A flexible medical device

Abstract

The present invention provides a flexible medical device, belonging to the technical field of medical devices, the flexible medical device comprises a flexible device, a probe fixing device and a bending drive device; the flexible device comprises a first rotating part and a second rotating part; the bending drive device comprises a first driving mechanism and a second driving mechanism; the probe fixing device comprises a probe fixing bracket and a transmission mechanism arranged on the probe fixing bracket; the flexible device is arranged on the probe fixing bracket; the probe fixing bracket is detachably connected to the bending drive device, the first driving mechanism is connected to the first rotating part through the transmission mechanism, and the second driving mechanism is connected to the second rotating part through the transmission mechanism; the first driving mechanism is used to drive the first rotating part to rotate, and the second driving mechanism is used to drive the second rotating part to rotate. The present invention can realize automatic control of the flexible device through the first driving mechanism and the second driving mechanism, without manual participation, thereby reducing the difficulty of operating the flexible device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible medical device. Background Art

[0002] Cardiovascular disease has always been a type of disease that seriously threatens human life and health. In the examination and treatment of cardiovascular disease, transesophageal echocardiography (TEE) is an examination method that can provide effective assistance for the patient's diagnosis and treatment process; transesophageal ultrasound is an ultrasound examination method that can provide effective assistance for the diagnosis and treatment process of cardiology and surgery patients. Transesophageal ultrasound is to place the ultrasound probe in the patient's esophagus or stomach fundus, and scan the heart from the back of the heart, overcoming the limitations of cardiac chest wall ultrasound examination, and is not affected by multiple factors such as emphysema, obesity or chest deformity of the patient, and can obtain more satisfactory local images; in addition, in minimally invasive interventional surgery for related heart diseases, the use of X-ray imaging and transesophageal ultrasound for joint guidance has become an important auxiliary method for surgery.

[0003] In traditional transesophageal ultrasound examination, the end of the transesophageal ultrasound probe is placed in the patient's body, and medical staff manually operate the large knob and the small knob on the transesophageal ultrasound probe to control the bending of the two degrees of freedom of the end of the transesophageal ultrasound probe, and manually rotate the handheld end of the transesophageal ultrasound probe to achieve the self-rotation of the end of the transesophageal ultrasound probe around its own axis, and manually drive the handheld end of the transesophageal ultrasound probe to move to achieve the feeding and pulling back of the transesophageal ultrasound probe. In summary, the end of the transesophageal ultrasound probe has four degrees of freedom, including bending with two degrees of freedom in four directions, rotation around its own axis (one degree of freedom), and feeding or pulling back (one degree of freedom).

[0004] However, in the above-mentioned prior art, the movement of each degree of freedom of the transesophageal ultrasound probe is manually operated, and the operation of each degree of freedom requires a high level of operation of medical personnel, thereby increasing the difficulty of operating the transesophageal ultrasound probe. Summary of the invention

[0005] The present invention provides a flexible medical device to solve the defect of the prior art that the operation difficulty of a transesophageal ultrasound probe is increased.

[0006] The present invention provides a flexible medical device, comprising: a flexible instrument, a probe fixing device and a bending drive device; the flexible instrument has a first rotating part and a second rotating part; the bending drive device comprises a first driving mechanism and a second driving mechanism; the probe fixing device comprises a probe fixing bracket and a transmission mechanism arranged on the probe fixing bracket;

[0007] The flexible device is arranged on the probe fixing bracket; the probe fixing bracket is detachably connected to the bending driving device, the first driving mechanism is connected to the first rotating part through the transmission mechanism, and the second driving mechanism is connected to the second rotating part through the transmission mechanism;

[0008] The first driving mechanism is used to drive the first rotating part to rotate, and the second driving mechanism is used to drive the second rotating part to rotate.

[0009] According to a flexible medical device provided by the present invention, the transmission mechanism includes a first transmission assembly and a second transmission assembly;

[0010] The first transmission assembly is connected to the first rotating part and the first driving mechanism respectively; the second transmission assembly is connected to the second rotating part and the second driving mechanism respectively.

[0011] According to a flexible medical device provided by the present invention, the first transmission assembly includes a first mating gear and a first gear meshing with the first mating gear; the second transmission assembly includes a second mating gear and a second gear meshing with the second mating gear;

[0012] The first matching gear is rotatably disposed on the probe fixing bracket, and the first matching gear is connected to the first rotating part; the first gear is rotatably disposed on the probe fixing bracket, and the first gear is used to be connected to the first driving mechanism;

[0013] The second matching gear is rotatably arranged on the probe fixing bracket, and the second matching gear is connected to the second rotating part; the second gear is rotatably arranged on the probe fixing bracket, and the second gear is used to be connected to the second driving mechanism.

[0014] A flexible medical device according to the present invention further comprises at least one locking device, the locking device comprising a locking bracket and two locking components, the locking bracket being arranged on the bending driving device, the locking component comprising an elastic member and a locking member rotatably arranged on the locking bracket, the elastic member being connected to the locking bracket and the locking member respectively, and the locking member being provided with a locking portion; the probe fixing bracket being provided with at least two locking holes;

[0015] When the elastic member is in the first state, the locking portion is inserted into the locking hole, the first driving mechanism is connected to the first gear, and the second driving mechanism is connected to the second gear;

[0016] When the elastic member is in the second state, the locking portion is separated from the locking hole, the first driving mechanism is separated from the first gear, and the second driving mechanism is separated from the second gear.

[0017] According to a flexible medical device provided by the present invention, the probe fixing bracket is provided with a positioning hole, and the locking bracket is provided with a positioning pin;

[0018] When the elastic member is in a first state, the positioning pin is inserted into the positioning hole; when the elastic member is in a second state, the positioning pin is separated from the positioning hole.

[0019] According to a flexible medical device provided by the present invention, the bending drive device further includes a bottom plate;

[0020] The first driving mechanism comprises a first driving member, a first transmission member and a first force sensor, the first driving member is arranged on the bottom plate, the first force sensor is rotatably arranged on the bottom plate, and the first transmission member is respectively connected to the first driving member and the first force sensor;

[0021] The second driving mechanism comprises a second driving member, a second transmission member and a second force sensor, the second driving member is arranged on the bottom plate, the second force sensor is rotatably arranged on the bottom plate, and the second transmission member is respectively connected to the second driving member and the second force sensor;

[0022] When the elastic member is in a first state, the first force sensor is connected to the first gear, and the second force sensor is connected to the second gear; when the elastic member is in a second state, the first force sensor is separated from the first gear, and the second force sensor is separated from the second gear.

