WO2024007472A1 - 柔性末端可控医疗器械进给系统和进给方法 - Google Patents
柔性末端可控医疗器械进给系统和进给方法 Download PDFInfo
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- WO2024007472A1 WO2024007472A1 PCT/CN2022/125022 CN2022125022W WO2024007472A1 WO 2024007472 A1 WO2024007472 A1 WO 2024007472A1 CN 2022125022 W CN2022125022 W CN 2022125022W WO 2024007472 A1 WO2024007472 A1 WO 2024007472A1
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- driving
- flexible
- feeding
- flexible instrument
- instrument
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 212
- 230000000712 assembly Effects 0.000 claims abstract 3
- 238000000429 assembly Methods 0.000 claims abstract 3
- 238000005452 bending Methods 0.000 claims description 12
- 230000007547 defect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
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Classifications
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
Definitions
- the present application relates to the technical field of medical devices, and in particular to a flexible terminal controllable medical device feeding system and feeding method.
- Flexible end controllable medical devices can enter human organs through the mouth or other natural orifices of the human body. Doctors can use flexible end controllable medical devices to observe the pathological changes of human organs or perform minimally invasive surgery. In traditional flexible end controllable medical device inspections, doctors hold flexible end controllable medical devices for forward and backward feeding and end bending, which requires high proficiency of doctors, and doctors are prone to fatigue after working for a long time. Robotic medical assistance technology can be used to solve this problem The problem.
- the existing flexible terminal controllable medical device feeding system uses two mechanical arms or linear drive mechanisms to drive and feed flexible devices. There is no separate feed mechanism to achieve guide support and feeding. This solution affects the hardness of flexible devices. The requirements are relatively high, and the drive length is determined by the feed distance. When the feed distance is longer, the length of the corresponding parts of the drive mechanism will be lengthened, taking up a lot of space and being heavier.
- This application provides a flexible terminal controllable medical device feeding system and method to solve the problem in the existing technology that the flexible terminal controllable medical device feeding system uses a mechanical arm or a linear drive mechanism to directly realize the driving and feeding of the flexible device.
- This solution has a complicated control system for the robot arm and linear drive mechanism that drive the flexible end controllable medical devices.
- the hardness requirements of the flexible devices are relatively high or the flexible devices require a separate support structure, and the drive length is determined by the feed distance. , when the feed distance is long, the length of the parts corresponding to the linear drive mechanism must be lengthened, which has the disadvantage of taking up a lot of space and being heavier.
- This application provides a flexible terminal controllable medical device feeding system, including:
- the driving mechanism is provided with at least one set of driving components that fix the front end of the flexible instrument and control the bending of the end of the flexible instrument;
- a driving mechanical mechanism connected to the driving mechanism, used to drive the driving assembly and the front end of the flexible instrument to move in the first direction;
- a feeding mechanism is provided with at least one driving wheel and at least one driven wheel.
- the driving wheel and the driven wheel cooperate to clamp the flexible instrument and drive the flexible instrument to feed in the second direction;
- a feeding mechanical mechanism is connected with the feeding mechanism and used to support and drive the feeding mechanism.
- the driving mechanism includes a set of driving components and a driving connection piece, and the driving connecting piece is used to connect the driving assembly and the driving mechanical mechanism. together.
- the two driving components of the driving mechanism are respectively a first driving component for fixing the front end of the first flexible instrument and controlling the bending of the end of the first flexible instrument.
- a second driving component for fixing the front end of the second flexible instrument and controlling the bending of the end of the second flexible instrument;
- the first driving component is connected to the driving mechanical structure through the first motion control unit to drive the The front end of the first flexible instrument moves independently in the first direction relative to the front end of the second flexible instrument;
- the second driving component is connected to the driving mechanical structure through a second motion control unit to drive the second flexible instrument
- the front end moves independently in a first direction relative to the front end of the first flexible instrument; wherein the first flexible instrument is sleeved outside the second flexible instrument.
- the first drive assembly includes a first flexible device linear wire drive unit and a first flexible device installation unit, and the first flexible device is provided with a plurality of third A linear driving member.
- the linear wire driving unit of the first flexible instrument is connected to the first linear driving member.
- the posture of the end of the first flexible instrument is controlled by adjusting the movement of the first linear driving member.
- the structure of the second driving component is the same as that of the first driving component.
- the first motion control unit includes a first motion control connector and a first motion control driver, and the first motion control driver is used to pass the first motion control unit.
- a motion control connection drives the first drive component and the front end of the first flexible instrument to move independently, and the structure of the second motion control unit is the same as that of the first motion control unit.
- the driving mechanism further includes:
- a sensor is provided on the side wall of the flexible instrument to obtain the real-time force generated on the flexible instrument when the feeding mechanism and the driving mechanism work together.
- the feeding mechanism also includes:
- An elastic component is connected to the driven wheel, used to rotationally support the driven wheel, and provide elastic force to the driven wheel to adjust the clamping force of the driven wheel on the flexible instrument.
- the feeding mechanical mechanism is a manipulator or a multi-axis bracket to support and adjust the feeding mechanism.
- the driving mechanical mechanism is a manipulator or a multi-axis driving mechanism to support and adjust the driving mechanism.
- This application also provides a flexible end controllable medical device feeding method, which is implemented based on the flexible end controllable medical device feeding system.
- the method includes:
- the driving mechanism, the driving mechanical mechanism, and the feeding mechanism work together to control the feeding length and feeding posture of the flexible instrument.
- a flexible end controllable medical device feeding method provided by this application, it also includes:
- the flexible terminal controllable medical device feeding system and feeding method provided by this application can realize overall driving and feeding through the driving mechanical mechanism, realize individual driving and feeding through the driving component of the driving mechanism, and then drive through the feeding mechanical mechanism.
- the feeding mechanism reaches above the natural orifice of the human body, and the feeding mechanism achieves precise feeding.
- the hardness requirements of the flexible instrument are not high, and there is no need to lengthen the length of the driving mechanism parts of the flexible instrument. This solves the problem that the driving mechanism takes up a lot of space and is heavy. defect.
- Figure 1 is a schematic structural diagram of the first application mode of the flexible terminal controllable medical device feeding system provided by this application;
- Figure 2 is a schematic structural diagram of the second application mode of the flexible terminal controllable medical device feeding system provided by this application;
- Figure 3 is a schematic structural diagram of the third application mode of the flexible terminal controllable medical device feeding system provided by this application;
- FIG. 4 is a schematic structural diagram of the driving mechanism provided by this application.
