drive assembly 404 stays in the vertical position.
- the straight position facilitates the replacement of the insert mounting assembly 405.
- FIG. 10 is the first schematic diagram of the posture of the flexible terminal controllable medical device motion control system provided by the embodiment of the present application
- FIG. 11 is the second schematic diagram of the posture of the flexible terminal controllable medical device motion control system provided by the embodiment of the present application
- Figure 12 is the third schematic diagram of the posture of the flexible end controllable medical device motion control system provided by the embodiment of the present application; as shown in Figure 9, in the embodiment of the present application, the insertion part swing device 105 also includes a sensing component. The component is used to detect the rotation angle of the output shaft of the insertion part driving mechanism 203 .
- the rotation angle of the output shaft of the insertion part driving mechanism 203 represents the swing angle of the insertion part mounting mechanism 205 .
- the sensing component includes a limit sensor piece 604 and a limit sensor that cooperates with the limit sensor piece 604.
- the limit sensor is connected to the installation body 103.
- the limit sensor piece 604 includes a trigger end and a fixed end.
- the fixed end of the limit sensing piece 604 is connected to the output shaft of the insertion part driving mechanism 203. When the output shaft of the inserting part driving mechanism 203 rotates, the triggering end of the limiting sensing piece 604 rotates around the fixed end of the limiting sensing piece 604.
- the swing position of the insertion part installation mechanism 205 can be determined; specifically, there are three limit sensors in this embodiment, and they are the first limit sensors 601 arranged at intervals in sequence. , the second limit sensor 602 and the third limit sensor 603, and the first limit sensor 601 is set close to the sheath control device 104.
- the three limit sensors can be installed on the same limit sensor mounting plate 605.
- the limit sensor The installation plate 605 is connected to the installation body 103; during the swing process of the insertion part driving mechanism 203 driving the insertion part installation mechanism 205, the limit sensing piece 604 rotates synchronously, and the first limit sensor is triggered at the triggering end of the limiting sensing piece 604.
- the first limit is triggered on the trigger end of the limit sensor piece 604.
- the first limit sensor 601 When the sensor 601 is connected, the first limit sensor 601 generates a first control signal and sends the first control signal to the control system.
- the sensing component can also be an angle sensor provided on the installation body 103 to measure the rotation angle of the output shaft of the insertion part driving mechanism 203, and then determine the insertion part linear wire driving component 404 based on the measured angle. s position.
- the flexible end controllable medical device motion control system of the present application can limit and protect the position of the linear wire drive assembly 404 of the insertion part through the sensing assembly.
- the above-mentioned sensing assembly may also be provided between the insertion portion attitude adjustment drive assembly 402 and the insertion portion swing arm 401 for measuring the rotation angle of the output shaft of the insertion portion attitude adjustment drive assembly 402. It is detected that the rotation angle of the output shaft of the insertion part attitude adjustment driving assembly 402 represents the rotation angle of the insertion part installation mechanism 205 between the third position and the fourth position, which will not be described in detail here in this application.
- the embodiment of the present application provides a schematic diagram of the posture of the flexible end controllable medical device motion control system when the insertion part 102 and the sheath 101 are in three different positions, as shown in Figures 10 and 11 to Figures
- the motion process of 12 is the process in which the insertion part driving mechanism 203 drives the insertion part mounting mechanism 205 to swing close to the sheath linear wire driving assembly 301.
- the insertion part posture is passed.
- the adjustment driving assembly 402 adjusts the posture of the insertion part mounting mechanism 205 to avoid bending of the insertion part 102 when entering the sheath control device 104, thereby avoiding damage to the tool channel and wires inside the insertion part 102.
- This application also provides a medical device, including a displacement drive system and a flexible end controllable medical device motion control system provided by any of the above embodiments.
- the installation body 103 of the flexible end controllable medical device motion control system and the displacement drive The output working shaft of the system is connected, and the sheath control device 104 and the insertion part swing device 105 can be moved and rotated as a whole through the displacement drive system, thereby adjusting the position and posture of the sheath 101 and the insertion part 102.
- the displacement drive system can be a manipulator, or a multi-axis drive mechanism and other drive structures.
- the medical equipment provided by this application can integrate the sheath control device 104 for installing the sheath 101 and the insertion part swinging device 105 for driving the insertion part 102 on one robot. Since the existing sheath 101 and the insertion part 102 are installed and controlled by the robot respectively, , then two manipulators are required to control the movement of the sheath 101 and the insertion part 102, which results in a large space occupied and a complicated control process.
- this application can realize the unified driving of the sheath 101 and the insertion part 102 through a single manipulator, which takes up little space and has a relatively simple control process; in addition, during the movement of the insertion part 102, only the insertion part driving mechanism 203 is required to drive, without the need for Other components cooperate with the motor to reduce the structural complexity of the flexible end-controllable medical device motion control system and at the same time reduce the weight of the flexible end-controllable medical device motion control system, thereby facilitating the control of the manipulator.