[0023] A flexible medical device according to the present invention further comprises an axis rotation drive device, and the bending drive device is arranged on the axis rotation drive device;

[0024] The shaft rotation driving device is used to drive the bending driving device to rotate.

[0025] According to a flexible medical device provided by the present invention, the shaft rotation driving device comprises a rotating fixed bracket, a rotating bracket and a third driving member;

[0026] The bending drive device is arranged on the rotating bracket, the rotating bracket is rotatably arranged on the rotating fixed bracket, and the third driving member is connected to the rotating bracket;

[0027] The third driving member is used to drive the rotating bracket to rotate.

[0028] A flexible medical device according to the present invention further comprises a mobile driving device, and the shaft rotation driving device is arranged on the mobile driving device;

[0029] The mobile driving device is used to drive the shaft rotation driving device to move.

[0030] According to a flexible medical device provided by the present invention, the mobile driving device includes a fixing frame, a ball screw, a nut and a fourth driving member;

[0031] The ball screw is arranged on the fixing frame, the nut is arranged on the ball screw, and the nut is connected to the shaft rotation driving device, and the fourth driving member is connected to the ball screw.

[0032] The flexible medical device provided by the present invention drives the first rotating part of the flexible instrument to rotate by the first driving mechanism, so that the end of the flexible instrument is bent in one degree of freedom direction, and drives the second rotating part of the flexible instrument to rotate by the second driving mechanism, so that the end of the flexible instrument is bent in another degree of freedom direction. The first driving mechanism and the second driving mechanism can realize the bending movement of two degrees of freedom in four directions of the end of the flexible instrument. It can be seen that the present invention can realize automatic control of the bending of the end of the flexible instrument through the first driving mechanism and the second driving mechanism, without manual intervention, thereby reducing the difficulty of operating the flexible instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 is a schematic structural diagram of the flexible medical device provided by the present invention;

[0035] Figure 2 is a schematic diagram of the structure of the flexible device provided by the present invention;

[0036] Figure 3 It is a structural schematic diagram of the probe fixing device provided by the present invention;

[0037] Figure 4 is a structural schematic diagram of a first mating gear provided by the present invention;

[0038] Figure 5 is a structural schematic diagram of a second mating gear provided by the present invention;

[0039] Figure 6 is a schematic structural diagram of the bending drive device provided by the present invention;

[0040] Figure 7 It is a structural schematic diagram of the shaft rotation driving device provided by the present invention;

[0041] Figure 8 It is a structural schematic diagram of the mobile drive device provided by the present invention;

[0042] Reference numerals:

[0043] 1. Flexible instrument; 2. Probe fixing device; 3. Bending drive device; 4. Axis rotation drive device; 5. Moving drive device;

[0044] 101, first rotating part; 102, second rotating part; 103, end position holding paddle; 104, mirror body host end; 105, mirror body end;

[0045] 20. Transmission mechanism; 21. First transmission assembly; 22. Second transmission assembly; 201. Probe fixing bracket; 202. First matching gear; 203. Second matching gear; 204. Second gear support; 205. Second gear; 206. First gear support; 207. First gear; 208. Fixed support; 209. Roller assembly; 210. Fixed cover plate;

[0046] 2011, locking hole; 2012, positioning hole;

[0047] 2021, first positioning groove; 2022, first gear boss; 2023, first external tooth;

[0048] 2031, second positioning groove; 2032, second gear boss; 2033, second external tooth;

[0049] 31. First driving mechanism; 32. Second driving mechanism; 301. Bottom plate; 302. First force sensor; 303. Locking bracket; 304. Locking member; 305. First driving member; 306. Motor mounting seat; 307. Driving pulley; 308. Synchronous belt; 309. Force sensor fixing bracket; 310. Driven pulley; 311. Second force sensor; 312. Second driving member; 313. Connecting pin;

[0050] 3021, first positioning groove; 3111, second positioning groove;

[0051] 3041, locking portion; 3031, positioning pin shaft;

[0052] 41. Rotating fixed bracket; 42. Rotating bracket; 401. First side plate; 402. Second side plate; 403. Bottom support member; 404. First rotating side plate; 405. Second rotating side plate; 406. Connecting rod; 407. Third driving member; 408. Driving gear; 409. Transition gear; 410. Driven gear; 411. Third rotating shaft;

[0053] 51. Fixed frame; 501. First fixed plate; 502. Second fixed plate; 503. Base; 504. Bearing support; 505. Ball screw; 506. Support member; 507. Bushing connector; 508. Fixed plate; 509. Linear bearing; 510. Guide shaft; 511. Coupling; 512. Fourth driving member. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The technical solution provided by the embodiment of the present invention can be applied to ultrasound examination scenarios, especially transesophageal ultrasound. In existing transesophageal ultrasound examinations, since transesophageal ultrasound has more specific sections and viewing angles for cardiac imaging, the end of the transesophageal ultrasound probe needs to be bent in four directions with two degrees of freedom (one degree of freedom bending has two directions, and two degrees of freedom bending has four directions), rotate around its own axis, and feed or pull back, a total of four degrees of freedom. The four degrees of freedom movement are all manually operated. This technology currently belongs to a clinical operation of high difficulty and is extremely dependent on experience. In addition, there are few people who can master this skill, and they are basically distributed in large hospitals. It has not been effectively promoted in remote areas and small and medium-sized hospitals, making this aspect of medical conditions difficult. There are large regional differences; in addition, current transesophageal ultrasound examinations require doctors to manually control the transesophageal ultrasound probe at close range, and they need to stand for a long time during the operation. In addition, in the operation guided by X-rays, the doctor cannot operate the transesophageal ultrasound probe at a distance, which will expose the doctor to the X-ray environment, causing a certain amount of body radiation to the doctor. Therefore, the doctor needs to wear heavy and stuffy protective clothing, which increases the doctor's work intensity and occupational risks; in addition, the operation of the transesophageal ultrasound probe has a certain impact on the doctor's physical exertion and physical condition, which is easy to cause musculoskeletal injuries in the long run, and the cumulative radiation damage will greatly increase the incidence of the disease. Based on this, the present invention automates the control of the transesophageal ultrasound probe.

