Drive control device for elongated surgical member and surgical instrument

Abstract

The invention discloses a drive control device of a lengthwise surgical component and a surgical instrument, the surgical instrument comprises the lengthwise surgical component and the drive control device, and a drive part is arranged at the near end of the lengthwise surgical component; the driving control device comprises a driving module and an assembling module, the assembling module is used for being detachably connected with the lengthwise surgical component, the driving module is detachably connected with the assembling module, the driving module comprises at least one actuating unit, and the assembling module comprises at least one transmission assembly. Each transmission assembly is provided with a first transmission part and a second transmission part which are arranged in a linkage mode, the first transmission parts and the second transmission parts are arranged in a spaced mode, the first transmission parts are in transmission connection with the actuating units, and the second transmission parts are connected with the driving parts of the lengthwise surgical components in a matched mode. The sterilized assembly module is used as intermediate transmission, and the driving module is not directly connected with the handle of the sterilized lengthwise surgical component, so that sterilization isolation of the lengthwise surgical component can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a driving control device for a longitudinally long surgical member and a surgical instrument. Background Art

[0002] Vascular interventional surgery is a treatment technique that has gradually emerged in recent years. It has the advantages of small trauma, simple operation, accurate interventional site, etc., enabling effective treatment of some patients who cannot tolerate major surgical operations and are drug-resistant. During the interventional surgery process, consumables such as sheaths and catheters, which are longitudinally long members, are often used. By means of external manipulation, consumables such as catheters or sheaths are inserted into a specific target area in the body for treatment or diagnosis.

[0003] In order to improve the stability of the surgery and avoid doctors being affected by radiation in the operating room, interventional surgery assistance technology has emerged. By means of doctors remotely controlling auxiliary devices, the auxiliary devices perform interventional operations on interventional instruments such as catheters and sheaths in the operating room. There are strict requirements for the sterility of interventional instruments during the surgical operation, and it is necessary to ensure that the instruments in direct contact with the patient's blood vessels are not contaminated by the operating mechanism. Therefore, installing interventional instruments that require sterilization on the interventional surgery assistance device poses a risk of contamination of the interventional instruments. How to ensure the sterilized state of the interventional instruments is an important issue to be considered in the design of the interventional surgery assistance device. Summary of the Invention

[0004] To solve the above problems, the present invention provides a driving control device for a longitudinally long surgical member and a surgical instrument. With the assembly module as the intermediate transmission, the driving module is not directly connected to the handle of the longitudinally long surgical member that has been sterilized, and the sterilization isolation of the longitudinally long surgical member can be achieved.

[0005] To achieve the above object, on the one hand, the present invention provides a driving control device for a longitudinally long surgical member. A driving part is provided at the proximal end of the longitudinally long surgical member. The driving control device is characterized in that: the driving control device includes a driving module and an assembly module. The assembly module is used for detachably connecting the longitudinally long surgical member. The driving module is detachably connected to the assembly module. The driving module includes at least one actuating unit. The assembly module includes at least one transmission component. Each transmission component has a first transmission part and a second transmission part that are linked. The first transmission part and the second transmission part are spaced apart. Wherein the first transmission part is in transmission connection with the actuating unit, and the second transmission part is in mating connection with the driving part of the longitudinally long surgical member.

[0006] On the other hand, the present invention also provides a surgical instrument, including a longitudinally long surgical member and the above-mentioned driving control device. A driving part is provided at the proximal end of the longitudinally long surgical member. The driving control device is in mating connection with the driving part of the longitudinally long surgical member.

[0007] The beneficial effects of the present invention are:

[0008] In the above-mentioned surgical instrument and drive control device, the longitudinal surgical component and the drive control device are connected via a transmission assembly of the assembly module. Since the first transmission part and the second transmission part of the transmission assembly are arranged at intervals, the drive module and the handle of the sterilized longitudinal surgical component are not directly connected, so that the connection between the sterilized longitudinal surgical component and the drive module has a certain isolation effect, which facilitates the sterilization isolation of the longitudinal surgical component. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a three-dimensional schematic diagram of an embodiment of a surgical instrument of the present application.

[0010] Figure 2 yes Figure 1 A cross-sectional view of the surgical instrument shown.

[0011] Figure 3 yes Figure 2 A magnified schematic diagram of center A.

[0012] Figure 4 yes Figure 1 Exploded diagram of the drive control device in .

[0013] Figure 5 yes Figure 4 Schematic diagram of the structure of the middle shell.

[0014] Figure 6 yes Figure 4 Schematic diagram of the structure of the midsole plate.

[0015] Figure 7 It is a structural schematic diagram of another embodiment of the transmission assembly.

