Device storage drive device, flexible device assembly and medical device system

Abstract

The present invention discloses an instrument storage drive device, a flexible instrument assembly and a medical instrument system, comprising: an outer shell, an inner shell and a mounting member, a mounting base and a driving mobile device, wherein the inner shell is threadedly connected to the outer shell, and a receiving groove is provided therebetween, and an outer sheath is fixed to the mounting member; the driving gear of the driving mobile device is connected to the driving docking disk, and meshes with the driven gear for transmission, and the driven gear is sleeved on the mounting base; the mounting member has a first wire groove, and the driven gear has a second wire groove, and the first wire groove and the second wire groove can clamp the driving wire, and the driving wire is fixed to the driven gear, and the driving wire is wound around the second wire groove. The driven gear of the driving mobile device has a second wire groove for winding the driving wire, which can realize the storage of the driving wire, and during the rotation of the driven gear, the driving wire in the second wire groove can be released to increase the length of the flexible instrument, that is, to increase the distance of the axial movement of the actuator during the axial conveying of the flexible instrument, so as to meet different needs.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an equipment storage drive device, a flexible equipment assembly and a medical equipment system. Background Art

[0002] Natural cavities such as the digestive tract, respiratory tract, and urethra are common sites of human disease and are seriously harmful to human health. Therefore, the inspection of natural cavities is very important and has gradually become normalized. In the inspection of natural cavities, flexible endoscopes have the characteristics of less trauma, less bleeding, and low complication rate. In combination with relevant surgical instruments, diagnosis and treatment have become the mainstream treatment method.

[0003] In order to meet the needs of cavity intervention, existing flexible instruments are designed as flexible and slender instruments, which require the cooperation of medical staff during use to achieve axial movement and rotation of the actuator of the flexible instrument.

[0004] Currently, the axial movement distance of the actuator of flexible instruments during axial delivery is relatively short, which cannot meet the actual needs of doctors when facing the use of large-sized snares and other instruments.

[0005] Therefore, how to provide an instrument storage drive device to increase the axial movement distance of the actuator of the flexible instrument during the axial transportation of the flexible instrument relative to the shell to meet different needs is a technical problem that needs to be urgently solved by technical personnel. Summary of the invention

[0006] In view of this, the present invention provides an instrument storage drive device to increase the axial movement distance of the actuator during the axial transportation of the flexible instrument relative to the housing to meet different needs. In addition, the present invention also provides a flexible instrument assembly and a medical instrument system having the above-mentioned instrument storage drive device.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An instrument storage drive device comprises: an outer shell, an inner shell assembly, a mounting base and a drive moving device;

[0009] The outer shell is sleeved on the outer side of the inner shell component, and the outer shell has an instrument outlet for the actuator of the flexible instrument to pass through; the inner shell component has an accommodating space inside, and the inner shell component includes an inner shell member and a mounting member, the inner shell member is threadedly connected to the outer shell, and there is a accommodating groove for accommodating the flexible instrument between the inner shell member and the outer shell member, and the mounting member is fixedly connected to the inner shell member, and the outer sheath tube of the flexible instrument is fixed to the mounting member;

[0010] The mounting base is disposed in the accommodating space and is fixedly connected to the inner shell, and the axis of the center of the mounting base coincides with the axis of the center of the inner shell;

[0011] The driving moving device comprises a driving docking plate, a driving gear and a driven gear, wherein the driving docking plate is rotatably mounted on the mounting base, and the driving gear is fixedly connected to the driving docking plate, and the driven gear is rotatably sleeved on the mounting base, and the axis of the driven gear coincides with the axis of the mounting base, and the driving gear meshes with the driven gear for transmission;

[0012] The inner wall of the mounting member has a first wire groove connected to the accommodating groove, and the outer wall of the driven gear has a spiral second wire groove. The relative positions of the first wire groove and the second wire groove are used to clamp the driving wire of the flexible instrument. The proximal end of the driving wire is fixed to the driven gear, and the driving wire is wound around the second wire groove. The actuator is connected to the distal end of the driving wire.

[0013] Preferably, in the above-mentioned device storage drive device, the mounting base comprises:

[0014] A mounting base, the mounting base being connected to the inner wall of the inner shell by snapping;

[0015] A connecting shaft, the connecting shaft is fixedly connected to the mounting base, and the axis of the connecting shaft coincides with the axis of the center of the inner shell, the driven gear is rotatably sleeved on the connecting shaft, and the driving docking plate is rotatably mounted on the mounting base and is located beside the connecting shaft.

[0016] Preferably, the above-mentioned device storage drive device further comprises:

[0017] A driving and rotating device, the driving and rotating device is used to drive the actuator of the flexible device to rotate around the axial direction of the driving wire of the flexible device;

[0018] The driving rotating device is installed on the mounting base and is located on the other side of the connecting shaft. The end of the proximal end of the driving wire of the flexible instrument is fixed to the driving rotating device.

[0019] Preferably, in the above-mentioned device storage drive device, the driving rotation device includes:

[0020] A rotating docking disk, which can rotate around its own axis and is mounted on the mounting base in a limited position along the direction of its own axis, and the proximal end of the driving wire is connected to the axis of the rotating docking disk;

[0021] A rotation limiting ring, which is sleeved on the outer side of the rotation docking plate and is threadedly connected to the rotation docking plate, and is circumferentially limitedly connected to the mounting base;

[0022] A retaining spring is clamped on an end of the rotary docking plate away from the mounting base, and the rotary limiting ring can move between the retaining spring and the mounting base.

[0023] Preferably, in the above-mentioned instrument storage drive device, the mounting base has arc-shaped plates that are arranged relatively to each other and form an annular structure, and there is a gap between the opposite end faces of the two arc-shaped plates, and the gap is formed as a guide groove on the side wall of the annular structure, and the extension direction of the guide groove is parallel to the axial direction of the rotating docking plate, and the rotating limit ring is clamped in the guide groove.

[0024] Preferably, the above-mentioned device storage drive device further comprises:

[0025] A clamping assembly is used to detachably connect the mounting base to a connecting bottom plate of an external drive device.

[0026] Preferably, in the above-mentioned instrument storage drive device, the clamping assembly includes:

[0027] A bayonet pin, the bayonet pin is used to connect with the connection base, the bayonet pin is arranged along the circumference of the connection base, and one end of the bayonet pin away from the connection base has a guide surface; the connection base includes a chassis and a clamping piece arranged on the chassis, and the clamping piece is clamped with the guide surface of the bayonet pin;

[0028] An unlocking assembly is used to drive the latch to separate from the engaging member.

