Quick release connection device and flexible controllable medical device

Abstract

The application provides a quick dismounting connecting device and a flexible controllable medical device, and belongs to the technical field of medical instruments. The connecting device comprises a first connecting piece, a second connecting piece, a driving assembly, a connecting assembly and a first locking assembly. The driving assembly is connected with the first connecting piece. The connecting assembly is connected with the first connecting piece and the second connecting piece respectively. The first locking assembly is arranged on the first connecting piece and connected with the driving assembly. The driving assembly is used for driving the first locking assembly to switch between a first locking state and a first unlocking state. In the first locking state, the second connecting piece is locked to the first connecting piece. In the first unlocking state, the first locking assembly releases the locking of the second connecting piece. The first locking assembly is driven by the driving assembly, the connection and separation of the second connecting piece and the first connecting piece can be realized, the connecting device is applied to the flexible controllable medical device, the sheath and the insertion part can be dismounted, and the dismounted sheath and insertion part can be completely sterilized or replaced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a quick-disassembly connection device and a flexible and controllable medical device. Background Technology

[0002] In flexible surgical instrument systems, flexible end-effectors are used to examine the human body for lesions. These end-effectors have a two-stage concentric tube structure and can enter the body through the mouth or other natural body cavities. They allow for the observation of lesions within the body. With the rapid development of minimally invasive medical technology, automated control systems for flexible end-effectors have emerged, utilizing robotic medical assistance technology to drive these devices into the human body.

[0003] In the existing technology, flexible end-effector controllable medical devices mainly include a sheath and an insertion part, which are fixedly connected to their respective control devices. After each examination or minimally invasive surgery, the sheath and insertion part need to be disinfected.

[0004] However, in the aforementioned prior art, the sheath and the insertion part are fixedly connected to their respective control devices, making it impossible to disassemble and disinfect the sheath and the insertion part. This poses a risk of incomplete disinfection of the sheath and the insertion part, which could easily lead to cross-infection during reuse. Summary of the Invention

[0005] This invention provides a quick-disassembly connection device and a flexible and controllable medical device to solve the problem of incomplete disinfection of the sheath and insertion part in the prior art, which can easily cause cross-infection when reused.

[0006] This invention provides a quick-disassembly connection device, comprising:

[0007] First connector;

[0008] Second connector;

[0009] The driving component is connected to the first connector;

[0010] A connecting component is connected to the first connector and the second connector, respectively;

[0011] A first locking component is disposed on the first connector and connected to the driving component. The driving component is used to drive the first locking component to switch between a first locked state and a first unlocked state. In the first locked state, the second connector is locked to the first connector through the first locking component. In the first unlocked state, the first locking component releases the lock on the second connector.

[0012] According to a quick-disconnect connection device provided by the present invention, the drive assembly includes:

[0013] A turntable is rotatably mounted on the first connecting member;

[0014] A drive component, connected to the turntable, is used to drive the turntable to rotate;

[0015] A first actuating component is disposed on the first connecting member and is movably connected to the turntable. During the rotation of the turntable, the first actuating component drives the first locking component to switch between the first locked state and the first unlocked state.

[0016] According to a quick-release connection device provided by the present invention, the first actuating component includes:

[0017] The first link, the middle part of which is rotatably connected to the first connector;

[0018] The first main rotating part is disposed at one end of the first connecting rod and is movably connected to the turntable;

[0019] A first rotating part is disposed at the other end of the first connecting rod. In the first unlocked state, the first rotating part abuts against the first locking component. In the first locked state, the first rotating part separates from the first locking component.

[0020] According to a quick disassembly and connection device provided by the present invention, the turntable is provided with a first guide groove, one end of the first guide groove is away from the rotation center of the turntable, and the other end of the first guide groove is close to the rotation center of the turntable.

[0021] The first main rotating part is inserted into the first guide groove and slides in cooperation with the first guide groove. In the first locked state, the first main rotating part is located at one end of the first guide groove. In the first unlocked state, the first main rotating part is located at the other end of the first guide groove.

[0022] According to a quick-release connection device provided by the present invention, the first locking component includes:

[0023] A pressure claw base is disposed on the first connecting member;

[0024] The pressure claw is rotatably mounted on the pressure claw base;

[0025] A first elastic element is disposed between the pressure claw base and the pressure claw. In the first locked state, the tension of the first elastic element causes the pressure claw to lock the second connecting member. In the first unlocked state, the pressure claw overcomes the tension of the first elastic element and unlocks the second connecting member.

[0026] According to a quick-disassembly connection device provided by the present invention, a positioning component is further provided on the first connector, and a protrusion is formed on the edge of the turntable, the protrusion having a first side surface and a second side surface.

[0027] In the first locked state, the positioning component abuts against the first side;

[0028] In the first unlocked state, the positioning component abuts against the second side.

[0029] According to a quick-disassembly connection device provided by the present invention, the positioning component includes:

[0030] The push rod bushing is mounted on the first connecting member.

[0031] One end of the push rod is disposed inside the push rod bushing;

[0032] The second elastic element is disposed between the push rod bushing and the push rod. In the first locked state, the other end of the push rod abuts against the first side, and the second elastic element is in a first compressed state. In the first unlocked state, the other end of the push rod abuts against the second side, and the second elastic element is in a second compressed state.

[0033] According to the present invention, a quick-disassembly connection device is provided, wherein the connection assembly includes a second locking component and a second toggle component;

[0034] The second locking component includes a locking sleeve and a locking member that cooperates with the locking sleeve. The locking sleeve is movably connected to the second connecting member, and the locking member is connected to the first connecting member.

[0035] The second actuating component is disposed on the first connecting member and is movably connected to the turntable. The turntable is used to drive the second locking component to switch between a second locked state and a second unlocked state by driving the second actuating component. In the second locked state, the locking component is locked on the lock sleeve. In the second unlocked state, the locking component is released from locking with the lock sleeve.

[0036] According to the present invention, a quick-disassembly connection device is provided, wherein the locking member comprises:

[0037] A locking tongue base is connected to a cable force sensing module, which is mounted on a cable drive mechanism. The cable drive mechanism is connected to the first connector.

[0038] The latch is rotatably mounted on the latch base;

[0039] A third elastic element is disposed between the latch base and the latch. In the second locked state, the tension of the third elastic element causes the latch to lock the lock sleeve. In the second unlocked state, the latch overcomes the tension of the third elastic element and releases the lock sleeve.

[0040] According to a quick disassembly and connection device provided by the present invention, the turntable is provided with a second guide groove, one end of the second guide groove is close to the rotation center of the turntable, and the other end of the second guide groove is far away from the rotation center of the turntable;

[0041] The second actuating component includes:

[0042] The second link is rotatably connected to the first connector at its middle part;

[0043] The second main rotating part is disposed at one end of the second connecting rod, inserted into the second guide groove and slidingly engaged with the second guide groove;

[0044] The second rotating part is disposed at the other end of the second connecting rod. In the second locked state, the second main rotating part is located at one end of the second guide groove, and the second rotating part is separated from the locking tongue. In the second unlocked state, the second main rotating part is located at the other end of the second guide groove, and the second rotating part abuts against the locking tongue.

