Handpiece connector, handpiece assembly, connecting device, and endoscope system

Abstract

This invention relates to a handle-end connector, a handle device, a connecting device, and an endoscope system. The handle-end plate, a second coupling unit, and a connecting plate are included. The second coupling unit includes a drive portion, a handle-end thrust coupling portion, and a handle-end pull coupling portion, all relatively stationary in a first direction. The drive portion drives the handle-end thrust coupling portion to rotate. The handle-end thrust coupling portion and the connecting plate are rotatably connected. The output end of the handle-end thrust coupling portion extends out of the handle-end plate and is used to transmit rotational motion and a positive force in the first direction. The handle-end pull coupling portion is located between the handle-end plate and the connecting plate and is rotatably connected to the connecting plate. The handle-end plate has an adjustment hole through which the catheter-end pull coupling portion of the catheter-end connector passes. The handle-end pull coupling portion can switch between an unlocked position and a locked position to connect with the catheter-end connector. The handle-end connector can be used in conjunction with the catheter-end connector to precisely control the catheter and push-pull wire.

Description

Technical Field

[0001] This invention relates to the field of endoscope technology, and more particularly to a handle connector, handle device, connecting device, and endoscope system. Background Technology

[0002] Endoscopic surgical robots are interventional medical devices. Bronchoscopy robots are a type of endoscopic robot. They include a catheter, surgical instruments with an operating head and push-pull wires, and a handle control unit. The catheter is used to insert into the human body and establish a working channel using the body's natural cavities. The surgical instruments pass through the working channel, with both ends extending out of the catheter. The end inside the body is used to locate the target area for medical operations (such as biopsy sampling), while the end outside the body is connected to the handle control unit. The position of the operating head is controlled by pushing and pulling the push-pull wires inward and outward, so as to accurately locate and perform medical operations.

[0003] The stability and reliability of the connection between the catheter and the handle affect the control accuracy of the catheter and the push-pull wire. This invention aims to provide a solution that can accurately control the catheter and the push-pull wire. To this end, a handle end connector is proposed, which can be used as a connection structure of the handle to connect stably and reliably with the catheter. Based on the high stability and reliability of the connection between the two, the effect of accurately controlling the catheter and the push-pull wire is achieved. Based on the handle end connector, a handle device, a connection device and an endoscope system are further proposed. Summary of the Invention

[0004] To precisely control the catheter and push-pull wire, this invention provides a handle-end connector, a handle device, a connecting device, and an endoscope system. This invention is achieved through the following solution:

[0005] A handle end connector for detachable connection with a conduit end connector, the handle end connector including a handle end plate, a second coupling unit and a connecting plate, the second coupling unit including a driving part, a handle end thrust coupling part and a handle end pull coupling part that are relatively stationary in a first direction;

[0006] The driving unit is used to drive the handle end thrust coupling unit to rotate; the handle end thrust coupling unit and the connecting plate are rotatably connected, the output end of the handle end thrust coupling unit extends out of the handle end plate, and is used to transmit rotational motion and transmit positive force in the first direction;

[0007] The handle end tension coupling part is disposed between the handle end plate and the connecting plate, and is rotatably connected to the connecting plate; the handle end plate has an adjustment hole through which the catheter end tension coupling part of the catheter end connector passes; when the handle end tension coupling part is rotated to the unlocked position, it can disengage from the catheter end tension coupling part; when the handle end tension coupling part is rotated to the locked position, it can connect with the catheter end tension coupling part and apply a negative force toward the catheter end tension coupling part in the first direction.

[0008] Optionally, the adjustment hole and the tension coupling part at the handle end are provided in a one-to-one correspondence.

[0009] Optionally, the handle end tension coupling part includes a tension trigger and a rotating member. One end of the tension trigger is rotatably connected to the connecting plate, and the other end is fixedly connected to the rotating member. The rotating member is aligned with the periphery of the handle end plate.

[0010] Optionally, the tension trigger includes a first fixing plate, a second fixing plate, and a third fixing plate connected in sequence and forming a fixing groove. The third fixing plate is connected to the rotating member. A gap is provided between the end of the first fixing plate away from the second fixing plate and the rotating member. The opening of the fixing groove faces the rotating member.

[0011] The handle end connector also includes a tension sensor fixed in the fixing groove, and the handle end tension coupling part is connected to the conduit end tension coupling part through the tension sensor.

[0012] Optionally, the handle end connector has a plurality of handle end tension coupling parts, wherein each of the second fixing plates forms a pivot hole, the pivot hole is rotatably connected to the pivot shaft on the connecting plate, and each of the rotating parts forms a ring structure;

[0013] Each of the tension triggers and each of the rotation components are integrally formed.

[0014] Optionally, the handle-end thrust coupling part includes a handle-end thrust coupling disk and a handle-end thrust connecting body; the handle-end thrust coupling disk is located on the side of the handle-end end plate opposite to the connecting plate and is mutually limited with the handle-end end plate; the two ends of the handle-end thrust connecting body are respectively fixedly connected to the handle-end thrust coupling disk and the output end of the drive part.

[0015] Optionally, the handle-end thrust coupling disc includes a handle-end thrust disc body and a handle-end thrust positioning part disposed on the handle-end thrust disc body. The handle-end thrust disc body and the handle-end end plate are abutted together. The handle-end thrust positioning part is formed by a recess or protrusion on the side of the handle-end thrust disc body opposite to the handle-end end plate. The outline of the handle-end thrust positioning part adopts an irregular shape.

[0016] Optionally, the second coupling unit further includes a control unit, which includes a main control module, a drive control module, and a sensor control module;

[0017] The drive control module is configured in a one-to-one correspondence with the drive unit, and the drive control module is electrically connected to both the drive unit and the main control module.

