Flexible tip controllable medical instrument feed mechanism

Abstract

The application relates to the technical field of medical devices, and provides a flexible-end controllable medical device feeding mechanism. The mechanism comprises a linear motor and a linear transmission assembly, a multi-axis force sensor, and a driving wheel extension plate and a driven wheel extension plate. The flexible-end controllable medical device feeding mechanism controls the distance between the driven wheel and the driving wheel through the linear motor and the linear transmission assembly, so as to adjust the clamping force of the driving wheel and the driven wheel on the flexible-end controllable medical device, and the flexible-end controllable medical device can be smoothly fed; the multi-axis force sensor can realize real-time sensing of the collision condition of the flexible-end controllable medical device in the human body, so that the flexible-end controllable medical device can be prevented from continuously advancing after colliding with the internal organs of the human body and causing damage to the human body; the driving wheel is detachably installed on the driving wheel extension plate, and the driven wheel is detachably installed on the driven wheel extension plate, so that the distance between the driving wheel, the driven wheel and other components is pulled apart, and the driving wheel and the driven wheel are convenient to disassemble and clean.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a flexible tip controllable medical device feeding mechanism. BACKGROUND

[0002] In the current flexible surgical instrument system market, flexible tip controllable medical devices are usually used to check whether there are lesions inside the human body. The flexible tip controllable medical device is a two-level concentric tube structure, which can enter the human body through the mouth or other natural cavities of the human body. Doctors can observe the lesion condition inside the human body with the help of the flexible tip controllable medical device. When using the flexible tip controllable medical device for inspection in the traditional method, the doctor holds the flexible tip controllable medical device to feed forward and backward and bend. The doctor's proficiency in operating the flexible tip controllable medical device is required to be high, and the doctor is easy to be tired after a long time of work. Therefore, the robot medical auxiliary technology can be used to solve this problem.

[0003] When using the robot medical auxiliary technology, the feeding mechanism needs to guide and support the flexible tip controllable medical device before it enters the human body. However, the existing feeding mechanism cannot adjust the clamping force on the flexible tip controllable medical device. After the flexible tip controllable medical device enters the human body and contacts the body fluid, the flexible tip controllable medical device and the feeding mechanism will slip due to insufficient clamping force, so that the feeding of the flexible tip controllable medical device cannot be smoothly completed. SUMMARY

[0004] The embodiment of the present application provides a flexible tip controllable medical device feeding mechanism to solve the technical problem that the existing feeding mechanism cannot adjust the clamping force on the flexible tip controllable medical device, so that the feeding of the flexible tip controllable medical device cannot be smoothly completed.

[0005] In a first aspect, the embodiment of the present application provides a flexible tip controllable medical device feeding mechanism, which comprises: a driving wheel, a driven wheel, a transition wheel assembly, a linear transmission assembly, a rotary motor and a linear motor.

[0006] The rotary motor and the linear motor are arranged side by side. The rotary motor comprises a rotating shaft, and the linear motor comprises a lead screw.

[0007] The transition wheel assembly is connected between the rotating shaft and the driving wheel, so that the rotating shaft can drive the driving wheel to rotate through the transition wheel assembly.

[0008] The linear transmission assembly comprises a first connecting piece, a connecting rod, a second connecting piece, a first guide column, a first limiting block, a second limiting block and at least two second guide columns.

[0009] The first guide post is fixedly connected between the first limiting block and the second limiting block, and an extending direction of the first guide post is perpendicular to an extending direction of the screw rod;

[0010] The second guide post is fixedly connected to the linear motor, and an extending direction of the second guide post is parallel to an extending direction of the lead screw;

[0011] The first connecting member is sleeved on the screw rod and the second guide column, the top of the first connecting member is movably connected to one end of the connecting rod, one end of the second connecting member is movably connected to the other end of the connecting rod and the first guide column respectively, and the other end of the second connecting member is connected to the driven wheel;

[0012] The linear transmission assembly is used to drive the driven wheel to move closer to or away from the driving wheel to clamp and feed flexible end-controllable medical devices of any specifications, and to adjust the clamping force and feeding force of the flexible end-controllable medical devices of any specifications.

[0013] In one embodiment, the thickness of the driven wheel is greater than the thickness of the driving wheel.

[0014] In one embodiment, the second connecting member includes a first vertical plate, a driven wheel extension plate and a guide column sliding member;

[0015] The guide post sliding member is provided on a side surface of the first vertical plate and is sleeved on the first guide post. The top of the first vertical plate is movably connected to an end of the connecting rod away from the first connecting member, so that the first vertical plate can move along the extension direction of the first guide post under the drive of the connecting rod.

[0016] One end of the driven wheel extension plate is fixedly connected to the bottom of the first vertical plate, and the other end of the driven wheel extension plate is detachably connected to the driven wheel, so that the driven wheel can be easily disassembled and cleaned.

[0017] In one embodiment, the transition wheel assembly includes a first gear, a second gear, a third gear, a fourth gear, a first support rod, a first support seat and a driving wheel extension plate;

[0018] The first support seat is arranged on the driving wheel extension plate, and a first through hole is provided on the first support seat. The first support rod is passed through the first through hole, and one end of the first support rod is fixedly connected to the first gear, and the other end of the first support rod is fixedly connected to the second gear;

[0019] The third gear is fixedly connected to the rotating shaft, and the third gear is meshed with the first gear;

[0020] The end of the driving wheel extension plate away from the first gear is detachably connected to the driving wheel, so that the driving wheel can be easily disassembled and cleaned. The driving wheel is fixedly connected to the fourth gear, and the fourth gear is meshed with the second gear.

[0021] In one embodiment, the invention further comprises: a first limit sensor, a second limit sensor and a stopper assembly;

[0022] The first limit sensor and the second limit sensor are arranged on one side of the first connecting member along the axial direction of the screw rod, and the first limit sensor and the second limit sensor are both groove-type photoelectric sensors;

[0023] The stopper assembly includes a third connecting member and a stopper;

[0024] One end of the third connecting member is fixedly connected to the side of the first connecting member close to the first limit sensor or the second limit sensor, and the other end of the third connecting member is fixedly connected to the stopper, the horizontal height of the stopper is within the height range of the groove of the first limit sensor and the groove of the second limit sensor, and the vertical projection of the stopper in the first position is within the groove of the first limit sensor, and the vertical projection of the stopper in the second position is within the groove of the second limit sensor.

