Flexible tip controllable medical instrument motion control system and medical device

Abstract

This invention provides a motion control system and medical device for a flexible end-effector controllable medical device, belonging to the field of medical device technology. The motion control system includes a mounting body, a sheath control device, and an insertion part swinging device. The sheath control device is connected to the mounting body. The insertion part swinging device includes an insertion part drive mechanism, an insertion part swing arm mechanism, and an insertion part mounting mechanism. The insertion part drive mechanism is connected to the mounting body, and the insertion part mounting mechanism is connected to the insertion part drive mechanism via the insertion part swing arm mechanism. The insertion part drive mechanism drives the insertion part mounting mechanism to swing by driving the insertion part swing arm mechanism. The insertion part swing arm mechanism drives the insertion part mounting mechanism to rotate. This invention achieves movement of the insertion part relative to the sheath through the swinging of the insertion part mounting mechanism and adjusts the posture of the insertion part mounting mechanism through the insertion part swing arm mechanism, thereby adjusting the posture of the insertion part and preventing bending when the insertion part enters the sheath control device.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a flexible end-effector controllable medical device motion control system and medical equipment. Background Technology

[0002] In recent years, flexible end-effectors and their surgical instruments have been widely used in minimally invasive diagnosis and treatment. In flexible surgical instrument systems, flexible end-effectors are used to examine the human body for lesions. These devices have a two-stage concentric tube structure and can enter the body through the mouth or other natural body cavities, allowing for observation of lesions within the body.

[0003] In existing technologies, flexible end-effector controllable medical devices mainly consist of a sheath and an insertion part, with the insertion part needing to enter the body of the target patient through the sheath. The control system of the flexible end-effector controllable medical device mainly includes a sheath mounting mechanism and an insertion part mounting mechanism. The sheath is mounted on the sheath mounting mechanism, and the insertion part is mounted on the insertion part mounting mechanism. During the movement of the insertion part mounting mechanism towards the sheath mounting mechanism, the insertion part on the insertion part mounting mechanism passes through the sheath mounting mechanism and the sheath on the sheath mounting mechanism to enter the body of the target patient.

[0004] However, in the aforementioned prior art, when there is a large angular deviation between the centerline of the insertion part installation mechanism and the centerline of the sheath installation mechanism, the insertion part on the insertion part installation mechanism is prone to bending when it moves relative to the sheath installation mechanism. This can lead to damage to the power lines and other components inside the insertion part. Therefore, there is an urgent need to propose a flexible end-effector controllable medical device motion control system to avoid bending of the insertion part. Summary of the Invention

[0005] This invention provides a flexible end-effector controllable medical device motion control system and medical device to solve the defect in the prior art where the insertion part of the sheath is prone to bending.

[0006] This invention provides a motion control system for a flexible end-effector controllable medical device, comprising:

[0007] Installation main body;

[0008] A sheath control device is connected to the mounting body;

[0009] An insertion part swing device includes an insertion part drive mechanism, an insertion part swing arm mechanism, and an insertion part mounting mechanism. The insertion part drive mechanism is connected to the mounting body, and the insertion part mounting mechanism is connected to the insertion part drive mechanism through the insertion part swing arm mechanism.

[0010] The insertion part driving mechanism is used to drive the insertion part swing arm mechanism to swing the insertion part mounting mechanism between a first position and a second position. In the first position, the insertion part mounting mechanism is close to the sheath control device, and in the second position, the insertion part mounting mechanism is away from the sheath control device. The insertion part swing arm mechanism is used to drive the insertion part mounting mechanism to rotate between a third position and a fourth position. In the third position, the insertion part mounting mechanism is close to the sheath control device, and in the fourth position, the insertion part mounting mechanism is away from the sheath control device.

[0011] According to the present invention, a flexible end-effector controllable medical device motion control system includes an insertion arm, an insertion posture adjustment drive assembly, and a transmission assembly.

[0012] One end of the insertion part swing arm is connected to the output shaft of the insertion part drive mechanism, and the insertion part mounting mechanism is rotatably connected to the other end of the insertion part swing arm; the insertion part posture adjustment drive assembly is disposed on the insertion part swing arm, and the insertion part posture adjustment drive assembly is connected to the insertion part mounting mechanism through the transmission assembly;

[0013] The insertion part posture adjustment drive assembly is used to drive the insertion part mounting mechanism to rotate between the third position and the fourth position by driving the transmission assembly.

[0014] According to the present invention, a flexible end-effector controllable medical device motion control system includes an insertion part mounting mechanism comprising an insertion part linear wire drive assembly and an insertion part mounting assembly detachably connected to the insertion part linear wire drive assembly.

[0015] The insertion section linear wire drive assembly is connected to the transmission assembly.

[0016] According to the present invention, a flexible end-effector controllable medical device motion control system is provided, wherein the insertion arm mechanism further includes a rotating component;

[0017] The rotating assembly includes a rotating shaft and a connector connected to the rotating shaft. The rotating shaft is rotatably mounted on the insertion part swing arm and is connected to the transmission assembly. The connector is connected to the insertion part linear wire drive assembly.

[0018] According to the present invention, a motion control system for a flexible end-effector controllable medical device includes a transmission component comprising a main transmission component and a slave transmission component that is transmissionally coupled to the main transmission component.

[0019] The main transmission component is connected to the output shaft of the insertion part attitude adjustment drive assembly; the slave transmission component is sleeved on the rotating shaft.