[0018] The sensor control module is configured to correspond one-to-one with the tension coupling part at the handle end, and the sensor control module is electrically connected to the two tension coupling parts and the main control module respectively.

[0019] Optionally, the handle end connector further includes a handle end bracket, which extends from the connecting plate toward a direction away from the handle end plate; the handle end bracket and the second coupling unit are arranged in a one-to-one correspondence, and the drive control module and the sensor control module corresponding to the same second coupling unit are fixed at intervals on the handle end bracket along the first direction;

[0020] The handle end connector also includes a handle end housing, which forms an installation space with one end open. The connecting plate is fixed to the opening of the handle end housing, and the drive unit and the control unit are built into the installation space.

[0021] Optionally, the handle end connector is provided with four handle end thrust coupling parts spaced apart along a circumferential direction, and a handle end pull coupling part is provided between any two adjacent handle end thrust coupling parts.

[0022] A handle device includes a handle and a handle end connector as described in any of the above claims, wherein the handle and the connecting plate are fixedly connected.

[0023] A connecting device includes a catheter end connector and a handle end connector as described in any one of the preceding claims; the handle end thrust coupling part is used to connect to the catheter end thrust coupling part of the catheter end connector, and the catheter end thrust coupling part is used to transmit rotational motion to the linear transmission mechanism of the catheter end connector so as to convert it into linear motion in the first direction through the linear transmission mechanism; the handle end pull coupling part is used to connect to the input end of the catheter end pull coupling part of the catheter end connector.

[0024] An endoscope system includes a catheter, a push-pull wire, an operating head, a catheter end connector, a handle, and a handle end connector as described in any one of the above.

[0025] The catheter and the catheter end connector are fixedly connected. The push-pull wire passes through the catheter, and both ends of the push-pull wire are respectively connected to the output ends of the linear transmission mechanism of the operating head and the catheter end connector. The catheter end connector is connected to the handle through the handle end connector.

[0026] Wherein, after the catheter end connector and the handle end connector are connected, the handle end connector controls the linear transmission mechanism to output linear reciprocating motion by driving the catheter end thrust coupling part to rotate.

[0027] The beneficial effects of this invention are:

[0028] When connecting the catheter using the handle-end connector, the handle-end thrust coupling part and the handle-end pull coupling part indirectly apply the corresponding force to the catheter. The handle-end connector can be stably and reliably connected to the catheter. That is, the handle-end thrust coupling part and the catheter constrain the displacement degree of freedom of the two in the first direction, which are close to each other and the displacement degree of freedom of the two in the first direction, which are far apart from each other. After both degrees of freedom are constrained, the normal pressure between the handle-end connector and the catheter (indirectly generated) generates static friction, which prevents the two from rotating relative to each other. That is, it also constrains the degree of freedom of the two to rotate relative to each other around the first direction, so that the two are reliably connected. By ensuring the stability and reliability of the connection between the two, precise control of the catheter and the push-pull wire is achieved.

[0029] After the catheter end connector and the handle end connector are connected, the displacement degree of freedom of the catheter end connector and the handle end connector in the first direction is constrained by the thrust coupling part of the catheter end and the thrust coupling part of the handle end, and the displacement degree of freedom of the catheter end connector and the handle end connector in the first direction is constrained by the pull coupling part of the catheter end and the pull coupling part of the handle end. After both degrees of freedom are constrained, the catheter end connector and the handle end connector are reliably connected, achieving the effect of full coupling. Then, the linear transmission mechanism is driven by the drive unit to output the current motion, which can realize the inward and outward operation of the push-pull wire connected to the output end of the linear transmission mechanism. Attached Figure Description

[0030] To more clearly illustrate the embodiments of the present invention, the relevant accompanying drawings will be briefly described below. It should be understood that the drawings described below are only for illustrating some embodiments of the present invention, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0031] Figure 1This is a schematic diagram of the overall structure of an endoscope system according to an embodiment of the present invention.

[0032] Figure 2 This is a partial structural schematic diagram of an endoscope system according to an embodiment of the present invention, in which the handle is omitted.

[0033] Figure 3 This is a schematic diagram of the internal structure of a connecting device according to an embodiment of the present invention, in which the outer shell of the conduit end and the outer shell of the handle end are hidden to show the internal structure.

[0034] Figure 4 This is a partial structural diagram of the connection device in the unlocked state according to an embodiment of the present invention. The catheter end shell, the handle end shell, and the three first coupling units are omitted to show the correspondence between the first coupling units and their corresponding catheter end connecting frame and the second coupling unit.

[0035] Figure 5 This is a cross-sectional view of a portion of the structure of the connecting device in the locked state according to an embodiment of the present invention, to illustrate the relationship between the catheter end thrust coupling part and the handle end thrust coupling part when connected.

[0036] Figure 6 This is a cross-sectional view of a portion of the structure of the connecting device in the locked state according to an embodiment of the present invention, to illustrate the relationship between the tension coupling part at the catheter end and the tension coupling part at the handle end when connected.

[0037] Figure 7 This is a schematic diagram of the catheter end connector according to an embodiment of the present invention from one perspective, in which the catheter end shell is hidden.

[0038] Figure 8 This is a schematic diagram of the catheter end connector from another perspective of an embodiment of the present invention, in which the catheter end shell is hidden. Figure 9 This is a schematic diagram of the structure of a catheter end connector frame according to an embodiment of the present invention.

[0039] Figure 10 This is a schematic diagram of the handle end connector according to an embodiment of the present invention, wherein the handle end shell is hidden.

