Jet flow transmission device

Abstract

The invention provides a jet transmission device. The jet transmission device comprises a driving unit and a jet unit. The jet unit is provided with a jet pipe, and the jet pipe is connected with a jet pipe clamping part in the far-end direction; the driving unit is provided with a jet pipe driving shaft which can be detachably connected with the jet unit; the jet pipe clamping part is opened towards the far end and is provided with a main clamping groove extending in the axial direction, and a near-end limiting part and a far-end limiting part which extend in the radial side; the jet pipe driving shaft is provided with a main insertion part, a near-end matching surface and a far-end matching surface; in the assembling state, the main inserting part is inserted into the main clamping groove, the near-end limiting part and the far-end limiting part are connected with the near-end matching face and the far-end matching face in a clamped mode respectively, and therefore the driving unit can drive the jet pipe to rotate in the axial direction and translate in the axial direction through the jet pipe driving shaft. Therefore, the movement can be stably transmitted while the connection is convenient.

Description

Technical Field

[0001] The present application relates to the field of medical equipment, and in particular to a jet transmission device that is easy to connect and has stable transmission. Background Art

[0002] In the field of medical devices, jets have begun to be widely used in surgical resection or ablation. For example, they can be used to cut human tissue to eliminate lesions. The jet can be provided in the form of steam or high-pressure water jets. Regardless of the form, the surgical instrument must contain a jet pipeline, that is, water vapor or high-pressure water jets must be delivered to the surgical area through the jet pipeline. In order to more effectively and accurately control the jet to achieve jet resection or ablation, precise control of the movement of the jet pipeline is necessary. The jet transmission device is usually a device that drives the jet tube to rotate or reciprocate in a straight line. In practical applications, for example, the nozzle end of the jet tube is sent to the vicinity of the target tissue by driving the transmission device, and the nozzle end of the jet tube is driven to rotate to perform surgery, so that the jet or steam ejected from the nozzle can reach the location of the target tissue as expected. This is the basis for jet surgery to achieve precision and automation of operations.

[0003] Since the jet line is a specific instrument inserted into the patient's body to perform surgery, it is usually set to be disposable to avoid contamination and ensure the safety of the operation. Correspondingly, the device used to drive the transmission jet line is also a part that is easily contaminated because it is directly connected to the jet line. Therefore, the drive transmission mechanism of the jet line should also be set to be disposable. However, this means a substantial increase in the cost of consumables, especially when the drive transmission mechanism needs to ensure sufficient accuracy. If it is also designed for disposable use, the cost is high, which brings a heavy economic burden to patients or medical institutions.

[0004] The prior art also explores isolating the drive transmission mechanism from the jet tube as much as possible, that is, trying to make the drive transmission mechanism reusable to reduce costs; however, since there must be a connection between the drive transmission mechanism and the jet tube, and for precise control, the connection between the drive transmission mechanism and the jet tube must be reliable to ensure stable motion transmission; for technical personnel in this field, it is usually difficult to take into account both effective isolation between the drive transmission mechanism and the jet tube and reliable connection and stable motion transmission between the drive transmission mechanism and the jet tube, because these two technical pursuits are contradictory.

[0005] Therefore, in the prior art, there is a technical problem of how to make the driving transmission mechanism and the jet tube conveniently connected and how to make the motion transmission between the two stable. Summary of the invention

[0006] The purpose of the present application is to provide a jet transmission device that is easy to connect and has stable transmission. In order to achieve the above purpose, one scheme of the present application is a jet transmission device, comprising a drive unit and a jet unit; the direction of insertion into the working area is the proximal direction, and the opposite is the distal direction; the jet unit is provided with a jet tube, and the jet tube is connected with a jet tube clamping part in the distal direction; the drive unit is provided with a jet tube drive shaft that can be detachably connected to the jet unit; the extension direction of the jet tube is the axial direction, and the direction perpendicular to the axial direction is the radial direction; the jet tube clamping part is provided with a main clamping groove extending in the axial direction, a proximal limit part and a distal limit part extending in the radial direction; the proximal limit part and the distal limit part are arranged at intervals in the axial direction; the jet tube drive shaft is provided with a main insertion part corresponding to the main clamping groove, And a proximal mating surface and a distal mating surface respectively matched with the proximal limiting portion and the distal limiting portion; the main insertion portion and the main slot constitute a circumferential fixing mechanism of the jet transmission device; the proximal limiting portion, the distal limiting portion and the corresponding proximal mating surface and the distal mating surface constitute an axial fixing mechanism of the jet transmission device; in the assembled state, the jet tube driving shaft is inserted from the distal direction of the jet tube clamping portion, the main insertion portion is inserted into the main slot, the proximal limiting portion and the distal limiting portion are respectively clamped with the corresponding proximal mating surface and the distal mating surface, so that the driving unit can drive the jet tube to rotate around the axial direction and translate along the axial direction via the jet tube driving shaft.