- 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.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
Abstract
一种柔性末端可控医疗器械运动控制系统及医疗设备，其中柔性末端可控医疗器械控制系统包括安装主体（103）、鞘控制装置（104）和插入部摆动装置（105），鞘控制装置（104）与安装主体（103）连接，插入部摆动装置（105）包括插入部驱动机构（203）、插入部摆臂机构（204）和插入部安装机构（205），插入部驱动机构（203）与安装主体（103）连接，插入部安装机构（205）通过插入部摆臂机构（204）与插入部驱动机构（203）连接；插入部驱动机构（203）用于通过驱动插入部摆臂机构（204）带动插入部安装机构（205）摆动；插入部摆臂机构（204）用于驱动插入部安装机构（205）转动。通过插入部安装机构（205）摆动实现插入部（102）相对鞘（101）的移动，并通过插入部摆臂机构（204）调整插入部安装机构（205）的姿态，从而调整插入部（102）的姿态，避免插入部（102）进入鞘控制装置（104）时的弯折。
Description
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202210773103.6，发明名称为“柔性末端可控医疗器械运动控制系统及医疗设备”的中国专利申请的优先权，其通过引用方式全部并入本文。
本申请涉及医疗器械技术领域，尤其涉及一种柔性末端可控医疗器械运动控制系统及医疗设备。
近年来，柔性末端可控医疗器械及其手术器械大量的用于微创诊断与治疗领域。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。
在现有技术中，柔性末端可控医疗器械主要包括鞘和插入部，插入部需要通过鞘进入被作用对象体内。柔性末端可控医疗器械控制系统主要包括鞘安装机构和插入部安装机构，鞘设置在鞘安装机构上，插入部设置在插入部安装机构上，在插入部安装机构靠近鞘安装机构的移动过程中，插入部安装机构上的插入部穿过鞘安装机构以及鞘安装机构上的鞘进入被作用对象体内。
但上述现有技术中，在插入部安装机构的中心线和鞘安装机构的中心线之间存在较大角度偏差时，插入部安装机构上的插入部相对鞘安装机构移动时易发生弯折，这样会导致插入部内部的电源线等发生损伤，因此，亟需提出一种柔性末端可控医疗器械运动控制系统，以避免插入部弯折。
发明内容
本申请提供一种柔性末端可控医疗器械运动控制系统及医疗设备，用 以解决现有技术中插入部进入鞘易发生弯折的缺陷。
本申请提供一种柔性末端可控医疗器械运动控制系统，包括：
安装主体；
鞘控制装置，与所述安装主体连接；
插入部摆动装置，包括插入部驱动机构、插入部摆臂机构和插入部安装机构，所述插入部驱动机构与所述安装主体连接，所述插入部安装机构通过所述插入部摆臂机构与所述插入部驱动机构连接；
所述插入部驱动机构用于通过驱动所述插入部摆臂机构带动所述插入部安装机构在第一位置和第二位置之间摆动，在所述第一位置时，所述插入部安装机构靠近所述鞘控制装置，在所述第二位置时，所述插入部安装机构远离所述鞘控制装置；所述插入部摆臂机构用于驱动所述插入部安装机构在第三位置和第四位置之间转动，在所述第三位置时，所述插入部安装机构靠近所述鞘控制装置，在所述第四位置时，所述插入部安装机构远离所述鞘控制装置。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述插入部摆臂机构包括插入部摆臂、插入部姿态调整驱动组件和传动组件；
所述插入部摆臂的一端与所述插入部驱动机构的输出轴连接，所述插入部安装机构与所述插入部摆臂的另一端转动连接；所述插入部姿态调整驱动组件设置在所述插入部摆臂上，且所述插入部姿态调整驱动组件通过所述传动组件与所述插入部安装机构连接；
所述插入部姿态调整驱动组件，用于通过驱动所述传动组件带动所述插入部安装机构在第三位置和第四位置之间转动。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述插入部安装机构包括插入部直线丝驱动组件和与所述插入部直线丝驱动组件可拆卸连接的插入部安装组件；
所述插入部直线丝驱动组件与所述传动组件连接。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述插入部摆臂机构还包括转动组件；
所述转动组件包括旋转轴和与所述旋转轴连接的连接件，所述旋转轴转动设置在所述插入部摆臂上，且所述旋转轴与所述传动组件连接，所述 连接件与所述插入部直线丝驱动组件连接。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述传动组件包括主传动件和与所述主传动件传动配合的从传动件；
所述主传动件与所述插入部姿态调整驱动组件的输出轴连接；所述从传动件套设于所述转动轴上。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述插入部摆动装置还包括锁定组件，所述锁定组件设置在所述插入部摆臂上和/或所述插入部安装机构上；
所述锁定组件，用于在所述插入部安装机构转动至所述第四位置时，对所述插入部安装机构进行锁定。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述锁定组件包括第一磁铁和与所述第一磁铁磁吸配合的第二磁铁；
所述第一磁铁设置在所述插入部摆臂上，所述第二磁铁设置在所述插入部安装机构上。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述鞘控制装置包括鞘臂和鞘安装机构，所述鞘安装机构包括鞘直线丝驱动组件和与所述鞘直线丝驱动组件可拆卸连接的鞘安装组件；
所述鞘直线丝驱动组件通过所述鞘臂与所述安装主体连接。
根据本申请提供的一种柔性末端可控医疗器械运动控制系统，所述插入部驱动机构包括插入部驱动电机；所述插入部摆动装置还包括设置在所述安装主体上的传感组件；
所述传感组件用于对所述插入部驱动电机的转动角度进行检测。
本申请还提供一种医疗设备，包括位移驱动系统和如上述任一种柔性末端可控医疗器械运动控制系统；