[0040] Figure 11 This is an exploded view of a handle end connector according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100. Catheter;

[0043] 200. Connecting device;

[0044] 300. Handle;

[0045] 400. Operating head;

[0046] 1. Catheter end connector;

[0047] 2. Connect the handle end;

[0048] 3. Thrust coupling section at the end of the conduit;

[0049] 31. Thrust coupling disc at the end of the conduit;

[0050] 311. Thrust disc at the end of the guide tube;

[0051] 312. Guide tube end thrust positioning part;

[0052] 32. Thrust connector at the end of the conduit;

[0053] 4. Pull coupling section at the end of the conduit;

[0054] 41. Pull trigger rod;

[0055] 42. Pull-limiting part at the end of the catheter;

[0056] 5. Linear transmission mechanism;

[0057] 51. Lead screw;

[0058] 52. Slider;

[0059] 521. Push-pull wire fixing body;

[0060] 53. First connecting component;

[0061] 54. Second connector;

[0062] 6. Thrust coupling part at the handle end;

[0063] 61. Handle-end thrust coupling disc;

[0064] 62. Handle end thrust connector;

[0065] 63. Thrust disc body at the handle end;

[0066] 64. Thrust positioning part at the handle end;

[0067] 7. Pull coupling part at the handle end;

[0068] 71. Rotating component;

[0069] 72. Tension trigger;

[0070] 721. Fixing groove;

[0071] 722. First fixing plate;

[0072] 723. Second fixing plate;

[0073] 724. Third fixing plate;

[0074] 73. Tension sensor;

[0075] 8. Drive unit;

[0076] 9. Outer shell of the conduit end;

[0077] 10. Catheter end connector;

[0078] 101. Catheter endplate;

[0079] 102. Catheter end stent;

[0080] 103. First connecting part;

[0081] 104. Second connecting part;

[0082] 11. Handle end shell;

[0083] 12. Handle end connector;

[0084] 121. Connecting plate;

[0085] 122. Handle end bracket;

[0086] 13. Handle end plate;

[0087] 131. Adjustment hole;

[0088] 14. Main control module;

[0089] 15. Drive control module;

[0090] 16. Sensor control module;

[0091] 17. Pivot hole;

[0092] 18. Pivot axis. Detailed Implementation

[0093] The following is in conjunction with the appendix Figure 1-11 The present invention will now be described in detail. Before proceeding, the following information relating to the "first direction" will be explained; the first direction is interpreted broadly as... Figure 1 The vertical direction of the plane in which it is located, with the positive direction of the first direction being... Figure 1 The upward vector in the plane it lies on, with the negative direction of the first direction being... Figure 1 The downward vector of the plane in which it is located.

[0094] refer to Figure 1Understood. This invention provides an endoscope system including a catheter 100, surgical instruments, a handle 300, and a connecting device 200. The catheter 100 is used to insert into the body through natural cavities to establish a working channel. The surgical instruments include an operating head 400 and a push-pull wire. The operating head 400 is used to perform functional operations inside the body, such as biopsy sampling, spraying medication, imaging, and negative pressure aspiration. One end of the push-pull wire is connected to the operating head 400, and the other end extends out of the catheter 100. Depending on the functional requirements, one or more push-pull wires can be provided. During use, the position of the operating head 400 is adjusted by operating the push-pull wire to meet the needs of positioning and functional operations.

[0095] refer to Figure 2-11 Understood. A connection device 200 includes a catheter end connector 1 and a handle end connector 2. The catheter end connector 1 is fixedly connected to the catheter 100, and the handle end connector 2 is fixedly connected to the handle 300. The catheter end connector 1 and the handle end connector 2 can be locked together or unlocked and separated to achieve the connection and separation of the catheter 100 and the handle 300.

[0096] The catheter end connector 1 includes a catheter end thrust coupling part 3, a catheter end pull coupling part 4, and a linear transmission mechanism 5. The handle end connector 2 includes a handle end thrust coupling part 6, a handle end pull coupling part 7, and a drive part 8. The catheter end thrust coupling part 3 and the handle end thrust coupling part 6 are detachably connected and, after connection, constrain the displacement freedom of the catheter end connector 1 and the handle end connector 2 to move closer to each other in a first direction. Thus, the catheter end connector 1 and the handle end connector 2 cannot move closer to each other. The handle end connector 2 can push the catheter end connector 1 in the first direction, and thus push the surgical tool forward by pushing the connecting device 200.

[0097] The catheter end tension coupling part 4 and the handle end tension coupling part 7 are detachably connected, and after connection, they constrain the displacement freedom of the catheter end connector 1 and the handle end connector 2 to move away from each other in the first direction, so that the two cannot be pulled apart in the first direction. The handle end connector 2 can pull the catheter end connector 1 in the first direction, thereby realizing the function of pulling the surgical tool backward (i.e. outward).

[0098] After the catheter end thrust coupling part 3 and the handle end thrust coupling part 6 are connected, and the catheter end pull coupling part 4 and the handle end pull coupling part 7 are connected, the output end of the drive part 8 is directly or indirectly connected to the input end of the linear transmission mechanism 5. The drive part 8 is used to drive the linear transmission mechanism 5 so that the linear transmission mechanism 5 outputs linear motion in the first direction. When the direction of the rotational motion input to the linear transmission mechanism 5 is different, the direction of the output linear motion is different. In application, the output end of the linear transmission mechanism 5 is fixedly connected to the push-pull wire, so that the push-pull wire can move relative to the catheter 100.