[0056] Combine the following Figure 1-Figure 8A flexible medical device of the present invention is described.

[0057] Figure 1 is a schematic diagram of the structure of the flexible medical device provided by the present invention, such as Figure 1 As shown, the flexible medical device includes a flexible instrument 1, a probe fixing device 2 and a bending driving device 3.

[0058] The flexible device 1 has a first rotating part 101 and a second rotating part 102. The first rotating part 101 can be rotated to bend the end of the flexible device 1 in a first direction, and the second rotating part 102 can be rotated to bend the end of the flexible device 1 in a second direction. The end of the flexible device 1 can be bent in four directions with two degrees of freedom respectively through the first rotating part 101 and the second rotating part 102. For example, when the feeding or pulling back direction of the flexible device 1 is the front-to-back direction, the first direction can be the up-and-down direction, and the second direction can be the left-to-right direction. The first direction and the second direction are two perpendicular directions, and are perpendicular to the feeding direction of the flexible device 1.

[0059] According to an embodiment of the present invention, Figure 2 Schematic diagram of the structure of the flexible device provided by the present invention. Figure 2 As shown, the flexible instrument 1 can be a transesophageal ultrasound probe, which mainly includes a mirror body, a mirror body main end 104 connected to the mirror body and a mirror body end 105, as well as an end position maintaining paddle 103, a first rotating part 101 and a second rotating part 102 arranged on the mirror body; after the end position maintaining paddle 103 is turned to a position, the bending of the mirror body end 105 can be locked, and even if the first rotating part 101 and the second rotating part 102 are loosened, the bending of the mirror body end 105 remains stationary; the mirror body main end 104 is used to connect the imaging system and power supply, etc., as well as signal lines such as the camera; the first rotating part 101 is the first knob of the flexible instrument 1, and the second rotating part 102 is the second knob of the flexible instrument 1, and the bending of the two degrees of freedom of the end of the flexible instrument 1 is controlled by driving the first knob and the second knob.

[0060] It should be noted that the flexible instrument 1 may also be other flexible endoscopes with the same characteristics, including but not limited to interventional medical tools such as gastroscopes and colonoscopes.

[0061] like Figure 1 As shown, the probe fixing device 2 includes a probe fixing bracket 201 and a transmission mechanism 20 arranged on the probe fixing bracket 201; the flexible instrument 1 is arranged on the probe fixing bracket 201; the probe fixing bracket 201 is detachably connected to the bending drive device 3; the bending drive device 3 includes a first driving mechanism 31 and a second driving mechanism 32, the first driving mechanism 31 is connected to the first rotating part 101 through the transmission mechanism 20, and the second driving mechanism 32 is connected to the second rotating part 102 through the transmission mechanism 20.

[0062] The probe fixing bracket 201 is detachably connected to the bending driving device 3, so that the flexible device 1 on the probe fixing bracket 201 is detachably connected to the bending driving device 3. When the probe fixing bracket 201 is connected to the bending driving device 3, the first driving mechanism 31 is connected to the first rotating part 101 through the transmission mechanism 20, and the second driving mechanism 32 is connected to the second rotating part 102 through the transmission mechanism 20. At this time, the first driving mechanism 31 can drive the first rotating part 101 to rotate, and the rotation of the first rotating part 101 makes the end of the flexible device 1 bend along the first direction; the second driving mechanism 32 can drive the second rotating part 102 to rotate, and the rotation of the second rotating part 102 makes the end of the flexible device 1 bend along the second direction, then the first driving mechanism 31 and the second driving mechanism 32 are used for controlling the bending of the end of the flexible device 1 with two degrees of freedom in four directions; when the probe fixing bracket 201 is separated from the bending driving device 3, the first driving mechanism 31 is separated from the transmission mechanism 20, and the second driving mechanism 32 is separated from the transmission mechanism 20.

[0063] It should be noted that the transmission mechanism 20 is respectively connected to the first rotating part 101 and the second rotating part 102, and the transmission mechanism 20 is respectively connected to the first driving mechanism 31 and the second driving mechanism 32. Therefore, the first driving mechanism 31 drives the first rotating part 101 to rotate through the transmission mechanism 20 and the second driving mechanism 32 drives the second rotating part 102 to rotate through the transmission mechanism 20 are two independent motion processes, and there is no motion interference between the two motion processes.

[0064] The flexible medical device provided by the present invention drives the first rotating part 101 of the flexible device 1 to rotate through the first driving mechanism 31, so that the end of the flexible device 1 bends in one degree of freedom direction, and drives the second rotating part 102 of the flexible device 1 to rotate through the second driving mechanism 32, so that the end of the flexible device 1 bends in another degree of freedom direction. The first driving mechanism 31 and the second driving mechanism 32 can realize the bending movement of two degrees of freedom in four directions of the end of the flexible device 1; it can be known that the present invention can realize automatic control of the bending of the end of the flexible device 1 through the first driving mechanism 31 and the second driving mechanism 32, without manual intervention, thereby reducing the difficulty of operating the flexible device 1.

[0065] The flexible medical device provided by the present invention sets the flexible instrument 1 on the probe fixing bracket 201, and the probe fixing bracket 201 and the bending drive device 3 are detachably connected, so that the probe fixing bracket 201 and the bending drive device 3 can be separated, which is convenient for daily care such as maintenance, cleaning and disinfection of the flexible instrument 1 on the separated probe fixing bracket 201.

[0066] Further, Figure 3: is a schematic diagram of the structure of the probe fixing device provided by the present invention, such as Figure 1 and Figure 3 As shown, the transmission mechanism 20 includes a first transmission component 21 and a second transmission component 22; the first transmission component 21 is rotatably disposed on the probe fixing bracket 201, and the first transmission component 21 is respectively connected to the first rotating part 101; the second transmission component 22 is rotatably disposed on the probe fixing bracket 201, and the second transmission component 22 is connected to the second rotating part 102.

[0067] When the probe fixing bracket 201 is connected to the bending driving device 3 , the first driving mechanism 31 can drive the first rotating part 101 to rotate through the first transmission assembly 21 , and the second driving mechanism 32 can drive the second rotating part 102 to rotate through the second transmission assembly 22 .

