Operating device of rod-shaped component

Abstract

This invention relates to the field of medical device technology and discloses an operating device for a rod-shaped component. The operating device includes a first clamping assembly, a second clamping assembly, and a connecting assembly. The first clamping assembly includes at least two first clamping wheels and a first base, with each first clamping wheel rotatably connected to the first base. The second clamping assembly includes at least two second clamping wheels and a second base, with each second clamping wheel rotatably connected to the second base. The rotation axes of each second clamping wheel and each first clamping wheel are parallel to each other during rotation, and a clamping space is formed between the second and first clamping wheels. The connecting assembly includes an adjustment module and a clamping wheel drive assembly. The adjustment module drives the first and / or second clamping assemblies to move towards or away from each other, and the clamping wheel drive assembly drives at least one first or second clamping wheel to rotate. This improves operational flexibility and accuracy.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more particularly to an operating device for a rod-shaped component. Background Technology

[0002] In current medical technologies, rod-shaped devices are frequently used for medical procedures, such as endoscopy for diagnosis and treatment. Driven by factors such as the increasing demand for healthcare due to an aging population, rising prevalence of chronic diseases, and the expansion of emerging markets, the endoscopic surgical robot market is experiencing continuous growth. ERCP, or endoscopic retrograde cholangiopancreatography, is a minimally invasive diagnostic and treatment method that combines endoscopic techniques with X-ray imaging. Based on diagnosis, various endoscopic instruments can be used to directly perform corresponding treatment procedures.

[0003] When operating the rod-shaped component, the operating device is prone to slipping on the component, and the control of the component by the operating device is not flexible enough, which increases the difficulty of controlling the component, reduces the accuracy of operation, and thus increases the difficulty of operation for doctors, resulting in a decrease in medical efficiency. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0005] In view of the above, an operating device for a rod-shaped member is proposed according to the technical solution of this application. The operating device for the rod-shaped member includes: a first clamping assembly, a second clamping assembly, and a connecting assembly. The first clamping assembly includes at least two first clamping wheels and a first base, with any one of the first clamping wheels rotatably connected to the first base. The second clamping assembly includes at least two second clamping wheels and a second base, with any one of the second clamping wheels rotatably connected to the second base. The rotation axes around which any second clamping wheel and any first clamping wheel rotate are parallel to each other, and a clamping space is formed between the second clamping wheels and the first clamping wheels. The connecting assembly includes: an adjustment module and a clamping wheel drive assembly. The adjustment module is connected to the first clamping assembly and the second clamping assembly respectively, and is used to drive the first clamping assembly and / or the second clamping assembly to move toward or away from the other. The clamping wheel drive assembly is used to drive at least one first clamping wheel or the second clamping wheel to rotate.

[0006] Optionally, in some technical solutions provided in this application, the operating device of the rod-shaped member further includes: a gear assembly, and a clamping wheel drive assembly including a first drive member and / or a first clamping wheel drive member. The first drive member and the second clamping wheel are respectively connected to the gear assembly, and the first clamping wheel drive member and the first clamping wheel are respectively connected to the gear assembly.

[0007] In some technical solutions provided in this application, optionally, the gear assembly includes: a first bevel gear, a second bevel gear, a first transmission gear, and a second transmission gear. The second bevel gear meshes with the first bevel gear, the first transmission gear is connected to the second bevel gear, the axes of the first transmission gear and the second bevel gear are collinear, and the second transmission gear meshes with the first transmission gear. The number of second transmission gears is one or two. When there are two second transmission gears, the two second transmission gears are located on both sides of the first transmission gear. Specifically, the first bevel gear is connected to the driving end of the first driving member, and the second transmission gear is connected to the second clamping wheel; and / or the first bevel gear is connected to the driving end of the first clamping wheel driving member, and the second transmission gear is connected to the first clamping wheel.

[0008] Optionally, in some technical solutions provided in this application, the adjustment module includes: a bidirectional lead screw, a first nut, a second nut, and a second driving member. The threads at both ends of the bidirectional lead screw have opposite directions. The first nut is connected to a first clamping assembly, and the second nut is connected to a second clamping assembly. The first nut and the second nut are respectively threaded to both ends of the bidirectional lead screw. The second driving member is used to drive the bidirectional lead screw to rotate.

[0009] Optionally, in some technical solutions provided in this application, the connecting component further includes: a first moving member and a pressure detection member. The first moving member is connected to the adjustment module and the first clamping component respectively, and the pressure detection member is connected to the first moving member and the first clamping component respectively. The pressure detection member is used to detect the pressure on the first clamping component in the clamping state.

[0010] Optionally, in some technical solutions provided in this application, the connecting assembly further includes: a second moving member, a transition member, and a tension detection member. The second moving member is connected to the adjustment module and the second clamping assembly respectively. The transition member is connected to the first driving member and is rotatably connected to the second moving member. The tension detection member is connected to the second moving member and the transition member respectively. The tension detection member is used to detect the rotational resistance of the transition member in order to control the clamping force of the rod-shaped member.

[0011] Optionally, in some technical solutions provided in this application, the connecting assembly further includes: a first connecting seat, a second connecting seat, and a conveying force detection element. Either the first or second connecting seat is provided with a groove, and the other with a slider. The slider and the groove are connected in cooperation. The first connecting seat is movable along the rotation axis of the second clamping wheel, and the groove extends along the direction of movement. The second connecting seat is connected to the adjustment module. The conveying force detection element is connected to both the first and second connecting seats and is used to detect the resistance experienced by the first connecting seat during movement.

