Guide wire intervention device suitable for two-channel endoscope

Abstract

A guide wire intervention device suitable for a two-channel endoscope comprises a guide wire posture adjusting device and a guide wire inlet fixing device, the guide wire posture adjusting device is used for adjusting the position and posture of a guide wire so that the tip of the guide wire can be registered with a guide wire inlet, and the guide wire inlet fixing device is used for clamping and fixing the guide wire inlet; the guide wire pose adjusting device comprises a three-axis flexible parallel wrist joint mechanism based on three elastic skeletons, the three-axis flexible parallel wrist joint mechanism has two bending freedom degrees and one overall feeding freedom degree, one elastic skeleton is reused as a guide wire transmission channel so as to be conveniently registered with a guide wire inlet, and a visual module is attached to the tail end of a wrist joint; the guide wire inlet fixing device comprises a three-axis flexible parallel wrist joint and a flexible clamping forceps mechanism which is arranged at the tail end of the wrist joint and driven by a driving wire, and has two bending freedom degrees, one overall feeding freedom degree and one clamping forceps opening and closing freedom degree. The guide wire intervention device can flexibly achieve accurate matching of the guide wire and the guide wire inlet, and misoperation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a guidewire intervention device suitable for dual-channel endoscopy. Background Art

[0002] In endoscopic surgeries performed through natural cavities, guidewire insertion is a common method for guiding surgical instruments into narrow and tortuous human cavities, such as endoscopic retrograde cholangiopancreatography (ERCP) and bladder polypectomy for patients with urinary tract strictures. Among guidewire-based surgeries, ERCP is particularly challenging. During this procedure, the surgeon typically needs to adjust the guidewire's curvature using a forceps elevator and insert it through the duodenal papilla (the guidewire entry point) into the patient's bile duct or pancreatic duct to guide the subsequent insertion of surgical instruments and complete the surgical procedure. However, the bile and pancreatic ducts have a large curvature angle relative to the main body of the duodenum, and the duodenal papilla is difficult to secure during guidewire insertion. Furthermore, existing instruments have relatively limited degrees of freedom, making it difficult to perfectly match the spatial position of the duodenal papilla. Therefore, a successful guidewire insertion may be accompanied by several misoperations, which can damage the fragile lining of the digestive tract and lead to complications such as gastrointestinal bleeding, perforation, and inflammation.

[0003] It should be noted that the information disclosed in the above background technology section is only used to understand the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0004] The main purpose of the present invention is to overcome the defects of the above-mentioned background technology and provide a guidewire intervention device suitable for dual-channel endoscopy.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A guidewire intervention device suitable for dual-channel endoscopy, comprising a guidewire posture adjustment device and a guidewire entrance fixing device, wherein the guidewire posture adjustment device is used to adjust the position and posture of the guidewire so that the tip of the guidewire is aligned with the guidewire entrance, and the guidewire entrance fixing device is used to clamp and fix the guidewire entrance; wherein the guidewire posture adjustment device comprises a three-axis flexible parallel wrist joint mechanism based on three elastic skeletons, which has two bending degrees of freedom and one overall feed degree of freedom, wherein one elastic skeleton is reused as a transmission channel for the guidewire so as to be aligned with the guidewire entrance, and a visual module is attached to the end of the wrist joint, and its direction is compatible with the deep direction of the guidewire; the guidewire entrance fixing device comprises a three-axis flexible parallel wrist joint and a flexible clamping forceps mechanism driven by a drive wire at the end of the wrist joint, which has two bending degrees of freedom, one overall feed degree of freedom and one clamp opening and closing degree of freedom.

[0007] Furthermore, the guidewire position adjustment device includes two guidewire adjustment drive wires and a guidewire inner sheath, the guidewire is arranged in the guidewire inner sheath, the distal ends of the two guidewire adjustment drive wires and the guidewire inner sheath are respectively fixed on the guidewire adjustment end fixing plate, the proximal ends of the two guidewire adjustment drive wires and the guidewire inner sheath are respectively fixed on three guidewire adjustment screw pairs through guidewire adjustment sliders, and each guidewire adjustment screw pair is driven by three guidewire adjustment motors to realize the forward and backward feeding of the two guidewire adjustment drive wires and the guidewire inner sheath.

