Guide device for conveying elongated flexible tube and method of use

Abstract

The present invention discloses a guiding device and a method for conveying a slender flexible tube. The guiding device comprises: a base; a catheter driving assembly, which is slidably arranged on the base; a flexible catheter, which is arranged on the catheter driving assembly and arranged along the sliding direction of the catheter driving assembly; a clamping and conveying assembly, which is arranged on the base and used to clamp and convey the flexible catheter; a driving assembly, which is arranged on the base and used to drive the catheter driving assembly to slide and drive the clamping and conveying assembly to convey the flexible catheter; the sliding direction of the catheter driving assembly is the same as the moving direction of the clamping and conveying assembly conveying the flexible catheter; the sliding distance of the catheter driving assembly is equal to the moving distance of the clamping and conveying assembly conveying the flexible catheter. The catheter driving assembly and the middle part of the flexible catheter move synchronously and in the same direction, and the first end of the flexible catheter and the middle part of the flexible catheter also move synchronously and in the same direction, ensuring that there is no bending and deformation between the first end of the flexible catheter and the middle part of the flexible catheter, and no damage to the internal components.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a guiding device for conveying a slender flexible tube and a using method thereof. Background Art

[0002] Minimally invasive techniques can be performed through natural orifices in the patient's anatomical structure or through one or more surgical incisions, through which doctors can insert minimally invasive medical devices (including surgical, diagnostic, therapeutic or biopsy instruments) to reach the target tissue location. Such minimally invasive techniques use flexible or directional elongated devices (e.g., flexible catheters) that can be inserted into anatomical passages and directed to the area of ​​interest within the patient's anatomical structure. In order to reach the target tissue location, minimally invasive interventional instruments can navigate natural passages or surgically created passages in anatomical systems (e.g., lungs, colon, intestines, kidneys, heart, circulatory system or similar systems). Control of such elongated devices by medical personnel involves the management of several degrees of freedom, including at least the management of the insertion and retraction of the elongated device and the guidance of the device. In existing systems, at least a portion of the interventional instrument extending between the patient and the teleoperated manipulator is unsupported, and the flexible properties of the instrument can cause it to bend, twist or bend in an undesirable manner at a point outside the patient's body when a force is applied to insert the instrument into the patient's anatomical structure. Deformation of the instrument can damage internal components such as fiber optic shape sensors or endoscopic equipment.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a guiding device and a method for conveying a slender flexible tube in view of the above-mentioned defects of the prior art, aiming to solve the problem in the prior art that the flexible catheter is easily deformed and damages the internal components of other flexible catheters.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0006] A guiding device for conveying an elongated flexible tube, comprising:

[0007] Base;

[0008] A catheter drive assembly is slidably disposed on the base;

[0009] A flexible catheter, arranged on the catheter drive assembly and arranged along the sliding direction of the catheter drive assembly;

[0010] A clamping and conveying assembly, disposed on the base and used for clamping and conveying the flexible catheter;

[0011] A driving assembly, disposed on the base, and used to drive the catheter driving assembly to slide and drive the clamping and conveying assembly to convey the flexible catheter;

[0012] Wherein, the sliding direction of the catheter driving assembly is the same as the moving direction of the clamping and conveying assembly conveying the flexible catheter;

[0013] The sliding distance of the catheter driving assembly is equal to the moving distance of the clamping and conveying assembly for conveying the flexible catheter.

[0014] The guiding device for conveying an elongated flexible tube, wherein the clamping and conveying assembly comprises:

[0015] A fixing seat, arranged on the base;

[0016] A conveying wheel, rotatably connected to the fixing seat;

[0017] A bracket, wherein a first end of the bracket is rotatably connected to the fixing seat;

[0018] a pressure wheel, rotatably connected to the second end of the bracket;

[0019] A first elastic member, disposed on the bracket and providing elastic force for the bracket to rotate toward the conveying wheel;

[0020] Wherein, the side surface of the conveying wheel and the side surface of the pressure wheel are both formed with arc grooves;

[0021] The flexible conduit is located in the arc-shaped groove.