[0045] The present invention also provides a flexible and controllable medical device, including a sheath flexible and controllable instrument drive mechanism, a sheath installation mechanism, an insertion part flexible and controllable instrument drive mechanism, an insertion part installation mechanism, and any one of the above-mentioned quick disassembly and connection devices;

[0046] The sheath flexible controllable instrument drive mechanism and the sheath mounting mechanism are connected via the quick-release connection device; and / or

[0047] The flexible and controllable instrument drive mechanism for the insertion part and the installation mechanism for the insertion part are connected by the quick-release connection device.

[0048] According to the present invention, a flexible and controllable medical device further includes a sheath and an insertion part; the sheath includes a sheath catheter and a flexible and controllable sheath device disposed at one end of the sheath catheter; the insertion part includes an insertion part catheter and a flexible and controllable insertion part device disposed at one end of the insertion part catheter; the driving mechanism of the flexible and controllable sheath device includes a sheath pull-wire driving assembly and a sheath pull-wire force sensing module connected to the sheath pull-wire driving assembly; the driving mechanism of the flexible and controllable insertion part device includes an insertion part pull-wire driving assembly and an insertion part pull-wire force sensing module connected to the insertion part pull-wire driving assembly.

[0049] The other end of the sheath catheter is disposed on the sheath mounting mechanism, which is connected to the second connector in the quick-release connection device; the sheath pull wire drive assembly is connected to the first connector in the quick-release connection device;

[0050] The other end of the insertion conduit is disposed on the insertion mounting mechanism, which is connected to the second connector in the quick-release connection device; the insertion cable drive assembly is connected to the first connector in the quick-release connection device.

[0051] The sheath flexible controllable device is connected to the sheath pull wire force sensing module via the sheath flexible controllable device pull wire and the connecting component in the quick-release connection device;

[0052] The flexible controllable insertion device is connected to the insertion part pull wire force sensing module via the flexible controllable insertion device pull wire and the connecting component in the quick-disassembly connection device. The quick-disassembly connection device and flexible controllable medical device provided by this invention switch between a first locked state and a first unlocked state via a driving component. In the first locked state, the second connector is locked to the first connector via the first locking component, achieving connection between the first and second connectors. In the first unlocked state, the first locking component releases the lock on the second connector, achieving separation between the first and second connectors. It can be seen that this invention, by driving the first locking component via a driving component, can achieve the connection and separation of the second and first connectors. If this quick-disassembly connection device is applied to a flexible controllable medical device, it can achieve the connection and separation between the sheath installation mechanism and the sheath flexible controllable device driving mechanism, as well as the connection and separation between the insertion part installation mechanism and the insertion part flexible controllable device driving mechanism, thereby achieving the disassembly of the sheath and the insertion part. This facilitates thorough disinfection or replacement of the disassembled sheath and insertion part, thus avoiding the risk of incomplete disinfection of the sheath and insertion part. Attached Figure Description

[0053] 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.

[0054] Figure 1 This is one of the structural schematic diagrams of the quick-disassembly connection device provided by the present invention;

[0055] Figure 2 This is the second structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0056] Figure 3 This is the third structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0057] Figure 4 This is the fourth structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0058] Figure 5 This is a schematic diagram of the structure of the turntable provided by the present invention;

[0059] Figure 6 This is the fifth structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0060] Figure 7 This is the sixth structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0061] Figure 8 This is one of the structural schematic diagrams of the first locking component provided by the present invention;

[0062] Figure 9 This is a second schematic diagram of the structure of the first locking component provided by the present invention;

[0063] Figure 10 This is the seventh structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0064] Figure 11 This is the eighth schematic diagram of the structure of the quick-disassembly connection device provided by the present invention;

[0065] Figure 12 This is a schematic diagram of the cooperation between the lock sleeve and the second connecting member provided by the present invention;

[0066] Figure 13 This is one of the structural schematic diagrams of the second locking component provided by the present invention;

[0067] Figure 14 This is the second structural schematic diagram of the second locking component provided by the present invention;

[0068] Figure 15 This is a schematic diagram of the locking component provided by the present invention;

[0069] Figure 16 This is the ninth structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0070] Figure 17 This is the tenth structural schematic diagram of the quick-disassembly connection device provided by the present invention;

[0071] Figure 18 This is eleventh of the structural schematic diagrams of the quick-disassembly connection device provided by the present invention;

[0072] Figure 19This is a schematic diagram of the structure of the flexible and controllable medical device provided by the present invention;

[0073] Figure label:

[0074] 100. Quick-release connection device; 200. Drive mechanism; 300. Mounting mechanism; 400. Pull-wire drive assembly;

[0075] 101. First connector; 102. Second connector; 103. Drive assembly; 104. First locking assembly; 105. Slot; 106. Positioning assembly; 107. Pin; 108. Pin hole

[0076] 201. Turntable; 202. Drive component; 203. First actuating component; 204. Push rod bushing; 205. Push rod; 206. Second elastic element; 207. Second actuating component;

[0077] 301. First connecting rod; 302. First main rotating part; 303. First driven rotating part; 304. First connecting shaft;

[0078] 401, First guide groove; 402, Protrusion; 403, Second guide groove;

[0079] 501, Claw base; 502, Claw; 503, First elastic element; 504, Claw pivot; 505, Claw pin;

[0080] 601. Second locking component; 602. Lock sleeve; 603. Locking element; 605. Pull-wire force sensing module; 606. Spring plunger;

[0081] 701. Lock tongue base; 702. Lock tongue; 703. Lock tongue pivot; 704. Pivot mounting component; 705. Pressure block;

[0082] 801. Second connecting rod; 802. Second main rotating part; 803. Second driven rotating part; 804. Second connecting shaft. Detailed Implementation

[0083] 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.

[0084] The following is combined with Figures 1-19 The quick-release connection device of the present invention is described.

[0085] Figure 1This is one of the structural schematic diagrams of the quick-disassembly connection device provided in the embodiments of the present invention. Figure 2 This is a second structural schematic diagram of the quick-disassembly connection device provided in an embodiment of the present invention, as shown below. Figure 1 and Figure 2 As shown, the quick-release connection device includes a first connector 101, a second connector 102, a drive assembly 103, a connecting assembly, and a first locking assembly 104. The first connector 101 is disposed on the drive assembly 103, and the connecting assembly is connected to the first connector 101 and the second connector 102 respectively. The first locking assembly 104 is disposed on the first connector 101 and connected to the drive assembly 103. The drive assembly 103 is used to drive the first locking assembly 104 to switch between a first locked state and a first unlocked state.

[0086] In the first locked state, the first locking component 104 locks the second connector 102, and the second connector 102 is locked to the first connector 101 by the first locking component 104, so that the second connector 102 is connected to the first connector 101; in the first unlocked state, the first locking component 104 releases the lock on the second connector 102, so that the second connector 102 can be separated from the first connector 101.