[0029] Preferably, in the above-mentioned instrument storage drive device, the unlocking component includes:

[0030] A spring sheet, the spring sheet can produce elastic deformation, and the two ends of the spring sheet are respectively connected to one end of the oppositely arranged bayonet away from the clamping member;

[0031] A release switch, wherein the release switch can move along the axis of the mounting base, and the spring sheet is located within the movement path of the release switch, and one end of the release switch away from the spring sheet is limitedly connected to the outer shell, and when the release switch contacts the outer shell, the outer shell limits the release switch from moving in a direction away from the inner shell;

[0032] A spring is used for returning the release switch to contact with the housing.

[0033] Preferably, in the above-mentioned device storage drive device, the unlocking component further comprises:

[0034] A telescopic column, wherein the connecting shaft of the mounting base has an axially penetrating assembly hole, the telescopic column is circumferentially adapted and installed in the assembly hole, the telescopic column has a slide groove extending along the axial direction of the connecting shaft, the inner wall of the assembly hole has a boss that can be inserted into the slide groove, and the telescopic column moves along the axial direction of the assembly hole;

[0035] The release switch is inserted into the telescopic column toward one end of the elastic sheet, and can move relative to the telescopic column along the axial direction of the telescopic column.

[0036] Preferably, in the above-mentioned device storage drive device, the release switch comprises:

[0037] A pressing plate, wherein the pressing plate is a step column, the outer shell has a step hole, the step column is matched and connected with the step hole, and the diameter of the end of the step column away from the inner shell component is smaller than the diameter of the end close to the inner shell component, and the spring is against the pressing plate and the mounting base;

[0038] A driving rod, wherein the driving rod is connected to the center of the pressing plate, the driving rod is inserted into the telescopic column, and can be limitedly connected with the side wall of the slide groove, the driving rod can move axially relative to the telescopic column, and the spring sheet is located in the moving path of the driving rod.

[0039] A flexible instrument assembly, comprising an instrument storage drive device and a flexible instrument, wherein the instrument storage drive device is any one of the above-mentioned instrument storage drive devices;

[0040] The flexible instrument comprises an outer sheath, a driving wire and an actuator, wherein the distal end of the driving wire passes through the outer sheath and is connected to the actuator.

[0041] Preferably, the above-mentioned flexible device assembly is characterized in that:

[0042] A first terminal is fixed to the proximal end of the driving wire, and a clamping groove is provided at one end of the rotating docking disk of the instrument storage driving device away from the mounting base, the clamping groove extends along the axis of the rotating docking disk, and the first terminal can be clamped with the clamping groove;

[0043] A second terminal is fixed at a preset position of the proximal end of the driving wire away from the first terminal, a surface of the driven gear of the instrument storage driving device away from the mounting base has a second terminal card slot, the second terminal can be engaged with the second terminal card slot, and the second terminal card slot is connected to the second wire groove of the instrument storage driving device;

[0044] A third terminal is fixed to the proximal end of the outer sheath tube, and the mounting member of the instrument storage drive device has a third terminal slot, the third terminal can be snap-connected with the third terminal slot, and the third terminal slot is connected to the first wire groove of the instrument storage drive device.

[0045] A medical device system includes a flexible device assembly, wherein the flexible device assembly is the flexible device assembly described above.

[0046] The present invention discloses an instrument storage drive device, which utilizes the relative rotation between an outer shell and an inner shell component to realize the storage and transportation of flexible instruments, thereby solving the problem of easy contamination of flexible instruments; the driving and moving device can drive the flexible instrument to move axially, and the driven gear of the driving and moving device has a second wire groove for winding a driving wire of the flexible instrument, thereby realizing the storage of the driving wire, and during the rotation of the driven gear, the driving wire in the second wire groove can be released to increase the length of the flexible instrument, that is, to increase the axial movement distance of the actuator during the axial transportation of the flexible instrument relative to the outer shell, thereby meeting different needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a front view of the flexible device disclosed in an embodiment of the present invention;

[0049] Figure 2 It is a structural schematic diagram of the device storage drive device disclosed in an embodiment of the present invention;

[0050] Figure 3 for Figure 2 A top view of

[0051] Figure 4 for Figure 3 Sectional view in the AA direction;

[0052] Figure 5 for Figure 3 Cross-sectional view in the BB direction;

[0053] Figure 6 It is a front cross-sectional view of the instrument storage drive device disclosed in an embodiment of the present invention connected to a connecting base;

[0054] Figure 7It is a schematic diagram of the structure of the inner shell assembly of the instrument storage drive device disclosed in an embodiment of the present invention when it is extended;

[0055] Figure 8 for Figure 7 A front cross-sectional view of

[0056] Fig. 9 A partial exploded view of the device storage drive device disclosed in an embodiment of the present invention;

[0057] Fig.10 It is a schematic diagram of the structure of the mounting member disclosed in the embodiment of the present invention;

[0058] Fig.11 is a schematic structural diagram of a driven gear disclosed in an embodiment of the present invention;

[0059] Fig.12 It is a structural schematic diagram of a mounting base disclosed in an embodiment of the present invention;

[0060] Fig.13 It is an assembly relationship diagram of the mounting base disclosed in the embodiment of the present invention;

[0061] Fig.14 is an assembly relationship diagram of another direction of the mounting base disclosed in an embodiment of the present invention;

[0062] Fig.15 It is a structural schematic diagram of a rotary docking plate disclosed in an embodiment of the present invention;

[0063] Fig.16 It is a schematic structural diagram of a rotation limiting ring disclosed in an embodiment of the present invention;

[0064] Fig.17 is a schematic diagram of the structure of a release switch disclosed in an embodiment of the present invention;

[0065] Fig.18 It is a schematic diagram of the structure of a telescopic column disclosed in an embodiment of the present invention;

[0066] Fig.19 It is a schematic diagram of the structure of the bayonet disclosed in the embodiment of the present invention;

[0067] Fig. 20 It is a schematic diagram of the structure of the connecting base disclosed in an embodiment of the present invention.