[0068] Specifically, Figure 3 As shown, the first transmission assembly 21 includes a first matching gear 202 and a first gear 207 meshing with the first matching gear 202; the second transmission assembly 22 includes a second matching gear 203 and a second gear 205 meshing with the second matching gear 203; the first matching gear 202 is rotatably set on the probe fixing bracket 201, and the first matching gear 202 is connected to the first rotating part 101, the first gear 207 is rotatably set on the probe fixing bracket 201, and the first gear 207 is used to connect with the first driving mechanism 31; the second matching gear 203 is rotatably set on the probe fixing bracket 201, and the second matching gear 203 is connected to the second rotating part 102, the second gear 205 is rotatably set on the probe fixing bracket 201, and the second gear 205 is used to connect with the second driving mechanism 32.

[0069] The size of the probe fixing bracket 201 matches the outer surface size of the knobs (the first knob and the second knob) of the flexible device 1 , so that the probe fixing bracket 201 is tightly attached to the flexible device 1 at the knobs.

[0070] The first matching gear 202 is connected to the first rotating part 101 of the flexible device 1, and a first mounting hole matching with the first rotating part 101 can be opened in the middle of the first matching gear 202; when the first rotating part 101 is an irregular circle or other irregular shapes, the shape of the first mounting hole is adapted to the shape of the first rotating part 101, and the first matching gear 202 is sleeved on the first rotating part 101, and the first rotating part 101 cannot rotate relative to the first matching gear 202, and the first rotating part 101 and the first matching gear 202 are synchronized. Rotation: When the first rotating part 101 is a regular circle, a first positioning protrusion can be provided on the outer side of the first rotating part 101, and a first positioning groove cooperating with the first positioning protrusion can be provided on the inner wall of the first mounting hole of the first matching gear 202. By cooperating between the first positioning protrusion and the first positioning groove, the first rotating part 101 is clamped in the first matching gear 202, so that the first rotating part 101 cannot rotate relative to the first matching gear 202. When the first matching gear 202 rotates, the first rotating part 101 and the first matching gear 202 rotate synchronously. Preferably, there are a plurality of first positioning grooves 2021 arranged circumferentially on the first matching gear 202.

[0071] It should be noted that the connection between the first matching gear 202 and the first rotating part 101 of the flexible device 1 may also be through a locking member, a snap member or other connection structures.

[0072] It should be noted that the connection between the second matching gear 203 and the second rotating part 102 of the flexible device 1 can be the same as the connection between the first matching gear 202 and the first rotating part 101 of the flexible device 1, and the present invention will not be repeated here.

[0073] According to an embodiment of the present invention, Figure 4 is a schematic structural diagram of the first mating gear provided by the present invention, Figure 5 is a schematic diagram of the structure of the second mating gear provided by the present invention, such as Figure 4 As shown, the inner side surface of the first mating gear 202 has a plurality of circumferentially arranged first positioning grooves 2021 for clamping the first rotating part 101 ; the inner side surface of the second mating gear 203 has a plurality of circumferentially arranged second positioning grooves 2031 for clamping the second rotating part 102 .

[0074] According to an embodiment of the present invention, Figure 3 As shown, the probe fixing device 2 further includes a fixing cover plate 210 and at least three positioning components, and the axial positioning of the first matching gear 202 and the second matching gear 203 is achieved through the cooperation of the fixing cover plate 210 and the at least three positioning components.

[0075] Specifically, the first mating gear 202 has a first external tooth 2023 in the middle of its outer circumferential surface, and has first gear bosses 2022 at both ends; the second mating gear 203 has a second external tooth 2033 in the middle of its outer circumferential surface, and has second gear bosses 2032 at both ends. At least three positioning components are circumferentially distributed on the outer circumference of the first mating gear 202 and the second mating gear 203. Each positioning component includes a fixed support 208 and a roller group 209 disposed on the fixed support 208. One end of the fixed support 208 is fixed to the probe fixing bracket 201, and the other end is connected to the fixed cover plate 210 after the roller group 209 is arranged. Each roller group 209 includes two first rollers and two second rollers. The outer circumferential surface of the first roller is provided with a first guide groove that matches the first gear boss 2022, and the outer circumferential surface of the second roller is provided with a second guide groove that matches the second gear boss. The second guide groove 2032 cooperates with the roller group 209, and the roller group 209 is limited between the probe fixing bracket 201 and the fixing cover plate 210. The first gear bosses 2022 at both ends of the first mating gear 202 cooperate with the first guide grooves of the two first rollers to realize the axial positioning of the first mating gear 202, and the first mating gear 202 can be rotated at the same time; the second gear bosses 2032 at both ends of the second mating gear 203 cooperate with the second guide grooves of the two second rollers to realize the axial positioning of the second mating gear 203, and the second mating gear 203 can be rotated at the same time.

[0076] Among them, Figure 3 As shown, the first gear 207 is fixed to the probe fixing bracket 201 through the first gear support 206. Specifically, the first gear support 206 is fixed to the probe fixing bracket 201, and the first gear 207 is arranged on the first gear support 206 through a rotating shaft, and the first gear 207 is meshed with the first outer tooth 2023 of the first matching gear 202, so that the first gear 207 drives the first matching gear 202 to rotate during the rotation, and then the first matching gear 202 drives the first rotating part 101 of the flexible device 1 to rotate, and finally the end of the flexible device 1 is bent along one of the directions of the degrees of freedom, such as bending up and down along the first direction. Similarly, the second gear 205 is fixed to the probe fixing bracket 201 through the second gear support 204. Specifically, the second gear support 204 is fixed to the probe fixing bracket 201, and the second gear 205 is arranged on the second gear support 204 through a rotating shaft, and the second gear 205 is meshed with the second outer tooth 2033 of the second matching gear 203, so that the second gear 205 drives the second matching gear 203 to rotate during the rotation, and then the second matching gear 203 drives the second rotating part 102 of the flexible device 1 to rotate, and finally the end of the flexible device 1 is bent along another degree of freedom direction perpendicular to one of the above directions, such as bending left and right along the second direction.

[0077] Further, Figure 62 is a schematic diagram of the structure of the bending drive device provided by the present invention, wherein the probe fixing bracket 201 is detachably connected to the bending drive device 3 through at least one locking device. Figure 6 As shown, the bending drive device 3 includes a bottom plate 301, and the first drive mechanism 31 and the second drive mechanism 32 are both arranged on the bottom plate 301. In this embodiment, there are two locking devices, which are respectively connected with two ends of the probe fixing bracket 201.