[0008] Furthermore, the guidewire posture adjustment device also includes two guidewire adjustment drive wire sheaths and a guidewire outer sheath adapted to the two guidewire adjustment drive wires and the guidewire inner sheath, the proximal ends of which are fixed on the quick-change base, the distal ends of which are fixed on the guidewire adjustment terminal base, and a torque tube is sleeved on the outside, and the guidewire adjustment terminal base is connected to the quick-change base through the torque tube;

[0009] Furthermore, the two guide wire adjustment drive wires and the guide wire inner sheath are fed respectively under the drive of the motor, changing the lengths of the two guide wire adjustment drive wires and the guide wire inner sheath between the guide wire adjustment end fixing disk and the guide wire adjustment end base to achieve bending in different directions; by keeping the length difference between the two guide wire adjustment drive wires and the guide wire inner sheath between the guide wire adjustment end fixing disk and the guide wire adjustment end base unchanged, and feeding toward the proximal end or distal end at the same time, the bending radius can be adjusted.

[0010] The stiffness of the drive wire / guidewire inner sheath can be designed through a static model so that the stiffness of the guidewire inner sheath + guidewire is greater than the stiffness of the drive wire, thereby realizing a multi-axis stiffness asymmetric structure of the parallel joint. Furthermore, the parallel wrist joint structure with asymmetric stiffness can be used to obtain a larger extreme bending angle, and the bending radius during large-angle bending can be adjusted by adjusting the overall length.

[0011] Furthermore, the forward and backward feeding of the guide wire is realized by a roller pair, the active roller of the roller pair is driven by a motor, and it is tightly fitted with the passive roller of the roller pair through the action of a tightening bolt, and the guide wire passes between the active roller and the passive roller, and is driven forward and backward by friction when the active roller rotates.

[0012] Furthermore, the guidewire posture adjustment device also includes an overall forward and backward movement module, which is used to move the three-axis flexible parallel wrist joint mechanism of the guidewire posture adjustment device forward and backward as a whole.

[0013] Furthermore, each wire guide adjustment motor is connected to each wire guide adjustment screw pair through a split coupling with a micro-interference connection. Each motor is fixed on a translation connection seat, and each wire guide adjustment screw pair is fixed on a quick-change base. The quick-change base is connected to the translation connection seat in a detachable manner, and the translation connection seat is installed on the overall forward and backward moving module.

[0014] Furthermore, the guide wire entrance fixing device includes a flexible clamp, which includes two groups of flexible skeletons and rigid skeletons arranged in parallel, and a fixing device driving wire group extending inside the flexible skeleton and fixed at the distal end to the rigid skeleton at the very end. The flexible skeleton and the rigid skeleton in each group are alternately combined, and the two groups together constitute the two clips of the flexible clamp; preferably, the overall contours of the flexible skeleton and the rigid skeleton are both semi-cylindrical; preferably, the fixing device driving wire is NiTi wire.

[0015] Furthermore, the guidewire inlet fixture also includes an elastic tube with a dual channel and two other fixture drive wires. The elastic tube with a dual channel is fixed between the end base of the fixture and the fixing plate of the fixture. The fixture drive wire extends from the elastic tube into the flexible skeleton. The two fixture drive wires in the dual channel are closely spaced, while the other two fixture drive wires are relatively far apart.

[0016] Furthermore, each fixing device driving wire is transmitted over long distances through a wire sheath structure, the distal ends of the two fixing device driving wires in the dual channels are fixed on the rigid skeleton at the farthest end of the flexible clamp, and the distal ends of the other two fixing device driving wires are fixed on the fixing plate at the root of the flexible clamp, and the driving ends of the other two fixing device driving wires are respectively controlled by two sets of linear screw pairs, and the two fixing device driving wires in the dual channels are controlled by one set of linear screw pairs or are respectively controlled by two sets of linear screw pairs; preferably, the two ends of the wire sheath of the fixing device driving wire are respectively fixed on the fixing device quick-change base and the fixing device end base, and each wire sheath is wrapped in a torque tube, and the two ends of the torque tube are respectively fixed on the fixing base quick-change device and the fixing device end base.

[0017] Furthermore, the guidewire inlet fixing device further comprises an overall forward and backward movement module for enabling the overall forward and backward movement of the three-axis flexible parallel wrist joint of the guidewire inlet fixing device.

