Flexible surgical instrument and instrument driving device thereof

Abstract

The utility model discloses a flexible surgical instrument and an instrument driving device thereof, a motor barrel of the instrument driving device is provided with a clamping hook assembly, and the clamping hook assembly comprises a first motor, a linkage disc, two clamping pins and two connecting rods, the bayonet lock is configured to be capable of moving between a clamping state and a clamping releasing state relative to the first clamping groove on the side of the flexible instrument device; the output end of the first motor is in transmission connection with the linkage disc so as to drive the linkage disc to rotate; one ends of the two connecting rods are rotationally connected with the linkage disc, and the other ends of the two connecting rods are rotationally connected with the two clamping pins respectively; and the central positions of the two connecting rods, which are rotationally connected with the linkage disc, are symmetrically arranged relative to the rotating center of the linkage disc. Under the driving of the first motor, the two clamping pins are synchronously driven to move based on the crank sliding block mechanism, and clamping connection of the clamping pins is achieved. And when the flexible instrument device needs to be disassembled, the first motor can drive the bayonet lock to rotate to a clamping releasing state, and good operability is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly relates to a flexible surgical instrument and an instrument driving device thereof. Background Art

[0002] Diseases of natural body cavities such as digestion, urinary, and respiration seriously endanger human health, and the incidence and mortality of diseases such as gastric cancer, esophageal cancer, bladder cancer, and lung cancer show an increasing trend year by year. Using a flexible endoscope in combination with related surgical instruments for diagnosis and treatment has the advantages of minimally invasive, fast postoperative recovery, and reduced medical costs, and has become the mainstream treatment method for such diseases.

[0003] Compared with conventional large-incision surgical operations, the operating space of surgeries through natural body cavities is relatively narrow, and flexible instruments are usually required for diagnosis and treatment operations. The existing flexible instruments are rich in variety, such as but not limited to clamp types, electrocoagulation and electrosection types, injection types, guiding types, etc., which can meet different operation requirements in narrow environments. The current endoscopic surgical instruments are designed based on manual operation and require medical staff such as professionally trained technicians or nurses to operate manually. Without technicians / nurses, it is difficult for doctors to complete the diagnosis and treatment operations alone. To meet the needs of natural body cavity diagnosis and treatment, the existing flexible instruments are designed as flexible and slender instruments, which require manual operation and close cooperation between doctors and nurses during use, and the operation is complex; in addition, the flexible and slender instruments are in contact with foreign substances such as body fluids, which are easy to be contaminated, and there is also a risk of cross-infection during the process of withdrawing the instruments.

[0004] A flexible surgical instrument is proposed in the related technology, which changes the traditional operation mode of nurses cooperating with doctors and reduces the risk of cross-infection of flexible and slender instruments. However, limited by the characteristics of the scheme architecture, when docking and installing and disassembling, one hand needs to hold the instrument and the other hand needs to press the trigger button, and the actual operation is more inconvenient. In addition, the position of the trigger button changes as the instrument driving device rotates, which is not convenient for accurately positioning and performing the trigger button operation.

[0005] In view of this, it is urgent to optimize the design of the instrument driving device to overcome the above defects. Summary of the Utility Model

[0006] The purpose of this application is to provide a flexible surgical instrument and an instrument driving device thereof. By optimizing the structure of the flexible surgical instrument, the operability of installation and disassembly is effectively improved.

[0007] The instrument driving device provided by the embodiment of the present application is used to output a driving force to a flexible instrument device. The instrument driving device includes a motor barrel, and a hook assembly is arranged on the motor barrel; the hook assembly includes a first motor, a linkage disk, two latch pins and two link rods. The pin heads of the latch pins are correspondingly arranged with a first card slot on the side of the flexible instrument device. The latch pins are configured to be movable relative to the first card slot between a latched state and an unlatched state; the output end of the first motor is in transmission connection with the linkage disk to drive the linkage disk to rotate; one ends of the two link rods are rotatably connected to the linkage disk, and the other ends of the two link rods are respectively rotatably connected to the two latch pins; the central positions where the two link rods are rotatably connected to the linkage disk are symmetrically arranged relative to the rotation center of the linkage disk.

[0008] Optionally, the hook assembly includes a first gear and a second gear that are meshed with each other. The wheel body of the second gear forms the linkage disk, and the first gear is connected to the output end of the first motor.

[0009] Optionally, the instrument driving device further includes a bearing bracket arranged on the motor barrel. Two sliding sleeves are arranged on the bearing bracket. The two sliding sleeves are correspondingly arranged with the two latch pins one by one. The latch pins are inserted into the corresponding sliding sleeves, and the latch pins are slidably adapted to the sliding sleeves to move between the latched state and the unlatched state.

[0010] Optionally, the hook assembly further includes two first elastic members and two latch pin mounting seats. The two first elastic members and the two latch pin mounting seats are correspondingly arranged with the two latch pins one by one; one end of the latch pin mounting seat is inserted into the other end of the latch pin opposite to the pin head, and is rotatably connected to the link rod through the other end of the latch pin mounting seat. The first elastic member is pre-compressed and arranged between the latch pin and the latch pin mounting seat, and is configured to: when the latch pin moves towards the unlatched state, the first elastic member generates elastic deformation.

[0011] Optionally, the latch pin has a receiving cavity, the first elastic member is built in the receiving cavity, and one end of the latch pin mounting seat is inserted into the receiving cavity and abuts against the first elastic member; guiding grooves communicating with the receiving cavity are formed on two side walls of the latch pin. A positioning pin is inserted through the inserted end of the latch pin mounting seat, and the positioning pin is slidably adapted to the guiding grooves.

[0012] Optionally, the instrument driving device further includes a transmission key as a mobile output interface and a rotary docking disk as a rotary output interface; the instrument driving device further includes a rotary ring, a second motor, and a third motor; the rotary ring is arranged on the bearing bracket through a bearing, and the rotary docking disk is rotatably arranged on the rotary ring; the output shaft of the second motor is in transmission connection with the rotary ring through a gear transmission mechanism, and the output shaft of the third motor is in transmission connection with the rotary docking disk through a flexible shaft.