[0025] In one embodiment, the invention further comprises: a driving wheel disassembly assembly;

[0026] The driving wheel disassembly assembly includes a driving wheel mounting groove, a driving wheel mounting seat, a second support rod, a driving wheel ejection assembly and a second support seat;

[0027] The driving wheel mounting groove is fixedly connected to an end of the driving wheel extension plate away from the first gear;

[0028] The driving wheel mounting groove includes a first notch and a second notch, wherein the first notch is located at the top of the driving wheel mounting groove, and the second notch is located at the side of the driving wheel mounting groove close to the driven wheel, and the first notch and the second notch are connected to each other;

[0029] The driving wheel mounting seat includes a first base and a first mounting portion, wherein the first mounting portion is located on the top of the first base, the first base is embedded in the driving wheel mounting groove, and the first mounting portion protrudes from the first groove;

[0030] A second through hole is provided on the first mounting portion, the second support rod is passed through the second through hole, one end of the second support rod is fixedly connected to the driving wheel, and the other end of the second support rod is fixedly connected to the fourth gear;

[0031] The driving wheel ejection assembly comprises a first ejector pin, a first spring and a first pressing block.

[0032] One end of the first spring is fixedly connected with the first ejector pin, and the other end of the first spring is fixedly connected with the first pressing block.

[0033] The second support base is provided with a fourth through hole, and the fourth through hole and the third through hole form a first through channel in the horizontal direction.

[0034] In one embodiment, the driven wheel disassembly assembly further comprises:

[0035] The driven wheel disassembly assembly comprises a driven wheel mounting slot, a driven wheel mounting base, a third support rod, a driven wheel ejection assembly and a third support base.

[0036] The driven wheel mounting slot is fixedly connected with the driven wheel extension plate away from one end of the first vertical plate.

[0037] The driven wheel mounting slot comprises a third slot and a fourth slot.

[0038] The driven wheel mounting base comprises a second base and a second mounting portion.

[0039] The second mounting portion is provided with a fifth through hole, and the third support rod is arranged in the fifth through hole.

[0040] The driven wheel ejection assembly comprises a second ejector pin, a second spring and a second pressing block.

[0041] One end of the second spring is fixedly connected with the second ejector pin, and the other end of the second spring is fixedly connected with the second pressing block.

[0042] The third support seat is provided with a seventh through hole, and the seventh through hole and the sixth through hole form a second through channel in the horizontal direction. The driven wheel ejection assembly is passed through the second through channel, and the second ejector pin abuts against the second base.

[0043] In one embodiment, the invention further comprises: a multi-axis force sensor;

[0044] The multi-axis force sensor is fixedly connected between the driving wheel extension plate and the driving wheel mounting groove. The multi-axis force sensor is used to sense the collision of the flexible end-controllable medical device inside the human body, so as to prevent the flexible end-controllable medical device from continuing to move forward after colliding with the internal organs of the human body.

[0045] In one embodiment, it further comprises: an upper cover plate and a lower cover plate;

[0046] The upper cover plate is arranged on the top of the lower cover plate, and an accommodating space is formed between the upper cover plate and the lower cover plate;

[0047] The linear transmission assembly, the rotating motor, the linear motor, the first limit sensor, the second limit sensor and the block assembly are all arranged in the accommodating space, and a first extension opening and a second extension opening are provided on one side of the accommodating space. The driving wheel extension plate extends from the inside of the accommodating space to the outside of the accommodating space through the first extension opening, and the driven wheel extension plate extends from the inside of the accommodating space to the outside of the accommodating space through the second extension opening.

[0048] In one embodiment, the further comprising: a control button;

[0049] The control button is arranged on the upper cover plate, and the control button is electrically connected to the linear motor.

[0050] In one embodiment, further comprising: a second riser;

[0051] The second vertical plate is fixedly connected to the lower cover plate, and the linear motor further includes a second driving body, which is rotatably connected to the screw rod;

[0052] An eighth through hole is provided at a corner of the first connecting member, and the second guide post is provided in the eighth through hole along the axial direction of the screw rod, and one end of the second guide post is fixedly connected to the second driving body, and the other end of the second guide post extends toward one side of the second riser;

[0053] The first limiting block and the second limiting block are fixedly connected to a side of the second vertical plate away from the second guide column;

[0054] The second vertical plate is provided with a ninth through hole, the rotating motor further includes a first driving body, the rotating shaft is passed through the ninth through hole, one end of the rotating shaft is rotatably connected to the first driving body, and the other end of the rotating shaft is fixedly connected to the third gear.

[0055] The flexible end-controllable medical device feeding mechanism provided by the present application includes: a driving wheel, a driven wheel, a transition wheel assembly, a linear transmission assembly, a rotary motor and a linear motor, the rotary motor and the linear motor are arranged side by side, the rotary motor includes a rotating shaft, the linear motor includes a screw, the transition wheel assembly is connected between the rotating shaft and the driving wheel, so that the rotating shaft can drive the driving wheel to rotate through the transition wheel assembly, the linear transmission assembly includes a first connecting member, a connecting rod, a second connecting member, a first guide column, a first limit block, a second limit block and at least two second guide columns, the first guide column is fixedly connected between the first limit block and the second limit block, and the extension direction of the first guide column is perpendicular to the extension direction of the screw, the second guide column is fixedly connected to the linear motor, and the extension direction of the second guide column is parallel to the extension direction of the screw, the first connecting member is sleeved on the screw and the second guide column, the top of the first connecting member is movably connected to one end of the connecting rod, one end of the second connecting member is movably connected to the other end of the connecting rod and the first guide column respectively, and the other end of the second connecting member is connected to the driven wheel. When the linear motor is working, it drives the screw to rotate. The rotation of the screw, combined with the support and guidance of the second guide column, will drive the first connecting member to move axially along the screw. The first connecting member then drives the second connecting member to reciprocate along the extension direction of the first guide column. The second connecting member drives the driven wheel to approach or move away from the driving wheel. When the flexible end-controllable medical device is clamped between the driven wheel and the driving wheel, the rotary motor is controlled to work to drive the rotating shaft to rotate. The rotating shaft drives the driving wheel to rotate through the transition wheel assembly. The rotation of the driving wheel drives the flexible end-controllable medical device to feed. The feeding of the flexible end-controllable medical device will drive the driven wheel to rotate in the opposite direction relative to the driving wheel. During the feeding process, the clamping force on the flexible end-controllable medical device can be adjusted by controlling the distance between the driven wheel and the driving wheel, thereby avoiding the flexible end-controllable medical device from slipping between the feeding mechanism and the flexible end-controllable medical device due to insufficient clamping force after entering the human body and contacting human body fluids, so that the feeding of the flexible end-controllable medical device can be carried out smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0057] Figure 1This is one of the structural diagrams of the flexible end-controllable medical device feeding mechanism provided in the embodiments of the present application;

[0058] Figure 2 1 is a schematic structural diagram of a flexible end-controllable medical device feeding mechanism provided in an embodiment of the present application when clamping a flexible end-controllable medical device;

[0059] Figure 3 This is a structural diagram of the flexible end-controllable medical device feeding mechanism provided in an embodiment of the present application when the flexible end-controllable medical device is released;

[0060] Figure 4 This is the second structural diagram of the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application;

[0061] Figure 5 This is one of the structural schematic diagrams of the driving wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application;

[0062] Figure 6 This is the second structural diagram of the driving wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application;

[0063] Figure 7 This is one of the structural schematic diagrams of the driven wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application;

[0064] Figure 8 This is the second structural diagram of the driven wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in an embodiment of the present application;

[0065] Figure 9 This is the third structural diagram of the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application.