[0020] According to the present invention, a flexible end-effector controllable medical device motion control system, the insertion part swing device further includes a locking component, which is disposed on the insertion part swing arm and / or the insertion part mounting mechanism;

[0021] The locking component is used to lock the insertion part mounting mechanism when the insertion part mounting mechanism is rotated to the fourth position.

[0022] According to the present invention, a flexible end-effector controllable medical device motion control system includes a locking component comprising a first magnet and a second magnet that magnetically engages with the first magnet.

[0023] The first magnet is disposed on the swing arm of the insertion part, and the second magnet is disposed on the installation mechanism of the insertion part.

[0024] According to the present invention, a flexible end-effector controllable medical device motion control system is provided, wherein the sheath control device includes a sheath arm and a sheath mounting mechanism, and the sheath mounting mechanism includes a sheath straight wire drive assembly and a sheath mounting assembly detachably connected to the sheath straight wire drive assembly;

[0025] The sheath straight wire drive assembly is connected to the mounting body via the sheath arm.

[0026] According to the present invention, a flexible end-effector controllable medical device motion control system includes an insertion part drive mechanism comprising an insertion part drive motor; the insertion part swing device further includes a sensing component disposed on the mounting body.

[0027] The sensing component is used to detect the rotation angle of the drive motor of the insertion part.

[0028] The present invention also provides a medical device, including a displacement driving system and a motion control system for a flexible end-effector controllable medical device as described above;

[0029] The mounting body of the flexible end-effector controllable medical device motion control system is connected to the displacement drive system.

[0030] The flexible end-effector controllable medical device motion control system and medical device provided by this invention connects the insertion part installation mechanism to the insertion part drive mechanism via an insertion part swing arm mechanism. The insertion part drive mechanism controls the overall swinging of the insertion part installation mechanism and the insertion part swing arm mechanism, thereby achieving movement of the insertion part relative to the sheath during the swinging process. The insertion part swing arm mechanism adjusts the posture of the insertion part installation mechanism, thus adjusting the posture of the insertion part and preventing bending when the insertion part enters the sheath control device. Furthermore, the insertion part drive mechanism drives the insertion part to swing, and the swinging motion of the insertion part allows for precise control when it bends to enter the sheath. The insertion part does not need to maintain a straight line when entering the sheath, and the swinging motion of the insertion part saves system space. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is one of the structural schematic diagrams of the flexible end-effector controllable medical device motion control system provided by the present invention;

[0033] Figure 2 This is the second schematic diagram of the flexible end-effector controllable medical device motion control system provided by the present invention;

[0034] Figure 3 This is a schematic diagram of the sheath control device provided by the present invention;

[0035] Figure 4 This is one of the structural schematic diagrams of the insertion part swing device provided by the present invention;

[0036] Figure 5 This is the second schematic diagram of the structure of the insertion part swing device provided by the present invention;

[0037] Figure 6 This is the third schematic diagram of the structure of the insertion part swing device provided by the present invention;

[0038] Figure 7 This is the fourth schematic diagram of the structure of the insertion part swing device provided by the present invention;

[0039] Figure 8 This is a schematic diagram of the structure of the rotating assembly and the transmission assembly provided by the present invention;

[0040] Figure 9 This is a partial structural schematic diagram of the insertion part swing device provided by the present invention;

[0041] Figure 10 This is one of the posture diagrams of the motion control system for the flexible end-effector controllable medical device provided by the present invention;

[0042] Figure 11 This is the second posture diagram of the motion control system for the flexible end-effector controllable medical device provided by the present invention;

[0043] Figure 12 This is the third posture diagram of the motion control system for the flexible end-effector controllable medical device provided by the present invention;

[0044] Figure label:

[0045] 101. Sheath; 102. Insertion part; 103. Mounting body; 104. Sheath control device; 105. Insertion part swinging device;

[0046] 201. Sheath arm; 202. Sheath mounting mechanism; 203. Insertion part drive mechanism; 204. Insertion part swing arm mechanism; 205. Insertion part mounting mechanism;

[0047] 301. Sheath straight wire drive assembly; 302. Sheath mounting assembly; 303. Sheath catheter fixation component;

[0048] 401. Insertion part swing arm; 402. Insertion part posture adjustment drive assembly; 403. Transmission assembly; 404. Insertion part linear wire drive assembly; 405. Insertion part mounting assembly; 406. Rotation assembly; 407. Insertion part guide tube fixing component; 408. First magnet; 409. Second magnet;

[0049] 501. Rotating shaft; 502. Connecting component; 503. Driving pulley; 504. Synchronous belt; 505. Driven pulley;

[0050] 601. First limit sensor; 602. Second limit sensor; 603. Third limit sensor; 604. Limit sensing plate; 605. Limit sensor mounting plate. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0052] The following is combined Figures 1-12 The present invention describes a flexible end-effector controllable medical device motion control system.

[0053] Figure 1 This is one of the structural schematic diagrams of the flexible end-effector controllable medical device motion control system provided in the embodiments of the present invention. Figure 2 This is a second schematic diagram of the structure of the flexible end-effector controllable medical device motion control system provided in this embodiment of the invention, as shown below. Figure 1 and Figure 2 As shown, the motion control system of the flexible end-effector controllable medical device includes a mounting body 103, a sheath control device 104, and an insertion part swing device 105.