[0087] The quick-disassembly connection device provided by this invention drives the first locking component 104 to switch between a first locked state and a first unlocked state via the driving component 103. In the first locked state, the second connector 102 is locked to the first connector 101 via the first locking component 104, realizing the connection between the first connector 101 and the second connector 102. In the first unlocked state, the first locking component 104 releases the lock on the second connector 102, realizing the separation of the first connector 101 and the second connector 102. It can be seen that this invention, by driving the first locking component 104 via the driving component 103, can realize the connection and separation of the second connector 102 and the first connector 101. If this quick-disassembly connection device is applied to flexible and controllable medical devices, it can realize the connection and separation between the sheath installation mechanism and the sheath flexible and controllable instrument drive mechanism, as well as the connection and separation between the insertion part installation mechanism and the insertion part flexible and controllable instrument drive mechanism, thereby realizing the disassembly of the sheath and the insertion part. This facilitates the thorough disinfection or replacement of the disassembled sheath and insertion part, thus avoiding the risk of incomplete disinfection of the sheath and insertion part.

[0088] Furthermore, Figure 3 This is the third structural schematic diagram of the quick-disassembly connection device provided in the embodiment of the present invention, as shown below. Figure 3As shown, the drive assembly 103 includes a turntable 201, a drive component 202, and a first actuating component 203. The turntable 201 is rotatably mounted on the first connector 101. The drive component 202 is connected to the turntable 201. The first actuating component 203 is mounted on the first connector 101 and is movably connected to the turntable 201. The drive component 202 drives the turntable 201 to rotate. During the rotation of the turntable 201, the first actuating component 203 is moved. The movement of the first actuating component 203 drives the first locking assembly 104 to switch between a first locked state and a first unlocked state.

[0089] The driving component 202 can be a driving element such as a drive motor or servo mechanism, or it can be a handheld part set on the turntable 201. The handheld part drives the turntable 201 to rotate. In this embodiment, a handle fixed to the turntable 201 is used as the handheld part.

[0090] It should be noted that in this embodiment, the first actuating component 203 is rotatably mounted on the first connecting member 101. The rotation of the first actuating component 203 is driven by the turntable 201 to realize the switching of the first locking component 104 between the first locked state and the first unlocked state. In another embodiment, the first actuating component 203 can also be fixedly connected to the turntable 201. The rotation of the turntable 201 synchronously drives the rotation of the first actuating component 203. During the rotation of the first actuating component 203, the first locking component 104 is driven to switch between the first locked state and the first unlocked state.

[0091] According to an embodiment of the present invention, Figure 4 This is the fourth structural schematic diagram of the quick-disassembly connection device provided in the embodiments of the present invention, as shown below. Figure 4 As shown, Figure 4 The turntable 201 and drive component 202 are not shown. The first actuating component 203 includes a first connecting rod 301, a first main rotating part 302 and a first driven rotating part 303. The middle part of the first connecting rod 301 is rotatably connected to the first connecting member 101. The first main rotating part 302 is vertically disposed at one end of the first connecting rod 301 and is movably connected to the turntable 201. The first driven rotating part 303 is vertically disposed at the other end of the first connecting rod 301, and the first main rotating part 302 and the first driven rotating part 303 are perpendicular to each other.

[0092] The first connecting rod 301 can be an L-shaped structure, including two vertically connected support rods. The connection point of the two support rods is the middle of the first connecting rod 301. The middle of the first connecting rod 301 is rotatably connected to the first connecting member 101 through the first connecting shaft 304. During the rotation of the turntable 201, the first main rotating part 302 is driven to move. The movement of the first main rotating part 302 is a rotation around the axis of the first connecting shaft 304, which synchronously drives the first secondary rotating part 303 to rotate around the axis of the first connecting shaft 304. The rotation of the first secondary rotating part 303 changes the working state of the first locking assembly 104.

[0093] It should be noted that the working states of the first locking component 104 include a first locked state and a first unlocked state. The clamping part of the first locking component 104 can achieve the first locked state due to the tension of the first elastic member 503. When it is necessary to switch from the first locked state to the first unlocked state, the first rotating part 303 abuts against the clamping part of the first locking component 104, and the clamping part of the first locking component 104 overcomes the tension of the first elastic member 503, thereby putting the first locking component 104 in the first unlocked state. In the first unlocked state, the first rotating part 303 abuts against the first locking component 104, and in the first locked state, the first rotating part 303 separates from the first locking component 104.

[0094] Furthermore, Figure 5 This is a schematic diagram of the structure of the turntable provided in an embodiment of the present invention, as shown below. Figure 3 and Figure 5 As shown, the turntable 201 is provided with a first guide groove 401. One end of the first guide groove 401 is far away from the rotation center of the turntable 201, and the other end of the first guide groove 401 is close to the rotation center of the turntable 201. The first main rotating part 302 is inserted into the first guide groove 401 and slides in cooperation with the first guide groove 401.

[0095] The first guide groove can be a long strip groove or an arc-shaped groove.

[0096] According to an embodiment of the present invention, the first guide groove 401 may be an elongated through groove with its long side extending radially along the turntable 201. Since the first connecting rod 301, which is connected to the first main rotating part 302, is rotatably mounted on the first connecting member 101, the first main rotating part 302 cannot rotate synchronously with the turntable 201 during rotation. It can only slide within the first guide groove 401, that is, move away from the rotation center of the turntable 201 or move closer to the rotation center of the turntable 201. During the rotation of the turntable 201, the first main rotating part 302 can slide within the first guide groove 401 to switch the working state of the first locking component 104. In the first locked state, the first main rotating part 302 is located at one end of the first guide groove 401, and in the first unlocked state, the first main rotating part 302 is located at the other end of the first guide groove 401.

[0097] Specifically, Figure 6 This is the fifth structural schematic diagram of the quick-disassembly connection device provided in the embodiments of the present invention. Figure 7 This is the sixth structural schematic diagram of the quick-disassembly connection device provided in the embodiments of the present invention; as shown. Figure 6 As shown, in the first locked state, the first main rotating part 302 is located at one end of the first guide groove 401 (away from the rotation center of the turntable 201). At this time, the first secondary rotating part 303 is separated from the first locking assembly 104. During the process of the drive component 202 driving the turntable 201 to rotate, the first main rotating part 302 moves from one end of the first guide groove 401 (away from the rotation center of the turntable 201) to the other end (closer to the rotation center of the turntable 201). The first main rotating part 302 synchronously drives the first secondary rotating part 303 to move closer to the first locking assembly 104 until the first secondary rotating part 303 abuts against the first locking assembly 104, so that the clamping part of the first locking assembly 104 overcomes the tension of the first elastic element 503. At this time, the first locking assembly 104 is in the first unlocked state. Figure 7 As shown.

[0098] Furthermore, Figure 8 This is one of the structural schematic diagrams of the first locking component provided in an embodiment of the present invention. Figure 9 This is a second structural schematic diagram of the first locking component provided in an embodiment of the present invention, as shown below. Figure 8 and Figure 9 As shown, the first locking assembly 104 includes a pressure claw base 501, a pressure claw 502, and a first elastic member 503; the pressure claw base 501 is disposed on the first connector 101; the pressure claw 502 is rotatably disposed on the pressure claw base 501, and the first elastic member 503 is disposed between the pressure claw base 501 and the pressure claw 502.