[0066] Reference numerals:

[0067] 1-driving wheel; 2-driven wheel; 3-rotating motor; 4-linear motor; 5-first connecting member; 6-connecting rod; 7-first guide column; 8-first limit block; 9-second limit block; 10-first vertical plate; 11-driven wheel extension plate; 12-guide column sliding member; 13-first gear; 14-second gear; 15-third gear; 16-fourth gear; 17-first support rod; 18-first support seat; 19-driving wheel extension plate; 20-first limit sensor; 21-second limit sensor; 22-third connecting member; 23-stop block; 24-driving wheel mounting slot; 241-first notch; 242-second notch; 25-driving wheel mounting seat; 251-first base; 252-first mounting portion; 26-second support rod; 27-second support seat; 28-first ejector pin; 29-first spring; 30-first pressure block; 31-driven wheel mounting groove; 311-third notch; 312-fourth notch; 32-driven wheel mounting seat; 321-second base; 322-second mounting portion; 33-third support rod; 34-third support seat; 35-second ejector pin; 36-second spring; 37-second pressure block; 38-multi-axis force sensor; 39-upper cover; 40-lower cover; 41-control button; 42-second vertical plate; 43-second guide column; 44-flexible end-controllable medical device; 45-wheel hub; 46-tire; 47-first spring plunger; 48-guide seat; 49-second spring plunger; 50-first extension port; 51-second extension port. DETAILED DESCRIPTION

[0068] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0069] It should be noted that in the description of the embodiments of the present application, the terms "comprise", "include" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. The orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present application. Unless otherwise expressly specified and limited, the terms "mounted", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0070] The terms "first," "second," and the like in this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that such terms are interchangeable where appropriate, so that embodiments of this application can be implemented in an order other than that illustrated or described herein. Furthermore, the terms "first," "second," and the like generally distinguish objects of a class and do not limit the number of objects; for example, the first object can be one or more. Furthermore, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the connected objects.

[0071] Figure 1 This is one of the structural diagrams of the flexible end-controllable medical device feeding mechanism provided in the embodiments of the present application;

[0072] Figure 2 1 is a schematic structural diagram of a flexible end-controllable medical device feeding mechanism provided in an embodiment of the present application when clamping a flexible end-controllable medical device;

[0073] Figure 3 This is a structural diagram of the flexible end-controllable medical device feeding mechanism provided in an embodiment of the present application when the flexible end-controllable medical device is released.

[0074] Reference Figures 1 to 3, the embodiment of the present application provides a flexible end-controllable medical device feeding mechanism, which may include: a driving wheel 1, a driven wheel 2, a transition wheel assembly, a linear transmission assembly, a rotary motor 3 and a linear motor 4;

[0075] The rotary motor 3 and the linear motor 4 are arranged side by side. The rotary motor 3 includes a rotating shaft, and the linear motor 4 includes a screw rod.

[0076] The transition wheel assembly is connected between the rotating shaft and the driving wheel 1 so that the rotating shaft can drive the driving wheel 1 to rotate through the transition wheel assembly;

[0077] The linear transmission assembly includes a first connecting member 5, a connecting rod 6, a second connecting member, a first guide column 7, a first limit block 8, a second limit block 9 and at least two second guide columns 43;

[0078] The first guide post 7 is fixedly connected between the first limit block 8 and the second limit block 9, and the extension direction of the first guide post 7 is perpendicular to the extension direction of the screw rod;

[0079] The second guide post 43 is fixedly connected to the linear motor 4, and the extension direction of the second guide post 43 is parallel to the extension direction of the lead screw;

[0080] The first connecting member 5 is sleeved on the screw rod and the second guide column 43. The top of the first connecting member 5 is movably connected to one end of the connecting rod 6. One end of the second connecting member is movably connected to the other end of the connecting rod 6 and the first guide column 7. The other end of the second connecting member is connected to the driven wheel 2.

[0081] The linear transmission assembly is used to drive the driven wheel 2 toward or away from the driving wheel 1 to clamp and feed any specification of flexible end-controllable medical device, and adjust the clamping force and feed force of any specification of flexible end-controllable medical device, which can be an endoscope.

[0082] The rotary motor 3 and the linear motor 4 are arranged side by side, and the extension directions of the rotating shaft and the lead screw are consistent. The first guide column 7 is limited between the first limit block 8 and the second limit block 9. The movement range of the second connecting member along the first guide column 7 is also limited between the first limit block 8 and the second limit block 9, preventing the second connecting member from exceeding the safe movement range and causing collision and damage between the driven wheel 2 and the driving wheel 1.

[0083] The screw rod of the linear motor 4 is usually provided with a thread. The screw rod rotates in conjunction with the support and guidance of the second guide column 43 to drive the first connecting member 5 to move along the axial direction of the screw rod. The first connecting member 5 in turn drives the connecting rod 6 to move. The connecting rod 6 in turn drives the second connecting member to move between the first limit block 8 and the second limit block 9 along the extension direction of the first guide column 7, thereby driving the driven wheel 2 to approach or move away from the driving wheel 1. Since the flexible end-controllable medical device 44 is clamped between the driving wheel 1 and the driven wheel 2, the clamping force of the flexible end-controllable medical device 44 can be adjusted by adjusting the distance between the driven wheel 2 and the driving wheel 1, and the driving wheel 1 can be controlled to rotate to drive the flexible end-controllable medical device 44 to feed. The feeding direction of the flexible end-controllable medical device 44 can also be changed by changing the rotation direction of the driving wheel 1.

[0084] See also Figure 2 At this time, the driven wheel 2 is close to the driving wheel 1 to clamp the flexible end-controllable medical device 44, and the distance between the driven wheel 2 and the driving wheel 1 can be further controlled to control the clamping force on the flexible end-controllable medical device 44.

[0085] See also Figure 3 At this time, the driven wheel 2 has been adjusted to no longer contact the flexible end-controllable medical device 44, thereby releasing the flexible end-controllable medical device 44.