[0022] The guiding device for conveying an elongated flexible tube, wherein the conveying wheel is located below the flexible conduit, and the diameter of the conveying wheel is larger than the diameter of the pressure wheel;

[0023] A pair of baffles are arranged on the side of the conveying wheel, and the pressure wheel is located between the pair of baffles.

[0024] The guiding device for conveying an elongated flexible tube, wherein the fixing seat comprises:

[0025] A cylinder, wherein a first end of the cylinder is disposed on the base;

[0026] A shell body is arranged at the second end of the cylinder body, a reset button is arranged on the shell body, and a buckle is arranged on the reset button;

[0027] A cover body, wherein a first end of the cover body is rotatably connected to the shell, and a second end of the cover body is provided with a locking protrusion;

[0028] A second elastic member is disposed on the shell and provides the cover with a rotation direction away from the shell;

[0029] Wherein, the conveying wheel is located in the housing;

[0030] The first end of the bracket is rotatably connected to the second end of the cover;

[0031] The buckle is locked to the locking protrusion.

[0032] The guiding device for conveying an elongated flexible tube, wherein the housing is provided with a button hole;

[0033] The reset button comprises:

[0034] A rod body, located in the button hole;

[0035] A button, located outside the housing;

[0036] A third elastic member, two ends of which are respectively connected to the housing and the rod body;

[0037] Wherein, the button and the buckle are respectively arranged at two ends of the rod body.

[0038] The guiding device for conveying a slender flexible tube, wherein the housing is provided with two conduit holes, and guide members are provided in the conduit holes; the guide members include:

[0039] Guide tube;

[0040] A flange is provided on a side of the guide tube facing the catheter drive assembly;

[0041] Wherein, a guide surface is provided on the inner side of the flange;

[0042] The flange abuts against an edge of the conduit hole.

[0043] The guiding device for conveying an elongated flexible tube, wherein the driving assembly comprises:

[0044] A driving member, disposed on the base;

[0045] A driving wheel connected to the output shaft of the driving member;

[0046] Driven wheel;

[0047] A synchronous belt, which is wound around the driving wheel and the driven wheel and connected to the catheter driving assembly;

[0048] A wheel shaft is rotatably disposed in the cylinder;

[0049] Wherein, the two ends of the wheel axle are respectively connected to the driven wheel and the conveying wheel;

[0050] The diameter of the driven wheel is equal to the diameter of the conveying wheel.

[0051] The guide device for conveying a slender flexible tube, wherein the bracket is an H-shaped bracket; a first rotating shaft is provided at the first end of the H-shaped bracket, and the first rotating shaft is rotatably connected to the cover body; the first elastic member is a first torsion spring, and the first torsion spring is sleeved outside the first rotating shaft; the two ends of the first torsion spring are respectively abutted against the cover body and the H-shaped bracket;

[0052] A second rotating shaft is provided at the first end of the cover body, and the second rotating shaft is rotatably connected to the shell; the second elastic member is a second torsion spring, and the second torsion spring is sleeved on the second rotating shaft; the two ends of the second torsion spring are respectively abutted against the cover body and the shell.

[0053] A method for using a guide device for conveying an elongated flexible tube, wherein the method is applied to the guide device for conveying an elongated flexible tube as described in any one of the above, and the method comprises the steps of:

[0054] installing a flexible conduit on the conduit drive assembly;

[0055] After the flexible conduit is adjusted to a straight state, the flexible conduit is clamped by a clamping and conveying assembly;

[0056] The driving assembly is controlled to drive the catheter driving assembly to slide and drive the clamping and conveying assembly to convey the flexible catheter.