- FIG. 5 is a schematic structural diagram of the feeding mechanism provided by this application.
- FIG. 6 is a schematic diagram of the internal structure of the feeding mechanism in Figure 5 provided by this application.
- Figure 7 is a schematic structural diagram of the elastic component in Figure 6 provided by this application.
- connection should be understood in a broad sense.
- it can be a fixed connection or a detachable connection. Or integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium.
- connection should be understood in specific situations.
- the first feature "on” or “below” the second feature may be that the first and second features are in direct contact, or the first and second features are in intermediate contact. Indirect media contact.
- the terms “above”, “above” and “above” the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature.
- "Below”, “below” and “beneath” the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.
- references to the terms “one embodiment,” “some embodiments,” “an example,” “specific examples,” or “some examples” or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the embodiments of this application. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.
- the flexible end-controllable medical device feeding system includes at least two embodiments, corresponding to the structure of the flexible end-controllable medical device.
- some flexible end-controllable medical devices include a first flexible device and a second flexible end device.
- Some flexible terminal controllable medical devices only include one flexible device. Therefore, this application describes the above two embodiments in detail.
- This embodiment is aimed at the situation where the flexible end controllable medical device only includes one flexible device.
- the embodiment of the present application provides a flexible terminal controllable medical device feeding system, including:
- the driving mechanism 1 is provided with a set of driving components that fix the front end of the flexible instrument and control the end of the flexible instrument.
- the driving component is used to control the bendable part of the flexible instrument. Referring to Figures 1-3, it can be seen that the end of the flexible instrument refers to The end that enters the natural orifice of the human body.
- the driving mechanical mechanism 2 is connected to the driving mechanism 1 to drive the driving assembly and the front end of the flexible instrument to move in the first direction, and can drive the front end of the flexible instrument to move in the first direction; refer to Figures 1-3. It can be seen that the front end of the flexible instrument refers to the end that has not entered the human body and is connected to the driving mechanism 1.
- the feeding mechanism 3 is provided with at least one driving wheel 31 and at least one driven wheel 32.
- the driving wheel 31 and the driven wheel 32 cooperate to clamp the flexible instrument and drive the flexible instrument to feed in the second direction. ;
- the feeding mechanical mechanism 4 is connected with the feeding mechanism 3 to support and drive the feeding mechanism.
- the driving mechanism 1 includes a set of driving components and a driving connection piece (not shown in the figure), and the driving connection piece is used to connect the driving assembly and the driving mechanical mechanism together.
- the driving mechanical mechanism can drive the driving assembly to move in the first direction.
- the driving assembly includes a flexible instrument linear wire driving unit and a flexible instrument installation unit.
- the flexible instrument is provided with several linear driving parts (such as pull wires, etc.), and the flexible instrument linear wire driving unit is connected to the flexible instrument linear wire driving unit.
- the linear driving member is connected, and the posture of the end of the flexible instrument is controlled by adjusting the movement of the linear driving member. With only one set of drive components, a motion control unit is no longer provided.
- This embodiment is aimed at the situation where the flexible terminally controllable medical device includes a first flexible device and a second flexible device, and the first flexible device is sleeved on the outside of the second flexible device.
- this application provides a flexible terminal controllable medical device feeding system.
- the flexible terminal controllable medical device includes a first flexible instrument and a second flexible instrument.
- the first flexible instrument is sleeved on External to the second flexible instrument, the system includes:
- the driving mechanism 1 includes two sets of driving components, namely a first driving component 11 for fixing the front end of the first flexible instrument and controlling the bending of the first flexible instrument end, and a first driving component 11 for fixing the front end of the second flexible instrument and controlling the bending of the second flexible instrument.
- the driving mechanical mechanism 2 is connected with the driving mechanism 1 to drive the first driving component 11 and the second driving component 12 to move in the first direction; the first driving component 11 will drive the front edge of the first flexible instrument.
- the second driving component 12 When moving in the first direction, the second driving component 12 will drive the front end of the second flexible instrument to move in the first direction.
- the feeding mechanism 3 is provided with at least one driving wheel 31 and at least one driven wheel 32.
- the driving wheel 31 and the driven wheel 32 cooperate to clamp the flexible instrument and drive the flexible instrument to feed in the second direction.
- the driving wheel 31 and the driven wheel 32 can be arranged relative to each other to cooperate with the clamping of the flexible instrument and realize feeding; in another embodiment, the driving wheel 31 and the driven wheel 32 can also be provided with multiple, The same number of driving wheels 31 and driven wheels 32 cooperate to clamp the flexible instrument and realize feeding.
- the feeding mechanical mechanism 4 is connected with the feeding mechanism 3 to support and drive the feeding mechanism 3.
- the driving mechanism 1 is fixed on the driving mechanism 2, and the feeding mechanism 3 is fixed on the feeding mechanism 4. If surgery or inspection is required, the feeding mechanism 4 drives the feeding mechanism 3 above the natural orifice of the human body, close to the human body. Natural accent.
- the second direction is a direction perpendicular to the natural orifice of the human body, which facilitates the entry of the first flexible instrument and the second flexible instrument into the human body.
- the first direction and the second direction have a certain angle, which facilitates the driving of the first flexible instrument and the second flexible instrument.
- the instrument enters the feeding mechanism 3.
- the driving mechanism 1 can cooperate with the feeding mechanism 3 at different positions to complete the feeding of flexible instruments in the human body.
- the placement in the operating room has a higher degree of freedom and flexibility, making the flexible instruments entering the human body softer.
- the first driving component 11 and the second driving component 12 are spaced back and forth, and the axes of their output shafts are parallel.
- the first driving component 11 is under the control of the first motion control unit 13, and the second driving component 11 is controlled by the first motion control unit 13.
- the component 12 realizes relatively independent movement in the same plane under the control of the second motion control unit 14 .
- the driving wheel 31 is driven by a driving wheel drive motor 311 to rotate around the axis.
- the driving wheel 31 drives the first flexible instrument to feed through friction, and the first flexible instrument feeds through friction.
- the force drives the driven wheel 32 to rotate around the axis.
- the first flexible instrument and the second flexible instrument of the flexible terminal controllable medical instrument can first be driven by the driving mechanical mechanism 2 to move forward as a whole, close to the natural orifice of the human body, and the two rollers of the feeding mechanism 3 can move the flexible end
- the instrument is clamped.
- the feeding mechanical mechanism 4 adjusts the specific position of the feeding mechanism 3, and the driving mechanical mechanism 2 and the feeding mechanism 3 work together to drive the first flexible instrument and the third flexible terminal controllable medical instrument.