[0054] The flexible end-effector controllable medical device of this invention can be an endoscope used in the medical field, such as a bronchoscope, urethroscope, duodenoscope, cholangioscope, nephroscope, etc., which are thin and flexible electronic endoscopes. The flexible end-effector controllable medical device has a two-stage concentric tube structure and can enter the body through the oral cavity or other natural cavities to examine the target site for disease detection. The flexible end-effector controllable medical device mainly includes a cooperating sheath 101 and an insertion part 102. The insertion part 102 is inserted into the sheath 101 and can move relative to the sheath 101. The sheath 101 and the insertion part 102 can simultaneously enter the target site for disease detection. However, when space is limited at the target site, because the radial dimension of the insertion part 102 is smaller than that of the sheath 101, only the insertion part 102 can be driven to move, thus extending forward relative to the sheath 101 and entering the target site.

[0055] Figure 3 This is a schematic diagram of the sheath control device provided in an embodiment of the present invention, as shown below. Figure 2 and Figure 3 As shown, the sheath control device 104 includes a sheath arm 201 and a sheath mounting mechanism 202; one end of the sheath arm 201 is connected to the mounting body 103, the sheath mounting mechanism 202 is connected to the other end of the sheath arm 201, and the tail of the sheath 101 is mounted on the sheath mounting mechanism 202.

[0056] Figure 4 This is one of the structural schematic diagrams of the insertion part swing device provided in the embodiments of the present invention. Figure 5 This is a second schematic diagram of the structure of the insertion part swing device provided in the embodiment of the present invention, as shown below. Figure 2 , Figure 4 and Figure 5As shown, the insertion part swing device 105 includes an insertion part drive mechanism 203, an insertion part swing arm mechanism 204, and an insertion part mounting mechanism 205. The insertion part drive mechanism 203 is connected to the mounting body 103. The insertion part drive mechanism 203 can be an insertion part drive motor, a rotary cylinder, or a servo mechanism, etc. The fixed seat of the insertion part drive mechanism 203 is set on the mounting body 103. The insertion part swing arm mechanism 204 is connected to the output shaft of the insertion part drive mechanism 203, and the insertion part mounting mechanism 205 is connected to the insertion part swing arm mechanism 204. The insertion part drive mechanism 203 drives the insertion part swing arm mechanism 204 to swing, and the insertion part swing arm mechanism 204 drives the insertion part mounting mechanism 205 to swing between a first position and a second position. Thus, the insertion part 102 moves relative to the movable sheath 101 during the swing of the insertion part swing arm mechanism 204. In addition, the insertion part swing arm mechanism 204 is also used to drive the rotation of the insertion part mounting mechanism 205 between a third position and a fourth position.

[0057] It should be noted that the movement of the mounting body 103 enables the synchronous movement of the insertion part 102 and the sheath 101, and the insertion part drive mechanism 203 enables the movement of the insertion part 102 relative to the sheath 101. The movement of the mounting body 103 and the insertion part drive mechanism 203 simultaneously enables the movement of the sheath 101 relative to the insertion part 102. Specifically, when the insertion part 102 and the sheath 101 move synchronously to the vicinity of the test site on the human body, due to space constraints, only the insertion part drive mechanism 203 drives the insertion part 102 forward (closer to the test site). The tip of the insertion part 102 then extends out of the sheath 101 to reach the target test site. The tip of the insertion part 102 is used for lesion detection and minimally invasive surgical treatment. Specifically, while the mounting body 103 moves, the insertion part drive mechanism 203 drives the insertion part 102 to move in the opposite direction. The moving distance of the insertion part 102 is the same as the moving distance of the mounting body 103, enabling the independent drive of the sheath 101.

[0058] Specifically, such as Figure 1 As shown, the sheath control device 104 and the insertion part swing device 105 are arranged at intervals on the mounting body 103. In this embodiment, the insertion part drive mechanism 203 is a drive motor. The insertion part drive mechanism 203 drives the insertion part mounting mechanism 205 to swing in a direction close to the sheath mounting mechanism 202 or away from the sheath mounting mechanism 202. Figure 1The insertion part drive mechanism 203 drives the insertion part swing arm mechanism 204 and the insertion part mounting mechanism 205 to swing back and forth as a whole. The extreme position of the insertion part mounting mechanism 205 swinging forward (the insertion part mounting mechanism 205 is close to the sheath mounting mechanism 202) is taken as the first position, and the extreme position of the insertion part mounting mechanism 205 swinging backward (the insertion part mounting mechanism 205 is far away from the sheath mounting mechanism 202) is taken as the second position. Then the insertion part mounting mechanism 205 swings between the first position and the second position.

[0059] The insertion arm mechanism 204 is used to drive the insertion mounting mechanism 205 to rotate along a first direction or a second direction, thereby adjusting the posture of the insertion mounting mechanism 205, which is also adjusting the posture of the insertion part 102; the first direction is the direction in which the insertion mounting mechanism 205 approaches the sheath control device 104, which is... Figure 1 The first direction is clockwise; the second direction is the opposite of the first direction. Specifically, the second direction is the direction in which the insertion mounting mechanism 205 moves away from the sheath control device 104, that is... Figure 1 The insertion part mounting mechanism 205 rotates counterclockwise. The limit position of the insertion part mounting mechanism 205 in the first direction is taken as the third position, and the limit position of the insertion part mounting mechanism 205 in the second direction is taken as the fourth position. The insertion part mounting mechanism 205 rotates between the third position and the fourth position to adjust the posture of the insertion part 102.