[0057] The method for using the guide device for conveying an elongated flexible tube, wherein the method further comprises the steps of:

[0058] When the flexible conduit is transported a preset distance, the driving assembly is stopped.

[0059] Beneficial effect: Since the catheter drive assembly and the middle part of the flexible catheter move synchronously and in the same direction, the first end of the flexible catheter and the middle part of the flexible catheter also move synchronously and in the same direction, ensuring that there will be no bending or deformation between the first end of the flexible catheter and the middle part of the flexible catheter, thereby preventing damage to internal components. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a first structural schematic diagram of the guiding device for conveying the slender flexible tube in the present invention.

[0061] Figure 2 It is a second structural schematic diagram of the guiding device for conveying the slender flexible tube in the present invention.

[0062] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0063] Figure 4 It is a third structural schematic diagram of the guiding device for conveying the slender flexible tube in the present invention.

[0064] Figure 5 It is the first cross-sectional view of the clamping and conveying assembly in the present invention.

[0065] Figure 6 It is a second cross-sectional view of the clamping and conveying assembly in the present invention.

[0066] Figure 7 It is a first structural schematic diagram of the conveying wheel, the pressure wheel and the reset button in the present invention.

[0067] Figure 8 This is a second structural schematic diagram of the conveying wheel, the pressure wheel and the reset button in the present invention.

[0068] Fig. 9 It is a structural schematic diagram of the bracket and the pressure wheel in the present invention.

[0069] Fig.10 This is a third structural schematic diagram of the conveying wheel, the pressure wheel and the reset button in the present invention.

[0070] Description of reference numerals:

[0071] 10. Base; 11. Linear guide rail; 20. Catheter drive assembly; 30. Flexible catheter; 40. Clamping and conveying assembly; 41. Fixed seat; 411. Cylinder; 412. Shell; 413. Cover; 414. Second elastic member; 415. Reset button; 4151. Rod; 4152. Button; 4153. Third elastic member; 416. Buckle; 417. Boss; 418. Guide member; 41 81. guide tube; 4182. flange; 4183. guide surface; 419. second rotating shaft; 42. conveying wheel; 421. arc groove; 422. baffle; 43. bracket; 44. pressure wheel; 45. first elastic member; 46. first rotating shaft; 50. driving assembly; 51. driving member; 52. driving wheel; 53. driven wheel; 54. synchronous belt; 55. wheel axle; 60. moving platform; 61. manipulator. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0073] Please also see Figure 1-Figure 10 The present invention provides some embodiments of a guide device for conveying an elongated flexible tube.

[0074] like Figure 1As shown, the guiding device for conveying a slender flexible tube of the present application is applied to a surgical instrument. The guiding device for conveying a slender flexible tube is usually installed on a robotic arm. In order to facilitate the movement of the robotic arm and the guiding device, the robotic arm is set on a moving platform 60.

[0075] like Figure 1-Figure 2 As shown, the guiding device for conveying an elongated flexible tube of the present invention comprises:

[0076] Base 10;

[0077] A catheter driving assembly 5020 is slidably disposed on the base 10;

[0078] The flexible catheter 30 is arranged on the catheter driving assembly 5020 and is arranged along the sliding direction of the catheter driving assembly 5020;

[0079] A clamping and conveying assembly 40 is disposed on the base 10 and is used to clamp and convey the flexible catheter 30;

[0080] The driving assembly 50 is disposed on the base 10 and is used to drive the catheter driving assembly 5020 to slide and drive the clamping and conveying assembly 40 to convey the flexible catheter 30;

[0081] The sliding direction of the catheter driving assembly 5020 is the same as the moving direction of the clamping and conveying assembly 40 conveying the flexible catheter 30;

[0082] The sliding distance of the catheter driving assembly 5020 is equal to the moving distance of the clamping and conveying assembly 40 for conveying the flexible catheter 30 .