[0078] Among them, each locking device includes a locking bracket 303 and two locking components. The locking bracket 303 is arranged on the bottom plate 301 of the bending drive device 3. The locking component includes an elastic member and a locking member 304 rotatably arranged on the locking bracket 303. The elastic member is respectively connected to the locking bracket 303 and the locking member 304. The locking member 304 is provided with a locking part 3041, and the elastic member switches between a first state and a second state; accordingly, at least two locking holes 2011 cooperating with the locking part 3041 are provided on the probe fixing bracket 201, and the number of the locking holes 2011 is equal to the number of the locking parts 3041 and they are matched one by one.

[0079] Among them, the locking bracket 303 is a U-shaped structure, and the two locking components can be symmetrically arranged on the locking bracket 303. The middle part of the locking piece 304 of each locking component is arranged on the locking bracket 303 through the connecting pin 313. Specifically, the connecting pin 313 is rotatably connected to the locking bracket 303, and the locking piece 304 is fixedly connected to the connecting pin 313. The elastic piece can be a torsion spring, and the elastic piece is sleeved on the connecting pin 313. One end of the elastic piece is fixedly connected to the connecting pin 313 (or the locking piece 304), and the other end of the elastic piece is connected to the locking bracket 303. The elastic piece can realize the elastic rotation of the locking piece 304 within a certain angle, and the elastic piece switches between the first state and the second state.

[0080] Specifically, when the elastic member is in the first state, the locking portion 3041 is inserted into the locking hole 2011, the first driving mechanism 31 is connected to the first gear 207, and the second driving mechanism 32 is connected to the second gear 205; when the elastic member is in the second state, the locking portion 3041 is separated from the locking hole 2011, the first driving mechanism 31 can be separated from the first gear 207, and the second driving mechanism 32 is separated from the second gear 205.

[0081] It should be noted that the elastic member can be in a free state in the first state, and can be in a compressed state in the second state; it can also be that the elastic member is in a first compressed state in the first state, and is in a second compressed state in the second state, and the compression amount in the second compressed state is greater than the compression amount in the first compressed state.

[0082] The flexible medical device provided by the present invention locks the probe fixing bracket 201 on the bending drive device 3 by cooperating the locking portion 3041 on the locking member 304 with the locking hole 2011 on the probe fixing bracket 201, thereby limiting the movement of the probe fixing device 2 and the bending drive device 3 relative to the installation direction.

[0083] Furthermore, the probe fixing bracket 201 is provided with a positioning hole 2012 , and the locking bracket 303 is provided with a positioning pin 3031 .

[0084] When the probe fixing device 2 and the bending drive device 3 are installed, the elastic member is in the first state, and the positioning pin 3031 is inserted into the positioning hole 2012; when the probe fixing device 2 and the bending drive device 3 need to be separated, the elastic member is switched from the first state to the second state, and the probe fixing device 2 can be separated from the bending drive device 3, thereby separating the positioning pin 3031 and the positioning hole 2012.

[0085] The flexible medical device provided by the present invention can realize the positioning of the probe fixing device 2 and the bending driving device 3 by cooperating the positioning hole 2012 of the probe fixing bracket 201 with the positioning pin 3031 on the locking bracket 303 .

[0086] Furthermore, a mounting groove is provided on the bottom plate 301 of the bending drive device 3 , and the mounting groove is used to position the fixed cover plate 210 , thereby further achieving accurate positioning of the probe fixing device 2 and the bending drive device 3 .

[0087] Furthermore, the first driving mechanism 31 includes a first driving member 305, a first transmission member and a first force sensor 302. The first driving member 305 is arranged on the base plate 301, the first force sensor 302 is rotatably arranged on the base plate 301, and the first transmission member is respectively connected to the first driving member 305 and the first force sensor 302.

[0088] Among them, the first driving member 305 can be a motor, the first driving member 305 is fixed on the base plate 301 through the motor mounting seat 306, and the first force sensor 302 is fixed on the base plate 301 through the force sensor fixing bracket 309, then the motor mounting seat 306 and the force sensor fixing bracket 309 are both fixed on the base plate 301, and the motor mounting seat 306 and the force sensor fixing bracket 309 can be respectively arranged on two opposite surfaces of the base plate 301, the first driving member 305 drives the first force sensor 302 to rotate through the first transmission member, when the probe fixing bracket 201 is connected to the bending driving device 3, the elastic member is in the first state, at this time, the first force sensor 302 is connected to the first gear 207, and synchronous rotation can be achieved; when the elastic member is in the second state, the probe fixing bracket 201 can be separated from the bending driving device 3, so that the first force sensor 302 is separated from the first gear 207.

[0089] Specifically, the first transmission member includes a driving pulley 307, a driven pulley 310, and a synchronous belt 308 connecting the driving pulley 307 and the driven pulley 310. The output shaft of the first driving member 305 passes through the bottom plate 301 and is coaxially connected to the driving pulley 307, and the driven pulley 310 is coaxially connected to the first force sensor 302. Then, the output shaft of the first transmission member rotates synchronously with the driving pulley 307, and then drives the driven pulley 310 at the driven end to rotate under the transmission of the synchronous belt 308. The driven pulley 310 is fixed together with the first force sensor 302, and then the first driving member 305 can rotate the first force sensor 302 through the first transmission member.

[0090] Among them, the first transmission member and the first force sensor 302 can realize the power transmission from the first driving member 305 to the first gear 207. The first gear 207 transmits the power to the first rotating part 101 of the flexible device 1 through the first matching gear 202, and finally realizes the motion transmission from the first driving member 305 to the first rotating part 101; and the first force sensor 302 can realize the torque measurement from the first driving member 305 to the first rotating part 101 of the flexible device 1.

[0091] It should be noted that the first force sensor 302 and the first driving member 305 are introduced into the first driving mechanism 31 . The first driving member 305 is a DC motor. The first force sensor 302 can realize force perception and force control output by the first driving member 305 .

[0092] The flexible medical device provided by the present invention can measure the torque transmitted to the first rotating part 101 by the first driving member 305 through the first force sensor 302 when the flexible device 1 enters the patient's body tissue for detection, so as to avoid the torque transmitted to the first rotating part 101 by the first driving member 305 being too large, causing the end of the flexible device 1 to bend in the first direction and cause damage to the patient's body tissue.