所述柔性末端可控医疗器械运动控制系统的安装主体与所述位移驱动系统连接。
本申请提供的柔性末端可控医疗器械运动控制系统及医疗设备，将插入部安装机构通过插入部摆臂机构与插入部驱动机构连接，通过插入部驱动机构控制插入部安装机构和插入部摆臂机构整体发生摆动，从而在插入部安装机构摆动过程中实现了插入部相对鞘的移动，并通过插入部摆臂机 构调整插入部安装机构的姿态，从而调整插入部的姿态，避免插入部进入鞘控制装置时的弯折。另外，插入部驱动机构驱动插入部摆动，插入部为摆动运动方式，使得在插入部弯曲进入鞘内时可进行精准控制，插入部不需保持直线状态进入鞘内，插入部的摆动运动方式可节省系统空间。
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是本申请提供的柔性末端可控医疗器械运动控制系统的结构示意图之一；
图2是本申请提供的柔性末端可控医疗器械运动控制系统的结构示意图之二；
图3是本申请提供的鞘控制装置的结构示意图；
图4是本申请提供的插入部摆动装置的结构示意图之一；
图5是本申请提供的插入部摆动装置的结构示意图之二；
图6是本申请提供的插入部摆动装置的结构示意图之三；
图7是本申请提供的插入部摆动装置的结构示意图之四；
图8是本申请提供的转动组件和传动组件的结构示意图；
图9是本申请提供的插入部摆动装置的局部结构示意图；
图10是本申请提供的柔性末端可控医疗器械运动控制系统的姿态示意图之一；
图11是本申请提供的柔性末端可控医疗器械运动控制系统的姿态示意图之二；
图12是本申请提供的柔性末端可控医疗器械运动控制系统的姿态示意图之三；
附图标记：
101、鞘；102、插入部；103、安装主体；104、鞘控制装置；105、插入部摆动装置；
201、鞘臂；202、鞘安装机构；203、插入部驱动机构；204、插入部摆臂机构，205、插入部安装机构；
301、鞘直线丝驱动组件；302、鞘安装组件；303、鞘导管固定件；
401、插入部摆臂；402、插入部姿态调整驱动组件；403、传动组件；404、插入部直线丝驱动组件；405、插入部安装组件；406、转动组件；407、插入部导管固定件；408、第一磁铁；409、第二磁铁；
501、旋转轴；502、连接件；503、主动轮；504、同步带；505、从动轮；
601、第一限位传感器；602、第二限位传感器；603、第三限位传感器；604、限位感应片，605、限位传感器安装板。
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12描述本申请的柔性末端可控医疗器械运动控制系统。
图1是本申请实施例提供的柔性末端可控医疗器械运动控制系统的结构示意图之一，图2是本申请实施例提供的柔性末端可控医疗器械运动控制系统的结构示意图之二，如图1和图2所示，该柔性末端可控医疗器械运动控制系统包括安装主体103、鞘控制装置104和插入部摆动装置105。
其中，本申请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。柔性末端可控医疗器械为二级同心管式结构，可通过人体的口腔或者其他自然腔道进入人体内的待测部位，以检查人体内有无病变情况。柔性末端可控医疗器械主要包括相配合的鞘101和插入部102，插入部102穿设在鞘101内并可相对鞘101移动，鞘101和插入部102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102的径向尺寸小于鞘101的径向尺寸，可仅驱动插入部102移动，则插入部102相对鞘101向前伸出并进入待测部位。
图3是本申请实施例提供的鞘控制装置的结构示意图，如图2和图3所示，鞘控制装置104包括鞘臂201和鞘安装机构202；鞘臂201的一端与安装主体103连接，鞘安装机构202与鞘臂201的另一端连接，鞘101的尾部安装在鞘安装机构202上。
图4是本申请实施例提供的插入部摆动装置的结构示意图之一，图5是本申请实施例提供的插入部摆动装置的结构示意图之二，如图2、图4和图5所示，插入部摆动装置105包括插入部驱动机构203、插入部摆臂机构204和插入部安装机构205，插入部驱动机构203与安装主体103连接，插入部驱动机构203可为插入部驱动电机，也可为旋转气缸或伺服机构等；插入部驱动机构203的固定座设置在安装主体103上，插入部摆臂机构204与插入部驱动机构203的输出轴连接，并且插入部安装机构205与插入部摆臂机构204连接；通过插入部驱动机构203驱动插入部摆臂机构204摆动，插入部摆臂机构204带动插入部安装机构205在第一位置和第二位置之间的摆动，从而插入部102在插入部摆臂机构204的摆动过程中实现了相对移动鞘101的移动。另外，插入部摆臂机构204还用于驱动插入部安装机构205在第三位置和第四位置之间的转动。
需要说明的是，安装主体103的移动可以实现插入部102和鞘101的同步移动，插入部驱动机构203可实现插入部102相对鞘101的移动，在安装主体103的移动和插入部驱动机构203的移动可实现鞘101相对插入部102的移动。具体地，在插入部102和鞘101同步移动至人体的待测部位附近，由于空间受限，此时，仅通过插入部驱动机构203驱动插入部102向前(靠近待测部位)移动，则插入部102的首部伸出鞘101到达目标待测部位，插入部102的首部用于进行病变检测以及微创手术治疗。具体地，在安装主体103移动的同时，插入部驱动机构203驱动插入部102向相反的方向移动，插入部102的移动距离同安装主体103的移动距离相同，可实现鞘101的单独驱动。
具体地，如图1所示，鞘控制装置104和插入部摆动装置105前后间隔设置在安装主体103上，本实施例插入部驱动机构203为驱动电机，插 入部驱动机构203驱动插入部安装机构205沿靠近鞘安装机构202方向或远离鞘安装机构202方向摆动，也就是图1中的前后摆动；插入部驱动机构203驱动插入部摆臂机构204和插入部安装机构205整体前后摆动，插入部安装机构205向前(插入部安装机构205靠近鞘安装机构202)摆动的极限位置作为第一位置，插入部安装机构205向后(插入部安装机构205远离鞘安装机构202)摆动的极限位置作为第二位置，则插入部安装机构205在该第一位置和第二位置之间摆动。
