Flexible tail end controllable medical instrument feeding system and medical equipment

Abstract

The invention provides a flexible tail end controllable medical instrument feeding system and medical equipment. The flexible tail end controllable medical instrument feeding system comprises a moving device, a flexible tail end controllable medical instrument driving mechanism, a first displacement driving mechanism, a second displacement driving mechanism and a feeding mechanism. The first displacement driving mechanism and the second displacement driving mechanism are both installed on the moving device, the flexible tail end controllable medical instrument driving mechanism is installed on the first displacement driving mechanism, and the feeding mechanism is installed on the second displacement driving mechanism. The flexible tail-end-controllable medical instrument driving mechanism comprises a connecting part, an insertion part driving mechanism, an insertion part mounting mechanism and a sheath mounting mechanism, the connecting part is mounted on the first displacement driving mechanism, the insertion part mounting mechanism is mounted at one end of the connecting part through the insertion part driving mechanism, and the sheath mounting mechanism is fixedly mounted at the other end of the connecting part. The insertion part driving mechanism is used for driving the insertion part mounting mechanism to linearly move relative to the sheath mounting mechanism, and the feeding system is simple in overall structure, small in size and light in weight.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a flexible end controllable medical device feeding system and a medical device. Background Art

[0002] Flexible end controllable medical devices can enter human organs through the oral cavity or other natural body cavities. Doctors can observe the pathological conditions of human organs or perform minimally invasive surgeries with the help of flexible end controllable medical devices. During the inspection of traditional flexible end controllable medical devices, doctors hold the flexible end controllable medical devices and perform forward and backward feeding and end bending, which requires a high level of proficiency for doctors. Moreover, doctors are prone to fatigue during long-term work. Therefore, flexible end controllable medical device robots have emerged.

[0003] In the existing feeding systems of flexible end controllable medical devices, generally two robotic arms or two linear drive mechanisms are used to drive the sheath and the insertion part of the flexible device respectively. This method requires a high hardness for the sheath and also a high requirement for the coordinated control of the two robotic arms or two linear drive mechanisms. Since the sheath and the insertion part of the flexible device are a nested secondary concentric tube structure, when the two robotic arms or two linear drive mechanisms drive the sheath and the insertion part respectively, if the deviation degree of their coordinated control is large, it will cause damage to the sheath and the insertion part; moreover, the driving length is determined by the feeding distance. When the feeding distance is long, the lengths of the corresponding parts of the two linear drive mechanisms need to be lengthened, resulting in a complex structure of the entire system, large occupied space and heavy weight.

[0004] Therefore, it is necessary to provide a new technical solution to solve the above technical problems. Summary of the Invention

[0005] The present invention provides a flexible end controllable medical device feeding system and a medical device to solve the defects that the existing flexible end controllable medical devices have high requirements for coordinated control when using two robotic arms or two linear drive mechanisms to drive the sheath and the insertion part of the flexible device respectively, and the entire system has a complex structure, high cost, large occupied space and heavy weight.

[0006] The present invention provides a flexible end controllable medical device feeding system, including a moving device, a flexible end controllable medical device drive mechanism, a first displacement drive mechanism, a second displacement drive mechanism and a feeding mechanism;

[0007] The first displacement driving mechanism and the second displacement driving mechanism are both installed on the mobile device. The flexible end controllable medical device driving mechanism is installed on the first displacement driving mechanism, and the feeding mechanism is installed on the second displacement driving mechanism. The first displacement driving mechanism and the second displacement driving mechanism are respectively used to adjust the positions of the flexible end controllable medical device driving mechanism and the feeding mechanism;

[0008] The flexible end controllable medical device driving mechanism includes a connecting part, an insertion part driving mechanism, an insertion part mounting mechanism, and a sheath mounting mechanism. The connecting part is installed at the end of the first displacement driving mechanism. The insertion part mounting mechanism is installed at one end of the connecting part through the insertion part driving mechanism. The sheath mounting mechanism is fixedly installed at the other end of the connecting part, and the insertion part driving mechanism is used to drive the insertion part mounting mechanism to perform a linear movement relative to the sheath mounting mechanism.

[0009] According to the flexible end controllable medical device feeding system provided by the present invention, the first displacement driving mechanism includes a first linear driving mechanism and a first mechanical driving mechanism. The first linear driving mechanism is installed on the mobile device along a preset direction. One end of the first mechanical driving mechanism is installed on the first linear driving mechanism, and the other end of the first mechanical driving mechanism is connected to the flexible end controllable medical device driving mechanism;

[0010] The second displacement driving mechanism includes a second linear driving mechanism and an alignment mechanism. The second linear driving mechanism is installed on the mobile device along a preset direction. One end of the alignment mechanism is installed on the second linear driving mechanism, and the other end of the alignment mechanism is connected to the feeding mechanism;

[0011] The feeding mechanism is provided with at least one driving wheel and at least one driven wheel. The driving wheel and the driven wheel cooperate to clamp the flexible end controllable medical device and drive the flexible end controllable medical device to perform a feeding operation along the feeding direction.

[0012] According to the flexible end controllable medical device feeding system provided by the present invention, the alignment mechanism includes a displacement adjustment component and an attitude adjustment component. The displacement adjustment component is connected to the feeding mechanism through the attitude adjustment component. The displacement adjustment component is used to move the feeding mechanism in the vertical direction and the horizontal direction, and the attitude adjustment component is used to adjust the angle and direction of the feeding mechanism.

[0013] According to the flexible end controllable medical device feeding system provided by the present invention, the displacement adjustment assembly includes a first brake mechanism, a second brake mechanism, a third brake mechanism, a fourth brake mechanism, a first connecting member, a second connecting member, a first connecting arm, and a second connecting arm. When the brake mechanism is powered on, the rotating shaft of the first brake mechanism is fixedly connected to the second linear driving mechanism and rotatably connected to one end of the first connecting member; the rotating shaft of the second brake mechanism is rotatably connected to the other end of the first connecting member and fixedly connected to one end of the first connecting arm; the rotating shaft of the third brake mechanism is rotatably connected to the other end of the first connecting arm and fixedly connected to one end of the second connecting member; the rotating shaft of the fourth brake mechanism is fixedly connected to one end of the second connecting arm and rotatably connected to the other end of the second connecting member;

[0014] The attitude adjustment assembly includes a fifth brake mechanism, a sixth brake mechanism, a seventh brake mechanism, a third connecting member, and a fourth connecting member. When the brake mechanism is powered on, the rotating shaft of the fifth brake mechanism is fixedly connected to the other end of the second connecting arm and rotatably connected to one end of the third connecting member; the rotating shaft of the sixth brake mechanism is fixedly connected to the other end of the third connecting member and rotatably connected to one end of the fourth connecting member; the rotating shaft of the seventh brake mechanism is rotatably connected to the other end of the fourth connecting member and fixedly connected to the feeding mechanism.

[0015] According to the flexible end controllable medical device feeding system provided by the present invention, the insertion part driving mechanism includes an insertion part driving motor and a link mechanism. The insertion part driving motor is installed on the connecting part. One end of the link mechanism is connected to the output shaft of the insertion part driving motor, and the other end of the link mechanism is connected to the insertion part installation mechanism. The rotational motion of the output shaft is converted into a linear motion of the insertion part installation mechanism through the link mechanism.

[0016] According to the flexible end controllable medical device feeding system provided by the present invention, the insertion part installation mechanism includes an insertion part linear wire driving assembly and an insertion part installation assembly. The insertion part installation assembly is detachably connected to one side of the insertion part linear wire driving assembly close to the sheath installation mechanism, and the insertion part linear wire driving assembly is connected to the insertion part driving mechanism;

[0017] The sheath installation mechanism includes a sheath linear wire driving assembly and a sheath installation assembly. The sheath installation assembly is detachably connected to one side of the sheath linear wire driving assembly far from the insertion part installation mechanism, and the sheath linear wire driving assembly is fixedly connected to the connecting part.