[0013] Optionally, the rotary ring includes a first rotary ring and a second rotary ring, the first rotary ring and the second rotary ring are connected in the docking direction, the second rotary ring has a receiving portion protruding towards the flexible shaft, the rotary docking disk is built in the receiving portion, the first rotary ring has a convex ring, and the convex ring extends into the receiving portion and presses against the outer edge of the rotary docking disk.

[0014] Optionally, the rotary docking disk has a connecting end, and the connecting end extends out of the bottom wall of the receiving portion and is connected to the flexible shaft.

[0015] Optionally, the surface of the rotary docking disk has a second card slot, and the second card slot is used to form a rotational limiting pair with the rotary transmission portion on the side of the flexible instrument device.

[0016] Optionally, the gear transmission mechanism includes a third gear and a toothed ring that mesh with each other, the third gear is connected to the output end of the second motor, and the toothed ring is connected to the rotary ring.

[0017] The present utility model also provides a flexible surgical instrument, including a flexible instrument device and an instrument driving device, the flexible instrument device can be docked with the instrument driving device, and the instrument driving device can output driving force to the flexible instrument device, and the instrument driving device adopts the instrument driving device as described above.

[0018] Optionally, the flexible instrument device includes an actuator unit, an inner shell and an outer shell adapted for screw drive. The flexible body of the actuator unit is wound and received in the spiral receiving groove of the inner shell. The coiled rear end of the spiral receiving groove has a through hole penetrating the inner shell. The flexible instrument device further includes a wire guiding support and a rotating disk. The wire guiding support is fixedly connected to the inner wall surface of the inner shell. The rotating disk is rotationally adapted to the wire guiding support, and a rotational sliding pair is formed therebetween. The rotating disk is provided with a wire laying groove and an insertion hole. One end of the wire laying groove extends to the rotational sliding pair. The insertion hole is arranged along the axial direction of the rotating disk, and a pin is arranged in the insertion hole. The flexible body passes through the inner shell via the through hole on the inner shell. The rear end of the outer sleeve of the flexible body is fixed to the wire guiding support. The driving wire of the flexible body is arranged in the wire laying groove via the rotational sliding pair. First terminals and second terminals are arranged at intervals on the driving wire. The second terminal is located at the rear end of the driving wire. Among them, the first terminal and the side wall of the wire laying groove form a moving limit pair. The second terminal is connected to one end of the pin and forms a rotational limit pair. The rotating disk has a moving transmission part, and the moving transmission part is used for connecting with the moving output interface of the instrument driving device. The other end of the pin has a rotational transmission part, and the rotational transmission part is used for connecting with the rotational output interface of the instrument driving device.

[0019] Optionally, the wire guiding support is provided with a sliding groove, and a wire guiding groove is opened at the bottom of the sliding groove. The outer peripheral surface of the rotating disk has a sliding block, and the sliding block is slidably adapted to the sliding groove to form the rotational sliding pair. The driving wire is continuously arranged along the wire guiding groove and the wire laying groove in sequence.

[0020] Optionally, the side wall of the wire laying groove has a limiting recess, and the first terminal is placed in the limiting recess and forms the moving limit pair with the wall surface of the limiting recess.

[0021] Optionally, the wire guiding support is provided with a recess, and the sleeve terminal at the rear end of the outer sleeve is fixed in the recess.

[0022] Optionally, one end of the pin is a frustum section with a larger upper part and a smaller lower part. The insertion hole has a tapered hole section with a larger upper part and a smaller lower part. The frustum section is adapted to the tapered hole section. A third elastic member is arranged between the rotating disk and the rotational transmission part.

[0023] Optionally, the first clamping groove is opened on the inner wall surface of the inner shell.

[0024] Optionally, the inner shell has at least a first spare hole passing through the inner shell, and the outer shell has at least two second spare holes passing through the outer shell, and the first spare hole and the second spare hole are arranged in a one-to-one correspondence with the first card slot.

[0025] Optionally, the movable transmission part is a keyway provided on the rotating disk, and a second elastic member is provided between the transmission key and the rotating ring.

[0026] Compared with the prior art, the instrument driving device provided by the utility model proposes an optimized design for the hook docking structure. Specifically, its hook assembly includes a first motor, a linkage disk, two bayonet pins and two connecting rods. The bayonet pins are configured to be movable relative to the first slot on the side of the flexible instrument device, and to switch between a latched state and a released state. The output end of the first motor is transmission-connected to the linkage disk, one end of the two connecting rods is rotationally connected to the linkage disk, and the other ends of the two connecting rods are rotationally connected to the two bayonet pins respectively. The center positions of the two connecting rods rotationally connected to the linkage disk are symmetrically arranged relative to the rotation center of the linkage disk. In this way, each connecting rod and the corresponding bayonet pin and the second gear respectively form a crank slider mechanism.

[0027] With such a configuration, under the drive of the first motor, the two bayonet pins are synchronously driven to move based on the crank slider mechanism to achieve state switching. After the flexible instrument device and the instrument drive device are docked, the bayonet pin is in a latched state. When the flexible instrument device needs to be removed, the first motor can drive the bayonet pin to rotate to the unlatched state without additional operation. In this way, the relative position of the instrument side rotates relative to the drive side, which will not affect the installation and removal of the flexible instrument device, and has good operability.