[0068] Among them, 100 is a flexible instrument, 101 is an actuator, 102 is an outer sheath, 103 is a driving wire, 1031 is a first terminal, 1032 is a second terminal, and 1021 is a third terminal; 200 is an instrument storage drive device, 1 is an outer shell, and 11 is an instrument outlet; 2 is an inner shell component, 21 is an inner shell component, 211 is a receiving groove, 22 is a mounting component, 221 is a third terminal slot, and 222 is a first wire groove; 3 is a mounting base, 31 is a connecting shaft, 311 is an assembly hole, 32 is a mounting base, 321 is a mounting hole, 322 is a buckle, 33 is a first mounting platform, 34 is a second mounting platform, and 341 is a gap; 4 is a driving mobile device, 41 is a driving docking plate, 42 is a driving gear, 43 is a driven gear, 431 is a second wire groove, and 432 is The second terminal card slot; 5 is a driving rotation device, 51 is a rotating docking disk, 511 is a rotating shaft, 5111 is a card slot, 512 is a second disc base, 52 is a rotating limit ring, 521 is an annular body, 522 is a pillar, and 53 is a plum blossom retaining spring; 6 is a card assembly, 61 is a release switch, 611 is a pressing disk, 6111 is an exhaust through hole, 612 is a driving rod, 613 is a slot, 614 is a card protrusion, 62 is a telescopic column, 621 is a slide groove, 622 is a chamfer, 63 is a spring, 64 is a spring, 65 is a bayonet, 651 is a card end, 6511 is an adjustment hole, 652 is an assembly end, 653 is a connecting column, 6531 is a first section, and 6532 is a second section; 7 is a connecting base, 71 is a chassis, 72 is a card connector, and 721 is a socket. DETAILED DESCRIPTION

[0069] The present invention discloses an instrument storage drive device to increase the axial movement distance of the actuator during the axial transport of the flexible instrument relative to the housing to meet different requirements. In addition, the present invention also discloses a flexible instrument assembly and a medical instrument system having the above-mentioned instrument storage drive device.

[0070] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0071] Combination Figure 1 and Figure 2 As shown, the flexible instrument assembly of the present invention includes: a flexible instrument 100 and an instrument storage drive device 200. The instrument storage drive device 200 can store the long and delicate flexible instrument 100, solving the problem that the flexible instrument is easily contaminated; and the instrument storage drive device 200 can also axially drive the actuator of the flexible instrument 100 and rotate it around the axial direction.

[0072] like Figure 1 As shown, the flexible instrument 100 includes an actuator 101 , an outer sheath 102 and a driving wire 103 .

[0073] The distal end of the driving wire 103 passes through the outer sheath 102 and is connected to the actuator 101, and the proximal end of the driving wire 103 is the operating end. The directional words "proximal end" and "distal end" used in this article are defined from the perspective of the operator operating the flexible instrument 100, that is, the end of the driving wire 103 close to the operator is the "proximal end", and the end close to the patient is the "distal end". It should be understood that the use of the above directional words is only used to clearly describe the technical solution, and does not constitute a substantial limitation on the flexible surgical instrument claimed for protection by the present invention.

[0074] A first terminal 1031 is connected to the proximal end of the driving wire 103, and a second terminal 1032 is fixed at a preset distance from the first terminal 1031. Optionally, the first terminal 1031 and the second terminal 1032 can be fixed to the driving wire 103 by crimping or welding. The shape and size of the first terminal 1031 and the second terminal 1032 can be set according to different needs. For example, the first terminal 1031 is a square terminal and the second terminal 1032 is a cylindrical terminal. A third terminal 1021 is fixed to the proximal end of the outer sheath 102. For example, the third terminal 1021 is welded to the outer sheath 102 and is a cylindrical terminal with an outer diameter greater than the outer diameter of the outer sheath 102. In the direction from the proximal end to the distal end of the driving wire 103, the first terminal 1031, the second terminal 1032 and the third terminal 1021 are arranged in sequence. It is defined herein that the extension direction from the proximal end to the distal end of the driving wire 103 is the axial direction of the flexible device 100.

[0075] The terms "first" and "second" herein are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0076] In some embodiments, the actuator 101 can be selected according to the specific application, including but not limited to: flexible instruments such as clamps, electrocoagulation and cutting, baskets, injections, guides or sensors. Among them, the clamp type flexible instrument includes a tissue clamp with a clamping freedom and a hemostat with a clamping rotation freedom; the electrocoagulation and cutting flexible instrument includes a clamping freedom for tissue electrocoagulation and a push-pull freedom including a snare instrument; the basket type flexible instrument includes a push freedom for pushing out and retracting the basket; the injection type flexible instrument includes a push freedom for pushing out and retracting the needle; the guide type is used for coaxial instrument guidance and has no freedom; the sensor type flexible instrument may include image sensing instruments, position sensing instruments or shape sensing instruments, etc.

[0077] Based on the above functional requirements of the actuator 101, in some embodiments, the functional requirements of the actuator 101 can be achieved by pulling or twisting the proximal end of the drive wire 103 connected to the actuator 101. Specifically, by pulling the drive wire 103, the actuator 101 at the distal end can be moved, for example but not limited to the opening and closing of the actuator 101 and the pushing of the actuator 101; by twisting the drive wire 103, the rotational movement of the actuator 101 at the distal end can be achieved.

[0078] like Figures 2 to 8 As shown, the device storage drive device 200 in the present invention includes: a storage device, a mounting base 3, a drive movement device 4 and a drive rotation device 5.

[0079] The storage device includes an outer shell 1 and an inner shell assembly 2 , and the inner shell assembly 2 includes an inner shell component 21 and a mounting component 22 .

[0080] The outer shell 1 is a circular sleeve structure, the inner wall of the outer shell 1 has an internal thread, and the outer shell 1 has an instrument outlet 11. The inner shell 21 is a circular ring structure, and the interior is a accommodating space, and the mounting base 3, the driving moving device 4 and the driving rotating device 5 are all arranged in the accommodating space; the outer wall of the inner shell 21 has a receiving groove 211 and an external thread, and the external thread is located at the notch of the receiving groove 211, and the external thread of the inner shell 21 can be matched and connected with the internal thread of the outer shell 1, and after the connection, the receiving groove 211 forms a spiral groove with a side wall seal; the mounting member 22 is fixed to the top of the inner shell 21, and the connecting base 7 is fixed to the bottom end of the inner shell 21 through the clamping assembly 6. The outer sheath 102 of the flexible instrument 100 can be fixed to the mounting member 22. For the fixing method of the outer sheath 102 and the mounting member 22, please refer to Fig.10 shown.

[0081] like Fig.10 As shown, the mounting member 22 is an arc-shaped structure and has a third terminal slot 221 and a first wire groove 222. Among them, one end of the third terminal slot 221 is connected to the receiving groove 211 ( Figure 4 ) to ensure that the flexible device 100 can be wound around the third terminal slot 221 by the receiving slot 211; the other end of the third terminal slot 221 is connected to the first wire groove 222 to accommodate the proximal end of the driving wire 103 of the flexible device 100. The first wire groove 222 extends from the third terminal slot 221 to the inner wall of the mounting member 22.