[0018] According to the flexible end controllable medical device feeding system provided by the present invention, at least one of the insertion part linear wire driving assembly and the sheath linear wire driving assembly includes a mounting seat and a plurality of linear wire driving members. The mounting seat includes two side plates arranged oppositely. Each linear wire driving member includes a first motor, a reversing wheel, a synchronous wheel, and a linear transmission member. The first motor is located between the two side plates and is vertically mounted on the side plates. The synchronous wheel is mounted on the side plates, and the axial direction of the synchronous wheel is perpendicular to the output shaft of the first motor. The synchronous wheel is connected to the output shaft of the first motor through the reversing wheel. The linear transmission member is connected to the synchronous wheel. The first motor is used to drive the reversing wheel to rotate synchronously with the output shaft of the first motor. The reversing wheel is used to drive the synchronous wheel to rotate synchronously. The synchronous wheel is used to drive the linear transmission member to move between the two side plates along the axial direction of the first motor;

[0019] Among them, the flexible end controllable medical device includes an insertion part and a sheath. The sheath is sleeved outside the insertion part. The linear transmission member of the insertion part linear wire driving assembly is connected to the end of the insertion part through an insertion part wire, and / or the linear transmission member of the sheath linear wire driving assembly is connected to the end of the sheath through a sheath wire.

[0020] According to the flexible end controllable medical device feeding system provided by the present invention, the reversing wheel includes a first helical gear and a second helical gear. The first helical gear is mounted on the output shaft of the first motor. The second helical gear is mounted on the side plate and meshes with the first helical gear. The first helical gear is coaxially arranged with the output shaft of the first motor. The axial direction of the second helical gear is perpendicular to the axial direction of the first helical gear.

[0021] According to the flexible end controllable medical device feeding system provided by the present invention, the synchronous wheel includes a first synchronous wheel and a second synchronous wheel. The linear transmission member is a synchronous belt. The first synchronous wheel and the reversing wheel are located outside the same side plate, and the first synchronous wheel and the second helical gear are mounted on the same rotating shaft. The second synchronous wheel is located between the two side plates and is mounted on the mounting seat. The axial direction of the second synchronous wheel is parallel to the axial direction of the first synchronous wheel, and the first synchronous wheel and the second synchronous wheel are arranged at intervals along the axial direction of the first motor. The synchronous belt is sleeved on the outer circumferences of the first synchronous wheel and the second synchronous wheel. The insertion part wire and / or the sheath wire are mounted on the corresponding synchronous belt.

[0022] The present invention also provides a medical device, including the flexible end controllable medical device feeding system as described above.

[0023] The above technical solution of the present invention has the following beneficial effects:

[0024] The flexible distal end controllable medical device feeding system and medical equipment provided by the present invention integrate a flexible distal end controllable medical device driving mechanism, a first displacement driving mechanism, a second displacement driving mechanism and a feeding mechanism on a mobile device. By the combined use of the flexible distal end controllable medical device driving mechanism and the first displacement driving mechanism, the overall feeding and independent feeding of the sheath and the insertion part can be realized. And by the combined use of the second displacement driving mechanism and the feeding mechanism, the position and attitude of the feeding mechanism can be adjusted, so as to facilitate the flexible distal end controllable medical device to enter the natural cavity or minimally invasive wound of the human body with less resistance. Moreover, the relative linear movement of the insertion part and the sheath can be realized by one insertion part driving mechanism. Therefore, the problem that the insertion part is easily damaged due to a large angular deviation between the center line of the insertion part and the center line of the sheath during the driving process can be avoided. The whole system of the present invention has a simple structure, low cost, small volume and light weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0026] Figure 1 It is a schematic diagram of the application scenario of the flexible distal end controllable medical device feeding system provided in Embodiment 1 of the present invention in a bronchoscope;

[0027] Figure 2 It is a schematic structural diagram of the flexible distal end controllable medical device driving mechanism provided in an embodiment of the present invention;

[0028] Figure 3 It is a schematic structural diagram of the insertion part driving mechanism driving the insertion part mounting mechanism to move to the first position provided in an embodiment of the present invention;

[0029] Figure 4 It is a schematic structural diagram of the insertion part driving mechanism driving the insertion part mounting mechanism to move to the second position provided in an embodiment of the present invention;

[0030] Figure 5 It is one of the schematic structural diagrams of the insertion part driving mechanism provided in an embodiment of the present invention;

[0031] Figure 6 It is another schematic structural diagram of the insertion part driving mechanism provided in an embodiment of the present invention;

[0032] Figure 7 It is still another schematic structural diagram of the insertion part driving mechanism provided in an embodiment of the present invention;

[0033] Figure 8 The fourth structural schematic diagram of the insertion part driving mechanism provided by the embodiment of the present invention;

[0034] Figure 9 The structural schematic diagram of the insertion part installation mechanism connected to the insertion part driving mechanism provided by the embodiment of the present invention;

[0035] Figure 10 The structural schematic diagram of the sheath installation mechanism provided by the embodiment of the present invention;

[0036] Figure 11 The structural schematic diagram of the insertion part linear wire driving assembly or the sheath linear wire driving assembly provided by the embodiment of the present invention;

[0037] Figure 12 The partial structural schematic diagram of the insertion part linear wire driving assembly or the sheath linear wire driving assembly provided by the embodiment of the present invention;

[0038] Figure 13 The structural schematic diagram of the feeding mechanism provided by the first embodiment of the present invention;

[0039] Figure 14 The first structural schematic diagram of the alignment mechanism provided by the first embodiment of the present invention;

[0040] Figure 15 The second structural schematic diagram of the alignment mechanism provided by the first embodiment of the present invention;

[0041] Figure 16 The first partial structural schematic diagram of the alignment mechanism provided by the first embodiment of the present invention;

[0042] Figure 17 The second partial structural schematic diagram of the alignment mechanism provided by the first embodiment of the present invention;

[0043] Figure 18 The application scenario schematic diagram of the flexible end controllable medical device feeding system in the urological endoscope provided by the second embodiment of the present invention;

[0044] Figure 19 The application scenario schematic diagram of the flexible end controllable medical device feeding system in the neurosurgical endoscope provided by the third embodiment of the present invention.

[0045] Reference numerals:

[0046] 1. Flexible end controllable medical device drive mechanism; 2. First mechanical drive mechanism; 3. First linear drive mechanism; 4. Moving device; 5. Alignment mechanism; 6. Feeding mechanism; 7. Second linear drive mechanism; 11. Connecting part; 12. Insertion part drive mechanism; 13. Insertion part mounting mechanism; 14. Sheath mounting mechanism; 101. Side plate; 102. Bottom plate; 103. First motor; 104. Commutating wheel; 1041. First helical gear; 1042. Second helical gear; 105. First synchronous pulley; 106. Second synchronous pulley; 107. Synchronous belt; 108. Linear guide rail; 109. Fixed connecting piece; 110. Cable connecting piece; 111. Force sensing sensor; 121. Insertion part drive motor; 122. Link mechanism; 123. Motor shaft connecting piece; 124. Link fixing plate; 125. Pressing assembly; 1221. First link; 1222. Second link; 1223. Third link; 1224. Fourth link; 1225. Fifth link; 1226. Sixth link; 1251. Base; 1252. Connecting plate; 1253. Adapter; 1254. Pressing piece; 100. Insertion part; 200. Sheath; 300. Flexible end controllable medical device; 400. First displacement drive mechanism; 500. Second displacement drive mechanism; 131. Insertion part linear wire drive assembly; 132. Insertion part mounting assembly; 133. First jaw assembly; 141. Sheath linear wire drive assembly; 142. Sheath mounting assembly; 143. Second jaw assembly; 71. Second motor; 72. Linear drive module; 721. Linear transmission part; 722. Sliding part; 501. First brake mechanism; 502. Second brake mechanism; 503. Third brake mechanism; 504. Fourth brake mechanism; 505. Fifth brake mechanism; 506. Sixth brake mechanism; 507. Seventh brake mechanism; 508. First connecting piece; 509. Second connecting piece; 510. First connecting arm; 511. Second connecting arm; 512. Third connecting piece; 513. Fourth connecting piece; 61. Driving wheel; 62. Driven wheel. Detailed implementation mode

[0047] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts belong to the scope of protection of the present invention.