- the two flexible instruments continue to enter the human body through the natural orifice of the human body.
- the feeding mechanism 3 clamps the first flexible instrument of the flexible end controllable medical instrument. and the second flexible instrument, and the forward and backward feeding of the first flexible instrument and the second flexible instrument is realized through the rotation of the driving wheel 31.
- the feeding mechanism 3 stops feeding, and the second flexible instrument with a smaller outer diameter is driven by the second driving assembly 12 under the motion control of the second motion control unit 14 , continue to drive forward to reach the patient's body for detection and minimally invasive surgery.
- the embodiment of the present application is provided with a driving mechanism 1 and a feeding mechanism 3 at the same time.
- the clamping and guiding function of the feeding mechanism 3 can replace the first flexible instrument of a flexible end controllable medical instrument with a complex structure and a long length. Conduit support structure.
- the driving mechanical mechanism 2 can realize rapid feeding of the first flexible instrument and the second flexible instrument.
- the feeding mechanism 3 simultaneously feeds the first flexible instrument and the second flexible instrument.
- the two flexible instruments are fed at the same speed, and the first flexible instrument and the second flexible instrument are stably entered into the human body through the cooperative work of the driving mechanical mechanism 2, the first driving assembly 11 and the feeding mechanism 3.
- the feeding mechanism 3 starts To the role of guide support and feed.
- the driving mechanical mechanism 2, the first motion control unit 13 and the feeding mechanism 3 stop feeding, and the second flexible instrument with a smaller outer diameter is moved by the second motion control unit 14 and the third
- the second driving assembly 12 continues to drive forward to reach the diseased area in the human body for detection and minimally invasive surgery.
- this can be achieved by precisely controlling the rotation of the driving wheel 31 in the feeding mechanism 3, while the driving mechanism 1 and the driving machine
- the driving distance of mechanism 2 does not need to be precisely controlled, and the control method is simple.
- the feeding mechanism 3 also supports, guides and feeds the first flexible instrument and the second flexible instrument. This mechanism does not require other first flexible instrument support mechanisms and does not impose special requirements on the hardness of the first flexible instrument conduit. .
- the driving length of the driving mechanism 1 has nothing to do with the feeding length required by the first flexible instrument and the second flexible instrument. There is no need to lengthen the length of the driving mechanism parts, which solves the problem that the driving mechanism takes up a lot of space and is heavy.
- the first driving assembly 11 includes a first flexible instrument linear wire driving unit 111 and a first flexible instrument mounting unit 112.
- the first flexible instrument is provided with a plurality of first linear driving parts (not shown in the figure).
- the first flexible instrument linear wire driving unit 111 is connected to the first linear driving part. By adjusting the first linear driving part, The movement of the linear driving member controls the attitude of the end of the first flexible instrument.
- the second driving assembly 12 includes a second flexible instrument linear wire driving unit 121 and a second flexible instrument mounting unit 122.
- the second flexible instrument is provided with a plurality of second linear driving parts (not shown in the figure), so
- the second flexible instrument linear wire driving unit 121 is connected to the second linear driving member, and controls the posture of the second flexible instrument end by adjusting the movement of the second linear driving member.
- the first motion control unit 13 includes a first motion control connector 131 and a first motion control driver 132.
- the first motion control driver 132 is used to drive all motion control components through the first motion control connector 131.
- the first drive assembly 11 and the front end of the first flexible instrument move independently;
- the second motion control unit 14 includes a second motion control connection 141 and a second motion control driver 142, and the second motion control driver 142 is The second drive assembly 12 and the front end of the second flexible instrument can be driven to move independently through the second motion control connector 141 .
- the first motion control unit 13 drives the first driving component 11 to move in the first direction using a swing arm swing method or a linear motion mechanism method.
- the second motion control unit 14 drives the second driving component 12 to move in the first direction using a swing arm swing method or a linear motion mechanism method.
- the swing arm swing method is used.
- first motion control driver 132 can use a motor, and the first motion control connector 131 is driven by the motor to swing forward and backward, thereby achieving forward and backward driving of the first flexible instrument.
- the second motion control driver 142 may be a motor, and the second motion control connector 141 is driven by the motor to swing forward and backward, thereby achieving forward and backward driving of the second flexible instrument.
- the driving mechanism 1 further includes:
- connection assembly 15 is connected to the first motion control unit 13 and the second motion control unit 14 respectively.
- connecting component 15 is detachably connected to the first motion control unit 13 and the second motion control unit 14 through screws, so as to facilitate the replacement and disassembly of parts when a fault occurs.
- the driving mechanism 1 further includes:
- a sensor (not shown in the figure) is provided on the side wall of the flexible instrument to obtain the real-time force generated on the flexible instrument when the feeding mechanism and the driving mechanism work together.
- the senor may be a multi-axis sensor.
- the driving force of the driving mechanism can be changed through changes in the force of the sensor. speed or the feeding speed of the feeding mechanism, so that the two are matched, making the feeding process of the flexible end controllable medical device smoother.
- the feeding mechanism 3 also includes:
- the elastic component 33 is connected to the driven wheel 32 for rotationally supporting the driven wheel 32 and providing elastic force to the driven wheel to adjust the clamping of the flexible end controllable medical device by the driven wheel 32 force.
- the elastic component 33 includes a driven wheel mounting seat 331 , a guide rail 332 provided below the driven wheel mounting seat 331 , an elastic member 333 connected to the driven wheel mounting seat 331 , and an elastic member that fixes the elastic member. 333 elastic member mounting seat 334.
- the driven wheel mounting seat 331 constructs a bracket 3311 for rotationally supporting the driven wheel 32.
- the feeding mechanical mechanism 4 is a manipulator or a multi-axis bracket to support and adjust the feeding mechanism.
- the feeding mechanism 4 is detachably connected to the feeding mechanism 3 through a mounting panel 41 for easy replacement.
- the driving mechanism 2 is a manipulator or a multi-axis driving mechanism to support and adjust the driving mechanism.
- the driving mechanism 1 can cooperate with the feeding mechanism 3 at different positions to complete the feeding of flexible instruments in the human body.
- the robot has a higher degree of freedom and flexibility in the placement of the robot in the operating room, and the flexible end of the flexible medical instrument entering the human body is controllable. Also softer.
- the flexible end controllable medical device feeding method provided by this application is described below.
- the flexible end controllable medical device feeding method described below and the flexible end controllable medical device feeding system described above can be mutually referenced.