插入部摆臂机构204用于驱动所述插入部安装机构205沿第一方向或第二方向转动，实现插入部安装机构205姿态的调整，也就是插入部102姿态的调整；第一方向为插入部安装机构205靠近鞘控制装置104的方向，也就是图1中顺时针方向；第二方向为与第一方向相反的方向，具体地，第二方向为插入部安装机构205背离鞘控制装置104的方向，也就是图1中逆时针方向。插入部安装机构205沿第一方向转动的极限位置作为第三位置，插入部安装机构205沿第二方向转动的极限位置作为第四位置，则插入部安装机构205在该第三位置和第四位置之间转动，实现插入部102姿态的调整。
本申请提供的柔性末端可控医疗器械运动控制系统将插入部安装机构205通过插入部摆臂机构204与插入部驱动机构203连接，通过插入部驱动机构203控制插入部安装机构205和插入部摆臂机构204整体发生摆动，从而在插入部安装机构205摆动过程中实现了插入部102相对鞘101的移动，并通过插入部摆臂机构204调整插入部安装机构205的姿态，从而调整插入部102的姿态，避免插入部102进入鞘控制装置104时的弯折。
具体地，如图4所示，插入部摆臂机构204包括插入部摆臂401、插入部姿态调整驱动组件402和传动组件403；插入部摆臂401的一端与插入部驱动机构203的输出轴连接，插入部安装机构205与插入部摆臂401的另一端转动连接，则插入部安装机构205可相对插入部摆臂401转动；插入部姿态调整驱动组件402设置在插入部摆臂401上，且插入部姿态调整驱动组件402的输出轴与传动组件403的输入连接，传动组件403的输出轴与插入部安装机构205连接，插入部姿态调整驱动组件402通过驱动 传动组件403带动插入部安装机构205相对插入部摆臂401沿第一方向或第二方向转动，也就是在第三位置和第四位置之间转动，实现插入部安装机构205姿态的调整。
需要说明的是，鞘安装机构202是用于安装鞘101的，插入部安装机构205是用来安装插入部102的，在鞘101和插入部102每完成一次检测及治疗后，需对鞘101和插入部102进行消毒。现有技术中，鞘101与鞘安装机构202是固定连接，插入部102和插入部安装机构205也是固定连接，鞘101及插入部102均是无法进行拆卸后消毒的，只能是对装配好的鞘101和插入部102进行消毒，但会存在消毒不彻底的隐患，鞘101和插入部102再次使用时易造成交叉感染。因此，本申请将鞘安装机构202和插入部安装机构205均设计为可拆结构，实现鞘101及插入部102一次性更换的设计；操作人员每完成一次检测及治疗后，对鞘101及插入部102进行消毒或更换。
具体地，如图3所示，鞘安装机构202包括鞘直线丝驱动组件301和与鞘直线丝驱动组件301可拆卸连接的鞘安装组件302，鞘直线丝驱动组件301与鞘臂201连接，这里需要说明的是，鞘直线丝驱动组件301和鞘安装组件302均为现有的部件。鞘安装组件302是用来安装鞘101的，鞘101包括鞘导管和设置在鞘导管前端的鞘柔性可控器械，鞘直线丝驱动组件301用于控制鞘导管前端的鞘柔性可控器械的弯曲姿态。鞘导管的尾部通过鞘导管固定件303固定在鞘安装组件302上，鞘安装组件302连接在鞘直线丝驱动组件301的侧板上，鞘直线丝驱动组件301与鞘臂201连接。鞘直线丝驱动组件301的侧板上设有鞘压紧组件，在鞘压紧组件中压爪打开时，鞘安装组件302可从鞘直线丝驱动组件301上分离，在鞘压紧组件中压爪闭合时，可将鞘安装组件302夹紧固定在鞘直线丝驱动组件301上。鞘直线丝驱动组件210包括鞘线性驱动机构和鞘拉线传感器，鞘拉线传感器安装在鞘线性驱动机构中的丝杆上，鞘拉线传感器与鞘柔性可控器械拉线连接，并可实时检测鞘柔性可控器械拉线上的拉力，具体的，鞘柔性可控器械拉线的一端与鞘拉线传感器可拆卸连接，另一端连接在鞘柔性可控器械内侧，鞘线性驱动机构数量同鞘柔性可控器械拉线数量相同，均为多个，优选多个鞘柔性可控器械拉线沿圆周均匀焊接在鞘柔性可控器 械内侧，则鞘安装组件211用于固定鞘导管和鞘柔性可控器械拉线，通过在鞘线性驱动机构的驱动下，带动鞘柔性可控器械拉线的前后运动而控制鞘柔性可控器械的弯曲姿态。
如图4所示，插入部安装机构205包括插入部直线丝驱动组件404和与插入部直线丝驱动组件404可拆卸连接的插入部安装组件405，插入部直线丝驱动组件404与插入部摆臂401转动连接，插入部直线丝驱动组件404可相对插入部摆臂401转动，这里需要说明的是，插入部直线丝驱动组件404和插入部安装组件405均为现有的部件。插入部安装组件405是用来安装插入部102的，插入部102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，插入部直线丝驱动组件404用于控制插入部导管前端的插入部柔性可控器械的弯曲姿态。插入部导管的尾部通过插入部导管固定件407固定在插入部安装组件405上，插入部安装组件405连接在插入部直线丝驱动组件404的侧板上，插入部直线丝驱动组件404与插入部摆臂401连接。插入部直线丝驱动组件404的侧板上设有插入部压紧组件，在插入部压紧组件中压爪打开时，插入部安装组件405可从插入部直线丝驱动组件404上分离，在插入部压紧组件中压爪闭合时，可将插入部安装组件405夹紧固定在插入部直线丝驱动组件404上。插入部直线丝驱动组件404的具体结构与鞘直线丝驱动组件301的结构相同，本申请在此不再赘述。
需要说明的是，插入部驱动机构203和插入部姿态调整驱动组件402的配合使用，可使得插入部102在鞘导管内部发生位移时不会发生弯折，也可使得插入部102在进入鞘控制装置104前不会发生弯折。
本申请柔性末端可控医疗器械运动控制系统将鞘直线丝驱动组件301和鞘安装组件302设计为可拆卸连接，插入部直线丝驱动组件404和插入部安装组件405为可拆卸连接，便于每完成一次检测及治疗后，对鞘101及插入部102的更换，避免鞘101和插入部102消毒不彻底，造成再次使用时造成的交叉感染。
根据本申请的实施例，如图2所示，鞘安装组件302、鞘直线丝驱动组件301、插入部安装组件405和插入部直线丝驱动组件404由前至后依次布设，此时，鞘安装机构202和插入部安装机构205均处于最低位置， 且均为水平设置，从而鞘101和插入部102也为水平设置。