[0086] The flexible end-controllable medical device feeding mechanism provided in this embodiment includes: a driving wheel, a driven wheel, a transition wheel assembly, a linear transmission assembly, a rotary motor and a linear motor. The rotary motor and the linear motor are arranged side by side. The rotary motor includes a rotating shaft, and the linear motor includes a screw. The transition wheel assembly is connected between the rotating shaft and the driving wheel so that the rotating shaft can drive the driving wheel to rotate through the transition wheel assembly. The linear transmission assembly includes a first connecting member, a connecting rod, a second connecting member, a first guide column, a first limit block, a second limit block and at least two second guide columns. The first guide column is fixedly connected between the first limit block and the second limit block, and the extension direction of the first guide column is perpendicular to the extension direction of the screw. The second guide column is fixedly connected to the linear motor, and the extension direction of the second guide column is parallel to the extension direction of the screw. The first connecting member is sleeved on the screw and the second guide column. The top of the first connecting member is movably connected to one end of the connecting rod, and one end of the second connecting member is movably connected to the other end of the connecting rod and the first guide column respectively, and the other end of the second connecting member is connected to the driven wheel. When the linear motor is working, it drives the screw to rotate. The rotation of the screw, combined with the support and guidance of the second guide column, will drive the first connecting member to move axially along the screw. The first connecting member then drives the second connecting member to reciprocate along the extension direction of the first guide column. The second connecting member drives the driven wheel to approach or move away from the driving wheel. When the flexible end-controllable medical device is clamped between the driven wheel and the driving wheel, the rotary motor is controlled to work to drive the rotating shaft to rotate. The rotating shaft drives the driving wheel to rotate through the transition wheel assembly. The rotation of the driving wheel drives the flexible end-controllable medical device to feed. The feeding of the flexible end-controllable medical device will drive the driven wheel to rotate in the opposite direction relative to the driving wheel. During the feeding process, the clamping force on the flexible end-controllable medical device can be adjusted by controlling the distance between the driven wheel and the driving wheel, thereby avoiding the flexible end-controllable medical device from slipping between the feeding mechanism and the flexible end-controllable medical device due to insufficient clamping force after entering the human body and contacting human body fluids, so that the feeding of the flexible end-controllable medical device can be carried out smoothly.

[0087] Figure 4 This is the second structural diagram of the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application; Figure 4 In one embodiment, the thickness H of the driven wheel 2 of the flexible end-controllable medical device feeding mechanism is greater than the thickness h of the driving wheel 1.

[0088] Both the driving wheel 1 and the driven wheel 2 are rollers consisting of a wheel hub 45 and a tire 46. The tire 46 is fixed to the outer peripheral surface of the wheel hub 45 along the circumference of the wheel hub 45, and a groove is formed between the outer peripheral surface of the tire 46 and the wheel hub 45. When the thickness of the driven wheel 2 is greater than the thickness of the driving wheel 1, as the driven wheel 2 approaches the driving wheel 1, the driving wheel 1 can push the flexible end-controllable medical device 44 deeper into the groove of the driven wheel 2. When the thickness of the driven wheel 2 is large enough, the driving wheel 1 can even push the flexible end-controllable medical device 44 together with the flexible end-controllable medical device 44 into the groove of the driven wheel 2, thereby increasing the clamping force on the flexible end-controllable medical device 44 and preventing the flexible end-controllable medical device 44 from slipping between the two wheels during the feeding process.

[0089] In this embodiment, by setting the thickness of the driven wheel to be greater than the thickness of the driving wheel, the clamping force of the driving wheel and the driven wheel on the flexible end-controllable medical device can be further increased to prevent it from slipping.

[0090] Reference Figure 1 In one embodiment, the second connecting member includes a first vertical plate 10, a driven wheel extension plate 11 and a guide column sliding member 12;

[0091] The guide post slider 12 is provided on the side of the first riser 10 and is sleeved on the first guide post 7. The top of the first riser 10 is movably connected to the end of the connecting rod 6 away from the first connecting member 5, so that the first riser 10 can move along the extension direction of the first guide post 7 under the drive of the connecting rod 6.

[0092] One end of the driven wheel extension plate 11 is fixedly connected to the bottom of the first vertical plate 10 , and the other end of the driven wheel extension plate 11 is detachably connected to the driven wheel 2 .

[0093] It should be noted that, in addition to being movably connected to the first guide post 7 through the guide post slider 12 , the first riser 10 can also be moved along the extension direction of the first guide post 7 by providing a slide rail on the first guide post 7 .

[0094] In addition, by providing the driven wheel extension plate 11, the driven wheel 2 can be kept a certain distance away from other mechanisms, thereby preventing other mechanisms from limiting the disassembly space of the driven wheel 2, which is conducive to the subsequent disassembly and disinfection of the driven wheel 2.

[0095] In this embodiment, the guide post sliding member is used to realize the movement of the second connecting member as a whole along the extension direction of the first guide post, so that the driven wheel can move closer to or farther away from the driving wheel. At the same time, by providing a driven wheel extension plate, the disassembly space of the driven wheel is increased, which facilitates its subsequent disassembly and disinfection and sterilization.

[0096] Reference Figure 1In one embodiment, the transition wheel assembly includes a first gear 13, a second gear 14, a third gear 15, a fourth gear 16, a first support rod 17, a first support seat 18 and a driving wheel extension plate 19;

[0097] The first support base 18 is provided on the driving wheel extension plate 19. The first support base 18 is provided with a first through hole. The first support rod 17 is passed through the first through hole. One end of the first support rod 17 is fixedly connected to the first gear 13, and the other end of the first support rod 17 is fixedly connected to the second gear 14.

[0098] The third gear 15 is fixedly connected to the rotating shaft, and the third gear 15 is meshedly connected to the first gear 13;

[0099] One end of the driving wheel extension plate 19 away from the first gear 13 is detachably connected to the driving wheel 1 . The driving wheel 1 is fixedly connected to the fourth gear 16 . The fourth gear 16 is meshed with the second gear 14 .

[0100] It should be noted that, in addition to the mutual meshing of gears, the driving force of the rotating shaft of the rotary motor 3 can also be transmitted to the driving wheel 1 by providing rollers and a synchronous belt between the rollers.

[0101] In addition, by providing the driving wheel extension plate 19 and the meshing transmission form, the driving wheel 1 can be pulled a certain distance away from other mechanisms to avoid other mechanisms limiting the disassembly space of the driving wheel 1. At the same time, the tediousness of disassembling the synchronous belt is avoided, which is conducive to the subsequent disassembly and disinfection of the driving wheel 1.

[0102] This embodiment transmits the driving force of the rotating motor shaft to the driving wheel through the transition wheel assembly, thereby realizing the synchronous rotation of the driving wheel to provide feeding force for the flexible end-controllable medical device. At the same time, by providing a driving wheel extension plate and an engaging transmission form, the disassembly space of the driving wheel is increased, avoiding the tedious disassembly of the synchronous belt, and facilitating its subsequent disassembly and disinfection and sterilization.