[0083] Specifically, the catheter drive assembly 5020 refers to a device for driving the catheter, and the flexible catheter 30 refers to a flexible tube body, and the flexible catheter 30 can be passed through by internal components such as an optical fiber shape sensor or an endoscope device. The clamping and conveying assembly 40 refers to a device for clamping the flexible catheter 30 and moving it to convey the flexible catheter 30, and the driving assembly 50 refers to a device for driving the catheter drive assembly 5020 to slide relative to the base 10 to drive the clamping and conveying assembly 40 to convey the flexible catheter 30. A linear guide rail 11 is provided on the base 10, and a slider is provided on the catheter drive assembly 5020, and the slider slides on the linear guide rail 11. The first end of the flexible catheter 30 is provided on the catheter drive assembly 5020, the clamping and conveying assembly 40 clamps the middle part of the flexible catheter 30, and the second end of the flexible catheter 30 extends in a direction away from the catheter drive assembly 5020.

[0084] The sliding direction of the catheter drive assembly 5020 is the length direction of the linear guide rail 11. The sliding direction of the catheter drive assembly 5020 is the same as the moving direction of the flexible catheter 30 when the clamping and conveying assembly 40 conveys the flexible catheter 30, and the sliding distance of the catheter drive assembly 5020 is the same as the moving distance of the flexible catheter 30 when the clamping and conveying assembly 40 conveys the flexible catheter 30. That is to say, the catheter drive assembly 5020 and the middle part of the flexible catheter 30 move synchronously and in the same direction, and the first end of the flexible catheter 30 and the middle part of the flexible catheter 30 also move synchronously and in the same direction, which can ensure that the first end of the flexible catheter 30 and the middle part of the flexible catheter 30 will not bend or deform, and the internal components will not be damaged.

[0085] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the clamping and conveying assembly 40 includes:

[0086] A fixing seat 41, disposed on the base 10;

[0087] The conveying wheel 42 is rotatably connected to the fixing seat 41;

[0088] A bracket 43, wherein a first end of the bracket 43 is rotatably connected to the fixing seat 41;

[0089] A pressure wheel 44 is rotatably connected to the second end of the bracket 43;

[0090] A first elastic member 45 is disposed on the bracket 43 and provides an elastic force for the bracket 43 to rotate toward the conveying wheel 42;

[0091] The side surface of the conveying wheel 42 and the side surface of the pressure wheel 44 are both formed with arc grooves 421;

[0092] The flexible conduit 30 is located in the arc-shaped groove 421 .

[0093] Specifically, the conveying wheel 42 and the pressure wheel 44 are respectively located on both sides of the flexible conduit 30. Under the elastic force provided by the first elastic member 45, the second end of the bracket 43 rotates toward the conveying wheel 42, driving the pressure wheel 44 to move toward the conveying wheel 42, thereby pressing the flexible conduit 30 onto the conveying wheel 42 to achieve clamping of the flexible conduit 30. The driving assembly 50 can drive or drive the conveying wheel 42 to rotate. Since the flexible conduit 30 is pressed onto the conveying wheel 42, there is friction between the conveying wheel 42 and the flexible conduit 30. When the conveying wheel 42 rotates, it will drive the flexible conduit 30 to move together to achieve the conveying of the flexible conduit 30.

[0094] The sides of the conveying wheel 42 and the pressure wheel 44 are both formed with flexible grooves to adapt to the shape of the flexible conduit 30. This not only ensures that there is enough contact area between the conveying wheel 42 and the flexible conduit 30, but also ensures that the flexible conduit 30 will not be flattened.

[0095] In a preferred implementation of the embodiment of the present invention, Figure 5 , Figure 7 as well as Fig.10 As shown, the conveying wheel 42 is located below the flexible conduit 30 .

[0096] Specifically, the conveying wheel 42 is disposed below the flexible conduit 30 , and supports the flexible conduit 30 . Combined with the downward pressure of the pressure wheel 44 and the gravity of the flexible conduit 30 , the friction between the conveying wheel 42 and the flexible conduit 30 can be increased.