具体地，在需要拆卸鞘101时，将鞘直线丝驱动组件301侧板上的鞘压紧组件中压爪打开，鞘安装组件302从鞘直线丝驱动组件301上分离，实现鞘安装组件302的拆除，从而实现鞘101的拆除。在需要拆卸插入部102时，将插入部直线丝驱动组件404侧板上的插入部压紧组件中压爪打开，插入部安装组件405与插入部直线丝驱动组件404分离时，由于插入部直线丝驱动组件404的存在，插入部安装组件405无法后移，只能向靠近鞘直线丝驱动组件301一侧移动，但是，若将插入部安装组件405向前移动拆卸时，会与鞘直线丝驱动组件301发生碰撞，引起鞘直线丝驱动组件301和/或插入部安装组件405的损坏。因此，本申请在插入部姿态调整驱动组件402和传动组件403的作用下，驱动插入部直线丝驱动组件404相对插入部摆臂401转动，使插入部直线丝驱动组件404翻转至第四位置，给插入部安装组件405的后移提供运动空间。
图6是本申请实施例提供的插入部摆动装置的结构示意图之三，图7是本申请实施例提供的插入部摆动装置的结构示意图之四，如图6所示，插入部摆动装置105上的插入部102为正常工作状态；在需要插入部102拆卸消毒时，插入部安装组件405同插入部直线丝驱动组件404拆卸后，将插入部直线丝驱动组件404转动至第四位置，可以是插入部直线丝驱动组件404翻转至插入部摆臂401背离鞘控制装置104的一侧，此时，插入部直线丝驱动组件404与插入部摆臂401平行。本实施例中，第四位置为插入部直线丝驱动组件404绕插入部摆臂401由图6状态逆时针转动90°后停留在图7所示的竖直位置。
本申请柔性末端可控医疗器械运动控制系统将插入部安装组件405与插入部摆臂401之间转动连接，并在插入部摆臂401上设置插入部姿态调整驱动组件402和传动组件403，使插入部直线丝驱动组件404可相对插入部摆臂401转动，给与插入部直线丝驱动组件404分离后的插入部安装组件405后移(远离鞘直线丝驱动组件301移动)提供运动空间，避免插入部安装组件405拆卸过程中与鞘直线丝驱动组件301的碰撞问题，从而便于插入部安装组件405的拆卸和安装，进一步便于插入部102的拆卸和安装。
进一步地，图8是本申请实施例提供的转动组件和传动组件的结构示意图，插入部直线丝驱动组件404通过转动组件406与插入部摆臂401转动连接，如图8所示，转动组件406包括旋转轴501和与旋转轴501连接的连接件502，旋转轴501转动设置在插入部摆臂401上，且旋转轴501与传动组件403连接，连接件502与插入部直线丝驱动组件404连接。具体地，旋转轴501通过轴承转动设置在插入部摆臂401上，旋转轴501可在插入部摆臂401上自转，通过插入部直线丝驱动组件404与旋转轴501固连，即可实现插入部直线丝驱动组件404相对插入部摆臂401转动；为了便于插入部直线丝驱动组件404与旋转轴501的连接，在旋转轴501上固连一个连接件502，通过连接件502与插入部直线丝驱动组件404的固连，可实现旋转轴501与插入部直线丝驱动组件404的固连，连接件502与插入部直线丝驱动组件404可采用螺钉连接，则插入部直线丝驱动组件404、连接件502、旋转轴501整体可相对插入部摆臂401转动。传动组件403与旋转轴501连接，传动组件403用于驱动旋转轴501转动。
本申请柔性末端可控医疗器械运动控制系统通过设置在插入部摆臂401上的旋转轴501，实现插入部直线丝驱动组件404的转动，结构简单；且插入部直线丝驱动组件404与旋转轴501之间通过一个连接件502实现连接，连接方式简单。
更进一步地，图9是本申请实施例提供的插入部摆动装置的局部结构示意图，如图8和图9所示，传动组件403包括主传动件503和与主传动件503传动配合的从传动件505；主传动件503与插入部姿态调整驱动组件402的输出轴连接；从传动件505套设于旋转轴501上，通过插入部姿态调整驱动组件402驱动主传动件503转动，主传动件503同步带动从传动件505转动，从传动件505带动旋转轴501转动，进而实现与旋转轴501固连的插入部直线丝驱动组件404的转动。
需要说明的是，插入部姿态调整驱动组件402可为插入部姿态调整驱动电机，也可为旋转气缸或伺服机构等，本实施例插入部姿态调整驱动组件402为驱动电机。另外，传动组件403可以是带传动或链传动或齿传动等，在本申请实施例中，传动组件403采用带传动，相应的，主传动件503为主动轮，从传动件505为从动轮，主动轮和从动轮之间通过同步带504 连接，主动轮与插入部姿态调整驱动组件402的输出轴连接，从动轮套设在旋转轴501上，并通过顶丝顶紧。
可选地，本申请的实施例中插入部摆动装置105还包括锁定组件，锁定组件设置在插入部摆臂401上和/或插入部直线丝驱动组件404上；锁定组件，用于在插入部直线丝驱动组件404绕转动组件406转动至插入部摆臂401背离鞘安装机构202的一侧，即使当插入部姿态调整驱动电机去使能时，也可对插入部直线丝驱动组件404进行锁定。
需要说明的是，即使无锁定组件，插入部姿态调整驱动电机仍可保证插入部直线丝驱动在竖直位置。
其中，在需要对插入部安装组件405进行拆卸时，先将插入部压紧组件中压爪的打开，插入部安装组件405和插入部直线丝驱动组件404分离；然后通过插入部姿态调整驱动组件402驱动主传动件503转动，主传动件503同步带动从传动件505转动，从传动件505带动旋转轴501转动沿第二方向转动(图1中逆时针)，使与旋转轴501固连的插入部直线丝驱动组件404绕旋转轴501的轴线进行翻转，插入部直线丝驱动组件404翻转，如图7所示。
具体地，如图4和图5所示，锁定组件为磁体对，磁体对包括第一磁铁408和与第一磁铁408磁吸配合的第二磁铁409；第一磁铁408设置在插入部摆臂401上，第二磁铁409设置在插入部直线丝驱动组件404上；通过第一磁铁408和第二磁铁409的磁吸力，即使插入部姿态调整驱动电机去使能时，保证插入部直线丝驱动组件404停留在竖直位置。
需要说明的是，磁铁对可以是一对或者多对，比如，磁铁对为两对，第一个磁铁对远离旋转轴501设置，第二个磁铁对靠近旋转轴501设置。
需要说明的是，锁定组件还可以是设置在插入部摆臂401或插入部直线丝驱动组件404上的锁扣件；或者实现插入部摆臂401或插入部直线丝驱动组件404连接的连接件，比如螺钉；或者其他可实现将插入部直线丝驱动组件404固定在插入部摆臂401上连接结构，本申请对此不作限定。
本申请柔性末端可控医疗器械运动控制系统在插入部直线丝驱动组件404相对插入部摆臂401向上翻转后，通过插入部姿态调整驱动电机或锁定组件保证插入部直线丝驱动组件404停留在竖直位置，便于插入部安 装组件405的更换。