[0012] Optionally, in some technical solutions provided in this application, the second clamping assembly further includes: a mating part and a splitting part, the second clamping wheel is rotatably connected to the mating part, the two ends of the mating part are detachably connected to the splitting part and the second base respectively, the splitting part and the second base have a connected state and a split state, and when the splitting part is in the split state, the splitting part can move away from the mating part.

[0013] Optionally, in some technical solutions provided in this application, the clamping wheel drive assembly is provided with a connecting hole, the splitting member is engaged with the connecting hole, and the first end of the splitting member is detachably connected to the second clamping wheel. The second clamping assembly further includes: an elastic element, an operating plate, and a limiting block. The elastic element connects the splitting member and the hole wall of the connecting hole. The operating plate is provided with a mounting hole, the second end of the splitting member passes through the mounting hole and is connected to the limiting block. The operating plate is located between the limiting block and the second base. When the splitting member is in the splitting state, the limiting block is engaged with the operating plate.

[0014] In some technical solutions provided in this application, optionally, the number of connecting components is two, and the two connecting components are arranged along the rotation axis of the second clamping wheel. The operating device of the rod-shaped member further includes: a driving component, which is connected to the two connecting components, and the driving module is used to drive any connecting component to move along the rotation axis of the second clamping wheel. The driving component includes: a frame, a third driving member, a transmission member, a guide rod, and a guide block. The third driving member is connected to the frame, and the transmission member is connected to the third driving member. The third driving member is used to drive the transmission member to move. The guide rod is connected to the frame and extends along the movement direction of the connecting component. The guide block is slidably connected to the guide rod and is connected to both the transmission member and the connecting component.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects:

[0016] The rod-shaped component is clamped by the cooperation of the first and second clamping wheels, and the clamping force is controlled by the adjustment module to ensure that the outer periphery of the rod-shaped component is subjected to a uniform clamping force, thereby improving clamping stability and preventing slippage during clamping. The clamping wheel drive assembly drives at least one of the first and second clamping wheels to rotate, enabling the operating device to rotate the rod-shaped component. This meets the usage requirements of the rod-shaped component at different angles, expands the control range of the operating device over the rod-shaped component, improves the flexibility and accuracy of operating the rod-shaped component, reduces the difficulty of operation for physicians, and increases the efficiency of medical operations involving the rod-shaped component. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0018] Figure 1 One of the structural schematic diagrams of the operating device for the rod-shaped member provided in this application;

[0019] Figure 2 A second schematic diagram of the structure of the operating device for the rod-shaped member according to an embodiment of this application;

[0020] Figure 3 A third schematic diagram of the structure of the operating device for the rod-shaped member according to an embodiment of this application;

[0021] Figure 4 A fourth schematic diagram of the structure of the operating device for the rod-shaped member according to an embodiment of this application;

[0022] Figure 5 Fifth schematic diagram of the structure of the operating device of the rod-shaped member according to an embodiment of this application;

[0023] Figure 6 A schematic diagram of the structure of the operating device for the rod-shaped member according to an embodiment of this application is shown in Figure 6.

[0024] Figure 7 A schematic diagram of the structure of the operating device for the rod-shaped member according to an embodiment of this application is shown in Figure 7.

[0025] Figure 8 One of the structural schematic diagrams of the second clamping assembly and gear assembly provided in this application;

[0026] Figure 9 A second schematic diagram of the structure of the second clamping assembly and gear assembly provided in this application;

[0027] Figure 10 A third schematic diagram of the structure of the second clamping assembly and gear assembly provided in this application;

[0028] Figure 11 Fourth schematic diagram of the structure of the second clamping assembly and gear assembly provided in this application;

[0029] Figure 12 One of the structural schematic diagrams of the second clamping assembly provided in this application;

[0030] Figure 13A second schematic diagram of the structure of the second clamping assembly provided in this application;

[0031] Figure 14 One of the schematic diagrams of the structure of a driving component provided in this application;

[0032] Figure 15 This is a second schematic diagram of the structure of a driving component according to one embodiment of this application.

[0033] in, Figures 1 to 15 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0034] 10. Operating device with rod-shaped components; 100. First clamping assembly; 110. First clamping wheel; 120. First base; 200. Second clamping assembly; 210. Second clamping wheel; 220. Second base; 230. Guide shaft; 240. Separating component; 241. Limiting hole; 250. Mating component; 260. Operating component; 270. Gear assembly; 271. First bevel gear; 272. Second bevel gear; 273. First transmission gear; 274. Second transmission gear; 275. Connecting hole; 280. Limiting component; 291. Elastic component; 292. Operating plate; 293. Limiting block; 294. Mounting hole; 300. Clamping space; 400. Connecting components, 410 Adjustment module, 411 Bidirectional lead screw, 412 First nut, 413 Second nut, 414 Second drive component, 420 First drive component, 430 First moving component, 440 Pressure detection component, 450 Second moving component, 451 Third moving component, 460 Transition component, 470 Tensile force detection component, 481 First connecting seat, 4811 Slide groove, 482 Second connecting seat, 4821 Slider, 483 Conveying force detection component, 500 Drive assembly, 510 Frame, 520 Third drive component, 530 Transmission component, 540 Guide rod, 550 Guide block, 560 Pulley. Detailed Implementation

[0035] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0036] Embodiments of this application provide an operating device 10 for a rod-shaped member, such as... Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6As shown, the operating device 10 of the rod-shaped member includes: a first clamping assembly 100, a second clamping assembly 200, and a connecting assembly 400. The first clamping assembly 100 includes at least two first clamping wheels 110 and a first base 120. Any one of the first clamping wheels 110 is rotatably connected to the first base 120. The second clamping assembly 200 includes at least two second clamping wheels 210 and a second base 220. Any one of the second clamping wheels 210 is rotatably connected to the second base 220. The rotation axes around which any one of the second clamping wheels 210 and any one of the first clamping wheels 110 rotate are parallel to each other. The second clamping wheels 210 and the first clamping wheels 110 form a clamping space 300. The connecting component 400 includes an adjustment module 410 and a clamping wheel drive component. The adjustment module 410 is connected to the first clamping component 100 and the second clamping component 200 respectively, and is used to drive the first clamping component 100 and / or the second clamping component 200 to move toward or away from the other. The clamping wheel drive component is used to drive at least one first clamping wheel 110 or second clamping wheel 210 to rotate.

