Flexible surgical instrument and flexible instrument device thereof

Abstract

The present invention discloses a flexible surgical instrument and a flexible instrument device thereof, the flexible instrument device comprising a wire support member, a rotating member, and a first bevel gear and a second bevel gear meshing with each other, the wire support member being fixedly connected to the inner wall surface of an inner shell, a rotating sliding pair being constructed between the rotating member and the wire support member; a wire distribution groove is provided on the rotating member, one end of the wire distribution groove extending to the rotating sliding pair and the other end extending to the first mounting portion of the rotating member, the first bevel gear being rotatably arranged on the first mounting portion, the drive wire being arranged in the wire distribution groove via the rotating sliding pair; the first terminal of the drive wire and the side wall of the wire distribution groove forming a movable limit pair, the second terminal being inserted into the rotation limit hole of the first bevel gear forming a rotation limit pair. Based on this transmission structure, the arrangement of the drive wire is able to have a larger curvature radius, forming a longer driving force arm, which can effectively reduce the operational resistance of the moving and rotating motion of the drive wire, and can meet the needs of using longer surgical instruments.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a flexible surgical instrument and a flexible instrument device thereof. Background Art

[0002] Diseases of the digestive, urinary, and respiratory tracts pose a serious threat to human health. The incidence and mortality rates of gastric, esophageal, bladder, and lung cancers are increasing year by year. Flexible endoscopy, combined with related surgical instruments, offers minimally invasive procedures, rapid postoperative recovery, and reduced medical costs, making it the mainstream treatment for these diseases.

[0003] Compared with conventional large incision surgical operations, the surgical operation space through the natural cavity of the human body is relatively small, and usually requires reliance on flexible instruments for diagnosis and treatment operations. There are a variety of existing flexible instruments, such as but not limited to clamps, electrocoagulation and electrocution, injection, guidance, etc., which can meet the different operation needs in narrow environments. Current endoscopic surgical instruments are designed based on manual operation and require manual operation by professionally trained technicians or nurses and other medical personnel. Without technicians / nurses, it is difficult for doctors to complete diagnosis and treatment operations alone. In order to meet the needs of natural cavity diagnosis and treatment, existing flexible instruments are designed as flexible and slender instruments. During use, medical and nursing staff need to manually operate and closely cooperate, and the operation is complicated. In addition, flexible and slender instruments come into contact with foreign matter such as body fluids, are easily contaminated, and there is also a risk of cross infection during the instrument retrieval process.

[0004] A related technique proposes a flexible surgical instrument that changes the traditional nurse-doctor collaboration model and reduces the risk of cross-infection associated with flexible, slender instruments. However, due to the limitations of the design, the rear end of the drive wire is excessively curved, resulting in significant resistance to both its movement and rotation.

[0005] In view of this, it is urgent to optimize the design of flexible instrument devices to overcome the above-mentioned defects. Summary of the Invention

[0006] The purpose of the present application is to provide a flexible surgical instrument and a flexible instrument device thereof, which can effectively reduce the operational resistance of the driving wire movement and rotational motion by optimizing the structure of the flexible surgical instrument, thereby meeting the need for using longer surgical instruments.

[0007] The flexible instrument device provided by the embodiment of the present application includes an actuator unit and an inner shell and an outer shell adapted for threaded transmission, the flexible body of the actuator unit being wound and accommodated in the spiral receiving groove of the inner shell, and the winding rear end of the spiral receiving groove has a through hole penetrating the inner shell; the flexible instrument device also includes a wire support member, a rotating member and a first bevel gear and a second bevel gear meshing with each other; the wire support member is fixedly connected to the inner wall surface of the inner shell, the rotating member is rotatably adapted to the wire support member, and a rotating sliding pair is constructed between the two; the rotating member includes a wire distribution groove, a first mounting portion and a second mounting portion, one end of the wire distribution groove extends to the rotating sliding pair, and the first mounting portion and the second mounting portion are located on the rear end side of the wire distribution groove; the first bevel gear is rotatably arranged on the first mounting portion, the wire distribution groove extends to the first mounting portion, and the extension direction of the wire distribution groove is consistent with the rotation center line of the first bevel gear, and the second bevel gear is rotatably arranged on the second mounting portion and a gear engaged with the gear trainer and the gear engaged with the gear trainer, and the gear trainer is engaged with the gear trainer and the gear trainer in an interlocking manner.

[0008] Optionally, a slide groove is provided on the wire feeding support member, and a wire feeding groove is provided at the bottom of the slide groove; the outer peripheral surface of the rotating member has a slider, and the slider is slidably adapted to the slide groove to form the rotating sliding pair; the driving wire is arranged continuously along the wire feeding groove and the wire distribution groove.

[0009] Optionally, the side wall of the wire routing slot has a limiting recess, the first terminal is built into the limiting recess, and forms the movable limiting pair together with the wall surface of the limiting recess.

[0010] Optionally, the wire routing groove and the limiting recess are both located on the surface of the rotating part, and a baffle is provided beside the limiting recess, and the baffle extends from one side of the limiting recess toward the other side, and in the axial projection plane, the projection of the extended end of the baffle is located within the projection of the limiting recess.

[0011] Optionally, a recess is provided on the wire support member, and the sleeve terminal at the rear end of the outer sleeve is fixed in the recess.

[0012] Optionally, the flexible instrument device further comprises a sleeve terminal buckle, which is inserted into the recess and press-fits the sleeve terminal.

[0013] Optionally, the sleeve terminal clip includes a pressure beam portion and two clip portions, the two clip portions are respectively connected to the two ends of the pressure beam portion, the clip portion is fixed with the recess, and the pressure beam portion has a limiting slot, and the sleeve terminal is fixed by the limiting slot.

[0014] Optionally, the flexible instrument device further includes a sixth gear, which constitutes the rotation transmission part and is coaxially fixed with the second bevel gear, and the second bevel gear and the sixth gear are respectively located on both sides of the second mounting part.