[0007] In a preferred embodiment, there is a lock buckle which is sleeved on the jet tube and can move axially; in a non-assembled state, the lock buckle is closer to the proximal direction relative to the jet tube clamping part; after the jet tube clamping part is clamped with the jet tube driving shaft, the lock buckle is moved toward the distal direction so that it is sleeved on the jet tube clamping part.

[0008] In a preferred embodiment, the jet tube also has a first locking groove and a second locking groove extending radially; the first locking groove is closer to the proximal direction than the second locking groove; in a non-assembled state, the lock is engaged with the first locking groove; during the assembly process, when the lock is moved toward the distal direction so that it is sleeved on the jet tube clamping part, the lock is engaged with the second locking groove.

[0009] In a preferred embodiment, the groove walls on both sides of the main slot are inclined at a specified angle; and the side walls on both sides of the main insertion portion are correspondingly inclined at the same specification.

[0010] In a preferred embodiment, the jet tube clamping portion also has at least one auxiliary clamping groove extending axially and spaced apart from the main clamping groove; the jet tube driving shaft has at least one auxiliary insertion portion corresponding to the at least one auxiliary clamping groove; in the assembled state, the at least one auxiliary insertion portion is inserted into the at least one auxiliary clamping groove one by one.

[0011] In a preferred embodiment, the width of the primary card slot is greater than the width of the secondary card slot.

[0012] In a preferred embodiment, the at least one auxiliary clamping groove and the main clamping groove are distributed at approximately equal intervals in the circumferential direction of the jet tube clamping portion.

[0013] In a preferred embodiment, the groove walls on both sides of each auxiliary card slot in the at least one auxiliary card slot are inclined at a specified angle; the side walls on both sides of each auxiliary insertion part in the at least one auxiliary insertion part are inclined in the same specification in a one-to-one correspondence.

[0014] In a preferred embodiment, at least two claws are formed by setting the main clamping groove and at least one auxiliary clamping groove; at least one of the at least two claws is arranged in a manner that the outer wall is inclined radially outward as it approaches the distal direction; thereby, in the process of moving the lock buckle to make it sleeved on the jet tube clamping portion, the claw is squeezed by the lock buckle and deformed radially inward.

[0015] In a preferred embodiment, the driving unit comprises a first motor and a translational driving shaft connected to the first motor, and a second motor and a slider which are transmission-connected to the jet tube driving shaft; the translational driving shaft is arranged in parallel with the jet tube driving shaft; in a working state, the slider is driven by the first motor and translates along the translational driving shaft based on the screw nut transmission, and synchronously drives the jet tube driving shaft to translate; the second motor can drive the jet tube driving shaft to rotate.

[0016] At least one of the above-mentioned technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: effective isolation is achieved between the drive unit and the jet pipeline, and during surgery, the drive unit casing can be reused by simply covering it with a sterile film; the drive unit structure provides effective, accurate and stable motion output through the jet drive shaft with a limited and compact structure, and the motion output includes both linear motion output and rotational motion output, that is, effective, accurate and stable linear motion output and / or rotational motion output is provided through the jet drive shaft; during a specific operation, the jet unit as the consumable part and the drive unit as the reusable part can be easily docked, the operation is easy and convenient, and the docking is reliable, which can ensure the stability of the motion output. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the present application, the drawings of the specification of the present application will be described and illustrated below. Obviously, the drawings in the following description only illustrate certain aspects of some exemplary embodiments of the present application, and it is possible for a person of ordinary skill in the art to obtain other drawings based on these drawings without creative work.

[0018] Figure 1 It is a structural schematic diagram of the clamping part of the jet transmission device.

[0019] Figure 2 It is a partially enlarged schematic diagram of the jet tube and the jet tube clamping part.

[0020] Figure 3 It is a schematic structural diagram of the side surface of the jet tube clamping part.

[0021] Figure 4 It is an enlarged schematic diagram of the end of the jet tube drive shaft.

[0022] Figure 5 is a schematic diagram of the jet unit housing.

[0023] Figure 6 This is the docking diagram of the jet unit housing and the drive unit housing.

[0024] Figure 7 It is a schematic structural diagram of a cross section of a drive unit.

[0025] Figure 8 It is a schematic diagram of the structure of the drive unit housing and internal components disassembled.

[0026] Fig. 9 It is a structural schematic diagram of the assembly and use of the jet unit and the drive unit.