[0099] In this invention, the displacement degrees of freedom of the catheter end connector 1 and the handle end connector 2 in the first direction are constrained by the catheter end thrust coupling part 3 and the handle end thrust coupling part 6, and the displacement degrees of freedom of the catheter end connector 1 and the handle end connector 2 in the first direction are constrained by the catheter end pull coupling part 4 and the handle end pull coupling part 7. After both degrees of freedom are constrained, the normal pressure between the catheter end connector 1 and the handle end connector 2 generates static friction, preventing them from rotating relative to each other, and constraining their degree of freedom of rotation relative to each other around the first direction, so that they are reliably connected. Moreover, after the catheter end connector 1 and the handle end connector 2 are connected, the drive part 8 and the linear transmission mechanism 5 are also connected together, realizing the effect of full coupling. By using the drive part 8 to drive the linear transmission mechanism 5 to output linear motion, the push-pull wire connected to the output end of the linear transmission mechanism 5 can be pushed inward and pulled outward, thereby adjusting the position of the operating head 400.

[0100] Based on the above technical information, it can be seen that in the fully coupled state, the relative movements of the catheter end connector 1 and the handle end connector 2 in both the positive and negative directions of the first direction are constrained. There is no wobbling of the catheter and the handle 300 in the first direction, and the connection between the two is reliable and stable. The positional relationship between the push-pull wire and the catheter depends on the linear motion relationship between the output end of the linear transmission mechanism 5 and the catheter. After the catheter and the handle 300 are reliably and stably connected, the relative position of the push-pull wire and the catheter can be controlled by controlling the output direction and output amount of the linear transmission mechanism 5. Therefore, the present invention can accurately control the catheter and the push-pull wire.

[0101] In this invention, the catheter end connector 1 includes a first coupling unit, which comprises the aforementioned catheter end thrust coupling part 3, catheter end pull coupling part 4, and linear transmission mechanism 5; the handle end connector 2 includes a second coupling unit, which comprises the aforementioned handle end thrust coupling part 6, handle end pull coupling part 7, and drive part 8. The first coupling unit and the second coupling unit are configured in a one-to-one correspondence. In some embodiments, the catheter end connector 1 includes multiple first coupling units, and correspondingly, multiple second coupling units are also provided. When multiple sets of first coupling units and second coupling units are provided, the catheter end connector 1 and the handle end connector 2 can form multiple connection relationships, thereby improving reliability and stability. Of course, as an alternative, in some other embodiments, only one first coupling unit and one second coupling unit may be provided.

[0102] When there are multiple first coupling units, each linear transmission mechanism 5 can control one push-pull wire individually or jointly control one push-pull wire. Figure 2-11In the illustrated embodiment, four first coupling units are evenly arranged circumferentially on the catheter end connector 1, and the push-pull wire fixing body 521 at the output end of each first linear transmission mechanism 5 is located near the center of the catheter end connector 1, such as... Figure 6 As shown.

[0103] In this embodiment of the invention, the catheter end connector 1 further includes a catheter end connecting frame 10 and a catheter end housing 9 fixedly connected, with the catheter end connecting frame 10 fixed inside the catheter end housing 9. The catheter end housing 9 is tubular or barrel-shaped with one end sealed. The catheter end housing 9 and the catheter 100 are fixedly connected, and the two can be connected by means of... Figure 2 The conical components shown can also be connected directly.

[0104] The catheter end connector 10 is used to mount the first coupling unit. The catheter end connector 10 includes a catheter end plate 101 and a catheter end support 102. The catheter end plate 101 is located at one end of the catheter end housing 9, and the two are fixedly connected. The catheter end support 102 extends generally along a first direction, and one end of the catheter end support 102 is fixedly connected to the catheter end plate 101, that is, the catheter end support 102 extends from the catheter end plate 101 in the positive direction of the first direction. The other end of the catheter end support 102 is connected to the catheter end thrust coupling part 3 and the catheter end tension coupling part 4.

[0105] Specifically, the catheter end support 102 includes a first connecting portion 103 and a second connecting portion 104 arranged at an angle, which can be 90° apart. Both can be plates or rods, integrally formed, or fixed together by a connection process. The two ends of the first connecting portion 103 are respectively connected to the catheter end plate 101 and the second connecting portion 104; the second connecting portion 104 is respectively connected to the end of the catheter end tension coupling portion 4 away from the catheter end plate 101 and the end of the catheter end thrust coupling portion 3 away from the catheter end plate 101. The second connecting portion 104 and the catheter end tension coupling portion 4 are fixedly connected, while the second connecting portion 104 and the catheter end thrust coupling portion 3 are rotatably connected.

[0106] The catheter end plate 101 and the catheter end support 102 are jointly mounted with the first coupling unit. The catheter end support 102 and the first coupling unit are arranged in a one-to-one correspondence. When the catheter end connector 1 contains multiple first coupling units, each first coupling unit shares one catheter end plate 101. Each catheter end support 102 is evenly distributed along the circumference of the catheter end plate 101. Figure 2-11 In one embodiment, four catheter end supports 102 are arranged circumferentially along the catheter end plate 101.

[0107] In addition, the catheter end thrust coupling part 3 and the catheter end pull coupling part 4 extend partially out of the catheter end plate 101 to connect with the handle end thrust coupling part 6 and the handle end pull coupling part 7. The input end of the catheter end thrust coupling part 3 extends out of the catheter end plate 101 and is used to receive a positive force in the first direction, which comes from the handle end thrust coupling part 6. That is, the handle end thrust coupling part 6 is used to transmit the force to the catheter end thrust coupling part 3. The catheter end thrust coupling part 3 is also used to receive a rotational force in the first direction, which also comes from the handle end thrust coupling part 6. That is, the handle end thrust coupling part 6 is used to transmit the force to the catheter end thrust coupling part 3. The output end of the catheter end thrust coupling part 3 is fixedly connected to the input end of the linear transmission mechanism 5. The linear transmission mechanism 5 is used to output linear reciprocating motion, converting the rotational motion transmitted from the catheter end thrust coupling part 3 into linear motion of pushing and pulling the wire. The input end of the catheter end tension coupling part 4 extends out of the catheter end plate 101 and is used to receive the negative force in the first direction.