[0015] Optionally, a transmission column is provided on the rotating member, and the transmission column constitutes the moving transmission part.

[0016] Optionally, the wire support member is fixed to one end of the inner wall surface of the inner shell close to the through hole.

[0017] Optionally, the wire feeding support member and the inner shell are integrally formed.

[0018] The present invention also provides a flexible surgical instrument, comprising a flexible instrument device and an instrument driving device, wherein the flexible instrument device can be docked with the instrument driving device, and the instrument driving device can output driving force to the flexible instrument device, and the flexible instrument device adopts the flexible instrument device described above.

[0019] Optionally, the inner wall surface of the inner shell is provided with at least two first slots, the instrument driving device includes a motor barrel, and at least two hook assemblies are provided on the motor barrel; the first slots are provided in a one-to-one correspondence with the hook assemblies; the hook assembly includes a hook, a first motor, a transmission shaft and an elastic member, the hook is rotatably provided on the motor barrel through the transmission shaft, and the hook can be rotated by a predetermined angle relative to the transmission shaft, the hook head of the hook can be built into the inner shell, and bent toward the inner wall surface of the inner shell on the side thereof to engage with the corresponding first slot; the elastic member is pre-compressed and provided between the hook and the motor barrel, and is configured so that: when the hook rotates in a direction away from the first slot, the elastic member produces elastic deformation.

[0020] Optionally, the transmission shaft has a transmission connecting section, a pin is provided on the transmission connecting section, and the pin is extended radially from the transmission connecting section; the connecting part of the hook includes a circular hole and an arc-shaped groove connected to the circular hole, the circular hole is mounted on the transmission connecting section, and the pin is inserted into the arc-shaped groove.

[0021] Optionally, a support frame is provided on the motor barrel, the middle part of the support frame is set through in the docking direction, one end of the support frame is fixedly connected to the motor barrel, the hook head extends from the support frame, and the inner edge of the support frame can abut against the hook to limit the position.

[0022] Optionally, the inner shell has a first spare hole passing through the inner shell, and the outer shell has a second spare hole passing through the outer shell, and the first spare hole and the second spare hole are arranged in a one-to-one correspondence with the first card slot.

[0023] Optionally, the instrument driving device includes a transmission recess as a mobile output interface and a ring gear as a rotational output interface; the instrument driving device also includes a bearing bracket, a rotating ring, a rotating docking disk, a second motor and a third motor; the bearing bracket is arranged on the motor barrel, the rotating ring is arranged on the bearing bracket through a bearing, and the rotating docking disk is rotatably arranged on the rotating ring; the output shaft of the second motor is connected to the rotating ring through a first gear transmission mechanism, and the output shaft of the third motor is connected to the rotating docking disk through a second gear transmission mechanism; the inner ring teeth of the ring gear are connected to the rotating docking disk, and the outer ring teeth of the ring gear can engage with the rotation transmission part of the flexible instrument device.

[0024] Optionally, the rotating ring includes a first rotating ring and a second rotating ring, the first rotating ring and the second rotating ring are connected in the docking direction, the second rotating ring has a receiving portion protruding toward the second gear transmission mechanism, the rotating docking plate is built into the receiving portion, the first rotating ring has a protrusion, the protrusion extends into the receiving portion, and presses against the outer edge of the rotating docking plate.

[0025] Optionally, the first gear transmission mechanism includes a first gear and a ring gear that are meshed with each other, the first gear is connected to the output end of the second motor, and the ring gear is connected to the rotating ring.

[0026] Optionally, the second gear transmission mechanism includes a second gear, a third gear, a fourth gear and a fifth gear that are meshed in sequence, the second gear is connected to the output end of the second motor, the third gear is arranged in the rotating ring and can rotate relative to the rotating ring, and the fourth gear is coaxially fixed with the rotating docking disk.

[0027] Optionally, both ends of the rotating docking plate extend out of the rotating ring respectively, one end of the rotating docking plate is fixedly provided with the fifth gear, the fifth gear is engaged with the inner ring gear of the ring gear, and the other end of the rotating docking plate is fixedly connected to the fourth gear.

[0028] Optionally, the second gear and the fourth gear are staggered in the axial direction.

[0029] Compared with the prior art, the flexible instrument device provided by the present invention has a wire support member provided on the inner wall surface of the inner shell. The drive wire is driven to move by a rotating member that is rotatably adapted to the wire support member, and the drive wire is driven to rotate by the rotating member. Based on this transmission architecture, the arrangement of the drive wire is able to have a larger radius of curvature, so that the moving path of the drive wire is longer and a longer driving force arm can be formed, thereby generating a larger working torque. In actual use, the arrangement based on the bevel gear set can effectively reduce the bending of the drive wire, which can further reduce the operational resistance of the movement and rotation of the drive wire, and can meet the needs of using longer surgical instruments.

[0030] In an optional embodiment of the present invention, the inner wall of the inner housing on the instrument side is defined with at least two first slots, and the motor barrel on the drive side is provided with at least two hook assemblies, comprising a hook, a first motor, a transmission shaft, and an elastic member. The hook is rotatably mounted on the motor barrel via the transmission shaft, and the hook and the transmission shaft are fixed in circumferential relative position. The hook head can be internally mounted within the inner housing and bend toward the inner wall of the inner housing on its respective side to engage with the corresponding first slot. The elastic member is pre-compressed and disposed between the hook and the motor barrel, and is configured to elastically deform when the hook is rotated away from the first slot. With this arrangement, during docking, the inner housing can press against the hook to rotate toward a disengaged state, causing the elastic member to deform under pressure, causing the pin to maintain circumferential contact with the first slot until the hook head is aligned with the first slot. At this point, the hook can rotate under the action of the elastic member until it engages with the first slot, thereby entering the engaged state. When the flexible device needs to be removed, the first motor can drive the hook to rotate to a disengaged state through the circumferentially opposed pin and first slot. In this way, the relative position of the device side relative to the drive side is changed without affecting the installation and removal of the flexible device, which improves operability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the assembly relationship of a flexible surgical instrument provided in an embodiment of the present application;