[0018] In some embodiments, a basic module of a guidewire interventional device may include the following three parts: a flexible parallel guidewire posture adjustment device capable of large-angle bending, a guidewire entrance fixing device, and a dual-channel endoscope. Each module further includes a drive unit, a long-distance transmission unit, and an operating unit. The operating unit of the flexible parallel guidewire posture adjustment device is a parallel wrist joint mechanism using three elastic skeletons and an additional vision module, with two bending degrees of freedom and one overall feed degree of freedom. One elastic skeleton of the wrist joint mechanism is reused as the transmission channel for the guidewire, and the diameters of the other two elastic skeletons are specially designed based on the target workspace and stiffness indicators. The guidewire passes through the transmission channel and bends with the bending of the transmission channel to align with the guidewire entrance. The diameters of the remaining two elastic wrist joints are obtained by an optimization algorithm, and the optimization indicators are the maximum bending angle of the wrist joint, flexibility within a specific bending angle range, and overall stiffness. The visual module is attached to the end of the wrist joint and can move with the bending of the wrist joint. Its direction is compatible with the deep direction of the guide wire, so the field of view can always be focused on the tip of the guide wire, increasing the amount of visual information obtained during the guide wire insertion process.

[0019] In some embodiments, the operating unit of the guidewire entry fixture comprises an asymmetrically sized three-axis flexible parallel wrist joint and a NiTi wire-driven flexible clamping mechanism connected in series at the end of the wrist joint. The clamping mechanism has two bending degrees of freedom, one overall feeding degree of freedom, and one clamping degree of freedom. The parameters of the parallel wrist joint are determined using the wrist joint parameter optimization method used in the guidewire posture adjustment device.

[0020] In some embodiments, the operating unit of the dual-channel endoscope is a wire-driven discrete serpentine arm that can bend in both directions and has dual instrument channels and auxiliary modules such as vision.

[0021] In some embodiments, the long-distance transmission units of the three basic modules are all silk sheath structures to facilitate passage through the narrow and tortuous human digestive tract.

[0022] In some embodiments, the drive units of the flexible parallel guidewire adjustment device and the guidewire inlet fixing device are both DC motor-driven ball screw pairs, wherein the guidewire feed action is driven by a roller that can be pre-tightened. The drive end of the dual-channel endoscope is a motor-driven handwheel mechanism.

[0023] In some embodiments, a guidewire interventional device as a whole may include three modules: a dual-channel endoscope module, a guidewire adjustment and feeding module, and a guidewire entrance fixing module. The dual-channel endoscope module has dual endoscope channels, which can provide working channels for the guidewire adjustment and feeding module and the guidewire entrance fixing module. The guidewire adjustment and feeding module adopts a micro-parallel platform for posture adjustment, has a multi-directional bending function, and is equipped with a visual module to achieve real-time visual information feedback. The guidewire entrance fixing module has a micro-parallel platform for adjusting the posture, and a flexible clamping mechanism, which can achieve relative fixation of the guidewire entrance during surgery.

[0024] In some embodiments, the guidewire adjustment feeding module has a micro parallel platform that can adjust the guidewire bending angle and bending direction, which includes three elastic skeletons, one of which is an elastic tube that provides a working channel for the driving wire, and two are NiTi wires.

[0025] In some embodiments, the guide wire of the guide wire adjustment and feeding mechanism is concentrically arranged with the elastic tube, and the forward and backward feeding operation is achieved by a roller mechanism. The tension between the active roller and the passive roller of the roller pair is adjusted by a tightening bolt to facilitate the rapid disengagement of the guide wire from the roller when changing surgical instruments.

[0026] In some embodiments, the three elastic skeletons of the micro parallel platform of the guidewire adjustment feeding module can perform feeding motion simultaneously to achieve a change in the initial length of the parallel platform, thereby changing the curvature radius of the guidewire bending to adapt to the requirements of different working environments.

[0027] In some embodiments, the micro parallel platform of the guidewire inlet fixing module includes three elastic frames, one of which is a dual-channel elastic tube. The elastic tube not only supports the parallel platform frame, but also serves as a working channel for the NiTi wire driving the flexible clamp.

[0028] In some embodiments, the flexible clamping mechanism of the guidewire entry fixation module includes two jaws with a multi-rigidity structure, including a flexible NiTi wire channel, an elastic frame, and a rigid limiting module. The driving NiTi wire passes through the NiTi wire channel, and when pushed forward, the elastic frame and the NiTi wire are forced to bend simultaneously, thereby achieving clamp opening. At the same time, the presence of the rigid limiting module can limit the shape difference between the NiTi wire and the elastic frame when they are bent.