进一步地，图10是本申请实施例提供的柔性末端可控医疗器械运动控制系统的姿态示意图之一，图11是本申请实施例提供的柔性末端可控医疗器械运动控制系统的姿态示意图之二，图12是本申请实施例提供的柔性末端可控医疗器械运动控制系统的姿态示意图之三；如图9所示，本申请的实施例中插入部摆动装置105还包括传感组件，传感组件用于对插入部驱动机构203的输出轴的转动角度进行检测，插入部驱动机构203的输出轴的转动角度表示插入部安装机构205的摆动角度。在本实施例中，传感组件包括限位感应片604和与限位感应片604配合的限位传感器，限位传感器连接在安装主体103上，限位感应片604包括触发端和固定端，限位感应片604的固定端与插入部驱动机构203的输出轴连接，在插入部驱动机构203的输出轴转动时，限位感应片604的触发端绕限位感应片604的固定端转动，通过限位感应片604的触发端触发限位传感器，可以确定插入部安装机构205的摆动位置；具体的，本实施例限位传感器为三个，分别为依次间隔设置的第一限位传感器601、第二限位传感器602和第三限位传感器603，且第一限位传感器601靠近鞘控制装置104设置，三个限位传感器可安装在同一个限位传感器安装板605上，限位传感器安装板605连接在安装主体103上；在插入部驱动机构203驱动插入部安装机构205的摆动过程中，限位感应片604同步转动，在限位感应片604的触发端触发第一限位传感器601，表示插入部安装机构205处于图10所示的初始状态，在本申请柔性末端可控医疗器械运动控制系统需要恢复至初始状态时，在限位感应片604的触发端触发第一限位传感器601时，第一限位传感器601产生第一控制信号，并将第一控制信号发送给控制系统，控制系统接收到该第一控制信号时，控制插入部驱动机构203停止，可使插入部安装机构205停在图10的第一位置；在限位感应片604的触发端触发第二限位传感器602时，表示插入部安装机构205处于第二位置，如图11所示；在限位感应片604的触发端触发第三限位传感器603时，表示插入部安装机构205处于第三位置，如图12所示，第二限位传感器602和第三限位传感器603与第一限位传感器601具有相同的作用，本申请在此不再赘述。
需要说明的是，传感组件也可以是设置在安装主体103上的角传感器，对插入部驱动机构203的输出轴的转动角度的测量，进而通过测得的角度确定插入部直线丝驱动组件404的位置。
本申请柔性末端可控医疗器械运动控制系统通过传感组件可对插入部直线丝驱动组件404的位置进行限位保护。
需要说明的是，本申请实施例在插入部姿态调整驱动组件402和插入部摆臂401之间也可设置上述传感组件，用于对插入部姿态调整驱动组件402的输出轴的转动角度进行检测，插入部姿态调整驱动组件402的输出轴的转动角度表示插入部安装机构205在第三位置和第四位置之间转动角度，本申请在此不再赘述。
如图10至图12所示，本申请实施例给出了插入部102和鞘101在3个不同位置时，柔性末端可控医疗器械运动控制系统的姿态示意图，如图10、图11至图12的运动过程为插入部驱动机构203驱动插入部安装机构205靠近鞘直线丝驱动组件301摆动的过程，同时，在插入部安装机构205靠近鞘直线丝驱动组件301摆动过程中，通过插入部姿态调整驱动组件402调整插入部安装机构205的姿态，避免插入部102进入鞘控制装置104时的弯折，从而避免插入部102内部的工具通道和电线等的损伤。
本申请还提供了一种医疗设备，包括位移驱动系统和上述任一项实施例所提供的柔性末端可控医疗器械运动控制系统，柔性末端可控医疗器械运动控制系统的安装主体103与位移驱动系统的输出工作轴连接，通过位移驱动系统可以使鞘控制装置104和插入部摆动装置105整体移动和转动，进而调整鞘101和插入部102的位置和姿态。
其中，位移驱动系统可以是机械手，或者是多轴驱动机构等驱动结构。
本申请提供的医疗设备，将安装鞘101的鞘控制装置104和驱动插入部102的插入部摆动装置105可集成在一个机械手上，由于现有鞘101和插入部102分别由机械手进行安装及控制，则控制鞘101和插入部102的运动需采用两个机械手，导致占用空间大，且控制流程复杂。因此，本申请通过单个机械手可实现鞘101和插入部102的统一驱动，占用空间小，且控制流程较为简单；另外，插入部102的移动过程中，仅需插入部驱动机构203的驱动，无需其他部件与电机进行配合，在降低了柔性末端可控 医疗器械运动控制系统的结构复杂性的同时，降低了柔性末端可控医疗器械运动控制系统的重量，从而便于机械手的控制。
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 (10)
- 一种柔性末端可控医疗器械运动控制系统，包括：安装主体；鞘控制装置，与所述安装主体连接；插入部摆动装置，包括插入部驱动机构、插入部摆臂机构和插入部安装机构，所述插入部驱动机构与所述安装主体连接，所述插入部安装机构通过所述插入部摆臂机构与所述插入部驱动机构连接；所述插入部驱动机构用于通过驱动所述插入部摆臂机构带动所述插入部安装机构在第一位置和第二位置之间摆动，在所述第一位置时，所述插入部安装机构靠近所述鞘控制装置，在所述第二位置时，所述插入部安装机构远离所述鞘控制装置；所述插入部摆臂机构用于驱动所述插入部安装机构在第三位置和第四位置之间转动，在所述第三位置时，所述插入部安装机构靠近所述鞘控制装置，在所述第四位置时，所述插入部安装机构远离所述鞘控制装置。
- 根据权利要求1所述的柔性末端可控医疗器械运动控制系统，其中，所述插入部摆臂机构包括插入部摆臂、插入部姿态调整驱动组件和传动组件；所述插入部摆臂的一端与所述插入部驱动机构的输出轴连接，所述插入部安装机构与所述插入部摆臂的另一端转动连接；所述插入部姿态调整驱动组件设置在所述插入部摆臂上，且所述插入部姿态调整驱动组件通过所述传动组件与所述插入部安装机构连接；所述插入部姿态调整驱动组件，用于通过驱动所述传动组件带动所述插入部安装机构在第三位置和第四位置之间转动。
- 根据权利要求2所述的柔性末端可控医疗器械运动控制系统，其中，所述插入部安装机构包括插入部直线丝驱动组件和与所述插入部直线丝驱动组件可拆卸连接的插入部安装组件；所述插入部直线丝驱动组件与所述传动组件连接。
