Device for controlling casing movement and method for controlling casing movement

Abstract

The present invention discloses a device for controlling the movement of a cannula and a method for controlling the movement of a cannula, wherein the cannula includes an inner tube and an outer tube that fit together, and the device includes a clamping unit and a telescopic unit, wherein the second end of the clamping unit is connected to the first end of the telescopic unit, the clamping unit penetrates from the first end to the second end to form a first tubular cavity, and the telescopic unit penetrates from the first end to the second end to form a second tubular cavity; the outer tube is connected to the second end of the telescopic unit, and the cavity of the outer tube is interconnected with the second tubular cavity and the first tubular cavity to form a complete through-hole cavity, and the inner tube is arranged in the through-hole cavity; the first tubular cavity on the clamping unit can be radially expanded and contracted for clamping the inner tube, and the telescopic unit can be axially expanded and contracted, so that the clamping unit and the telescopic unit can cooperate to drive the relative axial movement between the inner tube and the outer tube. The present invention has small size, light weight, simple structure, simple control, and is compatible with nuclear magnetic resonance.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a device for controlling the movement of a cannula and a method for controlling the movement of a cannula. Background Art

[0002] Concentric tube motion is common in healthcare, with applications such as needle injections, endotracheal intubation, and biopsy punctures. For example, during endotracheal intubation, the doctor inserts an endoscope through the central hole of the trachea to provide a visual field. In this application scenario, the trachea serves as the outer tube in the concentric tube motion, and the endoscope serves as the inner tube. The trachea and endoscope can move relative to each other, along the path of either the outer or inner tube.

[0003] With the rapid development of medical robotics, a large number of automated robots or devices have been proposed for the above application scenarios. Currently, there are three main methods for controlling the motion of concentric tubes: (1) using a linear motor or a screw drive mechanism to directly push the tube, such as the Chinese patent document CN113017837A; (2) using rollers to squeeze the outer wall of the tube and use friction to push the tube; and (3) using motion control algorithms to control a multi-degree-of-freedom robotic arm to push the tube. For method (1), the length of the hardware structure is proportional to the length of the concentric tube, which is not suitable for the movement of concentric tubes with long lengths, such as tracheal intubation. For method (2), the concentric tube is squeezed for a long time and is prone to damage, which is not suitable for soft tube walls, such as trachea. In addition, the drive device requires at least two motors, so this method is not suitable for integration into compact medical equipment, such as rope-driven puncture robots. For method (3), a complex control algorithm is required and the robotic arm occupies a large space.

[0004] On the other hand, to improve surgical accuracy and safety, intraoperative imaging has become a hot topic. For example, in intraoperative puncture surgery assisted by iMRI, the MRI scanner's working volume is a cylindrical space approximately 600mm in diameter, significantly limiting the overall size of the automated puncture robot. Furthermore, the MRI environment requires the robot to be MRI-compatible.

[0005] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of this application. Summary of the Invention

[0006] To solve the above problems, the present invention proposes a device for controlling the movement of a sleeve and a method for controlling the movement of a sleeve, which have the following characteristics: 1) small size; 2) light weight; 3) simple structure; 4) simple control; 5) nuclear magnetic compatibility.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] In the first aspect, the present invention discloses a device for controlling the movement of a sleeve, wherein the sleeve includes an inner tube and an outer tube that fit together, and the device includes a clamping unit and a telescopic unit, the second end of the clamping unit is connected to the first end of the telescopic unit, the clamping unit penetrates a first tubular cavity from the first end to the second end, and the telescopic unit penetrates a second tubular cavity from the first end to the second end; the outer tube is connected to the second end of the telescopic unit, and the cavity of the outer tube is interconnected with the second tubular cavity and the first tubular cavity to form a complete through-hole, and the inner tube is arranged in the through-hole; the first tubular cavity on the clamping unit can be radially expanded and contracted for clamping the inner tube, and the telescopic unit can be axially expanded and contracted, so that the clamping unit and the telescopic unit can cooperate to drive the inner tube and the outer tube to move relative to each other in the axial direction. Specifically, when the inner tube is fixed, the clamping unit and the telescopic unit can cooperate to drive the outer tube to move axially; when the outer tube is fixed, the clamping unit and the telescopic unit can cooperate to drive the inner tube to move axially.

[0009] Preferably, the clamping unit adopts an airbag made of a silicone membrane, and at least one first air hole is opened on the airbag, so that the airbag can be inflated or deflated through the at least one first air hole so that the first tubular cavity on the clamping unit can be radially expanded or contracted.