[0028] In an optional solution of the utility model, the hook assembly also includes two first elastic members and two bayonet pin mounting seats, one end of the bayonet pin mounting seat is inserted into the other end of the bayonet pin opposite to the pin head, and is rotatably connected to the connecting rod through the other end of the bayonet pin mounting seat, and the first elastic member is pre-compressed and arranged between the bayonet pin and the bayonet pin mounting seat. With such arrangement, when docking, the inner shell can press against the two bayonet pins to retract inward, and when the first slot on the inner shell side is rotated to be aligned with the corresponding first slot, under the action of the first elastic member, the bayonet pin can move toward the inner shell side, and quickly realize the engagement between the pin head and the first slot. In addition, in the use state, if the first motor fails, the bayonet pin can be kept in the engaged state through the first elastic member, so as to prevent the pin head from being abnormally dislodged, thereby improving the docking reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the assembly relationship of a flexible surgical instrument provided in an embodiment of the present application;

[0030] Figure 2 forFigure 1 Top view of the flexible instrument device shown in

[0031] Figure 3 is Figure 2 Cross-sectional view taken along line A-A in

[0032] Figure 4 is Figure 2 Cross-sectional view taken along line B-B in

[0033] Figure 5 Schematic diagram of an assembly relationship between a wire-walking support member, a rotating disk and an inner shell provided by an embodiment of the present application;

[0034] Figure 6 is Figure 5 Exploded schematic diagram of the assembly relationship between the inner shell, the wire-walking support member and the rotating disk shown in

[0035] Figure 7 is Figure 6 Schematic diagram formed from another angle of the rotating disk shown in

[0036] Figure 8 Cross-sectional view of a flexible surgical instrument provided by an embodiment of the present application;

[0037] Figure 9 Schematic diagram of an assembly relationship of a hook assembly provided by an embodiment of the present application;

[0038] Figure 10 Schematic diagram of the assembly relationship between the hook assembly and the bearing bracket provided by an embodiment of the present application;

[0039] Figure 11 Schematic diagram of the structure of a bearing bracket provided by an embodiment of the present application;

[0040] Figure 12 Schematic diagram of a retaining pin provided by an embodiment of the present application;

[0041] Figure 13 Schematic diagram of a retaining pin mounting seat provided by an embodiment of the present application;

[0042] Figure 14 is Figure 1 Partial cross-sectional view of the instrument drive device shown in

[0043] Figure 15 Schematic diagram of the assembly relationship between a transmission key and a rotating docking disk provided by an embodiment of the present application;

[0044] Figure 16 Exploded schematic diagram of the assembly relationship between a rotating ring and a rotating docking disk provided by an embodiment of the present application.

[0045] In the figure:

[0046] Flexible surgical instrument 100;

[0047] Flexible instrument device 10, inner shell 11, spiral groove 111, spiral receiving groove 1111, second drive thread 1112, through hole 112, first card slot 113, first spare hole 114, outer shell 12, first drive thread 121, limit guiding part 122, instrument outlet 123, second spare hole 124, actuator unit 13, drive wire 131, first terminal 1311, second terminal 1312, outer sleeve 132, sleeve terminal 1321, wire guiding support 14, wire guiding groove 141, sliding groove 142, recess 143, rotating disc 15, wire laying groove 151, slider 152, insertion hole 153, limit recess 154, keyway 155, pin 16, rotation limit hole 161, rotation drive part 162, third elastic member 163;

[0048] Instrument drive device 20, pin assembly 21, pin 211, pin head 2111, receiving cavity 2112, guiding groove 2113, first motor 212, first gear 213, second gear 214, connecting rod 215, first elastic member 216, pin mounting seat 217, positioning pin 218, motor barrel 22, support frame 23, support part 231, transmission key 24, connecting section 241, sliding section 242, second elastic member 243, snap ring 244, rotating docking disc 25, second card slot 251, connecting end 252, rotating ring 26, first rotating ring 261, convex ring 2611, second rotating ring 262, receiving part 2621, bearing 27, bearing support 28, sliding sleeve 281;

[0049] Second motor 30, third gear 31, gear ring 32;

[0050] Third motor 40, flexible shaft 41. Detailed implementation manners

[0051] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Please refer to Figure 1 , which is a schematic assembly relationship diagram of a flexible surgical instrument provided by an embodiment of the present application.

[0053] As Figure 1 shown, the flexible surgical instrument 100 includes a flexible instrument device 10 and an instrument drive device 20. Among them, an actuator unit 13 is configured in the flexible instrument device 10, and the instrument drive device 20 can provide driving force to the flexible instrument device 10 to realize operations such as the conveying operation of the flexible instrument and the rotation or opening and closing of the actuator. In actual use, the flexible instrument device 10 is as Figure 1It is docked with the instrument driving device 20 as shown by the dashed arrow in the figure to achieve a basic fixed connection relationship between the two, and at the same time construct a corresponding power transmission path between the two.

[0054] The flexible instrument device 10 includes an inner shell 11, an outer shell 12 and an actuator unit 13 that are adapted for screw drive. Please refer to Figure 2 、 Figure 3 and Figure 4 , where Figure 2 is Figure 1 the top view of the flexible instrument device shown in Figure 3 is Figure 2 the A-A cross-sectional view in Figure 4 is Figure 2 the B-B cross-sectional view in

[0055] As Figure 2 and Figure 3 shown, the inner wall surface of the outer shell 12 includes a first transmission thread 121, and a limit guiding portion 122 is provided on the outside of the outer shell 12. The limit guiding portion 122 is adapted to a relatively fixed limit sliding groove (not shown in the figure). For example but not limited to, the limit sliding groove can be a structure on the side of the instrument driving device 20, which can not only provide axial displacement guidance for the outer shell 12, but also limit the circumferential rotation of the outer shell 12.

[0056] Correspondingly, a spiral groove 111 is provided on the outer peripheral surface of the inner shell 11. The spiral groove 111 includes an inner groove section and an outer groove section, which are formed in sequence along the radial direction. Among them, the groove wall of the inner groove section forms a spiral receiving groove 1111 to wind and receive the flexible body of the actuator unit 13 (such as but not limited to the driving wire 131 and the outer sleeve 132 in the following text). Among them, the groove wall of the outer groove section forms a second transmission thread 1112, and the second transmission thread 1112 is in transmission connection with the first transmission thread 121.

[0057] Under the action of the conveying driving force output on the side of the instrument driving device 20, the inner shell 11 can rotate relative to the outer shell 12, and at the same time the outer shell 12 axially displaces relative to the inner shell 11. The flexible body of the actuator unit 13 can perform an extending or retracting operation via the instrument outlet 123 provided on the side wall of the outer shell 12.