[0108] In this embodiment of the invention, the catheter end thrust coupling part 3 includes a catheter end thrust coupling disc 31 (i.e., the input end of the catheter end thrust coupling part 3) and a catheter end thrust connector 32. The input end of the catheter end thrust coupling part 3 is the end of the catheter end thrust connector 32 that is away from the catheter end thrust coupling disc 31. The catheter end thrust coupling disc 31 is connected to the input end of the linear transmission mechanism 5 through the catheter end thrust connector 32. The catheter end thrust coupling disc 31 is used to engage with the handle end thrust coupling disc 61 of the handle end thrust coupling part 6, thereby driving the drive part 8 to rotate the handle end thrust coupling part 6, causing the output ends of the catheter end thrust coupling part 3 and the linear transmission mechanism 5 to rotate. This embodiment of the invention links the two thrust coupling parts, the drive part 8, and the linear transmission mechanism 5 together, saving parts and installation space, thus making the connecting device 200 lightweight and small in size.

[0109] Specifically, the catheter end thrust coupling disc 31 is located on the side of the catheter end plate 101 opposite to the catheter end support 102, and is mutually restrained by the catheter end plate 101. The catheter end thrust coupling disc 31 and the catheter end thrust connector 32 are integrally formed, wherein the catheter end thrust connector 32 adopts a columnar structure to transmit rotational motion. When the catheter end thrust coupling disc 31 rotates, the catheter end thrust connector 32 and the input end of the linear transmission mechanism 5 rotate accordingly. The catheter end thrust coupling disc 31 includes a catheter end thrust disc body 311 and a catheter end thrust positioning part 312 disposed on the catheter end thrust disc body 311. The catheter end thrust disc body 311 and the catheter end plate 101 are abutted and connected. The catheter end thrust positioning part 312 is formed by a concave or convex side of the catheter end thrust disc body 311 facing away from the catheter end plate 101. The contour of the catheter end thrust positioning part 312 adopts an irregular shape so that it can rotate together with the handle end thrust coupling part 6 after being connected. The catheter end thrust connecting body 32 is connected to the input end of the linear transmission mechanism 5 through a coupling.

[0110] In this embodiment of the invention, the input end of the linear transmission mechanism 5 and the thrust coupling part 3 of the guide tube end are fixedly connected, specifically through a coupling. The linear transmission mechanism 5 is used to convert rotational motion into linear motion.

[0111] In this embodiment of the invention, the linear transmission mechanism 5 includes a lead screw 51 and a slider 52 threadedly connected to the lead screw 51. One end of the lead screw 51 is connected to the guide tube end thrust connector 32 via a coupling, and the other end is rotatably connected to the second connecting part 104, thereby giving the lead screw 51 good stability. The slider 52 has the aforementioned push-pull wire fixing body 521, which has a mounting hole. The push-pull wire passes through the mounting hole and is fixedly connected to the push-pull wire fixing body 521. When the lead screw 51 rotates, the slider 52 drives the push-pull wire to make linear motion.

[0112] In this embodiment of the invention, the slider 52 can be slidably connected to the tension coupling part 4 at the end of the guide tube to ensure the reliability of the running direction (e.g., Figure 4 As shown, the reliability of the running direction can also be ensured by sliding connection with the guide member parallel to the lead screw 51 fixed on the end plate 101 of the guide tube. Thus, the slider 52 only moves in the first direction. Correspondingly, the operation of the push-pull wire is more stable and reliable, and there will be no situation such as the push-pull wire rotating or tangling.

[0113] In this embodiment of the invention, the first coupling unit further includes a first connector 53 and a second connector 54. The first connector 53 is rotatably connected to the catheter end thrust coupling part 3 and fixedly connected to the catheter end pull coupling part 4, so that the catheter end thrust coupling part 3 and the catheter end pull coupling part 4 can be relatively stationary in the first direction so as to transmit the pull force.

[0114] The second connector 54 is rotatably connected to the lead screw 51 and fixedly connected to the guide tube end tension coupling part 4, so that the lead screw 51 and the guide tube end tension coupling part 4 can be relatively stationary in the first direction. The first connector 53 and the second connector 54 are located on both sides of the slider 52, and also on both sides of the output stroke of the slider 52, so that the first connector 53 and the second connector 54 will not interfere with the movement of the slider 5; preferably, the second connector 54 is arranged close to the threaded part of the lead screw 51, which not only improves the overall stability and reliability of the first coupling unit, but also facilitates connection.

[0115] In this embodiment of the invention, the catheter end tension coupling part 4 includes a tension trigger rod 41 extending along a first direction. One end of the tension trigger rod 41 is fixedly connected to the second connecting part 104, and the other end extends out of the catheter end plate 101 and protrudes radially outward to form a catheter end tension limiting part 42. The catheter end tension limiting part 42 is used to connect to the handle end tension coupling part 7 and generate an interaction force with it in the first direction. The catheter end tension limiting part 42 receives a negative force in the first direction, and correspondingly, the handle end tension coupling part 7 receives a positive force in the first direction, thereby constraining the displacement degrees of freedom of the catheter end connector 1 and the handle end connector 2 to move away from each other in the first direction.