[0010] Preferably, the telescopic unit includes a silicone telescopic part and an outer cover made of a silicone film, the silicone telescopic part is sealed and connected to the outer cover to form an enclosed space, and at least one second air hole is provided on the outer cover to inflate or deflate the enclosed space through at least one second air hole so that the telescopic unit can be expanded and contracted along the axial direction.

[0011] Preferably, the silicone stretchable member is in an extended state in a natural state, and the axial length of the outer cover is greater than or equal to the length of the silicone stretchable member in the extended state.

[0012] Preferably, the device for controlling the movement of the sleeve further comprises a connecting tube, which is connected between the second end of the clamping unit and the first end of the telescopic unit, and the inner cavity of the connecting tube is in communication with both the second tubular cavity and the first tubular cavity.

[0013] Preferably, the clamping unit, the telescopic unit and the connecting tube are all made of silicone material.

[0014] Preferably, the device is applied to syringe injection applications, biopsy puncture applications or endotracheal intubation applications, wherein, in syringe injection applications, the inner tube corresponds to the needle of the syringe, and the outer tube corresponds to the cavity of the syringe; in biopsy puncture applications, the inner tube corresponds to the needle tube, and the outer tube corresponds to the guide needle tube mechanism; in endotracheal intubation applications, the inner tube corresponds to the endoscope, and the outer tube corresponds to the trachea.

[0015] In a second aspect, the present invention discloses a method for controlling the movement of a casing, which uses the device described in the first aspect to control the movement of the inner tube in the casing, comprising the following steps:

[0016] A0: Fixing the outer tube;

[0017] A1: reducing the first tubular cavity on the clamping unit in the radial direction to clamp the inner tube;

[0018] A2: The telescopic unit is axially contracted to drive the clamping unit and the inner tube to move axially together;

[0019] A3: radially expanding the first tubular cavity on the clamping unit to release the inner tube;

[0020] A4: The telescopic unit is extended in the axial direction to restore to the initial state of the telescopic unit;

[0021] A5: Repeat steps A1 to A4 at least 0 times.

[0022] In a third aspect, the present invention discloses a method for controlling the movement of a casing, which uses the device described in the first aspect to control the movement of the inner tube in the casing, comprising the following steps:

[0023] B0: Fixing the outer tube;

[0024] B1: The telescopic unit contracts in the axial direction to drive the clamping unit to move in the axial direction;

[0025] B2: reducing the diameter of the first tubular cavity on the clamping unit in the radial direction to clamp the inner tube;

[0026] B3: The telescopic unit is extended in the axial direction to drive the clamping unit and the inner tube to move in the axial direction together;

[0027] B4: radially expanding the first tubular cavity on the clamping unit to release the inner tube;

[0028] B5: Repeat steps B1 to B4 at least 0 times.

[0029] In a fourth aspect, the present invention discloses a method for controlling the movement of a casing, using the device described in the first aspect to control the movement of the outer tube in the casing, comprising the following steps:

[0030] C0: fixing the inner tube;

[0031] C1: The telescopic unit is axially contracted to drive the clamping unit to move axially;

[0032] C2: reducing the diameter of the first tubular cavity on the clamping unit in the radial direction to clamp the inner tube;

[0033] C3: The telescopic unit extends axially to drive the outer tube to move axially;

[0034] C4: radially expanding the first tubular cavity on the clamping unit to release the inner tube;

[0035] C5: Repeat steps C1 to C4 at least 0 times.

[0036] In a fifth aspect, the present invention discloses a method for controlling the movement of a casing, using the device described in the first aspect to control the movement of the outer tube in the casing, comprising the following steps:

[0037] D0: fixing the inner tube;

[0038] D1: reducing the first tubular cavity on the clamping unit in the radial direction to clamp the inner tube;

[0039] D2: The telescopic unit contracts in the axial direction to drive the outer tube to move in the axial direction;

[0040] D3: radially expanding the first tubular cavity on the clamping unit to release the inner tube;

[0041] D4: The telescopic unit is extended in the axial direction to restore to the initial state of the telescopic unit;

[0042] D5: Repeat steps D1 to D4 at least 0 times.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows: the device for controlling the movement of the sleeve disclosed in the present invention, the driving end is composed of a clamping unit and a telescopic unit, the inner tube is clamped in combination with the radial expansion and contraction of the first tubular cavity of the clamping unit, the telescopic unit is axially expanded and contracted to drive the outer tube and / or the clamping unit to move axially, thereby pushing or pulling the inner tube or the outer tube; through the reciprocating cycle of the two movements, the movement task of the inner and outer tubes fitting together over a long distance can be achieved, and the device is small in size, light in weight, simple in structure, simple to control and easy to achieve nuclear magnetic compatibility.