[0060] The flexible end-effector controllable medical device motion control system provided by the present invention connects the insertion part mounting mechanism 205 to the insertion part driving mechanism 203 through the insertion part swing arm mechanism 204. The insertion part driving mechanism 203 controls the insertion part mounting mechanism 205 and the insertion part swing arm mechanism 204 to swing as a whole, thereby realizing the movement of the insertion part 102 relative to the sheath 101 during the swing of the insertion part mounting mechanism 205. The insertion part swing arm mechanism 204 adjusts the posture of the insertion part mounting mechanism 205, thereby adjusting the posture of the insertion part 102 and preventing the insertion part 102 from bending when entering the sheath control device 104.

[0061] Specifically, such as Figure 4As shown, the insertion arm mechanism 204 includes an insertion arm 401, an insertion posture adjustment drive assembly 402, and a transmission assembly 403. One end of the insertion arm 401 is connected to the output shaft of the insertion drive mechanism 203, and the insertion mounting mechanism 205 is rotatably connected to the other end of the insertion arm 401, so the insertion mounting mechanism 205 can rotate relative to the insertion arm 401. The insertion posture adjustment drive assembly 402 is mounted on the insertion arm 401, and the output shaft of the insertion posture adjustment drive assembly 402 is connected to the input of the transmission assembly 403. The output shaft of the transmission assembly 403 is connected to the insertion mounting mechanism 205. The insertion posture adjustment drive assembly 402 drives the insertion mounting mechanism 205 to rotate relative to the insertion arm 401 in a first direction or a second direction, that is, between a third position and a fourth position, thereby realizing the adjustment of the posture of the insertion mounting mechanism 205.

[0062] It should be noted that the sheath mounting mechanism 202 is used to mount the sheath 101, and the insertion part mounting mechanism 205 is used to mount the insertion part 102. After each test and treatment, the sheath 101 and the insertion part 102 need to be disinfected. In the prior art, the sheath 101 and the sheath mounting mechanism 202 are fixedly connected, and the insertion part 102 and the insertion part mounting mechanism 205 are also fixedly connected. Neither the sheath 101 nor the insertion part 102 can be disassembled for disinfection; only the assembled sheath 101 and the insertion part 102 can be disinfected. However, this carries the risk of incomplete disinfection, and cross-infection can easily occur when the sheath 101 and the insertion part 102 are reused. Therefore, this invention designs both the sheath mounting mechanism 202 and the insertion part mounting mechanism 205 as detachable structures, enabling the one-time replacement of the sheath 101 and the insertion part 102. After each test and treatment, the operator disinfects or replaces the sheath 101 and the insertion part 102.

[0063] Specifically, such as Figure 3As shown, the sheath mounting mechanism 202 includes a sheath straight wire drive assembly 301 and a sheath mounting component 302 detachably connected to the sheath straight wire drive assembly 301. The sheath straight wire drive assembly 301 is connected to the sheath arm 201. It should be noted that both the sheath straight wire drive assembly 301 and the sheath mounting component 302 are existing components. The sheath mounting component 302 is used to mount the sheath 101, which includes a sheath catheter and a flexible controllable device disposed at the front end of the sheath catheter. The sheath straight wire drive assembly 301 is used to control the bending posture of the flexible controllable device at the front end of the sheath catheter. The tail end of the sheath catheter is fixed to the sheath mounting component 302 by a sheath catheter fixing member 303. The sheath mounting component 302 is connected to the side plate of the sheath straight wire drive assembly 301, and the sheath straight wire drive assembly 301 is connected to the sheath arm 201. The sheath straight wire drive assembly 301 has a sheath clamping assembly on its side plate. When the clamping claw in the sheath clamping assembly is open, the sheath mounting assembly 302 can be separated from the sheath straight wire drive assembly 301. When the clamping claw in the sheath clamping assembly is closed, the sheath mounting assembly 302 can be clamped and fixed on the sheath straight wire drive assembly 301. The sheath linear drive assembly 210 includes a sheath linear drive mechanism and a sheath pull wire sensor. The sheath pull wire sensor is installed on the lead screw in the sheath linear drive mechanism. The sheath pull wire sensor is connected to the pull wire of the flexible controllable sheath device and can detect the tension on the pull wire of the flexible controllable sheath device in real time. Specifically, one end of the pull wire of the flexible controllable sheath device is detachably connected to the sheath pull wire sensor, and the other end is connected to the inside of the flexible controllable sheath device. The number of sheath linear drive mechanisms is the same as the number of pull wires of the flexible controllable sheath device, which is multiple. Preferably, multiple pull wires of the flexible controllable sheath device are evenly welded along the circumference to the inside of the flexible controllable sheath device. Then, the sheath mounting assembly 211 is used to fix the sheath catheter and the pull wire of the flexible controllable sheath device. By driving the sheath linear drive mechanism, the sheath flexible controllable sheath device pull wire is moved back and forth, thereby controlling the bending posture of the flexible controllable sheath device.