[0097] In a preferred implementation of the embodiment of the present invention, Figure 5 , Figure 7 as well as Fig.10 As shown, the diameter of the conveying wheel 42 is larger than the diameter of the pressure wheel 44 .

[0098] Specifically, the diameter of the conveying wheel 42 is larger than the diameter of the pressure wheel 44. The diameter of the pressure wheel 44 is smaller, and the weight of the pressure wheel 44 is not too large; the diameter of the conveying wheel 42 is larger, and the flexible conduit 30 is driven by the conveying wheel 42, and it is also easier to drive the pressure wheel 44 to rotate through the flexible conduit 30.

[0099] In a preferred implementation of the embodiment of the present invention, Figure 7 and Fig.10 As shown, a pair of baffles 422 are disposed on the side of the conveying wheel 42 , and the pressure wheel 44 is located between the pair of baffles 422 .

[0100] Specifically, in order to ensure that the pressure wheel 44 does not deviate from the conveying wheel 42, a pair of baffles 422 are set on the side of the conveying wheel 42. The two baffles 422 are located on both sides of the arc groove 421 to limit the pressure wheel 44 and prevent the pressure wheel 44 from deviating during rotation.

[0101] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 4 , Figure 6 as well as Fig.10 As shown, the driving assembly 50 includes:

[0102] A driving member 51 is disposed on the base 10;

[0103] A driving wheel 52 connected to the output shaft of the driving member 51;

[0104] Driven wheel 53;

[0105] A synchronous belt 54, which is wound around the driving wheel 52 and the driven wheel 53 and connected to the catheter driving assembly 5020;

[0106] Axle 55;

[0107] Wherein, the two ends of the wheel shaft 55 are respectively connected to the driven wheel 53 and the conveying wheel 42;

[0108] The diameter of the driven wheel 53 is equal to the diameter of the conveying wheel 42 .

[0109] Specifically, since the catheter drive assembly 5020 and the clamping and conveying assembly 40 need to drive the flexible catheter 30 to move synchronously and in the same direction, the catheter drive assembly 5020 can be driven to move by a driving member 51, and the conveying wheel 42 in the clamping and conveying assembly 40 can be driven to rotate. The driving member 51 drives the driving wheel 52 to rotate, and drives the driven wheel 53 to rotate through the synchronous belt 54, and drives the catheter drive assembly 5020 to move during the movement of the synchronous belt 54; the rotation of the driven wheel 53 will also drive the conveying wheel 42 to rotate through the wheel shaft 55, thereby conveying the flexible catheter 30. Since the diameter of the driven wheel 53 is equal to the diameter of the conveying wheel 42, the movement rate of the synchronous belt 54 and the movement rate of the flexible catheter 30 are equal, so that the catheter drive assembly 5020 and the middle part of the flexible catheter 30 are synchronously moved. The diameter of the conveying wheel 42 refers to the diameter of the conveying wheel 42 measured at the bottom of the arc groove 421.

[0110] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 5 , Figure 8 as well as Fig. 9 As shown, the fixing seat 41 includes:

[0111] A cylinder 411, wherein a first end of the cylinder 411 is disposed on the base 10;

[0112] The housing 412 is disposed at the second end of the cylinder 411 , and a reset button 4152415 is disposed on the housing 412 , and a buckle 416 is disposed on the reset button 4152415 ;

[0113] A cover body 413, wherein a first end of the cover body 413 is rotatably connected to the housing 412, and a second end of the cover body 413 is provided with a locking protrusion 417;

[0114] A second elastic member 414 is disposed on the housing 412 and provides the cover 413 with a rotation direction away from the housing 412;

[0115] Wherein, the conveying wheel 42 is located in the housing 412;

[0116] The first end of the bracket 43 is rotatably connected to the second end of the cover body 413;

[0117] The buckle 416 is engaged with the locking protrusion 417 .