[0044] Specifically, the present invention has the following advantages:

[0045] (1) Small size: The robot (the device used to control the movement of the cannula) can be directly installed on existing medical equipment without increasing the overall size.

[0046] (2) Lightweight: The robot driving end (including the gripping unit and the extension unit) has a small mass, making it easy for medical staff to carry.

[0047] (3) Simple structure: The overall structure is mainly composed of a simple clamping unit and a simple telescopic unit, which is convenient for processing, production and assembly.

[0048] (4) Simple control: The movement of the robot (device used to control the movement of the casing) is a combination of radial clamping and axial telescopic movement. The control of the two movements is independent and simple.

[0049] (5) MRI compatibility: The robot's execution end (including the gripping unit and the stretching unit) is made of silicone and will not affect the quality of medical imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 1 is a schematic diagram of the structure of the device for controlling the movement of the sleeve and the sleeve during assembly, as disclosed in the first embodiment of the present invention;

[0051] Figure 2 yes Figure 1 A schematic structural diagram of a device for controlling the movement of a casing;

[0052] Figure 3 yes Figure 2 Schematic diagram of the exploded structure of the device for controlling the movement of the casing;

[0053] Figure 4 yes Figure 1 A schematic diagram of a device for controlling the movement of the casing and a cross-sectional structure of the casing during assembly;

[0054] Figure 5 This is a schematic diagram of the working process of the method for controlling the movement of the casing (the outer tube is fixed and the device pushes the inner tube forward) disclosed in the second embodiment of the present invention;

[0055] Figure 6 This is a schematic diagram of the workflow of the method for controlling the movement of the casing (the outer tube is fixed, and the device pulls the inner tube backward) disclosed in the third embodiment of the present invention;

[0056] Figure 7 This is a schematic diagram of the working process of the method for controlling the movement of the sleeve (the inner tube is fixed and the device pushes the outer tube forward) disclosed in the fourth embodiment of the present invention;

[0057] Figure 8 This is a schematic diagram of the workflow of the method for controlling the movement of the casing (the inner tube is fixed, and the device pulls the outer tube backward) disclosed in the fifth embodiment of the present invention;

[0058] Figure 9 1 is a schematic structural diagram of a micro biopsy puncture robot system proposed in a specific embodiment of the present invention;

[0059] Figure 10 yes Figure 9 Schematic diagram of the structure of the micro biopsy puncture robot;

[0060] Figure 11 1 is a schematic structural diagram of a micro endotracheal intubation robot system proposed in a specific embodiment of the present invention;

[0061] Figure 12 yes Figure 11 Schematic diagram of the structure of the micro endotracheal intubation robot. DETAILED DESCRIPTION

[0062] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope of the present invention and its application.

[0063] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for both fixing and circuit / signal communication.

[0064] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0066] like Figures 1 to 4As shown, the first embodiment of the present invention discloses a device for controlling the movement of a cannula, wherein the cannula includes an inner tube 11 and an outer tube 12 that fit together. The device 100 for controlling the movement of the cannula includes a clamping unit 20 and a telescopic unit 30. The second end of the clamping unit 20 is connected to the first end of the telescopic unit 30. The clamping unit 20 extends from the first end to the second end to form a first tubular cavity 21. The telescopic unit 30 extends from the first end to the second end to form a second tubular cavity 31. The outer tube 12 is connected to the telescopic unit 30. The second end, and the cavity 121 of the outer tube 12 and the second tubular cavity 31 and the first tubular cavity 21 are all connected to form a complete through cavity, and the inner tube 11 is arranged in the through cavity; the first tubular cavity 21 on the clamping unit 20 can be expanded and contracted in the radial direction for clamping the inner tube 11, and the telescopic unit 30 can be expanded and contracted in the axial direction to drive the outer tube 12 and / or the clamping unit 20 to move axially, so that the clamping unit 20 and the telescopic unit 30 can cooperate to drive the inner tube 11 and the outer tube 12 to move relative to each other in the axial direction. Specifically, when the inner tube 11 is fixed, the clamping unit 20 and the telescopic unit 30 can cooperate to drive the outer tube 12 to move axially, and when the outer tube 12 is fixed, the clamping unit 20 and the telescopic unit 30 can cooperate to drive the inner tube 11 to move axially.