[0027] Caption of the attached figure: 1 Fluidics unit 10. Fluidic tube 100 First Shell 101 Second Shell 11. Jet pipe clamping part 111 Main card slot 121 First card slot 122 Second card slot 123 Third card slot 131 First locking slot 132 Second locking slot 141 First jaw 1411 First distal limiter 1412 first proximal stopper 142 Second jaw 143 Third jaw 144 Fourth jaw 15 Lock 16 Fluidic unit housing 161 Shell card 2 Drivers 20 Drive unit housing 201 Shell slot 21 Jet tube drive shaft 210 Drive shaft plug 2101 Plug base 211 Main insertion part 215 Distal mating surface 216 Proximal mating surface 212 First auxiliary insertion part 213 Third auxiliary insertion part 22 Sliders 221 Screw nut structure 222 Snap ring 223 Sliding Bushing 224 Motor bracket 23 First Motor 231 Translation drive shaft 232 Coupling 233 First bearing 234 Second bearing 24 Second Motor 241 Rotating drive shaft 242 Coupling 243 round hole 251 Third axis group 261 Fourth axis group DETAILED DESCRIPTION

[0028] Various exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is by no means intended to limit the present application and its application or use. The present application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present application thorough and complete and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise stated, the relative arrangement of the components and steps, numerical expressions, and numerical values, etc., described in these embodiments should be interpreted as being merely exemplary, rather than as limitations.

[0029] The words “include” or “comprising” and the like used in this application mean that the elements preceding the words include the elements listed after the words, and do not exclude the possibility of also including other elements.

[0030] All terms (including technical terms or scientific terms) used in this application have the same meaning as those understood by ordinary technicians in the field to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be understood to have the same meaning as their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined in this article.

[0031] Components not described in detail in this section, parameters such as specific models of components, relationships between components, and control circuits may be considered as technologies, methods, and equipment known to ordinary technicians in the relevant fields, but in appropriate circumstances, such technologies, methods, and equipment should be considered as part of the specification.

[0032] Jet transmission device See also Figure 1 , Figure 2 The jet transmission device of the present application comprises a driving unit 2 and a jet unit 1. The present application takes the direction of insertion into the working area as the proximal direction and the opposite direction as the distal direction. Figure 1 As shown, one end of the jet unit 1 close to the driving unit 2 is the distal end, and the other end is the proximal end. The jet unit 1 is provided with a jet tube 10, and the jet tube 10 is connected with a jet tube clamping portion 11 in the distal direction.

[0033] The drive unit 2 is provided with a jet tube drive shaft 21 which can be detachably connected to the jet unit 1. The power mechanism of the drive unit 2 is encapsulated in the drive unit housing 20, and the jet tube drive shaft 21 extends from the drive unit housing 20 and is detachably connected to the jet tube clamping portion 11.

[0034] Therefore, in actual use, the drive unit 2 can be used as a reusable component, and the jet unit 1 can be used as a disposable consumable. When in use, the jet unit 1 is plugged into the drive unit 2, and the jet unit 1 can be unplugged and discarded after use, which can reduce the cost of the entire device and increase the convenience of use. However, this convenient plug-in structure is also prone to transmission stability problems, that is, how to make the drive unit 2 stably and reliably drive the jet tube 1 to rotate and translate while facilitating plug-in is a problem that needs to be solved.

[0035] For the sake of convenience, this application Figure 1 The jet tube 10 shown extends in the axial direction, the direction perpendicular to the axial direction is the radial direction, and the direction around the axial direction is the circumferential direction. The jet tube clamping portion 11 opens toward the distal end and has a main clamping groove 111 extending in the axial direction. The jet tube drive shaft 21 has a drive shaft plug 210, and the drive shaft plug 210 can be inserted into the accommodating cavity of the jet tube clamping portion 11 from the opening of the jet tube clamping portion 11.

[0036] Among them, Figure 4 As shown, the drive shaft plug 210 has a plug base 2101 and a main insertion portion 211 located on the radial outer peripheral wall of the plug base 2101, extending in the axial direction and corresponding to the main card slot 111. In the assembled state, the drive shaft plug 210 is inserted from the opening of the jet tube clamping portion 11, and the main insertion portion 211 is inserted into the main card slot 111, so that the drive unit 2 can drive the jet tube 10 to rotate around the axial direction via the jet tube drive shaft 21.