- 根据权利要求3所述的柔性末端可控医疗器械运动控制系统，其中，所述插入部摆臂机构还包括转动组件；所述转动组件包括旋转轴和与所述旋转轴连接的连接件，所述旋转轴转动设置在所述插入部摆臂上，且所述旋转轴与所述传动组件连接，所述连接件与所述插入部直线丝驱动组件连接。
- 根据权利要求4所述的柔性末端可控医疗器械运动控制系统，其中，所述传动组件包括主传动件和与所述主传动件传动配合的从传动件；所述主传动件与所述插入部姿态调整驱动组件的输出轴连接；所述从传动件套设于所述转动轴上。
- 根据权利要求2至5任一项所述的柔性末端可控医疗器械运动控制系统，其中，所述插入部摆动装置还包括锁定组件，所述锁定组件设置在所述插入部摆臂上和/或所述插入部安装机构上；所述锁定组件，用于在所述插入部安装机构转动至所述第四位置时，对所述插入部安装机构进行锁定。
- 根据权利要求6所述的柔性末端可控医疗器械运动控制系统，其中，所述锁定组件包括第一磁铁和与所述第一磁铁磁吸配合的第二磁铁；所述第一磁铁设置在所述插入部摆臂上，所述第二磁铁设置在所述插入部安装机构上。
- 根据权利要求1至5任一项所述的柔性末端可控医疗器械运动控制系统，其中，所述鞘控制装置包括鞘臂和鞘安装机构，所述鞘安装机构包括鞘直线丝驱动组件和与所述鞘直线丝驱动组件可拆卸连接的鞘安装组件；所述鞘直线丝驱动组件通过所述鞘臂与所述安装主体连接。
- 根据权利要求7所述的柔性末端可控医疗器械运动控制系统，其中，所述插入部驱动机构包括插入部驱动电机；所述插入部摆动装置还包括设置在所述安装主体上的传感组件；所述传感组件用于对所述插入部驱动电机的转动角度进行检测。
- 一种医疗设备，包括位移驱动系统和如权利要求1至9任一项所述的柔性末端可控医疗器械运动控制系统；所述柔性末端可控医疗器械运动控制系统的安装主体与所述位移驱 动系统连接。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210773103.6A CN117357043A (zh) | 2022-06-30 | 2022-06-30 | 柔性末端可控医疗器械运动控制系统及医疗设备 |
| CN202210773103.6 | 2022-06-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2024000940A1 true WO2024000940A1 (zh) | 2024-01-04 |
Family
ID=89383820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2022/126635 WO2024000940A1 (zh) | 2022-06-30 | 2022-10-21 | 柔性末端可控医疗器械运动控制系统及医疗设备 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN117357043A (zh) |
| WO (1) | WO2024000940A1 (zh) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0049851A2 (en) * | 1980-10-09 | 1982-04-21 | Olympus Optical Co., Ltd. | Endoscope |
| US20060084945A1 (en) * | 2004-03-05 | 2006-04-20 | Hansen Medical, Inc. | Instrument driver for robotic catheter system |
| US20130035537A1 (en) * | 2011-08-05 | 2013-02-07 | Wallace Daniel T | Robotic systems and methods for treating tissue |
| US20130123580A1 (en) * | 2011-09-09 | 2013-05-16 | The Children's National Medical Center | Enhanced control of flexible endoscopes through human-machine interface |
| CN106175851A (zh) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | 一种基于柔性臂体的单孔腹腔镜手术系统 |
| CN106236274A (zh) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | 一种设有摆动臂的手术机器人 |
| CN106308937A (zh) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | 一种远端可向任意方向弯转的柔性手术工具系统 |
| CN106691592A (zh) * | 2016-11-23 | 2017-05-24 | 深圳市罗伯医疗科技有限公司 | 一种单孔腹腔微创手术用机器臂 |
| CN110831653A (zh) * | 2017-06-28 | 2020-02-21 | 奥瑞斯健康公司 | 器械插入补偿 |
| CN112353496A (zh) * | 2020-11-30 | 2021-02-12 | 中国科学院沈阳自动化研究所 | 一种软式内窥镜操控机器人 |
| CN113303914A (zh) * | 2021-06-23 | 2021-08-27 | 山东大学 | 一种经鼻腔进行颅底肿瘤切除的微创手术机器人 |
-
2022
- 2022-06-30 CN CN202210773103.6A patent/CN117357043A/zh active Pending
- 2022-10-21 WO PCT/CN2022/126635 patent/WO2024000940A1/zh unknown
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0049851A2 (en) * | 1980-10-09 | 1982-04-21 | Olympus Optical Co., Ltd. | Endoscope |