[0118] Specifically, the cylinder 411 can be a square cylinder, the axle 55 is located in the cylinder 411, and the axle 55 can be rotatably connected to the cylinder 411, specifically, rotatably connected to the cylinder 411 through a bearing. The conveying wheel 42 is located in the shell 412, and the pressure wheel 44 is connected to the cover 413 through a bracket 43. When the cover 413 is opened, the pressure wheel 44 will be driven to separate from the flexible conduit 30; when the cover 413 is closed, the pressure wheel 44 will be driven to move toward the conveying wheel 42, and the flexible conduit 30 will be clamped by the pressure wheel 44 and the conveying wheel 42. In order to facilitate the control of the opening and closing of the cover 413, the closing of the cover 413 and the shell 412 is achieved by the cooperation of the buckle 416 and the convex 417, and the buckle 416 is moved by the reset button 4152415 to open the cover 413. After the reset button 4152415 is pressed, the buckle 416 is separated from the latch protrusion 417 , and the cover 413 is automatically opened under the elastic force provided by the second elastic member 414 , thereby realizing the rapid and automatic flipping of the cover 413 .

[0119] In a preferred implementation of the embodiment of the present invention, Figure 7 , Figure 8 as well as Fig.10 As shown, the housing 412 is provided with a button 4152 hole;

[0120] The reset button 4152415 includes:

[0121] The rod body 4151 is located in the hole of the button 4152;

[0122] A button 4152, located outside the housing 412;

[0123] A third elastic member 4153, two ends of which are respectively connected to the housing 412 and the rod body 4151;

[0124] The button 4152 and the buckle 416 are respectively disposed at two ends of the rod body 4151 .

[0125] Specifically, the button 4152 is located outside the housing 412. When the button 4152 is pressed, the rod 4151 is pushed to move, and the third elastic member 4153 is deformed, thereby driving the buckle 416 to move, so that the buckle 416 is separated from the clamping protrusion 417, thereby opening the cover 413. The buckle 416 is provided with a chamfer. When the cover 413 is closed, the clamping protrusion 417 pushes the buckle 416 to move along the chamfer and deforms the third elastic member 4153. After the cover 413 is closed, the buckle 416 moves toward the clamping protrusion 417 under the action of the third elastic member 4153 restoring the deformation, thereby clamping on the clamping protrusion 417, and realizing the clamping connection between the cover 413 and the housing 412. The third elastic member 4153 can be a spring.

[0126] In a preferred implementation of the embodiment of the present invention, Figure 5 , Figure 7 , Fig. 9 as well as Fig.10 As shown, the housing 412 is provided with two conduit holes, and a guide member 418 is provided in the conduit hole; the guide member 418 includes:

[0127] Guide tube 4181;

[0128] A flange 4182 is provided on a side of the guide tube 4181 facing the catheter driving assembly 5020;

[0129] Wherein, a guide surface 4183 is provided on the inner side of the flange 4182;

[0130] The flange 4182 abuts against the edge of the catheter hole.

[0131] Specifically, in order to facilitate the movement of the flexible conduit 30, a guide member 418 is provided in the conduit hole of the housing 412. The flange 4182 is located on the side facing the conduit drive assembly 5020, and a guide surface 4183 is formed on the inner side of the flange 4182 to guide the flexible conduit 30 into the guide tube 4181. Due to the presence of the flange 4182, which is stuck on the edge of the conduit hole, the flexible conduit 30 will not push the guide member 418 under the pushing action of the conduit drive member 51.

[0132] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 9 As shown, the bracket 43 is an H-shaped bracket 43 ; a first rotating shaft 46 is disposed at a first end of the H-shaped bracket 43 , and the first rotating shaft 46 is rotatably connected to the cover body 413 .