[0048] The flexible end-controllable medical device of the present invention can be an endoscope used in the medical field, such as a bronchoscope, urethroscope, duodenoscope, choledochoscope, pyeloscope and other thin flexible electronic endoscopes. The flexible end-controllable medical device is a two-stage concentric tubular structure, including an insertion part and a sheath arranged on the periphery of the insertion part. The flexible end-controllable medical device can enter the test site in the human body through the oral cavity, minimally invasive incision or other natural cavity of the human body to check whether there is any pathological condition in the human body.

[0049] The flexible tip-controllable medical device feeding system of the present invention is described in detail below from different embodiments.

[0050] See also Figure 1 , Figure 1 Schematic diagram of the application scenario of the flexible end-controllable medical device feeding system in bronchoscope provided in the first embodiment of the present invention. The flexible end-controllable medical device feeding system of this embodiment includes a flexible end-controllable medical device driving mechanism 1, a first displacement driving mechanism 400, a second displacement driving mechanism 500, a mobile device 4 and a feeding mechanism 6. The first displacement driving mechanism 400 and the second displacement driving mechanism 500 are both installed on the mobile device 4, the flexible end-controllable medical device driving mechanism 1 is installed on the first displacement driving mechanism 400, and the feeding mechanism 6 is installed on the second displacement driving mechanism 500, and the first displacement driving mechanism 400 and the second displacement driving mechanism 500 are used to adjust the positions of the flexible end-controllable medical device driving mechanism 1 and the feeding mechanism 6 respectively. In this embodiment, the flexible end-controllable medical device driving mechanism 1, the first displacement driving mechanism 400, the second displacement driving mechanism 500 and the feeding mechanism 6 are integrated into a mobile device 4, which can make the entire system simple in structure, low in cost, small in size and light in weight.

[0051] Specifically, the first displacement drive mechanism 400 includes a first linear drive mechanism 3 and a first mechanical drive mechanism 2, the first linear drive mechanism 3 is mounted on the mobile device 4 along a preset direction, one end of the first mechanical drive mechanism 2 is mounted on the first linear drive mechanism 3, and the other end of the first mechanical drive mechanism 2 is connected to the flexible end controllable medical device drive mechanism 1. The second displacement drive mechanism 500 includes a second linear drive mechanism 7 and an alignment mechanism 5, the second linear drive mechanism 7 is mounted on the mobile device 4 along a preset direction, one end of the alignment mechanism 5 is mounted on the second linear drive mechanism 7, and the other end of the alignment mechanism 5 is connected to the feeding mechanism 6.

[0052] Optionally, the first linear driving mechanism 3 is arranged on the mobile device 4 in the vertical direction. The first mechanical driving mechanism 2 is used to adjust the position and attitude of the flexible end controllable medical device driving mechanism 1, and the first linear driving mechanism 3 is used to drive the first mechanical driving mechanism 2 and the flexible end controllable medical device driving mechanism 1 to move synchronously in the vertical direction. The second linear driving mechanism 7 is arranged on the mobile device 4 in the vertical direction. The feeding mechanism 6 is installed on the second linear driving mechanism 7 through the alignment mechanism 5. The alignment mechanism 5 is used to adjust the position and attitude of the feeding mechanism 6, and the second linear driving mechanism 7 is used to drive the feeding mechanism 6 and the alignment mechanism 5 to move synchronously in the vertical direction.

[0053] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of the flexible end controllable medical device driving mechanism provided by the embodiment of the present invention. The flexible end controllable medical device 300 includes an insertion part 100 and a sheath 200. The sheath 200 is sleeved on the periphery of the insertion part 100, and the insertion part 100 and the sheath 200 can move relative to each other. Among them, the insertion part mounting mechanism 13 is used to fix the front end of the insertion part 100 and control the bending of the end of the insertion part 100, and the sheath mounting mechanism 14 is used to fix the front end of the sheath 200 and control the bending of the end of the sheath 200.

[0054] Among them, the flexible end controllable medical device driving mechanism 1 includes a connecting part 11, an insertion part driving mechanism 12, an insertion part mounting mechanism 13 and a sheath mounting mechanism 14. The connecting part 11 is installed at the end of the first mechanical driving mechanism 2. The insertion part mounting mechanism 13 is installed at one end of the connecting part 11 through the insertion part driving mechanism 12. The sheath mounting mechanism 14 is fixedly installed at the other end of the connecting part 11. The insertion part driving mechanism 12 is used to drive the insertion part mounting mechanism 13 to perform a linear movement relative to the sheath mounting mechanism 14.

[0055] It should be noted that when the insertion part mounting mechanism 13 moves linearly relative to the sheath mounting mechanism 14, the center lines of the sheath 200 and the insertion part 100 can be kept on the same straight line.

[0056] Please refer to Figure 3 and Figure 4, the insertion part driving mechanism 12 is used to drive the insertion part mounting mechanism 13 to linearly move between a first position and a second position. When the insertion part mounting mechanism 13 moves to the first position, the insertion part mounting mechanism 13 is away from the sheath mounting mechanism 14. When the insertion part mounting mechanism 13 moves to the second position, the insertion part mounting mechanism 13 is close to the sheath mounting mechanism 14. Among them, since the sheath mounting mechanism 14 is fixedly mounted on the connecting part 11, therefore, in the present invention, only one insertion part driving mechanism 12 can realize the relative movement of the insertion part 100 and the sheath 200. Among them, while the insertion part mounting mechanism 13 linearly moves, the insertion part 100 and the sheath 200 can maintain relative movement on the same straight line. Therefore, the present invention can solve the problem that when the existing flexible end controllable medical device drives the sheath and the insertion part, the insertion part is easily damaged due to a large angular deviation between the center line of the insertion part and the center line of the sheath.

[0057] Please refer to Figures 2 to 4 , the insertion part driving mechanism 12 includes an insertion part driving motor 121 and a link mechanism 122. The insertion part driving motor 121 is mounted on the connecting part 11. One end of the link mechanism 122 is connected to the output shaft of the insertion part driving motor 121, and the other end of the link mechanism 122 is connected to the insertion part mounting mechanism 13. The setting of the link mechanism 122 can convert the rotational motion of the output shaft of the insertion part driving motor 121 into the linear motion of the insertion part mounting mechanism 13, so as to ensure that the insertion part 100 and the sheath 200 can maintain relative movement on the same straight line.

[0058] It should be noted that the insertion part driving motor 121 realizes the linear driving of the insertion part mounting mechanism 13 through the link mechanism 122, and the linear movement of the insertion part mounting mechanism 13 further drives the linear movement of the insertion part 100 relative to the sheath 200.

[0059] Among them, the first mechanical driving mechanism 2 can be a driving structure such as a robotic arm or a multi-axis driving mechanism. The flexible end controllable medical device driving mechanism 1 is mounted at the end of the first mechanical driving mechanism 2, and the first mechanical driving mechanism 2 can adjust the position and posture of the flexible end controllable medical device driving mechanism 1. During use, the flexible end controllable medical device feeding system can be first moved to a preset position beside the hospital bed through the moving device 4 (such as a trolley), and then the first linear driving mechanism 3 is used to adjust the first mechanical driving mechanism 2 and the flexible end controllable medical device driving mechanism 1 together to a certain height in the vertical direction, and then the first mechanical driving mechanism 2 is used to adjust the position and posture of the flexible end controllable medical device driving mechanism 1.