[0029] In some embodiments, the guidewire adjustment and feed module and the guidewire inlet fixing module both feature quick-change functionality, with a detachable coupling connecting the drive motor and the ball screw driving the NiTi wire. Rotating the coupling to a specific position allows for quick release of the end effector, the working channel, and the ball screw assembly from the drive motor.

[0030] The present invention has the following beneficial effects:

[0031] The present invention proposes a guidewire intervention device suitable for dual-channel endoscopy. While completing conventional guidewire intervention work, it is specially designed to address the difficulties of ERCP surgery, effectively solving the difficulties of guidewire intervention in natural cavity surgery. The present invention has a more flexible guidewire posture adjustment mechanism and a guidewire inlet fixing device that can be integrated into the system's operating arm, allowing the device to more flexibly achieve precise matching of the guidewire and the guidewire inlet, reducing the occurrence of misoperation and shortening the patient's postoperative recovery time.

[0032] Compared with the prior art, the present invention has the following outstanding advantages:

[0033] (1) High flexibility: The end effector is equipped with a wrist joint that can be bent in multiple directions to adjust the initial position of the guide wire. By optimizing the mechanical parameters, a larger extreme bending angle and higher flexibility can be obtained while ensuring stiffness.

[0034] (2) Strong operability: The collaboration of the dual operating instruments can adjust the guidewire position while limiting the movement of the guidewire entrance during the intervention process, thereby improving the success rate of guidewire insertion.

[0035] (3) Rich operation information: The visual unit attached to the end of the guidewire adjustment device can provide a dynamic field of view, increase the amount of information obtained during the guidewire insertion process, further improve the success rate of guidewire insertion, and ensure the safety of the operation.

[0036] (4) Good compatibility: The flexible parallel guidewire posture adjustment device and guidewire entrance fixing device involved in the present invention are fully compatible with the dual-channel endoscope system commonly used in hospitals, which can accelerate the marketization process.

[0037] Other beneficial effects of the embodiments of the present invention will be further described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a diagram of the overall structure of the system according to an embodiment of the present invention.

[0039] Figure 2 Schematic diagram of a flexible parallel guidewire posture adjustment device capable of large-angle bending according to an embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram of the decomposition of the driving device of the guidewire posture adjustment device according to an embodiment of the present invention.

[0041] Figure 4 Schematic diagram of the wire sheath mechanism of the guidewire posture adjustment device according to an embodiment of the present invention.

[0042] Figure 5Schematic diagram of the end effector of the guidewire posture adjustment device according to an embodiment of the present invention.

[0043] Figure 6 This is a schematic diagram of the decomposition of the quick-changing device and the guidewire advancing device of the guidewire posture adjustment device according to an embodiment of the present invention.

[0044] Figure 7 Schematic diagram of a guidewire inlet fixing device according to an embodiment of the present invention.

[0045] Figure 8 This is a schematic diagram of the exploded driving portion of the guidewire inlet fixing device according to an embodiment of the present invention.

[0046] Figure 9 Schematic diagram of the wire sheath mechanism of the guidewire inlet fixing device according to an embodiment of the present invention.

[0047] Figure 10 Schematic diagram of the closing and opening of the flexible clamp of the end effector mechanism of the guidewire inlet fixing device according to an embodiment of the present invention.

[0048] Figure 11 Schematic diagram of a flexible unit of a flexible clamp according to an embodiment of the present invention.

[0049] Reference numerals:

[0050] 1 is a dual-channel endoscope, 2 is a guidewire posture adjustment device, and 3 is a guidewire entrance fixing device. Specifically, A is the driving part of the flexible parallel guidewire posture adjustment and feeding device, B is its transmission part, and C is its end effector part. Specifically, A-1 is a guidewire, A-2 is a guidewire feeding unit base, A-3 is a guidewire feeding passive roller, A-4 is a guidewire feeding active roller, A-5 is a tightening bolt, A-6 is a guidewire feeding drive motor, A-7 is a quick-change base 1, A-8 is a guidewire adjustment guide rod 1, A-9 is a guidewire adjustment slider, A-10 is a guidewire adjustment screw pair, A-11 is a guidewire inner sheath, A-12 is a guidewire adjustment drive NiTi wire, A-13 is a guidewire adjustment drive wire sheath, A -14 is the guidewire sheath, A-15 is the quick-change base 2, A-16 is the guidewire adjustment coupling, A-17 is the guidewire adjustment device translation connector, A-18 is the guidewire adjustment device motor, A-19 is the guidewire adjustment device translation drive motor, A-20 is the guidewire adjustment device base 1, A-22 and 25 are the guidewire adjustment translation screw pair, A-23 is the guidewire adjustment translation slider connector, A-24 is the guidewire adjustment translation guide rod, and A-26 is the guidewire adjustment device base 2. B-1 is the guidewire adjustment torque tube, C-1 is the guidewire adjustment terminal fixing plate, C-2 is the guidewire adjustment terminal base, and C-3 is the guidewire adjustment installation terminal vision module;

