A jet transmission device

Abstract

The present application provides a jet transmission device, comprising a drive unit and a jet unit; the jet unit comprises a jet tube, the jet tube being connected to a jet tube clamping portion in the distal direction; the drive unit comprises a jet tube drive shaft that can be detachably connected to the jet unit; the jet tube clamping portion is open in the distal direction and comprises a main clamping groove extending in the axial direction, and a proximal limit portion and a distal limit portion extending in the radial direction; the jet tube drive shaft comprises a main insertion portion, and a proximal mating surface and a distal mating surface; in the assembled state, the main insertion portion is inserted into the main clamping groove, and the proximal limit portion and the distal limit portion are respectively clamped with the proximal mating surface and the distal mating surface, so that the drive unit can drive the jet tube to rotate axially and translate axially via the jet tube drive shaft. Accordingly, the motion can be stably transmitted while being conveniently connected.

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 for 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 actual 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 operational precision and automation.

[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. Accordingly, the device used to drive the transmission jet line is also a part that is extremely susceptible to contamination 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 significant increase in the cost of consumables, especially when the drive transmission mechanism needs to ensure sufficient precision. If it is also designed to be disposable, the cost is high, which imposes a heavy economic burden on patients or medical institutions.

[0004] The existing technology 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 those skilled in the art, 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 facilitate the connection between the driving transmission mechanism and the jet tube while ensuring stable motion transmission between the two. 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 to 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 limiting part and a distal limiting part extending in the radial direction; the proximal limiting part and the distal limiting 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 adapted to 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 drive 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 drive unit can drive the jet tube to rotate axially and translate axially via the jet tube drive shaft.

[0007] In a preferred embodiment, a lock buckle is provided 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 portion; after the jet tube clamping portion is clamped with the jet tube drive shaft, the lock buckle is moved toward the distal direction so that it is sleeved on the jet tube clamping portion.

[0008] In a preferred embodiment, the jet tube further comprises 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 tilted at a specified angle; and the side walls on both sides of the main insertion portion are correspondingly tilted at the same specification.

[0010] In a preferred embodiment, the jet tube clamping portion further has at least one auxiliary clamping groove extending axially and spaced apart from the main clamping groove; the jet tube drive 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 in a one-to-one correspondence.

[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 approximately at 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 a one-to-one manner with the same specifications.

[0014] In a preferred embodiment, at least two claws are formed by arranging 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 such that the outer wall is inclined radially outward as it approaches the distal direction; thereby, in the process of moving the lock buckle so that it is 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 includes a first motor and a translation drive shaft connected to the first motor, and a second motor and a slider that are transmission-connected to the jet tube drive shaft; the translation drive shaft is arranged parallel to the jet tube drive shaft; in a working state, the slider is driven by the first motor and translates along the translation drive shaft based on the screw nut transmission, and synchronously drives the jet tube drive shaft to translate; the second motor can drive the jet tube drive 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 shell 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 in 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] To more clearly illustrate the present application, the accompanying drawings are described and illustrated below. It is apparent that the drawings described below only illustrate certain aspects of some exemplary embodiments of the present application, and it is readily apparent to those skilled in the art that other drawings can be derived from these drawings without inventive effort.

[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 structural diagram of the drive unit's housing and internal components.

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

[0027] Caption of the attached figure:

[0028] 1 jet unit

[0029] 10 jet tube

[0030] 100 first shell

[0031] 101 Second Shell

[0032] 11. Jet tube clamping part

[0033] 111 Main card slot

[0034] 121 First card slot

[0035] 122 Second card slot

[0036] 123 Third card slot

[0037] 131 First locking slot

[0038] 132 Second locking slot

[0039] 141 First jaw

[0040] 1411 First distal limiter

[0041] 1412 first proximal limiter

[0042] 142 Second jaw

[0043] 143 Third jaw

[0044] 144 Fourth jaw

[0045] 15 Lock

[0046] 16. Fluidic unit housing

[0047] 161 housing clip

[0048] 2 drive units

[0049] 20 Drive unit housing

[0050] 201 housing slot

[0051] 21 Jet tube drive shaft

[0052] 210 drive shaft plug

[0053] 2101 plug base

[0054] 211 Main Insertion Section

[0055] 215 distal mating surface

[0056] 216 Proximal mating surface

[0057] 212 First auxiliary insertion part

[0058] 213 Third auxiliary insertion part

[0059] 22 Sliders

[0060] 221 Screw nut structure

[0061] 222 Snap Ring

[0062] 223 Slide

[0063] 224 motor bracket

[0064] 23 First Motor

[0065] 231 Translation drive shaft

[0066] 232 Coupling

[0067] 233 First Bearing

[0068] 234 Second bearing

[0069] 24 Second motor

[0070] 241 Rotating drive shaft

[0071] 242 Coupling

[0072] 243 round hole

[0073] 251 Third axis group

[0074] 261 Fourth axis group DETAILED DESCRIPTION

[0075] 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 in no way limits 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 convey 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, numerical values, etc. described in these embodiments should be interpreted as merely exemplary and not as limiting.

