Flexible tip controllable medical instrument motion control system and medical device

Abstract

The present application relates to the technical field of medical devices, and provides a flexible end controllable medical device motion control system and medical equipment, wherein the flexible end controllable medical device motion control system comprises a mounting body, an insertion part driving mechanism, an insertion part mounting mechanism and a sheath mounting mechanism, the sheath mounting mechanism is fixedly installed at one end of the mounting body, and the insertion part mounting mechanism is installed at the other end of the mounting body through the insertion part driving mechanism; the sheath mounting mechanism and the insertion part mounting mechanism are arranged along a first direction, and the insertion part driving mechanism is used for driving the insertion part mounting mechanism to move between a first position and a second position along the first direction; when the insertion part mounting mechanism moves to the first position, the insertion part mounting mechanism is away from the sheath mounting mechanism; when the insertion part mounting mechanism moves to the second position, the insertion part mounting mechanism is close to the sheath mounting mechanism, so that the insertion part of the flexible end controllable medical device and the sheath can keep linear motion in the process of relative movement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a flexible tip controllable medical device motion control system and medical equipment. BACKGROUND

[0002] In recent years, flexible tip controllable medical devices and surgical instruments are widely used in minimally invasive diagnosis and treatment. The flexible tip controllable medical device is a two-stage concentric tube structure, which can enter the human body through the mouth, other natural cavities of the human body, or a minimally invasive incision. Doctors can observe the pathological changes in the human body with the help of the flexible tip controllable medical device. With the rapid development of minimally invasive medical technology, an automatic control system for the flexible tip controllable medical device has emerged.

[0003] In related technologies, the two-stage concentric tube structure of the flexible tip controllable medical device mainly includes a sheath and an insertion part. The insertion part is arranged inside the sheath and needs to enter the human body through the sheath. The sheath and the insertion part can be driven separately in the human body. At present, one solution is to drive the sheath and the insertion part with a linear drive system or a mechanical arm respectively. The linear drive system includes a motor, a lead screw, a guide mechanism, and other components. This solution results in a large overall size and heavy weight. To address this issue, another solution is to use two motors to drive and control the forward and backward movement of the sheath and the insertion part. However, when two motors are used to drive the sheath and the insertion part respectively, the arm movement is a non-linear movement, which causes a large angular deviation between the center line of the insertion part and the center line of the sheath. In this case, the insertion part is prone to bending when moving relative to the sheath, which may cause damage to the power lines inside the insertion part.

[0004] Therefore, it is necessary to provide a new technical solution to solve the above technical problems. SUMMARY

[0005] The present application provides a flexible tip controllable medical device motion control system and medical equipment to solve the problem that the existing flexible tip controllable medical device is prone to damage due to a large angular deviation between the center line of the insertion part and the center line of the sheath when driving the sheath and the insertion part.

[0006] The present application provides a flexible tip controllable medical device motion control system, which includes a mounting body, an insertion part driving mechanism, an insertion part mounting mechanism, and a sheath mounting mechanism.

[0007] The sheath mounting mechanism is fixedly installed at one end of the mounting body, and the insertion part mounting mechanism is installed at the other end of the mounting body through the insertion part driving mechanism.

[0008] In which, the sheath mounting mechanism and the insertion part mounting mechanism are arranged along a first direction, and the insertion part driving mechanism is used to drive the insertion part mounting mechanism to move between a first position and a second position along the first direction. When the insertion part mounting mechanism moves to the first position, the insertion part mounting mechanism is away from the sheath mounting mechanism, and when the insertion part mounting mechanism moves to the second position, the insertion part mounting mechanism is close to the sheath mounting mechanism.

[0009] According to the flexible terminal-controllable medical device motion control system provided by the present invention, the insertion part mounting mechanism is used to install the insertion part of the flexible terminal-controllable medical device, and the sheath mounting mechanism is used to install the sheath of the flexible terminal-controllable medical device, and the sheath is sleeved on the insertion part, wherein, when the insertion part mounting mechanism moves along the first direction, the insertion part and the sheath also move relative to each other in the first direction, and the insertion part and the sheath maintain relative movement on the same horizontal line.

[0010] According to the flexible end-controllable medical device motion control system provided by the present invention, the insertion part drive mechanism includes an insertion part drive motor and a connecting rod mechanism, the insertion part drive motor is installed on the installation body, one end of the connecting rod mechanism is connected to the output shaft of the insertion part drive motor, and the other end of the connecting rod mechanism is connected to the insertion part mounting mechanism, and the rotational motion of the output shaft is converted into linear motion of the insertion part mounting mechanism in a first direction through the connecting rod mechanism.