[0016] Description of the accompanying drawings: drive control device 100, bending adjustment actuating unit 110, bending adjustment driving motor 111, bending adjustment transmission member 112, rotation actuating unit 120, rotation driving motor 121, rotation transmission member 122, linear drive assembly 130, linear drive motor 131, screw assembly 132, moving element 133, transmission assembly 140, 140a, first transmission part 141, 141a, second transmission part 142, 142a, connecting shaft 143, 143a, sliding hole 144, bottom plate 150, through hole 151, mounting seat 152, support seat 153, housing 160, opening 161, first buckle structure 162, mounting position 163, flip cover 164;

[0017] The longitudinal surgical member 200 comprises a main body 201 , a first gear ring 202 , a second gear ring 203 , and a limiting ring 204 . DETAILED DESCRIPTION

[0018] For ease of understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. One or more embodiments of the present application are exemplarily shown in the drawings to make the understanding of the technical solutions disclosed in the present application more accurate and thorough. However, it should be understood that the present application can be implemented in many different forms and is not limited to the embodiments described below.

[0019] In the drawings of the present application, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", etc. indicating the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for exemplary illustration and cannot be understood as a limitation of the present application. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0020] In the description of the present application, it should be noted in advance that the terms "proximal end" and "distal end" are the relative orientations, relative positions, and directions of elements or actions relative to each other from the perspective of the operator using the medical device. Although "proximal end" and "distal end" are not restrictive, generally, the "proximal end" refers to the end of the medical device that is close to the operator during normal operation, and the "distal end" usually refers to the end that first enters the patient's body. The direction of the rotation central axis of an object such as a cylinder or a tube is defined as the axial direction, and the direction perpendicular to the axial direction is defined as the radial direction. The circumferential direction refers to the "circumferential direction", that is, the direction around the axis of the cylinder, tube, etc. (perpendicular to the axis and at the same time perpendicular to the cross-sectional radius). The "circumferential direction", "axial direction", and "radial direction" together constitute the three orthogonal directions of the cylindrical coordinate. These definitions are only for the convenience of expression and do not constitute a limitation of the present application.

[0021] Please refer to Figure 1 and Figure 2 As shown, the present application provides an embodiment of a surgical instrument, including a longitudinally extended surgical member 200 and a drive control device 100. A drive part is provided at the proximal end of the longitudinally extended surgical member 200, and the drive control device 100 is cooperatively connected to the drive part of the longitudinally extended surgical member 200.

[0022] The longitudinally extending drive member is generally a longitudinally extending surgical member 200 such as a sheath tube or a catheter. In this embodiment, a sheath tube is taken as an example. The longitudinally extending surgical member 200 includes a tube body and a body portion 201 (generally a handle structure) connected to the proximal end of the tube body. The drive portion is fixedly or rotatably provided on the body portion 201. The drive portion includes at least one gear ring. In this embodiment, the drive portion includes two gear rings, namely a first gear ring 202 and a second gear ring 203 which are spaced apart. Among them, the first gear ring 202 is fixed to the body portion 201, and the second gear ring 203 is rotatably sleeved on the body portion 201.

[0023] The drive control device 100 includes a drive module and an assembly module, and the drive module and the assembly module can be modular components pre-assembled into one body respectively. The assembly module is used to detachably connect the longitudinally extending surgical member 200. The drive module is detachably connected to the assembly module. The drive module includes at least one actuating unit, and the assembly module includes at least one transmission component 140.

[0024] In this embodiment, the drive module includes two actuating units, namely a bending actuating unit 110 and a rotation actuating unit 120, and the assembly module includes two transmission components 140. As shown in Figure 4 FIG. 8, the rotation actuating unit 120 includes a rotation drive motor 121 and a rotation transmission member 122 connected to the rotation drive motor 121. The rotation transmission member 122 is in transmission connection with the first gear ring 202 through a transmission component 140. The bending actuating unit 110 includes a bending drive motor 111 and a bending transmission member 112 connected to the bending drive motor 111. The bending transmission member 112 is in transmission connection with the second gear ring 203 through another transmission component 140. Among them, the rotation drive motor 121 and the bending drive motor 111 are coaxially arranged, so that the structure of the drive module is simpler and more compact, and the rotation and bending of the longitudinally extending surgical member 200 can be controlled separately, and the movement of each component is simpler, more stable and more reliable.

[0025] Each transmission component 140 has a first transmission portion 141 and a second transmission portion 142 which are linked. The first transmission portion 141 and the second transmission portion 142 are spaced apart. The first transmission portion 141 and the second transmission portion 142 are fixed to both ends of a connecting shaft 143 respectively to achieve the sterilization transmission effect of the transmission component 140. Among them, the first transmission portion 141 is in transmission connection with the actuating unit, and the second transmission portion 142 is in mating connection with the drive portion of the longitudinally extending surgical member 200. Taking the bending actuating unit 110 as an example, as shown in Figure 3 FIG. 13, the first transmission portion 141 is in transmission connection with the bending transmission member 112 of the bending actuating unit 110, and the second transmission portion 142 is in transmission connection with the second gear ring 203.