[0058] In this embodiment, the outer shell 12 is in the shape of a cylinder with one end open, and the inner shell 11 is in the shape of a cylinder with both ends open. And the inner shell 11 is completely placed in the outer shell 12 (in the illustrated state). In other specific implementations, the inner shell 11 can also be partially placed inside the outer shell (not shown in the figure), which can be specifically determined according to the overall design requirements of the product, and the embodiments of the present application do not make limitations.

[0059] In this embodiment, the flexible instrument device 10 further includes a wire guiding support 14 and a rotating disk 15. Please refer to Figure 4 、Figure 5 and Figure 6 , wherein Figure 5 is a schematic diagram of an assembly relationship between a wire guiding support and a rotating disk and an inner shell provided in an embodiment of the present application, Figure 6 and Figure 5 is an exploded schematic diagram of the assembly relationship between the inner shell, the wire guiding support and the rotating disk shown in

[0060] As Figure 5 shown, a through hole 112 penetrating the inner wall surface of the inner shell 11 is provided at the coiled rear end of the spiral receiving groove 1111, and the flexible body of the actuator unit 13 passes through the inner shell 11 via the through hole 112. Here, the "rear end" and the "front end" used below are set with reference to the patient's lesion site. The "front end" is the end close to the lesion, and the "rear end" is the end far from the lesion. It should be understood that the use of the above orientation terms is only for clearly describing the solution and does not constitute a substantial limitation to the technical solution claimed in the present application. For the convenience of description, it is defined that one end of the flexible instrument device 10 close to the through hole 112 in the axial direction is the first end, and the end far from the through hole 112 is the second end.

[0061] The wire guiding support 14 is fixedly connected to the inner wall surface of the inner shell 11 near the first end, that is, it is arranged on the side close to the through hole 112, and the whole is in an arc shape adapted to the inner wall surface of the inner shell 11. Here, the wire guiding support 14 and the inner shell 11 can be integrally formed by machining, or can be independently machined and then assembled and fixed. Specifically, it can be determined according to the overall design requirements of the product, and the embodiments of the present application do not make limitations.

[0062] The rotating disk 15 is rotationally adapted to the wire guiding support 14. In other words, the rotating disk 15 can rotate relative to the wire guiding support 14 under the drive of the driving side. Combining Figure 4 and Figure 6 shown, the rotating disk 15 is rotationally adapted to the inner wall of the wire guiding support 14.

[0063] Wherein, a sliding groove 142 is provided on the wire guiding support 14, and a wire guiding groove 141 is provided at the bottom of the sliding groove 142; correspondingly, a slider 152 is provided on the outer peripheral surface of the rotating disk 15, and the cross-sectional shape of the slider 152 is adapted to the sliding groove 142, and the two can be slidably adapted. That is to say, when the rotating disk 15 rotates relative to the wire guiding support 14, the slider 152 slides relative to the sliding groove 142, and a rotational sliding pair is formed.

[0064] Please refer to Figure 3 , Figure 6 and Figure 7 together, wherein Figure 7 is Figure 6 a schematic diagram formed by another angle of the rotating disk shown in

[0065] The rotating disk 15 is provided with a wire laying groove 151 and an insertion hole 153. One end of the wire laying groove 151 extends to the outer peripheral surface of the slider 152, so that the driving wire 131 can be continuously arranged along the wire running groove 141 and the wire laying groove 151 in sequence. The side wall of the wire laying groove 151 has a limiting recess 154. The first terminal 1311 provided on the driving wire 131 can be placed inside the limiting recess 154, and a moving limiting pair is formed by the end face of the first terminal 1311 and the wall surface of the limiting recess 154. For example but not limited to, the first terminal 1311 can be dumbbell-shaped.

[0066] The rotating disk 15 has a key groove 155 as a moving transmission part. As Figure 3 shown, the key groove 155 is located on one side of the rotating disk 15 close to the second end, and is used to match with the driving side and can rotate relative to the inner shell 11 under the drive of the driving side. In this way, when the rotating disk 15 rotates relative to the wire running support 14, the movement of the driving wire (in the length direction of the driving wire) can be realized based on this moving limiting pair.

[0067] The insertion hole 153 on the rotating disk 15 is arranged along the axial direction of the rotating disk 15. Combining Figure 3 and Figure 6 shown, a pin 16 is arranged in the insertion hole 153. One end of the pin 16 has a rotation limiting hole 161, and the hole wall of the rotation limiting hole 161 has a rotation limiting surface. The other end of the pin 16 facing the second end of the inner shell 11 extends out of the rotating disk 15 to form a rotation transmission part 162 for matching with the driving side and can rotate relative to the rotating disk 15 under the drive of the driving side. The second terminal 1312 at the rear end of the driving wire 131 is inserted into the rotation limiting hole 161. The cross-sectional shape of the second terminal 1312 can be the same as the shape of the rotation limiting hole 161, and a rotation limiting pair is formed by the outer peripheral surface of the second terminal 1312 and the hole wall of the rotation limiting hole 161. In this way, when the pin 16 rotates relative to the rotating disk 15, the driving wire can be driven to realize a rotational movement through this rotation limiting pair.

[0068] Based on the structure of the implementation shown in the figure, the driving wire can be arranged with a larger curvature radius. In this way, the moving path of the driving wire is longer, and a longer driving force arm can be formed, thereby a larger working torque can be formed. During actual use, the operating resistance of the movement and rotation of the driving wire can be effectively reduced, and the use requirements of longer surgical instruments can be met.

[0069] To improve the operability of assembling the driving wire 131, both the wire laying groove 151 and the limiting recess 154 are located on the surface of the rotating disk 15 close to the first end. After inserting the second terminal 1312 into the rotation limiting hole 161 of the pin 16, the first terminal 1311 can be installed in the limiting recess 154, and the wiring on the rear end side of the driving wire 131 can be quickly realized.

[0070] In this embodiment, the sliding groove 142 is a dovetail groove, and the cross-sectional shape of the sliding block 152 is dovetail-shaped. In this way, the sliding block 152 can be further restricted from disengaging from the sliding groove 142 in the radial direction, ensuring a stable and reliable relative position relationship between the rotating disc 15 and the wire guiding support member 14.