[0011] According to the flexible end-controllable medical device motion control system provided by the present invention, the insertion portion drive mechanism further includes a motor shaft connector, a connecting rod fixing plate, and a clamping assembly. The connecting rod fixing plate is mounted on the output shaft side of the insertion portion drive motor, the motor shaft connector is mounted on the output shaft, and the connecting rod mechanism is connected to the insertion portion mounting mechanism via the clamping assembly.

[0012] The connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, one end of the first connecting rod is fixedly connected to the output shaft through the motor shaft connecting member, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the clamping assembly; one end of the third connecting rod is rotatably connected to the motor shaft connecting member and the connecting rod fixing plate respectively, the other end of the third connecting rod is coaxially rotatably connected to the fourth connecting rod and one end of the sixth connecting rod, the other end of the fourth connecting rod and one end of the fifth connecting rod are coaxially rotatably connected in the middle of the second connecting rod, the other end of the fifth connecting rod is rotatably connected to the connecting rod fixing plate, and the fifth connecting rod is arranged parallel to the third connecting rod, the other end of the sixth connecting rod is on the same side as the second connecting rod and is rotatably installed on the clamping assembly, and the sixth connecting rod is arranged parallel to the second connecting rod.

[0013] According to the flexible end-controllable medical device motion control system provided by the present invention, the insertion part mounting mechanism includes an insertion part linear wire drive assembly and an insertion part mounting assembly, the insertion part mounting assembly is detachably connected to the side of the insertion part linear wire drive assembly close to the sheath mounting mechanism, and the insertion part linear wire drive assembly is connected to the connecting rod mechanism through the clamping assembly.

[0014] According to the flexible end-controllable medical device motion control system provided by the present invention, the insertion part mounting mechanism further includes a first clamping jaw assembly, and the insertion part mounting assembly is detachably mounted on the insertion part linear wire drive assembly through the first clamping jaw assembly.

[0015] According to the flexible end-controllable medical device motion control system provided by the present invention, the clamping assembly includes a base, a clamping member and an adapter, one end of the adapter is rotatably mounted on the base, and the other end of the adapter is fixedly connected to the insertion part linear wire drive assembly, and the clamping member is mounted on the base, and the clamping member is used to clamp and fix the base and the insertion part linear wire drive assembly.

[0016] According to the flexible end-controllable medical device motion control system provided by the present invention, the sheath mounting mechanism includes a sheath linear wire drive assembly and a sheath mounting assembly, the sheath mounting assembly is detachably connected to the side of the sheath linear wire drive assembly away from the insertion part mounting mechanism, and the sheath linear wire drive assembly is fixedly connected to the mounting body.

[0017] According to the flexible end-controllable medical device motion control system provided by the present invention, the sheath mounting mechanism further includes a second clamping jaw assembly, and the sheath mounting assembly is detachably mounted on the sheath linear wire drive assembly through the second clamping jaw assembly.

[0018] The application also provides a medical device comprising a displacement driving system and the flexible tip controllable medical instrument motion control system.

[0019] The mounting body of the flexible tip controllable medical instrument motion control system is connected with the displacement driving system.

[0020] The above technical solution of the application has the following beneficial effects:

[0021] The flexible tip controllable medical instrument motion control system and the medical device provided by the application have the following beneficial effects: the sheath mounting mechanism is fixedly installed at one end of the mounting body, the insertion part mounting mechanism is installed at the other end of the mounting body through the insertion part driving mechanism, and the sheath mounting mechanism and the insertion part mounting mechanism are arranged along the first direction; the insertion part driving mechanism is used to drive the insertion part mounting mechanism to move along the first direction between the first position and the second position, the insertion part mounting mechanism is away from the sheath mounting mechanism when the insertion part mounting mechanism moves to the first position, and the insertion part mounting mechanism is close to the sheath mounting mechanism when the insertion part mounting mechanism moves to the second position, so that the insertion part and the sheath of the flexible tip controllable medical instrument can relatively move in the first direction, and the driving control of the insertion part and the sheath is realized; since the driving mode of the insertion part and the sheath is linear motion along the first direction, the center line of the insertion part and the center line of the sheath are located on the same horizontal line, and thus the problem that the insertion part is easily damaged due to a large angle deviation between the center line of the insertion part and the center line of the sheath when the sheath and the insertion part of the existing flexible tip controllable medical instrument are driven can be solved; and the relative movement of the insertion part and the sheath can be driven by one insertion part driving mechanism, the overall structure is simple, the volume is small, and the weight is light. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0023] Figure 1 The structure schematic diagram of the flexible tip controllable medical instrument motion control system provided by the embodiment of the application is shown in the figure.