[0032] Figure 2 for Figure 1 A bottom view of the flexible instrument device shown in ;

[0033] Figure 3 for Figure 2 AA section view in;

[0034] Figure 4 A schematic diagram of the assembly relationship between an inner housing, a wire support member, and a rotating member provided in an embodiment of the present application;

[0035] Figure 5 for Figure 4 A top view of

[0036] Figure 6 A schematic diagram of a rotating member provided in an example of this application;

[0037] Figure 7 for Figure 6 A schematic diagram of another angle of the rotating member shown in FIG;

[0038] Figure 8 A partial schematic diagram of the assembly relationship of the rear end of an outer sleeve provided in an embodiment of the present application;

[0039] Figure 9 for Figure 5 Partial cross-sectional view of BB in;

[0040] Figure 10 A cross-sectional view of a flexible surgical instrument provided in an embodiment of the present application;

[0041] Figure 11 A schematic diagram of the assembly relationship of a hook assembly provided in an embodiment of the present application;

[0042] Figure 12 A schematic diagram of the assembly state of the first motor and the transmission shaft provided in an embodiment of the present application;

[0043] Figure 13 A schematic diagram of the hook structure provided in an embodiment of the present application;

[0044] Figure 14 for Figure 1 A top view of the instrument drive device shown in;

[0045] Figure 15 for Figure 1 An exploded diagram of the power transmission relationship of the flexible surgical instrument shown in FIG;

[0046] Figure 16 A schematic diagram of a mobile output interface of an instrument driving device provided in an embodiment of the present application;

[0047] Figure 17 for Figure 14 The CC section view in the figure;

[0048] Figure 18 for Figure 14 DD cross-sectional view in.

[0049] In the picture:

[0050] Flexible surgical instrument 100;

[0051] Flexible instrument device 10, inner shell 11, spiral groove 111, spiral receiving groove 1111, second transmission thread 1112, through hole 112, first card slot 113, first spare hole 114, outer shell 12, first transmission thread 121, limiting guide portion 122, instrument outlet 123, second spare hole 124, actuator unit 13, drive wire 131, first terminal 1311, second terminal 1312, outer sleeve 132, sleeve terminal 1321, wire bearing Support 14, wire groove 141, slide 142, recess 143, rotating member 15, wire routing groove 151, slider 152, first mounting portion 153, limiting recess 154, transmission column 155, baffle 156, second mounting portion 157, sleeve terminal buckle 16, pressure beam 161, limiting slot 1611, buckle 162, bevel gear transmission group 17, first bevel gear 171, rotation limiting hole 1711, second bevel gear 172, sixth gear 173;

[0052] Device drive device 20, hook assembly 21, hook 211, hook head 2111, connecting portion 2112, first groove wall 211a, second groove wall 211b, first motor 212, transmission shaft 213, transmission connecting section 2131, pin 2132, elastic member 214, motor barrel 22, support frame 23, inner edge 231, support portion 232, ring gear 24, inner ring gear 241, outer ring gear 242, rotating docking plate 25, fifth gear 251, rotating ring 26, first rotating ring 261, protruding ring 2611, shielding plate 2612, transmission recess 2613, second rotating ring 262, accommodating portion 2621, bearing 27, bearing bracket 28;

[0053] A second motor 30, a first gear 31, and a ring gear 32;

[0054] The third motor 40 , the second gear 41 , the third gear 42 , and the fourth gear 43 . DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] See Figure 1 , this figure is a schematic diagram of the assembly relationship of a flexible surgical instrument provided in an embodiment of the present application.

[0057] like Figure 1As shown, the flexible surgical instrument 100 includes a flexible instrument device 10 and an instrument driving device 20, wherein the flexible instrument device 10 is configured with an actuator unit 13, and the instrument driving device 20 can provide driving force to the flexible instrument device 10 to achieve the conveying operation of the flexible instrument and the rotation or opening and closing of the actuator. In actual use, the flexible instrument device 10 is as shown in FIG. Figure 1 The dotted arrow in the middle shows the connection with the instrument driving device 20, realizing a basic fixed connection relationship between the two and constructing a corresponding power transmission path between the two.

[0058] The flexible instrument device 10 includes an inner shell 11 adapted for threaded transmission, an outer shell 12 and an actuator unit 13. Figure 2 and Figure 3 ,in, Figure 2 for Figure 1 A bottom view of the flexible instrument device shown in FIG. Figure 3 for Figure 2 AA section view in.

[0059] like Figure 2 and Figure 3 As shown, the inner wall of the housing 12 includes a first transmission thread 121. A limit guide 122 is provided on the exterior of the housing 12. The limit guide 122 is adapted to engage a relatively fixed limit slot (not shown). For example, but not limited to, the limit slot can be structured on the side of the instrument drive device 20. In addition to providing axial displacement guidance for the housing 12, it can also limit circumferential rotation of the housing 12.

[0060] Correspondingly, the outer circumferential surface of the inner housing 11 is provided with a spiral groove 111, which comprises an inner groove section and an outer groove section, both of which are formed sequentially along the radial direction. The groove wall of the inner groove section forms a spiral receiving groove 1111, which is adapted to wrap around and accommodate the flexible body of the actuator unit 13 (such as, but not limited to, the drive wire 131 and outer sleeve 132 described below). The groove wall of the outer groove section forms a second transmission thread 1112, which is in driving connection with the first transmission thread 121.

[0061] Under the action of the conveying driving force output from the instrument driving device 20 side (driving side), the inner shell 11 can rotate relative to the outer shell 12, and at the same time the outer shell 12 is axially displaced relative to the inner shell 11, and the flexible body of the actuator unit 13 can perform extension or retraction operations through the instrument outlet 123 set on the side wall of the outer shell 12.