- This application also provides a flexible end controllable medical device feeding method, which is implemented based on the flexible end controllable medical device feeding system described in any one of the above.
- the methods include:
- the driving mechanism 1, the driving mechanical mechanism 2, and the feeding mechanism 3 work together to control the feeding length and feeding attitude of the flexible instrument.
- the driving mechanical mechanism 2 can realize rapid feeding of flexible instruments.
- the feeding mechanism 3 simultaneously feeds the flexible instrument at the same speed.
- the driving mechanical mechanism 2 and the feeding mechanism 3 work together to realize the stable entry of the flexible instrument into the human body.
- the feeding mechanism 3 plays the role of guide support and feeding, and the driving component controls the bending of the end of the flexible instrument.
- Flexible instruments reach the patient's body for testing and minimally invasive surgery.
- the feeding mechanism 3 also supports and guides flexible instruments. This mechanism does not require other flexible instrument support mechanisms and has no special requirements on the hardness of flexible instruments.
- the driving length of the driving mechanism 1 has nothing to do with the feeding length required by the flexible instrument. There is no need to lengthen the length of the driving mechanism parts, which solves the problem that the driving mechanism takes up a lot of space and is heavy.
- the method includes:
- the driving mechanical mechanism 2, the first motion control unit 13, the second motion control unit 14, and the feeding mechanism 3 work together to control the feeding length of the flexible end controllable medical instrument. Specifically, the driving mechanical mechanism 2 can realize rapid feeding of the first flexible instrument and the second flexible instrument. When the first flexible instrument and the second flexible instrument are driven to move in the first direction, the feeding mechanism 3 simultaneously feeds the first flexible instrument. The instrument and the second flexible instrument are fed at the same speed. Through the cooperative work of the driving mechanical mechanism 2, the first motion control unit 13 and the feeding mechanism 3, the first flexible instrument and the second flexible instrument are stably entered into the human body. At this time, the The mechanism 3 plays the role of guiding support and feeding.
- the driving mechanical mechanism 2 When it is necessary to enter and pass through a thin channel in the human body, that is, if the inner diameter value of the channel in the human body where the first flexible instrument and the second flexible instrument are located reaches the target value, the driving mechanical mechanism 2, the first motion control unit 13 and the The feeding mechanism 3 stops feeding, and the second flexible instrument with a smaller outer diameter continues to be driven forward by the second motion control unit 14.
- the first driving component 11 and the second driving component 12 can control the first flexible instrument and the second flexible instrument respectively.
- the bending and flexible end of the instrument can control the instrument to reach the patient's body for inspection and minimally invasive surgery.