[0024] Figure 2 The structure schematic diagram of the insertion part driving mechanism driving the insertion part mounting mechanism to move to the first position provided by the embodiment of the application is shown in the figure.

[0025] Figure 3 The structure schematic diagram of the insertion part driving mechanism driving the insertion part mounting mechanism to move to the second position provided by the embodiment of the application is shown in the figure.

[0026] Figure 4 This is a schematic diagram of the structure of the insertion portion driving mechanism provided by an embodiment of the present invention;

[0027] Figure 5 The second structural diagram of the insertion portion driving mechanism provided by an embodiment of the present invention;

[0028] Figure 6 The third structural diagram of the insertion portion driving mechanism provided by an embodiment of the present invention;

[0029] Figure 7 A fourth structural diagram of the insertion portion driving mechanism provided in an embodiment of the present invention;

[0030] Figure 8 A schematic structural diagram of an insertion portion driving motor according to an embodiment of the present invention driving a pressing assembly to move to a first position;

[0031] Figure 9 A schematic structural diagram of an insertion portion driving motor according to an embodiment of the present invention driving a pressing assembly to move to a second position;

[0032] Figure 10 A schematic diagram of the structure of the insertion portion mounting mechanism connected to the insertion portion driving mechanism provided by an embodiment of the present invention;

[0033] Figure 11 A schematic structural diagram of a sheath mounting mechanism provided in an embodiment of the present invention;

[0034] Figures 12 to 13 Schematic diagram of the disassembly process of the insertion portion linear wire drive assembly and the insertion portion mounting assembly provided in an embodiment of the present invention.

[0035] Reference numerals:

[0036] 1. Installation body; 2. Insertion part driving mechanism; 21. Insertion part driving motor; 22. Connecting rod mechanism; 221. First connecting rod; 222. Second connecting rod; 223. Third connecting rod; 224. Fourth connecting rod; 225. Fifth connecting rod; 226. Sixth connecting rod; 23. Motor shaft connector; 24. Connecting rod fixing plate; 25. Clamping assembly; 251. Base; 252. Connecting plate; 253. Adapter; 254. Clamping assembly; 255. First rotating shaft; 256. First magnetic structure; 3. Insertion part mounting mechanism; 31. Insertion part linear wire driving assembly; 311. Second magnetic structure; 32. Insertion part mounting assembly; 33. First clamping jaw assembly; 4. Sheath mounting mechanism; 41. Sheath linear wire driving assembly; 42. Sheath mounting assembly; 43. Second clamping jaw assembly; 5. Sheath; 6. Insertion part. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0038] The following combination Figures 1-13 The present invention describes a motion control system for a flexible end-controllable medical device.

[0039] See also Figure 1 The flexible distal end controllable medical device motion control system provided by the present invention includes a mounting body 1, an insertion portion drive mechanism 2, an insertion portion mounting mechanism 3, and a sheath mounting mechanism 4. The sheath mounting mechanism 4 is fixedly mounted on one end of the mounting body 1, and the insertion portion mounting mechanism 3 is mounted on the other end of the mounting body 1 via the insertion portion drive mechanism 2.

[0040] The flexible end-controllable medical device of the present invention can be an endoscope used in the medical field, such as a bronchoscope, urethroscope, duodenoscope, choledochoscope, pyeloscope, or other slender flexible electronic endoscope. The flexible end-controllable medical device has a two-stage concentric tubular structure and can enter the body's test site through the oral cavity or other natural cavity to inspect for pathological conditions. The flexible end-controllable medical device mainly includes a matching sheath 5 and an insertion portion 6. The insertion portion 6 is inserted into the sheath 5 and can move relative to the sheath 5. The sheath 5 and the insertion portion 6 can simultaneously enter the test site in the human body to perform pathological detection.

[0041] The sheath mounting mechanism 4 and the insertion portion mounting mechanism 3 are arranged along a first direction. The insertion portion mounting mechanism 3 is used to mount and secure the insertion portion 6 and the pull wire of the flexible terminal-controllable medical device. The sheath mounting mechanism 4 is used to mount and secure the sheath 5 and the pull wire of the flexible terminal-controllable medical device. The sheath 5 is sleeved on the insertion portion 6. It should be noted that when the sheath mounting mechanism 4 and the insertion portion mounting mechanism 3 are arranged along the first direction, the centerline of the sheath 5 and the centerline of the insertion portion 6 can be maintained on the same horizontal line.