[0093] When the flexible instrument 1 is used in conjunction with ultrasonic imaging, a certain contact force is required for ultrasonic imaging. Therefore, the flexible medical device provided by the present invention can measure in real time the torque transmitted to the first rotating part 101 by the first driving member 305 through the first force sensor 302, so as to achieve the target contact force between the flexible instrument 1 and the target tissue area in the patient's body, thereby ensuring the quality of ultrasonic imaging.

[0094] Furthermore, the second driving mechanism 32 includes a second driving member 312, a second transmission member and a second force sensor 311. The second driving member 312 is arranged on the base plate 301, the second force sensor 311 is rotatably arranged on the base plate 301, and the second transmission member is respectively connected to the second driving member 312 and the second force sensor 311.

[0095] Among them, the second driving member 312 can be a motor, and the second driving member 312 can also be fixed on the base plate 301 through the motor mounting seat 306. The second force sensor 311 can also be fixed on the base plate 301 through the force sensor fixing bracket 309. The second driving member 312 drives the second force sensor 311 to rotate through the second transmission member. When the probe fixing bracket 201 is connected to the bending drive device 3, the elastic member is in the second state. At this time, the second force sensor 311 is connected to the second gear 205, and synchronous rotation can be achieved; when the elastic member is in the second state, the probe fixing bracket 201 can be separated from the bending drive device 3, so that the second force sensor 311 is separated from the second gear 205.

[0096] Specifically, the second transmission member has the same structure as the first transmission member, and the present invention will not be repeated herein. The second driving member 312 can rotate the second force sensor 311 through the second transmission member.

[0097] Among them, the second transmission member and the second force sensor 311 can realize the power transmission from the second driving member 312 to the second gear 205, and the second gear 205 transmits the power to the second rotating part 102 of the flexible device 1 through the second matching gear 203, and finally realizes the motion transmission from the second driving member 312 to the second rotating part 102; and the second force sensor 311 can realize the torque measurement of the second driving member 312 to the second rotating part 102 of the flexible device 1.

[0098] It should be noted that the second force sensor 311 and the second driving member 312 are introduced into the second driving mechanism 32 . The second driving member 312 is a DC motor. The second force sensor 311 can realize force perception and force control output by the second driving member 312 .

[0099] The flexible medical device provided by the present invention can measure the torque transmitted to the second rotating part 102 by the second driving member 312 through the second force sensor 311 when the flexible device 1 enters the patient's body tissue for detection, so as to avoid excessive torque transmitted to the second rotating part 102 by the second driving member 312, causing the end of the flexible device 1 to bend and transition along the second direction, thereby damaging the patient's body tissue.

[0100] It should be noted that when the flexible instrument 1 is used in conjunction with ultrasonic imaging, the second force sensor 311 has the same function as the first force sensor 302 , which will not be described in detail in the present invention.

[0101] The first force sensor 302 and the second force sensor 311 are introduced into the flexible medical device provided by the present invention, so as to measure the contact force between the flexible device 1 and human tissue, thereby effectively ensuring the operational safety of the flexible medical device and avoiding the risk of complications for patients during surgery.

[0102] Furthermore, a first positioning boss is provided on the end face of the first gear 207, and a first positioning groove 3021 cooperating with the first positioning boss is provided on the first force sensor 302; a second positioning boss is provided on the end face of the second gear 205, and a second positioning groove 3111 cooperating with the second positioning boss is provided on the second force sensor 311.

[0103] Among them, the first positioning boss and the second positioning boss are both elastic bosses; when the probe fixing device 2 is placed on the bending drive device 3 for installation, the first positioning boss of the first gear 207 is inserted into the first positioning groove 3021 of the first force sensor 302, so that the first force sensor 302 can drive the first gear 207 to rotate synchronously; and the second positioning boss of the second gear 205 is inserted into the second positioning groove 3111 of the second force sensor 311, so that the second force sensor 311 can drive the second gear 205 to rotate synchronously.

[0104] It should be noted that when the probe fixing device 2 is placed on the bending drive device 3 for installation, the first positioning boss of the first gear 207 is not inserted into the first positioning groove 3021 of the first force sensor 302. At this time, the first positioning boss on the first gear 207 is partially compressed. Under the action of the first driving member 305 and the first transmission member, the first force sensor 302 will rotate relative to the first gear 207. When it rotates to a certain position, the first positioning boss of the first gear 207 is inserted into the first positioning groove 3021 of the first force sensor 302, and finally the first force sensor 302 and the first gear 207 are synchronously rotated. The first gear 207 drives the first rotating part 101 to rotate through the first matching gear 202, thereby realizing the bending movement of one degree of freedom direction at the end of the flexible instrument 1. When the second positioning boss of the second gear 205 is not inserted into the second positioning groove 3111 of the second force sensor 311, the second force sensor 311 rotates relative to the second gear 205 under the action of the second driving member 312 and the second transmission member. When it rotates to a certain position, the second positioning boss of the second gear 205 is inserted into the second positioning groove 3111 of the second force sensor 311, thereby realizing the synchronous rotation of the second force sensor 311 and the second gear 205. The second gear 205 drives the second rotating part 102 to rotate through the second matching gear 203, thereby realizing the bending movement in another degree of freedom direction of the end of the flexible device 1.

[0105] Furthermore, if Figure 1 As shown, the flexible medical device of the present invention further comprises an axial rotation driving device 4 , and the bending driving device 3 is arranged on the axial rotation driving device 4 .

[0106] Among them, the flexible instrument 1 is installed on the bending drive device 3 through the probe fixing device 2, and the bending drive device 3 is arranged on the axial drive device 4. Then, the flexible instrument 1, the probe fixing device 2, and the bending drive device 3 are combined to form a whole and are installed on the axial drive device 4. The axial drive device 4 is used to drive the bending drive device 3 to rotate, so that the flexible instrument 1 and the probe fixing device 2 rotate synchronously. The rotation of the flexible instrument 1 is around its own axis, and the axial drive device 4 is used to control the rotation of the flexible instrument 1 around its own axis.

[0107] In the flexible medical device provided by the present invention, the bending drive device 3 is arranged on the shaft rotation drive device 4, and the shaft rotation drive device 4 drives the bending drive device 3 to rotate, thereby driving the flexible device 1 on the bending drive device 3 to rotate. It can be seen that the present invention can realize automatic control of the rotation of the flexible device 1 around its own axis through the shaft rotation drive device 4, thereby further reducing the difficulty of operating the transesophageal ultrasound probe.