[0037] Secondary card slot See also Figure 2 As a preferred embodiment, the jet tube clamping portion 11 also has at least one auxiliary clamping groove extending in the axial direction and spaced apart from the main clamping groove 111. For example, the figure shows a first auxiliary clamping groove 121, a second auxiliary clamping groove 122, and a third auxiliary clamping groove 123. Correspondingly, the drive shaft plug 210 is also provided with at least one auxiliary insertion portion located on the radial outer peripheral wall of the plug base 2101 and corresponding to the at least one auxiliary clamping groove, see Figure 4 , including a first auxiliary insertion portion 212 corresponding to the size of the first auxiliary card slot 121 , a second auxiliary insertion portion (not shown in the figure) corresponding to the size of the second auxiliary card slot 122 , and a third auxiliary insertion portion 213 corresponding to the size of the third auxiliary card slot 123 .

[0038] It can be understood that only one main slot 111 and one main inserting portion 211 can also realize the jet tube 10 being driven to rotate by the jet tube drive shaft 21, but multiple auxiliary slots and auxiliary inserting portions can make the torque transmitted by the jet tube drive shaft 21 to the jet tube clamping portion 11 more uniform and make the rotational motion more stable. At the same time, the jet tube clamping portion 11 is also in the form of a claw, making it easier to insert the drive shaft plug 210 from the opening of the jet tube clamping portion 11.

[0039] Further preferably, the plurality of auxiliary slots and the main slot 111 are distributed at approximately equal intervals in the circumferential direction of the jet tube clamping portion 11, so that the torque transmission can be more uniform. In fact, there is no limit on the number of auxiliary slots and auxiliary insertion portions, and they can be increased or decreased according to actual needs. For simplicity, only one main slot 111 and three auxiliary slots are shown as an example for explanation.

[0040] In the assembled state, the at least one secondary insertion portion is inserted into the at least one secondary card slot in a one-to-one correspondence. That is, in addition to the main insertion portion 211 being inserted into the main card slot 111, the first secondary insertion portion 212 is inserted into the first secondary card slot 121, the second secondary insertion portion (not shown in the figure) is inserted into the second secondary card slot 122, and the third secondary insertion portion 213 is inserted into the third secondary card slot 123.

[0041] As a preferred method, the groove walls on both sides of the main slot 111 and at least one of the multiple auxiliary slots are tilted at a specified angle, for example, the radial cross section of the slot is V-shaped, inverted V-shaped, trapezoidal, etc.; and the side walls on both sides of the main insertion portion 211 and the insertion portions corresponding to the slot in the multiple auxiliary insertion portions are also tilted at the same specifications. In this way, when the drive shaft plug 210 is inserted into the jet tube clamping portion 11, each insertion portion and the corresponding slot can be more closely matched, and the centering of the axis between the jet tube drive shaft 21 and the jet tube clamping portion 11 can be better ensured.

[0042] As an example, the present application sets the radial cross-section of the main card slot 111 to a V-shape, and the corresponding radial cross-section of the main insertion portion 211 is also a V-shape of the same specification, and the first auxiliary card slot 121 and the first auxiliary insertion portion 212, the second auxiliary card slot 122 and the second auxiliary insertion portion, and the third auxiliary card slot 123 and the third auxiliary insertion portion 213 are respectively set to have radial cross-sections of the same specifications as V-shapes.

[0043] Further preferably, the groove width of the main card slot 111 on the outer peripheral wall of the jet tube clamping part 11 is greater than the groove width of each auxiliary card slot on the outer peripheral wall of the jet tube clamping part 11. For example, the groove width of the main card slot 111 on the outer peripheral wall of the jet tube clamping part 11 is 4mm, and the groove width of other auxiliary card slots on the outer peripheral wall of the jet tube clamping part 11 is 2mm. Correspondingly, the width of the main insertion part 211 on the outer peripheral wall is also 4mm, and the width of other auxiliary insertion parts on the outer peripheral wall is 2mm. In this way, when plugging, it can be ensured that the main insertion part 211 is inserted into the corresponding main card slot 111 to ensure that the jet tube 10 has a fixed posture after assembly, so as to facilitate the precise control of the rotation angle of the jet tube 10 in subsequent operations.

[0044] Proximal stopper and distal stopper See also Figure 2 , Figure 3 , Figure 4 The jet tube clamping portion 11 also has a proximal limit portion and a distal limit portion extending radially inward and spaced apart in the axial direction. In the assembled state, the drive shaft plug 210 is axially located between the proximal limit portion and the distal limit portion for limiting the position during axial translation transmission.