[0062] In this embodiment, the outer shell 12 is cylindrical with one end open, while the inner shell 11 is cylindrical with both ends open. The inner shell 11 is completely contained within the outer shell 12 (as shown). In other implementations, the inner shell 11 may be partially contained within the outer shell 12 (not shown). This can be determined based on the overall product design requirements and is not limited in this embodiment.

[0063] In this embodiment, the flexible instrument device 10 further includes a wire support member 14 and a rotating member 15. Figure 4 and Figure 5 ,in, Figure 4 This is a schematic diagram of the assembly relationship between an inner housing, a wire support member, and a rotating member provided in an embodiment of the present application. Figure 5 for Figure 4 Top view of .

[0064] like Figure 4 As shown, at the coiled rear end of the spiral receiving groove 1111, there is a through hole 112 that passes through the inner wall surface of the inner shell 11, and the flexible body of the actuator unit (not shown in the figure) passes through the inner shell 11 via the through hole 112. The "rear end" here and the "front end" used below are defined based on the patient's lesion, the "front end" is the end close to the lesion, and the "rear end" is the end away from the lesion. It should be understood that the use of the above-mentioned directional words is only used to clearly describe the scheme and does not constitute a substantial limitation on the technical scheme to be protected by this application. For the sake of convenience of description, the end of the flexible instrument device 10 close to the through hole 112 in the axial direction is defined as the first end, and the end away from the through hole 112 is defined as the second end.

[0065] The wire support member 14 is fixedly connected to the inner wall surface of the inner shell 11 near the first end, that is, located near the side where the through hole 112 is located, and has an overall arc shape that adapts to the inner wall surface of the inner shell 11. Here, the wire support member 14 and the inner shell 11 can be integrally formed or independently processed and then assembled and fixed. The specific design can be determined based on the overall product design requirements and is not limited in this embodiment of the application.

[0066] The rotating member 15 is rotationally adapted to the wire support member 14. In other words, the rotating member 15 can rotate relative to the wire support member 14 under the drive of the driving side. Figure 3 、 Figure 4 and Figure 5 As shown, the rotating member 15 is rotationally adapted to the inner wall of the wire support member 14 .

[0067] The wire support member 14 has a chute 142 defined in its bottom, with a wire groove 141 defined in its bottom. Accordingly, the outer surface of the rotating member 15 has a slider 152 whose cross-sectional shape matches that of the chute 142, allowing for slidable engagement therebetween. In other words, when the rotating member 15 rotates relative to the wire support member 14, the slider 152 slides relative to the chute 142, forming a rotating sliding pair.

[0068] Please also see Figure 3 、 Figure 6 and Figure 7 ,in, Figure 6 A schematic diagram of a rotating member provided in this application example, Figure 7 for Figure 6 A schematic diagram of another angle of the rotating member shown in FIG.

[0069] The rotating member 15 is provided with a wire routing groove 151, a first mounting portion 153, and a second mounting portion 157. One end of the wire routing groove 151 extends to the outer circumferential surface of the slider 152, allowing the drive wire 131 to be arranged sequentially along the wire feeding groove 141 and the wire routing groove 151. The sidewalls of the wire routing groove 151 have a retaining recess 154. A first terminal 1311 provided on the drive wire 131 can be positioned within the retaining recess 154, forming a movable retaining pair with the end surface of the first terminal 1311 and the wall of the retaining recess 154. For example, but not limited to, the first terminal 1311 may be dumbbell-shaped.

[0070] The rotating member 15 has a transmission column 155 as a moving transmission part, such as Figure 3 As shown, the transmission post 155 is located on the side of the rotating member 15 near the second end, adapted to adapt to the driving side and driven by the driving side to rotate relative to the inner housing 11. In this way, when the rotating member 15 rotates relative to the wire support member 14, the movement limit pair can achieve movement of the drive wire (in the length direction of the drive wire).

[0071] The first mounting portion 153 and the second mounting portion 157 are located on the rotating member 15 at the rear end of the wire routing slot 151 and are used to mount the bevel gear transmission assembly 17. The first bevel gear 171 is rotatably mounted on the first mounting portion 253, and the second bevel gear 172 is rotatably mounted on the second mounting portion 157. These are adapted to the drive side and can rotate relative to the first bevel gear 171 when driven by the drive side.

[0072] The wire routing slot 151 extends to the first mounting portion 153, and its extension direction aligns with the rotational centerline of the first bevel gear 171. The second terminal 1312 at the rear end of the drive wire 131 is inserted into the rotational stop hole 1711 of the first bevel gear 171. The cross-sectional shape of the second terminal 1312 can be consistent with the shape of the rotational stop hole 1711. A rotational stop pair is formed by the outer circumference of the second terminal 1312 and the wall of the rotational stop hole 1711. The rotational centerline of the second bevel gear 172 is perpendicular to that of the first bevel gear 171. Thus, when the second bevel gear 172 drives the first bevel gear 171 to rotate relative to the rotating member 15, the rotational stop pair can drive the drive wire to achieve rotational motion.

[0073] Based on the structure of the implementation shown in the figure, the drive wire is arranged with a larger radius of curvature. This allows for a longer travel path and a longer drive arm, resulting in greater operating torque. In actual use, this effectively reduces the operational resistance to the drive wire's movement and rotation, meeting the needs of longer surgical instruments.

[0074] To improve the operability of assembling the drive wire 131, the wire routing groove 151 and the retaining recess 154 are both located on the surface of the rotating member 15 near the first end. After the second terminal 1312 is inserted into the rotation retaining hole 1711 of the first bevel gear 171, the first terminal 1311 can be installed in the retaining recess 154, quickly completing the wiring of the rear end of the drive wire 131.