[0076] The words “include” or “comprising” and similar words used in this application mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements.

[0077] All terms (including technical or scientific terms) used in this application have the same meaning as understood by one of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be understood to have meanings consistent with their meanings in the context of the relevant technology and should not be interpreted in an idealized or highly formal sense, unless otherwise explicitly defined herein.

[0078] Components, parameters such as specific models of components, relationships between components, and control circuits that are not described in detail in this section may be considered to be technologies, methods, and equipment known to ordinary technicians in the relevant fields, but where appropriate, such technologies, methods, and equipment should be considered as part of the specification.

[0079] Jet transmission device

[0080] See Figure 1 、 Figure 2The 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, the 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 includes a jet tube 10, and the jet tube 10 is connected to a jet tube clamping portion 11 at the distal end.

[0081] The drive unit 2 is provided with a fluidic tube drive shaft 21 that can be detachably connected to the fluidic unit 1. The power mechanism of the drive unit 2 is enclosed in the drive unit housing 20, and the fluidic tube drive shaft 21 extends from the drive unit housing 20 and is detachably connected to the fluidic tube clamping portion 11.

[0082] Therefore, in actual use, the drive unit 2 can be used as a reusable component, and the jet unit 1 as a disposable consumable. When in use, the jet unit 1 is plugged into the drive unit 2, and after use, the jet unit 1 can be unplugged and discarded. This can not only reduce the cost of the entire device but also increase the convenience of use. However, this convenient plug-in structure is also prone to transmission stability issues. That is, how to ensure that the drive unit 2 can stably and reliably drive the jet tube 1 to rotate and translate while facilitating plug-in is a key issue that needs to be addressed.

[0083] For the sake of convenience, this application Figure 1 The jet tube 10 shown extends in the axial direction, the radial direction perpendicular to the axial direction, and the circumferential direction surrounding the axial direction. The jet tube clamping portion 11 is open toward the distal end and has a main clamping groove 111 extending along the axial direction. The jet tube drive shaft 21 is equipped with a drive shaft plug 210, which can be inserted into the receiving cavity of the jet tube clamping portion 11 through the opening of the jet tube clamping portion 11.

[0084] Among them, such as Figure 4 As shown, the drive shaft plug 210 includes a plug base 2101 and a main insertion portion 211 located on the radially outer peripheral wall of the plug base 2101, extending axially and corresponding to the main retaining groove 111. In the assembled state, the drive shaft plug 210 is inserted through the opening of the jet tube retaining portion 11, and the main insertion portion 211 is inserted into the main retaining groove 111, allowing the drive unit 2 to drive the jet tube 10 to rotate axially via the jet tube drive shaft 21.

[0085] Secondary card slot

[0086] See Figure 2As a preferred embodiment, the jet tube clamping portion 11 further comprises 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 further comprises 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. Figure 4 , including a first auxiliary insertion portion 212 corresponding to the size and specifications of the first auxiliary card slot 121, a second auxiliary insertion portion (not shown in the figure) corresponding to the size and specifications of the second auxiliary card slot 122, and a third auxiliary insertion portion 213 corresponding to the size and specifications of the third auxiliary card slot 123.

[0087] It is understood that only one main slot 111 and one main insertion portion 211 can also realize the rotation of the jet tube 10 driven by the jet tube drive shaft 21. However, providing multiple auxiliary slots and auxiliary insertion portions can make the torque transmitted by the jet tube drive shaft 21 to the jet tube clamping portion 11 more uniform, making the rotational motion more stable. At the same time, the jet tube clamping portion 11 is also designed to have a claw-like shape, making it easier to insert the drive shaft plug 210 through the opening of the jet tube clamping portion 11.

[0088] Furthermore, preferably, the plurality of secondary slots and primary slots 111 are distributed approximately evenly around the circumference of the jet tube clamping portion 11, thereby ensuring more uniform torque transmission. In practice, there is no limit to the number of secondary slots and secondary insertion portions, and they can be increased or decreased based on actual needs. For simplicity, the illustration herein uses only one primary slot 111 and three secondary slots as an example.

[0089] 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) 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.