[0037] In this embodiment, at least two first clamping wheels 110 are provided on the first base 120, and any one of the first clamping wheels 110 rotates around its rotation axis. Figure 2 The X-ray is the axis of rotation of the first clamping wheel 110. At least two second clamping wheels 210 are provided on the second base 220. Each second clamping wheel 210 rotates around its axis of rotation. The axes of rotation of all the second clamping wheels 210 are parallel to the axes of rotation of all the first clamping wheels 110. The two second clamping wheels 210 and the two first clamping wheels 110 are distributed around the rod-shaped member. The central position enclosed by the multiple clamping wheels forms a clamping space 300, which is used to accommodate the rod-shaped member. The extension direction of the axis of rotation is the same as the extension direction of the rod-shaped member. The rod-shaped member is used for medical operations; exemplarily, the rod-shaped member can be an endoscope.

[0038] The first clamping component 100 is located above the second clamping component 200. The first clamping component 100 and the second clamping component 200 are arranged side by side and are respectively connected to the adjustment module 410. The adjustment module 410 can drive the first clamping component 100 and the second clamping component to move towards or away from each other, so as to adjust the distance between the first clamping component 100 and the second clamping component 200, thereby adjusting the spacing between the first clamping wheel 110 and the second clamping wheel 210, realizing the function of clamping and releasing the rod-shaped member, thereby performing clamping operations and controlling the clamping force.

[0039] The clamping wheel drive assembly is connected to at least one first clamping wheel 110 or a second clamping wheel 210. The clamping wheel drive assembly can provide power for the rotation of the first clamping wheel 110 or the second clamping wheel 210. When the first clamping assembly 100 and the second clamping assembly 200 clamp the rod-shaped member, at least one of the first clamping wheel 110 and the second clamping wheel 210 can become the driving wheel, driving the rod-shaped member to rotate, thereby rotating the rod-shaped member and controlling the rotation angle.

[0040] The first clamping wheel 110 and the second clamping wheel 210 work together to clamp the rod-shaped component. The clamping force is controlled by the adjustment module 410, ensuring a uniform clamping force on the outer periphery of the rod-shaped component, thus improving clamping stability and preventing slippage during clamping. The clamping wheel drive assembly drives at least one of the first clamping wheels 110 and the second clamping wheel 210 to rotate, enabling the operating device to rotate the rod-shaped component. This meets the usage requirements of the rod-shaped component at different angles, expands the control range of the operating device, improves the flexibility and accuracy of operating the rod-shaped component, reduces the difficulty of operation for physicians, and increases the efficiency of medical operations involving the rod-shaped component.

[0041] For example, the first clamping wheel 110 and the second clamping wheel 210 may be made of rubber.

[0042] In some embodiments provided in this application, such as Figure 8 As shown, optionally, the operating device of the rod-shaped member further includes: a gear assembly 270, and a clamping wheel drive assembly including a first drive member 420 and / or a first clamping wheel drive member. The first drive member 420 and the second clamping wheel 210 are respectively connected to the gear assembly 270, and the first clamping wheel drive member and the first clamping wheel 110 are respectively connected to the gear assembly 270.

[0043] In this embodiment, the driving force output by the clamping wheel drive assembly can be transmitted through the gear assembly 270 to control the transmission direction and position. The gear assembly 270 can be disposed on the second clamping assembly 200 and / or the first clamping assembly 100. When the gear assembly 270 is disposed on the second clamping assembly 200, the gear assembly 270 can transmit the driving force of the first drive member 420 to the second clamping wheel 210. When the gear assembly 270 is disposed on the first clamping assembly 100, the gear assembly 270 can transmit the driving force of the first clamping wheel drive member to the first clamping wheel 110. This makes the first clamping wheel 110 or the second clamping wheel 210 the driving wheel, driving the rod-shaped member to rotate.

[0044] For example, the first drive member 420 and the first clamping wheel drive member may be servo motors.

[0045] In some of the technical solutions provided in this application, such as Figure 8As shown, optionally, the gear assembly 270 includes: a first bevel gear 271, a second bevel gear 272, a first transmission gear 273, and a second transmission gear 274. The second bevel gear 272 meshes with the first bevel gear 271, the first transmission gear 273 is connected to the second bevel gear 272, the axes of the first transmission gear 273 and the second bevel gear 272 are collinear, and the second transmission gear 274 meshes with the first transmission gear 273. The number of second transmission gears 274 is one or two. When there are two second transmission gears 274, the two second transmission gears 274 are located on both sides of the first transmission gear 273. The first bevel gear 271 is connected to the driving end of the first driving member 420, and the second transmission gear 274 is connected to the second clamping wheel 210; and / or the first bevel gear 271 is connected to the driving end of the first clamping wheel driving member, and the second transmission gear 274 is connected to the first clamping wheel 110.