[0075] In addition, Figure 5 and Figure 6 As shown, a baffle 156 can be provided on the rotating member 15 beside the limiting recess 154. The baffle 156 extends from one side of the limiting recess 154 toward the other side, and in the axial projection plane, the projection of the extended end of the baffle 156 is located within the projection of the limiting recess 154, thereby preventing the first terminal 1311 from abnormally dislodging.

[0076] Furthermore, the baffle 156 may have a certain elasticity to facilitate the quick installation of the first terminal 1311. In addition, the baffle 156 may be provided in plurality and staggered on both sides of the limiting recess 154, such as but not limited to the two baffles 156 shown in the figure.

[0077] In this embodiment, the chute 142 is a dovetail groove, and the cross-section of the slider 152 is dovetail-shaped. In this way, the slider 152 can be further restricted from radially disengaging from the chute 142, ensuring a stable and reliable relative position relationship between the rotating member 15 and the wire support member 14.

[0078] In other specific implementations, the sliding adaptation groove 142 and slider 152 can also adopt other compatible cross-sectional shapes, such as but not suitable for rectangular structures or T-shaped structures, etc., as long as a reliable sliding adaptation relationship can be achieved, and it is not limited to a dovetail structure.

[0079] Of course, in other possible implementations, the sliding groove 142 and slider 152 can also be configured in reverse. That is, the groove is provided on the outer circumference of the rotating member 15, and the slider is provided on the wire support member. Accordingly, the wire groove needs to be provided on the inner circumference of the slider. Compared to the configuration shown in the figure, while maintaining the same other structural parameters, the implementation shown in the figure can achieve the advantages of a larger drive wire curvature radius, a longer travel path, a longer drive force arm, and greater torque.

[0080] Please also see Figure 8 and Figure 9 ,in, Figure 8 This is a partial schematic diagram of the assembly relationship of the rear end of an outer sleeve provided in an embodiment of the present application. Figure 9 for Figure 5 Partial cross-sectional view of section BB in FIG. To further enhance product integration and assembly processability, the sleeve terminal 1321 at the rear end of the outer sleeve 132 of the actuator unit 13 is secured to the wire support 14. A recess 143 is defined in the wire support 14, into which the sleeve terminal 1321 is secured. This results in a simple, reliable structure and improved overall integration.

[0081] In order to improve the assembly processability, the flexible instrument device 10 provided in this embodiment may further include a sleeve terminal buckle 16. Figure 8 As shown, the sleeve terminal clip 16 can be inserted into the recess 143 and press-fitted to secure the sleeve terminal 1321. In this embodiment, the sleeve terminal clip 16 comprises a pressure beam 161 and a clip 162, with the two clips 162 connected to the ends of the pressure beam 161. After being press-fitted into place, the clips 162 engage with corresponding structures within the recess 143 (not shown). It should be understood that the corresponding structure that adapts to the clip 162 to achieve the snap-fitting and securing effect can be determined according to actual needs, as long as it improves the assembly processability of the sleeve terminal clip.

[0082] Combine Figure 9 As shown, the pressing beam 161 has a limiting slot 1611. After being pressed into place, the limiting slot 1611 is used to fix the sleeve terminal 1321. At the same time, the sleeve terminal buckle 16 is lower than the surface of the wire support 14, which can achieve reliable fixing of the sleeve terminal while taking up less space.

[0083] In other possible implementations, the sleeve terminal 1321 may be fixed in other ways, such as but not limited to adhesive fixation, which is not limited in the embodiment of the present application.

[0084] In order to achieve the reliability of the docking and mutual matching between the flexible instrument device 10 and the instrument driving device 20, a first card slot 113 can be opened on the inner wall surface of the inner shell 11 of the flexible instrument device 10, and correspondingly, a hook component 21 that matches the first card slot 113 is provided on the side of the instrument driving device 20. Figure 3 、 Figure 10 and Figure 11 ,in, Figure 10 A cross-sectional view of a flexible surgical instrument provided in an embodiment of the present application is shown. Figure 11 This is a schematic diagram of the assembly relationship of a hook assembly provided in an embodiment of the present application. In order to clearly illustrate the assembly relationship of the hook assembly 21, Figure 11 The components above the motor barrel are not shown.

[0085] Combine Figure 3 and Figure 10 As shown, on the flexible instrument device 10 side (the instrument side), two first slots 113 are provided at the second end of the inner wall surface of the inner shell 11, and the two first slots 113 are arranged opposite each other. In this way, a good load balancing effect can be achieved during the actuator output or retraction operation.

[0086] like Figure 10 As shown, on the instrument drive device 20 side, the hook assembly 21 is provided on the motor barrel 22, and the two hook assemblies 21 are provided in a one-to-one correspondence with the two first slots 113 on the instrument side. It should be understood that the matching hook assemblies 21 and the first slots 113 are provided in at least two groups as shown in the figure, and in other possible implementations, for example but not limited to, three groups can also be provided.

[0087] Combine Figure 11 As shown, the hook assembly 21 includes a hook 211, a first motor 212, a transmission shaft 213 and an elastic member 214. The hook 211 is rotatably set on the motor barrel 22 through the transmission shaft 213, and the hook 211 can rotate relative to the transmission shaft 213 by a predetermined angle. The hook heads 2111 of the two hooks 211 can be built into the inner shell 11, and are respectively bent toward the inner wall surface of the inner shell 11 on their side to engage with the corresponding first slot 113. In actual application, the hook 211 can be rotated toward the direction close to the inner shell 11 until its hook head 2111 is placed in the first slot 113. At this time, Figure 11 The hook 211 can be rotated in a direction away from the inner shell 11 until the hook head 2111 is disengaged from the first slot 113, at which time the clamping state is released.