[0116] The embodiments of the present invention achieve the effect that the input ends of the catheter end tension coupling part 4, the catheter end thrust coupling part 3, and the linear transmission mechanism 5 are relatively stationary in the first direction through the above-described scheme. As a result, the positive pressure between the catheter end connector 1 and the handle end connector 2 is relatively stable after locking, and the connection between the catheter end connector 1 and the handle end connector 2 is more stable. Of course, under the concept of the present invention, other methods to reliably lock the catheter end connector 1 and the handle end connector 2 together are also within the protection scope of the present invention.

[0117] In this embodiment of the invention, the handle end connector 2 further includes a handle end housing 11, a handle end connecting frame 12, and a handle end plate 13, all of which are relatively stationary. The handle end connecting frame 12 is disposed within the handle end housing 11. The handle end housing 11 has an installation space with one open end, in which the drive unit 8 and the control unit described below are built. The handle end connecting frame 12 includes a connecting plate 121, which is fixed to the opening of the handle end housing 11. The connecting plate 121 and the handle end plate 13 are spaced apart in a first direction.

[0118] The handle end tension coupling part 7 is located between the handle end plate 13 and the handle end housing 11, and is also located between the handle end plate 13 and the connecting plate 121. The handle end tension coupling part 7 is rotatably connected to the connecting plate 121 to facilitate switching between the unlocked and locked positions. The handle end plate 13 has an adjustment hole 131 through which the catheter end tension coupling part 4 of the catheter end connector 1 passes. When the handle end tension coupling part 7 is rotated relative to the handle end plate 13 to the unlocked position, it disengages from the catheter end tension coupling part 4. When the handle end tension coupling part 7 is rotated relative to the handle end plate 13 to the locked position, it can connect with the catheter end tension coupling part 4 and apply a negative force toward the catheter end tension coupling part 4 in the first direction.

[0119] In this embodiment of the invention, the adjustment hole 131 on the end plate 13 of the handle end and the handle end tension coupling part 7 are provided one-to-one. The adjustment hole 131 allows the catheter end tension coupling part 4 to pass through, so that the catheter end tension limiting part 42 can be inserted into the handle end connector 2. As above, the handle end tension coupling part 7 can switch between the locked position and the unlocked position relative to the end plate 13 of the handle end. When the handle end tension coupling part 7 is in the unlocked position, the handle end tension coupling part 7 and the catheter end tension coupling part 4 do not contact each other. At this time, the two connectors can be separated along the first direction. When the handle end tension coupling part 7 is in the locked position, the handle end tension coupling part 7 can abut against the catheter end tension coupling part 4, thereby generating a positive pressure in the first direction between the two.

[0120] In some embodiments, the handle end tension coupling part 7 is switched between the locked and unlocked positions by rotating the handle end tension coupling part 7. In other words, the handle end tension coupling part 7 is rotatably connected to the connecting plate 121 and / or the handle end plate 13 and / or the handle end housing 11. In other embodiments, the handle end tension coupling part 7 can also be switched between the locked and unlocked positions in a non-rotational manner.

[0121] In this embodiment of the invention, the handle-end tension coupling part 7 includes a rotating member 71 and a tension trigger member 72. One end of the tension trigger member 72 is rotatably connected to the connecting plate 121, and the other end is fixedly connected to the rotating member 71. The rotating member 71 is located on the outer side, and the tension trigger member 72 is rotated by applying a force to the rotating member 71 during use. In some embodiments, the rotating member 71 is aligned with the periphery of the handle-end plate 13 and also with the side of the handle-end housing 11 to obtain a better visual effect. In the first direction, the two end faces corresponding to the rotating member 71 correspond to the edges of the handle-end plate 13 and the handle-end housing 11, respectively, which facilitates rotation and is visually appealing.

[0122] The tension trigger 72 includes a first fixing plate 722, a second fixing plate 723, and a third fixing plate 724 that are sequentially connected and form a fixing groove 721. The end of the first fixing plate 722 away from the second fixing plate 723 is spaced apart from the rotating member 71. The second fixing plate 723 faces the rotating member 71. The end of the third fixing plate 724 away from the second fixing plate 723 is connected to the rotating member 71. The opening of the fixing groove 721 faces the rotating member 71.

[0123] In this embodiment of the invention, the tension trigger 72 and the catheter end tension coupling part 4 are indirectly connected for coupling. Specifically, the handle end connector 2 also includes a tension sensor 73 fixed in the fixing groove 721. The handle end tension coupling part 7 is connected to the catheter end tension coupling part 4 through the tension sensor 73. The side of the tension sensor 73 is provided with a groove extending in the first direction. During connection, after rotating the handle end tension coupling part 7 to the locking position, the end face of the tension sensor 73 and the catheter end tension limiting part 42 contact each other and generate positive pressure. At this time, the tension trigger rod 41 is partially attached to the groove. In this solution, while achieving coupling, the connection between the tension sensor 73 and the catheter end tension coupling part 4 can be detected by the tension sensor 73, thereby determining whether the two are properly engaged or not.

[0124] In this embodiment of the invention, the handle-end connector 2 has multiple handle-end tension coupling portions 7, wherein each second fixing plate 723 surrounds a pivot hole 17, the pivot hole 17 and the pivot shaft 18 on the connecting plate 121 are rotatably connected, and each rotating member 71 surrounds a ring structure. Preferably, each tension trigger 72 and each rotating member 71 are integrally formed. Specifically, each tension trigger 72 forms a radial structure, sharing the pivot hole 17 and the pivot shaft 18 portion, and each rotating member 71 surrounds a ring structure.

[0125] In this embodiment of the invention, the output end of the handle-end thrust coupling part 6 extends out of the handle-end plate 13 and is used to transmit rotational motion and positive force in the first direction to the guide tube-end thrust coupling disk 31; the other end of the handle-end thrust coupling part 6 is rotatably connected to the connecting plate 121 of the handle-end connecting frame 12 and fixedly connected to the output end of the drive part 8. The drive part 8 is disposed within the space enclosed by the connecting plate 121 and the handle-end housing 11.