[0067] Among them, the clamping unit 20 adopts an annular airbag 22 made of a silicone membrane, and a first air inlet hole 221 and a first air outlet hole 222 are opened on the airbag 22, so that the airbag 22 can be inflated or deflated through the first air inlet hole 221 and the first air outlet hole 222 so that the first tubular cavity 21 on the clamping unit 20 can be radially expanded or contracted.

[0068] The telescopic unit 30 includes a silicone telescopic member 32 and an outer cover 33 made of a silicone film. The silicone telescopic member 32 is sealed to the outer cover 33 to form a closed space 34. The outer cover 33 is provided with a second air inlet 331 and a second air outlet 332. The closed space 34 is inflated or deflated through the second air inlet 331 and the second air outlet 332, so that the silicone telescopic member 32 can be axially expanded and contracted, that is, the entire telescopic unit 30 can be axially expanded and contracted. The silicone telescopic member 32 is in an expanded state in its natural state, and the axial length of the outer cover 33 is greater than or equal to the length of the silicone telescopic member 32 in its expanded state.

[0069] Furthermore, the apparatus for controlling the movement of the cannula according to an embodiment of the present invention further includes a connecting tube 40, which is connected between the second end of the gripping unit 20 and the first end of the telescopic unit 30. The inner cavity 41 of the connecting tube 40 is in communication with both the second tubular cavity 31 and the first tubular cavity 21. By providing the connecting tube 40 between the gripping unit 20 and the telescopic unit 30, interference between the movements of the gripping unit 20 and the telescopic unit 30 can be avoided.

[0070] The main task of the device for controlling the movement of the sleeve in the embodiment of the present invention is to complete the mutual movement of the inner tube (inner pipe) and the outer tube (outer pipe) that are fitted together, such as Figure 1 As shown, the device for controlling the movement of the cannula is used to achieve the mutual movement of the concentric inner tube 11 and outer tube 12, wherein the outer tube 12 is fixedly connected to the second end of the telescopic unit 30 via a base 13, wherein the base 13 is fixedly connected to the outer tube 12 and the telescopic unit 30 respectively. It should be noted that the concentric inner tube 11 and outer tube 12 will not slide relative to each other under normal conditions. There is resistance between the inner and outer tubes or between the inner and outer tubes and the environment. In this case, the mutual movement of the concentric inner and outer tubes 11 and 12 requires the application of external force. The device for controlling the movement of the cannula provided by the embodiment of the present invention plays the role of applying push and pull forces. In addition, the mutual movement of the inner and outer tubes does not need to be completely concentric, so there is no need to maintain the concentric state at all times; it is only necessary to ensure that the inner and outer tubes are fitted together (i.e., the outer tube 12 is fitted on the inner tube 11). For example, during tracheal intubation, the doctor puts the trachea over the endoscope. Due to the friction between the two and the fact that they are not completely concentric, the two will not slide relative to each other, and the doctor needs to push the trachea forward or backward.

[0071] Specifically, if Figures 2 to 4 As shown, the device for controlling the movement of the sleeve in the first embodiment of the present invention is mainly composed of three parts: a clamping unit 20, a telescopic unit 30 and a connecting tube 40. The clamping unit 20 is an airbag 22 made of a silicone film, and the airbag 22 is provided with a first air inlet 221 and a first air outlet 222. The telescopic unit 30 is composed of a silicone film (an outer cover 33 made of a silicone film) that wraps a folding and unfolding mechanism (a silicone telescopic part 32, specifically taking a silicone suction cup as an example). The silicone telescopic part 32 and the outer cover 33 form a closed space 34, and the outer cover 33 is provided with a second air inlet 331 and a second air outlet 332. The clamping unit 20 and the telescopic unit 30 are connected by a connecting tube 40 (flexible silicone tube). The first air inlet 221 and the first air outlet 222 of the gripping unit 20 are connected to the air pump's inflating and inhaling holes, respectively, via two vent tubes. The air pump can control the air pressure of the airbag to expand and contract the airbag 22, thereby gripping and releasing the inner tube 11. The second air inlet 331 and the second air outlet 332 of the telescopic unit 30 are connected to the air pump's inflating and inhaling holes, respectively, via two vent tubes. The air pump can control the air pressure in the enclosed space 34 wrapped by the film to expand and contract the silicone suction cup (silicone telescopic member 32), thereby achieving axial telescoping of the suction cup (silicone telescopic member 32).

[0072] The outer cover 33 is a silicone film wrapped around the outer layer of the silicone telescopic member 32 to prevent air leakage. In general, it can be regarded as an integrated structure. Figure 3In order to conveniently show the structure of the silicone retractable member 32, the two sides of the outer cover 33 are shown separately, which does not mean that the outer cover 33 must be composed of two parts on both sides.