[0088] In order to clearly illustrate the rotation switching mode of the hook 211, Figure 10 The hooks 211 on the left and right sides are not in exactly the same posture. The hook 211 on the right side is deflected away from the inner shell 11 by a certain angle, and can be switched to the released state by continuing to rotate in this direction.

[0089] The first motor 212 is fixedly arranged beside the hook 211, and the output end of the first motor 212 is connected to the corresponding transmission shaft 213. Figure 12 and Figure 13 ,in, Figure 12 This is a schematic diagram of the assembly state of the first motor and the transmission shaft provided in an embodiment of the present application. Figure 13 Schematic diagram of the hook structure provided in an embodiment of the present application.

[0090] In a specific implementation, one end of the transmission shaft 213 is fixedly connected to the output end of the first motor 212. The transmission shaft 213 has a transmission connection section 2131, and can be rotationally connected through the shaft sections on both sides of the transmission connection section 2131 and the mounting bracket provided on the top of the motor barrel 22. Among them, the cross section of the transmission connection section 2131 is circular, and a pin 2132 is provided on the transmission connection section 2131. The pin 2132 is radially extended from the transmission connection section 2131. Accordingly, the connecting portion 2112 of the hook 211 includes a circular hole 21121 and an arc-shaped through groove 21122 that are connected. The circular hole 21121 of the hook 211 is mounted on the transmission connection section 2131, and the pin 2132 is inserted into the arc-shaped through groove 21122, thereby forming a connection relationship between the two that can rotate relative to each other at a predetermined angle.

[0091] like Figure 13 As shown, the two circumferentially opposite groove walls of the arcuate groove 21122 of the hook 211 are the first groove wall 211a and the second groove wall 211b, and the first groove wall 211a and the second groove wall 211b have an included angle α. The arcuate groove 21122 can limit the running stroke of the pin 2132 of the transmission shaft 213, so that the hook 211 can rotate relative to the transmission shaft 213 by a predetermined angle, for example but not limited to 120°.

[0092] The elastic member 214 is pre-compressed and arranged between the hook 211 and the motor barrel 22 and is configured to generate elastic deformation when the hook head 2111 of the hook 211 rotates toward the released engaging state.

[0093] When the flexible instrument device 10 and the instrument drive device 20 are docked, the inner shell 11 can press against the hook 211 and rotate toward the disengaged state. The elastic member 214 is deformed under pressure, and the pin 2132 maintains circumferential contact with the first slot wall 211a until the hook head 2111 of the hook 211 is aligned with the first slot 113. The hook 211 can then be rotated under the action of the elastic member 214 until it engages with the first slot 113, thus entering the engaged state. When the actuator needs to be transported, the motor barrel 22 rotates under the drive of the transport motor (not shown in the figure). The two sets of interlocking hooks 211 and the first slot 113 drive the inner shell 11 to rotate. The flexible body of the actuator unit 13 can then be extended or retracted through the instrument outlet 123 provided on the side wall of the outer shell 12. During use, if the first motor 212 fails, the elastic member 214 can keep the hook 211 in the engaged state, preventing the hook head 2111 from abnormally falling out, thereby improving docking reliability.

[0094] When the flexible instrument device 10 needs to be removed, the first motor 212 can drive the hook 211 to rotate to a released state through the circumferentially opposed pin 2132 and the first slot wall 211 a .

[0095] In order to improve the reliability of docking, Figure 10 As shown, a support frame 23 is provided on the motor barrel 22. The middle portion of the support frame 23 is provided through the motor barrel 22 in the docking direction. One end of the support frame 23 is fixedly connected to the motor barrel 22, and the other end is used to form a support portion 232 for assembling other components. The hook head 2111 of the hook 211 extends out of the support frame 23, and the inner edge 231 of the support frame 23 can abut against the hook 211 to limit the position, so that the hook 211 remains in the docking state.

[0096] In a specific implementation, the elastic member 214 is a torsion spring pre-compressed and disposed between the hook 211 and the motor barrel 22. It is understood that the elastic member 214 can also be implemented in other forms, such as but not limited to a rubber elastic member or a spring in other structural forms, as long as it can provide a force to maintain the engaged state, it is within the scope of protection claimed in this application.

[0097] To further improve security, Figure 4 and Figure 10As shown, the inner housing 11 has two first spare holes 114, and the outer housing 12 has two second spare holes 124, both of which are arranged in a one-to-one correspondence with and extend through the first engaging slot 113. If, during the engaging operation, the first motor 212 malfunctions and is unable to drive the hook 211 out of the first engaging slot 113, the operator can use a slender rod that passes through the second spare holes 124 and the first spare hole 114 in sequence, directly acting on the hook head 2111 of the hook 211, pushing the hook head 2111 inward and out of the first engaging slot 113, thereby separating the flexible instrument device 10 from the instrument driving device 20, further improving operational safety.

[0098] Please also see Figure 1 、 Figure 14 、 Figure 15 and Figure 16 ,in, Figure 14 for Figure 1 A top view of the instrument drive device shown in FIG. Figure 15 for Figure 1 The exploded diagram of the power transmission relationship of the flexible surgical instrument is shown in the figure. Figure 16 A schematic diagram of a mobile output interface of an instrument driving device provided in an embodiment of the present application.

[0099] On the instrument driving device 20 side, the driving forces for the movement operation and the rotation operation are outputted respectively through the transmission recess 2613 of the rotating ring 26 as the movement output interface and the ring gear 24 as the rotation output interface.

[0100] After docking is completed, the transmission post 155 on the instrument side can be inserted into the transmission recess 2613 of the rotating ring 26 to form a rotation limit pair. The matching transmission recess 2613 and transmission post 155 drive the rotating member 15 to rotate, thereby achieving the movement of the drive wire. Here, the matching transmission recess 2613 and transmission post 155 are provided in two groups. In other possible implementation schemes, the number of matching transmission recesses 2613 and transmission posts 155 is not limited to the two groups shown in the figure. The specific number can be selected according to the overall design requirements of the product, and is not limited in this embodiment of the application.