[0064] like Figure 4As shown, the insertion part mounting mechanism 205 includes an insertion part linear wire drive assembly 404 and an insertion part mounting assembly 405 detachably connected to the insertion part linear wire drive assembly 404. The insertion part linear wire drive assembly 404 is rotatably connected to the insertion part swing arm 401 and can rotate relative to the insertion part swing arm 401. It should be noted that both the insertion part linear wire drive assembly 404 and the insertion part mounting assembly 405 are existing components. The insertion part mounting assembly 405 is used to mount the insertion part 102, which includes an insertion part conduit and an insertion part flexible controllable device disposed at the front end of the insertion part conduit. The insertion part linear wire drive assembly 404 is used to control the bending posture of the insertion part flexible controllable device at the front end of the insertion part conduit. The tail end of the insertion part conduit is fixed to the insertion part mounting assembly 405 by an insertion part conduit fixing member 407. The insertion part mounting assembly 405 is connected to the side plate of the insertion part linear wire drive assembly 404, and the insertion part linear wire drive assembly 404 is connected to the insertion part swing arm 401. An insertion section clamping assembly is provided on the side plate of the insertion section linear wire drive assembly 404. When the clamping claws in the insertion section clamping assembly are open, the insertion section mounting assembly 405 can be separated from the insertion section linear wire drive assembly 404. When the clamping claws in the insertion section clamping assembly are closed, the insertion section mounting assembly 405 can be clamped and fixed to the insertion section linear wire drive assembly 404. The specific structure of the insertion section linear wire drive assembly 404 is the same as that of the sheath linear wire drive assembly 301, and will not be described again here.

[0065] It should be noted that the combined use of the insertion part drive mechanism 203 and the insertion part attitude adjustment drive assembly 402 can prevent the insertion part 102 from bending when it is displaced inside the sheath catheter, and can also prevent the insertion part 102 from bending before entering the sheath control device 104.

[0066] The flexible end-effector controllable medical device motion control system of the present invention designs the sheath linear wire drive assembly 301 and the sheath mounting assembly 302 as detachably connected, and the insertion part linear wire drive assembly 404 and the insertion part mounting assembly 405 as detachably connected, which facilitates the replacement of the sheath 101 and the insertion part 102 after each test and treatment, and avoids cross-infection caused by incomplete disinfection of the sheath 101 and the insertion part 102 during reuse.

[0067] According to embodiments of the present invention, such as Figure 2 As shown, the sheath mounting assembly 302, the sheath straight wire drive assembly 301, the insertion part mounting assembly 405, and the insertion part straight wire drive assembly 404 are arranged sequentially from front to back. At this time, the sheath mounting mechanism 202 and the insertion part mounting mechanism 205 are both in the lowest position and are both horizontally set, so the sheath 101 and the insertion part 102 are also horizontally set.

[0068] Specifically, when it is necessary to disassemble the sheath 101, the pressure claws in the sheath clamping assembly on the side plate of the sheath straight wire drive assembly 301 are opened, and the sheath mounting assembly 302 is separated from the sheath straight wire drive assembly 301, thereby removing the sheath 101. When it is necessary to disassemble the insertion part 102, the pressure claws in the insertion part clamping assembly on the side plate of the insertion part straight wire drive assembly 404 are opened. When the insertion part mounting assembly 405 is separated from the insertion part straight wire drive assembly 404, due to the presence of the insertion part straight wire drive assembly 404, the insertion part mounting assembly 405 cannot move backward and can only move towards the side closer to the sheath straight wire drive assembly 301. However, if the insertion part mounting assembly 405 is moved forward for disassembly, it will collide with the sheath straight wire drive assembly 301, causing damage to the sheath straight wire drive assembly 301 and / or the insertion part mounting assembly 405. Therefore, under the action of the insertion part posture adjustment drive assembly 402 and the transmission assembly 403, the present invention drives the insertion part straight wire drive assembly 404 to rotate relative to the insertion part swing arm 401, so that the insertion part straight wire drive assembly 404 flips to the fourth position, providing movement space for the insertion part mounting assembly 405 to move backward.

[0069] Figure 6 This is the third schematic diagram of the structure of the insertion part swing device provided in the embodiment of the present invention. Figure 7 This is the fourth structural schematic diagram of the insertion part swing device provided in the embodiment of the present invention, as shown below. Figure 6 As shown, the insertion part 102 on the insertion part swing device 105 is in normal working condition. When the insertion part 102 needs to be disassembled for disinfection, after the insertion part mounting assembly 405 is disassembled from the insertion part linear wire drive assembly 404, the insertion part linear wire drive assembly 404 is rotated to the fourth position. This can be achieved by flipping the insertion part linear wire drive assembly 404 to the side of the insertion part swing arm 401 away from the sheath control device 104. At this time, the insertion part linear wire drive assembly 404 is parallel to the insertion part swing arm 401. In this embodiment, the fourth position is when the insertion part linear wire drive assembly 404 rotates around the insertion part swing arm 401. Figure 6 The state rotates 90° counterclockwise and then stops. Figure 7 The vertical position shown.

[0070] The flexible end-effector controllable medical device motion control system of the present invention rotatably connects the insertion part mounting assembly 405 and the insertion part swing arm 401, and sets the insertion part posture adjustment drive assembly 402 and transmission assembly 403 on the insertion part swing arm 401, so that the insertion part linear wire drive assembly 404 can rotate relative to the insertion part swing arm 401, providing movement space for the insertion part mounting assembly 405 to move backward (away from the sheath linear wire drive assembly 301) after being separated from the insertion part linear wire drive assembly 404, avoiding the collision problem between the insertion part mounting assembly 405 and the sheath linear wire drive assembly 301 during the disassembly process, thereby facilitating the disassembly and installation of the insertion part mounting assembly 405, and further facilitating the disassembly and installation of the insertion part 102.