[0099] The pressure claw 502 is mounted on the pressure claw base 501 via a pressure claw pivot 504, and the pressure claw 502 can rotate relative to the pressure claw pivot 504; the first elastic element 503 can be a compression spring, and its two ends are respectively connected to the pressure claw base 501 and the pressure claw 502; Figure 8 As shown, when the first locking assembly 104 is in the first locked state, the pressure claw 502 locks the second connecting member 102 due to the tension force of the first elastic member 503 (the rebound force of the compression spring). At this time, the pressure claw 502 of the first locking assembly 104 is in the closed state. When it is necessary to switch the first locking assembly 104 from the first locked state to the first unlocked state, the turntable 201 drives the first actuating member 203 to rotate. The first actuating member 203's first rotating part 303 drives the pressure claw 502 to rotate around the pressure claw pivot 504 towards the side closer to the first elastic member 503, so as to overcome the tension force of the first elastic member 503 and release the lock on the second connecting member 102. At this time, the first locking assembly 104 is in the first unlocked state, and the pressure claw 502 of the first locking assembly 104 is in the open state. Figure 9 As shown.

[0100] Furthermore, such as Figure 9 As shown, a pressure block pin 505 is connected to one end of the pressure claw 502 connected to the pressure claw rotating shaft 504. The pressure block pin 505 is driven to move by the first rotating part 303, thereby enabling the pressure claw 502 to move around the pressure claw rotating shaft 504 towards the side closer to the first elastic member 503, which facilitates the control of the rotation of the pressure claw 502.

[0101] Furthermore, such as Figure 1 As shown, the second connector 102 has a slot 105 that cooperates with the pressure claw 502. While the pressure claw 502 locks the second connector 102 to the first connector 101, the position of the second connector 102 on the first connector 101 can be locked by the cooperation of the pressure claw 502 and the slot 105.

[0102] Preferably, such as Figure 1 As shown, the first connector 101 is provided with two pins 107, and the second connector 102 is provided with two pin holes 108. By cooperating with the two pins 107 on the first connector 101 and the two pin holes 108 on the second connector 102, the positioning of the first connector 101 and the second connector 102 before locking is achieved.

[0103] According to embodiments of the present invention, such as Figure 2 and Figure 5As shown, the quick-release connection device also includes a positioning component 106 disposed on the first connector 101. The edge of the turntable 201 has a protrusion 402, which has a first side and a second side. In the first locked state, the positioning component 106 abuts against the first side. In the first unlocked state, the positioning component 106 abuts against the second side.

[0104] When the edge of the turntable 201 has a protrusion 402, the turntable 201 is a cam structure.

[0105] Specifically, such as Figure 3 As shown, the positioning assembly 106 includes a push rod bushing 204, a push rod 205, and a second elastic member 206; the push rod bushing 204 is disposed on the first connecting member 101, one end of the push rod 205 is disposed inside the push rod bushing 204, and the second elastic member 206 is disposed between the push rod bushing 204 and the push rod 205.

[0106] In this embodiment, the push rod bushing 204 is provided with a mounting hole, and the outer surface of the push rod 205 is provided with an annular limiting boss in the middle. One end of the push rod 205 is provided in the mounting hole of the push rod bushing 204, and the push rod 205 can slide relative to the push rod bushing 204. The second elastic element 206 is a spring, which is fitted on one end of the push rod 205, and the two ends of the second elastic element 206 respectively abut against the annular limiting boss and the end face of the push rod bushing 204. The second elastic element 206 can make the push rod 205 lift up to position the turntable 201 of the cam structure. Specifically, in the first locked state, the other end of the push rod 205 abuts against the first side, and the second elastic element 206 is in the first compressed state. In the first unlocked state, the other end of the push rod 205 abuts against the second side, and the second elastic element 206 is in the second compressed state.

[0107] When the quick-disassembly connection device provided in this embodiment of the invention is used for a flexible end-effector controllable medical device, the flexible end-effector controllable medical device mainly includes a cooperating sheath and an insertion part. The insertion part is inserted into the sheath and can move relative to the sheath. The sheath and the insertion part can simultaneously enter the test site in the human body for lesion detection. However, when the space at the test site in the human body is limited, since the radial dimension of the insertion part is smaller than the radial dimension of the sheath, only the insertion part can be driven to move. The insertion part extends forward relative to the sheath and enters the test site. The sheath and the insertion part each have their corresponding driving mechanism 200 and mounting mechanism 300. The mounting mechanism 300 is used to mount the sheath or the insertion part. The sheath includes a sheath catheter and a flexible controllable device disposed at the front end of the sheath catheter. The insertion part includes an insertion part catheter and a flexible controllable device disposed at the front end of the insertion part catheter. The sheath catheter and the insertion part catheter are fixed in the mounting mechanism 300, which is fixed to the second connector 102. The bending posture of the flexible controllable device of the sheath and the flexible controllable device of the insertion part are respectively achieved by the forward and backward displacement of their respective pull wires. The driving mechanism 200 is used to drive the back-and-forth movement of the draw wire, thereby achieving different bending postures of the flexible controllable device of the sheath or insertion part. Therefore, by connecting the driving mechanism 200 to the first connecting member 101 and the mounting mechanism 300 to the second connecting member 102, the driving mechanism 200 and the mounting mechanism 300 can be separated, thereby enabling the disassembly of the sheath and the insertion part. This allows for thorough disinfection of the disassembled sheath and insertion part, or replacement with new sheaths and insertion parts. The head of the sheath and the insertion part are equipped with corresponding flexible controllable devices for the sheath and insertion part, respectively. The draw wire connected to the flexible controllable devices for the sheath and the insertion part is detachably connected to the draw wire force sensing module 605, which is used to detect the tension on the draw wire. Specifically, for the sheath, the sheath tension sensing module is installed on the sheath flexible controllable device drive mechanism. This requires ensuring the connection and separation of the sheath flexible controllable device pull wire and the sheath flexible controllable device pull wire tension sensing module simultaneously with the connection and separation of the sheath installation mechanism and the sheath flexible controllable device drive mechanism. This allows the sheath tension sensing module to detect the tension on the sheath flexible controllable device pull wire when the pull wire is connected to the sheath tension sensing module, thereby controlling the bending posture of the sheath flexible controllable device. Similarly, for the insertion part, it is also necessary to ensure the connection and separation of the insertion part flexible controllable device pull wire and the insertion part pull wire tension sensing module simultaneously with the connection and separation of the insertion part installation mechanism and the insertion part flexible controllable device drive mechanism. This allows the insertion part pull wire tension sensing module to detect the tension on the insertion part flexible controllable device pull wire when the pull wire is connected to the insertion part flexible controllable device, thereby controlling the bending posture of the insertion part flexible controllable device. Therefore, Figure 10 This is the seventh structural schematic diagram of the quick-disassembly connection device provided in the embodiment of the present invention. Figure 11 This is the eighth structural schematic diagram of the quick-disassembly connection device provided in the embodiment of the present invention, as shown below. Figure 3 , Figure 10 and Figure 11 As shown, the connecting assembly also includes a second locking component 601 and a second toggle component 207, which connect and separate the first connector 101 and the second connector 102 to realize the connection and separation of the pull force sensing module 605 and the pull wire.