[0133] Specifically, the bracket 43 is an H-shaped bracket 43 , a first end of the H-shaped bracket 43 is rotatably connected to the cover body 413 through a first rotating shaft 46 , and a second end of the H-shaped bracket 43 is rotatably connected to the pressure wheel 44 .

[0134] In a preferred implementation of the embodiment of the present invention, Figure 5 , Figure 7-Figure 9 As shown, the first elastic member 45 is a first torsion spring, and the first torsion spring is sleeved outside the first rotating shaft 46; two ends of the first torsion spring are respectively abutted against the cover body 413 and the H-shaped bracket 43.

[0135] Specifically, the pressure wheel 44 is pressed downward by the elastic force of the first torsion spring, and the two ends of the first torsion spring respectively abut against the crossbeam of the H-shaped bracket 43 and the edge of the locking protrusion 417 of the cover body 413.

[0136] In a preferred implementation of the embodiment of the present invention, Figure 5 , Figure 8-Figure 10 As shown, a second rotating shaft 419 is disposed at the first end of the cover body 413, and the second rotating shaft 419 is rotatably connected to the shell body 412;.

[0137] Specifically, the first end of the cover body 413 is rotatably connected to the housing 412 via the second rotating shaft 419 .

[0138] In a preferred implementation of the embodiment of the present invention, Figure 5 , Figure 8-Figure 10 As shown, the second elastic member 414 is a second torsion spring, and the second torsion spring is sleeved on the second rotating shaft 419 ; two ends of the second torsion spring are respectively abutted against the cover body 413 and the housing 412 .

[0139] Specifically, the cover 413 is turned upward by the elastic force of the second torsion spring. The two ends of the second torsion spring are respectively against the cover 413 and the housing 412.

[0140] Based on the guide device for conveying a slender flexible tube described in any of the above embodiments, the present invention also provides a preferred embodiment of a method for using the guide device for conveying a slender flexible tube:

[0141] A method for using a guiding device for conveying an elongated flexible tube according to an embodiment of the present invention comprises the following steps:

[0142] Step S100: installing the flexible catheter on the catheter drive assembly.

[0143] Step S200: After adjusting the flexible catheter to a straight state, clamping the flexible catheter with a clamping and conveying assembly.

[0144] Step S300: Control the driving assembly to drive the catheter driving assembly to slide and drive the clamping and conveying assembly to convey the flexible catheter.

[0145] Specifically, the flexible catheter is first installed on the catheter drive assembly, and the flexible catheter is straightened so that the flexible catheter remains in a straight state, and the flexible catheter is clamped by the clamping and conveying assembly. Finally, the driving assembly is controlled to drive the catheter assembly to slide, and the clamping and conveying assembly is driven to convey the flexible catheter. Since the first end and the middle portion of the flexible catheter move in the same direction and synchronously, the first end and the middle portion of the flexible catheter will always remain in a straight state.

[0146] Specifically, the reset button is pressed to open the cover body, and the pressure wheel is separated from the conveying wheel; the flexible catheter is placed on the conveying wheel, and the flexible catheter is straightened, and the cover body is covered so that the buckle is engaged with the clamping protrusion, and the clamping conveying assembly clamps the flexible catheter.

[0147] Step S400: After the flexible conduit is transported a preset distance, the driving assembly is stopped.

[0148] Specifically, when the flexible conduit reaches the target position after being transported a preset distance, the driving component is controlled to stop driving, thereby completing the guiding of the flexible conduit.

[0149] Based on the method for using the guiding device for conveying an elongated flexible tube described in any of the above embodiments, the present invention further provides an embodiment of a computer device:

[0150] The computer device of the present invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the above embodiments when executing the computer program.