[0051] D is the guidewire entrance fixture drive part, E is its transmission part, and F is its end operation part. Specifically, D-1 is the fixture drive motor 1, D-2 is the fixture translation connector, D-3 is the fixture coupling 1, D-4 is the fixture quick-change base 1, D-5 is the fixture slider connector, D-6 is the fixture bending slider, D-7 is the fixture bending guide rod, D-8-1 is the fixture drive NiTi wire group 1, D-8-2 is the fixture drive NiTi wire group 2, D-9 is the fixture quick-change base 2, D-10 is the fixture transmission wire sheath, D-11 is the fixture base 1, D-12 is the fixture translation guide rod, D-13 is the fixture translation slider, D-14 is the fixture translation screw pair, D-15 is the fixture translation coupling, D-16 is the fixture base 2, D-17 is the fixture translation motor, E-1 is the fixture torque tube, F-1 is the fixture end base, F-2 is the fixture double-hole elastic frame, F-3 is the fixture end fixing plate, F-4 is the soft clamp flexible frame, and F-5 is the soft clamp rigid frame. DETAILED DESCRIPTION

[0052] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope of the present invention and its application.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for both fixing and coupling or communication.

[0054] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0056] See Figures 1 to 11 An embodiment of the present invention provides a guidewire intervention device suitable for use under a dual-channel endoscope 1, comprising a guidewire posture adjustment device 2 and a guidewire entrance fixing device 3, wherein the guidewire posture adjustment device 2 is used to adjust the position and posture of the guidewire A-1 so that the tip of the guidewire A-1 is aligned with the guidewire entrance, and the guidewire entrance fixing device 3 is used to clamp and fix the guidewire entrance; wherein, the guidewire posture adjustment device 2 comprises a three-axis flexible parallel wrist joint mechanism based on three elastic skeletons, having two bending degrees of freedom and one overall feed degree of freedom, wherein one elastic skeleton is reused as a transmission channel of the guidewire so as to be aligned with the guidewire entrance, and a visual module is attached to the end of the wrist joint, and its direction is compatible with the deep direction of the guidewire; the guidewire entrance fixing device 3 comprises a three-axis flexible parallel wrist joint and a flexible clamping mechanism driven by a driving wire at the end of the wrist joint, having two bending degrees of freedom, one overall feed degree of freedom and one clamp opening and closing degree of freedom.

[0057] Compared with traditional designs, the present invention has a more flexible guidewire posture adjustment mechanism and a guidewire inlet fixing device which can be integrated into the operating arm of the system, so that the system can more flexibly achieve precise matching of the guidewire and the guidewire inlet, reduce the occurrence of misoperation, and shorten the patient's postoperative recovery time.

[0058] Specific embodiments of the present invention are further described below.

[0059] See Figures 1 to 11 In some embodiments, the guidewire intervention device suitable for dual-channel endoscopy is mainly used for guidewire intervention in endoscopic surgery. Based on the flexible dual-channel endoscope, the guidewire intervention device provides a dual-arm coordinated guidewire intervention method. During the surgical operation, the guidewire posture adjustment device 2 can flexibly adjust the position and posture of the guidewire under the action of the visual module so that its tip is aligned with the guidewire inlet. The guidewire inlet fixing device 3 can clamp and fix the guidewire inlet (such as the duodenal papilla in ERCP surgery) to prevent surgical errors caused by movement of the inlet during the guidewire insertion process, thereby improving the success rate of guidewire intervention.