[0071] In other specific implementations, the sliding groove 142 and the sliding block 152 for sliding adaptation may also adopt other mutually adapted cross-sectional shapes, such as but not limited to a rectangular structure or a T-shaped structure, etc., as long as a reliable sliding adaptation relationship can be achieved, rather than being limited to the dovetail structure.

[0072] For another example Figure 5 and Figure 6 As shown, in order to further improve the product integration, the sleeve terminal 1321 at the rear end of the outer sleeve 132 of the actuator unit 13 is fixed on the wire guiding support member 14. A recess 143 is formed on the wire guiding support member 14, and the sleeve terminal 1321 can be fixed within the recess 143 of the wire guiding support member 14, with a simple and reliable structure and good overall integration.

[0073] In order to achieve the reliability of the docking and mutual matching between the flexible instrument device 10 and the instrument driving device 20, a first card slot 113 can be formed on the inner wall surface of the inner shell 11 of the flexible instrument device 10. Correspondingly, a pin assembly 21 that is mutually matched with the card slot is provided on the side of the instrument driving device 20. Please refer to Figure 3 、 Figure 8 、 Figure 9 and Figure 10 , where Figure 8 is a cross-sectional view of a flexible surgical instrument provided by an embodiment of the present application, Figure 9 is a schematic assembly relationship diagram of a hook assembly provided by an embodiment of the present application, Figure 10 is a schematic assembly relationship diagram of the hook assembly and the bearing bracket provided by an embodiment of the present application. In order to clearly show the assembly relationship of the pin assembly 21, Figure 9 the components above the support frame are not shown in

[0074] Combined with Figure 3 and Figure 8 shown, for the flexible instrument device 10 side, two first card slots 113 are formed at the second end of the inner wall surface of the inner shell 11, and the two first card slots 113 are arranged oppositely. In this way, a good load sharing effect can be obtained during the operation of the actuator output or retraction.

[0075] For the device driving device 20 side, the pin assembly 21 is arranged on the motor barrel 22. The pin assembly 21 includes two pins 211, and the two pins 211 are arranged in one-to-one correspondence with the two first card slots 113 on the device side. The pin 211 is configured to be movable relative to the first card slot 113 to switch between the engaged state and the disengaged state. In practical applications, the pin assembly 21 can rotate towards the direction close to the inner shell 11 until its pin head 2111 is placed in the first card slot 113. At this time, it is the Figure 8 engaged state shown; the pin assembly 21 can rotate away from the inner shell 11 until its pin head 2111 disengages from the first card slot 113. At this time, it is the disengaged state.

[0076] In this embodiment, the two pins 211 are driven by the first motor 212. The power transmission path from the first motor 212 to the two pin assemblies 21 may include a first gear 213, a second gear 214 and two connecting rods 215 that are engaged with each other. Among them, the first gear 213 is connected to the output end of the first motor 212. One end of the two connecting rods 215 is rotatably connected to the disk body of the second gear 214, and the other end of the two connecting rods 215 is respectively rotatably connected to the two pins 211. The central positions where the two connecting rods 215 are rotatably connected to the second gear 214 are symmetrically arranged relative to the rotation center of the second gear 214. Each connecting rod 215 and the corresponding pin 211 and the second gear 214 respectively form a crank-slider mechanism.

[0077] In this way, when the second gear 214 rotates clockwise as shown in the figure under the drive of the first motor 212, it can drive the two pins 211 to move away from the inner shell 11 and switch to the disengaged state; conversely, when the second gear 214 rotates counterclockwise, it can drive the two pins 211 to move towards the inner shell 11 and switch to the engaged state. After the flexible device 10 and the device driving device 20 are docked, the pin 211 is in the engaged state. When the operation of the conveying actuator needs to be performed, the motor barrel 22 rotates under the drive of a conveying motor (not shown in the figure), and drives the inner shell 11 to rotate through the two groups of engaged pins 211 and the first card slots 113. The flexible body of the actuator unit 13 can perform the extending or retracting operation via the device outlet 123 provided on the side wall of the outer shell 12. When the flexible device 10 needs to be removed, the first motor 212 can drive the pin 211 to rotate to the disengaged state.

[0078] It should be understood that the first gear 213 meshes with the second gear 214 as the first gear set for transmitting power, and can be configured according to the internal space of the product, rather than being limited to the single-stage gear transmission shown in the figure. In other possible implementation solutions, the second gear 214 can be replaced with a linkage disk of other structural forms, such as but not limited to a disk structure, and the first motor 212 directly drives the disk structure to rotate, and the state switching of the two pins 211 can also be synchronously realized based on two crank-slider mechanisms. The embodiments of the present application are not limited thereto.

[0079] In this implementation solution, a support frame 23 is provided on the motor barrel 22. The middle part of the support frame 23 is provided with a through hole in the docking direction. One end of the support frame 23 is fixedly connected to the motor barrel 22, and the other end is used to form a support part for assembling other components. The bearing bracket 28 is fixedly arranged on the support part 231 of the support frame 23.

[0080] The pin head 2111 of the pin 211 extends out of the support frame 23 and is adapted to the corresponding first card slot 113. In a specific implementation, a sliding sleeve or a sliding groove adapted to the pin 211 can be used to construct a sliding adaptation pair that meets the state switching.

[0081] In this implementation solution, a fixedly arranged sliding sleeve 281 is used to provide a reliable movement constraint. Combined with Figure 8 、 Figure 10 and Figure 11 shown, where Figure 11 is a schematic structural diagram of a bearing bracket provided by an embodiment of the present application. Two sliding sleeves 281 are respectively fixedly arranged on the bearing bracket 28. The pin 211 is inserted into the corresponding sliding sleeve 281, and the sliding sleeve 281 that is slidably adapted provides a movement guiding function, and at the same time ensures that the pin 211 maintains a stable and reliable movement track.

[0082] Of course, in other possible implementation solutions, the sliding sleeve can also be fixedly arranged on the upper surface of the motor barrel 22, and can also provide a reliable movement constraint. Specifically, it can be determined according to the overall design of the product, and the embodiments of the present application are not limited thereto.