- the feeding mechanism 3 also supports and guides the first flexible instrument and the second flexible instrument. This mechanism does not require other first flexible instrument support mechanisms and has no special requirements on the hardness of the first flexible instrument conduit.
- the driving length of the driving mechanism 1 has nothing to do with the feeding length required by the first flexible instrument and the second flexible instrument. There is no need to lengthen the length of the driving mechanism parts, which solves the problem that the driving mechanism takes up a lot of space and is heavy.
- the flexible terminal controllable medical device feeding system and feeding method provided by this application can realize overall driving and feeding through the driving mechanical mechanism, realize individual driving and feeding through the motion control unit of the driving mechanism, and then realize the independent driving and feeding through the feeding mechanical mechanism.
- the feeding mechanism is driven above the natural orifice of the human body, and the feeding mechanism achieves precise feeding.
- the hardness of the flexible instrument is not required, and there is no need to lengthen the length of the driving mechanism parts of the flexible instrument. This solves the problem that the driving mechanism takes up a lot of space and is heavy. Defects.
- flexible terminal controllable medical devices are mainly slim flexible endoscopes such as bronchoscopes, urethroscopes, duodenoscopes, choledochoscopes, and pyeloscopes.
- the first flexible instrument and the second flexible instrument described in the embodiments of this application are components of the above-mentioned flexible endoscope that have the function of entering the human body for inspection and surgery. This application does not limit the number of flexible instruments.
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Abstract
一种柔性末端可控医疗器械进给系统和进给方法，系统包括：驱动机构（1）、驱动机械机构（2）、进给机构（3）和进给机械机构（4），驱动机构（1）至少设有一组固定柔性器械前端并控制柔性器械末端的驱动组件（11，12）；驱动机械机构（2）带动驱动组件（11，12）和柔性器械前端沿第一方向运动；进给机构（3）设有至少一组主动轮（31）和从动轮（32），配合夹持柔性器械，并带动柔性器械沿第二方向进给；进给机械机构（4）与进给机构（3）连接，用以支撑和驱动进给机构（3）。该进给系统对柔性器械的硬度要求不高，无需加长驱动机构（1）的零件长度，解决了驱动机构（1）占用空间大且重量较重的缺陷。
Description
相关申请的交叉引用
本申请要求于2022年7月4日提交的申请号为2022107868931，发明名称为“柔性末端可控医疗器械进给系统和进给方法”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进给系统和进给方法。
柔性末端可控医疗器械可通过口腔或其他人体自然腔道进入人体器官，医生借助柔性末端可控医疗器械可以观察人体器官的病变情况或进行微创手术。传统柔性末端可控医疗器械检查中，医生手持柔性末端可控医疗器械进行前后进给及末端弯曲，对医生熟练度要求较高，且长时间地工作医生易疲劳，可使用机器人医疗辅助技术解决该问题。
现有的柔性末端可控医疗器械进给系统利用两个机械臂或直线驱动机构实现柔性器械的驱动和进给，无单独进给机构来实现导向支撑及进给，该方案对柔性器械的硬度要求比较高，而且驱动长度由进给距离决定，进给距离较长时，驱动机构相对应的零件长度都要加长，占用空间大且重量较重。
发明内容
本申请提供一种柔性末端可控医疗器械进给系统和方法，用以解决现有技术中柔性末端可控医疗器械进给系统利用机械臂或直线驱动机构直接实现柔性器械的驱动和进给，该方案对柔性末端可控医疗器械驱动作用的机械臂、直线驱动机构协同工作的控制系统复杂，对柔性器械的硬度要求比较高或柔性器械需要单独的支撑结构，而且驱动长度由进给距离决定，进给距离较长时，直线驱动机构相对应的零件长度都要加长，占用空间大 且重量较重的缺陷。
本申请提供一种柔性末端可控医疗器械进给系统，包括：
驱动机构，至少设有一组固定柔性器械前端并控制所述柔性器械末端弯曲的驱动组件；
驱动机械机构，与所述驱动机构连接，用以驱动所述驱动组件和所述柔性器械前端沿第一方向运动；
进给机构，设有至少一个主动轮和至少一个从动轮，所述主动轮和所述从动轮配合夹持所述柔性器械，并带动所述柔性器械沿第二方向进给；
进给机械机构，与所述进给机构连接，用以支撑和驱动所述进给机构。
根据本申请的一种柔性末端可控医疗器械进给系统，所述驱动机构包括一组驱动组件和一驱动连接件，所述驱动连接件用以将所述驱动组件和所述驱动机械机构连接在一起。