[0103] Reference Figure 1 , in one embodiment, the flexible end-controllable medical device feeding mechanism further includes: a first limit sensor 20, a second limit sensor 21 and a stopper assembly;

[0104] The first limit sensor 20 and the second limit sensor 21 are arranged on one side of the first connecting member 5 along the axial direction of the screw rod, and the first limit sensor 20 and the second limit sensor 21 are both groove-type photoelectric sensors;

[0105] The stopper assembly includes a third connecting member 22 and a stopper 23;

[0106] One end of the third connecting member 22 is fixedly connected to the side of the first connecting member 5 close to the first limit sensor 20 or the second limit sensor 21, and the other end of the third connecting member 22 is fixedly connected to the stopper 23. The horizontal height of the stopper 23 is within the height range of the groove of the first limit sensor 20 and the groove of the second limit sensor 21, and the vertical projection of the stopper 23 in the first position is within the groove of the first limit sensor 20, and the vertical projection of the stopper 23 in the second position is within the groove of the second limit sensor 21.

[0107] The two opposite groove inner walls of the groove-type photoelectric sensor are respectively provided with a light signal emitting point and a light signal receiving point. When it starts working, the light signal emitting point transmits a light signal to the light signal receiving point. If the light signal receiving point receives the light signal, it is confirmed that no abnormal situation has occurred at this time.

[0108] In this embodiment, as the first connecting member 5 moves along the axial direction of the screw rod, the third connecting member 22 also drives the block 23 to move along the axial direction of the screw rod. When the block 23 moves to the first position, that is, it moves into the groove of the first limit sensor 20, blocking the light signal of the inner wall of its inner groove, so that the light signal receiving point cannot receive the light signal emitted by the light signal emitting point. At this time, it is confirmed that an abnormal situation has occurred, and the screw rod of the linear motor 4 is controlled to stop moving; when the block 23 moves to the second position, that is, it moves into the groove of the second limit sensor 21, blocking the light signal of the inner wall of its inner groove, so that the light signal receiving point cannot receive the light signal emitted by the light signal emitting point. At this time, it is confirmed that an abnormal situation has occurred, and the screw rod of the linear motor 4 is controlled to stop moving again.

[0109] From the above, it can be seen that by controlling the linear motor 4 through the first limit sensor 20 and the second limit sensor 21, the axial movement of the first connecting member 5 along the screw rod can be controlled, and then the starting point and end point of the movement of the second connecting member along the first guide column 7 can be limited by the connecting rod 6. After reasonable setting, the movement range of the second connecting member is restricted to prevent the first vertical plate 10 in the second connecting member from colliding with the first limit block 8 or the second limit block 9 and being damaged, and further prevent the driven wheel 2 from exceeding the safe movement range and colliding with the driving wheel 1 and being damaged.

[0110] This embodiment can further limit the range of movement of the second connecting member along the first guide column by setting the first limit sensor and the second limit sensor, thereby preventing the first vertical plate from colliding with the first limit block or the second limit block and further preventing the driven wheel from colliding with the driving wheel.

[0111] Figure 5 This is one of the structural schematic diagrams of the driving wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application;

[0112] Figure 6This is the second structural schematic diagram of the active wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application.

[0113] Reference Figures 5 and 6 ,In one embodiment, the flexible end-controllable medical device feeding mechanism further includes: a driving wheel disassembly assembly;

[0114] The driving wheel disassembly assembly includes a driving wheel mounting groove 24, a driving wheel mounting seat 25, a second support rod 26, a driving wheel ejection assembly and a second support seat 27;

[0115] The driving wheel mounting groove 24 is fixedly connected to the end of the driving wheel extension plate 19 away from the first gear 13;

[0116] The driving wheel mounting groove 24 includes a first notch 241 and a second notch 242. The first notch 241 is located at the top of the driving wheel mounting groove 24, and the second notch 242 is located on the side of the driving wheel mounting groove 24 close to the driven wheel 2. The first notch 241 and the second notch 242 are connected to each other.

[0117] The driving wheel mounting seat 25 includes a first base 251 and a first mounting portion 252. The first mounting portion 252 is located on the top of the first base 251. The first base 251 is embedded in the driving wheel mounting groove 24. The first mounting portion 252 protrudes from the first notch 241.

[0118] A second through hole is provided on the first mounting portion 252, and a second support rod 26 is passed through the second through hole. One end of the second support rod 26 is fixedly connected to the driving wheel 1, and the other end of the second support rod 26 is fixedly connected to the fourth gear 16;

[0119] The driving wheel ejection assembly includes a first ejector pin 28, a first spring 29 and a first pressure block 30;

[0120] One end of the first spring 29 is fixedly connected to the first ejector pin 28, and the other end of the first spring 29 is fixedly connected to the first pressure block 30. A third through hole is provided on the side of the driving wheel mounting groove 24 opposite to the second notch 242. The second support seat 27 is provided on a side of the third through hole adjacent to the driving wheel mounting groove 24, and the second support seat 27 is fixedly connected to the driving wheel extension plate 19.

[0121] A fourth through hole is provided on the second support seat 27 , and the fourth through hole and the third through hole form a first through channel in the horizontal direction. The driving wheel ejection assembly is passed through the first through channel, and the first ejector pin 28 abuts against the first base 251 .

[0122] The driving wheel mounting seat 25 is embedded and installed in the driving wheel mounting groove 24 through the first notch 241 and the second notch 242. A through hole is provided on the side of the driving wheel mounting groove 24 adjacent to the second notch 242, and the first spring plunger 47 is passed through the through hole to abut against the first base 251 of the driving wheel mounting seat 25. The driving wheel mounting seat 25 is clamped in the driving wheel mounting groove 24 through the first spring plunger 47.

[0123] Furthermore, a guide seat 48 of the flexible end-controllable medical device can be fixedly connected to one side of the driving wheel mounting seat 25. A through hole is provided on the guide seat 48, and the flexible end-controllable medical device can be inserted into the through hole, and the side of the flexible end-controllable medical device is in contact with the driving wheel 1. The guide seat 48 can provide support and guidance for the flexible end-controllable medical device, so that the flexible end-controllable medical device is always located between the driving wheel 1 and the driven wheel 2 without position deviation. The clamping force of the driving wheel 1 and the driven wheel 2 and the driving force of the driving wheel 1 can be fully applied to the flexible end-controllable medical device, so that the feeding direction is accurate and the feeding process is smooth.