[0046] In this embodiment, the first bevel gear 271 meshes with the second bevel gear 272 to change the direction of power transmission. The second bevel gear 272 and the first transmission gear 273 are located at opposite ends of the drive shaft, with the first transmission gear 273 transmitting power to the second transmission gear 274. With two second transmission gears 274 meshing on both sides of the first transmission gear 273, the first transmission gear 273 can simultaneously drive the two second transmission gears 274 on both sides to rotate in the same direction, improving transmission stability and driving efficiency.

[0047] When the gear assembly 270 is provided in the second clamping assembly 200, the gear assembly 270 transmits the driving force of the first drive member 420 to the second clamping wheel 210. The second transmission gear 274 can be connected to one of the second clamping wheels 210, or the two second transmission gears 274 can be connected to the two second clamping wheels 210 respectively, so that both second clamping wheels 210 become driving wheels.

[0048] When the gear assembly 270 is provided in the first clamping assembly 100, the gear assembly 270 transmits the driving force of the first clamping wheel drive member to the first clamping wheel 110. The second transmission gear 274 can be connected to one of the first clamping wheels 110, or the two second transmission gears 274 can be connected to the two first clamping wheels 110 respectively, so that both first clamping wheels 110 become driving wheels.

[0049] In some embodiments provided in this application, such as Figure 3 and Figure 4As shown, optionally, the adjustment module 410 includes: a bidirectional lead screw 411, a first nut 412, a second nut 413, and a second drive member 414. The threads at both ends of the bidirectional lead screw 411 have opposite directions of rotation. The first nut 412 is connected to the first clamping assembly 100, and the second nut 413 is connected to the second clamping assembly 200. The first nut 412 and the second nut 413 are respectively threaded to both ends of the bidirectional lead screw 411. The second drive member 414 is used to drive the bidirectional lead screw 411 to rotate.

[0050] In this embodiment, the threads at both ends of the bidirectional lead screw 411 have opposite directions of rotation, and the threads of the first nut 412 and the second nut 413 have opposite directions of rotation, respectively engaging with the thread ends of the bidirectional lead screw 411 with corresponding directions of rotation. The second drive member 414 is connected to the bidirectional lead screw 411 and provides rotational power to the bidirectional lead screw 411. When the second drive member 414 drives the bidirectional lead screw 411 to rotate, the bidirectional lead screw 411 drives the first nut 412 and the second nut 413 at both ends to move simultaneously away from or towards each other, so that the first clamping assembly 100 and the second clamping assembly 200, which are respectively connected to the first nut 412 and the second nut 413, can move away from or towards each other, thereby adjusting the distance between the first clamping wheel 110 and the second clamping wheel 210, realizing clamping operation and controlling clamping force.

[0051] By setting a second driving component 414 to drive the bidirectional lead screw 411 to rotate, the need for two driving components is avoided. This allows both clamping components to move simultaneously, resulting in a simple, stable power transmission structure that occupies little space and saves on the required components and space of the power transmission structure. Furthermore, the simultaneous movement of the two clamping components speeds up the clamping operation and improves clamping efficiency.

[0052] For example, the second drive element 414 may be a servo motor.

[0053] In some embodiments provided in this application, such as Figure 4 As shown, optionally, the connecting component 400 further includes: a first moving member 430 and a pressure detection member 440. The first moving member 430 is connected to the adjustment module 410 and the first clamping component 100 respectively. The pressure detection member 440 is connected to the first moving member 430 and the first clamping component 100 respectively. The pressure detection member 440 is used to detect the pressure on the first clamping component 100 in the clamping state.

[0054] In this embodiment, the first moving member 430 is connected to the adjustment module 410 and the first clamping assembly 100 at both ends, respectively. Specifically, the first moving member 430 can be connected to the first nut 412. The first moving member 430 is connected to the first clamping assembly 100 through a pressure detection element 440. When the first clamping assembly 100 is in the clamping state, the rod-shaped member exerts pressure on the first clamping assembly 100. Before the pressure is transmitted to the first moving member 430, it passes through the pressure detection element 440, enabling the pressure detection element 440 to detect the stress on the first clamping assembly 100, thereby detecting the clamping force of the first clamping assembly 100 on the rod-shaped member and monitoring the clamping information of the rod-shaped member.

[0055] In some embodiments provided in this application, such as Figure 7 As shown, optionally, the connecting assembly 400 further includes: a second moving member 450, a transition member 460, and a tension detection member 470. The second moving member 450 is connected to the adjustment module 410 and the second clamping assembly 200, respectively. The transition member 460 is connected to the first driving member 420 and is rotatably connected to the second moving member 450. The tension detection member 470 is connected to the second moving member 450 and the transition member 460, respectively. The tension detection member 470 is used to detect the rotational resistance experienced by the transition member 460 in order to control the clamping force of the rod-shaped member.

[0056] In this embodiment, the two ends of the second moving member 450 are respectively connected to the adjustment module 410 and the second clamping assembly 200. Specifically, the second moving member 450 can be connected to the second nut 413. The second moving member 450 covers the outside of the transition member 460, which is sleeved on the outer periphery of the first driving member 420 and connected to the outer wall of the first driving member 420. The first driving member 420 can rotate relative to the second moving member 450 through the transition member 460. The second moving member 450 is connected to the transition member 460 through the tension detection member 470. When the first driving member 420 generates driving force, it will be subject to rotational resistance. The rotational resistance passes through the tension detection member 470 before being transmitted to the second moving member 450, so that the tension detection member 470 can provide feedback on the rotational force at the output end of the first driving member 420, thereby monitoring the driving information of the rotating rod of the second clamping wheel 210 to control the driving force of the rod and avoid excessive twisting of the rod.