[0045] Specifically, the present application forms at least two clamping claws by providing a main clamping slot 11 and a plurality of auxiliary clamping slots, and the figure exemplarily shows a first clamping claw 141, a second clamping claw 142, a third clamping claw 143, and a fourth clamping claw 144. Figure 3Only the first proximal stopper 1412 and the first distal stopper 1411 extending radially inward from the inner wall of the first claw 141 are shown. Only one proximal stopper and one distal stopper can realize the limit after connection with the drive shaft plug 210, but as a preferred mode, each claw is provided with a proximal stopper at the proximal end and a distal stopper at the distal end, so that the jet tube clamping part 11 is constituted as a claw embracing structure. For simplicity, only the first proximal stopper 1412 and the first distal stopper 1411 are used as examples for description.

[0046] Correspondingly, the jet tube driving shaft 21 has a proximal end matching surface 216 adapted to the aforementioned proximal end stopper and a distal end matching surface 215 adapted to the distal end stopper. Figure 4 As shown, the plug base 2101 is provided with an annular proximal mating surface 216 in the direction toward the insertion end and an annular distal mating surface 215 in the direction away from the insertion end. The proximal mating surface 216 is configured as an inclined surface style that contracts toward the axis as it approaches the insertion end, and the distal mating surface 215 is configured as an inclined surface style that contracts toward the axis as it moves away from the insertion end. In this way, when the drive shaft plug 210 is inserted from the opening of the jet tube clamping portion 11, the first proximal limiting portion 1412 is clamped on the proximal mating surface 216, and the first distal limiting portion 1411 is clamped on the distal mating surface 215, so that the claws of the jet tube clamping portion 11 embrace the drive shaft plug 210, thereby enabling the drive unit 2 to drive the jet tube 10 to translate axially via the jet tube drive shaft 21.

[0047] It should be noted that the proximal limit portion of the present application is not limited to the style of the first proximal limit portion 1412 shown in the figure protruding toward the radial inner side. For example, the bottom surface of the accommodating cavity of the jet tube clamping portion 11 can also be used as the proximal limit portion. After the drive shaft plug 210 is inserted into the accommodating cavity of the jet tube clamping portion 11, the insertion end of the drive shaft plug 210 abuts against the bottom surface of the accommodating cavity of the jet tube clamping portion 11, and the first distal limit portion 1411 is clamped to the distal mating surface 215, but the end surface of the insertion end of the drive shaft plug 210 serves as the proximal mating surface, and there is no need to set up the proximal mating surface 216 of the aforementioned inclined surface style. In addition, the distal mating surface 215 is not limited to the annular inclined surface shown in the figure. For example, it can also take only a circumferential section, or be set as a step surface, a groove adapted to the first distal limit portion 1411, etc. In short, it only needs to play an axial limit, and the specific structure is not limited.

[0048] It can be understood that the distal limit portion is not limited to the style of being located at the distal end of the claw as shown in the figure, and the distal mating surface 215 is not limited to the annular inclined surface as shown in the figure. For example, the distal limit portion can be set on only one claw, and the distal mating surface 215 also correspondingly only takes a section in the circumferential direction. The distal mating surface 215 is not limited to an inclined surface, and can be a step surface, or can be set as a groove adapted to the distal limit portion, etc.

[0049] Preferably, in order to ensure a tighter limit, the inner diameter of the opening of the jet tube clamping part 11 is smaller than the outer diameter of the plug base 2101. Here, the inner diameter of the opening of the jet tube clamping part 11 refers to the inner diameter of the distal limit part of each claw after extending radially inward. Therefore, when the drive shaft plug 210 is inserted from the opening of the jet tube clamping part 11, each claw of the jet tube clamping part 11 will expand radially outward and undergo elastic deformation. After the drive shaft plug 210 is inserted into the accommodating cavity of the jet tube clamping part 11, each claw will rebound and reset radially inward, so that the distal limit part of each claw is buckled on the distal mating surface 215.

[0050] As a preferred method, in order to facilitate the deformation and expansion of each claw, each claw is made of hard plastic material, which can reduce costs and meet the requirements of use. At the same time, the proximal mating surface 216 is configured as a ring-shaped inclined surface. When inserted, each claw first contacts the proximal mating surface 216, and then expands radially outward as the drive shaft plug 210 is inserted, which makes it easier to insert the drive shaft plug 210.

[0051] Lock Next, combine Figure 1 , Figure 2 , the lock buckle 15 is described in detail.

[0052] As shown in the figure, the jet unit 1 has a lock 15 which is sleeved on the jet tube 10 and can move axially. The outer peripheral wall of the jet tube 10 also has a first lock groove 131 and a second lock groove 132 which are recessed in the radial direction; the first lock groove 131 is closer to the proximal direction than the second lock groove 132.