[0060] Specifically, please refer to Figures 1 to 4, the first linear driving mechanism 3 and the first mechanical driving mechanism 2 are used to drive the flexible end controllable medical device driving mechanism 1 close to the natural human body cavity or the minimally invasive wound, and the position and posture of the flexible end controllable medical device driving mechanism 1 can be further adjusted through the first mechanical driving mechanism 2. The alignment mechanism 5 is used in cooperation with the second linear driving mechanism 7. The second linear driving mechanism 7 initially adjusts the positions of the alignment mechanism 5 and the feeding mechanism 6 in the vertical direction, and then the alignment mechanism 5 further adjusts the positions of the feeding mechanism 6 in the vertical and horizontal directions, as well as adjusts the posture (i.e., direction and angle) of the feeding mechanism 6 relative to the natural human body cavity or the minimally invasive wound, so that the feeding position and direction of the flexible end controllable medical device 300 installed on the feeding mechanism 6 are consistent with the orientation of the natural human body cavity or the minimally invasive wound, which is beneficial to the smooth entry of the flexible end controllable medical device 300 into the human body, and the patient does not need to adjust the posture to adapt to the feeding position and direction of the flexible end controllable medical device.

[0061] In this embodiment, the feeding movement of the insertion part 100 can be realized by using an insertion part driving motor 121 and a link mechanism 122. Among them, the sheath 200 and the insertion part 100 can perform feeding movements simultaneously or independently. When it is necessary for the sheath 200 and the insertion part 100 to perform feeding movements simultaneously, the first linear driving mechanism 3 and the first mechanical driving mechanism 2 are used to drive the flexible end controllable medical device driving mechanism 1 to move as a whole to achieve it; when it is only necessary for the sheath 200 to perform feeding movement, at least one of the first linear driving mechanism 3 and the first mechanical driving mechanism 2 moves a certain distance in the feeding movement direction, and at this time, the insertion part driving motor 121 drives the insertion part 100 to move the same distance in the opposite direction; when it is only necessary for the insertion part 100 to perform feeding movement, the first linear driving mechanism 3 and the first mechanical driving mechanism 2 remain stationary, and only the insertion part driving motor 121 drives the insertion part 100 to move.

[0062] It should be noted that when the sheath 200 and the insertion part 100 perform feeding movements independently, the insertion part 100 moves relative to the sheath 200.

[0063] Specifically, please refer to Figures 5 to 8 , the insertion part driving mechanism 12 of this embodiment includes an insertion part driving motor 121, a link mechanism 122, a motor shaft connecting piece 123, a link fixing plate 124 and a pressing component 125. Among them, the link fixing plate 124 is installed on the output shaft side of the insertion part driving motor 121 for fixing the link mechanism 122; the motor shaft connecting piece 123 is sleeved on the output shaft of the insertion part driving motor 121 for connecting the link mechanism 122 with the output shaft of the insertion part driving motor 121; the pressing component 125 is arranged at the end of the insertion part driving mechanism 12, and the link mechanism 122 is connected with the insertion part installation mechanism 13 through the pressing component 125.

[0064] Specifically, the connecting rod fixing plate 124 is passed through the output shaft of the insertion driving motor 121 and fixed to the body of the insertion driving motor 121. A gap is formed between the connecting rod fixing plate 124 and the output shaft to prevent the connecting rod fixing plate 124 from affecting the normal rotation of the output shaft. The motor shaft connector 123 is fixed to the output shaft and rotates synchronously with the output shaft.

[0065] The connecting rod mechanism 122 includes a first connecting rod 1221, a second connecting rod 1222, a third connecting rod 1223, a fourth connecting rod 1224, a fifth connecting rod 1225 and a sixth connecting rod 1226. One end of the first connecting rod 1221 is fixedly connected to the output shaft of the insertion portion driving motor 121 through the motor shaft connecting member 123, the other end of the first connecting rod 1221 is rotatably connected to one end of the second connecting rod 1222, and the other end of the second connecting rod 1222 is rotatably connected to the connecting plate 1252 on the clamping assembly 125; one end of the third connecting rod 1223 is rotatably connected to the motor shaft connecting member 123 and the connecting rod fixing plate 124 respectively. Then, the other end of the third link 1223 is coaxially rotatably connected to the fourth link 1224 and one end of the sixth link 1226, the other end of the fourth link 1224 and one end of the fifth link 1225 are coaxially rotatably connected in the middle of the second link 1222, the other end of the fifth link 1225 is rotatably connected to the link fixing plate 124, and the fifth link 1225 is arranged parallel to the third link 1223, the other end of the sixth link 1226 is on the same side as the second link 1222 and is rotatably installed on the connecting plate 1252 of the clamping assembly 125, and the sixth link 1226 is arranged parallel to the second link 1222.

[0066] It can be understood that the connecting rod mechanism 122 also includes a plurality of rotating shafts, and the rotational connection between two adjacent connecting rods, between a connecting rod and the connecting rod fixing plate 124, and between a connecting rod and the connecting plate 1252 are all achieved through rotating shafts.

[0067] The pressing assembly 125 includes a base 1251, a connecting plate 1252, an adapter 1253 and a pressing member 1254. The connecting plate 1252 is installed on one side of the base 1251 for connecting with the connecting rod mechanism 122; the adapter 1253 is installed on the other side of the base 1251 for connecting with the insertion part installation mechanism 13; the pressing member 1254 is installed on the base 1251 for pressing and fixing the base 1251 and the insertion part installation mechanism 13.

[0068] The connecting rod mechanism 122 belongs to a planar four-bar mechanism and can convert the rotational motion of the insertion part driving motor 121 into the linear motion of the insertion part mounting mechanism 13. Its working principle is as follows: The first connecting rod 1221 is fixedly connected to the insertion part driving motor 121 through the motor shaft connecting piece 123. The motor shaft connecting piece 123 is rotatably connected to the connecting rod fixing plate 124 and the third connecting rod 1223. The fifth connecting rod 1225 is arranged parallel to the third connecting rod 1223, and the second connecting rod 1222 is arranged parallel to the sixth connecting rod 1226. The second connecting rod 1222 and the sixth connecting rod 1226 are rotatably connected to the connecting plate 1252 in the pressing component 125 through a rotating shaft. The insertion part mounting mechanism 13 is fixedly connected to the adapter 1253 in the pressing component 125. When the insertion part driving motor 121 is driven, the motor shaft connecting piece 123 rotates with the first connecting rod 1221, driving the entire connecting rod mechanism 122 to move, and the linear movement of the ends of the second connecting rod 1222 and the sixth connecting rod 1226 can be realized, that is, the horizontal movement of the pressing component 125. Since the insertion part mounting mechanism 13 is fixedly connected to the adapter 1253 in the pressing component 125, the insertion part driving motor 121 can drive the insertion part mounting mechanism 13 to perform linear movement.

[0069] Please refer to Figure 9 , the insertion part mounting mechanism 13 includes an insertion part linear wire driving component 131 and an insertion part mounting component 132. It should be noted that the insertion part mounting component 132 is used to mount the insertion part 100. The end of the insertion part 100 includes an insertion part flexible controllable instrument. The insertion part linear wire driving component 131 can control the bending posture of the insertion part flexible controllable instrument at the end of the insertion part through the insertion part wire. The insertion part mounting component 132 is detachably connected to the side plate of the insertion part linear wire driving component 131. The insertion part linear wire driving component 131 is connected to the connecting rod mechanism 122 through the pressing component 125. Two groups of first jaw components 133 are provided on the side plate of the insertion part linear wire driving component 131. When the jaws in the two groups of first jaw components 133 are both open, the insertion part mounting component 132 can be separated from the insertion part linear wire driving component 131. When the jaws in the two groups of first jaw components 133 are closed, the insertion part mounting component 132 can be clamped and fixed on the insertion part linear wire driving component 131.

[0070] Please refer to Figure 10, the sheath installation mechanism 14 includes a sheath linear wire drive assembly 141 and a sheath installation assembly 142. Among them, the sheath installation assembly 142 is used to install the sheath 200. The end of the sheath 200 includes a sheath flexible controllable instrument. The sheath linear wire drive assembly 141 can control the bending posture of the sheath flexible controllable instrument at the end of the sheath through a sheath pull wire. The sheath installation assembly 142 is detachably connected to the side plate of the sheath linear wire drive assembly 141. There are two groups of second jaw assemblies 143 on the side plate of the sheath linear wire drive assembly 141. When the jaws in the two groups of second jaw assemblies 143 are all opened, the sheath installation assembly 142 can be separated from the sheath linear wire drive assembly 141. When the jaws in the two groups of second jaw assemblies 143 are closed, the sheath installation assembly 142 can be clamped and fixed on the sheath linear wire drive assembly 141.