[0108] Specifically, the second locking component 601 includes a locking sleeve 602 and a locking member 603 that cooperates with the locking sleeve 602. The locking sleeve 602 is movably connected to the second connecting member 102, and the locking member 603 is connected to the first connecting member 101. The second actuating component 207 is disposed on the first connecting member 101 and is movably connected to the turntable 201. During the rotation of the turntable 201, the first actuating component 203 is driven to move, which in turn drives the second actuating component 207 to move. The movement of the second actuating component 207 causes the second locking component 601 to switch between a second locked state and a second unlocked state. In the second locked state, the locking member 603 is locked to the locking sleeve 602. In the second unlocked state, the locking member 603 is released from locking with the locking sleeve 602.

[0109] It should be noted that the drive mechanism 200 is connected to the first connector 101, which can be either fixed to the drive mechanism 200 or the side plate of the drive mechanism 200 can be used as the first connector 101; the mounting mechanism 300 is connected to the second connector 102, which can be either fixed to the mounting mechanism 300 or the side plate of the mounting mechanism 300 can be used as the second connector 102.

[0110] It should be noted that the locking member 603 is connected to the first connecting member 101, the tension sensing module 605 is located within the drive mechanism 200 and connected to the locking member 603, and the locking sleeve 602 is disposed on the second connecting member 102, with the pull cable fixed to the locking sleeve 602. When the second locking member 601 is in the second unlocked state, the locking member 603 is released from its lock with the locking sleeve 602, and the tension sensing module 605 automatically separates from the pull cable. When the second locking member 601 is in the second locked state, the locking member 603 is locked to the locking sleeve 602, and the tension sensing module 605 is automatically connected to the pull cable through the locking member 603 and the locking sleeve 602, enabling the detection of tension on the pull cable.

[0111] It should be noted that the locking sleeve 602 is movably connected to the second connector 102, the pull cable is fixed to the locking sleeve 602, the locking member 603 is connected to the first connector 101, the locking member 603 is fixed to the pull cable force sensing module 605, and the pull cable force sensing module 605 is fixed to the pull cable drive assembly in the drive mechanism 200.

[0112] It should be noted that, Figure 12This is a schematic diagram of the engagement between the lock sleeve and the second connecting member provided in an embodiment of the present invention, as shown below. Figure 12 As shown, the second connector 102 fixes the locking sleeve 602 by a spring plunger 606. The second connector 102 is provided with a mounting through hole for installing the locking sleeve 602. The locking sleeve 602 is disposed in the mounting through hole of the second connector 102, and the locking sleeve 602 is provided with a groove. The spring plunger 606 passes through the second connector 102 and can be locked in the groove of the locking sleeve 602, thereby fixing the locking sleeve 602. When an external force is applied, the spring plunger 606 disengages from the second connector 102, and the locking sleeve 602 can be separated from the second connector 102.

[0113] Furthermore, Figure 13 This is one of the structural schematic diagrams of the second locking component provided in the embodiments of the present invention. Figure 14 This is the second structural schematic diagram of the second locking component provided in the embodiment of the present invention. Figure 15 This is a structural schematic diagram of the locking member provided in an embodiment of the present invention, as shown below. Figures 13 to 15 As shown, the locking member 603 includes a latch base 701, a latch 702, and a third elastic member; the latch base 701 is disposed on the first connecting member 101, the latch 702 is rotatably disposed on the latch base 701, and the third elastic member is disposed between the latch base 701 and the latch 702.

[0114] The latch base 701 is equipped with a pivot mounting part 704. One end of the latch 702 is fixedly connected to the latch pivot 703, which is mounted on the pivot mounting part 704. The other end of the latch 702 is used to cooperate with the lock sleeve 602. The third elastic element has the same function as the first elastic element 503; therefore, the third elastic element can also be a compression spring. Both ends of the third elastic element are connected to the pivot mounting part 704 and the latch 702, respectively. Figure 13 As shown, when the second locking component 601 is in the second locked state, the tension of the third elastic element causes the latch 702 to hook onto the lock sleeve 602. When it is necessary to switch the second locking component 601 from the second locked state to the second unlocked state, the turntable 201 drives the second actuating component 207. The second actuating component 207 drives the latch 702 to move around the latch pivot 703 and towards the side closer to the third elastic element to overcome the tension of the third elastic element and release the lock between the latch 702 and the lock sleeve 602. At this time, the second locking component 601 is in the second unlocked state. Figure 14 and Figure 15 As shown.

[0115] Furthermore, such as Figures 13 to 15As shown, a pressure block 705 is provided on the latch 702. The pressure block 705 is driven to move by the second actuating component 207, thereby enabling the latch 702 to move around the latch pivot 703 towards the side closer to the third elastic element, facilitating control of the rotation of the latch 702. The pressure block 705 is fixedly connected to the latch 702 by screws. The second actuating component 207 can open the latch 702 and the lock sleeve 602 by driving the pressure block 705.

[0116] It should be noted that in this embodiment, the second actuating component 207 is rotatably mounted on the first connecting member 101. The movement of the second actuating component 207 is driven by the turntable 201 to realize the switching of the second locking component 601 between the second locked state and the second unlocked state. In another embodiment, the second actuating component 207 can also be fixedly connected to the turntable 201. The rotation of the turntable 201 synchronously drives the rotation of the second actuating component 207. During the rotation of the second actuating component 207, the second locking component 601 is driven to switch between the second locked state and the second unlocked state.

[0117] Furthermore, such as Figure 5 As shown, the turntable 201 is also provided with a second guide groove 403. One end of the second guide groove 403 is close to the rotation center of the turntable 201, and the other end of the second guide groove 403 is away from the rotation center of the turntable 201. Figure 4 As shown, the second actuating component 207 includes a second connecting rod 801, a second main rotating part 802, and a second driven rotating part 803; the middle part of the second connecting rod 801 is rotatably connected to the first connecting member 101 through a second connecting shaft 804; the second main rotating part 802 is vertically disposed at one end of the second connecting rod 801, and the second main rotating part 802 is inserted into the second guide groove 403 and slides in cooperation with the second guide groove 403; the second driven rotating part 803 is vertically disposed at the other end of the second connecting rod 801, and the second main rotating part 802 and the second driven rotating part 803 are perpendicular to each other.

[0118] The second guide groove 403 can be a long strip-shaped through groove or an arc-shaped through groove.

[0119] According to an embodiment of the present invention, the second guide groove 403 is an arc-shaped through groove eccentrically disposed on the turntable 201. Since the second connecting rod 801 connected to the second main rotating part 802 is rotatably disposed on the second connecting member 102, the second main rotating part 802 cannot rotate synchronously with the turntable 201 during the rotation of the turntable 201. It can only slide in the second guide groove 403, that is, move away from the rotation center of the turntable 201 or move closer to the rotation center of the turntable 201.

[0120] During the rotation of turntable 201, the second main rotating part 802 is moved. The movement of the second main rotating part 802 is a rotation around the axis of the second connecting rotating shaft 804, which synchronously drives the second slave rotating part 803 to rotate around the axis of the second connecting rotating shaft. The rotation of the second slave rotating part 803 changes the working state of the second locking component 601.