[0151] Based on the method for using the guiding device for conveying an elongated flexible tube described in any of the above embodiments, the present invention further provides an embodiment of a computer-readable storage medium:

[0152] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

[0153] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A guiding device for conveying an elongated flexible tube, characterized in that: include: Base; A catheter drive assembly is slidably disposed on the base; A flexible catheter, arranged on the catheter drive assembly and arranged along the sliding direction of the catheter drive assembly; A clamping and conveying assembly, disposed on the base and used for clamping and conveying the flexible catheter; A driving assembly, disposed on the base, and used to drive the catheter driving assembly to slide and drive the clamping and conveying assembly to convey the flexible catheter; Wherein, the sliding direction of the catheter driving assembly is the same as the moving direction of the clamping and conveying assembly conveying the flexible catheter; The sliding distance of the catheter driving assembly is equal to the moving distance of the flexible catheter conveyed by the clamping conveying assembly; The clamping and conveying assembly comprises: A fixing seat, arranged on the base; A conveying wheel, rotatably connected to the fixing seat; A bracket, wherein a first end of the bracket is rotatably connected to the fixing seat; a pressure wheel, rotatably connected to the second end of the bracket; A first elastic member, disposed on the bracket and providing elastic force for the bracket to rotate toward the conveying wheel; Wherein, the side surface of the conveying wheel and the side surface of the pressure wheel are both formed with arc grooves; The flexible conduit is located in the arc-shaped groove; The fixing seat comprises: A cylinder, wherein a first end of the cylinder is disposed on the base; A shell body is arranged at the second end of the cylinder body, a reset button is arranged on the shell body, and a buckle is arranged on the reset button; A cover body, wherein a first end of the cover body is rotatably connected to the shell, and a second end of the cover body is provided with a locking protrusion; A second elastic member is disposed on the shell and provides the cover with a rotation direction away from the shell; Wherein, the conveying wheel is located in the housing; The first end of the bracket is rotatably connected to the second end of the cover; The buckle is snap-connected to the clamping protrusion; The drive assembly comprises: A driving member, disposed on the base; A driving wheel connected to the output shaft of the driving member; driven wheel; A synchronous belt, which is wound around the driving wheel and the driven wheel and connected to the catheter driving assembly; A wheel shaft is rotatably disposed in the cylinder; Wherein, the two ends of the wheel axle are respectively connected to the driven wheel and the conveying wheel; The diameter of the driven wheel is equal to the diameter of the conveying wheel.

2. The guiding device for conveying an elongated flexible tube according to claim 1, characterized in that: The conveying wheel is located below the flexible conduit, and the diameter of the conveying wheel is larger than the diameter of the pressure wheel; A pair of baffles are arranged on the side of the conveying wheel, and the pressure wheel is located between the pair of baffles.

3. The guiding device for conveying an elongated flexible tube according to claim 1, characterized in that: The housing is provided with a button hole; The reset button comprises: A rod body, located in the button hole; A button, located outside the housing; A third elastic member, two ends of which are respectively connected to the housing and the rod body; Wherein, the button and the buckle are respectively arranged at two ends of the rod body.

4. The guide device for conveying an elongated flexible tube according to claim 3, characterized in that: The housing is provided with two conduit holes, and guide members are provided in the conduit holes; the guide members include: Guide tube; A flange is provided on a side of the guide tube facing the catheter drive assembly; Wherein, a guide surface is provided on the inner side of the flange; The flange abuts against an edge of the conduit hole.

5. The guiding device for conveying an elongated flexible tube according to any one of claims 3 to 4, characterized in that: The bracket is an H-shaped bracket; a first rotating shaft is provided at the first end of the H-shaped bracket, and the first rotating shaft is rotatably connected to the cover body; the first elastic member is a first torsion spring, and the first torsion spring is sleeved outside the first rotating shaft; two ends of the first torsion spring are respectively abutted against the cover body and the H-shaped bracket; A second rotating shaft is provided at the first end of the cover body, and the second rotating shaft is rotatably connected to the shell; the second elastic member is a second torsion spring, and the second torsion spring is sleeved on the second rotating shaft; the two ends of the second torsion spring are respectively abutted against the cover body and the shell.

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