[0108] Further, Figure 7 Schematic diagram of the structure of the shaft rotation drive device provided by the present invention, such as Figure 7 As shown, the shaft rotation driving device 4 includes a rotating fixed bracket 41 , a rotating bracket 42 and a third driving member 407 .

[0109] Among them, the rotating bracket 42 is rotatably set on the rotating fixed bracket 41, and the rotating bracket 42 can rotate relative to the rotating fixed bracket 41. The bending drive device 3 is set on the rotating bracket 42, and the axis of the flexible device 1 on the bending drive device 3 coincides with the rotation axis of the rotating bracket 42. The third driving member 407 is set on the rotating fixed bracket 41, and the output of the third driving member 407 is connected to the rotating bracket 42. The third driving member 407 is used to drive the rotating bracket 42 to rotate.

[0110] Specifically, the rotating fixed bracket 41 includes a bottom support 403 and a first side plate 401 and a second side plate 402 arranged at both ends of the bottom support 403; the rotating bracket 42 includes a first rotating side plate 404 and a second rotating side plate 405 arranged at intervals, and a connecting member for connecting the first rotating side plate 404 and the second rotating side plate 405. In this embodiment, the connecting member is two connecting rods 406 arranged in parallel; the rotating bracket 42 is located between the first side plate 401 and the second side plate 402 of the rotating fixed bracket 41, and the first rotating side plate 404 is connected to the first side plate 401 through a first rotating shaft, and the second rotating side plate 405 is connected to the second side plate 402 through a second rotating shaft, and the axes of the first rotating shaft and the second rotating shaft are collinear. The two ends of the bottom plate 301 of the bending drive device 3 are respectively connected to the first rotating side plate 404 and the second rotating side plate 405, and the axis of the flexible device 1 on the bending drive device 3 is collinear with the axis of the second rotating shaft.

[0111] Among them, the third driving member 407 can be a motor, the third driving member 407 is fixed on the side of the second side plate 402 away from the first side plate 401, the third driving member 407 is connected to the second rotating shaft through a gear assembly, the gear assembly includes a driving gear 408, a transition gear 409 and a driven gear 410, the driving gear 408 is fixedly installed on the output shaft of the third driving member 407, the transition gear 409 is fixed on the second side plate 402 through the third rotating shaft 411, and the transition gear 409 has a double-layer meshing tooth surface, which is respectively meshed with the driven gear 410 and the driving gear 408, the driven gear 410 is fixedly connected to the second rotating shaft, and the driven gear 410 is fixedly connected to the rotating bracket 42, and the rotating bracket 42 can rotate synchronously with the driven gear 410. When the output shaft of the third driving member 407 rotates, it drives the driving gear 408 to rotate, and drives the driven gear 410 to rotate under the meshing of the transition gear 409, and the rotating bracket 42 rotates synchronously with the driven gear 410. The rotation of the rotating bracket 42 eventually drives the probe fixing device 2 and the bending driving device 3 on the rotating bracket 42 to rotate, thereby realizing the rotational movement of the flexible device 1 on the probe fixing device 2 around its own axis.

[0112] Furthermore, if Figure 1 As shown, the flexible medical device of the present invention further comprises a mobile driving device 5 , and the shaft-rotating driving device 4 is arranged on the mobile driving device 5 .

[0113] Among them, the flexible instrument 1 is installed on the bending drive device 3 through the probe fixing device 2, the bending drive device 3 is arranged on the axial drive device 4, and the axial drive device 4 is arranged on the mobile drive device 5, then the flexible instrument 1, the probe fixing device 2, the bending drive device 3, and the axial drive device 4 are combined to form a whole installed on the mobile drive device 5, the mobile drive device 5 is used to drive the axial drive device 4 to move, so that the flexible instrument 1, the probe fixing device 2 and the bending drive device 3 move synchronously, so that the flexible instrument 1 can be fed or pulled back, and the mobile drive device 5 can realize automatic feeding or pulling back of the flexible instrument 1.

[0114] The flexible medical device provided by the present invention sets the axial drive device 4 on the mobile drive device 5, and drives the axial drive device 4 to move through the mobile drive device 5, thereby driving the feeding or pulling back movement of the flexible instrument 1 on the axial drive device 4. It can be seen that the present invention can realize automatic control of the feeding or pulling back of the flexible instrument 1 through the mobile drive device 5, thereby further reducing the difficulty of operating the transesophageal ultrasound probe.

[0115] In the flexible medical device provided by the present invention, the first driving mechanism 31 and the second driving mechanism 32 of the bending driving device 3 realize the bending movement of two degrees of freedom in four directions at the end of the flexible instrument 1, the axis driving device 4 realizes the rotation of the flexible instrument 1 around its own axis, and the mobile driving device 5 realizes the feeding or pulling back of the flexible instrument 1. Therefore, the present invention can realize automatic control of the four degrees of freedom of the flexible instrument 1 without manual participation, effectively reducing the workload of medical staff.

[0116] Further, Figure 8 is a schematic diagram of the structure of the mobile drive device provided by the present invention, such as Figure 8 As shown, the mobile driving device 5 includes a fixed frame 51, a ball screw 505, a nut and a fourth driving member 512.

[0117] The ball screw 505 is arranged on the fixing frame 51, the nut is arranged on the ball screw 505, the nut is connected to the shaft rotation driving device 4, and the fourth driving member 512 is connected to the ball screw 505; Figure 8 The nut is not shown.

[0118] Specifically, the fixing frame 51 includes a support member 506 and a first fixing plate 501 and a second fixing plate 502 arranged at both ends of the support member 506; both ends of the ball screw 505 are supported on the bearing support 504, the bearing support 504 at one end of the ball screw 505 is connected to the first fixing plate 501 through the base 503, and the bearing support 504 at the other end of the ball screw 505 is connected to the second fixing plate 502 through the base 503; the fourth driving member 512 can be a motor, the fourth driving member 512 is arranged on the second fixing plate 502, and is connected to the ball screw 505 through a coupling 511; the fourth driving member 512 drives the ball screw 505 to rotate, and the ball screw 505 drives the nut to move, thereby realizing the movement of the shaft rotation drive device 4 connected to the nut.