[0126] The handle end thrust coupling part 6 includes a handle end thrust coupling disk 61 and a handle end thrust connector 62; the handle end thrust coupling disk 61 is located on the side of the handle end plate 13 away from the connecting plate 121 and is mutually limited with the handle end plate 13; the two ends of the handle end thrust connector 62 are fixedly connected to the handle end thrust coupling disk 61 and the output end of the drive part 8, respectively.

[0127] Specifically, the handle-end thrust coupling disc 61 is used to connect with the catheter-end thrust coupling disc 31. The handle-end thrust coupling disc 61 includes a handle-end thrust disc body 63 and a handle-end thrust positioning part 64 disposed on the handle-end thrust disc body 63. The handle-end thrust disc body 63 and the handle-end end plate 13 are abutted together. The handle-end thrust positioning part 64 is formed by a concave or convex shape on the side of the handle-end thrust disc body 63 facing away from the handle-end end plate 13. The outline of the handle-end thrust positioning part 64 adopts an irregular shape. When the handle-end thrust positioning part 64 is a concave structure, the catheter-end thrust positioning part 312 is a matching convex structure; conversely, when the handle-end thrust positioning part 64 is a convex structure, the catheter-end thrust positioning part 312 is a matching concave structure.

[0128] In this embodiment of the invention, the handle connector 2 further includes a control unit, which comprises a main control module 14, a drive control module 15, and a sensor control module 16. Each of these can be implemented using a circuit board with corresponding functions. The drive control module 15 is connected to the drive unit 8 in a one-to-one correspondence, and is electrically connected to both the drive unit 8 and the main control module 14 to control the start and stop of the drive unit 8. The sensor control module 16 is configured to correspond to the tension sensor 73 in a one-to-one correspondence, and is electrically connected to both the tension sensor 73 and the main control module 14 to acquire and analyze the detection data from the tension sensor 73. Furthermore, the main control module 14 controls the drive control module 15 and the sensor control module 16, and can also receive and process the data from the drive control module 15 and the sensor control module 16.

[0129] The handle end connector 12 also includes a handle end bracket 122, which is fixed on the connecting plate 121 and extends from the connecting plate 121 toward a direction away from the handle end plate 13. The handle end bracket 122 and the second coupling unit are arranged in a one-to-one correspondence. The drive control module 15 and the sensor control module 16 corresponding to the same second coupling unit are fixed on the handle end bracket 122 at intervals along the first direction.

[0130] like Figure 11 As shown, the handle end connector 2 has four second coupling units. Correspondingly, four handle end brackets 122 are arranged around the periphery of the connecting plate 121. Four sets of drive control modules 15 and sensor control modules 16 are disposed in the gaps between each handle end bracket 122 and the handle end housing 11. Four sets of drive units 8 are disposed within the space enclosed by each handle end bracket 122. In addition, four handle end thrust coupling units 6 are spaced apart along a circumferential direction, and a handle end pull coupling unit 7 is disposed between any two adjacent handle end thrust coupling units 6.

[0131] Combination Figure 4-6 Understand the connection process of the connecting device 200. Figure 4The dashed lines in the diagram illustrate the positional relationship between a set of catheter end tension coupling parts 4 and their corresponding handle end tension coupling parts 7. It can be seen that the handle end tension coupling part 7 is currently in the locked position. First, rotate the handle end tension coupling part 7 to the unlocked position in the direction indicated by the arrow. Then, move the catheter end connector 1 and the handle end connector 2 relative to each other along the first direction until the catheter end thrust coupling disc 31 and the handle end thrust coupling disc 61 are correspondingly engaged. Then... Figure 4 Rotate the handle end tension coupling part 7 in the opposite direction of the arrow to the locked position, thereby locking the catheter end connector 1 and the handle end connector 2 together. The relationship between the catheter end thrust coupling part 3 and the handle end thrust coupling part 6 is as follows: Figure 5 As shown, the relationship between the catheter end tension coupling part 4 and the handle end tension coupling part 7 is as follows: Figure 6 As shown. The unlocking process is simply the reverse of the connection process described above.

[0132] The above describes the technical information of the catheter end connector 1, the handle end connector 2, and the endoscope system having the catheter end connector 1 and the handle end connector 2. The endoscope system can also be understood as including a catheter device and a handle 300 device. The present invention also provides a catheter device based on the catheter end connector 1 and a handle 300 device based on the handle end connector 2, which will be described separately below.

[0133] The catheter device includes a catheter 100, a push-pull wire, an operating head 400, and the aforementioned catheter end connector 1. The catheter 100 and the catheter end connector 10 are fixedly connected, but can be indirectly connected, such as through the aforementioned catheter end housing 9. The push-pull wire passes through the catheter 100, and its two ends are respectively connected to the operating head 400 and the output end of the linear transmission mechanism 5.

[0134] The handle 300 device includes a handle 300 and the aforementioned handle end connector 2, and the handle 300 and the connecting plate 121 are fixedly connected.

[0135] Finally, it should be noted that those skilled in the art will understand that many technical details have been presented in the embodiments of the present invention to facilitate a better understanding of the invention. However, even without these technical details and various variations and modifications based on the above embodiments, the technical solutions claimed in the claims of the present invention can be substantially achieved. Therefore, in practical applications, various changes in form and detail can be made to the above embodiments without departing from the spirit and scope of the present invention.