[0026] The surgical instrument provided in this embodiment has a detachable connection between the drive module and the assembly module of the drive control device 100, and the assembly module can be the same as the longitudinal surgical member 200, which is a sterilized disposable consumable, and the first transmission part 141 and the second transmission part 142 of the transmission assembly 140 are arranged at intervals, and the drive module is not directly connected to the handle of the sterilized longitudinal surgical member 200. Therefore, whether it is reinstalled or replaced with other longitudinal surgical members 200, the sterilization effect of the sterilized longitudinal surgical member 200 and other interventional instruments can be guaranteed without being contaminated by the drive module. On the other hand, each time the drive control device 100 is used, only the sterilized consumables need to be replaced and the drive module is placed in a sterile bag, which is more convenient and effective than the structure that requires the entire drive control device to be sterilized.

[0027] In this embodiment, the first transmission part 141 is a spur gear, the second transmission part 142 is a spur gear, and the bending transmission member 112 and the rotating transmission member 122 are also spur gears. In other embodiments, the first transmission part 141 and the second transmission part 142 can also be one of a friction wheel, a helical gear, and a bevel gear, and the first transmission part 141 and the second transmission part 142 can be the same or different. The bending transmission member 112 and the rotating transmission member 122 can also be one or more combinations of a worm, a spur gear, a friction wheel, a helical gear, and a bevel gear, and the bending transmission member 112 and the rotating transmission member 122 can be the same or different.

[0028] The driving control device 100 drives the tube body of the longitudinal driving member to achieve bending, rotation, feeding and retreat. The driving control device 100 also includes a linear driving assembly 130, which includes a linear driving motor 131, a screw assembly drivingly connected to the output shaft of the linear driving motor 131, and a moving element 133 screwed to the screw assembly. The rotation of the linear driving motor 131 is converted into linear motion through the screw assembly 132, so that when the screw assembly rotates under the drive of the linear driving motor 131, the moving element 133 moves along the axial direction of the screw of the screw assembly.

[0029] The assembly module further includes a bottom plate 150 and a housing 160. The housing 160 is detachably connected to the bottom plate 150 via a first buckle structure 162. The transmission assembly 140 is installed in the housing 160. In order to realize the transmission connection of the transmission assembly 140, as shown in FIG. Figure 5 As shown, the top and bottom of the housing 160 are respectively provided with openings 161, the first transmission part 141 is exposed from the opening at the bottom of the housing 160 (not shown), and the second transmission part 142 is exposed from the opening 161 at the top of the housing 160; Figure 6 As shown, the bottom plate 150 is provided with a through hole 151 corresponding to the transmission member, and the top of the transmission member is exposed from the through hole 151 and is transmission-connected to the first transmission part 141 .

[0030] The upper part of the housing 160 has a mounting position 163 for assembling the proximal end of the longitudinally extending surgical member 200. The housing 160 has a second snap structure for detachably connecting the longitudinally extending surgical member 200. The housing 160 includes a main body portion, and the second snap structure is a flip cover that can rotate relative to the main body portion. In one embodiment, it can be Figure 5 the flip cover 164 shown. As Figure 2 shown in the embodiment, the longitudinally extending surgical member 200 further includes at least one limiting ring 204. In this embodiment, two limiting rings 204 are rotatably sleeved on the body portion 201, and the flip cover 164 covers the position of the limiting ring 204 to limit the longitudinally extending surgical member 200 in the mounting position 163 of the housing 160.

[0031] The drive control device 100 is installed on the bottom plate 150. The bottom of the bottom plate 150 is provided with a support seat 153 and two mounting seats 152. The two mounting seats 152 are respectively used for installing the rotation drive motor 121 and the bending adjustment drive motor 111. The support seat 153 is connected to the moving element 133 of the linear drive assembly 130. The entire bottom plate 150 is driven to move through the moving element 133, and then the assembly module and the drive module are driven to move. The support seat 153 is arranged between the two mounting seats 152, and the assembly module and the linear drive assembly 130 are rigidly connected to improve stability.

[0032] The rotation and bending of the longitudinally extending surgical member 200 are realized through the transmission assembly 140 of the assembly module. The drive control device 100 as a whole does not need to follow the rotation, and the assembly module only makes a linear motion. Therefore, the motor wires and other wires (such as sensor wires) do not need to rotate with the motor, making the wire connection simpler. On the other hand, the rotation of the longitudinally extending surgical member 200 itself is not restricted, and the rotation angle range is greatly increased.