[0101] The ring gear 24 is rotatably mounted on the rotating ring 26 and includes inner ring teeth 241 and outer ring teeth 242. Accordingly, the instrument's rotational transmission component is a sixth gear 173 coaxially fixed to the second bevel gear 172. The second bevel gear 172 and the sixth gear 173 are located on either side of the second mounting portion 157. Specifically, the second bevel gear 172 is positioned closer to the first end of the inner housing 11, while the sixth gear 173 is positioned closer to the second end of the inner housing 11.

[0102] A rotating docking plate 25 is rotatably mounted on the rotating ring 26, with both ends of the rotating docking plate 25 extending from the rotating ring 26. One end of the rotating docking plate 25 extends from the rotating ring 26 and is fixedly mounted with a fifth gear 251, which meshes with the inner ring gear 241 of the ring gear 24. The other end of the rotating docking plate 25 extends from the rotating ring 26 and is fixedly mounted with the fourth gear 43 of the second gear transmission mechanism.

[0103] After the docking is completed, the sixth gear 173 on the driving side can mesh with the outer ring gear 242 on the instrument side, forming a rotation limiting pair through the rotation limiting hole 1711 of the first bevel gear 171 and the second terminal 1312, driving the driving wire to rotate.

[0104] Combine Figure 10 、 Figure 17 and Figure 18 As shown, Figure 17 for Figure 14 CC cross-sectional view, Figure 18 for Figure 14 In a specific implementation, the rotating ring 26 is disposed on the bearing bracket 28 via the bearing 27 so as to rotate relative to the bearing bracket 28 , and the bearing bracket 28 is fixedly disposed on the supporting portion 232 of the support frame 23 .

[0105] In other possible implementations, the bearing bracket 28, the support frame 23, and the motor barrel 22 as the basic structure can be an integrated structure; or, they can be in other separate forms according to the overall design requirements of the product and then assembled and fixed to the basic structure. This embodiment of the application is not limited thereto.

[0106] In this embodiment, a driving component and a corresponding transmission mechanism are arranged inside the above-mentioned basic structure. Figure 17 As shown, the instrument driving device 20 further includes a second motor 30 and a third motor 40, wherein the second motor 30 is used to provide a driving force for the driving wire to move, and the third motor 40 is used to provide a driving force for the driving wire to rotate.

[0107] The power transmission path of the second motor 30 may include a first gear transmission mechanism formed by a first gear 31 and a ring gear 32. The first gear 31 is connected to the output end of the second motor 30, and the ring gear 32 is connected to the rotating ring 26. Figure 17 As shown, in a specific implementation, the gear ring 32 is fixed to the rotating ring 26 extending into the bearing bracket 28. Of course, the specific structural configuration relationship of the first gear transmission mechanism can be designed as needed. This embodiment of the present application is not limited.

[0108] In this way, the driving force output by the second motor 30 can be transmitted to the rotating ring 26 based on the meshing first gear 31 and the ring gear 32, thereby forming a rotation limit pair through the transmission recess 2613 and the transmission column 155, driving the rotating part 15 to rotate relative to the wire support part 14, thereby realizing the movement operation of the drive wire.

[0109] The power transmission path of the third motor 40 may include a second gear transmission mechanism formed by a second gear 41, a third gear 42, and a fourth gear 43. The second gear 41 is connected to the output end of the third motor 40, the third gear 42 is disposed within the rotating ring 26 and is rotatable relative to the rotating ring 26, that is, the third gear 42 is rotatably connected to the second rotating ring 262 of the rotating ring 26, and the fourth gear 43 is connected to the other end of the rotating docking plate 25.

[0110] Here, the second gear 41 and the fourth gear 43 are staggered in the axial direction to avoid motion interference. The specific structural configuration relationship of the second gear transmission mechanism can also be designed as needed. This embodiment of the present application is not limited.

[0111] In order to improve the transmission reliability of the rotating docking plate 25, the rotating ring 26 can further provide assembly positioning. The rotating ring 26 can include a first rotating ring 261 and a second rotating ring 262. The first rotating ring 261 and the second rotating ring 262 are connected in the docking direction. That is, in the relative position relationship shown in the figure, the first rotating ring 261 is located above the second rotating ring 262.

[0112] like Figure 18 As shown, the second rotating ring 262 has a receiving portion 2621 protruding toward the second gear transmission mechanism. The rotating docking plate 25 is built into the receiving portion 2621 of the second rotating ring 262, with its other end extending out of the bottom wall of the receiving portion 2621. Correspondingly, the first rotating ring 261 has a raised ring 2611, which extends into the receiving portion 2621 and presses against the outer edge of the rotating docking plate 25 to achieve the assembly and positioning of the rotating docking plate 25. In this way, the rotating docking plate 25 maintains a relatively stable dynamic fit with the rotating ring 26.

[0113] In a specific implementation, the first rotating ring 261 has shielding plates 2612 extending away from the second gear transmission mechanism, and transmission recesses 2613 are provided on the end surfaces of two of the shielding plates 2612. As shown in the figure, the transmission recesses 2613 are blind holes with chamfers, which serve as guides for the docking installation of the transmission column 155, providing better operability.

[0114] The ordinal numbers "first" and "second" used herein are only used to describe components or structures with the same function in the technical solution. It is understood that the use of the ordinal numbers "first" and "second" does not constitute an understanding of the technical solution claimed in this application.