[0073] In this embodiment, the gripping unit 20, the telescopic unit 30, and the connecting tube 40 are all made of silicone. The connecting tube 40 can be connected to the gripping unit 20 and the telescopic unit 30 respectively using glue. The connecting tube 40 can avoid the problem of interference between the gripping unit 20 and the telescopic unit 30 when they are directly connected together. The silicone film forming the outer cover 33 of the telescopic unit 30 can be first rolled into a ring and put on the outer layer of the silicone suction cup. The upper and lower edges of the cylindrical silicone film and the upper and lower edges of the silicone suction cup can be glued together to form a closed space 34 between the outer cover 33 and the silicone suction cup (silicone telescopic member 32).

[0074] In other embodiments, the airbag 22 and the outer cover 33 may each be provided with only one air hole, so that inflation and deflation can be achieved simultaneously through the one air hole.

[0075] The device for controlling the movement of cannulae disclosed in Example 1 of the present invention primarily consists of three components: a gripping unit, a connecting tube, and a telescoping unit. The gripping unit achieves radial movement through the expansion and contraction of an airbag, thereby gripping the inner tube. The telescoping unit pushes or pulls the inner or outer tubes through the axial movement of a folding and unfolding mechanism. This reciprocating cycle of these two motions enables the movement of inner and outer tubes, particularly over long distances, to fit within each other.

[0076] Embodiments 2 to 5 of the present invention respectively disclose control methods for four situations of mutual movement of sleeves, which are described in detail as follows.

[0077] The mutual movement of the sleeves (the inner tube 11 and the outer tube 12 that fit together) can be divided into the following four situations: the outer tube 12 is fixed, the inner tube 11 moves forward and backward, such as Figure 5 and Figure 6 As shown; the inner tube 11 is fixed, the outer tube 12 moves forward and backward, as Figure 7 and Figure 8 The schematic diagram of the planar mechanism and the initial state of the device for controlling the movement of the sleeve are shown in Figure 4 As shown, the planar structural diagram simplifies the air inlet and outlet into one channel.

[0078] In embodiment 2, the above-mentioned device is used to control the inner tube 11 in the sleeve to move forward (that is, the inner tube 11 moves forward in the direction of the outer tube 12). The method for controlling the movement of the sleeve includes: A0: fixing the outer tube 12; A1: radially shrinking the first tubular cavity 21 on the clamping unit 20 to clamp the inner tube 11; A2: axially contracting the telescopic unit 30 to drive the clamping unit 20 and the inner tube 11 to move axially together; A3: radially expanding the first tubular cavity 21 on the clamping unit 20 to release the inner tube 11; A4: axially extending the telescopic unit 30 to restore to the initial state of the telescopic unit 30; A5: repeating steps A1 to A4 at least 0 times.

[0079] The specific implementation process of this embodiment is as follows Figure 5 As shown, when the outer tube 12 is fixed, the device (robot) pushes the inner tube 11 forward in the following process: a1. The telescopic unit 30 is sealed, the gripping unit 20 is inflated, and the inner tube 11 is gripped. a2. The gripping unit 20 is sealed, maintaining the gripping of the inner tube 11, and the telescopic unit 30 is evacuated and axially contracted, simultaneously pulling the gripping unit 20 and the inner tube 11 to complete a single feed of the inner tube 11. (c) The telescopic unit 30 is sealed, the gripping unit 20 is evacuated and contracted, releasing the inner tube 11. (d) The gripping unit 20 is sealed, the telescopic unit 30 is inflated and axially expanded, and the device (robot) returns to its initial state. The above four steps are repeated several times to complete the advancement of the inner tube 11.

[0080] In embodiment three, the above-mentioned device is used to control the inner tube 11 in the sleeve to move backward (that is, the inner tube 11 moves backward in the direction away from the outer tube 12). The method for controlling the movement of the sleeve includes: B0: fixing the outer tube 12; B1: axially contracting the telescopic unit 30 to drive the clamping unit 20 to move axially; B2: radially reducing the diameter of the first tubular cavity 21 on the clamping unit 20 to clamp the inner tube 11; B3: axially extending the telescopic unit 30 to drive the clamping unit 20 and the inner tube 11 to move axially together; B4: radially expanding the first tubular cavity 21 on the clamping unit 20 to release the inner tube 11; B5: repeating steps B1 to B4 at least 0 times.