[0090] As a preferred embodiment, 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 portion of the multiple auxiliary insertion portions corresponding to the slot are also tilted at the same specification. 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 fit more tightly, and the axis alignment between the jet tube drive shaft 21 and the jet tube clamping portion 11 can be better ensured.

[0091] 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 part 211 is also a V-shape of the same specification, and the first auxiliary card slot 121 and the first auxiliary insertion part 212, the second auxiliary card slot 122 and the second auxiliary insertion part, and the third auxiliary card slot 123 and the third auxiliary insertion part 213 are respectively set to have a V-shape with the same specification in radial cross-section.

[0092] Further preferably, the width of the main slot 111 on the outer peripheral wall of the jet tube clamping portion 11 is greater than the width of the various auxiliary slots on the outer peripheral wall of the jet tube clamping portion 11. For example, the width of the main slot 111 on the outer peripheral wall of the jet tube clamping portion 11 is 4 mm, and the width of the other auxiliary slots on the outer peripheral wall of the jet tube clamping portion 11 is 2 mm. Correspondingly, the width of the main insertion portion 211 on the outer peripheral wall is also 4 mm, and the width of the other auxiliary insertion portions on the outer peripheral wall is 2 mm. In this way, when plugging in, it can be ensured that the main insertion portion 211 is inserted into the corresponding main slot 111, so as to ensure that the jet tube 10 has a fixed position after assembly is completed, thereby facilitating the precise control of the rotation angle of the jet tube 10 in subsequent operations.

[0093] Proximal stopper and distal stopper

[0094] See 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, and is used for limiting the position during axial translation transmission.

[0095] 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 3 Only 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. Positioning after connection with the drive shaft plug 210 can be achieved with only one proximal stopper and one distal stopper. However, as a preferred embodiment, 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 portion 11 forms a claw-engaging structure. For simplicity, only the first proximal stopper 1412 and the first distal stopper 1411 are used as examples for description.

[0096] Correspondingly, the jet tube drive shaft 21 has a proximal end matching surface 216 adapted to the aforementioned proximal end limit portion and a distal end matching surface 215 adapted to the distal end limit portion. Figure 4As 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 constructed as an inclined surface style that contracts toward the axis as it approaches the insertion end, and the distal mating surface 215 is constructed 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 to the proximal mating surface 216, and the first distal limiting portion 1411 is clamped to the distal mating surface 215, so that the claws of the jet tube clamping portion 11 engage 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.

[0097] It should be noted that the proximal stop portion of the present application is not limited to the radially inwardly protruding first proximal stop portion 1412 shown in the figure. For example, the bottom surface of the accommodating cavity of the jet tube clamping portion 11 can also be used as the proximal stop portion. After the drive shaft plug 210 is inserted into the accommodating cavity of the jet tube clamping portion 11, the inserted 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 stop portion 1411 is engaged with the distal mating surface 215. However, the end surface of the inserted end of the drive shaft plug 210 serves as the proximal mating surface, and there is no need to provide the aforementioned inclined surface style proximal mating surface 216. In addition, the distal mating surface 215 is not limited to the annular inclined surface shown in the figure. For example, it can also be only a circumferential section, or be set as a stepped surface, a groove adapted to the first distal stop portion 1411, etc. In short, it only needs to serve as an axial limit, and the specific structure is not limited.

[0098] It is understood that the distal stopper is not limited to being located at the distal end of the claw as shown, and the distal mating surface 215 is not limited to being an annular inclined surface as shown. For example, the distal stopper can be provided on only one claw, and the distal mating surface 215 can also be provided on only a circumferential section. The distal mating surface 215 is not limited to an inclined surface and can be a stepped surface or a groove that matches the distal stopper.

[0099] Preferably, to ensure a tighter positioning, the inner diameter of the opening of the jet tube clamping portion 11 is smaller than the outer diameter of the plug base 2101. The inner diameter of the opening of the jet tube clamping portion 11 herein refers to the inner diameter of the distal limiting portion of each claw after being extended radially inward. Thus, when the drive shaft plug 210 is inserted through the opening of the jet tube clamping portion 11, the claws of the jet tube clamping portion 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 portion 11, the claws will rebound radially inward and reset, causing the distal limiting portion of each claw to snap onto the distal mating surface 215.

[0100] As a preferred embodiment, to facilitate the deformation and expansion of each claw, each claw is made of hard plastic, which reduces costs while meeting the requirements of use. Furthermore, the proximal mating surface 216 is configured as an annular bevel. During insertion, each claw first contacts the proximal mating surface 216 and then expands radially outward as the drive shaft plug 210 is inserted, thereby facilitating the insertion of the drive shaft plug 210.