[0071] Please refer to Figure 11 , the insertion part linear wire drive assembly 131 includes a mounting base and a plurality of linear wire drive members. The mounting base includes two relatively arranged side plates 101 and two bottom plates 102. The bottom plates 102 are connected between the two side plates 101. The two side plates 101 are used to mount and support the plurality of linear wire drive members.

[0072] Each linear wire drive member includes a first motor 103, a reversing wheel 104, a synchronous wheel, and a linear transmission member. The first motor 103 is located between the two side plates 101 and is vertically mounted on the side plate 101. The first motor 103 is a power source that can convert electrical energy into mechanical energy and transmit the mechanical energy to the linear transmission member. The synchronous wheel is mounted on the side plate 101, and the axial direction of the synchronous wheel is perpendicular to the output shaft of the first motor 103. The synchronous wheel is connected to the output shaft of the first motor 103 through the reversing wheel 104. The first motor 103 is used to drive the reversing wheel 104 to rotate synchronously with the output shaft of the first motor 103. The reversing wheel 104 is used to drive the synchronous wheel to rotate synchronously, and the reversing wheel 104 can convert the rotation of the first motor 103 along the axial direction of the output shaft into the rotation along the axial direction of the synchronous wheel. The linear transmission member is connected to the synchronous wheel. The rotation of the synchronous wheel can drive the linear transmission member to move back and forth along the axial direction of the first motor 103. The linear transmission member, as a transmission element, can transmit the mechanical energy generated by the first motor 103 to the insertion part pull wire to realize the back and forth movement of the insertion part pull wire along the axial direction of the first motor, so as to control the bending posture of the insertion part flexible controllable instrument at the end of the insertion part.

[0073] Among them, the linear transmission member extends from the connection position with the synchronous wheel to between the two side plates 101. The insertion part pull wire is mounted on the linear transmission member. The linear transmission member drives the insertion part pull wire to move between the two side plates 101 along the axial direction of the first motor 103 through the rotation of the synchronous wheel to control the bending posture of the insertion part flexible controllable instrument.

[0074] The insertion part linear wire driving assembly 131 can convert the rotational motion of the first motor 103 into linear motion by arranging a reversing wheel 104, a synchronous wheel and a linear transmission member, and can fold the linear transmission member above or below the first motor 103, so that the overall structural length of the driving assembly becomes shorter, the structure is more compact, and the volume is small and the weight is light.

[0075] In an embodiment of the present invention, the insertion part linear wire driving assembly 131 includes at least three groups of insertion part wire pulls. Each group of insertion part wire pulls is driven back and forth by a linear wire driving member. By changing the front and rear positions of the three groups of insertion part wire pulls, the bending posture of the flexible controllable instrument of the insertion part can be controlled. Wherein, each linear wire driving member includes a first motor 103, a group of reversing wheels 104, two synchronous wheels and a linear transmission member.

[0076] Specifically, a plurality of first motors 103 are installed between two side plates 101. The output shafts of the plurality of first motors 103 are arranged on the same side. A plurality of through holes are provided on the side plate 101 close to the output shaft of the first motor 103. The output shafts of the plurality of first motors 103 respectively pass through the plurality of through holes and extend to the outside of the side plate 101. A group of reversing wheels 104 includes a first bevel gear 1041 and a second bevel gear 1042. The first bevel gear 1041 is installed on the output shaft of the first motor 103. The second bevel gear 1042 is installed on the side plate 101 and meshes with the first bevel gear 1041. The first bevel gear 1041 is coaxially arranged with the output shaft of the first motor 103. The axial direction of the second bevel gear 1042 is perpendicular to the axial direction of the first bevel gear 1041.

[0077] The two synchronous wheels are respectively a first synchronous wheel 105 and a second synchronous wheel 106. The first synchronous wheel 105 and the reversing wheel 104 are located outside the same side plate 101, and the first synchronous wheel 105 and the second bevel gear 1042 are installed on the same rotating shaft. The second synchronous wheel 106 is located between the two side plates 101 and is installed on the mounting seat. The axial direction of the second synchronous wheel 106 is parallel to the axial direction of the first synchronous wheel 105, and the first synchronous wheel 105 and the second synchronous wheel 106 are arranged at intervals along the axial direction of the first motor 103.

[0078] In this embodiment, the linear transmission member is a timing belt 107. The timing belt 107 is sleeved on the outer perimeters of the first synchronous pulley 105 and the second synchronous pulley 106. When the first motor 103 drives the reversing pulley 104 to rotate synchronously, the reversing pulley 104 can drive the first synchronous pulley 105 to rotate synchronously. The rotation of the first synchronous pulley 105 can drive the timing belt 107 to move along the axial direction of the first motor 103. At the same time, the second synchronous pulley 106 rotates as the timing belt 107 moves. Among them, the insertion part wire is installed on the timing belt 107, and the timing belt 107 can drive the insertion part wire to move between the two side plates 101 along the axial direction of the first motor 103 to control the bending posture of the flexible controllable instrument of the insertion part.

[0079] Further, please refer to Figure 11 and Figure 12 , each linear wire driving member further includes a linear guide rail 108, a fixed connecting member 109, and a wire connecting member 110. The linear guide rail 108 is installed on the two bottom plates 102 along the axial direction of the first motor 103, and the linear guide rail 108 is used to guide the movement of the wire. One end of the fixed connecting member 109 is installed on the timing belt 107, and the other end of the fixed connecting member 109 is slidably installed on the linear guide rail 108. When the timing belt 107 drives forward and backward around the first synchronous pulley 105 and the second synchronous pulley 106, it can drive the fixed connecting member 109 to slide on the linear guide rail 108. The linear wire connecting member 110 is installed on the pressing and fixing member 109, the wire is connected to the wire connecting member 110, and the wire connecting member 110 moves synchronously with the fixed connecting member 109.

[0080] Further, the insertion part linear wire driving assembly 131 further includes a plurality of force sensing sensors 111. The plurality of force sensing sensors 111 correspond one-to-one with the plurality of linear wire driving members. The force sensing sensors 111 are installed on the fixed connecting member 109. The wire connecting member 110 is connected to the force sensing sensors 111. The force sensing sensors 111 move synchronously with the wire, and the force sensing sensors 111 are used to measure the real-time tension on the wire.

[0081] It can be understood that the structure of the sheath linear wire driving assembly 141 is the same as that of the above-mentioned insertion part linear wire driving assembly 131, and both include a mounting seat and a plurality of linear wire driving members. For the specific structure, please refer to Figure 11 and Figure 12 and the description in the above embodiment, which will not be elaborated here.

[0082] Please refer to Figure 13, the feeding mechanism 6 has the functions of supporting, guiding, and feeding the flexible end controllable medical device 300. The feeding mechanism 6 is provided with at least one driving wheel 61 and at least one driven wheel 62. The driving wheel 61 and the driven wheel 62 cooperate to clamp the flexible end controllable medical device 300 and drive the flexible end controllable medical device 300 to perform a feeding operation along the feeding direction.

[0083] Please refer to Figure 14 and Figure 15 , the alignment mechanism 5 and the second linear driving mechanism 7 can adjust the position and attitude of the feeding mechanism 6. The second linear driving mechanism 7 includes a second motor 71 and a linear driving module 72. The linear driving module 72 moves along the vertical direction under the drive of the second motor 71. The alignment mechanism 5 includes a displacement adjustment component and an attitude adjustment component. One end of the displacement adjustment component is connected to the linear driving module 72, and the other end of the displacement adjustment component is connected to the feeding mechanism 6 through the attitude adjustment component. The displacement adjustment component is used to move the feeding mechanism 6 in the vertical and horizontal directions, and the attitude adjustment component is used to adjust the angle and direction of the feeding mechanism 6.