[0042] See also Figure 2 and Figure 3The insertion portion driving mechanism 2 is used to drive the insertion portion mounting mechanism 3 to move along the first direction between the first position and the second position, when the insertion portion mounting mechanism 3 moves to the first position, the insertion portion mounting mechanism 3 is away from the sheath mounting mechanism 4, when the insertion portion mounting mechanism 3 moves to the second position, the insertion portion mounting mechanism 3 is close to the sheath mounting mechanism 4. Wherein, since the sheath mounting mechanism 4 is fixedly installed on the mounting body 1, the present application can realize the relative movement of the insertion portion 6 and the sheath 5 by driving the insertion portion mounting mechanism 3 to move along the first direction through one insertion portion driving mechanism 2. Wherein, when the insertion portion mounting mechanism 3 moves along the first direction, the insertion portion 6 and the sheath 5 also move relatively in the first direction, and the insertion portion 6 and the sheath 5 can keep relative movement on the same horizontal line. Therefore, the present application can solve the problem that the existing flexible end controllable medical instrument is easy to be damaged due to the large angle deviation between the center line of the insertion portion and the center line of the sheath when driving the sheath and the insertion portion. And the present application can drive the relative movement of the insertion portion and the sheath through one insertion portion driving mechanism, the overall structure is simple, small in size and light in weight.

[0043] Please refer to Figures 1 to 3 The insertion portion driving mechanism 2 comprises an insertion portion driving motor 21 and a connecting rod mechanism 22, the insertion portion driving motor 21 is installed on the mounting body 1, one end of the connecting rod mechanism 22 is connected with the output shaft of the insertion portion driving motor 21, and the other end of the connecting rod mechanism 22 is connected with the insertion portion mounting mechanism 3. The connecting rod mechanism 22 can convert the rotary motion of the output shaft of the insertion portion driving motor 21 into the linear motion of the insertion portion mounting mechanism 3 in the first direction, so as to ensure that the insertion portion 6 and the sheath 5 can keep relative movement on the same horizontal line.

[0044] It should be noted that the insertion portion driving motor 21 drives the insertion portion mounting mechanism 3 to move linearly in the first direction through the connecting rod mechanism 22, and the linear movement of the insertion portion mounting mechanism 3 in the first direction further drives the insertion portion 6 to move linearly in the first direction (such as horizontal direction) relative to the sheath 5.

[0045] The flexible end-controllable medical device motion control system of the present invention can be installed on a displacement drive system for use. The displacement drive system can be a driving structure such as a robotic arm or a multi-axis drive mechanism. Here, taking the displacement drive system as a robotic arm as an example, the flexible end-controllable medical device motion control system can be installed at the end of the robotic arm, and an insertion portion drive motor 21 is used in conjunction with a connecting rod mechanism 22 to realize the feeding movement of the insertion portion 6 in a straight line direction. Among them, the sheath 5 and the insertion portion 6 can be fed at the same time or independently. When the sheath 5 and the insertion portion 6 need to be fed at the same time, the flexible end-controllable medical device motion control system can be driven by the robotic arm as a whole to move; when the sheath 5 needs to be fed alone, the robotic arm moves a certain distance in the direction of the feeding movement, and the insertion portion drive motor 21 drives the insertion portion 6 to move the same distance in the opposite direction; when the insertion portion 6 needs to be fed alone, the robotic arm remains stationary, and only the insertion portion drive motor 21 drives the insertion portion 6 to move.

[0046] It should be noted that when the sheath 5 and the insertion portion 6 are independently advanced, the insertion portion 6 is moved relative to the sheath 5. When the insertion portion 6 and the sheath 5 are synchronously moved to the vicinity of the body's test site, if space is limited, the insertion portion drive motor 21 can be used to drive the insertion portion 6 forward (toward the test site), so that the head of the insertion portion 6 extends out of the sheath 5 to reach the target test site. The head of the insertion portion 6 is used for lesion detection and minimally invasive surgical treatment.

[0047] See also Figures 4 to 7 The insertion portion drive mechanism 2 of the flexible distal end controllable medical device motion control system of the present invention comprises an insertion portion drive motor 21, a connecting rod mechanism 22, a motor shaft connector 23, a connecting rod fixing plate 24, and a clamping assembly 25. The connecting rod fixing plate 24 is mounted on the output shaft side of the insertion portion drive motor 21 and is used to fix the connecting rod mechanism 22; the motor shaft connector 23 is sleeved on the output shaft and is used to connect the connecting rod mechanism 22 to the output shaft; and the clamping assembly 25 is provided at the end of the insertion portion drive mechanism 2, through which the connecting rod mechanism 22 is connected to the insertion portion mounting mechanism 3.

[0048] Specifically, the connecting rod fixing plate 24 is inserted into the output shaft and fixed to the mounting body 1. A gap is formed between the connecting rod fixing plate 24 and the output shaft to prevent the connecting rod fixing plate 24 from affecting the normal rotation of the output shaft. The motor shaft connector 23 is fixed to the output shaft and rotates synchronously with the output shaft.