[0124] When the driving wheel 1 needs to be disinfected and sterilized, the first pressing block 30 can be pressed in the direction of the first base 251 of the driving wheel mounting seat 25. The pressing force is transmitted to the first ejector pin 28 through the first spring 29. The first ejector pin 28 ejects the driving wheel mounting seat 25 out of the driving wheel mounting groove 24, thereby realizing the disassembly of the driving wheel 1.

[0125] This embodiment provides a driving wheel disassembly assembly, which makes disassembly of the driving wheel more convenient and quick, and is conducive to disinfection and sterilization of the driving wheel.

[0126] Figure 7 This is one of the structural schematic diagrams of the driven wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application;

[0127] Figure 8 This is the second structural schematic diagram of the driven wheel disassembly assembly in the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application.

[0128] Reference Figures 7 and 8 ,In one embodiment, the flexible end-controllable medical device feeding mechanism further comprises: a driven wheel disassembly assembly;

[0129] The driven wheel disassembly assembly includes a driven wheel mounting groove 31, a driven wheel mounting seat 32, a third support rod 33, a driven wheel ejection assembly and a third support seat 34;

[0130] The driven wheel mounting groove 31 is fixedly connected to the end of the driven wheel extension plate 11 away from the first vertical plate 10;

[0131] The driven wheel mounting groove 31 includes a third notch 311 and a fourth notch 312. The third notch 311 is located at the top of the driven wheel mounting groove 31, and the fourth notch 312 is located on the side of the driven wheel mounting groove 31 close to the driving wheel 1. The third notch 311 and the fourth notch 312 are connected to each other.

[0132] The driven wheel mounting seat 32 includes a second base 321 and a second mounting portion 322 . The second mounting portion 322 is located on the top of the second base 321 . The second base 321 is embedded in the driven wheel mounting groove 31 . The second mounting portion 322 protrudes from the third notch 311 .

[0133] A fifth through hole is provided on the second mounting portion 322, and the third support rod 33 is passed through the fifth through hole, and one end of the third support rod 33 is fixedly connected to the driven wheel 2;

[0134] The driven wheel ejection assembly includes a second ejector pin 35, a second spring 36 and a second pressure block 37;

[0135] One end of the second spring 36 is fixedly connected to the second ejector pin 35, and the other end of the second spring 36 is fixedly connected to the second pressure block 37. A sixth through hole is provided on the side of the driven wheel mounting groove 31 opposite to the fourth notch 312. The third support base 34 is provided on a side adjacent to the sixth through hole of the driven wheel mounting groove 31, and the third support base 34 is fixedly connected to the driven wheel extension plate 11.

[0136] The third support seat 34 is provided with a seventh through hole, which forms a second through channel with the sixth through hole in the horizontal direction. The driven wheel ejection assembly is passed through the second through channel, and the second ejector pin 35 abuts against the second base 321 .

[0137] The driven wheel mounting seat 32 is embedded and installed in the driven wheel mounting groove 31 through the third notch 311 and the fourth notch 312. A through hole is provided on the side of the driven wheel mounting groove 31 adjacent to the fourth notch 312, and the second spring plunger 49 is passed through the through hole to abut against the second base 321 of the driven wheel mounting seat 32. The driven wheel mounting seat 32 is clamped in the driven wheel mounting groove 31 through the second spring plunger 49.

[0138] When the driven wheel 2 needs to be disinfected and sterilized, the second pressure block 37 can be pressed toward the second base 321 of the driven wheel mounting seat 32. The pressing force is transmitted to the second ejector pin 35 through the second spring 36. The second ejector pin 35 pushes the driven wheel mounting seat 32 out of the driven wheel mounting groove 31 to realize the disassembly of the driven wheel 2.

[0139] This embodiment provides a driven wheel disassembly assembly, which makes disassembly of the driven wheel more convenient and quick, and is conducive to disinfection and sterilization of the driven wheel.

[0140] Reference Figures 5 and 6 ,In one embodiment, the flexible end-controllable medical device feeding mechanism further includes: a multi-axis force sensor 38;

[0141] The multi-axis force sensor 38 is fixedly connected between the driving wheel extension plate 19 and the driving wheel mounting groove 24 .

[0142] The multi-axis force sensor 38 can be a three-axis force sensor, which can sense the forces acting in the X-axis, Y-axis and Z-axis directions in real time, and then sense the clamping force exerted on the flexible end-controllable medical device. According to the perception of the three-axis force sensor, the distance between the driven wheel 2 and the driving wheel 1 can be adjusted at any time to ensure that the flexible end-controllable medical device can be clamped during the feeding process and will not slip between the driving wheel 1 or the driven wheel 2. At the same time, the three-axis force sensor can also sense the collision of the flexible end-controllable medical device inside the human body in real time, to avoid the flexible end-controllable medical device continuing to move forward after colliding with the internal organs of the human body, causing damage to the human body.

[0143] This embodiment sets up a multi-axis force sensor to sense in real time the clamping force exerted on the flexible end-controllable medical device and the collision of the flexible end-controllable medical device inside the human body. It can adjust the distance between the driven wheel and the driving wheel at any time according to the feedback from the sensor to ensure the clamping of the flexible end-controllable medical device and prevent the flexible end-controllable medical device from damaging the human body.

[0144] Figure 9 This is the third structural diagram of the flexible end-controllable medical device feeding mechanism provided in the embodiment of the present application. Figure 2 、 Figure 3 and Figure 9 , in one embodiment, the flexible end-controllable medical device feeding mechanism further includes: an upper cover plate 39 and a lower cover plate 40;

[0145] The upper cover plate 39 is disposed on the top of the lower cover plate 40 , and an accommodating space is formed between the upper cover plate 39 and the lower cover plate 40 ;

[0146] The linear transmission assembly, the rotating motor 3, the linear motor 4, the first limit sensor 20, the second limit sensor 21 and the block assembly are all arranged in the accommodating space, and a first extension opening 50 and a second extension opening 51 are provided on one side of the accommodating space. The driving wheel extension plate 19 extends from the inside of the accommodating space to the outside of the accommodating space through the first extension opening 50, and the driven wheel extension plate 11 extends from the inside of the accommodating space to the outside of the accommodating space through the second extension opening 51.

[0147] The upper cover plate 39 and the lower cover plate 40 are abutted to form a box-shaped accommodating space. The linear transmission assembly, the rotary motor 3, the linear motor 4, the first limit sensor 20, the second limit sensor 21 and the block assembly are all arranged in the accommodating space, which can protect these mechanisms. At the same time, the driving wheel extension plate 19 and the driven wheel extension plate 11 are both extended from the accommodating space to the accommodating space, so that the driving wheel 1 and the driven wheel 2 are both located outside the accommodating space. On the one hand, it is convenient for them to cooperate with each other to clamp and feed the flexible end-controllable medical device 44. On the other hand, the driving wheel 1 and the driven wheel 2 are further isolated from the mechanism in the accommodating space, which is convenient for disinfection and sterilization after disassembly.