[0084] Among them, the linear driving module 72 includes a linear transmission member 721 and a sliding member 722. The sliding member 722 is slidably arranged on the linear transmission member 721, and one end of the displacement adjustment component is connected to the sliding member 722.

[0085] In one embodiment, the linear transmission member 721 can be a lead screw, and the sliding member 722 can be a sliding block sleeved on the lead screw.

[0086] In another embodiment, the linear transmission member 721 can be a gear and a belt, and the sliding member 722 is fixedly installed on the belt. Of course, it is not limited to this, and it can also be other types of linear driving structures.

[0087] Among them, the displacement adjustment component includes a first brake mechanism 501, a second brake mechanism 502, a third brake mechanism 503, a fourth brake mechanism 504, a first connecting member 508, a second connecting member 509, a first connecting arm 510, and a second connecting arm 511. When the above brake mechanism is powered on, the rotating shaft of the first brake mechanism 501 is fixedly connected to the linear driving module 72 of the second linear driving mechanism 7 and is rotatably connected to one end of the first connecting member 508; the rotating shaft of the second brake mechanism 502 is rotatably connected to the other end of the first connecting member 508 and is fixedly connected to one end of the first connecting arm 510; the rotating shaft of the third brake mechanism 503 is rotatably connected to the other end of the first connecting arm 510 and is fixedly connected to one end of the second connecting member 509; the rotating shaft of the fourth brake mechanism 504 is fixedly connected to one end of the second connecting arm 511 and is rotatably connected to the other end of the second connecting member 509.

[0088] Please refer toFigure 16 and Figure 17 The attitude adjustment assembly includes a fifth brake mechanism 505, a sixth brake mechanism 506, a seventh brake mechanism 507, a third connecting member 512, and a fourth connecting member 513. When the above-mentioned brake mechanisms are powered on, the rotating shaft of the fifth brake mechanism 505 is fixedly connected to the other end of the second connecting arm 511 and is rotatably connected to one end of the third connecting member 512; the rotating shaft of the sixth brake mechanism 506 is fixedly connected to the other end of the third connecting member 512 and is rotatably connected to one end of the fourth connecting member 513; the rotating shaft of the seventh brake mechanism 507 is rotatably connected to the other end of the fourth connecting member 513 and is fixedly connected to the feeding mechanism 6.

[0089] Please refer to Figures 14 to 17 , the alignment mechanism 5 of this embodiment integrates 7 brake mechanisms and is used in cooperation with the second linear driving mechanism 7. First, use the second linear driving mechanism 7 to initially adjust the positions of the alignment mechanism 5 and the feeding mechanism 6 in the vertical direction, and then further adjust the positions of the feeding mechanism 6 in the vertical and horizontal directions, as well as adjust the attitude (i.e., direction and angle) of the feeding mechanism 6 relative to the natural human body cavity or the minimally invasive wound through the alignment mechanism 5, so that the feeding position and direction of the flexible end controllable medical device 300 installed on the feeding mechanism 6 are consistent with the orientation of the natural human body cavity or the minimally invasive wound, which is beneficial for the flexible end controllable medical device 300 to smoothly enter the human body. There is no need for the patient to adjust the posture to adapt to the feeding position and direction of the flexible end controllable medical device, and the alignment mechanism 5 of this embodiment has advantages such as small occupied space and low cost compared with traditional robotic arms.

[0090] Specifically, among the 7 brake mechanisms in the alignment mechanism 5, the 3 brake mechanisms (i.e., the fifth brake mechanism 505, the sixth brake mechanism 506, and the seventh brake mechanism 507) located near the feeding mechanism 6 are used to adjust the attitude of the feeding mechanism 6, so that the feeding mechanism 6 can accurately align with the entrance of the natural human body cavity or the minimally invasive wound; the remaining 4 brake mechanisms are used to adjust the position of the feeding mechanism 6 to adapt to hospital beds at different positions and different heights. The second brake mechanism 502 and the fourth brake mechanism 504 among these 4 brake mechanisms are used to adjust the position of the feeding mechanism 6 in the vertical direction (Z direction), and the first brake mechanism 501 and the third brake mechanism 503 are used to adjust the position of the feeding mechanism 6 in the horizontal direction (X, Y directions). By controlling the 7 brake mechanisms, flexible adjustment of the position, direction, and angle of the feeding mechanism 6 can be achieved, and the operation is simple.

[0091] It can be understood that since the flexible end controllable medical device 300 is clamped on the feeding mechanism 6, therefore, by adjusting the position and attitude of the feeding mechanism 6, the feeding position and direction of the flexible end controllable medical device 300 installed on the feeding mechanism 6 can be better aligned with the natural human body cavity or the minimally invasive wound.

[0092] Further, the first connecting member 508, the second connecting member 509, the third connecting member 512, and the fourth connecting member 513 each include a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate are fixedly connected in an L shape.

[0093] In one embodiment, the first connecting plate and the second connecting plate are integrally formed.

[0094] Each of the brake mechanisms includes a brake unit, a rotating shaft, and a rotor hub, and the rotating shaft sequentially passes through the rotor hub and the brake unit. The principle of the brake mechanism is as follows: when powered on, the brake unit releases the rotating shaft, and the rotating shaft can rotate; when powered off, the brake unit clamps the rotating shaft, and the rotating shaft cannot rotate.

[0095] The flexible end controllable medical device feeding system further includes a control unit. The first brake mechanism 501 to the seventh brake mechanism 507 are all electrically connected to the control unit. The control unit controls the rotation of the rotating shafts of the first brake mechanism 501 to the seventh brake mechanism 507 by controlling the power on or off of the first brake mechanism 501 to the seventh brake mechanism 507.

[0096] Please continue to refer to Figure 1 , in the application scenario of the bronchoscope, the sheath and the insertion part are both flexible medical devices with controllable ends. The flexible end controllable medical device driving mechanism 1, the first mechanical driving mechanism 2, the first linear driving mechanism 3, the second linear driving mechanism 7, the alignment mechanism 5, and the feeding mechanism 6 need to be used in cooperation. Among them, the flexible end controllable medical device driving mechanism 1, the first mechanical driving mechanism 2, and the first linear driving mechanism 3 are used in cooperation to drive the sheath and the insertion part to move simultaneously and separately. The second linear driving mechanism 7 and the alignment mechanism 5 are used in cooperation to place the feeding mechanism 6 above the natural body cavity or the minimally invasive wound of the human body to provide guiding, supporting, and feeding functions for the flexible end controllable medical device (flexible endoscope).

[0097] In application scenarios such as bronchoscopes, urethroscopes, and pyeloscopes, first, the feeding mechanism 6 clamps the flexible distal end controllable medical device 300, and then the second linear driving mechanism 7 and the alignment mechanism 5 are used to adjust the position and posture of the feeding mechanism 6, so that the feeding position and direction of the sheath and the insertion part of the flexible distal end controllable medical device 300 are aligned with the natural body cavity or the minimally invasive wound of the human body, facilitating the entry of the sheath and the insertion part into the human body. The vertically installed first linear driving mechanism 3, the first mechanical driving mechanism 2, and the flexible distal end controllable medical device driving mechanism 1 are used in cooperation to drive the overall movement and independent movement of the sheath and the insertion part. After the flexible distal end controllable medical device 300 enters the human body through the natural body cavity or the minimally invasive wound of the human body, the first linear driving mechanism 3 and the first mechanical driving mechanism 2 drive the overall front-back movement of the sheath and the insertion part, and the feeding mechanism 6 clamps the flexible distal end controllable medical device 300 and can realize the front-back feeding of the flexible distal end controllable medical device 300 through the rotation of the driving wheel. When passing through a relatively thin channel in the human body, the feeding mechanism 6, the first mechanical driving mechanism 2, and the first linear driving mechanism 3 stop the overall feeding of the sheath and the insertion part, and the insertion part with a smaller diameter is continuously driven forward by the insertion part driving mechanism to reach the diseased area in the human body for detection and minimally invasive surgery.