[0082] The third terminal clamping groove 221 in the present invention is used to clamp the third terminal 1021 on the outer sheath tube 102 of the flexible device 100. The mounting member 22 in the present invention uses the third terminal clamping groove 221 to clamp the third terminal 1021 of the outer sheath tube 102, so as to achieve the fixation of the outer sheath tube 102 and the mounting member 22. It can be understood by those skilled in the art that other methods can also be used to achieve the fixation of the outer sheath tube 102 and the mounting member 22, including but not limited to bonding.

[0083] When the flexible instrument 100 is installed in the instrument storage drive device 200 , the flexible instrument 100 is wound in the receiving groove 211 , and the actuator 101 of the flexible instrument 100 can extend from the instrument outlet 11 , while the outer sheath 102 of the flexible instrument 100 is fixed to the mounting member 22 .

[0084] Combination Figure 6 as well as Figure 7 and Figure 8 As shown, Figure 6 The connection relationship between the outer shell 1 and the inner shell assembly 2 in the initial position is shown. Figure 7 and Figure 8 The figure shows the connection relationship between the outer shell 1 and the inner shell assembly 2 after relative rotation.

[0085] When the outer shell 1 and the inner shell assembly 2 are in the initial position, the outer shell 1 and the inner shell 21 do not move axially, and the flexible device 100 is stored between the outer shell 1 and the inner shell 21; when the outer shell 1 is fixed and the inner shell 21 is rotated, the inner shell 21 moves relative to the outer shell 1 along the axial direction, that is, the two are displaced axially, and during the rotation of the inner shell 21, the flexible device 100 is driven to move synchronously, so that the flexible device 100 can gradually extend out of the device outlet 11. The distance from the outer sheath 102 fixed to the mounting member 22 to the device outlet 11 is gradually reduced, so that the part wound between the outer sheath 102 and the actuator 101 gradually extends out of the device outlet 11, that is, the flexible device 100 is exposed.

[0086] In some embodiments, a protective tube is provided on the outside of the instrument outlet 11, and the protective tube is fixed to the outer shell 1, so as to maintain the stability of the posture of the actuator 101 extending out of the outer shell 1. Exemplarily, during the forward rotation of the inner shell 21 relative to the outer shell 1, the actuator 101 is continuously transported through the instrument outlet 11; and during the reverse rotation of the inner shell 21 relative to the outer shell 1, the flexible instrument 100 is continuously retracted into the outer shell and wound around the receiving groove 211, so as to achieve the retraction and storage of the actuator 101. Specifically, a relatively closed space is formed between the outer shell 1 and the inner shell 21 in a non-use state, which is used to store the flexible instrument 100.

[0087] In some embodiments, an RFID chip for identifying the actuator 101 is disposed at the bottom of the inner shell to detect the extension length of the actuator 101 .

[0088] The device storage drive device 200 disclosed in the present invention utilizes the relative rotation between the outer shell 1 and the inner shell component 2 of the storage device to achieve the storage and exposure of the flexible device 100, thereby solving the problem that the flexible device 100 is easily contaminated.

[0089] The driving moving device 4 in the present invention is used to realize the axial movement of the driving wire 103 of the flexible device 100 relative to the housing 1 along the flexible device 100, thereby driving the actuator 101 of the flexible device 100 to move axially relative to the housing 1. The driving rotating device 5 in the present invention is used to realize the axial rotation of the driving wire 103 of the flexible device 100 around the flexible device 100 relative to the housing 1, thereby driving the actuator 101 of the flexible device 100 to rotate relative to the housing 1. The mounting base 3 in the present invention serves as the mounting base of the driving moving device 4 and the driving rotating device 5 in the inner shell 21.

[0090] Combination Figure 4 as well as Fig.12 The structure of the mounting base 3 will be described.

[0091] The mounting base 3 includes a connecting shaft 31 and a mounting base 32. The connecting shaft 31 and the mounting base 32 include but are not limited to an integrally formed structure, and a plurality of reinforcing ribs connected to the mounting base 3 are arranged around the connecting shaft 31.

[0092] The mounting base 32 includes but is not limited to a rectangular structure, and the mounting base 32 is fixedly connected to the inner wall of the inner shell 21. For example, the mounting base 32 has a plurality of buckles 322 along the circumferential direction, and the buckles 322 are used to snap together with the inner wall of the inner shell 21 (such as Figure 4 As shown), the mounting base 32 is fixed to the inner shell 21.

[0093] The mounting base 32 is provided with a first mounting platform 33 and a second mounting platform 34 on both sides of the connecting shaft 31, respectively. The driving moving device 4 is mounted on the first mounting platform 33, and the driving rotating device 5 is mounted on the second mounting platform 34. The first mounting platform 33 is a platform structure, and the second mounting platform 34 includes two arc-shaped plates, and the two arc-shaped plates are arranged oppositely and form an annular structure. The two arc-shaped plates do not contact each other, and it can be understood that there is a gap 341 between the opposite end surfaces of the two arc-shaped plates, and the gap 341 forms a guide groove extending along the axial direction of the connecting shaft 31. It can be understood by those skilled in the art that the second mounting platform 34 is not limited to a semi-ring structure, and can also be a plate member, as long as it has a guide groove along the axial direction of the connecting shaft 31.

[0094] One end of the connecting shaft 31 away from the mounting base 32 has an assembly hole 311 extending along the axial direction of the connecting shaft 31 , and the assembly hole 311 includes but is not limited to a rectangular through hole.

[0095] Combination Figure 4 as well as Fig. 9 and Fig.11 The structure of the drive movement device 4 will be described.

[0096] like Figure 4 The driving moving device 4 shown includes: a driving docking plate 41 , a driving gear 42 and a driven gear 43 .

[0097] The driving moving device 4 is installed inside the inner shell 21 and is located below the mounting member 22. Specifically, the driving docking disk 41 is installed inside the inner shell 21, and the driving docking disk 41 rotates around its axis. Exemplarily, the driving docking disk 41 includes a first disc base and a driving shaft, and the first disc base and the driving shaft are integrally formed. The driving shaft includes but is not limited to a stepped shaft, and the step structure is used to limit and fix the driving gear 42 in the axial direction of the driving shaft.

[0098] Combination Fig.13 and Fig.14 As shown, the connection between the driving docking disc 41 and the mounting base 3 is described. Specifically, the first disc base is limited to the end of the mounting base 32 away from the connecting shaft 31, the driving shaft passes through the first mounting platform 33, and is fixed with a driving gear 42, and the circumferential side of the driving gear 42 is provided with a toothed structure.