[0060] Guidewire posture adjustment device 2

[0061] See Figures 1 to 6 The guidewire posture adjustment device 2 mainly includes three parts, namely the driving part A, the long-distance transmission part B, and the terminal operation part C. Among them, the terminal operation part is a micro three-axis parallel platform ( Figure 5), the three shafts serve as three elastic skeletons, namely two guide wire adjustment drive NiTi wires A-12 and one guide wire inner sheath A-11. The distal ends (away from the drive part) of the three elastic skeletons are fixed to the guide wire adjustment terminal fixed disk C-1, and the proximal ends (close to the drive part) are respectively fixed to three guide wire adjustment screw pairs A-10 via guide wire adjustment sliders A-9, and driven by three guide wire adjustment motors A-18 to achieve forward and backward feeding. In particular, the transmission channels of the three elastic skeletons are all flexible sheath structures, namely the guide wire adjustment drive sheath A-13 and the guide wire outer sheath A-14. The two ends of these flexible sheaths are respectively fixed to the quick-change base A-15 (proximal end) and the guide wire adjustment terminal base C-2 (distal end), and the guide wire adjustment terminal base C-2 and the quick-change base A-15 are connected by a torque tube B-1. Furthermore, the inner sheath A-11 of the guidewire serves as an elastic skeleton and is reused as a working channel for the guidewire, which provides protection and guidance for the guidewire throughout the entire process. In a preferred embodiment, the forward and backward feeding of the guidewire is achieved by roller pairs A-3 and A-4. The active roller A-3 is driven by a motor A-6, which is tightly fitted with the passive roller A-4 through the action of the tightening bolt A-5, and the guidewire A-1 passes through the middle of the two rollers. When the active roller A-3 rotates, the forward and backward movements are driven by friction. The status of each elastic component in the torque tube B-1 is shown as follows: Figure 4 shown.

[0062] The guidewire tip's position is adjusted by bending a micro three-axis parallel platform. Three elastic skeletons (two guidewire adjustment drive NiTi wires A-12 and one guidewire inner sheath A-11) are driven by motors to advance independently, varying their lengths between the guidewire adjustment tip's fixed disk C-1 and its base C-2. When these lengths differ, mechanical coupling allows the parallel platform to achieve two-way bending. Simultaneously, by adjusting the absolute length of the three elastic skeletons between the guidewire adjustment tip's fixed disk C-1 and its base C-2, the parallel platform's bending radius can be adjusted. This means that the three axes' length differences between the two bases remain constant while simultaneously advancing proximally or distally. This allows the platform to adjust the absolute length between the two bases, thereby adjusting the bending radius.

[0063] According to a preferred embodiment, the guide wire posture adjustment device 2 also has an overall forward and backward movement freedom, and the overall forward and backward translational movement is provided by the guide wire adjustment device translation drive motor A-19, the guide wire adjustment translation coupling A-21, the guide wire adjustment translation screw pair A-22 and the screw pair composed of A-25, wherein the guide wire adjustment translation slider connector A-23 is connected to the translation connecting seat A-17 by bolts, and transmits the motion to the device including the parallel platform bending drive motor and the screw pair, the transmission part B, and the end execution part C, to realize the overall feeding of the guide wire posture adjustment device.

[0064] According to a preferred embodiment, a vision module C-3 is fixed to the distal end of the guidewire adjustment terminal fixing plate C-1. The distal end of the cable is connected to the vision module C-3 after passing through the torque tube B-1, and the proximal end is connected to the image processing unit. The orientation of the vision module C-3 is aligned with the distal end of the guidewire. This allows for real-time visual information during guidewire position adjustment, improving the success rate of guidewire intervention.

[0065] According to a preferred embodiment, the transmission part and the end execution part of the guide wire adjustment device can be quickly replaced with the driving part. Figure 6 As shown, the guide wire adjustment coupling A-16 used can be divided into three parts, which are marked as A-16-1, A-16-2 and A-16-3 in the figure, respectively. The first part A-16-1 of the guide wire adjustment coupling is connected to the screw pair, the second part A-16-2 is located in the middle, and the third part A-16-3 is connected to the motor output shaft. In this embodiment, since the coupling only needs to transmit torque and does not need to bear radial force and axial force, a split coupling with a micro-interference connection can be used. If it is necessary to replace the instrument during the operation, the three couplings can be rotated to the same posture and disengaged at the same time, and then a new instrument can be replaced. After replacing the new instrument, the quick-change base A-15 and the translation connection seat A-17 are fixed by bolts. In addition, fixing with elastic snap fasteners or other methods can also be used as one of the preferred methods.