[0098] Please refer to Figure 18 , Figure 18 FIG. is a schematic diagram of the application scenario of the flexible distal end controllable medical device feeding system provided in the second embodiment of the present invention in urological endoscopy. The flexible distal end controllable medical device feeding system of this embodiment includes a flexible distal end controllable medical device driving mechanism 1, a first displacement driving mechanism 400, a second displacement driving mechanism 500, a feeding mechanism 6, and a moving device 4. The first displacement driving mechanism 400 includes a first mechanical driving mechanism 2 and a first linear driving mechanism 3, and the second displacement driving mechanism 500 includes an alignment mechanism 5 and a second linear driving mechanism 7. Among them, the structures and connection relationships of the flexible distal end controllable medical device driving mechanism 1, the first mechanical driving mechanism 2, the first linear driving mechanism 3, the moving device 4, the alignment mechanism 5, the feeding mechanism 6, and the second linear driving mechanism 7 are the same as those of the flexible distal end controllable medical device feeding system in the first embodiment above. For specific details, please refer to the description in the first embodiment above and will not be repeated here.

[0099] In the above-mentioned first and second embodiments, the flexible distal end controllable medical device driving mechanism and the feeding mechanism are integrated into the same system. Compared with installing these two mechanisms in different systems respectively, integrating them into the same system is convenient for the handling of the two mechanisms and saves space. Moreover, in the present invention, the flexible distal end controllable medical device driving mechanism 1, the first mechanical driving mechanism 2, and the first linear driving mechanism 3 are used in cooperation, so that the driving direction of the flexible distal end controllable medical device is convenient for the smooth feeding of the flexible distal end controllable medical device inside the human body.

[0100] The function of the driving mechanism of the flexible end controllable medical device is to drive the endoscope into the human body for examination or treatment. The feeding mechanism of the flexible end controllable medical device is placed at the front end of the natural body cavity or the minimally invasive surgical wound, which plays a role in supporting and guiding the endoscope. The two can be used in combination to achieve the smooth feeding of the endoscope. Therefore, the relative positions of the two can be adjusted to drive and feed with less resistance. Specifically, a group of two-dimensional codes are respectively provided on the driving mechanism and the feeding mechanism of the flexible end controllable medical device as marking points. Each group of two-dimensional codes consists of 3 two-dimensional codes. The feeding system of the flexible end controllable medical device also includes a camera unit (such as a depth camera). First, the position and posture of the feeding mechanism are adjusted through the alignment mechanism so that the position and direction of the endoscope match the natural body cavity or the minimally invasive surgical wound of the human body. Then, the depth camera is used to take pictures of the two-dimensional codes on the driving mechanism and the feeding mechanism of the flexible end controllable medical device, and the spatial positions of the driving mechanism and the feeding mechanism of the flexible end controllable medical device can be recorded respectively. According to the spatial position of the feeding mechanism, the first displacement driving mechanism can adjust the spatial position of the driving mechanism of the flexible end controllable medical device so that the driving position and direction of the endoscope match the feeding position and direction, realizing the smooth feeding of the endoscope.

[0101] Please refer to Figure 19 , Figure 19 FIG. is a schematic diagram of the application scenario of the feeding system of the flexible end controllable medical device provided in the third embodiment of the present invention in a neurosurgical endoscope. The feeding system of the flexible end controllable medical device in this embodiment includes a driving mechanism 1 of the flexible end controllable medical device, a first displacement driving mechanism 400, a second displacement driving mechanism (not shown), a feeding mechanism (not shown), and a moving device 4. The first displacement driving mechanism 400 includes a first mechanical driving mechanism 2 and a first linear driving mechanism 3. The second displacement driving mechanism includes an alignment mechanism and a second linear driving mechanism. Among them, the structures and connection relationships of the driving mechanism 1 of the flexible end controllable medical device, the first mechanical driving mechanism 2, the first linear driving mechanism 3, the moving device 4, the alignment mechanism, the feeding mechanism, and the second linear driving mechanism are the same as those of the feeding system of the flexible end controllable medical device in the first embodiment above. For specific details, please refer to the description in the first embodiment above and will not be repeated here.

[0102] Among them, the second displacement driving mechanism and the feeding mechanism in this embodiment may not be provided either.

[0103] In application scenarios such as neurosurgical endoscopes, traditional neurosurgical endoscopes are rigid mirrors. Since they cannot be bent after entering the brain, two surgical wounds are required on the patient's brain to complete the operation. In this embodiment, a flexible end controllable sheath and an insertion part are used in combination, and the operation can be completed through only one surgical wound, reducing the trauma to the brain.

[0104] Specifically, the first linear driving mechanism 3 and the first mechanical driving mechanism 2 are used to drive the flexible end controllable medical device driving mechanism 1 close to the minimally invasive wound in the human brain. The position and posture of the flexible end controllable medical device driving mechanism 1 can be further adjusted through the first mechanical driving mechanism 2, so that the feeding directions of the sheath 200 and the insertion part 100 are aligned with the brain wound. The sheath 200 and the insertion part 100 are driven into the brain through the minimally invasive wound by the first mechanical driving mechanism 2. The flexible end controllable medical device driving mechanism 1 can drive the sheath 200 and the insertion part 100 to move relatively, and can also control the ends of the sheath 200 and the insertion part 100 to bend and drive the insertion part 100 to reach the third ventricle and the lateral ventricle, and the doctor can perform the operation.

[0105] In the feeding system of traditional flexible end controllable medical devices, in one way, two robotic arms are used to drive the sheath and the insertion part of the flexible device respectively. The two robotic arms need to work together, and a plastic hard tube is inserted into the natural cavity of the human body for guidance. For example, a curved hard tube is inserted into the human mouth, and the inside of the hard tube is hollow. The sheath and the insertion part can enter the human body through the natural cavity of the human body under the guidance of the curved hard tube. However, this method requires a high level of coordinated control of the two robotic arms. Only a plastic hard tube is inserted into the natural cavity of the human body for guidance, without support and feeding functions. This solution requires a high hardness for the sheath, and the sheath tube cannot bend during the feeding process of the endoscope. In another way, two linear driving mechanisms are used to drive the sheath and the insertion part of the flexible device respectively. The linear driving mechanism consists of a motor, a lead screw, a guide rail, etc. There is a sheath outer tube support mechanism at the front end of the linear driving mechanism for the sheath and the insertion part. The support mechanism is a telescopic mechanism. One end of the support mechanism is connected to the linear driving mechanism, and the other end is fixed near the natural cavity of the human body. However, in this way, since the driving length of the linear driving mechanism is determined by the feeding distance required by the endoscope sheath and the insertion part, it occupies a large space and is relatively heavy. The support structure for supporting the flexible endoscope sheath catheter is complex, and the telescopic length is limited.