[0071] Furthermore, Figure 8 This is a schematic diagram of the rotating assembly and transmission assembly provided in an embodiment of the present invention. The linear wire drive assembly 404 of the insertion part is rotatably connected to the swing arm 401 of the insertion part through the rotating assembly 406, as shown below. Figure 8 As shown, the rotating assembly 406 includes a rotating shaft 501 and a connector 502 connected to the rotating shaft 501. The rotating shaft 501 is rotatably mounted on the insertion arm 401, and the rotating shaft 501 is connected to the transmission assembly 403. The connector 502 is connected to the insertion linear wire drive assembly 404. Specifically, the rotating shaft 501 is rotatably mounted on the insertion arm 401 via bearings. The rotating shaft 501 can rotate on the insertion arm 401. The insertion straight wire drive assembly 404 is fixedly connected to the rotating shaft 501, thus enabling the insertion straight wire drive assembly 404 to rotate relative to the insertion arm 401. To facilitate the connection between the insertion straight wire drive assembly 404 and the rotating shaft 501, a connector 502 is fixedly connected to the rotating shaft 501. The connection between the connector 502 and the insertion straight wire drive assembly 404 is achieved. The connector 502 and the insertion straight wire drive assembly 404 can be connected by screws. Therefore, the insertion straight wire drive assembly 404, the connector 502, and the rotating shaft 501 as a whole can rotate relative to the insertion arm 401. The transmission assembly 403 is connected to the rotating shaft 501 and is used to drive the rotating shaft 501 to rotate.

[0072] The flexible end-effector controllable medical device motion control system of the present invention realizes the rotation of the insertion part linear wire drive assembly 404 through the rotation shaft 501 set on the insertion part swing arm 401, which is simple in structure; and the insertion part linear wire drive assembly 404 and the rotation shaft 501 are connected by a connector 502, which is simple in connection method.

[0073] Furthermore, Figure 9 This is a partial structural schematic diagram of the insertion swing device provided in an embodiment of the present invention, as shown below. Figure 8 and Figure 9 As shown, the transmission assembly 403 includes a main transmission member 503 and a driven transmission member 505 that is in transmission cooperation with the main transmission member 503; the main transmission member 503 is connected to the output shaft of the insertion part posture adjustment drive assembly 402; the driven transmission member 505 is sleeved on the rotating shaft 501, and the main transmission member 503 is driven to rotate by the insertion part posture adjustment drive assembly 402, the main transmission member 503 synchronously drives the driven transmission member 505 to rotate, and the driven transmission member 505 drives the rotating shaft 501 to rotate, thereby realizing the rotation of the insertion part linear wire drive assembly 404 which is fixed to the rotating shaft 501.

[0074] It should be noted that the insertion part posture adjustment drive assembly 402 can be an insertion part posture adjustment drive motor, a rotary cylinder, or a servo mechanism, etc. In this embodiment, the insertion part posture adjustment drive assembly 402 is a drive motor. In addition, the transmission assembly 403 can be a belt drive, chain drive, or gear drive, etc. In this embodiment of the invention, the transmission assembly 403 adopts a belt drive. Accordingly, the main transmission component 503 is the driving wheel, and the driven transmission component 505 is the driven wheel. The driving wheel and the driven wheel are connected by a synchronous belt 504. The driving wheel is connected to the output shaft of the insertion part posture adjustment drive assembly 402, and the driven wheel is sleeved on the rotating shaft 501 and tightened by a set screw.

[0075] Optionally, in embodiments of the present invention, the insertion swing device 105 further includes a locking component, which is disposed on the insertion swing arm 401 and / or the insertion linear wire drive assembly 404; the locking component is used to lock the insertion linear wire drive assembly 404 even when the insertion swing arm 401 is rotated about the rotation assembly 406 to the side away from the sheath mounting mechanism 202, even when the insertion posture adjustment drive motor is enabled.

[0076] It should be noted that even without the locking component, the insertion part attitude adjustment drive motor can still ensure that the linear wire drive of the insertion part is in the vertical position.

[0077] When it is necessary to disassemble the insertion part mounting assembly 405, first open the pressure claws in the insertion part clamping assembly to separate the insertion part mounting assembly 405 from the insertion part linear wire drive assembly 404; then, drive the main transmission component 503 to rotate through the insertion part attitude adjustment drive assembly 402, the main transmission component 503 synchronously drives the driven component 505 to rotate, and the driven component 505 drives the rotating shaft 501 to rotate along the second direction. Figure 1 (Counterclockwise), causing the insertion section linear wire drive assembly 404, which is fixed to the rotation shaft 501, to rotate around the axis of the rotation shaft 501. The insertion section linear wire drive assembly 404 rotates as follows: Figure 7 As shown.

[0078] Specifically, such as Figure 4 and Figure 5 As shown, the locking component is a pair of magnets, which includes a first magnet 408 and a second magnet 409 that magnetically engages with the first magnet 408. The first magnet 408 is disposed on the insertion part swing arm 401, and the second magnet 409 is disposed on the insertion part linear wire drive assembly 404. Through the magnetic attraction of the first magnet 408 and the second magnet 409, even when the insertion part attitude adjustment drive motor is enabled, the insertion part linear wire drive assembly 404 is ensured to remain in a vertical position.