[0148] Furthermore, a control button 41 is provided on the upper cover plate 39, and the control button 41 is electrically connected to the linear motor 4 for controlling the rotation direction of the screw on the linear motor 4 to control the driven wheel 2 to approach or move away from the driving wheel 1, thereby controlling the clamping or release of the flexible end-controllable medical device 44.

[0149] It should be noted that a control scheme can be designed according to actual needs to control the rotation direction of the screw on the linear motor 4 through the control button 41. For example, a short press of the control button 41 controls the screw to rotate in a specific direction so that the driven wheel 2 approaches the driving wheel 1 and clamps the flexible end-controllable medical device 44. A long press of the control button 41 controls the screw to rotate in the opposite direction of the specific direction so that the driven wheel 2 moves away from the driving wheel 1 and releases the flexible end-controllable medical device 44, etc., which is not limited here.

[0150] This embodiment can protect the feeding mechanism of the flexible end-controllable medical device by setting an upper cover plate and a lower cover plate, and isolate the driving wheel and the driven wheel from other mechanisms, so as to facilitate the feeding of the flexible end-controllable medical device by the driving wheel and the driven wheel, as well as the disassembly and cleaning of the driving wheel and the driven wheel. At the same time, by setting a control button for controlling the linear motor on the upper cover plate, it is convenient for the doctor to control the clamping or release of the flexible end-controllable medical device by pressing the control button.

[0151] Reference Figure 1 , in one embodiment, the flexible end-controllable medical device feeding mechanism further includes: a second vertical plate 42;

[0152] The second vertical plate 42 is fixedly connected to the lower cover plate 40. The linear motor 4 also includes a second driving body, which is rotatably connected to the screw rod.

[0153] An eighth through hole is provided at a corner of the first connecting member 5. The second guide post 43 is inserted into the eighth through hole along the axial direction of the screw rod. One end of the second guide post 43 is fixedly connected to the second driving body, and the other end of the second guide post 43 extends toward one side of the second riser 42.

[0154] The first limiting block 8 and the second limiting block 9 are fixedly connected to a side of the second vertical plate 42 away from the second guide post 43;

[0155] The second vertical plate 42 is provided with a ninth through hole. The rotary motor 3 further includes a first driving body. The rotating shaft passes through the ninth through hole. One end of the rotating shaft is rotatably connected to the first driving body, and the other end of the rotating shaft is fixedly connected to the third gear 15 .

[0156] By setting up multiple second guide pillars 43, the first connecting member 5 can be better supported and guided, so that it can move axially along the screw rod when the screw rod rotates. Furthermore, the eighth through hole can be set axially symmetrically or centrally symmetrically on the first connecting member 5, so that the second guide pillars 43 provide balanced supporting force to the first connecting member 5, further ensuring the smooth movement of the first connecting member 5.

[0157] It should be noted that the end of the second guide column 43 extending toward the second vertical plate 42 may or may not contact the second vertical plate 42 , and may or may not be fixedly connected to the second vertical plate 42 , which is not limited here.

[0158] In addition, the rotating shaft passes through the second vertical plate 42 and is fixedly connected to the third gear 15. The second vertical plate 42 can also be used to isolate the first driving body and the gear to avoid adverse effects caused by the two being too close.

[0159] This embodiment ensures smooth movement of the first connecting member and avoids adverse effects caused by excessive proximity between mechanisms by providing a second vertical plate and a plurality of second guide pillars.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A flexible end-controllable medical device feeding mechanism, characterized in that: include: Driving wheel, driven wheel, transition wheel assembly, linear transmission assembly, rotary motor and linear motor; The rotary motor and the linear motor are arranged side by side, the rotary motor includes a rotating shaft, and the linear motor includes a screw rod; The transition wheel assembly is connected between the rotating shaft and the driving wheel, so that the rotating shaft can drive the driving wheel to rotate through the transition wheel assembly; The linear transmission assembly includes a first connecting member, a connecting rod, a second connecting member, a first guide post, a first limiting block, a second limiting block and at least two second guide posts; The first guide post is fixedly connected between the first limiting block and the second limiting block, and an extending direction of the first guide post is perpendicular to an extending direction of the screw rod; The second guide post is fixedly connected to the linear motor, and an extending direction of the second guide post is parallel to an extending direction of the lead screw; The first connecting member is sleeved on the screw rod and the second guide column, the top of the first connecting member is movably connected to one end of the connecting rod, one end of the second connecting member is movably connected to the other end of the connecting rod and the first guide column respectively, and the other end of the second connecting member is connected to the driven wheel; The linear transmission assembly is used to drive the driven wheel to move closer to or away from the driving wheel to clamp and feed any specification of a flexible end-controllable medical device, and adjust the clamping force and feeding force of the flexible end-controllable medical device of any specification, including: The screw rod is provided with a thread, and the screw rod rotates to cooperate with the support and guidance of the second guide column to drive the first connecting member to move axially along the screw rod, and the first connecting member drives the connecting rod to move, and the connecting rod drives the second connecting member to move between the first limit block and the second limit block along the extension direction of the first guide column, driving the driven wheel to approach or move away from the driving wheel, so as to adjust the clamping force of the flexible end-controllable medical device between the driving wheel and the driven wheel by adjusting the distance between the driven wheel and the driving wheel, control the rotation of the driving wheel to drive the feeding of the flexible end-controllable medical device, and change the feeding direction of the flexible end-controllable medical device by changing the rotation direction of the driving wheel.

2. The flexible end-controllable medical device feeding mechanism according to claim 1, characterized in that: The thickness of the driven wheel is greater than the thickness of the driving wheel.

3. The flexible end-controllable medical device feeding mechanism according to claim 1, characterized in that: The second connecting member includes a first vertical plate, a driven wheel extension plate and a guide column sliding member; The guide post sliding member is provided on a side surface of the first vertical plate and is sleeved on the first guide post. The top of the first vertical plate is movably connected to an end of the connecting rod away from the first connecting member, so that the first vertical plate can move along the extension direction of the first guide post under the drive of the connecting rod. One end of the driven wheel extension plate is fixedly connected to the bottom of the first vertical plate, and the other end of the driven wheel extension plate is detachably connected to the driven wheel, so that the driven wheel can be easily disassembled and cleaned.