[0119] Furthermore, the mobile drive device 5 also includes a fixed plate 508 and two guide assemblies, each guide assembly includes a guide shaft 510, a sleeve connector 507 and two linear bearings 509, the two ends of the guide shaft 510 are respectively connected to the first fixed plate 501 and the second fixed plate 502, and the axis of the guide shaft 510 is parallel to the axis of the ball screw 505; the two linear bearings 509 are arranged on the guide shaft 510 at intervals, and the sleeve connector 507 connects and fixes the two linear bearings 509 on the same guide shaft 510; the fixed plate 508 fixes the two sleeve connectors 507 of the two guide assemblies, and the fixed plate 508 is connected to the nut, and the shaft rotation drive device 4 is arranged on the fixed plate 508. When the output shaft of the fourth driving member 512 rotates, it will rotate with the ball screw 505 through the coupling 511. Due to the guiding and limiting function of the guide shaft 510 and the linear bearing 509, the nut on the ball screw 505 drives the fixed plate 508 to make a linear motion. The shaft rotation drive device 4 fixed on the fixed plate 508 makes a linear motion with the flexible device 1, and finally realizes the feeding or pulling back movement of the flexible device 1.

[0120] In the flexible medical device provided by the present invention, the movement of the four degrees of freedom of the flexible device 1 can be automatically controlled by four driving parts respectively, which can replace the traditional manual operation of the doctor and effectively improve the movement control accuracy and stability of the flexible device 1, so that the flexible medical device of the present invention has the characteristics of high industrialization and strong practicality.

[0121] The flexible medical device provided by the present invention realizes automatic control of the flexible instrument 1, can realize remote control of the flexible instrument 1, can avoid the operator's long-term exposure to X-rays, reduce or avoid radiation damage to doctors from other equipment, and also reduce the operator's physical energy consumption to a certain extent, so as to relieve the physical fatigue of the operating doctor; because the control accuracy of the flexible medical device of the present invention is higher than that of traditional manual operation, it can also shorten the requirements of the doctor's surgical skills and experience to a certain extent, shorten the learning cycle of the operating doctor, etc.

[0122] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible medical device, characterized in that: include: A flexible instrument, a probe fixing device, a bending drive device and at least one locking device; the flexible instrument has a first rotating part and a second rotating part; the bending drive device includes a first driving mechanism and a second driving mechanism; the probe fixing device includes a probe fixing bracket and a transmission mechanism arranged on the probe fixing bracket; The flexible device is arranged on the probe fixing bracket; the probe fixing bracket is detachably connected to the bending driving device, the first driving mechanism is connected to the first rotating part through the transmission mechanism, and the second driving mechanism is connected to the second rotating part through the transmission mechanism; The first driving mechanism is used to drive the first rotating part to rotate, and the second driving mechanism is used to drive the second rotating part to rotate; Wherein, the transmission mechanism includes a first transmission assembly and a second transmission assembly; the first transmission assembly is connected to the first rotating part and the first driving mechanism respectively; the second transmission assembly is connected to the second rotating part and the second driving mechanism respectively; The locking device comprises a locking bracket and two locking components, wherein the locking bracket is arranged on the bending driving device, and the locking component comprises an elastic member and a locking member rotatably arranged on the locking bracket, wherein the elastic member is respectively connected to the locking bracket and the locking member, and a locking portion is provided on the locking member; and at least two locking holes are provided on the probe fixing bracket; When the elastic member is in the first state, the locking portion is inserted into the locking hole, the first driving mechanism is connected to the first transmission assembly, and the second driving mechanism is connected to the second transmission assembly; When the elastic member is in the second state, the locking portion is separated from the locking hole, the first driving mechanism is separated from the first transmission assembly, and the second driving mechanism is separated from the second transmission assembly.

2. The flexible medical device according to claim 1, characterized in that: The first transmission assembly includes a first mating gear and a first gear meshing with the first mating gear; the second transmission assembly includes a second mating gear and a second gear meshing with the second mating gear; The first matching gear is rotatably disposed on the probe fixing bracket, and the first matching gear is connected to the first rotating part; the first gear is rotatably disposed on the probe fixing bracket, and the first gear is used to be connected to the first driving mechanism; The second matching gear is rotatably arranged on the probe fixing bracket, and the second matching gear is connected to the second rotating part; the second gear is rotatably arranged on the probe fixing bracket, and the second gear is used to be connected to the second driving mechanism.

3. The flexible medical device according to claim 1, characterized in that: The probe fixing bracket is provided with a positioning hole, and the locking bracket is provided with a positioning pin shaft; When the elastic member is in a first state, the positioning pin is inserted into the positioning hole; when the elastic member is in a second state, the positioning pin is separated from the positioning hole.

4. The flexible medical device according to claim 2, characterized in that: The bending drive device also includes a bottom plate; The first driving mechanism comprises a first driving member, a first transmission member and a first force sensor, the first driving member is arranged on the bottom plate, the first force sensor is rotatably arranged on the bottom plate, and the first transmission member is respectively connected to the first driving member and the first force sensor; The second driving mechanism comprises a second driving member, a second transmission member and a second force sensor, the second driving member is arranged on the bottom plate, the second force sensor is rotatably arranged on the bottom plate, and the second transmission member is respectively connected to the second driving member and the second force sensor; When the elastic member is in a first state, the first force sensor is connected to the first gear, and the second force sensor is connected to the second gear; when the elastic member is in a second state, the first force sensor is separated from the first gear, and the second force sensor is separated from the second gear.

5. The flexible medical device according to any one of claims 1 to 4, characterized in that: It also includes an axis rotation drive device, and the bending drive device is arranged on the axis rotation drive device; The shaft rotation driving device is used to drive the bending driving device to rotate.

6. The flexible medical device according to claim 5, characterized in that: The shaft rotation driving device comprises a rotating fixed bracket, a rotating bracket and a third driving member; The bending drive device is arranged on the rotating bracket, the rotating bracket is rotatably arranged on the rotating fixed bracket, and the third driving member is connected to the rotating bracket; The third driving member is used to drive the rotating bracket to rotate.

7. The flexible medical device according to claim 6, characterized in that: It also includes a mobile driving device, and the shaft rotation driving device is arranged on the mobile driving device; The mobile driving device is used to drive the shaft rotation driving device to move.

8. The flexible medical device according to claim 7, characterized in that: The mobile driving device includes a fixed frame, a ball screw, a nut and a fourth driving member; The ball screw is arranged on the fixing frame, the nut is arranged on the ball screw, and the nut is connected to the shaft rotation driving device, and the fourth driving member is connected to the ball screw.

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