[0079] It should be noted that there can be one or more pairs of magnets. For example, there are two pairs of magnets, with the first pair of magnets positioned away from the rotation axis 501 and the second pair of magnets positioned close to the rotation axis 501.

[0080] It should be noted that the locking component may also be a latching element provided on the insertion part swing arm 401 or the insertion part linear wire drive assembly 404; or a connecting element that connects the insertion part swing arm 401 or the insertion part linear wire drive assembly 404, such as a screw; or other connection structures that can fix the insertion part linear wire drive assembly 404 on the insertion part swing arm 401. The present invention does not limit this.

[0081] The flexible end-effector controllable medical device motion control system of the present invention ensures that the straight wire drive assembly 404 of the insertion part remains in a vertical position after it is flipped upward relative to the swing arm 401 of the insertion part by the insertion part posture adjustment drive motor or locking assembly, which facilitates the replacement of the insertion part mounting assembly 405.

[0082] Furthermore, Figure 10 This is one of the posture diagrams of the motion control system for a flexible end-effector controllable medical device provided in this embodiment of the invention. Figure 11 This is the second posture diagram of the motion control system for the flexible end-effector controllable medical device provided in this embodiment of the invention. Figure 12 This is the third posture diagram of the motion control system for a flexible end-effector controllable medical device provided in this embodiment of the invention; as shown... Figure 9As shown, in this embodiment of the invention, the insertion part swing device 105 further includes a sensing component. The sensing component is used to detect the rotation angle of the output shaft of the insertion part drive mechanism 203. The rotation angle of the output shaft of the insertion part drive mechanism 203 represents the swing angle of the insertion part mounting mechanism 205. In this embodiment, the sensing component includes a limit sensing plate 604 and a limit sensor that cooperates with the limit sensing plate 604. The limit sensor is connected to the mounting body 103. The limit sensing plate 604 includes a trigger end and a fixed end. The fixed end of the limit sensing plate 604 is connected to the output shaft of the insertion part drive mechanism 203. When the output shaft of the insertion part drive mechanism 203 rotates, the trigger end of the limit sensing plate 604 rotates around the fixed end of the limit sensing plate 604. By triggering the limit sensor through the trigger end of the limit sensing plate 604, the swing position of the insertion part mounting mechanism 205 can be determined. Specifically, in this embodiment, the limit sensor... There are three sensors: a first limit sensor 601, a second limit sensor 602, and a third limit sensor 603, arranged sequentially at intervals. The first limit sensor 601 is positioned close to the sheath control device 104. The three limit sensors can be mounted on the same limit sensor mounting plate 605, which is connected to the mounting body 103. During the swinging process of the insertion part drive mechanism 203 driving the insertion part mounting mechanism 205, the limit sensor 604 rotates synchronously, triggering the first limit sensor 601 at the trigger end of the limit sensor 604, indicating that the insertion part mounting mechanism 205 is in the correct position. Figure 10 In the initial state shown, when the motion control system of the flexible end-effector controllable medical device of the present invention needs to return to the initial state, when the trigger end of the limit sensor 604 triggers the first limit sensor 601, the first limit sensor 601 generates a first control signal and sends the first control signal to the control system. When the control system receives the first control signal, it controls the insertion part drive mechanism 203 to stop, which can stop the insertion part installation mechanism 205. Figure 10 The first position; when the second limit sensor 602 is triggered at the trigger end of the limit sensor 604, it indicates that the insertion part mounting mechanism 205 is in the second position, such as Figure 11 As shown; when the third limit sensor 603 is triggered at the trigger end of the limit sensor 604, it indicates that the insertion mounting mechanism 205 is in the third position, as shown. Figure 12 As shown, the second limit sensor 602 and the third limit sensor 603 have the same function as the first limit sensor 601, and will not be described in detail here.

[0083] It should be noted that the sensing component can also be an angle sensor installed on the mounting body 103 to measure the rotation angle of the output shaft of the insertion part drive mechanism 203, and then determine the position of the insertion part linear wire drive component 404 by measuring the measured angle.

[0084] The flexible end-effector controllable medical device motion control system of the present invention can limit and protect the position of the insertion part linear wire drive assembly 404 through the sensing component.

[0085] It should be noted that, in this embodiment of the invention, the aforementioned sensing component may also be provided between the insertion part attitude adjustment drive component 402 and the insertion part swing arm 401, for detecting the rotation angle of the output shaft of the insertion part attitude adjustment drive component 402. The rotation angle of the output shaft of the insertion part attitude adjustment drive component 402 represents the rotation angle of the insertion part mounting mechanism 205 between the third position and the fourth position. This will not be elaborated further in this invention.

[0086] like Figures 10 to 12 As shown in the figure, this embodiment of the invention provides a posture diagram of the flexible end-effector controllable medical device motion control system when the insertion part 102 and the sheath 101 are in three different positions, as follows: Figure 10 , Figures 11 to 12 The movement process is that the insertion part drive mechanism 203 drives the insertion part mounting mechanism 205 to swing close to the sheath straight wire drive assembly 301. At the same time, during the swinging process of the insertion part mounting mechanism 205 close to the sheath straight wire drive assembly 301, the posture of the insertion part mounting mechanism 205 is adjusted by the insertion part posture adjustment drive assembly 402 to avoid bending when the insertion part 102 enters the sheath control device 104, thereby avoiding damage to the tool channel and wires inside the insertion part 102.