[0099] The driven gear 43 is rotatably mounted in the accommodation space of the inner housing 21 relative to the mounting member 22 , and the second terminal 1032 of the flexible device 100 is fixed on the driven gear 43 , and the driving gear 42 and the driven gear 43 are meshed for transmission.

[0100] For the structure and connection relationship of the driven gear 43, see Fig.11 As shown, Fig.11 The driven gear 43 is a cylindrical structure, and a toothed structure is provided on the side of the lower end (close to the driving gear 42), and a second terminal clamping groove 432 and a second wire groove 431 are provided on the upper end of the driven gear 43. The second terminal clamping groove 432 is connected to the second wire groove 431, and the second terminal clamping groove 432 is used to clamp the second terminal 1032 of the driving wire 103, and the second wire groove 431 is wound on the outer wall of the driven gear 43.

[0101] The driven gear 43 has a second wire groove 431 around which the driving wire 103 of the flexible device 100 is wound, so that the driving wire 103 can be stored, and during the rotation of the driven gear 43, the driving wire 103 in the second wire groove 431 can be released to increase the length of the flexible device 100, that is, to increase the axial movement distance of the actuator 101 during the axial transport of the flexible device 100 relative to the housing 1, so as to meet different needs. It can be understood that the driving moving device 4 in the present invention has the function of storing the flexible device 100, so as to meet the use of flexible devices 100 of different lengths.

[0102] Combination Fig. 9 As shown, after the driven gear 43 is installed with the mounting member 22, the first wire groove 222 and the second wire groove 431 are opposite to each other and wrapped around the outer periphery of the driving wire 103. It can be understood that after the driven gear 43 is installed with the mounting member 22, the outer wall of the driven gear 43 is opposite to the inner wall of the mounting member 22, so that the first wire groove 222 and the second wire groove 431 are opposite to each other and clamp the driving wire 103.

[0103] Since the second terminal 1032 is fixed to the driven gear 43 and the outer sheath 102 is fixed to the mounting member 22, the driven gear 43 rotates relative to the mounting member 22, driving the driving wire 103 of the flexible device 100 to be wound between the driven gear 43 and the mounting member 22, thereby driving the actuator 101 along the axial direction of the driving wire 103 relative to the housing 1, and realizing the axial movement of the actuator 101.

[0104] Combination Figure 4 as well as Figures 13 to 16 The structure of the driving rotation device 5 will be described.

[0105] like Figure 4 The driving and rotating device 5 shown includes: a rotating docking plate 51 , a rotating limiting ring 52 and a plum blossom retaining spring 53 .

[0106] The driving and rotating device 5 is installed inside the inner shell 21 and is located below the mounting member 22. Specifically, the rotating docking disk 51 can rotate around its axis, and the first terminal 1031 of the flexible device 100 is fixed to the rotating docking disk 51. During the rotation of the rotating docking disk 51, the first terminal 1031 can drive the driving wire 103 to rotate around the axis, thereby realizing the driving of the actuator 101 relative to the outer shell 1 along the axial direction of the driving wire 103, and realizing the rotation of the actuator 101.

[0107] Fig.15The rotating docking disk 51 in the embodiment includes: a second disk base 512 and a rotating shaft 511. The second disk base 512 and the rotating shaft 511 include but are not limited to being integrally formed, the outer wall of the rotating shaft 511 has a thread, and the end surface of the rotating shaft 511 away from the second disk base 512 has a clamping groove 5111 extending along the axial direction of the rotating shaft 511. Exemplarily, the first terminal 1031 is clamped to the clamping groove 5111 of the rotating shaft 511, so the shape of the clamping groove 5111 is adapted to the shape of the first terminal 1031. The clamping method of the clamping groove 5111 and the first terminal 1031 includes but is not limited to interference fit.

[0108] Fig.16 The rotation limiting ring 52 includes: an annular body 521 and a support 522 .

[0109] The annular body 521 is a circular ring structure, and the inner wall has threads. The annular body 521 is sleeved on the outer side of the rotating shaft 511 and is threadedly connected to the rotating shaft 511. There are at least two pillars 522, which are symmetrically arranged about the annular body 521. Exemplarily, the pillars 522 include but are not limited to cylindrical structures.

[0110] Combination Fig.12 As shown, during the installation of the driving rotating device 5 and the mounting base 3, the second disc base 512 is limited to the side of the mounting base 32 away from the connecting shaft 31, the rotating shaft 511 passes through the second mounting platform 34, the rotating limit ring 52 is located between the two semi-ring structures, and the pillar 522 is inserted into the gap 341, and the pillar 522 can move up and down along the gap 341.

[0111] The plum blossom retaining spring 53 is sleeved on one end of the rotating shaft 511 away from the second disc base 512 and is fixedly connected to the rotating shaft 511 . It should be noted that in other embodiments, other types of retaining springs may be used and are not limited to the plum blossom retaining spring 53 .

[0112] Based on the above connection relationship, in the process of driving the rotating docking disk 51 to rotate, the second disk base 512 abuts against the mounting base 32, so that the second disk base 512 is axially limited along the rotating shaft 511, so that the rotating shaft 511 cannot move axially; and because the rotating limit ring 52 is threadedly connected to the rotating shaft 511, and the rotating limit ring 52 is limited in rotation by the cooperation between the support 522 and the gap 341, the rotating limit ring 52 can move up and down along the gap 341. When the rotating limit ring 52 moves upward to abut against the plum blossom retaining ring 53, the rotating limit ring 52 moves to the upper dead center; when the rotating limit ring 52 moves downward to abut against the mounting base 32, the rotating limit ring 52 moves to the lower dead center, thereby realizing the limitation of the two-way rotation angle of the rotating shaft 511.

[0113] By adjusting the distance from the rotation limit ring 52 to the plum blossom retaining spring 53 and to the mounting base 32, the rotation angle of the rotation shaft 511 can be changed, thereby changing the rotation angle of the drive wire 103, thereby changing the rotation angle of the actuator 101. In some embodiments, the rotational docking plate 51 is only allowed to rotate N turns, where N is equal to the number of threads on the rotational docking plate 51 minus 2, and the upper and lower threads of the rotational docking plate 51 must have one extra turn to ensure that the threads are always engaged.

[0114] Combining the above, and combining Figures 4 to 6 as well as Figures 17 to 20 The structures and connection relationship between the connection base 7 and the clamping assembly 6 are described.