[0057] Exemplarily, the connecting assembly 400 further includes a third moving member 451, with the second moving member 450 connected to the third moving member 451. A transition member 460 is located within the mounting cavity enclosed by the second moving member 450 and the third moving member 451, facilitating the installation of the first driving member 420 and the transition member 460. A bearing is fitted onto the outer end of the transition member 460, and the transition member 460 is rotatably connected to the second moving member 450 via the bearing.

[0058] For example, the bidirectional lead screw 411 includes a smooth rod portion and two threaded portions, each with threads having opposite directions of rotation. The smooth rod portion is located between the two threaded portions and extends radially out of them. A first moving member 430 is rotatably connected to the smooth rod portion, and a second moving member 450 or a third moving member 451 is rotatably connected to the smooth rod portion. The smooth rod portion serves to guide and prevent twisting deformation.

[0059] In some embodiments provided in this application, such as Figure 4 and Figure 5 As shown, optionally, the connecting assembly 400 further includes: a first connecting seat 481, a second connecting seat 482, and a conveying force detection element 483. Either the first connecting seat 481 or the second connecting seat 482 is provided with a groove 4811, and the other is provided with a slider 4821. The slider 4821 is connected to the groove 4811. The first connecting seat 481 is movable along the rotation axis of the second clamping wheel 210, and the groove 4811 extends along the direction of movement. The second connecting seat 482 is connected to the adjustment module 410. The conveying force detection element 483 is connected to both the first connecting seat 481 and the second connecting seat 482, and is used to detect the resistance experienced by the first connecting seat 481 during movement.

[0060] In this embodiment, the first connecting seat 481 is capable of reciprocating along the extension direction of the rotation axis. The first connecting seat 481 drives the first clamping assembly 100 and the second clamping assembly 200 to move via the second connecting seat 482, enabling the rod-shaped member to be conveyed forward or backward. The second connecting seat 482 is rotatably connected to the bidirectional lead screw 411. Specifically, the second connecting seat 482 is rotatably connected to the threaded portion.

[0061] On the first connecting seat 481 and the second connecting seat 482, there are respectively a sliding groove 4811 and a slider 4821 that cooperate with each other. The extension direction of the sliding groove 4811 is the same as the movement direction of the first connecting seat 481. The first connecting seat 481 is connected to the second connecting seat 482 through a conveying force detection element 483. While the slider 4821 and the sliding groove 4811 are connecting the first connecting seat 481 and the second connecting seat 482, the conveying force detection element 483 restricts the degree of freedom of the first connecting seat 481 and the second connecting seat 482 in the movement direction. When the first connecting seat 481 moves, the first connecting seat 481 and the second connecting seat 482 generate a conveying force along the movement direction. The tension passes through the conveying force detection element 483 before being transmitted to the second connecting seat 482, so that the conveying force detection element 483 can detect the conveying force between the two connecting seats, thereby monitoring the conveying information of the connecting assembly 400 to control the conveying force of the rod-shaped member and avoid over-conveying of the rod-shaped member.

[0062] For example, the pressure detection element 440, the tension detection element 470, and the conveying force detection element 483 can be force sensors. The connection assembly 400 also includes a signal amplifier, which is electrically connected to the pressure detection element 440, the conveying force detection element 483, and the tension detection element 470, respectively. The signal amplifier is used to amplify the signals generated by the detection elements, improve the accuracy of detection, make the force sensing more precise, and prevent over-conveying or twisting of the rod-shaped element during operation.

[0063] In some embodiments provided in this application, such as Figure 9 , Figure 10 , Figure 11 , Figure 12 and Figure 13 As shown, optionally, the second clamping assembly 200 further includes: a mating member 250 and a splitting member 240. The second clamping wheel 210 is rotatably connected to the mating member 250. The two ends of the mating member 250 are detachably connected to the splitting member 240 and the second base 220, respectively. There are connected and split states between the splitting member 240 and the second base 220. When the splitting member 240 is in the split state, the splitting member 240 can move in a direction away from the mating member 250.

[0064] In this embodiment, when it is necessary to disassemble the mating component 250, the connection between the split component 240 and the second base 220 is released, and the split component 240 is pulled out in a direction away from the mating component 250, thus releasing the connection between the split component 240 and the mating component 250. The split component 240 is in a split state, and the operator can remove the mating component 250. When it is necessary to install the mating component 250, one end of the mating component 250 is connected to the second base 220, and the split component 240 is pushed in a direction closer to the mating component 250, so that the other end of the mating component 250 is connected to the split component 240.

[0065] By setting the mating part 250 and the splitting part 240, the isolation requirement of the second clamping wheel 210 in contact with the rod-shaped member is met, which facilitates the disassembly of the mating part 250 and the second clamping wheel 210 for cleaning and disinfection, thus ensuring the safety and hygiene of medical operations.

[0066] For example, the first clamping assembly 100 further includes a mounting member, and the mounting member and the first base 120 are respectively provided with a groove and a mating block. The mating block can slide in the groove, so that the mounting member is detachably connected to the first base 120, and the first clamping wheel 110 is rotatably connected to the mounting member.

[0067] In some embodiments provided in this application, such as Figure 11As shown, optionally, the clamping wheel drive assembly is provided with a connecting hole 275, and the splitting member 240 is engaged with the connecting hole 275. The first end of the splitting member 240 is detachably connected to the second clamping wheel 210. The second clamping assembly 200 also includes: an elastic member 291, an operating plate 292, and a limiting block 293. The elastic member 291 connects the splitting member 240 and the hole wall of the connecting hole 275. The operating plate 292 is provided with a mounting hole 294. The second end of the splitting member 240 passes through the mounting hole 294 and is connected to the limiting block 293. The operating plate 292 is located between the limiting block 293 and the second base 220. When the splitting member 240 is in the split state, the limiting block 293 is engaged with the operating plate 292.