Claims

1. A handle end connector, characterized in that, For detachable connection with the catheter end connector, the handle end connector includes a handle end plate, a second coupling unit and a connecting plate. The connecting plate and the handle end plate are spaced apart in a first direction. The direction from the connecting plate to the handle end plate is the positive direction of the first direction, and the direction from the handle end plate to the connecting plate is the negative direction of the first direction. The second coupling unit includes a drive part that is relatively stationary in the first direction, a handle end thrust coupling part, and a handle end pull coupling part; The driving unit is used to drive the handle end thrust coupling unit to rotate; the handle end thrust coupling unit and the connecting plate are rotatably connected, the output end of the handle end thrust coupling unit extends out of the handle end plate, and is used to transmit rotational motion and transmit positive force in the first direction; The handle end tension coupling part is disposed between the handle end plate and the connecting plate, and is rotatably connected to the connecting plate; the handle end plate has an adjustment hole through which the catheter end tension coupling part of the catheter end connector passes; when the handle end tension coupling part is rotated to the unlocked position, it can disengage from the catheter end tension coupling part; when the handle end tension coupling part is rotated to the locked position, it can connect with the catheter end tension coupling part and apply a negative force toward the catheter end tension coupling part in the first direction.

2. The handle end connector as described in claim 1, characterized in that, The adjustment hole and the tension coupling part at the handle end are provided in a one-to-one correspondence.

3. The handle end connector as described in claim 1, characterized in that, The handle end tension coupling part includes a tension trigger and a rotating member. One end of the tension trigger is rotatably connected to the connecting plate, and the other end is fixedly connected to the rotating member. The rotating member is aligned with the periphery of the handle end plate.

4. The handle end connector as described in claim 3, characterized in that, The tension trigger includes a first fixing plate, a second fixing plate, and a third fixing plate connected in sequence and forming a fixing groove. The third fixing plate is connected to the rotating member. There is a gap between the end of the first fixing plate away from the second fixing plate and the rotating member. The opening of the fixing groove faces the rotating member. The handle end connector also includes a tension sensor fixed in the fixing groove, and the handle end tension coupling part is connected to the conduit end tension coupling part through the tension sensor.

5. The handle end connector as described in claim 4, characterized in that: The handle end connector has multiple handle end tension coupling parts, wherein each of the second fixing plates forms a pivot hole, the pivot hole and the pivot shaft on the connecting plate are rotatably connected, and each of the rotating parts forms a ring structure; Each of the tension triggers and each of the rotation components are integrally formed.

6. The handle end connector as described in claim 1, characterized in that, The handle end thrust coupling part includes a handle end thrust coupling disk and a handle end thrust connector; the handle end thrust coupling disk is located on the side of the handle end plate opposite to the connector plate and is mutually limited with the handle end plate; the two ends of the handle end thrust connector are respectively fixedly connected to the handle end thrust coupling disk and the output end of the drive part.

7. The handle end connector as described in claim 6, characterized in that, The handle-end thrust coupling disc includes a handle-end thrust disc body and a handle-end thrust positioning part disposed on the handle-end thrust disc body. The handle-end thrust disc body and the handle-end end plate are abutted and connected. The handle-end thrust positioning part is formed by a recess or protrusion on the side of the handle-end thrust disc body that is opposite to the handle-end end plate. The outline of the handle-end thrust positioning part adopts an irregular shape.

8. The handle end connector as described in any one of claims 1-7, characterized in that, The second coupling unit further includes a control unit, which includes a main control module, a drive control module, and a sensor control module; The drive control module is configured in a one-to-one correspondence with the drive unit, and the drive control module is electrically connected to both the drive unit and the main control module. The sensor control module is configured to correspond one-to-one with the tension coupling part at the handle end, and the sensor control module is electrically connected to the two tension coupling parts and the main control module respectively.

9. The handle end connector as described in claim 8, characterized in that, The handle end connector further includes a handle end bracket, which extends from the connecting plate toward a direction away from the handle end plate; the handle end bracket and the second coupling unit are arranged in a one-to-one correspondence, and the drive control module and the sensor control module corresponding to the same second coupling unit are fixed at intervals on the handle end bracket along the first direction; The handle end connector also includes a handle end housing, which forms an installation space with one end open. The connecting plate is fixed to the opening of the handle end housing, and the drive unit and the control unit are built into the installation space.

10. The handle end connector as claimed in claim 8, characterized in that, The handle end connector is provided with four handle end thrust coupling parts spaced apart along a circumferential direction, and a handle end pull coupling part is provided between any two adjacent handle end thrust coupling parts.

11. A handle device, characterized in that, It includes a handle and a handle-end connector as described in any one of claims 1-10, wherein the handle and the connecting plate are fixedly connected.

12. A connecting device, characterized in that, The device includes a catheter end connector and a handle end connector as described in any one of claims 1-10; the handle end thrust coupling part is used to connect to the catheter end thrust coupling part of the catheter end connector, and the catheter end thrust coupling part is used to transmit rotational motion to the linear transmission mechanism of the catheter end connector so as to convert it into linear motion in the first direction through the linear transmission mechanism; the handle end pull coupling part is used to connect to the input end of the catheter end pull coupling part of the catheter end connector.

13. An endoscope system, characterized in that, Includes catheters, push-pull wires, operating heads, catheter end connectors, handles, and handle end connectors as described in any one of claims 1-10; The catheter and the catheter end connector are fixedly connected. The push-pull wire passes through the catheter, and both ends of the push-pull wire are respectively connected to the output ends of the linear transmission mechanisms of the operating head and the catheter end connector. The catheter end connector is connected to the handle through the handle end connector. Wherein, after the catheter end connector and the handle end connector are connected, the handle end connector controls the linear transmission mechanism to output linear reciprocating motion by driving the catheter end thrust coupling part to rotate.

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