[0115] The clamping assembly 6 comprises: a release switch 61 , a telescopic column 62 , a spring 63 , a spring 64 and a clamping pin 65 . The connecting base 7 comprises: a chassis 71 and a clamping member 72 .

[0116] The telescopic column 62 is embedded in the assembly hole 311 of the connecting shaft 31 of the mounting base 3. The telescopic column 62 is a hollow structure. The release switch 61 is inserted into the telescopic column 62 and can move along the axial direction of the telescopic column 62. Exemplarily, there are two bayonet pins 65, which are arranged symmetrically about the axial direction of the release switch 61. The mounting base 32 of the mounting base 3 has mounting holes 321 on two opposite sides. The mounting holes 321 are through holes that are perpendicular to the axial direction of the telescopic column 62. The bayonet pins 65 are inserted into the mounting holes 321, and the side where the two bayonet pins 65 are close to each other is connected to the spring sheet 64. It can be understood that the two ends of the spring sheet 64 are respectively connected to a bayonet pin 65, and the spring sheet 64 is located in the path of the release switch 61 moving along the axial direction.

[0117] The two sides of the two latches 65 that are away from each other are both connected to the connection base 7, specifically, connected to the latching member 72 of the connection base 7. The chassis 71 can be used to install a first driving member for driving the driving docking plate 41 of the driving moving device 4 to rotate, and a second driving member for driving the rotating docking plate 51 of the driving rotating device 5 to rotate. The first driving member and the second driving member are external driving devices.

[0118] Specifically, the bayonet 65 includes a bayonet end 651 , an assembly end 652 and a connecting column 653 .

[0119] The clamping end 651 and the assembly end 652 are connected in sequence, including but not limited to being an integrated structure, and the connecting column 653 is arranged perpendicular to the assembly end 652 .

[0120] During the assembly process of the bayonet 65 and the mounting base 3, the assembly end 652 is inserted into the mounting hole 321 of the mounting base 3. For example, the assembly end 652 is matched and connected with the mounting hole 321. In order to facilitate the assembly of the bayonet 65 in the mounting hole 321, the assembly end 652 can be provided as a connecting section matched and connected with the mounting hole 321 and an insertion section smaller in size than the connecting section, the clamping end 651 is fixedly connected with the connecting section, and the connecting column 653 is provided at the insertion section. During the insertion process of the bayonet 65 into the mounting hole 321, the insertion section can be inserted into the mounting hole 321 first.

[0121] The clamping end 651 is a trapezoidal structure, and has a guide surface on the side away from the assembly end 652. The guide surface is provided with an adjustment hole 6511, and the adjustment hole 6511 faces the inner wall of the inner shell 21. Fig.19 As shown, the clamping member 72 can be clamped and matched with the clamping end 651, and during the clamping process of the clamping end 651 and the clamping member 72, the guide surface can be used to guide the clamping of the two.

[0122] The connecting column 653 includes a first section 6531 and a second section 6532, the first section 6531 and the second section 6532 are fixedly connected, and the first section 6531 is fixedly connected to the assembly end 652. The outer edge of the second section 6532 protrudes from the outer edge of the first section 6531, so that a step structure is formed between the first section 6531 and the second section 6532. Exemplarily, the first section 6531 and the second section 6532 are both cylinders, and the diameter of the first section 6531 is smaller than the diameter of the second section 6532. The spring piece 64 is clamped at the step between the first section 6531 and the second section 6532.

[0123] In some embodiments, the length of the spring piece 64 is equal to the distance between the mounting holes 321 on both sides of the mounting base 3. When the spring piece 64 is connected to the bayonet 65 on both sides, the bayonet 65 can be limited to move along the axial direction of the bayonet 65, so that the bayonet 65 maintains a symmetrical state on both sides.

[0124] Fig.17 The release switch 61 in the embodiment includes a pressing plate 611 and a driving rod 612 .

[0125] The pressing plate 611 is a stepped disc structure, which can be connected with the opening of the housing 1 by using a stepped structure. Figure 5 As shown, the side of the pressing plate 611 away from the driving rod 612 is a small diameter section, and the side close to the driving rod 612 is a large diameter section, so that the pressing plate 611 is limited along the axis from the mounting member 22 to the outer shell 1, but not limited in the opposite direction, so that the pressing plate 611 can be pressed toward the inside of the inner shell 21, which can be understood as the pressing plate 611 can move downward. The pressing plate 611 has an exhaust hole 6111 to ensure that the pressing plate 611 can move downward stably.

[0126] Combination Figure 6 and Figure 8 As shown, the spring 63 is against the pressing plate 611 and the mounting base 3. For example, the driven gear 43 is fixed on the mounting connecting shaft 31, and the spring 63 is against the pressing plate 611 and the driven gear 43. The spring 63 is in a compressed state, and under the action of the spring 63, the release switch 61 is always connected to the housing 1. For example, when the inner housing component 2 rotates to transport the flexible device 100 outward, the release switch 61 is always kept flush with the top surface of the housing 1 under the action of the spring 63 to prevent foreign matter from entering the inner housing component 2.

[0127] The driving rod 612 is formed integrally with the pressing plate 611 and is located at the center of the pressing plate 611. The end of the driving rod 612 away from the pressing plate 611 has a slot 613, which extends along the axis of the driving rod 612, so that the driving rod 612 forms two branches at the end away from the pressing plate 611, and the side walls of the two branches away from each other are both provided with a clamping protrusion 614. The clamping protrusion 614 is a wedge-shaped structure, and along the axis of the driving rod 612, from the pressing plate 611 to the driving rod 612, the thickness of the clamping protrusion 614 (the distance from the clamping protrusion 614 to the side wall of the branch) gradually decreases, forming a triangular wedge block along the axis of the driving rod 612.

[0128] Fig.18 The telescopic column 62 is a hollow rectangular column, and a set of opposite side walls of the rectangular column are provided with a slide groove 621 extending along the axial direction of the telescopic column 62, a rectangular through hole is provided inside the rectangular column, and the inner wall of the telescopic column 62 has a chamfer 622. Two symmetrical bosses are provided inside the assembly hole 311 of the mounting base 3.

[0129] In the process of assembling the connection base 7 by using the clamping assembly 6, the telescopic column 62 is inserted into the assembly hole 311 of the mounting base 3, and the telescopic column 62 is installed downward along the assembly hole 311 of the mounting base 3 until the boss of the mounting base 3 is stuck between the slide groove 621 of the telescopic column 62. Under the sliding cooperation between the boss and the slide groove 621, the telescopic column 62 is moved relative to the mounting base 3 along the axis of the connecting shaft 31, and the moving distance of the telescopic column 62 is the length of the slide groove 621. Exemplarily, the assembly hole 311 is a rectangular hole, and the telescopic column 62 is a rectangular sleeve structure.