[0121] The second locking component 601 has two working states: a second locked state and a second unlocked state; for example... Figure 6 As shown, in the second locked state, the second main rotating part 802 is located at one end of the second guide groove 403 (near the rotation center of the turntable 201). At this time, the second main rotating part 803 is separated from the second locking part 601, and the locking tongue 702 of the second locking part 601 is locked in the lock sleeve 602 due to the tension of the third spring. When it is necessary to switch from the second locked state to the second unlocked state, the driving part 202 drives the turntable 201 to rotate, driving the second main rotating part 802 from the second guide groove 403. One end (closer to the rotation center of turntable 201) moves to the other end (away from the rotation center of turntable 201). Simultaneously, the second main rotating part 802 drives the second secondary rotating part 803 to move closer to the second locking member 601. The second secondary rotating part 803 abuts against the second locking member 601, causing the second secondary rotating part 803 of the second locking member 601 to drive the latch 702 to rotate closer to the third elastic member. The latch 702 overcomes the tension of the third elastic member, thereby releasing the latch 702 from the lock sleeve 602. At this time, the second locking member 601 is in the second unlocked state. Figure 7 As shown.

[0122] It should be noted that the number of the second locking component 601, the second guide groove 403, and the second actuating component 207 is the same as the number of the flexible controllable instrument pull wires of the sheath and the insertion part. This invention does not limit the number.

[0123] According to an embodiment of the present invention, there may be three second locking components 601. The number of second guide grooves 403 on the second toggle component 207 and the turntable 201 is equal to the number of second locking components 601, and should also be three. The three second locking components 601 are arranged in an equilateral triangle. There may be multiple first locking components 104. The number of first guide grooves 401 on the first toggle component 203 and the turntable 201 is equal to the number of first locking components 104. The first locking components 104 are located between two adjacent second locking components 601.

[0124] When the drive component 202 is rotated, it drives the turntable 201 to rotate. During the rotation of the turntable 201, the first main rotating parts 302 of the two first actuating components 203 move within the two first guide grooves 401 on the turntable 201. The movement of the first main rotating parts 302 drives the first connecting rod 301 to rotate around the axis of the first connecting shaft 304. The rotation of the first connecting rod 301 drives the first slave rotating parts 303 to move. The movement of the first slave rotating parts 303 of the two first actuating components 203 changes the two first locking mechanisms respectively. The working state of component 104: During the rotation of turntable 201, the second main rotating parts 802 of the three second actuating components 207 move in the three second guide grooves 403 on turntable 201 respectively. The movement of the second main rotating parts 802 drives the second connecting rod 801 to rotate around the axis of the second connecting shaft 804. The rotation of the second connecting rod 801 drives the second secondary rotating parts 803 to move. The movement of the second secondary rotating parts 803 of the three second actuating components 207 changes the working state of the three second locking components 601 respectively.

[0125] Figure 16 This is the ninth structural schematic diagram of the quick-disassembly connection device provided in the embodiment of the present invention. Figure 17 This is the tenth structural schematic diagram of the quick-disassembly connection device provided in the embodiment of the present invention. Figure 18 This is eleventh of the structural schematic diagrams of the quick-disassembly connection device provided in the embodiments of the present invention; as shown. Figure 16 As shown, the second connector 102 is connected to the first connector 101 by two first locking components 104. When the first locking components 104 are in a locked state, the tension of the first elastic element 503 causes the pressure claw 502 to lock the second connector 102, and the three second locking components 601 cause the locking tongue 702 to be locked in the locking sleeve 602 due to the tension of the third elastic element.

[0126] When the second connector 102 needs to be separated from the first connector 101, the pull-wire drive assembly 400 drives the locking sleeve 602 into the mounting through hole of the second connector 102, and the spring plunger 606 fixes the locking sleeve 602 onto the second connector 102 through the groove of the locking sleeve 602. Figure 16 Press the drive component 202 downwards at the indicated position until... Figure 17During the process of positioning as shown, the drive component 202 causes the turntable 201 to rotate counterclockwise. The rotation of the turntable 201 causes the first main rotating part 302 to move from one end of the first guide groove 401 (away from the rotation center of the turntable 201) to the other end (closer to the rotation center of the turntable 201). The first main rotating part 302 simultaneously drives the first secondary rotating part 303 to move closer to the first locking assembly 104. The first secondary rotating part 303 drives the pressure block pin 505 to move, causing the pressure claw 502 to move around the pressure claw axis 504 towards the side closer to the first elastic member 503, so as to overcome the tension of the first elastic member 503 and put the pressure claw 502 of the first locking assembly 104 into the open state. The rotation of the turntable 201 releases the locking effect on the second connecting member 102. Simultaneously, the rotation of the turntable 201 causes the second main rotating part 802 to move from one end of the second guide groove 403 (close to the rotation center of the turntable 201) to the other end (away from the rotation center of the turntable 201). The second main rotating part 802 synchronously drives the second secondary rotating part 803 to move closer to the second locking member 601. The second secondary rotating part 803 moves towards the pressure block 705 on the latch 702, causing the latch 702 to rotate towards the third elastic member to overcome the tension of the third elastic member. Thus, the latch 702 is released from the lock sleeve 602, allowing the latch 702 to separate from the lock sleeve 602. It should be noted that the second secondary rotating part 803 is in tangential contact with the pressure block 705. When the second secondary rotating part 803 presses against the pressure block 705, it lifts the latch 702, causing the latch 702 to disengage from the lock sleeve 602.

[0127] like Figure 17 and Figure 18 As shown, the pressure claw 502 of the first locking assembly 104 is in the open state, and the locking tongue 702 of the second locking component 601 is released from the locking sleeve 602. At this time, the second connecting member 102 can be separated from the first connecting member 101. The second connecting member 102 is located on one side of the first connecting member 101. When it is necessary for the second connecting member 102 to connect with the first connecting member 101, it can be separated from the first connecting member 101. Figure 17 Raise the drive unit 202 to the position shown. Figure 16 During the process of positioning as shown, the drive component 202 causes the turntable 201 to rotate counterclockwise. The rotation of the turntable 201 causes the first actuating component 203 and the second actuating component 207 to move in the opposite direction to the pressing drive component 202. The first actuating part 303 separates from the pressing claw 502, and the tension of the first elastic element 503 causes the pressing claw 502 to lock the second connecting member 102. At the same time, the second actuating part 803 separates from the locking tongue 702, and the tension of the third elastic element causes the locking tongue 702 to lock the locking sleeve 602. Figure 16 The location shown.

[0128] It should be noted that, from Figure 16 The position shown is to Figure 17 The position shown is the same as the one from which... Figure 6The position shown is to Figure 7 The positions shown represent the same motion process. Accordingly, from Figure 17 The position shown is to Figure 16 The position shown is the same as the one from which... Figure 7 The position shown is to Figure 6 The positions shown represent the same motion process.