[0083] In order to improve the docking operability, in a specific implementation, the pin assembly 21 can further include a first elastic member 216 and a pin mounting seat 217. The pin 211 is slidably adapted to the pin mounting seat 217. The other end of the pin mounting seat 217 is rotatably connected to the corresponding connecting rod 215. That is to say, the pin 211 is rotatably connected to the connecting rod 215 through the pin mounting seat 217. Among them, the first elastic member 216 is pre-compressed and arranged between the pin 211 and the pin mounting seat 217, and is configured to: generate elastic deformation when the pin 211 moves towards the state of releasing the clamping.

[0084] Please also refer to Figure 10 、 Figure 12and Figure 13 ,in, Figure 12 A schematic diagram of a latch provided in an embodiment of the present application, Figure 13 A schematic diagram of a bayonet mounting seat provided in an embodiment of the present application.

[0085] As shown in the figure, the bayonet 211 has a receiving cavity 2112, and the first elastic member 216 is built in the receiving cavity 2112. One end of the bayonet mounting seat 217 is inserted into the receiving cavity 2112 of the bayonet 211 and abuts against the first elastic member 216. Guide grooves 2113 are provided on the two side walls of the bayonet 211, and the guide grooves 2113 are connected to the receiving cavity 2112. The insertion end of the bayonet mounting seat 217 is penetrated by a positioning pin 218, and can be slidably adapted to the guide grooves 2113.

[0086] With such arrangement, when docking, the inner shell 11 can press the two latch pins 211 inwardly, and the first elastic member 216 is deformed under pressure. When the first latch slot 113 on the inner shell 11 side is rotated to be aligned with the corresponding first latch slot 113, under the action of the first elastic member 216, the latch pin 211 can move toward the inner shell 11 side, thereby quickly realizing the latching connection between the pin head 2111 and the first latch slot 113.

[0087] When in use, if the first motor 212 fails, the first elastic member 216 can keep the latch pin 211 in a latched state, thereby preventing the pin head 2111 from abnormally falling out and improving docking reliability.

[0088] In a specific implementation, the first elastic member 216 may be embedded in the bayonet 211 and abut against the bayonet mounting seat 217 inserted in the bayonet 211. It is understood that the first elastic member 216 may also be implemented in other forms, such as but not limited to a rubber elastic member or a spring in other structural forms, as long as it can provide a force to maintain the bayonet state, it is within the scope of protection requested by the present application.

[0089] In other specific implementations, the sliding fit relationship between the bayonet mounting seat 217 and the bayonet 211 may also be in the form of a structure in which the bayonet 211 is inserted into the bayonet mounting seat 217 (not shown in the figure). This embodiment of the present application is not limited thereto.

[0090] To further improve security, Figure 3 and Figure 8As shown, there are two first spare holes 114 on the inner shell 11 and two second spare holes 124 on the outer shell 12. The two are arranged in one-to-one correspondence with the first card slot 113 and are penetrated. During the card connection operation, when the first motor 212 malfunctions and cannot drive the latch 211 out of the first card slot 113, the operator can use a slender rod to sequentially pass through the second spare hole 124 and the first spare hole 114, directly act on the pin head 2111 of the latch 211, and push the pin head 2111 to rotate inwards until it disengages from the first card slot 113, so that the flexible instrument device 10 can be separated from the instrument drive device 20, further improving the operation safety.

[0091] Please refer to Figure 1 、 Figure 8 、 Figure 14 and Figure 15 , where Figure 14 is Figure 1 a partial cross-sectional view of the instrument drive device shown in Figure 15 is a schematic diagram of the assembly relationship between a transmission key and a rotary docking disk provided by an embodiment of the present application.

[0092] For the instrument drive device 20 side, the driving forces for the moving operation and the rotary operation are respectively output through the transmission key 24 as the moving output interface and the rotary docking disk 25 as the rotary output interface. After the docking is completed, the transmission key 24 can be inserted into the key slot 155 of the rotary disk 15 on the instrument side to form a rotational limit pair, and the rotary disk 15 is driven to rotate through the matching transmission key 24 and key slot 155. Here, the matching transmission key 24 and key slot 155 are provided in four groups and are evenly distributed along the circumferential direction. In other possible implementation solutions, the number of the matching transmission key 24 and key slot 155 is not limited to the four groups shown in the figure, for example, but not limited to two groups or three groups, and can be specifically selected according to the overall design requirements of the product, and the embodiments of the present application do not make any limitations.

[0093] The surface of the rotary docking disk 25 has a second card slot 251. Correspondingly, the rotary transmission part 162 on the instrument side can be inserted into the second card slot 251 to form a rotational limit pair, and the pin 16 is driven to rotate through the matching rotary transmission part 162 and second card slot 251. Here, the rotary transmission part 162 can be inserted into the two second card slots 251 through two convex columns respectively. In other possible implementation solutions, the number of the matching convex columns and second card slot 251 is not limited to the two groups shown in the figure, and can be specifically selected according to the overall design requirements of the product, and the embodiments of the present application do not make any limitations.

[0094] Combined with Figure 15 shown, the transmission key 24 and the rotary docking disk 25 are arranged on the rotary ring 26. In a specific implementation, the rotary ring 26 is arranged on the bearing bracket 28 through a bearing 27 to rotate relative to the bearing bracket 28.

[0095] In other possible implementation solutions, the bearing bracket 28, the support bracket 23, and the motor barrel 22 can be an integral structure as the basic structure; alternatively, other split forms can also be adopted according to the overall design requirements of the product and then assembled and fixed into the basic structure. The embodiments of the present application do not make limitations in this regard.

[0096] In this implementation solution, a driving component and a corresponding transmission mechanism are configured inside the above basic structure. As Figure 14 shown, the instrument driving device 20 further includes a second motor 30 and a third motor 40. Among them, the second motor 30 is used to provide the driving force for the driving wire to move, and the third motor 40 is used to provide the driving force for the driving wire to rotate.

[0097] For the power transmission path of the second motor 30, it may include a gear transmission mechanism formed by a third gear 31 and a gear ring 32. Among them, the third gear 31 is connected to the output end of the second motor 30, and the gear ring 32 is connected to the rotating ring 26. In a specific implementation, the gear ring 32 is fixed to the rotating ring 26 extending into the bearing bracket 28. Of course, the specific structural configuration relationship of the gear transmission mechanism can be designed according to needs, and the embodiments of the present application do not make limitations in this regard.