[0081] The specific implementation process of this embodiment is as follows Figure 6As shown, when the outer tube 12 is fixed, the device (robot) pushes the inner tube 11 backward in the following process: b1. The gripping unit 20 is sealed, and the telescopic unit 30 is evacuated to cause axial contraction; b2. The telescopic unit 30 is sealed, and the gripping unit 20 is inflated to grip the inner tube 11; b3. The gripping unit 20 is sealed, maintaining the grip of the inner tube 11, and the telescopic unit 30 is inflated, simultaneously pushing the gripping unit 20 and the inner tube 11 to complete a single retreat of the inner tube 11; b4. The telescopic unit 30 is sealed, and the gripping unit 20 is evacuated to release the inner tube 11, and the device (robot) returns to its initial state. The above four steps can be repeated several times to complete the retreat of the inner tube 11.

[0082] A typical application of the method for controlling the movement of the sleeve in Examples 2 and 3 is syringe injection, that is, the application of fixing the outer tube and pushing and pulling the inner tube. The inner tube will not slide in the absence of external force. In this scenario, the outer tube is fixed by a clamp, and the inner tube is pushed and pulled using this invention. A rough film can be attached to the inner side of the clamping unit 20 (that is, a rough film can be attached to the side wall of the first tubular cavity 21). When the airbag 22 is tightened, the friction between the clamping unit 20 and the inner tube 11 increases, thereby ensuring that the clamping unit 20 and the inner tube 11 remain relatively fixed during clamping. When the clamping unit 20 is released, the inner and outer tubes will not slide relative to each other.

[0083] In embodiment 4, the above-mentioned device is used to control the outer tube 12 in the sleeve to move forward (that is, the outer tube 12 moves in a direction away from the inner tube 11). The method for controlling the movement of the sleeve includes: C0: fixing the inner tube 11; C1: axially contracting the telescopic unit 30 to drive the clamping unit 20 to move axially; C2: radially reducing the diameter of the first tubular cavity 21 on the clamping unit 20 to clamp the inner tube 11; C3: axially extending the telescopic unit 30 to drive the outer tube 12 to move axially; C4: radially expanding the first tubular cavity 21 on the clamping unit 20 to release the inner tube 11; C5: repeating steps C1 to C4 at least 0 times.

[0084] The specific implementation process of this embodiment is as follows Figure 7 As shown, when the inner tube 11 is fixed, the device (robot) pushes the outer tube 12 forward in the following process: c1. The gripping unit 20 is sealed, and the telescopic unit 30 is evacuated, causing axial contraction; c2. The telescopic unit 30 is sealed, and the gripping unit 20 is inflated to grip the inner tube 11; c3. The gripping unit 20 is sealed, maintaining the grip of the inner tube 11, and the telescopic unit 30 is inflated to push the outer tube 12, completing a single feed of the outer tube 12; c4. The telescopic unit 30 is sealed, and the gripping unit 20 is evacuated and contracted, releasing the inner tube 11, and the device (robot) returns to its initial state. These four steps are repeated several times to complete the advancement of the outer tube 12.

[0085] In embodiment five, the above-mentioned device is used to control the outer tube 12 in the sleeve to move backward (that is, the outer tube 12 moves backward in the direction of the inner tube 11). The method for controlling the movement of the sleeve includes: D0: fixing the inner tube 11; D1: radially shrinking the first tubular cavity 21 on the clamping unit 20 to clamp the inner tube 11; D2: axially contracting the telescopic unit 30 to drive the outer tube 12 to move axially; D3: radially expanding the first tubular cavity 21 on the clamping unit 20 to release the inner tube 11; D4: axially extending the telescopic unit 30 to restore to the initial state of the telescopic unit 30; D5: repeating steps D1 to D4 at least 0 times.

[0086] The specific implementation process of this embodiment is as follows Figure 8 As shown, when the inner tube is fixed, the device (robot) pushes the outer tube back ( Figure 8 ) are as follows: d1. The telescopic unit 30 is sealed, the gripping unit 20 is inflated, and the inner tube 11 is gripped; d2. The gripping unit 20 is sealed, maintaining the gripping of the inner tube 11, and the telescopic unit 30 is evacuated and axially contracted, pulling the gripping unit 20 to complete a single retraction of the outer tube 12; d3. The telescopic unit 30 is sealed, the gripping unit 20 is evacuated and contracted, releasing the inner tube 11; d4. The gripping unit 20 is sealed, the telescopic unit 30 is inflated and axially expanded, and the device (robot) returns to its initial state. The above four steps are repeated several times to complete the retraction of the outer tube 12.