[0033] As Figure 7 shown, in another embodiment of the present application, the transmission assembly 140a can also be configured as a rack. The rack includes a rack body, and a first tooth group and a second tooth group arranged on opposite sides of the rack body. The first tooth group is the first transmission portion 141a, and the second tooth group is the second transmission portion 142a. In order to realize the transmission of the rack, the rack body is provided with a long strip-shaped sliding hole 144, and two connecting shafts 143a are inserted into the sliding hole 144. The two connecting shafts 143a are arranged at intervals, and the interval distance is less than the length of the sliding hole 144. Under the support and limiting action of the connecting shafts 143a, the rack moves laterally to realize the transmission between the drive module and the longitudinally extending surgical member 200.

[0034] The above embodiments are only descriptions of the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present application shall fall within the protection scope determined by the claims of the present application.

Claims

1. A driving control device for a longitudinally extended surgical member, wherein a driving part is provided at the proximal end of the longitudinally extended surgical member, characterized in that: The drive control device includes a drive module and an assembly module. The assembly module is used to detachably connect the longitudinal surgical member. The drive module is detachably connected to the assembly module. The drive module includes at least one actuation unit. The assembly module includes at least one transmission component. Each transmission component has a first transmission part and a second transmission part that are linked. The first transmission part and the second transmission part are spaced apart. Wherein the first transmission part is in transmission connection with the actuation unit, and the second transmission part is in mating connection with the drive part of the longitudinal surgical member.

2. The drive control device according to claim 1, wherein: The transmission component includes a connecting shaft, and the first transmission part and the second transmission part are respectively fixed to both ends of the connecting shaft.

3. The drive control device according to claim 2, characterized in that: The first transmission part is one of a spur gear, a friction wheel, a helical gear, and a bevel gear; the second transmission part is one of a spur gear, a friction wheel, a helical gear, and a bevel gear.

4. The drive control device according to any one of claims 1 to 3, characterized in that: The actuation unit includes a drive motor and a transmission member connected to the drive motor. The transmission member is in transmission connection with the first transmission part; the transmission member includes one or a combination of a worm, a spur gear, a friction wheel, a helical gear, and a bevel gear.

5. The drive control device according to claim 4, characterized in that: The drive module includes two actuation units, which are a bending actuation unit and a rotation actuation unit respectively. The assembly module includes two transmission components, and the two transmission components are respectively detachably connected to the two actuation units.

6. The drive control device according to claim 5, characterized in that: The drive motors of the bending actuation unit and the rotation actuation unit are coaxially arranged.

7. The drive control device according to claim 4, wherein: The drive module further includes a bottom plate and a mounting seat. The drive motor is mounted on the bottom of the bottom plate through the mounting seat. The assembly module is detachably mounted on the top of the bottom plate. The bottom plate is provided with a through hole corresponding to the transmission member, and the top of the transmission member exposes from the through hole and is in transmission connection with the first transmission part.

8. The drive control device according to claim 7, wherein: The assembly module further includes a housing. The transmission component is installed in the housing. The first transmission part exposes from the opening at the bottom of the housing, and the second transmission part exposes from the opening at the top of the housing.

9. The drive control device according to claim 8, characterized in that: The housing and the bottom plate are detachably connected through a first snap structure.

10. The drive control device according to claim 8, wherein: The upper part of the housing has a mounting position for assembling the proximal end of the longitudinal surgical member; the housing has a second snap structure for detachably connecting the longitudinal surgical member.

11. The drive control device according to claim 10, characterized in that: The housing includes a main body part, and the second snap structure is a flip cover that can rotate relative to the main body part.

12. The drive control device according to claim 1, wherein: The transmission component is configured as a rack. The rack includes a rack body, and a first tooth group and a second tooth group arranged on opposite sides of the rack body. The first tooth group is the first transmission part, and the second tooth group is the second transmission part.

13. A surgical instrument, characterized in that: It includes a longitudinal surgical member and the drive control device as claimed in claims 1-12. The proximal end of the longitudinal surgical member is provided with a drive part, and the drive control device is in mating connection with the drive part of the longitudinal surgical member.

14. The surgical instrument according to claim 13, characterized in that: The drive part of the longitudinal surgical member includes at least one gear ring, and the gear ring is fixed to or rotatably arranged on the body part of the longitudinal surgical member.

15. The surgical instrument according to claim 14, wherein: The gear ring includes a first gear ring and a second gear ring that are arranged at intervals. The first gear ring is fixed to the body portion, and the second gear ring is rotatably sleeved on the body portion.

16. The surgical instrument according to claim 14, wherein: The longitudinally extending surgical member is further provided with at least one limiting ring that is rotatably sleeved on the body portion, and the limiting ring is used for connecting and limiting with the assembly module.

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