[0053] In the non-assembled state, the lock buckle 15 is engaged with the first lock buckle groove 131, which is closer to the proximal direction relative to the jet tube clamping portion 11. After the drive shaft plug 210 is inserted into the jet tube clamping portion 11, the lock buckle 15 is moved toward the distal direction to be sleeved on the jet tube clamping portion 11, during which the lock buckle 15 moves to a position engaged with the second lock buckle groove 132.

[0054] Among them, at least one of the multiple claws of the jet tube clamping part 11 is arranged in a manner that the outer wall is inclined toward the radial outer side the closer to the distal direction. Preferably, the first claw 141, the second claw 142, the third claw 143, and the fourth claw 144 are all arranged in a manner that the outer wall is inclined toward the radial outer side the closer to the distal direction, so that the outer peripheral wall of the jet tube clamping part 11 is in the shape of a bell mouth. Thus, in the process of moving the lock buckle 15 to be sleeved on the jet tube clamping part 11, the claw with the inclined outer wall is squeezed by the lock buckle 15 and deformed toward the radial inner side, and the inner wall of the lock buckle 15 is tightened in the radial direction. Thereby, the jet tube clamping part 11 and the drive shaft 210 are connected more closely, and the motion transmission between the jet tube drive shaft 21 and the jet tube 10 is more stable and reliable. Here, it is necessary that the inner diameter of the inner wall of the lock buckle 15 in the non-assembled state is smaller than the maximum outer diameter of the claw of the jet tube clamping part 11.

[0055] In addition, if Figure 5 As shown, the jet unit 1 also has a jet unit housing 16, which is open toward the distal end and is used to accommodate the jet tube 10 and at least a portion of the jet tube clamping portion 11. In order to further improve the connection stability between the jet unit 1 and the drive shaft unit 2, the present application also provides a clamping mechanism at the connecting end of the drive unit housing 20 and the jet unit housing 16, that is, one side has a housing clamping groove and the other side has an adapted housing clamping member. For example Figure 6 As shown, a housing slot 201 is provided at the proximal end of the drive unit housing 20, and a housing clamp 161 is provided at the distal end of the jet unit housing 16. During the assembly process, the housing clamp 161 can be directly inserted into the housing slot 201, which is convenient to operate and reliable in connection.

[0056] It should be noted that if there is no lock buckle 15, the claws of the jet tube clamping part 11 are usually in a tightened position, and are briefly opened by the drive shaft plug 210 during assembly, and then rebound to hold the drive shaft plug 210. If a lock buckle 15 is provided, the claws of the jet tube clamping part 11 are usually in a tightened position, and can also be in an expanded position, and are tightened by the lock buckle 15 after assembly.

[0057] Drive unit Next, combine Figure 7-Figure 8 The internal structure of the drive unit 2 will be described in detail. Figure 7 is a schematic diagram of the cross-section structure of the drive unit 2, Figure 8 It is a schematic diagram of the structure after the drive unit housing 20 and the internal components of the drive unit 2 are disassembled.

[0058] The driving unit 2 comprises a first motor 23 disposed in the driving unit housing 20 and a translation driving shaft 231 connected to the first motor 23, and a second motor 24 and a slider 22 drivingly connected to the jet tube driving shaft 21. The translation driving shaft 231 is arranged parallel to the jet tube driving shaft 21.

[0059] In this embodiment, the jet tube driving shaft 21 is connected to the output shaft of the second motor 24, and can rotate under the drive of the second motor 24. At the same time, the second motor 24 is fixed to the slider 22, and can translate along the axial direction with the slider 22.

[0060] The slider 22 is connected to the translation drive shaft 231 via a screw nut structure 221 . For example, the translation drive shaft 231 is a screw, and the slider 22 is provided with a nut sleeved on the screw.

[0061] In the working state, the slider 22 is driven by the first motor 23 to translate along the translation drive shaft 231 based on the transmission of the lead screw nut structure 221, and synchronously drives the second motor 24 to translate, and the second motor 24 synchronously drives the jet tube drive shaft 21 to translate, thereby driving the jet tube 10 to translate along the axial direction. After the jet tube 10 moves to the predetermined position, the second motor 24 drives the jet tube 10 to rotate via the jet tube drive shaft 21.

[0062] Preferably, the first motor 23, the first bearing 233 and the second bearing 234 are all mounted on the drive unit housing 20, and the translation drive shaft 231 can be a lead screw, which is axially fixed by the first bearing 233 and the second bearing 234 and can only rotate. The lead screw nut structure 221 on the lead screw is installed in the slider 22 through a retaining ring 222, and the output shaft of the first motor 23 is connected to one end of the translation drive shaft 231 as the lead screw through a coupling 232, so that when the first motor 23 rotates, it drives the lead screw to rotate, and the linear motion of the slider 22 is realized through the lead screw nut structure 221, and the translation of the jet tube drive shaft 21 is driven by the linear motion of the slider 22, and the structure is simple and compact, and the transmission is stable.