根据本申请的一种柔性末端可控医疗器械进给系统，所述驱动机构两组驱动组件，分别为用于固定第一柔性器械前端并控制所述第一柔性器械末端弯曲的第一驱动组件以及用于固定第二柔性器械前端并控制所述第二柔性器械末端弯曲的第二驱动组件；所述第一驱动组件经第一运动控制单元与所述驱动机械结构连接，用以带动所述第一柔性器械前端相对于所述第二柔性器械前端沿第一方向独立运动；所述第二驱动组件经第二运动控制单元与所述驱动机械结构连接，用以带动所述第二柔性器械前端相对于所述第一柔性器械前端沿第一方向独立运动；其中，所述第一柔性器械套在所述第二柔性器械外部。
根据本申请的一种柔性末端可控医疗器械进给系统，所述第一驱动组件包括第一柔性器械直线丝驱动单元和第一柔性器械安装单元，所述第一柔性器械内设有若干第一线状驱动件，所述第一柔性器械直线丝驱动单元与所述第一线状驱动件连接，通过调整所述第一线状驱动件的运动以控制所述第一柔性器械末端的姿态，所述第二驱动组件的结构与所述第一驱动组件的结构相同。
根据本申请的一种柔性末端可控医疗器械进给系统，所述第一运动控制单元包括第一运动控制连接件和第一运动控制驱动器，所述第一运动控制驱动器用以通过所述第一运动控制连接件带动所述第一驱动组件和所 述第一柔性器械前端独立运动，所述第二运动控制单元的结构与所述第一运动控制单元的结构相同。
根据本申请的一种柔性末端可控医疗器械进给系统，所述驱动机构还包括：
传感器，设在所述柔性器械侧壁，获取所述进给机构和所述驱动机构协同工作时所述柔性器械上产生的实时力。
根据本申请的一种柔性末端可控医疗器械进给系统，所述进给机构还包括：
弹性组件，与所述从动轮连接，用以转动支撑所述从动轮，向所述从动轮提供弹性力，以调整所述从动轮对所述柔性器械的夹持力。
根据本申请的一种柔性末端可控医疗器械进给系统，所述进给机械机构为机械手或多轴支架，用以支撑和调节所述进给机构。
根据本申请的一种柔性末端可控医疗器械进给系统，所述驱动机械机构为机械手或多轴驱动机构，用以支撑和调节所述驱动机构。
本申请还提供了一种柔性末端可控医疗器械进给方法，基于所述的柔性末端可控医疗器械进给系统实现，所述方法包括：
所述驱动机构、所述驱动机械机构、所述进给机构协同工作控制所述柔性器械的进给长度和进给姿态。
根据本申请提供的一种柔性末端可控医疗器械进给方法，还包括：
根据所述传感器判断所述驱动机构的驱动速度和所述进给机构的进给速度的差值是否超过目标阈值，若是，则调整所述驱动机构的驱动速度或所述进给机构的进给速度以使得差值低于目标阈值。
本申请提供的柔性末端可控医疗器械进给系统和进给方法，可通过驱动机械机构实现整体驱动和进给，通过驱动机构的驱动组件实现单独驱动和进给，再通过进给机械机构驱动进给机构到人体自然腔道上方，由进给机构实现精准进给，对柔性器械的硬度要求不高，无需加长柔性器械驱动机构零件的长度，解决了驱动机构占用空间大且重量较重的缺陷。
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进给系统第一种应用方式的结构示意图；
图2是本申请提供的柔性末端可控医疗器械进给系统第二种应用方式的结构示意图；
图3是本申请提供的柔性末端可控医疗器械进给系统第三种应用方式的结构示意图；
图4是本申请提供的驱动机构的结构示意图；
图5是本申请提供的进给机构的结构示意图；
图6是本申请提供的图5中进给机构的内部结构示意图；
图7是本申请提供的图6中弹性组件的结构示意图。
附图标记：
1-驱动机构； 11-第一驱动组件；
111-第一柔性器械直线丝驱动单元；
112-第一柔性器械安装单元；
12-第二驱动组件； 121-第二柔性器械直线丝驱动单元；
122-第二柔性器械安装单元； 13-第一运动控制单元；
131-第一运动控制连接件； 132-第一运动控制驱动器；
14-第二运动控制单元； 141-第二运动控制连接件；
142-第二运动控制驱动器； 15-连接组件；
2-驱动机械机构； 3-进给机构；
31-主动轮； 311-主动轮驱动电机；
32-从动轮； 33-弹性组件；
331-从动轮安装座； 3311-支架；
332-导轨； 333-弹性件；
334-弹性件安装座； 4-进给机械机构；
41-安装面板。
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。
在本申请实施例的描述中，需要说明的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请实施例中的具体含义。
在本申请实施例中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请实施例的至少一 个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
本申请提供的柔性末端可控医疗器械进给系统至少包括两种实施例，与柔性末端可控医疗器械的结构相对应，比如有的柔性末端可控医疗器械包括第一柔性器械及第二柔性器械，有的柔性末端可控医疗器械仅包含一个柔性器械，因此，本申请对上述两种实施例进行详细说明。
实施例一
该实施例针对柔性末端可控医疗器械仅包含一个柔性器械的情况。
本申请实施例提供一种柔性末端可控医疗器械进给系统，包括：
驱动机构1，设有一组固定柔性器械前端并控制柔性器械末端的驱动组件，所述驱动组件用以控制所述柔性器械可弯曲部分，参照图1-图3可以看出柔性器械末端指的是进入人体自然腔道内的一端。
驱动机械机构2，与所述驱动机构1连接，用以驱动所述驱动组件和所述柔性器械前端沿第一方向运动，可驱动柔性器械前端沿第一方向运动；参照图1-图3可以看出柔性器械前端指的是未进入人体体内的一端，与驱动机构1连接的一端。
进给机构3，设有至少一个主动轮31和至少一个从动轮32，所述主动轮31和所述从动轮32配合夹持所述柔性器械，并带动所述柔性器械沿第二方向进给；
进给机械机构4，与所述进给机构3连接，用以支撑和驱动所述进给机构。
可选的，所述驱动机构1包括一组驱动组件和一驱动连接件(图中未示出)，所述驱动连接件用以将所述驱动组件和所述驱动机械机构连接在一起。所述驱动机械机构可以带动驱动组件沿第一方向运动。
可选的，所述驱动组件包括柔性器械直线丝驱动单元和柔性器械安装单元，所述柔性器械内设有若干线状驱动件(比如拉线等)，所述柔性器械直线丝驱动单元与所述线状驱动件连接，通过调整所述线状驱动件的运 动以控制所述柔性器械末端的姿态。在只有一组驱动组件的情况下，不再设置运动控制单元。
实施例二
该实施例针对柔性末端可控医疗器械包含第一柔性器械和第二柔性器械的情况，第一柔性器械套设在第二柔性器械外侧。
如图1-图3所示，本申请提供一种柔性末端可控医疗器械进给系统，柔性末端可控医疗器械包括第一柔性器械和第二柔性器械，所述第一柔性器械套设在所述第二柔性器械外部，系统包括：
驱动机构1包括两组驱动组件，分别为用于固定第一柔性器械前端并控制所述第一柔性器械末端弯曲的第一驱动组件11以及用于固定第二柔性器械前端并控制所述第二柔性器械末端弯曲的第二驱动组件12、第一运动控制单元13、第二运动控制单元14；所述第一驱动组件11用以固定第一柔性器械前端并控制第一柔性器械末端可弯曲部分，所述第二驱动组件12用以固定第二柔性器械前端并控制第二柔性器械末端可弯曲部分，所述第一驱动组件11经第一运动控制单元13与所述驱动机械结构2连接，用以带动所述第一柔性器械前端相对于所述第二柔性器械前端沿第一方向独立运动；所述第二驱动组件12经第二运动控制单元14与所述驱动机械机构2连接，用以带动所述第二柔性器械前端相对于所述第一柔性器械前端沿第一方向独立运动；所述第一柔性器械套设在所述第二柔性器械外部。
驱动机械机构2，与所述驱动机构1连接，用以驱动所述第一驱动组件11和第二驱动组件12沿第一方向运动；所述第一驱动组件11会带动第一柔性器械前端沿第一方向运动，所述第二驱动组件12会带动第二柔性器械前端沿第一方向运动。