[0066] Guidewire entry fixture 3

[0067] See Figure 1 、 Figures 7 to 11The guidewire entrance fixture 3 mainly includes three parts, namely the driving part D, the transmission part E and the end execution part F. Among them, the end execution part is a miniature three-axis parallel platform and a flexible clamp connected in series with it. Among them, the flexible clamp is driven by a flexible skeleton F-4, a rigid skeleton F-5, and a fixture that extends into the flexible skeleton F-4 and fixes the distal end to the rigid skeleton at the end 2. Among them, the overall contours of the flexible skeleton and the rigid skeleton are both semi-cylindrical, and are alternately combined to form two clamps of the soft clamp. This rigid-flexible coupling clamp is formed in one piece using a 3D printer, which can eliminate assembly difficulties. The flexible skeleton has multiple rigidity parts, among which the part with higher rigidity F-4-1 mainly supports the skeleton, and the part with lower rigidity F-4-2 provides a working path for the NiTi wire (see Figure 11 ).

[0068] In the initial state, the two jaws of the clamp are closed. When they need to be opened, the two NiTi wires in the NiTi wire group D-8-2 can be pushed forward simultaneously or separately, forcing the flexible skeleton to bend. The accumulation of bending of multiple flexible skeleton units realizes the opening and closing of the clamp.

[0069] Regarding the micro three-axis parallel platform used for initial gripper posture adjustment, to control the two grippers, one of the elastic frameworks, F-2, is designed as a dual-channel elastic tube. The other two frameworks remain conventional NiTi wires. During posture adjustment, the two NiTi wires can push or pull, respectively, forcing the wrist joint to bend in any direction. Furthermore, because the two NiTi wires in NiTi wire group D-8-2 are closely spaced, and due to size constraints, the elastic framework F-2 is fixed between the end base F-1 of the fixture and the fixture plate F-3. Its length can be appropriately selected based on the specific usage scenario. In particular, because NiTi wire group D-8-1 can withstand both push and pull forces, this modification does not affect the parallel platform's degrees of freedom. Instead, through pre-designed mechanical structure, the two NiTi wires can drive two degrees of freedom in forward and backward bending for specific tasks.

[0070] According to a preferred embodiment, both NiTi wire groups D-8-1 and D-8-2 utilize a sheath structure for long-distance transmission. The distal end of NiTi wire group D-8-2 is affixed to the rigid frame at the farthest end of the flexible clamp, while the distal end of NiTi wire group D-8-1 is affixed to a fixed plate F-3 at the base of the flexible clamp. The proximal ends of the two NiTi wires in NiTi wire group D-8-1 are secured to two linear lead screw assemblies D-6 via two slider connectors D-5 for independent control. In this embodiment, to achieve symmetrical opening and closing of the clamp, NiTi wire group D-8-2 is secured to a linear lead screw assembly via a slider connector. If desired, the two NiTi wires can be controlled separately to achieve asymmetrical bending.

[0071] According to a preferred embodiment, the two ends of the silk sheath D-10 are respectively fixed on the quick-change base 2 of the D-9 fixture and the end base F-1 of the fixture, and the four silk sheaths are wrapped in the torque tube E-1. The two ends of the torque tube E-1 are respectively fixed to the distal end surface of the quick-change device 2 of the D-9 fixture base (see Figure 8 ) and the fixing device end base F-1.

[0072] According to a preferred embodiment, the guidewire inlet fixing device can also realize the rapid replacement of the end-operating instrument, and its quick-change structure is similar to that of the guidewire adjusting device.

[0073] According to a preferred embodiment, the guidewire inlet fixture can achieve overall forward and backward feeding. The overall forward and backward feeding motion is provided by a linear feed platform consisting of the fixture base 1D-11, the fixture translation guide rod D-12, the fixture translation slide D-13, the fixture translation screw pair D-14, the fixture translation coupling D-15, the fixture base 2D-16, and the fixture translation motor D-17. The fixture is connected to the translation connecting base D-2 via the fixture translation slide D-13. The two are preferably fixed by bolts.

[0074] Compared with the prior art, the present invention has the following outstanding advantages:

[0075] (1) High flexibility: The end effector is equipped with a wrist joint that can be bent in multiple directions to adjust the initial position of the guide wire. By optimizing the mechanical parameters, a larger extreme bending angle and higher flexibility can be obtained while ensuring stiffness.