[0063] Preferably, the second motor 24 is mounted on the motor bracket 224 by screws, and the motor bracket 224 is further mounted on the slider 22 by screws, and the motor bracket 224 fixes the sliding sleeve 223 on the slider 22, and the sliding sleeve 223 is sleeved on the rotating drive shaft 241, and the rotating drive shaft 241 can rotate in the sliding sleeve 223. The coupling 242 connects the rotating drive shaft 241 with the output shaft of the second motor 24, and the other end of the rotating drive shaft 241 is located in the circular hole 243 of the drive unit housing 20, and can rotate and slide freely in the circular hole 243. In this way, the second motor 24 does not need to be supported and mounted on the drive unit housing 20, and can directly drive the rotational movement of the jet tube drive shaft 21, without being affected by the torque deviation caused by the surrounding fixation, and can more accurately control the rotational movement of the jet tube drive shaft 21.

[0064] like Figure 8 As shown, in the drive unit housing 20, not only a translation drive shaft 231 and a rotation drive shaft 241 are provided, but also a third axis group 251 and a fourth axis group 261 are provided. The third axis group 251 and the fourth axis group 261 are parallel to the translation drive shaft 231 and the rotation drive shaft 241. The setting of the third and fourth axis groups, on the one hand, provides a guide rail to make the linear motion of the slider 22 smoother and more stable, and on the other hand, provides a supporting effect, so that the overall transmission structure includes four parallel axes, and the four axes are circumferentially spaced, the force is balanced, and the structure is stable.

[0065] In summary, the present application arranges the two motors providing driving force and the output transmission mechanisms of the two motors in a reasonable manner, and arranges the main components of the drive unit 2 in the drive unit housing 20 with a compact structure, so that the jet tube drive shaft 21 extending through the circular hole 243 can rotate and move linearly freely, and ensures the accuracy of the drive transmission. The gap between the circular hole 243 and the jet tube drive shaft 21 is set to be as small as possible while ensuring the smooth and free movement of the jet tube drive shaft 21. In this way, the components in the drive unit housing 20 can be reused to save costs, and can avoid contamination of the components in the drive unit 2 by body fluids during surgery. The main components of the jet unit 1 are arranged in the jet unit housing 16 and used as disposable consumables, which increases the convenience of operation while the cost is controllable.

[0066] At the same time, in order to solve the problems of connection reliability and motion transmission stability, the present application sets the jet tube clamping part 11 as a radially deformable claw structure, which is connected to the jet tube driving shaft 21 via the corresponding insertion part and the clamping groove, and sets a radially extending proximal limit part and a distal limit part to clamp the proximal mating surface 216 and the distal mating surface 215 of the jet tube driving shaft 21, so that the jet tube clamping part 11 and the driving shaft 21 plug can be tightly fitted and conveniently disassembled and assembled, with low cost and simple and reliable structure.

[0067] like Fig. 9 As shown, it is a schematic diagram of the structure of the assembly and use of the jet unit 1 and the drive unit 2. In a specific usage scenario, the jet unit housing 16 and the drive unit housing 20 are assembled as described above. The front end of the jet unit housing 16 can also be connected to the first housing 100 and the second housing 101. The first housing 100 and the second housing 101 can be integrally formed with the jet unit housing 16 or separately arranged to provide support for the proximal end of the jet tube. Preferably, the front end of the jet tube is narrowed and provided with a small hole (not shown) for ejecting a water jet. Under the drive transmission of the jet transmission device, the jet tube can smoothly perform linear motion and rotational motion, and the jet ejected from the front end of the jet tube can also perform linear motion and rotational motion according to planning or control, completing the cutting and / or ablation of the target at a predetermined position in the operating area.

[0068] At least one of the above-mentioned technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: effective isolation is achieved between the drive unit and the jet pipeline, and the drive unit casing can be covered with a sterile film for reuse during surgery; the drive unit structure provides effective, accurate and stable motion output through the jet drive shaft with a limited and compact structure, and the motion output includes both linear motion output and rotational motion output, that is, effective, accurate and stable linear motion output and / or rotational motion output is provided through the jet drive shaft; during a specific operation, the jet unit as the consumable part and the drive unit as the reusable part can be easily docked, the operation is easy and convenient, and the docking is reliable, which can ensure the stability of the motion output.