[0101] Lock

[0102] Next, combine Figure 1 、 Figure 2 , the lock buckle 15 is described in detail.

[0103] As shown in the figure, the jet unit 1 has a lock 15 that is sleeved on the jet tube 10 and can move in the axial direction. The outer peripheral wall of the jet tube 10 also has a first lock groove 131 and a second lock groove 132 that are recessed in the radial direction; the first lock groove 131 is closer to the proximal direction than the second lock groove 132.

[0104] In the unassembled state, the lock 15 is engaged with the first lock groove 131, closer to the proximal end 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 15 is moved toward the distal end to be sleeved on the jet tube clamping portion 11, during which the lock 15 moves to a position where it engages with the second lock groove 132.

[0105] Among them, at least one of the multiple claws of the jet tube clamping portion 11 is arranged so that the outer wall is tilted radially outward as it approaches the distal end. Preferably, the first claw 141, the second claw 142, the third claw 143, and the fourth claw 144 are all arranged so that the outer wall is tilted radially outward as it approaches the distal end, so that the outer peripheral wall of the jet tube clamping portion 11 is in the shape of a bell mouth. Thus, when the lock buckle 15 is moved so that it is sleeved on the jet tube clamping portion 11, the claw with the tilted outer wall is squeezed by the lock buckle 15 and deformed radially inward, thereby radially bracing the inner wall of the lock buckle 15. This makes the connection between the jet tube clamping portion 11 and the drive shaft 210 tighter, making the motion transmission between the jet tube drive shaft 21 and the jet tube 10 smoother and more reliable. Here, it is necessary that the inner diameter of the inner wall of the lock buckle 15 in the unassembled state is smaller than the maximum outer diameter of the claws of the jet tube clamping portion 11.

[0106] 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 easy to operate and has a reliable connection.

[0107] It should be noted that if the lock 15 is not provided, the claws of the jet tube clamping portion 11 are normally in a tightened position, and are briefly pried apart by the drive shaft plug 210 during assembly, and then rebound to embrace the drive shaft plug 210. If the lock 15 is provided, the claws of the jet tube clamping portion 11 are normally in a tightened position, and can also be in an expanded position, and are tightened by the lock 15 after assembly.

[0108] drive unit

[0109] Next, combine Figure 7-Figure 8 The internal structure of the drive unit 2 will be described in detail. Figure 7 is a schematic structural diagram of a cross section of the drive unit 2, Figure 8 It is a schematic structural diagram of the drive unit housing 20 and the internal components of the drive unit 2 after being disassembled.

[0110] The drive unit 2 includes a first motor 23 disposed within the drive unit housing 20, a translation drive shaft 231 connected to the first motor 23, and a second motor 24 and a slider 22 connected to the fluidic tube drive shaft 21. The translation drive shaft 231 is disposed parallel to the fluidic tube drive shaft 21.

[0111] In this embodiment, the jet tube drive 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.

[0112] 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.

[0113] In operation, the slider 22, driven by the first motor 23 and driven by the screw-nut structure 221, translates along the translation drive shaft 231, simultaneously driving the second motor 24 to translate. The second motor 24 then translates the fluidic tube drive shaft 21, thereby driving the fluidic tube 10 to translate axially. After the fluidic tube 10 moves to a predetermined position, the second motor 24 then rotates the fluidic tube 10 via the fluidic tube drive shaft 21.

[0114] Preferably, the first motor 23, the first bearing 233, and the second bearing 234 are all mounted on the drive unit housing 20. The translation drive shaft 231 may 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 mounted within the slider 22 via a retaining ring 222. The output shaft of the first motor 23 is connected to one end of the translation drive shaft 231, which serves as the lead screw, via a coupling 232. In this way, when the first motor 23 rotates, it drives the lead screw to rotate, achieving linear motion of the slider 22 via the lead screw nut structure 221. The linear motion of the slider 22 then drives the translation of the jet tube drive shaft 21. This simple and compact structure and stable transmission are achieved.

[0115] Preferably, the second motor 24 is mounted on a motor bracket 224 via screws, and the motor bracket 224 is further mounted on the slider 22 via screws. The motor bracket 224 fixes the sleeve 223 to the slider 22, and the sleeve 223 is simultaneously mounted on the rotation drive shaft 241. The rotation drive shaft 241 can rotate within the sleeve 223. A coupling 242 connects the rotation drive shaft 241 to the output shaft of the second motor 24. The other end of the rotation drive shaft 241 is located within the circular hole 243 of the drive unit housing 20 and can freely rotate and slide within 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 rotation of the jet tube drive shaft 21. It is not affected by torque deviation caused by surrounding fixation, and can more accurately control the rotation of the jet tube drive shaft 21.