进给机构3，设有至少一个主动轮31和至少一个从动轮32，所述主动轮31和所述从动轮32配合夹持所述柔性器械，并带动所述柔性器械沿第二方向进给；所述主动轮31和所述从动轮32可相对设置，配合夹持所述柔性器械，并实现进给；在另一实施例中，主动轮31和从动轮32还可以设置成多个，相同数量的多个所述主动轮31和多个所述从动轮32配合夹持所述柔性器械，并实现进给。
进给机械机构4，与所述进给机构3连接，用以支撑和驱动所述进给 机构3。
驱动机构1固定在驱动机械机构2上，进给机构3固定在进给机械机构4上，若需手术或检查时，进给机械机构4驱动进给机构3在人体自然腔道上方，靠近人体自然腔道。第二方向为与人体自然腔道垂直的方向，方便第一柔性器械及第二柔性器械进入人体内，第一方向与第二方向具有一定的夹角，方便驱动第一柔性器械及第二柔性器械进入进给机构3。
驱动机构1在不同位置时都可同进给机构3互相配合完成柔性器械在人体体内的进给，在手术室内摆放自由度更高，更加灵活，使得进入人体内的柔性器械也更加柔软。
在驱动机构1中，第一驱动组件11和第二驱动组件12前后间隔设置，且二者的输出轴的轴线平行，第一驱动组件11在第一运动控制单元13的控制下，第二驱动组件12在第二运动控制单元14的控制下实现在同一平面相对独立的运动。
如图5所示，针对进给机构3，所述主动轮31由一个主动轮驱动电机311带动绕轴心旋转，主动轮31通过摩擦力带动第一柔性器械进给，第一柔性器械通过摩擦力带动从动轮32绕轴心旋转。
在使用时，可首先通过驱动机械机构2驱动柔性末端可控医疗器械的第一柔性器械及第二柔性器械整体向前运动，靠近人体自然腔道，进给机构3的两个滚轮可对柔性器械进行夹持。柔性器械被进给机构3夹持后，进给机械机构4调整进给机构3的具体位置，驱动机械机构2同进给机构3协同工作驱动柔性末端可控医疗器械的第一柔性器械及第二柔性器械经人体自然腔道继续进入人体体内，具体为驱动机械机构2向前驱动第一柔性器械及第二柔性器械时，进给机构3夹持柔性末端可控医疗器械的第一柔性器械及第二柔性器械，并且通过主动轮31的旋转实现第一柔性器械及第二柔性器械的前后进给。在人体体内需进入通过较细通道时，进给机构3停止进给，外径较小的第二柔性器械由在第二运动控制单元14的运动控制下，在第二驱动组件12的带动下，继续向前驱动到达人体体内病患处进行检测和微创手术。
可以理解的是，本申请实施例同时设置了驱动机构1和进给机构3，进给机构3的夹持导向功能可代替结构复杂且长度较长的柔性末端可控医 疗器械的第一柔性器械导管支撑结构。驱动机械机构2可实现第一柔性器械及第二柔性器械的快速进给，当驱动第一柔性器械及第二柔性器械沿第一方向移动时，进给机构3同时对第一柔性器械及第二柔性器械进行同速进给，通过驱动机械机构2、第一驱动组件11和进给机构3协同工作实现第一柔性器械及第二柔性器械稳定进入人体体内，此时，进给机构3起到导向支撑和进给的作用。当在人体体内需进入通过较细通道时，驱动机械机构2、第一运动控制单元13和进给机构3停止进给，外径较小的第二柔性器械由第二运动控制单元14和第二驱动组件12继续向前驱动到达人体体内病患处进行检测和微创手术。当需要第一柔性器械及第二柔性器械在人体内进行微小距离进给时，只需对进给机构3中的主动轮31旋转的进行精准控制即可实现，而对驱动机构1和驱动机械机构2的驱动距离不需做精准控制，控制方式简单。进给机构3同样实现了对第一柔性器械及第二柔性器械的支撑导向和进给作用，此机构不需要其他的第一柔性器械支撑机构并且对第一柔性器械导管的硬度不做特殊要求。驱动机构1的驱动长度与第一柔性器械及第二柔性器械所需的进给长度无关，不需要加长驱动机构零件的长度，解决了驱动机构占用空间大且重量较重的缺陷。
在上述实施例的基础上，作为一个可选的实施例，如图4所示，所述第一驱动组件11包括第一柔性器械直线丝驱动单元111和第一柔性器械安装单元112，所述第一柔性器械内设有若干第一线状驱动件(图中未示出)，所述第一柔性器械直线丝驱动单元111与所述第一线状驱动件连接，通过调整所述第一线状驱动件的运动以控制所述第一柔性器械末端的姿态。
所述第二驱动组件12包括第二柔性器械直线丝驱动单元121和第二柔性器械安装单元122，所述第二柔性器械内设有若干第二线状驱动件(图中未示出)，所述第二柔性器械直线丝驱动单元121与所述第二线状驱动件连接，通过调整所述第二线状驱动件的运动以控制所述第二柔性器械末端的姿态。
可选的，所述第一运动控制单元13包括第一运动控制连接件131和第一运动控制驱动器132，所述第一运动控制驱动器132用以通过所述第一运动控制连接件131带动所述第一驱动组件11和所述第一柔性器械前 端独立运动；所述第二运动控制单元14包括第二运动控制连接件141和第二运动控制驱动器142，所述第二运动控制驱动器142用以通过所述第二运动控制连接件141带动所述第二驱动组件12和所述第二柔性器械前端独立运动。
可选的，第一运动控制单元13驱动第一驱动组件11沿第一方向运动的方式使用摆臂摆动方式或线性运动机构方式。第二运动控制单元14驱动第二驱动组件12沿第一方向运动的方式使用摆臂摆动方式或线性运动机构方式。
根据本申请提供的实例，采用摆臂摆动方式。
可以理解的是，第一运动控制驱动器132可采用电机，通过电机对第一运动控制连接件131带动第一驱动组件11前后摆动，从而实现第一柔性器械的前后驱动。第二运动控制驱动器142可采用电机，通过电机对第二运动控制连接件141带动第二驱动组件12前后摆动，从而实现第二柔性器械的前后驱动。
在上述实施例的基础上，作为一个可选的实施例，所述驱动机构1还包括：
连接组件15，分别与所述第一运动控制单元13和所述第二运动控制单元14连接。
可以理解的是，连接组件15通过螺丝与所述第一运动控制单元13和所述第二运动控制单元14可拆卸连接，方便在出现故障时，更换和拆卸零部件。
在上述实施例的基础上，作为一个可选的实施例，所述驱动机构1还包括：
传感器(图中未示出)，设在所述柔性器械侧壁，获取所述进给机构和驱动机构协同工作时所述柔性器械上产生的实时力。
可以理解的是，传感器可为多轴传感器，当所述驱动机构的驱动速度和所述进给机构的进给速度相差过大时，可通过传感器的力的变化，改变所述驱动机构的驱动速度或所述进给机构的进给速度，使得两者相匹配，使得柔性末端可控医疗器械的进给过程更加顺利。
在上述实施例的基础上，作为一个可选的实施例，如图5和图6所示， 所述进给机构3还包括：
弹性组件33，与所述从动轮32连接，用以转动支撑所述从动轮32，向所述从动轮提供弹性力，以调整所述从动轮32对所述柔性末端可控医疗器械的夹持力。
可以理解的是，如图7所示，弹性组件33包括从动轮安装座331、设在从动轮安装座331下方的导轨332、与从动轮安装座331连接的弹性件333以及固定所述弹性件333的弹性件安装座334，所述从动轮安装座331构建出用于转动支撑所述从动轮32的支架3311，通过按压所述从动轮安装座331，调整弹性件333的弹性力，以弹性力调整所述从动轮32对所述柔性器械的夹持力，适应柔性器械不同部位的不同外径，方便柔性末端器械放入或取出。
在上述实施例的基础上，作为一个可选的实施例，所述进给机械机构4为机械手或多轴支架，用以支撑和调节所述进给机构。
可选的，进给机械机构4通过一个安装面板41与进给机构3可拆卸连接，方便更换。
可选的，所述驱动机械机构2为机械手或多轴驱动机构，用以支撑和调节所述驱动机构。
可以理解的是，通过设置机械手或多轴支架，能够实现驱动机构1和进给机构3的角度变化和多位置放置，提高了灵活性。驱动机构1在不同位置时都可同进给机构3互相配合完成柔性器械在人体体内的进给，在手术室内机器人摆放自由度更高，更加灵活，进入人体内的柔性末端可控医疗器械也更加柔软。