[0098] In this way, the driving force output by the second motor 30 can be transmitted to the rotating ring 26 based on the meshing of the third gear 31 and the gear ring 32, so as to form a rotational limit pair through the transmission key 24 and the keyway 155, driving the rotating disk 15 to rotate relative to the wire supporting member 14, and realizing the movement operation of the driving wire.

[0099] For the power transmission path of the third motor 40, it can be formed by a flexible shaft 41. Among them, one end of the flexible shaft 41 is connected to the output end of the third motor 40, and the other end of the flexible shaft 41 is connected to the connection end 252 of the rotating docking disk 25. The connection end 252 of the rotating docking disk 25 extends out of the rotating ring 26 towards the flexible shaft 41 to facilitate the assembly operation.

[0100] In order to improve the transmission reliability of the rotating docking disk 25, further, the rotating ring 26 can provide assembly positioning. Please refer to Figure 15 and Figure 16 together, where Figure 16 is an exploded schematic view of the assembly relationship between the rotating ring and the rotating docking disk provided by the embodiments of the present application.

[0101] As shown in the figure, the rotating ring 26 can include a first rotating ring 261 and a second rotating ring 262. The first rotating ring 261 and the second rotating ring 262 are connected in the docking direction. That is to say, in the relative position relationship shown in the figure, the first rotating ring 261 is located above the second rotating ring 262.

[0102] AsFigure 15 and Figure 16 As shown in Figure 16 , the second rotating ring 262 has a receiving portion 2621 protruding towards the flexible shaft 41. The rotating docking disc 25 is built into the receiving portion 2621 of the second rotating ring 262, and the connecting end 252 extends out of the bottom wall of the receiving portion 2621. Correspondingly, the first rotating ring 261 has a convex ring 2611. The convex ring 2611 extends into the receiving portion 2621 and presses against the outer edge of the rotating docking disc 25 to achieve the assembly positioning of the rotating docking disc 25. In this way, the rotating docking disc 25 can maintain a relatively stable dynamic cooperation relationship with respect to the rotating ring 26.

[0103] In addition, in order to quickly achieve reliable docking between the instrument side and the driving side and construct a corresponding power transmission path, the transmission key 24 and the pin 16 can respectively adopt elastic connection structures.

[0104] For the transmission key 24, the transmission key 24 is inserted and installed on the rotating ring 26, for example, but not limited to, inserted into the first rotating ring 261 of the rotating ring 26. A second elastic member 243 is provided between the transmission key 24 and the first rotating ring 261 of the rotating ring 26.

[0105] In this way, when docking and pressing the flexible instrument device 10, the rotating disc 15 contacts the transmission key 24. After the transmission key 24 is pressed, the second elastic member 243 deforms. Rotate the flexible instrument device 10 until the key groove 155 on the rotating disc 15 is aligned with the corresponding transmission key 24. Under the action of the second elastic member 243, the transmission key 24 is pushed into the key groove 155 of the rotating disc 15. Thus, a power transmission path for the driving wire movement operation can be quickly constructed. In this state, the pin 16 synchronously rotates to face the rotating docking disc 25 on the driving side.

[0106] In other specific implementations, when the flexible instrument device 10 is docked and pressed onto the instrument driving device 20 and the snap pin 211 is in the engaged state, the second motor 30 is started and drives the rotating ring 26 to rotate until the transmission key 24 rotates to be aligned with the key groove 155 on the rotating disc 15. Similarly, under the action of the second elastic member 243, the transmission key 24 is pushed into the key groove 155 of the rotating disc 15.

[0107] In this implementation scheme, the transmission key 24 includes a connecting section 241 and two sliding sections 242. Again, as Figure 14 shown, the two sliding sections 242 respectively extend from both ends of the connecting section 241 and are integrally in a shape similar to "n". The sliding sections 242 are respectively inserted into the rotating ring 26. The second elastic member 243 is a compression spring and is arranged in one-to-one correspondence with the two sliding sections 242 and is respectively sleeved on the sliding sections 242.

[0108] In specific implementation, the sliding section 242 extends out of the first rotating ring 261 and is positioned by a snap spring 244 to prevent the transmission key 24 from detaching.

[0109] For the pin 16, one end of the pin 16 is a frustum section with a larger upper part and a smaller lower part. As Figure 15 shown, correspondingly, the insertion hole 153 has a tapered hole section with a larger upper part and a smaller lower part. A rotary transmission part 162 is fixedly arranged at the other end of the pin 16. A third elastic member 163 is arranged between the rotary disk 15 and the rotary transmission part 162.

[0110] In this way, when docking and press-fitting the flexible instrument device 10, the rotary transmission part 162 of the pin 16 contacts the rotary ring 26, and the third elastic member 163 deforms after the pin 16 is pressed. When the pin 16 rotates to be opposite to the rotary docking disk 25 on the driving side, the third motor 40 starts and drives the rotary docking disk 25 to rotate until the second card slot 251 of the rotary docking disk 25 is aligned with the rotary transmission part 162 of the pin 16. Under the action of the third elastic member 163, the convex column of the rotary transmission part 162 is inserted into the second card slot 251 of the rotary docking disk 25. Thus, a power transmission path for the rotary operation of the driving wire can be quickly constructed.

[0111] In this embodiment, the third elastic member 163 is a compression spring and is sleeved on the pin 16 extending out of the rotary disk 15.

[0112] In other possible specific implementations, both the second elastic member 243 and the third elastic member 163 can adopt other elastic structures to be respectively used for forming corresponding elastic connections. Specifically, it can be selected according to the actual product requirements, and the embodiments of the present application do not make limitations.

[0113] The ordinal numbers "first" and "second" etc. used herein are only used to describe the components or structures with the same function in the technical solution. It can be understood that the use of the above ordinal numbers "first" and "second" does not constitute a limitation to the understanding of the technical solution claimed in the present application.

[0114] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present utility model.