[0049] Among them, the connecting rod mechanism 22 includes a first connecting rod 221, a second connecting rod 222, a third connecting rod 223, a fourth connecting rod 224, a fifth connecting rod 225 and a sixth connecting rod 226. One end of the first connecting rod 221 is fixedly connected to the output shaft through the motor shaft connecting member 23, the other end of the first connecting rod 221 is rotatably connected to one end of the second connecting rod 222, and the other end of the second connecting rod 222 is rotatably connected to the connecting plate 252 on the clamping assembly 25; one end of the third connecting rod 223 is rotatably connected to the motor shaft connecting member 23 and the connecting rod fixing plate 24 respectively, and the third connecting rod 224 is rotatably connected to the output shaft through the motor shaft connecting member 23. The other end of 223 is coaxially connected to the fourth link 224 and one end of the sixth link 226, the other end of the fourth link 224 is coaxially connected to one end of the fifth link 225 in the middle of the second link 222, the other end of the fifth link 225 is rotatably connected to the link fixing plate 24, and the fifth link 225 is arranged parallel to the third link 223, the other end of the sixth link 226 is on the same side as the second link 222 and is rotatably installed on the connecting plate 252 of the clamping assembly 25, and the sixth link 226 is arranged parallel to the second link 222.

[0050] It is understandable that the connecting rod mechanism 22 further includes a plurality of rotating shafts, and the rotational connections between two adjacent connecting rods, between a connecting rod and the connecting rod fixing plate 24, and between a connecting rod and the connecting plate 252 are all achieved through rotating shafts.

[0051] The clamping assembly 25 includes a base 251, a connecting plate 252, an adapter 253, and a clamping member 254. The connecting plate 252 is mounted on one side of the base 251 for connection to the linkage 22; the adapter 253 is mounted on the opposite side of the base 251 for connection to the insertion portion mounting mechanism 3; and the clamping member 254 is mounted on the base 251 for clamping and securing the base 251 and the insertion portion mounting mechanism 3.

[0052] The connecting rod mechanism 22 is a planar four-bar mechanism that can convert the rotational motion of the insertion portion drive motor 21 into the linear motion of the insertion portion mounting mechanism 3. Its working principle is as follows: the first connecting rod 221 is fixedly connected to the insertion portion drive motor 21 via the motor shaft connecting member 23, the motor shaft connecting member 23 is rotatably connected to the connecting rod fixing plate 24 and the third connecting rod 223, the fifth connecting rod 225 is arranged parallel to the third connecting rod 223, and the second connecting rod 222 is arranged parallel to the sixth connecting rod 226; the second connecting rod 222 and the sixth connecting rod 226 are rotatably connected to the connecting plate 252 in the clamping assembly 25 via a rotating shaft, and the insertion portion mounting mechanism 3 is fixedly connected to the adapter 253 in the clamping assembly 25. When the insertion portion drive motor 21 is driven, the motor shaft connecting member 23 rotates with the first connecting rod 221, driving the entire connecting rod mechanism 22 to move, thereby achieving linear movement of the end positions of the second connecting rod 222 and the sixth connecting rod 226, that is, horizontal movement of the clamping assembly 25. Since the insertion portion installation mechanism 3 is fixedly connected to the adapter 253 in the pressing assembly 25 , the insertion portion drive motor 21 can drive the insertion portion installation mechanism 3 to move linearly along the first direction.

[0053] See also Figure 8 and Figure 9 , Figure 8 A schematic structural diagram of an insertion portion driving motor according to an embodiment of the present invention driving a pressing assembly to move to a first position; Figure 9 A schematic diagram of the structure of the insertion portion drive motor provided in an embodiment of the present invention driving the clamping assembly to move to the second position. Among them, the connecting rod mechanism 22 can drive the clamping assembly 25 to perform reciprocating linear motion between the first position and the second position along the first direction under the drive of the insertion portion drive motor 21. Since the insertion portion mounting mechanism 3 is fixedly connected to the adapter 253 of the clamping assembly 25, the clamping assembly 25 can drive the insertion portion mounting mechanism 3 to perform synchronous movement between the first position and the second position along the first direction. Compared with other mechanisms, such as a linear system in which a lead screw and a guide rail or a guide rod are used in combination, or a driving scheme using two motors, this embodiment can achieve linear motion of the insertion portion 6 by only using an insertion portion drive motor 21 in combination with a connecting rod mechanism 22, and has the advantages of light weight, small size and low cost.