[0087] The present invention also provides a medical device, including a displacement drive system and a flexible end-effector controllable medical device motion control system provided in any of the above embodiments. The mounting body 103 of the flexible end-effector controllable medical device motion control system is connected to the output working shaft of the displacement drive system. The displacement drive system can make the sheath control device 104 and the insertion part swing device 105 move and rotate as a whole, thereby adjusting the position and posture of the sheath 101 and the insertion part 102.

[0088] The displacement drive system can be a robotic arm or a multi-axis drive mechanism or other drive structure.

[0089] The medical device provided by this invention integrates the sheath control device 104 for mounting the sheath 101 and the insertion swing device 105 for driving the insertion part 102 into a single robotic arm. Previously, the sheath 101 and insertion part 102 were installed and controlled separately by robotic arms, requiring two robotic arms to control their movement, resulting in a large space footprint and complex control procedures. Therefore, this invention achieves unified driving of the sheath 101 and insertion part 102 with a single robotic arm, occupying less space and simplifying the control process. Furthermore, during the movement of the insertion part 102, only the insertion part drive mechanism 203 is needed, without requiring other components or motors. This reduces the structural complexity and weight of the flexible end-effector motion control system, thus facilitating robotic arm control.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motion control system for a flexible end-effector controllable medical device, characterized in that, include: Installation main body; A sheath control device is connected to the mounting body; An insertion part swing device includes an insertion part drive mechanism, an insertion part swing arm mechanism, and an insertion part mounting mechanism. The insertion part drive mechanism is connected to the mounting body, and the insertion part mounting mechanism is connected to the insertion part drive mechanism through the insertion part swing arm mechanism. The insertion part driving mechanism is used to drive the insertion part swing arm mechanism to swing the insertion part mounting mechanism between a first position and a second position. In the first position, the insertion part mounting mechanism is close to the sheath control device, and in the second position, the insertion part mounting mechanism is away from the sheath control device. The insertion part swing arm mechanism is used to drive the insertion part mounting mechanism to rotate between a third position and a fourth position. In the third position, the insertion part mounting mechanism is close to the sheath control device, and in the fourth position, the insertion part mounting mechanism is away from the sheath control device. The insertion part swing arm mechanism includes an insertion part swing arm, an insertion part posture adjustment drive assembly, and a transmission assembly; One end of the insertion part swing arm is connected to the output shaft of the insertion part drive mechanism, and the insertion part mounting mechanism is rotatably connected to the other end of the insertion part swing arm; the insertion part posture adjustment drive assembly is disposed on the insertion part swing arm, and the insertion part posture adjustment drive assembly is connected to the insertion part mounting mechanism through the transmission assembly; The insertion part posture adjustment drive assembly is used to drive the insertion part mounting mechanism to rotate between the third position and the fourth position by driving the transmission assembly.

2. The flexible end-effector controllable medical device motion control system according to claim 1, characterized in that, The insertion part mounting mechanism includes an insertion part linear wire drive assembly and an insertion part mounting assembly that is detachably connected to the insertion part linear wire drive assembly; The insertion section linear wire drive assembly is connected to the transmission assembly.

3. The motion control system for a flexible end-effector controllable medical device according to claim 2, characterized in that, The insertion arm mechanism also includes a rotating component; The rotating assembly includes a rotating shaft and a connector connected to the rotating shaft. The rotating shaft is rotatably mounted on the insertion part swing arm and is connected to the transmission assembly. The connector is connected to the insertion part linear wire drive assembly.

4. The motion control system for a flexible end-effector controllable medical device according to claim 3, characterized in that, The transmission assembly includes a main transmission component and a secondary transmission component that is in transmission cooperation with the main transmission component; The main transmission component is connected to the output shaft of the insertion part attitude adjustment drive assembly; the slave transmission component is sleeved on the rotating shaft.

5. The motion control system for a flexible end-effector controllable medical device according to any one of claims 1 to 4, characterized in that, The insertion swing device further includes a locking component, which is disposed on the insertion swing arm and / or the insertion mounting mechanism; The locking component is used to lock the insertion part mounting mechanism when the insertion part mounting mechanism is rotated to the fourth position.

6. The motion control system for a flexible end-effector controllable medical device according to claim 5, characterized in that, The locking assembly includes a first magnet and a second magnet that magnetically engages with the first magnet; The first magnet is disposed on the swing arm of the insertion part, and the second magnet is disposed on the installation mechanism of the insertion part.

7. The motion control system for a flexible end-effector controllable medical device according to any one of claims 1 to 4, characterized in that, The sheath control device includes a sheath arm and a sheath mounting mechanism. The sheath mounting mechanism includes a sheath straight wire drive assembly and a sheath mounting assembly detachably connected to the sheath straight wire drive assembly. The sheath straight wire drive assembly is connected to the mounting body via the sheath arm.

8. The motion control system for a flexible end-effector controllable medical device according to claim 6, characterized in that, The insertion part drive mechanism includes an insertion part drive motor; the insertion part swing device also includes a sensing component disposed on the mounting body. The sensing component is used to detect the rotation angle of the drive motor of the insertion part.

9. A medical device, characterized in that, Including a displacement drive system and a flexible end-effector controllable medical device motion control system as described in any one of claims 1 to 8; The mounting body of the flexible end-effector controllable medical device motion control system is connected to the displacement drive system.

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