[0087] The typical application of the method for controlling the movement of the sleeve in Examples 4 and 5 is tracheal intubation, that is, the inner tube is fixed and the outer tube moves. The outer tube will not slide without external force. In this scenario, the inner tube (endoscope) is fixed by a clamp, and the invention is used to push and pull the outer tube.

[0088] Regarding the situation in which the outer tube is fixed and the inner tube moves in the second and third embodiments, there is an application of biopsy puncture in the medical field. A micro biopsy puncture robot system based on a concentric tube motion robot (a device for controlling the movement of the cannula) is shown in FIG. Figure 9 As shown, the biopsy puncture robot 57 includes a DC power supply 51, two programmable air pumps 52, four ventilation tubes 53, a positioning arm 54, a host computer 55, an air pump controller 56 and a biopsy puncture robot 57. Figure 10 As shown, it includes a device 100 for controlling the movement of a cannula according to the first embodiment of the present invention, a needle tube 571 and a puncture positioning device 572. In this application scenario, the outer tube is a positioning device for biopsy puncture (containing a hollow working channel that can guide the needle tube), which is fixed to the end effector of the robot arm, and then the device 100 for controlling the movement of the cannula is fixed to the positioning device; the inner tube is a biopsy puncture needle (needle tube 571), which moves forward and backward along the direction of the working channel of the positioning device. For details of the motion flow chart, see Figure 5 and Figure 6 .

[0089] Regarding the situation in which the inner tube is fixed and the outer tube moves in the fourth and fifth embodiments, there is an application of tracheal intubation in the medical field. A micro tracheal intubation robot system based on a concentric tube motion robot (a device for controlling the movement of the cannula) is shown in FIG. Figure 11 As shown, the tracheal intubation robot comprises a DC power supply 61, two programmable air pumps 62, four ventilation tubes 63, a positioning arm 64, a host computer 65, an air pump controller 66 and a tracheal intubation robot 67. Figure 12 As shown, it includes a concentric tube motion device 100, an endoscope 671, and a trachea 672. In this application scenario, the outer tube is the trachea 672, which contains a hollow working channel and can be sleeved and moved forward and backward along the extension direction of the endoscope 671. The device 100 for controlling the movement of the sleeve is then fixed to the flange at the entrance of the trachea; the inner tube 11 is the endoscope 671, which is fixed to the end effector of the positioning arm. For details of the motion flow chart, see Figure 7 and Figure 8 .

[0090] As can be seen from Examples 2 to 5, the materials and drive methods of the device for controlling the movement of the cannula of the present invention are as follows: the robot's actuator (including the airbag, folding and unfolding mechanism, etc.) and the transmission device (ventilation tube) are all made of non-magnetic silicone products, so the device is compatible with nuclear magnetic resonance. The robot is driven by air pressure, and the actuator and drive end of all robots can be separated by the transmission device. Therefore, the robot's actuator (the device for controlling the movement of the cannula) is small in size, lightweight, and compatible with nuclear magnetic resonance. Therefore, the robot can be easily integrated with existing small medical devices, such as trachea and needle tubes, without affecting the operation of other medical devices. In addition, the robot can operate in a narrow nuclear magnetic resonance scanner, and the quality of nuclear magnetic resonance imaging is not affected by the drive end.

[0091] The present invention can achieve automated movement of nested inner and outer tubes without requiring complex robotic control algorithms. The robot's task flow demonstrates that the complete mutual movement of the inner and outer tubes is broken down into several small-distance movements, each of which is composed of a single movement of the gripping unit 20 and the telescopic unit 30. The gripping and telescopic movements are independent of each other. Therefore, automation of this robot (device) is easily achieved.

[0092] Due to the compact size of the robot itself, the present invention does not affect the movement of the inner or outer tube devices. For example, in the biopsy procedure described above, the robot can be used as a simple puncture module in conjunction with an existing puncture positioning robot. The puncture robot's compact size allows it to be mounted on the positioning robot's end effector without increasing the robot's overall size. Furthermore, its movement is independent of that of the positioning robot, eliminating kinematic coupling and ensuring surgical precision.

[0093] The devices for controlling the movement of the cannula provided by the present invention are made of silicone and plastic products, are lightweight, and will not affect the operation of other medical equipment, so they have strong compatibility. Taking biopsy puncture as an example, for the need to complete the puncture surgery in a real-time MRI (nuclear magnetic resonance) environment, general automatic puncture equipment contains ferromagnetic parts, which will affect the MRI imaging quality. However, the present invention has nuclear magnetic compatibility. First, because the robot is made of nuclear magnetic compatible materials, and second, because it adopts a pneumatic control method, the driving end of the robot can be placed in the control room by extending the transmission device, thereby ensuring the imaging quality of the MRI during the operation.