[0115] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A flexible instrument device comprising an actuator unit and an inner shell and an outer shell adapted for threaded transmission, wherein the flexible body of the actuator unit is wound and accommodated in a spiral receiving groove of the inner shell, and the spiral receiving groove has a through hole penetrating the inner shell at the winding rear end; characterized in that: The flexible instrument device also includes a wire support member, a rotating member and a first bevel gear and a second bevel gear meshing with each other; the wire support member is fixedly connected to the inner wall surface of the inner shell, the rotating member is rotatably adapted to the wire support member, and a rotating sliding pair is constructed between the two; the rotating member includes a wire distribution groove, a first mounting portion and a second mounting portion, one end of the wire distribution groove extends to the rotating sliding pair, and the first mounting portion and the second mounting portion are located on the rear end side of the wire distribution groove; the first bevel gear is rotatably arranged on the first mounting portion, the other end of the wire distribution groove extends to the first mounting portion, and the extension direction of the wire distribution groove is consistent with the rotation center line of the first bevel gear, and the second bevel gear is rotatably arranged on the second mounting portion, and the rotation center line of the second bevel gear is perpendicular to the rotation center line of the first bevel gear; The flexible body passes through the inner shell via the through hole on the inner shell, the rear end of the outer sleeve of the flexible body is fixed to the wire support member, and the driving wire of the flexible body is arranged in the wire routing groove via the rotating sliding pair; a first terminal and a second terminal are provided on the driving wire at intervals, and the second terminal is located at the rear end of the driving wire; wherein, the first terminal and the side wall of the wire routing groove form a movable limit pair, and the second terminal is inserted into the rotation limit hole of the first bevel gear to form a rotation limit pair; The rotating member has a moving transmission part, which is used to connect to the moving output interface of the instrument driving device; the other end of the second bevel gear has a rotating transmission part, which is used to connect to the rotating output interface of the instrument driving device.

2. The flexible instrument device according to claim 1, characterized in that The wire feeding support is fixed to one end of the inner wall surface of the inner shell close to the through hole, the wire feeding support is provided with a slide groove, the bottom of the slide groove is provided with a wire feeding groove, the side wall of the wire distribution groove has a limiting recess, the first terminal is built into the limiting recess, and forms the movable limiting pair with the wall surface of the limiting recess; the outer peripheral surface of the rotating part has a slider, and the slider is slidably adapted to the slide groove to form the rotating sliding pair; the driving wire is continuously arranged along the wire feeding groove and the wire distribution groove.

3. The flexible instrument device according to claim 1, characterized in that A recess is provided on the wire support component, and a sleeve terminal at the rear end of the outer sleeve is fixed in the recess.

4. The flexible instrument device according to any one of claims 1 to 3, characterized in that The flexible instrument device also includes a sixth gear, which constitutes the rotation transmission part and is coaxially fixed with the second bevel gear. The second bevel gear and the sixth gear are respectively located on both sides of the second mounting part. A transmission column is provided on the rotating member, and the transmission column constitutes the mobile transmission part.

5. A flexible surgical instrument comprising a flexible instrument device and an instrument drive device, wherein the flexible instrument device can be docked with the instrument drive device, and the instrument drive device can output a driving force to the flexible instrument device, characterized in that: The flexible instrument device is the flexible instrument device according to any one of claims 1 to 4.

6. The flexible surgical instrument according to claim 5, characterized in that: The inner wall surface of the inner shell is provided with at least two first slots, the instrument driving device includes a motor barrel, and the motor barrel is provided with at least two hook assemblies; the first slots are provided in a one-to-one correspondence with the hook assemblies; The hook assembly includes a hook, a first motor, a transmission shaft and an elastic member. The hook is rotatably arranged on the motor barrel via the transmission shaft, and the hook can rotate relative to the transmission shaft by a predetermined angle. The hook head of the hook can be built into the inner shell and bent toward the inner wall surface of the inner shell on the side thereof to engage with the corresponding first slot. The elastic member is pre-compressed and arranged between the hook and the motor barrel, and is configured such that: when the hook rotates in a direction away from the first slot, the elastic member generates elastic deformation. The transmission shaft has a transmission connecting section, and a pin is provided on the transmission connecting section, and the pin is extended radially from the transmission connecting section; the connecting part of the hook includes a circular hole and an arc-shaped groove connected to the circular hole, the circular hole is mounted on the transmission connecting section, and the pin is inserted into the arc-shaped groove.

7. The flexible surgical instrument according to claim 6, characterized in that: The inner shell has a first spare hole passing through the inner shell, and the outer shell has a second spare hole passing through the outer shell. The first spare hole and the second spare hole are arranged in a one-to-one correspondence with the first card slot.

8. The flexible surgical instrument according to claim 6, characterized in that: The instrument drive device includes a transmission recess as a movement output interface and a ring gear as a rotation output interface; The instrument driving device further includes a bearing bracket, a rotating ring, a rotating docking disk, a second motor and a third motor; the bearing bracket is arranged on the motor barrel, the rotating ring is arranged on the bearing bracket through a bearing, and the rotating docking disk is rotatably arranged on the rotating ring; the output shaft of the second motor is connected to the rotating ring through a first gear transmission mechanism, and the output shaft of the third motor is connected to the rotating docking disk through a second gear transmission mechanism; The inner ring teeth of the ring gear are in driving connection with the rotary docking disk, and the outer ring teeth of the ring gear are meshed with the rotary transmission part of the flexible instrument device.

9. The flexible surgical instrument according to claim 8, characterized in that: The first gear transmission mechanism includes a first gear and a ring gear that are meshed with each other, the first gear is connected to the output end of the second motor, and the ring gear is connected to the rotating ring.

10. The flexible surgical instrument according to claim 9, characterized in that: The second gear transmission mechanism includes a second gear, a third gear, a fourth gear and a fifth gear meshed in sequence, the second gear is connected to the output end of the second motor, and the third gear is disposed in the rotating ring and can rotate relative to the rotating ring; The two ends of the rotating docking plate extend out of the rotating ring respectively. The fifth gear is fixedly provided at one end of the rotating docking plate, and the fifth gear is engaged with the inner gear ring of the ring gear. The other end of the rotating docking plate is fixedly connected to the fourth gear, and the second gear and the fourth gear are staggered in the axial direction.

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