[0129] The quick-disassembly connection device provided by the present invention drives the turntable 201 to rotate via the drive component 202. The rotation of the turntable 201 drives the first driven part 303 of the first actuating component 203 and the first driven part 303 of the second actuating component 207 to rotate, thereby opening the pressure claw 502 of the first locking component 104 and the locking tongue 702 of the second locking component 601 to separate the first connector 101 and the second connector 102. When the pressure claw 502 of the first locking component 104 and the locking tongue 702 of the second locking component 601 are closed, the first connector 101 and the second connector 102 can be connected.

[0130] It should be noted that the push rod 205 can slide freely within the push rod bushing 204. After pressing the drive component 202 and lifting the drive component 202, the second elastic element 206 will cause the push rod 205 to be lifted up, which can keep the turntable 201 in two positions to maintain the rotation position of the turntable 201, thereby making the first locking component 104 and the second locking component 601 accurately positioned in the first unlocked state or the first locked state.

[0131] Figure 19 This is a schematic diagram of the structure of the flexible and controllable medical device provided in an embodiment of the present invention, as shown below. Figure 19 As shown, the present invention also provides a flexible and controllable medical device, which includes a drive mechanism 200, an installation mechanism 300, and a quick-disassembly connection device 100 provided in any of the above embodiments. The drive mechanism 200 is connected to the first connector 101 in the quick-disassembly connection device 100, and the installation mechanism 300 is connected to the second connector 102 in the quick-disassembly connection device 100. Figure 19 In the middle, the drive mechanism 200 and the mounting mechanism 300 are in a separated and disassembled state.

[0132] When the driving mechanism 200 is a sheath flexible controllable instrument driving mechanism and the installation mechanism 300 is a sheath installation mechanism, the sheath flexible controllable instrument driving mechanism is connected to the first connecting member 101 in the quick disassembly connection device 100, and the sheath installation mechanism is connected to the second connecting member 102 in the quick disassembly connection device 100. The connection and separation of the second connecting member 102 and the first connecting member 101 can realize the connection and separation of the sheath installation mechanism and the sheath flexible controllable instrument driving mechanism, thereby realizing the disassembly of the sheath, which is convenient for the thorough disinfection or replacement of the disassembled sheath.

[0133] When the drive mechanism 200 is a flexible and controllable instrument drive mechanism for the insertion part and the installation mechanism 300 is an insertion part installation mechanism, the flexible and controllable instrument drive mechanism for the insertion part is connected to the first connector 101 in the quick disassembly connection device 100, and the insertion part installation mechanism is connected to the second connector 102 in the quick disassembly connection device 100. The connection and separation of the second connector 102 and the first connector 101 can realize the connection and separation of the insertion part installation mechanism and the flexible and controllable instrument drive mechanism for the insertion part, thereby realizing the disassembly of the insertion part, which facilitates the thorough disinfection or replacement of the sheath behind the insertion part.

[0134] It should be noted that the mounting mechanism 300 can move relative to the drive mechanism 200 in the front-to-back direction to achieve separation and connection with the drive mechanism 200; alternatively, the mounting mechanism 300 can move laterally away from or towards the drive mechanism 200 to achieve separation and connection with the drive mechanism 200; where lateral movement can be any radial direction of the turntable. Lateral separation of the mounting mechanism 300 relative to the drive mechanism 200 is beneficial for disinfection.

[0135] It should be noted that when the drive mechanism 200 includes a sheath flexible controllable instrument drive mechanism and an insertion part flexible controllable instrument drive mechanism, and the installation mechanism 300 includes a corresponding sheath installation mechanism and an insertion part installation mechanism, quick disassembly connection devices 100 can be provided between the sheath flexible controllable instrument drive mechanism and the sheath installation mechanism, and between the insertion part flexible controllable instrument drive mechanism and the insertion part installation mechanism, to realize the disassembly of the sheath and the insertion part, so as to facilitate the thorough disinfection or replacement of the disassembled sheath and the insertion part.

[0136] It should be noted that the drive mechanism 200 is connected to the first connector 101, which can be either fixed to the drive mechanism 200 or the side plate of the drive mechanism 200 can be used as the first connector 101; the mounting mechanism 300 is connected to the second connector 102, which can be either fixed to the mounting mechanism 300 or the side plate of the mounting mechanism 300 can be used as the second connector 102.

[0137] It should be noted that the pull-wire drive assembly 400 of the drive mechanism 200 controls the bending posture of the flexible controllable instrument, including the sheath and insertion part, through a linear drive pull wire. Existing technologies using linear drive pull wires cannot achieve quick disassembly and connection between the mounting mechanism 300 and the drive mechanism 200. According to the embodiment provided by the present invention, the drive mechanism 200 and the mounting mechanism 300 are connected by a quick-disassembly connection device, enabling rapid connection and separation of the drive mechanism 200 and the mounting mechanism 300, thereby achieving disinfection or one-time replacement of the sheath and insertion part. It should be noted that, as... Figure 19As shown, the drive mechanism 200 includes a pull-wire drive assembly 400 connected to the first connector 101 and a pull-wire force sensing module 605 connected to the pull-wire drive assembly 400.

[0138] Furthermore, the sheath includes a sheath catheter and a flexible controllable device disposed at the front end of the sheath catheter; the insertion part includes an insertion part catheter and a flexible controllable device disposed at the front end of the insertion part catheter; the sheath flexible controllable device drive mechanism includes a sheath pull wire drive assembly and a sheath pull wire force sensing module connected to the sheath pull wire drive assembly; the insertion part flexible controllable device drive mechanism includes an insertion part pull wire drive assembly and an insertion part pull wire force sensing module connected to the insertion part pull wire drive assembly.

[0139] The rear end of the sheath catheter is positioned on the sheath mounting mechanism, which is connected to the second connector in the quick-release connection device; the sheath pull-wire drive assembly is connected to the first connector in the quick-release connection device.

[0140] The rear end of the insertion conduit is mounted on the insertion mounting mechanism, which is connected to the second connector in the quick-release connection device; the insertion cable drive assembly is connected to the first connector in the quick-release connection device.

[0141] The flexible controllable sheath device has multiple pull wires, which are evenly welded to the inner side of the flexible controllable sheath device. The locking sleeve 602 is used to fix the pull wires of the flexible controllable sheath device, and the locking member 603 is used to fix the sheath pull wire force sensing module. When the locking member 603 cooperates with the locking sleeve 602 to lock the pull wires of the flexible controllable sheath device, the sheath pull wire force sensing module can detect the tension of the flexible controllable sheath device.

[0142] The flexible controllable device of the insertion part has multiple pull wires, which are evenly welded to the inner side of the flexible controllable device of the insertion part. The locking sleeve 602 is used to fix the pull wires of the flexible controllable device of the insertion part, and the locking member 603 is used to fix the force sensing module of the pull wire of the insertion part. When the locking member 603 cooperates with the locking sleeve 602 to fix the pull wire of the flexible controllable device of the insertion part, the force sensing module of the pull wire of the insertion part can detect the tension of the flexible controllable device of the sheath.