[0094] The present invention has a wide range of application scenarios in the medical field, including but not limited to the biopsy puncture and tracheal intubation scenarios introduced above.

[0095] The background section of the present invention may contain background information about the problem or environment of the present invention rather than describing prior art by others. Therefore, the inclusion of content in the background section is not an admission by the applicant that the prior art is available.

[0096] The above description further details the present invention in conjunction with specific / preferred embodiments, and the specific implementation of the present invention should not be construed as being limited to these descriptions. Persons skilled in the art will appreciate that, without departing from the spirit of the present invention, they may make various substitutions or modifications to the described embodiments, and these substitutions or modifications should be considered to fall within the scope of protection of the present invention. Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "preferred embodiments," "examples," "specific examples," or "some examples" indicates that the specific features, structures, materials, or characteristics described in conjunction with such embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and assemble the different embodiments or examples described in this specification, as well as features from different embodiments or examples, without conflicting opinions. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions, and modifications may be made herein without departing from the scope of the appended claims.

Claims

1. A device for controlling the movement of a casing, characterized in that: The sleeve includes an inner tube and an outer tube that fit into each other, and the device includes a clamping unit and a telescopic unit. The second end of the clamping unit is connected to the first end of the telescopic unit, and the clamping unit penetrates a first tubular cavity from the first end to the second end, and the telescopic unit penetrates a second tubular cavity from the first end to the second end; the outer tube is connected to the second end of the telescopic unit, and the cavity of the outer tube is connected to the second tubular cavity and the first tubular cavity to form a complete through-cavity, and the inner tube is arranged in the through-cavity; the first tubular cavity on the clamping unit can be expanded and contracted in the radial direction for clamping or releasing the inner tube, and the telescopic unit can be expanded and contracted in the axial direction, so that the clamping unit and the telescopic unit can be expanded and contracted in the axial direction. The telescopic unit can cooperate to drive the relative axial movement between the inner tube and the outer tube; wherein, the clamping unit clamps the inner tube, the telescopic unit extends or shortens, and pushes or pulls the inner tube or the outer tube. After completing a single push or pull of the inner tube or the outer tube, the clamping unit releases the inner tube, and the telescopic unit shortens or shortens to an initial state. After the telescopic unit shortens or shortens to an initial state, the clamping unit clamps the inner tube again, and the telescopic unit shortens or shortens again, and pushes or pulls the inner tube or the outer tube again. The delivery of the inner tube or the outer tube is completed through the reciprocating cycle of the clamping unit clamping or releasing the inner tube and the telescopic unit extending or shortening.

2. The device for controlling the movement of a casing according to claim 1, wherein: The clamping unit adopts an airbag made of a silicone membrane, and at least one first air hole is opened on the airbag, so that the airbag can be inflated or deflated through the at least one first air hole so that the first tubular cavity on the clamping unit can be radially expanded or contracted.

3. The device for controlling the movement of a casing according to claim 1, wherein: The telescopic unit includes a silicone telescopic part and an outer cover made of a silicone film. The silicone telescopic part is sealed and connected to the outer cover to form a closed space. At least one second air hole is provided on the outer cover to inflate or deflate the closed space through the at least one second air hole so that the telescopic unit can be expanded and contracted along the axial direction.

4. The device for controlling the movement of a casing according to claim 3, characterized in that The silicone stretchable member is in an extended state in a natural state, and the axial length of the outer cover is greater than or equal to the length of the silicone stretchable member in the extended state.

5. The device for controlling the movement of a casing according to claim 1, wherein: It also includes a connecting tube, which is connected between the second end of the clamping unit and the first end of the telescopic unit, and the inner cavity of the connecting tube is connected to the second tubular cavity and the first tubular cavity; further, the clamping unit, the telescopic unit and the connecting tube are all made of silicone material.

6. The device for controlling the movement of a casing according to claim 1, wherein: The device is used for syringe injection applications, biopsy puncture applications or endotracheal intubation applications, wherein, in syringe injection applications, the inner tube corresponds to the needle of the syringe, and the outer tube corresponds to the cavity of the syringe; in biopsy puncture applications, the inner tube corresponds to the needle tube, and the outer tube corresponds to the guiding needle tube mechanism; in endotracheal intubation applications, the inner tube corresponds to the endoscope, and the outer tube corresponds to the trachea.

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