[0069] It should be understood that the specific embodiments described above are only used to explain the present application, and the protection scope of the present application is not limited thereto. Any technical personnel familiar with the technical field can make changes, substitutions, and combinations within the technical scope disclosed in the present application according to the technical solution and concept of the present application, which should be covered by the protection scope of the present application.

Claims

1. A jet transmission device, characterized in that: It includes a driving unit and a jet unit; The direction of insertion into the working area is the proximal direction, and the opposite direction is the distal direction; the jet unit is provided with a jet tube, and the jet tube is connected with a jet tube clamping part in the distal direction; The driving unit is provided with a jet tube driving shaft which can be detachably connected to the jet unit; The extending direction of the jet tube is taken as the axial direction, and the direction perpendicular to the axial direction is taken as the radial direction; The jet tube clamping portion comprises a main clamping groove extending in the axial direction, a proximal stopper and a distal stopper extending in the radial direction; the proximal stopper and the distal stopper are arranged at intervals in the axial direction; The jet tube driving shaft is provided with a main insertion portion corresponding to the main slot, and a proximal matching surface and a distal matching surface respectively matched with the proximal limiting portion and the distal limiting portion; The main insertion portion and the main slot constitute a circumferential fixing mechanism of the jet transmission device; the proximal limit portion, the distal limit portion and the corresponding proximal mating surface and the distal mating surface constitute an axial fixing mechanism of the jet transmission device; In the assembled state, the jet tube driving shaft is inserted from the distal direction of the jet tube clamping portion, the main insertion portion is inserted into the main clamping groove, and the proximal limiting portion and the distal limiting portion are respectively clamped with the corresponding proximal mating surface and the distal mating surface, so that the driving unit can drive the jet tube to rotate axially and translate axially via the jet tube driving shaft.

2. The jet transmission device according to claim 1, characterized in that: A lock buckle is provided which is sleeved on the jet tube and can move in the axial direction; In the non-assembled state, the lock buckle is closer to the proximal direction relative to the jet tube clamping portion; After the jet tube clamping portion is clamped with the jet tube driving shaft, the lock buckle is moved toward the distal direction to be sleeved on the jet tube clamping portion.

3. The jet transmission device according to claim 2, characterized in that: The jet tube further comprises a first locking groove and a second locking groove extending in the radial direction; the first locking groove is closer to the proximal direction than the second locking groove; In the non-assembly state, the lock buckle is engaged with the first lock buckle groove; During the assembly process, when the lock buckle is moved toward the distal direction to be sleeved on the jet tube clamping portion, the lock buckle is engaged with the second lock buckle groove.

4. The jet transmission device according to claim 1 or 2, characterized in that: The groove walls on both sides of the main slot are inclined at a specified angle; the side walls on both sides of the main insertion portion are correspondingly inclined at the same specification.

5. The jet transmission device according to claim 2, characterized in that: The jet tube clamping portion further comprises at least one auxiliary clamping groove extending in the axial direction and spaced apart from the main clamping groove; the jet tube driving shaft comprises at least one auxiliary insertion portion corresponding to the at least one auxiliary clamping groove; In the assembled state, the at least one auxiliary insertion portion is inserted into the at least one auxiliary slot in a one-to-one correspondence.

6. The jet transmission device according to claim 5, characterized in that: The slot width of the main card slot is greater than the slot width of the auxiliary card slot.

7. The jet transmission device according to claim 6, characterized in that: The at least one auxiliary clamping groove and the main clamping groove are distributed at approximately equal intervals in the circumferential direction of the jet tube clamping portion.

8. The jet transmission device according to claim 5, characterized in that: The groove walls on both sides of each auxiliary card slot in the at least one auxiliary card slot are inclined at a specified angle; the side walls on both sides of each auxiliary insertion part in the at least one auxiliary insertion part are inclined in a one-to-one correspondence with the same specification.

9. The jet transmission device according to claim 5, characterized in that: At least two claws are formed by providing the main card slot and at least one auxiliary card slot; At least one of the at least two claws is arranged in such a way that the outer wall is inclined radially outward as it approaches the distal direction; thus, in the process of moving the lock buckle to be sleeved on the jet tube clamping portion, the claw is squeezed by the lock buckle and deformed radially inward.

10. The jet transmission device according to claim 1, characterized in that: The driving unit comprises a first motor and a translation driving shaft connected to the first motor, and a second motor and a slider drivingly connected to the jet tube driving shaft; The translation drive shaft is arranged in parallel with the jet tube drive shaft; In the working state, the slider is driven by the first motor to translate along the translation drive shaft based on the transmission of the lead screw nut, and simultaneously drives the jet tube drive shaft to translate; The second motor can drive the jet tube driving shaft to rotate.

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