[0068] In this embodiment, the splitting member 240 is a shaft-shaped member. The splitting member 240 is coaxially arranged with the second clamping wheel 210. The shape of the splitting member 240 is adapted to and engaged with the connecting hole 275. The clamping wheel drive assembly can drive the splitting member 240 to rotate through the connecting hole 275, thereby driving the second clamping wheel 210 to rotate.

[0069] For example, the gear assembly 270 is disposed on the second clamping assembly 200, the clamping wheel drive assembly is connected to the gear assembly 270, and the connecting hole 275 is disposed on the second transmission gear 274.

[0070] The elastic element 291 is located inside the connecting hole 275 and connects the splitting element 240 and the hole wall of the connecting hole 275. When the splitting element 240 is in the split state, the elastic element 291 is in the elastic deformation state and can generate elastic force, causing the splitting element 240 to move toward the mating element 250, which facilitates the connection between the splitting element 240 and the mating element 250 and improves the stability of the connection.

[0071] The operating plate 292 is located outside the second base 220. The second end of the splitting component 240 passes through the mounting hole 294 of the operating plate 292 and connects to the limiting block 293. The operating plate 292 is located between the limiting block 293 and the second base 220. The limiting block 293 extends radially out of the mounting hole 294, allowing it to engage with the operating plate 292. When it is necessary to disassemble the mating component 250, the operating plate 292 is moved outward, causing the limiting block 293 to move the splitting component 240 away from the second clamping wheel 210, thus placing the splitting component 240 in a split state and separating it from the second clamping wheel 210, improving the ease of disassembling the mating component 250.

[0072] For example, a gap is provided between the limiting block 293 and the operating plate 292 along the axial direction to prevent the operating plate 292 from affecting the rotation of the limiting block 293 and the splitting member 240. The end of the operating plate 292 is provided with a curved portion, which is bent in a direction away from the second base 220 to facilitate gripping and controlling the movement of the operating plate 292.

[0073] For example, the limiting block 293 is a screw, and the end of the split piece 240 is provided with a threaded hole, into which the limiting block 293 is inserted.

[0074] In some embodiments provided in this application, such as Figure 12 and Figure 13 As shown, optionally, the second clamping assembly 200 further includes a guide shaft 230 and an operating member 260. The guide shaft 230 is connected to the second base 220 and extends along the rotation axis of the second clamping wheel 210. The guide shaft 230 passes through the splitting member 240. When the splitting member 240 is in the split state, it can move axially along the guide shaft 230. The operating member 260 is rotatably connected to the second base 220. The splitting member 240 is provided with a limiting hole 241. The operating member 260 can pass through the limiting hole 241 and engage with the splitting member 240 after rotation.

[0075] In this embodiment, the guide shaft 230 is located at the end of the second base 220 and extends along the rotation axis of the second clamping wheel 210. The guide shaft 230 passes through the split member 240 and provides guidance for the movement of the split member 240.

[0076] With the split component 240 connected to the second base 220, the operating component 260 can pass through the limiting hole 241 on the split component 240, and after rotating, it can engage with the split component 240 to limit the split component 240, prevent the split component 240 from separating from the second base 220, and ensure the stability of the second clamping assembly 200 after assembly.

[0077] For example, the second clamping assembly 200 further includes a limiting member 280, which is located at the end of the split member 240 and connects the split member 240 and the mating member 250 respectively. The limiting member 280 can limit the installation position of the mating member 250.

[0078] In some embodiments provided in this application, such as Figure 2 As shown, optionally, there are two connecting components 400, and the two connecting components 400 are arranged along the rotation axis of the second clamping wheel 210. The operating device 10 of the rod-shaped member further includes a drive component 500, which is connected to the two connecting components 400. The drive module is used to drive any one of the connecting components 400 to move along the rotation axis of the second clamping wheel 210.

[0079] In this embodiment, the drive assembly 500 connects two connecting assemblies 400 and can drive either connecting assembly 400 to move along the rotation axis of the second clamping wheel 210 to adjust the distance between the two connecting assemblies 400. This allows the clamping assembly on one connecting assembly 400 to hold the rod-shaped component, while the clamping assembly on the other connecting assembly 400 can transport the rod-shaped component forward or backward. The two connecting assemblies 400 move alternately, simulating the operation of both hands to advance or retract the rod-shaped component, thus improving the flexibility and convenience of transporting the rod-shaped component.

[0080] In some embodiments provided in this application, such as Figure 14 and Figure 15 As shown, optionally, the drive assembly 500 includes: a frame 510, a third drive member 520, a transmission member 530, a guide rod 540, and a guide block 550. The third drive member 520 is connected to the frame 510, the transmission member 530 is connected to the third drive member 520, and the third drive member 520 is used to drive the transmission member 530 to move. The guide rod 540 is connected to the frame 510 and extends along the movement direction of the connecting assembly 400. The guide block 550 is slidably connected to the guide rod 540 and is connected to the transmission member 530 and the connecting assembly 400 respectively.

[0081] In this embodiment, the third driving member 520 provides power for the movement of the connecting assembly 400, and can drive the transmission member 530 to reciprocate along the movement direction of the connecting assembly 400. This causes the guide block 550 on the transmission member 530 to follow the movement of the transmission member 530, thereby driving the connecting assembly 400 to move and controlling the conveying of the rod-shaped member. Specifically, the guide block 550 is connected to the first connecting seat 481.