[0054] See also Figure 10The insertion portion mounting mechanism 3 includes an insertion portion linear wire drive assembly 31 and an insertion portion mounting assembly 32. It should be noted that the insertion portion mounting assembly 32 is used to mount the insertion portion 6, which includes an insertion portion catheter and a flexible controllable insertion portion instrument disposed at the front end of the insertion portion catheter. The insertion portion linear wire drive assembly 31 is used to control the bending posture of the flexible controllable insertion portion instrument at the front end of the insertion portion catheter. The tail end of the insertion portion catheter is fixed to the insertion portion mounting assembly 32 via an insertion portion catheter fixture. The insertion portion mounting assembly 32 is detachably connected to the side panel of the insertion portion linear wire drive assembly 31. The insertion portion linear wire drive assembly 31 is connected to the connecting rod mechanism 22 via a clamping assembly 25. Two groups of first clamping jaw assemblies 33 are provided on the side panels of the insertion portion linear wire drive assembly 31. When the clamping jaws in the two groups of first clamping jaw assemblies 33 are opened, the insertion portion mounting assembly 32 can be separated from the insertion portion linear wire drive assembly 31. When the clamping jaws in the two groups of first clamping jaw assemblies 33 are closed, the insertion portion mounting assembly 32 can be clamped and fixed on the insertion portion linear wire drive assembly 31.

[0055] See also Figure 11 The sheath mounting mechanism 4 includes a sheath linear wire drive assembly 41 and a sheath mounting assembly 42. It should be noted that the sheath mounting assembly 42 is used to mount the sheath 5. The sheath 5 includes a sheath catheter and a sheath flexible controllable device arranged at the front end of the sheath catheter. The sheath linear wire drive assembly 41 is used to control the bending posture of the sheath flexible controllable device at the front end of the sheath catheter. The tail of the sheath catheter is fixed to the sheath mounting assembly 42 through a sheath catheter fixing member. The sheath mounting assembly 42 is connected to the side panel of the sheath linear wire drive assembly 41. The sheath linear wire drive assembly 41 is fixedly connected to the mounting body 1 through a connecting arm. Two sets of second clamping jaw assemblies 43 are provided on the side panel of the sheath linear wire drive assembly 41. When the clamping jaws in the two sets of second clamping jaw assemblies 43 are both open, the sheath mounting assembly 42 can be separated from the sheath linear wire drive assembly 41. When the clamping jaws in the two sets of second clamping jaw assemblies 43 are closed, the sheath mounting assembly 42 can be clamped and fixed to the sheath linear wire drive assembly 41.

[0056] The number of the first clamping jaw assembly 33 and the second clamping jaw assembly 43 can be multiple groups respectively, which can be determined according to actual usage and is not limited here.

[0057] Generally, the sheath 5 and the insertion part 6 need to be disinfected after each test and treatment. In the prior art, the sheath 5 is fixedly connected to the sheath mounting mechanism, and the insertion part 6 is also fixedly connected to the insertion part mounting mechanism. Therefore, only the assembled sheath 5 and insertion part 6 can be disinfected, but there is a hidden danger of incomplete disinfection, and the sheath 5 and insertion part 6 are prone to cross infection when they are reused. The present invention designs both the sheath mounting mechanism 4 and the insertion part mounting mechanism 3 as detachable structures, realizing a one-time replacement design for the sheath 5 and the insertion part 6; the operator disinfects or replaces the sheath 5 and the insertion part 6 after each test and treatment, avoiding incomplete disinfection of the sheath 5 and the insertion part 6, which may cause cross infection when they are reused.

[0058] See also Figure 1 、 Figure 10 and Figure 11 The insertion portion linear wire driving assembly 31, the insertion portion mounting assembly 32, the sheath linear wire driving assembly 41 and the sheath mounting assembly 42 are sequentially spaced apart along the first direction.

[0059] Furthermore, when the sheath 5 needs to be removed, the jaws of all the second jaw assemblies 43 on the side panels of the sheath linear wire drive assembly 41 are opened, and the sheath mounting assembly 42 is separated from the sheath linear wire drive assembly 41, thereby removing the sheath mounting assembly 42 and thus removing the sheath 5. When the insertion portion 6 needs to be removed, the jaws of all the first jaw assemblies 33 on the side panels of the insertion portion linear wire drive assembly 31 are opened. When the insertion portion mounting assembly 32 is separated from the insertion portion linear wire drive assembly 31, due to the presence of the insertion portion linear wire drive assembly 31, the insertion portion mounting assembly 32 can only move toward the side close to the sheath linear wire drive assembly 41. However, this can easily cause a collision with the sheath linear wire drive assembly 41, causing damage to the sheath linear wire drive assembly 41 and / or the insertion portion mounting assembly 32.