[0106] The flexible end controllable medical device feeding system of the present invention can achieve the overall feeding and independent feeding of the sheath and the insertion part through the combined use of the flexible end controllable medical device driving mechanism and the first displacement driving mechanism. Among them, the vertically installed first linear driving mechanism and the first mechanical driving mechanism are used in combination to achieve the feeding of the flexible end controllable medical device in the vertical direction, which is convenient for the flexible end controllable medical device to enter the natural body cavity or the minimally invasive wound, and the resistance is small. A flexible end controllable medical device feeding mechanism needs to be placed above the natural body cavity or the minimally invasive wound. There is a set of relatively arranged rollers in the flexible end controllable medical device feeding mechanism that can provide a clamping and guiding function for the flexible end controllable medical device. Therefore, there is no special requirement for the hardness of the sheath. The clamping and guiding function of the flexible end controllable medical device feeding mechanism can replace the complex and long endoscopic sheath catheter support structure. And when a small feeding of the flexible end controllable medical device is required, only the rotation angle of the driving wheel needs to be accurately controlled. In this feeding system, the flexible end controllable medical device driving mechanism and the flexible end controllable medical device feeding mechanism are integrated on the same mobile device (cart), reducing the space occupation, and being convenient for operation and movement. Moreover, the positions of the flexible end controllable medical device driving mechanism and the flexible end controllable medical device feeding mechanism can be adjusted separately, enabling the flexible end controllable medical device to smoothly enter the human body with less resistance.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A flexible end-controllable medical device feeding system, characterized in that, It includes a mobile device, a flexible end controllable medical device driving mechanism, a first displacement driving mechanism, a second displacement driving mechanism and a feeding mechanism; The first displacement driving mechanism and the second displacement driving mechanism are both installed on the mobile device. The flexible end controllable medical device driving mechanism is installed on the first displacement driving mechanism. The feeding mechanism is installed on the second displacement driving mechanism. The first displacement driving mechanism and the second displacement driving mechanism are respectively used to adjust the positions of the flexible end controllable medical device driving mechanism and the feeding mechanism; The flexible end controllable medical device driving mechanism includes a connecting part, an insertion part driving mechanism, an insertion part mounting mechanism and a sheath mounting mechanism. The connecting part is installed at the end of the first displacement driving mechanism. The insertion part mounting mechanism is installed at one end of the connecting part through the insertion part driving mechanism. The sheath mounting mechanism is fixedly installed at the other end of the connecting part. And the insertion part driving mechanism is used to drive the insertion part mounting mechanism to perform linear movement relative to the sheath mounting mechanism.

2. The flexible end controllable medical device feeding system according to claim 1, characterized in that, The first displacement driving mechanism includes a first linear driving mechanism and a first mechanical driving mechanism. The first linear driving mechanism is installed on the mobile device along a preset direction. One end of the first mechanical driving mechanism is installed on the first linear driving mechanism. The other end of the first mechanical driving mechanism is connected to the flexible end controllable medical device driving mechanism; The second displacement driving mechanism includes a second linear driving mechanism and an alignment mechanism. The second linear driving mechanism is installed on the mobile device along a preset direction. One end of the alignment mechanism is installed on the second linear driving mechanism. The other end of the alignment mechanism is connected to the feeding mechanism; The feeding mechanism is provided with at least one driving wheel and at least one driven wheel. The driving wheel and the driven wheel cooperate to clamp the flexible end controllable medical device and drive the flexible end controllable medical device to perform feeding operation along the feeding direction.

3. The flexible end controllable medical device feeding system according to claim 2, characterized in that, The alignment mechanism includes a displacement adjustment component and an attitude adjustment component. The displacement adjustment component is connected to the feeding mechanism through the attitude adjustment component. The displacement adjustment component is used to move the feeding mechanism in the vertical direction and the horizontal direction. The attitude adjustment component is used to adjust the angle and direction of the feeding mechanism.

4. The flexible end controllable medical device feeding system according to claim 3, characterized in that, The displacement adjustment component includes a first brake mechanism, a second brake mechanism, a third brake mechanism, a fourth brake mechanism, a first connecting piece, a second connecting piece, a first connecting arm and a second connecting arm. When the brake mechanism is powered on, the rotating shaft of the first brake mechanism is fixedly connected to the second linear driving mechanism and is rotatably connected to one end of the first connecting piece; the rotating shaft of the second brake mechanism is rotatably connected to the other end of the first connecting piece and is fixedly connected to one end of the first connecting arm; the rotating shaft of the third brake mechanism is rotatably connected to the other end of the first connecting arm and is fixedly connected to one end of the second connecting piece; the rotating shaft of the fourth brake mechanism is fixedly connected to one end of the second connecting arm and is rotatably connected to the other end of the second connecting piece; The attitude adjustment assembly includes a fifth brake mechanism, a sixth brake mechanism, a seventh brake mechanism, a third connecting member, and a fourth connecting member. When the brake mechanism is powered on, the rotating shaft of the fifth brake mechanism is fixedly connected to the other end of the second connecting arm and is rotatably connected to one end of the third connecting member; the rotating shaft of the sixth brake mechanism is fixedly connected to the other end of the third connecting member and is rotatably connected to one end of the fourth connecting member; the rotating shaft of the seventh brake mechanism is rotatably connected to the other end of the fourth connecting member and is fixedly connected to the feeding mechanism.

5. The flexible end controllable medical device feeding system according to claim 1, wherein The insertion part driving mechanism includes an insertion part driving motor and a link mechanism. The insertion part driving motor is installed on the connecting part. One end of the link mechanism is connected to the output shaft of the insertion part driving motor, and the other end of the link mechanism is connected to the insertion part mounting mechanism. The rotational movement of the output shaft is converted into a linear movement of the insertion part mounting mechanism through the link mechanism.

6. The flexible end controllable medical device feeding system according to claim 1 or 5, characterized in that, The insertion part mounting mechanism includes an insertion part linear wire driving assembly and an insertion part mounting assembly. The insertion part mounting assembly is detachably connected to the side of the insertion part linear wire driving assembly close to the sheath mounting mechanism. The insertion part linear wire driving assembly is connected to the insertion part driving mechanism; The sheath mounting mechanism includes a sheath linear wire driving assembly and a sheath mounting assembly. The sheath mounting assembly is detachably connected to the side of the sheath linear wire driving assembly away from the insertion part mounting mechanism. The sheath linear wire driving assembly is fixedly connected to the connecting part.

7. The flexible end controllable medical device feeding system according to claim 6, characterized in that, At least one of the insertion part linear wire driving assembly and the sheath linear wire driving assembly includes a mounting seat and a plurality of linear wire driving members. The mounting seat includes two side plates arranged oppositely. Each linear wire driving member includes a first motor, a reversing wheel, a synchronous wheel, and a linear transmission member. The first motor is located between the two side plates and is vertically installed on the side plates. The synchronous wheel is installed on the side plates, and the axial direction of the synchronous wheel is perpendicular to the output shaft of the first motor. The synchronous wheel is connected to the output shaft of the first motor through the reversing wheel. The linear transmission member is connected to the synchronous wheel. The first motor is used to drive the reversing wheel to rotate synchronously with the output shaft of the first motor. The reversing wheel is used to drive the synchronous wheel to rotate synchronously. The synchronous wheel is used to drive the linear transmission member to move between the two side plates along the axial direction of the first motor; Wherein, the flexible end controllable medical device includes an insertion part and a sheath. The sheath is sleeved outside the insertion part. The linear transmission member of the insertion part linear wire driving assembly is connected to the end of the insertion part through an insertion part pulling wire, and / or the linear transmission member of the sheath linear wire driving assembly is connected to the end of the sheath through a sheath pulling wire.

8. The flexible end controllable medical device feeding system according to claim 7, wherein The reversing wheel includes a first helical gear and a second helical gear. The first helical gear is installed on the output shaft of the first motor. The second helical gear is installed on the side plate and meshes with the first helical gear. The first helical gear is coaxially arranged with the output shaft of the first motor. The axial direction of the second helical gear is perpendicular to the axial direction of the first helical gear.

9. The flexible end controllable medical device feeding system according to claim 8, wherein The synchronous pulley includes a first synchronous pulley and a second synchronous pulley. The linear transmission member is a synchronous belt. The first synchronous pulley and the reversing pulley are located outside the same side plate. The first synchronous pulley and the second helical gear are mounted on the same rotating shaft. The second synchronous pulley is located between the two side plates and is mounted on the mounting seat. The axial direction of the second synchronous pulley is parallel to the axial direction of the first synchronous pulley. The first synchronous pulley and the second synchronous pulley are arranged at intervals along the axial direction of the first motor. The synchronous belt is sleeved on the outer circumferences of the first synchronous pulley and the second synchronous pulley. The insertion part pulling wire and / or the sheath pulling wire are mounted on the corresponding synchronous belt.

10. A medical device, characterized in that, A flexible end controllable medical device feeding system includes the one described in any one of claims 1-9.

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