[0082] The third drive member 520 and the guide rod 540 are mounted on the frame 510. The guide rod 540 extends along the movement direction of the connecting assembly 400, and the guide block 550 can slide along the axial direction of the guide rod 540, so that the guide rod 540 guides the movement of the guide block 550.

[0083] For example, the third drive unit 520 can be a servo motor.

[0084] For example, there are two third drive members 520 and four transmission members 530, with any one third drive member 520 connected to two transmission members 530.

[0085] In some embodiments provided in this application, such as Figure 14 As shown, optionally, the transmission component 530 is a transmission belt, and the drive assembly 500 further includes a pulley 560, which is rotatably connected to the frame 510, and the transmission belt is sleeved on the outside of the pulley 560.

[0086] In this embodiment, the transmission component 530 is a transmission belt, the pulley 560 is rotatable relative to the frame 510, the transmission belt rotates around the outside of the pulley 560, the pulley 560 provides structural support for the transmission belt and changes the transmission direction of the transmission belt.

[0087] In one specific embodiment, the endoscope delivery device (i.e., the rod-shaped operating device 10) includes a drive assembly 500 and a gripper assembly. The motor (i.e., the third drive member 520) of the drive assembly 500 can drive the synchronous belt (i.e., the transmission member 530) to rotate. The motor is mounted on the optical axis guide rail base. The pulley 560 is fixedly mounted on the optical axis guide rail base and moves in conjunction with the synchronous belt. Four optical axes (i.e., guide rods 540) are mounted on the base. The linear slider (i.e., guide block 550) has openings at both ends that pass through the optical axes. The linear slider is fixedly connected to the synchronous belt, and the synchronous belt can drive the linear slider to reciprocate.

[0088] The gripper assembly includes a connecting component 400, a first gripping component 100, and a second gripping component 200.

[0089] The first connecting seat 481 is fixedly connected to the linear slider by screws. The linear slider can drive the gripper assembly to move as a whole. The second connecting seat 482 is connected to the first connecting seat 481 through the cooperation of the sliding groove 4811 and the slider 4821. The sliding groove 4811 is provided on the first connecting seat 481, and the slider 4821 is provided on the second connecting seat 482. A conveying force sensor (i.e., conveying force detection element 483) is also provided between the first connecting seat 481 and the second connecting seat 482. One end of the conveying force sensor is fixed to the second connecting seat 482, and the other end of the conveying force sensor is connected to the first connecting seat 481. The conveying force sensor is used to provide feedback on the force generated during endoscope delivery.

[0090] The second driving member 414 is mounted on the second connecting seat 482. A gear set is connected to the top of the second driving member 414, and the gear set drives the bidirectional lead screw 411 to rotate. One end of the first moving member 430 has a through hole and is sleeved on the bidirectional lead screw 411. The other end has two through holes. The two guide posts of the first clamping assembly 100 pass through the two through holes, so that the first moving member 430 is connected to the first clamping assembly 100. The first moving member 430 has a signal amplifier inside, which is connected to a pressure sensor (i.e., pressure detection element 440), a tensile stress sensor (i.e., tensile force detection element 470), and a conveying force sensor.

[0091] One end of the third moving part 451 has a through hole and is sleeved on the bidirectional lead screw 411, while the other end is fixedly connected to the second moving part 450. The second moving part 450 has two through holes, through which the two guide posts of the second clamping assembly 200 pass, connecting the third moving part 451 to the second clamping assembly 200. Two nuts are respectively connected to the first moving part 430 and the third moving part 451, and move in opposite directions under the drive of the second driving part 414, thus clamping and releasing the endoscope. The bidirectional lead screw 411 is rotatably connected to the second connecting part via a flange bearing, and rotatably connected to the first moving part 430 and the third moving part 451 via self-lubricating bearings. The bearings serve to guide and prevent twisting deformation.

[0092] A pressure sensor is disposed and fixedly connected within the cavity of the first moving member 430. The lower end of the pressure sensor is connected to the first clamping assembly 100 via a pressure sensor connector. A first driving member 420 is disposed within the third moving member 451 and the second moving member 450. One end of the first driving member 420 is fixedly connected to the transition member 460 via a screw and engages with the second moving member 450 via a bearing. A retaining ring is disposed at one end of the transition member 460 to prevent axial movement. A tensile stress sensor is fixedly connected to the transition member 460 and the third moving member 451 via two connectors, respectively, so that the first driving member 420 is locked to the third moving member 451 via the tensile stress sensor. The force of rotation at the output shaft end of the first driving member 420 can be fed back through this sensor, thus revealing the torque generated by the rubber wheel rotating the endoscope. The output shaft of the first driving member 420 drives the first bevel gear 271 to rotate via a connecting shaft. The first bevel gear 271 and the second bevel gear 272 engage and rotate.

[0093] The first clamping assembly 100 includes a guide post, a handle, a mounting component, a first rubber wheel (i.e., the first clamping wheel 110), a bearing, and a first base 120. The first base 120 is fixed to the pressure sensor via a connector. The handle is mounted on the first base 120. The mounting component is connected to the handle via a groove. The first rubber wheel is mounted on the mounting component via a bearing and can only rotate with it. The mounting component is easy to disassemble and disinfect.

[0094] The second clamping assembly 200 includes a second base 220, a gear assembly 270, a splitting component 240, a locking knob (i.e., an operating component 260), a limiting component 280, a mating component 250, a second rubber wheel (i.e., a second clamping wheel 210), a second bevel gear 272, and a guide shaft 230. The second bevel gear 272 is driven by the first bevel gear 271, thereby driving the entire gear assembly 270 to rotate. The gears in the gear assembly 270 drive the second rubber wheel to rotate in the same direction through bearings. The second base 220 is fixedly connected to the second moving component 450. The guide shaft 230 is disposed inside the second base 220. One end of the splitting component 240 passes through the guide shaft 230 and can slide within the second base 220. The mating component 250 fixes the second rubber wheel through the limiting component 280. One end of the splitting component 240 can mate with the limiting component 280 and be fixed by the locking knob. Since the mating component 250 and the pulley 560 are in direct contact with the endoscope, they need to be frequently disinfected.