[0060] Based on this, the present invention can avoid this problem by designing the connection method between the pressing component 25 and the insertion part linear wire driving component 31. Figure 12 and Figure 13The compression assembly 25 includes a base 251, a connecting plate 252, an adapter 253, a compression member 254, and a first rotating shaft 255. One end of the adapter 253 is rotatably mounted on the base 251 via the first rotating shaft 255, while the other end of the adapter 253 is fixedly connected to the insertion portion linear wire drive assembly 31, allowing the insertion portion linear wire drive assembly 31 to rotate relative to the base 251 about the first rotating shaft 255. The compression member 254 is mounted on the base 251 and is used to compress and secure the base 251 and the insertion portion linear wire drive assembly 31. That is to say, when the pressing member 254 is pressed, it can play a role in locking the base 251 and the insertion portion linear wire drive assembly 31, and can limit the rotation of the insertion portion linear wire drive assembly 31 relative to the base 251. At this time, the connection between the pressing assembly 25 and the insertion portion linear wire drive assembly 31 is a fixed connection; when the pressing member 254 is loosened, the insertion portion linear wire drive assembly 31 can rotate around the first rotating shaft 255 relative to the base 251. At this time, the connection between the pressing assembly 25 and the insertion portion linear wire drive assembly 31 is switched to a rotating connection. Figure 12 and Figure 13 As shown, when the insertion portion mounting assembly 32 needs to be disassembled, first open all the jaws in the first jaw assembly 33 to separate the insertion portion mounting assembly 32 and the insertion portion linear wire drive assembly 31, then open the clamping piece 254, lift the flip handle to allow the insertion portion linear wire drive assembly 31 to flip around the first rotating shaft 255, and after the insertion portion linear wire drive assembly 31 is flipped, the insertion portion mounting assembly 32 can be moved to complete disassembly or replacement.

[0061] In one embodiment, the pressing member 254 may be a toggle clamp, but is not limited thereto.

[0062] Furthermore, the clamping assembly 25 may also include a first magnetic structure 256, which is fixedly mounted on the base 251. A second magnetic structure 311 may be provided on the insertion portion linear wire drive assembly 31. When the insertion portion linear wire drive assembly 31 is flipped to a vertical position, the second magnetic structure 311 is disposed opposite the first magnetic structure 256. The first magnetic structure 256 and the second magnetic structure 311 can be magnetically attracted to each other to ensure that the insertion portion linear wire drive assembly 31 remains in a vertical position, facilitating the removal or replacement of the insertion portion mounting assembly 32.

[0063] The present invention also provides a medical device, including a displacement drive system and a flexible end-controllable medical device motion control system provided by any of the above embodiments. The installation body 1 of the flexible end-controllable medical device motion control system is connected to the output working shaft of the displacement drive system. The displacement drive system can make the insertion part mounting mechanism 3 and the sheath mounting mechanism 4 move and rotate as a whole, thereby adjusting the position and posture of the sheath 5 and the insertion part 6.

[0064] The displacement drive system may be a driving structure such as a manipulator, a robotic arm, or a multi-axis drive mechanism.

[0065] The medical device provided by the present invention integrates the insertion part drive mechanism 2, the insertion part mounting mechanism 3 and the sheath mounting mechanism 4 on a robotic arm. An insertion part drive motor 21 is used in conjunction with a connecting rod mechanism 22 to realize the feeding movement of the insertion part 6 in a linear direction, so that the entire device occupies a small space, is light in weight, and has a relatively simple control process.

[0066] Among them, the sheath 5 and the insertion part 6 can be fed at the same time or independently. When the sheath 5 and the insertion part 6 need to be fed at the same time, the flexible end-controllable medical device motion control system can be driven to move by the robot arm as a whole; when the sheath 5 needs to be fed alone, the robot arm moves a certain distance in the direction of the feeding movement, and the insertion part drive motor 21 drives the insertion part 6 to move the same distance in the opposite direction; when the insertion part 6 needs to be fed alone, the robot arm remains stationary, and only the insertion part drive motor 21 drives the insertion part 6 to move. In addition, since the medical device of the present invention can drive the insertion part 6 and the sheath 5 in a straight line so that the center line of the insertion part 6 and the center line of the sheath 5 are located on the same straight line, the problem of the existing flexible end-controllable medical device being easily damaged due to the large angular deviation between the center line of the insertion part and the center line of the sheath when the sheath and the insertion part are driven can be solved.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 various embodiments of the present invention.