4. The flexible distal-controllable medical device feeding mechanism according to claim 3, characterized in that: The transition wheel assembly includes a first gear, a second gear, a third gear, a fourth gear, a first support rod, a first support seat and a driving wheel extension plate; The first support seat is arranged on the driving wheel extension plate, and a first through hole is provided on the first support seat. The first support rod is passed through the first through hole, and one end of the first support rod is fixedly connected to the first gear, and the other end of the first support rod is fixedly connected to the second gear; The third gear is fixedly connected to the rotating shaft, and the third gear is meshed with the first gear; The end of the driving wheel extension plate away from the first gear is detachably connected to the driving wheel, so that the driving wheel can be easily disassembled and cleaned. The driving wheel is fixedly connected to the fourth gear, and the fourth gear is meshed with the second gear.

5. The flexible end-controllable medical device feeding mechanism according to claim 4, characterized in that: Also includes: a first limit sensor, a second limit sensor and a stop block assembly; The first limit sensor and the second limit sensor are arranged on one side of the first connecting member along the axial direction of the screw rod, and the first limit sensor and the second limit sensor are both groove-type photoelectric sensors; The stopper assembly includes a third connecting member and a stopper; One end of the third connecting member is fixedly connected to the side of the first connecting member close to the first limit sensor or the second limit sensor, and the other end of the third connecting member is fixedly connected to the stopper, the horizontal height of the stopper is within the height range of the groove of the first limit sensor and the groove of the second limit sensor, and the vertical projection of the stopper in the first position is within the groove of the first limit sensor, and the vertical projection of the stopper in the second position is within the groove of the second limit sensor.

6. The flexible end-controllable medical device feeding mechanism according to claim 4, characterized in that: Also includes: Driving wheel disassembly assembly; The driving wheel disassembly assembly includes a driving wheel mounting groove, a driving wheel mounting seat, a second support rod, a driving wheel ejection assembly and a second support seat; The driving wheel mounting groove is fixedly connected to an end of the driving wheel extension plate away from the first gear; The driving wheel mounting groove includes a first notch and a second notch, the first notch is located at the top of the driving wheel mounting groove, the second notch is located on the side of the driving wheel mounting groove close to the driven wheel, and the first notch and the second notch are connected to each other; The driving wheel mounting seat includes a first base and a first mounting portion, wherein the first mounting portion is located on the top of the first base, the first base is embedded in the driving wheel mounting groove, and the first mounting portion protrudes from the first groove; A second through hole is provided on the first mounting portion, the second support rod is passed through the second through hole, one end of the second support rod is fixedly connected to the driving wheel, and the other end of the second support rod is fixedly connected to the fourth gear; The driving wheel ejection assembly includes a first ejector pin, a first spring and a first pressure block; One end of the first spring is fixedly connected to the first ejector pin, and the other end of the first spring is fixedly connected to the first pressure block. A third through hole is provided on a side of the driving wheel mounting groove opposite to the second notch. The second support seat is provided on a side of the third through hole adjacent to the driving wheel mounting groove, and the second support seat is fixedly connected to the driving wheel extension plate. A fourth through hole is provided on the second support seat, and the fourth through hole and the third through hole form a first through channel in the horizontal direction. The driving wheel ejection assembly is passed through the first through channel, and the first ejector pin abuts against the first base.

7. The flexible end-controllable medical device feeding mechanism according to claim 3, characterized in that: Also includes: Driven wheel disassembly assembly; The driven wheel disassembly assembly includes a driven wheel mounting groove, a driven wheel mounting seat, a third support rod, a driven wheel ejection assembly and a third support seat; The driven wheel mounting groove is fixedly connected to an end of the driven wheel extension plate away from the first vertical plate; The driven wheel mounting groove includes a third notch and a fourth notch, the third notch is located at the top of the driven wheel mounting groove, the fourth notch is located on the side of the driven wheel mounting groove close to the driving wheel, and the third notch and the fourth notch are connected to each other; The driven wheel mounting seat includes a second base and a second mounting portion, the second mounting portion is located on the top of the second base, the second base is embedded in the driven wheel mounting groove, and the second mounting portion protrudes from the third notch; A fifth through hole is provided on the second mounting portion, the third support rod is passed through the fifth through hole, and one end of the third support rod is fixedly connected to the driven wheel; The driven wheel ejection assembly includes a second ejector pin, a second spring and a second pressure block; One end of the second spring is fixedly connected to the second ejector pin, and the other end of the second spring is fixedly connected to the second pressure block. A sixth through hole is provided on a side of the driven wheel mounting groove opposite to the fourth notch. The third support seat is provided on a side of the sixth through hole adjacent to the driven wheel mounting groove, and the third support seat is fixedly connected to the driven wheel extension plate. The third support seat is provided with a seventh through hole, and the seventh through hole and the sixth through hole form a second through channel in the horizontal direction. The driven wheel ejection assembly is passed through the second through channel, and the second ejector pin abuts against the second base.

8. The flexible end-controllable medical device feeding mechanism according to claim 6, characterized in that: Also includes: Multi-axis force sensor; The multi-axis force sensor is fixedly connected between the driving wheel extension plate and the driving wheel mounting groove. The multi-axis force sensor is used to sense the collision of the flexible end-controllable medical device inside the human body, so as to prevent the flexible end-controllable medical device from continuing to move forward after colliding with the internal organs of the human body.

9. The flexible end-controllable medical device feeding mechanism according to claim 5, characterized in that: Also includes: Upper cover and lower cover; The upper cover plate is arranged on the top of the lower cover plate, and an accommodating space is formed between the upper cover plate and the lower cover plate; The linear transmission assembly, the rotating motor, the linear motor, the first limit sensor, the second limit sensor and the block assembly are all arranged in the accommodating space, and a first extension opening and a second extension opening are provided on one side of the accommodating space. The driving wheel extension plate extends from the inside of the accommodating space to the outside of the accommodating space through the first extension opening, and the driven wheel extension plate extends from the inside of the accommodating space to the outside of the accommodating space through the second extension opening.

10. The feeding mechanism of a flexible end-controllable medical device according to claim 9, characterized in that: Also includes: Control buttons; The control button is arranged on the upper cover plate, and the control button is electrically connected to the linear motor.

11. The feeding mechanism of a flexible end-controllable medical device according to claim 9, characterized in that: Also includes: Second vertical board; The second vertical plate is fixedly connected to the lower cover plate, and the linear motor further includes a second driving body, which is rotatably connected to the screw rod; An eighth through hole is provided at a corner of the first connecting member, and the second guide post is provided in the eighth through hole along the axial direction of the screw rod, and one end of the second guide post is fixedly connected to the second driving body, and the other end of the second guide post extends toward one side of the second riser; The first limiting block and the second limiting block are fixedly connected to a side of the second vertical plate away from the second guide column; The second vertical plate is provided with a ninth through hole, the rotating motor further includes a first driving body, the rotating shaft is passed through the ninth through hole, one end of the rotating shaft is rotatably connected to the first driving body, and the other end of the rotating shaft is fixedly connected to the third gear.

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