[0130] Since the shape of the telescopic column 62 and the assembly hole 311 are both polygonal, when the external driving structure drives the inner shell assembly 2 to rotate, the mounting base 3 will drive the telescopic column 62 and the release switch 61 to rotate synchronously. Since the telescopic column 62 and the release switch 61 are located at the center position of the inner shell 21, the axis of the telescopic column 62 and the axis of the release switch 61 coincide with the axis of the inner shell 21, thereby realizing the self-rotation of the telescopic column 62 and the release switch 61.

[0131] After the telescopic column 62 is installed in the assembly hole 311 of the mounting base 3, the driving rod 612 of the release switch 61 is inserted into the telescopic column 62. Specifically, during the process of inserting the driving rod 612 of the release switch 61 into the telescopic column 62, the two branches of the driving rod 612 first contact the upper end surface of the telescopic column 62, and under the action of the chamfered surface formed by the chamfer of the inner wall of the telescopic column 62, the two branches of the driving rod 612 are squeezed, so that the distance between the slots 613 between the two branches is reduced, and the end of the driving rod 612 away from the pressing plate 611 enters the interior of the telescopic column 62; during the gradual insertion of the driving rod 612, the clamping protrusion 614 on the branch contacts the chamfered surface of the inner wall of the telescopic column 62, and under the guidance and squeezing action of the chamfered surface, the clamping protrusion 614 is squeezed into the interior of the telescopic column 62, and as the telescopic column 62 is inserted, the clamping protrusion 614 moves to the slide groove 621, the squeezing force of the branch disappears, and the clamping protrusion 614 enters the slide groove 621.

[0132] Due to the shape of the clamping protrusion 614 , it is easy to insert the clamping protrusion 614 into the telescopic column 62 and can slide smoothly into the slide groove 621 . After sliding into the slide groove 621 , the clamping protrusion 614 can be prevented from moving in the opposite direction and separating from the slide groove 621 .

[0133] As the inner shell assembly 2 rotates relative to the outer shell 1 and gradually moves away from the outer shell 1 , the mounting base 3 gradually moves away from the release switch 61 along with the inner shell assembly 2 . In the process of the two moving away from each other, the release switch 61 and the telescopic column 62 can generate axial movement relative to the mounting base 3 .

[0134] Combined with the connection structure of the above-mentioned snap-in assembly 6, when it is necessary to release the connection base 7 to store or adjust the flexible device 100 on the inner shell assembly 2, the release switch 61 can be pressed downward until the driving rod 612 squeezes the middle position of the spring sheet 64, and the spring sheet 64 is squeezed to deform, and the distance between the two ends of the spring sheet 64 is reduced, driving the bayonet 65 on both sides to approach each other, thereby releasing the snap-in piece 72 engaged with the bayonet 65, so that the connection base 7 is separated from the structure in the inner shell assembly 2. After the connection base 7 is connected to the mounting base 3, the connection between the first drive device and the rotating docking disk 51 and the connection between the second drive device and the driving docking disk 41 can be realized. The spring sheet 64 in this article can automatically reset after the squeezing force is cancelled, and provide axial support force for the bayonet 65.

[0135] After the external force pressing the release switch 61 is removed, the mounting base 3 is reset under the reset action of the spring 63, and the telescopic column 62 enters the assembly hole 311 of the mounting base 3 under the guidance of the telescopic column 62. The release switch 61 is inserted into the telescopic column 62 until the outer shell 1 is flush with the bottom surface of the inner shell 21. The length of the release switch 61 will not release the latches 65 on both sides.

[0136] It should be noted that the release switch 61 , the telescopic column 62 , the spring 63 and the spring 64 in the present invention constitute an unlocking assembly for driving the latch 65 to separate from the latching member 72 .

[0137] The telescopic column 62 in the present invention can move axially relative to the assembly hole 311 of the mounting base 3, and the release switch 61 can move axially relative to the telescopic column 62, thereby realizing the two-stage telescopic extension of the release switch 61. On the premise of ensuring the moving distance of the release switch 61, the axial size of the release switch 61 along the inner shell component 2 is reduced, which is conducive to the miniaturization of the flexible instrument assembly.

[0138] Combination Figure 5 As shown, the adjustment hole 6511 of the clamping end 651 of the bayonet 65 includes but is not limited to a circular blind hole. The side wall of the inner shell 21 and the side wall of the outer shell 1 both have a through hole that is parallel to the extension direction of the adjustment hole 6511, and the shape of the through hole is but is not limited to a circular hole. When the outer shell 1 and the inner shell assembly 2 are in the initial state, the through hole of the inner shell 21, the through hole of the outer shell 1 and the adjustment hole 6511 are on the same axis. When the release switch 61 fails, that is, when the connection base 7 cannot be released by pressing the release switch 61, the operator can insert the emergency release column into the through hole of the inner shell 21 and the through hole of the outer shell 1, and make the emergency release column pass through the insertion hole 721 of the clamping member 72 of the connection base 7, and press the bayonet 65, so that the bayonet 65 moves close to the spring 64, and releases the clamping of the bayonet 65 and the clamping member 72, thereby realizing the release of the connection base 7.

[0139] The above-mentioned snap-on assembly 6 is used to realize the connection and separation between the connecting base 7 and the mounting base 3. It has a simple structure and is easy to operate. It can also make the structure inside the inner shell assembly 2 more compact, occupy the axial direction of the inner shell assembly 2, and reduce the radial size of the inner shell assembly 2.

[0140] The flexible instrument assembly provided in this implementation scheme can be applied to an endoscopic nurse / technician robot. The flexible instrument assembly is configured on the robot body to assist endoscopists in operating surgical instruments. It can effectively improve the doctor's work efficiency while reasonably realizing the effective storage of the actuator unit body and avoiding cross contamination.

[0141] It can be understood that the present invention also discloses a medical device system, including the flexible device assembly disclosed in the above embodiments. Therefore, the medical device system having the flexible device assembly also has all the above technical effects.