Claims

1. A motion control system for a flexible end-controllable medical device, characterized in that: It includes a mounting body, an insertion portion driving mechanism, an insertion portion mounting mechanism, and a sheath mounting mechanism; The sheath mounting mechanism is fixedly mounted on one end of the mounting body, and the insertion portion mounting mechanism is mounted on the other end of the mounting body via the insertion portion driving mechanism; wherein the sheath mounting mechanism and the insertion portion mounting mechanism are arranged along a first direction, and the insertion portion driving mechanism is used to drive the insertion portion mounting mechanism to move between a first position and a second position along the first direction, and when the insertion portion mounting mechanism moves to the first position, the insertion portion mounting mechanism is away from the sheath mounting mechanism, and when the insertion portion mounting mechanism moves to the second position, the insertion portion mounting mechanism is close to the sheath mounting mechanism; The insertion portion drive mechanism includes an insertion portion drive motor and a connecting rod mechanism, wherein the insertion portion drive motor is mounted on the mounting body, one end of the connecting rod mechanism is connected to the output shaft of the insertion portion drive motor, and the other end of the connecting rod mechanism is connected to the insertion portion mounting mechanism, and the rotational motion of the output shaft is converted into linear motion of the insertion portion mounting mechanism in a first direction through the connecting rod mechanism; The insertion portion drive mechanism further includes a motor shaft connector, a connecting rod fixing plate, and a clamping assembly, wherein the connecting rod fixing plate is mounted on the output shaft side of the insertion portion drive motor, the motor shaft connector is mounted on the output shaft, and the connecting rod mechanism is connected to the insertion portion mounting mechanism via the clamping assembly; The connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, one end of the first connecting rod is fixedly connected to the output shaft through the motor shaft connecting member, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the clamping assembly; one end of the third connecting rod is rotatably connected to the motor shaft connecting member and the connecting rod fixing plate respectively, the other end of the third connecting rod is coaxially rotatably connected to the fourth connecting rod and one end of the sixth connecting rod, the other end of the fourth connecting rod and one end of the fifth connecting rod are coaxially rotatably connected in the middle of the second connecting rod, the other end of the fifth connecting rod is rotatably connected to the connecting rod fixing plate, and the fifth connecting rod is arranged parallel to the third connecting rod, the other end of the sixth connecting rod is on the same side as the second connecting rod and is rotatably installed on the clamping assembly, and the sixth connecting rod is arranged parallel to the second connecting rod.

2. The motion control system of a flexible end-controllable medical device according to claim 1, characterized in that: The insertion part mounting mechanism is used to install the insertion part of the flexible end-controllable medical device, and the sheath mounting mechanism is used to install the sheath of the flexible end-controllable medical device. The sheath is sleeved on the insertion part, wherein when the insertion part mounting mechanism moves along the first direction, the insertion part and the sheath also move relative to each other in the first direction, and the insertion part and the sheath maintain relative movement on the same horizontal line.

3. The motion control system of a flexible end-controllable medical device according to claim 1, characterized in that: The insertion portion mounting mechanism includes an insertion portion linear wire drive assembly and an insertion portion mounting assembly. The insertion portion mounting assembly is detachably connected to a side of the insertion portion linear wire drive assembly close to the sheath mounting mechanism. The insertion portion linear wire drive assembly is connected to the connecting rod mechanism through the clamping assembly.

4. The motion control system for a flexible end-controllable medical device according to claim 3, characterized in that: The insertion portion mounting mechanism further includes a first clamping jaw assembly, and the insertion portion mounting assembly is detachably mounted on the insertion portion linear wire driving assembly via the first clamping jaw assembly.

5. The motion control system of a flexible end-controllable medical device according to claim 3, characterized in that: The clamping assembly includes a base, a clamping member and an adapter. One end of the adapter is rotatably mounted on the base, and the other end of the adapter is fixedly connected to the insertion part linear wire drive assembly. The clamping member is mounted on the base, and the clamping member is used to clamp and fix the base and the insertion part linear wire drive assembly.

6. The motion control system of a flexible end-controllable medical device according to claim 1, characterized in that: The sheath mounting mechanism includes a sheath linear wire drive assembly and a sheath mounting assembly. The sheath mounting assembly is detachably connected to a side of the sheath linear wire drive assembly away from the insertion portion mounting mechanism. The sheath linear wire drive assembly is fixedly connected to the mounting body.

7. The motion control system for a flexible end-controllable medical device according to claim 6, characterized in that: The sheath mounting mechanism further includes a second clamping jaw assembly, and the sheath mounting assembly is detachably mounted on the sheath linear wire driving assembly through the second clamping jaw assembly.

8. A medical device, characterized in that A motion control system for a flexible end-controllable medical device comprising a displacement drive system and the motion control system of any one of claims 1 to 7; Wherein, the installation body of the flexible end-controllable medical device motion control system is connected to the displacement drive system.

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