下面对本申请提供的柔性末端可控医疗器械进给方法进行描述，下文描述的柔性末端可控医疗器械进给方法与上文描述的柔性末端可控医疗器械进给系统可相互对应参照。
本申请还提供了一种柔性末端可控医疗器械进给方法，基于任一项所述的柔性末端可控医疗器械进给系统实现，针对柔性末端可控医疗器械仅包括一个柔性器械的情况，所述方法包括：
所述驱动机构1、所述驱动机械机构2、所述进给机构3协同工作控制所述柔性器械的进给长度和进给姿态。具体的，驱动机械机构2可实现 柔性器械的快速进给，当驱动柔性器械沿第一方向移动时，进给机构3同时对柔性器械进行同速进给，通过驱动机械机构2和进给机构3协同工作实现柔性器械稳定进入人体体内，此时，进给机构3起到导向支撑和进给的作用，驱动组件控制柔性器械末端的弯曲。柔性器械到达人体体内病患处进行检测和微创手术。
当需要柔性器械在人体内进行微小距离进给时，比如两毫米，只需对进给机构3中的主动轮31旋转进行精准控制即可实现，而对驱动机械机构2的驱动距离不需做精准控制，控制方式简单。进给机构3同样实现了对柔性器械的支撑和导向作用，此机构不需要其他的柔性器械支撑机构并且对柔性器械的硬度不做特殊要求。驱动机构1的驱动长度与柔性器械所需的进给长度无关，不需要加长驱动机构零件的长度，解决了驱动机构占用空间大且重量较重的缺陷。
针对柔性末端可控医疗器械包括第一柔性器械及第二柔性器械的情况，所述方法包括：
驱动机械机构2、第一运动控制单元13、第二运动控制单元14、进给机构3协同工作控制柔性末端可控医疗器械的进给长度。具体的，驱动机械机构2可实现第一柔性器械及第二柔性器械的快速进给，当驱动第一柔性器械及第二柔性器械沿第一方向移动时，进给机构3同时对第一柔性器械及第二柔性器械进行同速进给，通过驱动机械机构2、第一运动控制单元13和进给机构3协同工作实现第一柔性器械及第二柔性器械稳定进入人体体内，此时，进给机构3起到导向支撑和进给的作用。当在人体体内需进入通过较细通道时，即若第一柔性器械及第二柔性器械所处的人体体内通道的内径值达到目标数值时，驱动机械机构2、第一运动控制单元13和进给机构3停止进给，外径较小的第二柔性器械由第二运动控制单元14继续向前驱动，第一驱动组件11和第二驱动组件12可分别控制第一柔性器械和第二柔性器械末端的弯曲，柔性末端可控器械到达人体体内病患处进行检测和微创手术。
当需要第一柔性器械及第二柔性器械在人体内进行微小距离进给时，比如两毫米，只需对进给机构3中的主动轮31旋转进行精准控制即可实现，而对驱动机构1和驱动机械机构2的驱动距离不需做精准控制，控制 方式简单。进给机构3同样实现了对第一柔性器械及第二柔性器械的支撑和导向作用，此机构不需要其他的第一柔性器械支撑机构并且对第一柔性器械导管的硬度不做特殊要求。驱动机构1的驱动长度与第一柔性器械及第二柔性器械所需的进给长度无关，不需要加长驱动机构零件的长度，解决了驱动机构占用空间大且重量较重的缺陷。
在上述实施例的基础上，作为一个可选的实施例，还包括：
根据所述传感器判断所述驱动机构的驱动速度和所述进给机构的进给速度的差值是否超过目标阈值，若是，则调整所述驱动机构的驱动速度或所述进给机构的进给速度以使得差值低于目标阈值。
可以理解的是，通过调整所述驱动机构的驱动速度或所述进给机构的进给速度以使得差值低于目标阈值，使得传感器的力的变化与驱动速度或给进速度相匹配，提高进给过程的平稳性。
本申请提供的柔性末端可控医疗器械进给系统和进给方法，可通过驱动机械机构实现整体驱动和进给，通过驱动机构的运动控制单元实现单独驱动和进给，再通过进给机械机构驱动进给机构到人体自然腔道上方，由进给机构实现精准进给，对柔性器械的硬度要求不高，无需加长柔性器械驱动机构零件的长度，解决了驱动机构占用空间大且重量较重的缺陷。
柔性手术器械系统市场中，柔性末端可控医疗器械主要为支气管镜、尿道镜、十二指肠镜、胆道镜、肾盂镜等纤细的柔性内窥镜。本申请实施例中所述第一柔性器械和第二柔性器械为上述柔性内窥镜中具有进入人体体内以便检查和手术等功能的部件，本申请对柔性器械的数量并不做限定。
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 (11)
- 一种柔性末端可控医疗器械进给系统，包括：驱动机构，至少设有一组固定柔性器械前端并控制所述柔性器械末端弯曲的驱动组件；驱动机械机构，与所述驱动机构连接，用以驱动所述驱动组件和所述柔性器械前端沿第一方向运动；进给机构，设有至少一个主动轮和至少一个从动轮，所述主动轮和所述从动轮配合夹持所述柔性器械，并带动所述柔性器械沿第二方向进给；进给机械机构，与所述进给机构连接，用以支撑和驱动所述进给机构。
- 根据权利要求1所述的柔性末端可控医疗器械进给系统，其中，所述驱动机构包括一组驱动组件和一驱动连接件，所述驱动连接件用以将所述驱动组件和所述驱动机械机构连接在一起。
- 根据权利要求1所述的柔性末端可控医疗器械进给系统，其中，所述驱动机构包括两组驱动组件，分别为用于固定第一柔性器械前端并控制所述第一柔性器械末端弯曲的第一驱动组件以及用于固定第二柔性器械前端并控制所述第二柔性器械末端弯曲的第二驱动组件；所述第一驱动组件经第一运动控制单元与所述驱动机械结构连接，用以带动所述第一柔性器械前端相对于所述第二柔性器械前端沿第一方向独立运动；所述第二驱动组件经第二运动控制单元与所述驱动机械结构连接，用以带动所述第二柔性器械前端相对于所述第一柔性器械前端沿第一方向独立运动；其中，所述第一柔性器械套在所述第二柔性器械外部。
- 根据权利要求3所述的柔性末端可控医疗器械进给系统，其中，所述第一驱动组件包括第一柔性器械直线丝驱动单元和第一柔性器械安装单元，所述第一柔性器械内设有若干第一线状驱动件，所述第一柔性器械直线丝驱动单元与所述第一线状驱动件连接，通过调整所述第一线状驱动件的运动以控制所述第一柔性器械末端的姿态，所述第二驱动组件的结构与所述第一驱动组件的结构相同。
- 根据权利要求3所述的柔性末端可控医疗器械进给系统，其中，所述第一运动控制单元包括第一运动控制连接件和第一运动控制驱动器，所述第一运动控制驱动器用以通过所述第一运动控制连接件带动所述第一驱动组件和所述第一柔性器械前端独立运动，所述第二运动控制单元的结构与所述第一运动控制单元的结构相同。
- 根据权利要求1所述的柔性末端可控医疗器械进给系统，其中，所述驱动机构还包括：传感器，设在所述柔性器械侧壁，获取所述进给机构和所述驱动机构协同工作时所述柔性器械上产生的实时力。
- 根据权利要求1所述的柔性末端可控医疗器械进给系统，其中，所述进给机构还包括：弹性组件，与所述从动轮连接，用以转动支撑所述从动轮，向所述从动轮提供弹性力，以调整所述从动轮对所述柔性器械的夹持力。
- 根据权利要求1所述的柔性末端可控医疗器械进给系统，其中，所述进给机械机构为机械手或多轴支架，用以支撑和调节所述进给机构。
- 根据权利要求1所述的柔性末端可控医疗器械进给系统，其中，所述驱动机械机构为机械手或多轴驱动机构，用以支撑和调节所述驱动机构。
- 一种柔性末端可控医疗器械进给方法，其中，基于权利要求1-9任一项所述的柔性末端可控医疗器械进给系统实现，所述方法包括：所述驱动机构、所述驱动机械机构、所述进给机构协同工作控制所述柔性器械的进给长度和进给姿态。
- 根据权利要求10所述的柔性末端可控医疗器械进给方法，还包括：根据所述传感器判断所述驱动机构的驱动速度和所述进给机构的进给速度的差值是否超过目标阈值，若是，则调整所述驱动机构的驱动速度或所述进给机构的进给速度以使得差值低于目标阈值。
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