[0116] 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 shaft group 251 and a fourth shaft group 261 are provided. The third shaft group 251 and the fourth shaft group 261 are parallel to the translation drive shaft 231 and the rotation drive shaft 241. The setting of the third and fourth shaft groups provides a guide rail function on the one hand, so that the linear motion of the slider 22 is smoother and more stable. On the other hand, it provides a supporting function, so that the overall transmission structure includes four parallel shafts, and the four shafts are distributed circumferentially at intervals, the force is balanced, and the structure is stable.

[0117] In summary, the present application arranges the two motors that provide 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 in 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 keeping costs under control.

[0118] 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 drive shaft 21 via the corresponding insertion part and clamping groove, and sets a radially extending proximal limit part and distal limit part to clamp the proximal mating surface 216 and distal mating surface 215 of the jet tube drive shaft 21, so that the jet tube clamping part 11 and the drive shaft 21 plug can be tightly fitted and conveniently disassembled and assembled, with low cost and simple and reliable structure.

[0119] like Figure 9 The figure shows a schematic diagram of the structure of the assembled 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 provided 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 of the jet transmission device, the jet tube can smoothly perform linear motion and rotational motion. 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 within the operating area.

[0120] 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 shell can be covered with a sterile film during surgery for reuse; the drive unit structure provides effective, accurate and stable motion output through the jet drive shaft in 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.

[0121] It should be understood that the specific embodiments described above are only used to explain the present application, and the scope of protection of the present application is not limited thereto. Any technical personnel familiar with the technical field, within the technical scope disclosed in the present application, shall make changes, substitutions, and combinations based on the technical solutions and concepts of the present application, which shall be covered by the scope of protection of the present application.

Claims

1. A jet transmission device, characterized in that: It comprises a jet tube and a driving unit, with the direction of insertion into the working area being the proximal direction and the reverse being the distal direction, and the jet tube being connected to a jet tube clamping portion at its distal end; The jet tube clamping portion comprises a main clamping groove extending in the axial direction, a proximal limit portion and a distal limit portion extending in the radial direction; the proximal limit portion and the distal limit portion are arranged at intervals in the axial direction; The drive unit includes a translation drive shaft disposed in the drive unit housing, and a jet tube drive shaft detachably connected to the jet tube; the proximal end of the jet tube drive shaft extends out of the drive unit housing and is provided with a main insertion portion corresponding to the main slot, as well as a proximal mating surface and a distal mating surface adapted to the proximal limit portion and the distal limit portion, respectively; 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; During assembly, the jet tube drive shaft is inserted from the distal end of the jet tube clamping portion, the main insertion portion is inserted into the main clamping slot, and the proximal limit portion and the distal limit portion are respectively clamped with the corresponding proximal mating surface and the distal mating surface, so that the drive unit can drive the jet tube to rotate around the axial direction and translate along the axial direction via the jet tube drive shaft. 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.

2. The fluidic transmission device according to claim 1, characterized in that: It also includes a lock buckle sleeved on the jet tube and capable of moving along the axial direction; In the non-assembled state, the lock buckle is closer to the proximal end 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 end so as to be sleeved on the jet tube clamping portion.

3. The fluidic 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 is engaged with the first lock 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 fluidic transmission device according to claim 1 or 2, characterized in that: The groove walls on both sides of the main slot are tilted at a specified angle; the side walls on both sides of the main insertion portion are correspondingly tilted at the same specification.

5. The fluidic transmission device according to claim 1, characterized in that: The slot width of the main card slot is greater than the slot width of the auxiliary card slot.

6. The fluidic transmission device according to claim 5, characterized in that: The at least one auxiliary clamping groove and the main clamping groove are distributed approximately at equal intervals in the circumferential direction of the jet tube clamping portion.

7. The fluidic transmission device according to claim 1, characterized in that: The slot walls on both sides of each of the at least one secondary slot are tilted at a specified angle; the side walls on both sides of each of the at least one secondary insertion portion are tilted in a one-to-one correspondence with the same specification.

8. The fluidic transmission device according to claim 2, 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 a manner that the outer wall is inclined radially outward as it approaches the distal end; 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.

9. The fluidic transmission device according to claim 1, characterized in that: The driving unit further comprises a first motor and a second motor, wherein the first motor is connected to the translation driving shaft, and the second motor is fixed to the slider and is in driving connection with 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 and driven by the screw nut to translate along the translation drive shaft, 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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