[0142] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An apparatus storage drive device, characterized in that: include: An outer shell, an inner shell assembly, a mounting base, a drive moving device and a drive rotating device; The outer shell is sleeved on the outer side of the inner shell component, and the outer shell has an instrument outlet for the actuator of the flexible instrument to pass through; the inner shell component has an accommodating space inside, and the inner shell component includes an inner shell member and a mounting member, the inner shell member is threadedly connected to the outer shell, and there is a accommodating groove for accommodating the flexible instrument between the inner shell member and the outer shell member, and the mounting member is fixedly connected to the inner shell member, and the outer sheath tube of the flexible instrument is fixed to the mounting member; The mounting base is disposed in the accommodating space and is fixedly connected to the inner shell, and the axis of the center of the mounting base coincides with the axis of the center of the inner shell; The driving moving device comprises a driving docking plate, a driving gear and a driven gear, wherein the driving docking plate is rotatably mounted on the mounting base, and the driving gear is fixedly connected to the driving docking plate, and the driven gear is rotatably sleeved on the mounting base, and the axis of the driven gear coincides with the axis of the mounting base, and the driving gear meshes with the driven gear for transmission; The inner wall of the mounting member has a first wire groove connected to the accommodating groove, and the outer wall of the driven gear has a spiral second wire groove, the relative positions of the first wire groove and the second wire groove are used to clamp the driving wire of the flexible instrument, the proximal end of the driving wire is fixed to the driven gear, and the driving wire is wound around the second wire groove, and the actuator is connected to the distal end of the driving wire; the mounting base comprises: a mounting base, the mounting base is clamped and connected to the inner wall of the inner shell; a connecting shaft, the connecting shaft is fixedly connected to the mounting base, and the axis of the connecting shaft coincides with the axis of the center of the inner shell, the driven gear is rotatably sleeved on the connecting shaft, and the driving docking plate is rotatably mounted on the mounting base and is located beside the connecting shaft; The driving rotation device is used to drive the actuator of the flexible device to rotate around the axial direction of the driving wire of the flexible device; the driving rotation device is installed on the mounting base and is located on the other side of the connecting shaft, and the proximal end of the driving wire of the flexible device is fixed to the driving rotation device; The driving rotation device includes: a rotating docking disk, which can rotate around its own axis and is installed on the mounting base in a limited position along the direction of its own axis, and the proximal end of the driving wire is connected to the axis of the rotating docking disk; a rotating limit ring, which is sleeved on the outer side of the rotating docking disk and threadedly connected to the rotating docking disk, and the rotating limit ring is circumferentially limitedly connected to the mounting base; a retaining spring, which is clamped at one end of the rotating docking disk away from the mounting base, and the rotating limit ring can move between the retaining spring and the mounting base.

2. The device storage drive device according to claim 1, characterized in that: The mounting base has arc-shaped plates that are arranged relatively to each other and form an annular structure. There is a gap between the opposite end faces of the two arc-shaped plates. The gap is formed as a guide groove on the side wall of the annular structure. The extension direction of the guide groove is parallel to the axial direction of the rotating docking plate. The rotating limit ring is clamped in the guide groove.

3. The device storage drive device according to claim 1 or 2, characterized in that: Also includes: A clamping assembly is used to detachably connect the mounting base to a connecting bottom plate of an external drive device.

4. The device storage drive device according to claim 3, characterized in that: The clamping assembly comprises: A bayonet pin, the bayonet pin is used to connect with the connection base, the bayonet pin is arranged along the circumference of the connection base, and one end of the bayonet pin away from the connection base has a guide surface; the connection base includes a chassis and a clamping piece arranged on the chassis, and the clamping piece is clamped with the guide surface of the bayonet pin; An unlocking assembly is used to drive the latch to separate from the engaging member.

5. The device storage drive device according to claim 4, characterized in that: The unlocking component comprises: A spring sheet, the spring sheet can produce elastic deformation, and the two ends of the spring sheet are respectively connected to one end of the oppositely arranged bayonet away from the clamping member; A release switch, wherein the release switch can move along the axis of the mounting base, and the spring sheet is located within the movement path of the release switch, and one end of the release switch away from the spring sheet is limitedly connected to the outer shell, and when the release switch contacts the outer shell, the outer shell limits the release switch from moving in a direction away from the inner shell; A spring is used for returning the release switch to contact with the housing.

6. The device storage drive device according to claim 5, characterized in that: The unlocking component also includes: A telescopic column, wherein the connecting shaft of the mounting base has an axially penetrating assembly hole, the telescopic column is circumferentially adapted and installed in the assembly hole, the telescopic column has a slide groove extending along the axial direction of the connecting shaft, the inner wall of the assembly hole has a boss that can be inserted into the slide groove, and the telescopic column moves along the axial direction of the assembly hole; The release switch is inserted into the telescopic column toward one end of the elastic sheet, and can move relative to the telescopic column along the axial direction of the telescopic column.

7. The device storage drive device according to claim 6, characterized in that: The release switch comprises: A pressing plate, wherein the pressing plate is a step column, the outer shell has a step hole, the step column is matched and connected with the step hole, and the diameter of the end of the step column away from the inner shell component is smaller than the diameter of the end close to the inner shell component, and the spring is against the pressing plate and the mounting base; A driving rod, wherein the driving rod is connected to the center of the pressing plate, the driving rod is inserted into the telescopic column, and can be limitedly connected with the side wall of the slide groove, the driving rod can move axially relative to the telescopic column, and the spring sheet is located in the moving path of the driving rod.

8. A flexible instrument assembly, comprising an instrument storage drive device and a flexible instrument, characterized in that: The device storage drive device is the device storage drive device according to any one of claims 1 to 7; The flexible instrument comprises an outer sheath, a driving wire and an actuator, wherein the distal end of the driving wire passes through the outer sheath and is connected to the actuator.

9. The flexible device assembly according to claim 8, characterized in that: A first terminal is fixed to the proximal end of the driving wire, and a clamping groove is provided at one end of the rotating docking disk of the instrument storage driving device away from the mounting base, the clamping groove extends along the axis of the rotating docking disk, and the first terminal can be clamped with the clamping groove; A second terminal is fixed at a preset position of the proximal end of the driving wire away from the first terminal, a surface of the driven gear of the instrument storage driving device away from the mounting base has a second terminal card slot, the second terminal can be engaged with the second terminal card slot, and the second terminal card slot is connected to the second wire groove of the instrument storage driving device; A third terminal is fixed to the proximal end of the outer sheath tube, and the mounting member of the instrument storage drive device has a third terminal slot, the third terminal can be snap-connected with the third terminal slot, and the third terminal slot is connected to the first wire groove of the instrument storage drive device.

10. A medical device system, comprising a flexible device assembly, characterized in that: The flexible instrument assembly is the flexible instrument assembly as described in claim 8 or 9.

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