| US20060084945A1 (en) * | 2004-03-05 | 2006-04-20 | Hansen Medical, Inc. | Instrument driver for robotic catheter system |
| US20130035537A1 (en) * | 2011-08-05 | 2013-02-07 | Wallace Daniel T | Robotic systems and methods for treating tissue |
| US20130123580A1 (en) * | 2011-09-09 | 2013-05-16 | The Children's National Medical Center | Enhanced control of flexible endoscopes through human-machine interface |
| CN106175851A (zh) * | 2016-08-31 | 2016-12-07 | 北京术锐技术有限公司 | 一种基于柔性臂体的单孔腹腔镜手术系统 |
| CN106308937A (zh) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | 一种远端可向任意方向弯转的柔性手术工具系统 |
| CN106236274A (zh) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | 一种设有摆动臂的手术机器人 |
| CN106691592A (zh) * | 2016-11-23 | 2017-05-24 | 深圳市罗伯医疗科技有限公司 | 一种单孔腹腔微创手术用机器臂 |
| CN110831653A (zh) * | 2017-06-28 | 2020-02-21 | 奥瑞斯健康公司 | 器械插入补偿 |
| CN112353496A (zh) * | 2020-11-30 | 2021-02-12 | 中国科学院沈阳自动化研究所 | 一种软式内窥镜操控机器人 |
| CN113303914A (zh) * | 2021-06-23 | 2021-08-27 | 山东大学 | 一种经鼻腔进行颅底肿瘤切除的微创手术机器人 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117357043A (zh) | 2024-01-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3096672B1 (en) | Sensorless force control for transesophageal echocardiography probe | |
| JP7080986B2 (ja) | 器具ベースの挿入アーキテクチャのためのシステム及び方法 | |
| JP7267309B2 (ja) | 高力器具を有するロボット医療システム | |
| TWI795414B (zh) | 手術設備及其手術工具 | |
| JP3610110B2 (ja) | 医療用マニピュレータ | |
| EP2064984B1 (en) | Therapeutic device system and manipulator system | |
| EP3025673B1 (en) | Medical system and medical treatment tool control | |
| JP2024001343A (ja) | 医療器具をドッキングするためのシステム及び方法 | |
| WO2022088535A1 (zh) | 一种介入造影和治疗手术通用机器人 | |
| JP4528136B2 (ja) | 手術装置 | |
| US8376934B2 (en) | Multijoint manipulator and endoscope system having the same | |
| CN109303610B (zh) | 手术器械夹持机构、末端执行器及采用其的手术机械臂 | |
| JP2019518531A (ja) | ロボット外科用アセンブリおよびその器具駆動ユニット | |
| CN115279293A (zh) | 检测缆线驱动工具上的缆线断路 | |
| CN116269177A (zh) | 一种可快速拆卸的气管镜机器人及其肺部导航方法 | |
| WO2024000940A1 (zh) | 柔性末端可控医疗器械运动控制系统及医疗设备 | |
| CN208851635U (zh) | 内镜手术双臂机器人及机器人系统 | |
| CN208851636U (zh) | 内镜手术机器人控制终端及机器人系统 | |
| CN115281588B (zh) | 柔性末端可控医疗器械运动控制系统及医疗设备 | |
| JP4422262B2 (ja) | 内視鏡手術システム | |
| US20200405143A1 (en) | Laparoscopic insertion tool | |
| US20120136370A1 (en) | Medical manipulator | |
| WO2018203365A1 (ja) | 医療用マニピュレータシステム及び医療用マニピュレータシステムの作動方法 | |
| US20240115117A1 (en) | Manipulator system, manipulator system control method, and manipulator system control device | |
| US20230301488A1 (en) | Methods and devices for transmitting emergency signals over differential signal lines in robotic systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22949025 Country of ref document: EP Kind code of ref document: A1 |