[0143] In flexible and controllable medical devices, the bending posture of the flexible and controllable device is controlled by linearly driving the pull wire through the pull wire drive assembly 400 of the drive mechanism 200, and by the disassembly method provided by the quick-disassembly connection device 100. Compared with the existing technology of controlling the bending posture of the flexible and controllable device by rotating the pull wire with a motor, the pull wire force sensing module more directly measures the tension on the pull wire of the flexible and controllable device, and the friction on the pull wire is small. The locking sleeve 602 is used to fix the pull wire of the sheath flexible and controllable device or the pull wire of the insertion flexible and controllable device, and the locking member 603 is used to fix the sheath pull wire force sensing module or the insertion pull wire force sensing module. When the locking member 603 cooperates with the locking sleeve 602 to lock the pull wire, the tension of the pull wire on the sheath flexible and controllable device or the insertion flexible and controllable device can be detected. The bending posture of the sheath flexible and controllable device and the insertion flexible and controllable device is achieved by the forward and backward displacement of their respective pull wires.

[0144] Flexible end-effectors can be used in the medical field as endoscopes, such as bronchoscopes, urethroscopy, duodenoscopes, cholangioscopes, and nephroscopes, which are thin and flexible electronic endoscopes.

[0145] 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.

[0146] 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 quick-disassembly connection device, characterized in that, include: First connector; Second connector; The driving component is connected to the first connector; A connecting component is connected to the first connector and the second connector, respectively; A first locking component is disposed on the first connector and connected to the driving component, wherein the driving component is used to drive the first locking component to switch between a first locked state and a first unlocked state. In the first locked state, the second connector is locked to the first connector by the first locking component; in the first unlocked state, the first locking component releases the lock on the second connector. The drive assembly includes a turntable, a drive component, and a first actuating component. The turntable is rotatably mounted on the first connecting member. The drive component is connected to the turntable and is used to drive the turntable to rotate. The first actuating component is mounted on the first connecting member and is movably connected to the turntable. During the rotation of the turntable, the first actuating component drives the first locking component to switch between a first locked state and a first unlocked state. The connecting assembly includes a second locking component and a second toggle component; the second locking component includes a lock sleeve and a locking member that cooperates with the lock sleeve, the lock sleeve being movably connected to the second connecting member, and the locking member being connected to the first connecting member; the second toggle component is disposed on the first connecting member and is movably connected to the turntable, the turntable being used to drive the second locking component to switch between a second locked state and a second unlocked state by driving the second toggle component; The locking component includes a latch base, a latch, and a third elastic element. The latch base is connected to a cable force sensing module, which is mounted on a cable drive assembly. The cable drive assembly is connected to the first connector. The latch is rotatably mounted on the latch base. The third elastic element is disposed between the latch base and the latch. In the second locked state, the tension of the third elastic element causes the latch to lock the lock sleeve. In the second unlocked state, the latch overcomes the tension of the third elastic element and releases the lock from the lock sleeve.

2. The quick-disassembly connection device according to claim 1, characterized in that, The first actuating component includes: The first link, the middle part of which is rotatably connected to the first connector; The first main rotating part is disposed at one end of the first connecting rod and is movably connected to the turntable; A first rotating part is disposed at the other end of the first connecting rod. In the first unlocked state, the first rotating part abuts against the first locking component. In the first locked state, the first rotating part separates from the first locking component.

3. The quick-disassembly connection device according to claim 2, characterized in that, The turntable is provided with a first guide groove, one end of which is far away from the rotation center of the turntable, and the other end of which is close to the rotation center of the turntable. The first main rotating part is inserted into the first guide groove and slides in cooperation with the first guide groove. In the first locked state, the first main rotating part is located at one end of the first guide groove. In the first unlocked state, the first main rotating part is located at the other end of the first guide groove.

4. The quick-disassembly connection device according to claim 1, characterized in that, The first locking component includes: A pressure claw base is disposed on the first connecting member; The pressure claw is rotatably mounted on the pressure claw base; A first elastic element is disposed between the pressure claw base and the pressure claw. In the first locked state, the tension of the first elastic element causes the pressure claw to lock the second connecting member. In the first unlocked state, the pressure claw overcomes the tension of the first elastic element and unlocks the second connecting member.

5. The quick-disassembly connection device according to claim 1, characterized in that, It also includes a positioning component disposed on the first connector, wherein the edge of the turntable is formed with a protrusion, the protrusion having a first side surface and a second side surface; In the first locked state, the positioning component abuts against the first side; In the first unlocked state, the positioning component abuts against the second side.

6. The quick-disassembly connection device according to claim 5, characterized in that, The positioning component includes: The push rod bushing is mounted on the first connecting member. One end of the push rod is disposed inside the push rod bushing; The second elastic element is disposed between the push rod bushing and the push rod. In the first locked state, the other end of the push rod abuts against the first side, and the second elastic element is in a first compressed state. In the first unlocked state, the other end of the push rod abuts against the second side, and the second elastic element is in a second compressed state.

7. The quick-disassembly connection device according to any one of claims 1 to 6, characterized in that, The turntable is provided with a second guide groove, one end of which is close to the rotation center of the turntable, and the other end of which is far away from the rotation center of the turntable. The second actuating component includes: The second link is rotatably connected to the first connector at its middle part; The second main rotating part is disposed at one end of the second connecting rod, inserted into the second guide groove and slidingly engaged with the second guide groove; The second rotating part is disposed at the other end of the second connecting rod. In the second locked state, the second main rotating part is located at one end of the second guide groove, and the second rotating part is separated from the locking tongue. In the second unlocked state, the second main rotating part is located at the other end of the second guide groove, and the second rotating part abuts against the locking tongue.

8. A flexible and controllable medical device, characterized in that, It includes a sheath flexible controllable instrument drive mechanism, a sheath mounting mechanism, an insertion part flexible controllable instrument drive mechanism, an insertion part mounting mechanism, and a quick disassembly connection device as described in any one of claims 1 to 7; The sheath flexible controllable instrument drive mechanism and the sheath mounting mechanism are connected via the quick-release connection device; and / or The flexible and controllable instrument drive mechanism for the insertion part and the installation mechanism for the insertion part are connected by the quick-release connection device.

9. The flexible and controllable medical device according to claim 8, characterized in that, It also includes a sheath and an insertion part; the sheath includes a sheath catheter and a flexible controllable device disposed at one end of the sheath catheter; the insertion part includes an insertion part catheter and a flexible controllable device disposed at one end of the insertion part catheter; the sheath flexible controllable device drive mechanism includes a sheath pull wire drive assembly and a sheath pull wire force sensing module connected to the sheath pull wire drive assembly; the insertion part flexible controllable device drive mechanism includes an insertion part pull wire drive assembly and an insertion part pull wire force sensing module connected to the insertion part pull wire drive assembly; The other end of the sheath catheter is disposed on the sheath mounting mechanism, which is connected to the second connector in the quick-release connection device; the sheath pull wire drive assembly is connected to the first connector in the quick-release connection device; The other end of the insertion conduit is disposed on the insertion mounting mechanism, which is connected to the second connector in the quick-release connection device; the insertion cable drive assembly is connected to the first connector in the quick-release connection device. The sheath flexible controllable device is connected to the sheath pull wire force sensing module via the sheath flexible controllable device pull wire and the connecting component in the quick-release connection device; The flexible controllable device for the insertion section is connected to the force sensing module of the insertion section pull wire through the flexible controllable device pull wire of the insertion section and the connecting component in the quick-release connection device.

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