Claims

1. An instrument driving device for outputting a driving force to a flexible instrument device, characterized in that, The instrument drive device comprises a motor barrel, on which a hook assembly is arranged; the hook assembly comprises a first motor, a linkage plate, two bayonet pins and two connecting rods, the pin heads of the bayonet pins are arranged corresponding to the first bayonet slots on the flexible instrument device side, and the bayonet pins are configured to be movable relative to the first bayonet slots between a bayonet state and a released bayonet state; The output end of the first motor is drivingly connected to the interlocking disk to drive the interlocking disk to rotate; one end of the two connecting rods is rotationally connected to the interlocking disk, and the other ends of the two connecting rods are rotationally connected to the two bayonet pins respectively; the center position of the rotational connection between the two connecting rods and the interlocking disk is symmetrically arranged relative to the rotation center of the interlocking disk.

2. The instrument drive device according to claim 1, wherein, The hook assembly includes a first gear and a second gear that are meshed with each other, the wheel body of the second gear forms the linkage plate, and the first gear is connected to the output end of the first motor.

3. The instrument drive device according to claim 1 or 2, characterized in that, The instrument driving device also includes a bearing bracket arranged on the motor barrel, and two sliding sleeves are arranged on the bearing bracket. The two sliding sleeves are arranged in a one-to-one correspondence with the two bayonet pins. The bayonet pins are inserted into the corresponding sliding sleeves, and the bayonet pins are slidably adapted to the sliding sleeves to move between the engaged state and the released state.

4. The instrument drive device according to claim 3, characterized in that, The hook assembly also includes two first elastic members and two bayonet pin mounting seats, and the two first elastic members and the two bayonet pin mounting seats are arranged in a one-to-one correspondence with the two bayonet pins; one end of the bayonet pin mounting seat is inserted into the other end of the bayonet pin opposite to the pin head, and is rotatably connected to the connecting rod through the other end of the bayonet pin mounting seat, and the first elastic member is pre-compressed and arranged between the bayonet pin and the bayonet pin mounting seat, and is configured such that: when the bayonet pin moves toward the released engaging state, the first elastic member produces elastic deformation.

5. The instrument driving device according to claim 4, wherein The bayonet has a accommodating cavity, the first elastic member is built into the accommodating cavity, one end of the bayonet mounting seat is inserted into the accommodating cavity and abuts against the first elastic member; guide grooves connected to the accommodating cavity are formed on both side walls of the bayonet, a positioning pin is installed at the insertion end of the bayonet mounting seat, and the positioning pin is slidably adapted to the guide groove.

6. The instrument driving device according to claim 3, characterized in that, The instrument driving device also includes a transmission key as a mobile output interface and a rotary docking plate as a rotary output interface; The instrument driving device further comprises a rotating ring, a second motor and a third motor; the rotating ring is arranged on the bearing bracket through a bearing, and the rotating docking plate is rotatably arranged on the rotating ring; the output shaft of the second motor is transmission-connected to the rotating ring through a gear transmission mechanism, and the output shaft of the third motor is transmission-connected to the rotating docking plate through a flexible shaft; The rotating ring includes a first rotating ring and a second rotating ring. The first rotating ring and the second rotating ring are connected in the docking direction. The second rotating ring has a receiving portion protruding towards the flexible shaft. The rotating docking disc is built in the receiving portion. The first rotating ring has a convex ring. The convex ring extends into the receiving portion and presses against the outer edge of the rotating docking disc. The rotating docking disc has a connecting end. The connecting end extends out of the bottom wall of the receiving portion and is connected to the flexible shaft.

7. The instrument driving device according to claim 6, characterized in that The gear transmission mechanism includes a third gear and a gear ring that mesh with each other. The third gear is connected to the output end of the second motor. The gear ring is connected to the rotating ring.

8. A flexible surgical instrument, comprising a flexible instrument device and an instrument driving device, wherein the flexible instrument device can be docked with the instrument driving device, and the instrument driving device can output a driving force to the flexible instrument device, characterized in that, The instrument driving device adopts the instrument driving device according to any one of claims 1 to 7.

9. The flexible surgical instrument according to claim 8, wherein, The flexible instrument device includes an actuator unit, and an inner shell and an outer shell that are threadedly engaged. The flexible body of the actuator unit is wound and stored in the spiral receiving groove of the inner shell. The coiled rear end of the spiral receiving groove has a through hole that penetrates the inner shell. The flexible instrument device further includes a wire guiding support and a rotating disc. The wire guiding support is fixedly connected to the inner wall surface of the inner shell. The rotating disc is rotationally adapted to the wire guiding support, and a rotational sliding pair is formed therebetween. A wire laying groove and an insertion hole are formed in the rotating disc. One end of the wire laying groove extends to the rotational sliding pair. The insertion hole is arranged along the axial direction of the rotating disc, and a pin is arranged in the insertion hole. The flexible body passes through the inner shell via the through hole in the inner shell. The rear end of the outer sleeve of the flexible body is fixed to the wire guiding support. The driving wire of the flexible body is arranged in the wire laying groove via the rotational sliding pair. A first terminal and a second terminal are arranged at intervals on the driving wire. The second terminal is located at the rear end of the driving wire. Among them, the first terminal forms a moving limit pair with the side wall of the wire laying groove, and the second terminal is connected to one end of the pin to form a rotational limit pair. The rotating disc has a moving transmission portion. The moving transmission portion is used to connect to the moving output interface of the instrument driving device. The other end of the pin has a rotational transmission portion. The rotational transmission portion is used to connect to the rotational output interface of the instrument driving device.

10. The flexible surgical instrument according to claim 9, wherein, A sliding groove is formed in the wire guiding support. A wire guiding groove is formed at the bottom of the sliding groove. The side wall of the wire laying groove has a limiting recess. The first terminal is built in the limiting recess and forms the moving limit pair with the wall surface of the limiting recess. A sliding block is formed on the outer peripheral surface of the rotating disc. The sliding block is slidably adapted to the sliding groove to form the rotational sliding pair. The driving wire is continuously arranged along the wire guiding groove and the wire laying groove in sequence.

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