[0095] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0096] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0097] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0098] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An operating device for a rod-shaped component, characterized in that, include: A first clamping assembly, the first clamping assembly including at least two first clamping wheels and a first base, wherein any one of the first clamping wheels is rotatably connected to the first base; The second clamping assembly includes at least two second clamping wheels and a second base. Each second clamping wheel is rotatably connected to the second base. The rotation axes around which each second clamping wheel and each first clamping wheel rotate are parallel to each other. The second clamping wheel and the first clamping wheel form a clamping space for accommodating a rod-shaped member. The extension direction of the rotation axis is the same as the extension direction of the rod-shaped member. Connection component, the connection component comprising: An adjustment module is connected to the first clamping component and the second clamping component respectively, and is used to drive the first clamping component and / or the second clamping component to move toward or away from the other side; A clamping wheel drive assembly for driving at least one of the first clamping wheels or the second clamping wheel to rotate.

2. The operating device for the rod-shaped member according to claim 1, characterized in that, Also includes: Gear assembly; The clamping wheel drive assembly includes a first drive member, and the first drive member and the second clamping wheel are respectively connected to the gear assembly; and / or The clamping wheel drive assembly includes a first clamping wheel drive member, and the first clamping wheel and the first clamping wheel are respectively connected to the gear assembly.

3. The operating device for the rod-shaped member according to claim 2, characterized in that, The gear assembly includes: First bevel gear; The second bevel gear meshes with the first bevel gear for transmission; A first transmission gear is connected to a second bevel gear, and the axes of the first transmission gear and the second bevel gear are collinear. The second transmission gear meshes with the first transmission gear. The number of the second transmission gears is one or two. When there are two second transmission gears, the two second transmission gears are located on both sides of the first transmission gear. Wherein, the first bevel gear is connected to the driving end of the first driving member, and the second transmission gear is connected to the second clamping wheel; and / or The first bevel gear is connected to the drive end of the first clamping wheel drive component, and the second transmission gear is connected to the first clamping wheel.

4. The operating device for the rod-shaped member according to claim 1, characterized in that, The adjustment module includes: A bidirectional lead screw, wherein the threads at both ends of the bidirectional lead screw rotate in opposite directions; The first nut is connected to the first clamping assembly; The second nut is connected to the second clamping assembly, and the first nut and the second nut are respectively threaded to both ends of the bidirectional lead screw; The second driving component is used to drive the bidirectional lead screw to rotate.

5. The operating device for the rod-shaped member according to claim 1, characterized in that, The connection component also includes: The first movable component is connected to the adjustment module and the first clamping assembly, respectively. A pressure detection element is connected to the first moving part and the first clamping assembly respectively. The pressure detection element is used to detect the pressure on the first clamping assembly in the clamping state.

6. The operating device for the rod-shaped member according to claim 3, characterized in that, The connection component also includes: The second movable component is connected to both the adjustment module and the second clamping assembly. A transition member is connected to the first driving member, and the transition member is rotatably connected to the second moving member; A tension detection element is connected to the second moving part and the transition part respectively, and the tension detection element is used to detect the rotational resistance experienced by the transition part.

7. The operating device for the rod-shaped member according to claim 4, characterized in that, The connection component also includes: A first connecting seat and a second connecting seat, one of which is provided with a sliding groove and the other with a slider. The slider is connected to the sliding groove. The first connecting seat can move along the rotation axis of the second clamping wheel. The sliding groove extends along the movement direction. The second connecting seat is connected to the adjustment module. A conveying force detection device is provided, which is connected to the first connecting seat and the second connecting seat respectively. The conveying force detection device is used to detect the resistance experienced by the first connecting seat in motion.

8. The operating device for the rod-shaped member according to claim 1, characterized in that, The second clamping assembly further includes: The second clamping wheel is rotatably connected to the mating component; The split component has two ends that are detachably connected to the split component and the second base, respectively. The split component and the second base are in a connected state and a split state. When the split component is in the split state, the split component can move away from the mating component.

9. The operating device for the rod-shaped member according to claim 8, characterized in that, The clamping wheel drive assembly has a connecting hole, the splitting member engages with the connecting hole, and the first end of the splitting member is detachably connected to the second clamping wheel; the second clamping assembly further includes: An elastic element connects the split component and the wall of the connecting hole; The control panel is provided with mounting holes; A limiting block is provided, with the second end of the splitting component passing through the mounting hole and connected to the limiting block. The operating plate is located between the limiting block and the second base. When the splitting component is in the splitting state, the limiting block engages with the operating plate.

10. The operating device for the rod-shaped member according to any one of claims 1 to 9, characterized in that, The number of connecting components is two, and the two connecting components are arranged along the rotation axis of the second clamping wheel. The operating device of the rod-shaped member further includes: A drive assembly is connected to the two connecting assemblies, and the drive module is used to drive any of the connecting assemblies to move along the rotation axis of the second clamping wheel; The driving component includes: Frame; The third driving component is connected to the frame. A transmission component is connected to the third driving component, and the third driving component is used to drive the transmission component to move; A guide rod is connected to the frame and extends along the direction of movement of the connecting assembly; The guide block is slidably connected to the guide rod, and the guide block is connected to the transmission component and the connecting assembly respectively.

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