[0076] (2) Strong operability: The collaboration of the dual operating instruments can adjust the guidewire position while limiting the movement of the guidewire entrance during the intervention process, thereby improving the success rate of guidewire insertion.

[0077] (3) Rich operation information: The visual unit attached to the end of the guidewire adjustment device can provide a dynamic field of view, increase the amount of information obtained during the guidewire insertion process, further improve the success rate of guidewire insertion, and ensure the safety of the operation.

[0078] (4) Good compatibility: The flexible parallel guidewire posture adjustment device and guidewire entrance fixing device involved in the present invention are fully compatible with the dual-channel endoscope system commonly used in hospitals, which can accelerate the marketization process.

[0079] The background section of the present invention may contain background information about the problem or environment of the present invention, but does not necessarily describe the prior art. Therefore, the inclusion of content in the background section is not an admission by the applicant that the prior art is present.

[0080] The above description further details the present invention in conjunction with specific / preferred embodiments, and the specific implementation of the present invention should not be construed as being limited to these descriptions. Persons skilled in the art will appreciate that, without departing from the spirit of the present invention, they may make various substitutions or modifications to the described embodiments, and these substitutions or modifications should be considered to fall within the scope of protection of the present invention. Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "preferred embodiments," "examples," "specific examples," or "some examples" indicates that the specific features, structures, materials, or characteristics described in conjunction with such embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Persons skilled in the art may combine and assemble the different embodiments or examples described in this specification, as well as features of different embodiments or examples, without conflicting opinions. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions, and modifications may be made herein without departing from the scope of protection of the patent application.

Claims

1. A guidewire intervention device suitable for dual-channel endoscopy, characterized in that: It includes a guidewire posture adjustment device and a guidewire entrance fixing device, the guidewire posture adjustment device is used to adjust the position and posture of the guidewire so that the tip of the guidewire is aligned with the guidewire entrance, and the guidewire entrance fixing device is used to clamp and fix the guidewire entrance; wherein, the guidewire posture adjustment device includes a three-axis flexible parallel wrist joint mechanism based on three elastic skeletons, which has two bending degrees of freedom and one overall feed degree of freedom, one elastic skeleton is reused as the transmission channel of the guidewire so as to be aligned with the guidewire entrance, and the visual module is attached to the end of the wrist joint, and its direction is compatible with the deep direction of the guidewire; the guidewire entrance fixing device includes a three-axis flexible parallel wrist joint and a flexible clamping clamp mechanism driven by a drive wire at the end of the wrist joint, which has two bending degrees of freedom, one overall feed degree of freedom and one clamp opening and closing degree of freedom.

2. The guidewire intervention device according to claim 1, wherein: The guidewire posture adjustment device includes two guidewire adjustment drive wires and a guidewire inner sheath. The guidewire is arranged in the guidewire inner sheath. The distal ends of the two guidewire adjustment drive wires and the guidewire inner sheath are respectively fixed on the guidewire adjustment end fixing plate. The proximal ends of the two guidewire adjustment drive wires and the guidewire inner sheath are respectively fixed on three guidewire adjustment screw pairs through guidewire adjustment sliders, and each guidewire adjustment screw pair is driven by three guidewire adjustment motors to realize the forward and backward feeding of the two guidewire adjustment drive wires and the guidewire inner sheath.

3. The guidewire intervention device according to claim 2, wherein: The guidewire posture adjustment device also includes two guidewire adjustment drive wire sheaths and a guidewire outer sheath adapted to the two guidewire adjustment drive wires and the guidewire inner sheath, the proximal ends of which are fixed on the quick-change base, the distal ends of which are fixed on the guidewire adjustment terminal base, and a torque tube is sleeved on the outside, and the guidewire adjustment terminal base is connected to the quick-change base through the torque tube; The two guide wire adjustment drive wires and the guide wire inner sheath are fed respectively under the drive of the motor, changing the lengths of the two guide wire adjustment drive wires and the guide wire inner sheath between the guide wire adjustment end fixing disk and the guide wire adjustment end base to achieve bending in different directions; by keeping the length difference between the two guide wire adjustment drive wires and the guide wire inner sheath between the guide wire adjustment end fixing disk and the guide wire adjustment end base unchanged, and feeding toward the proximal end or distal end at the same time, the bending radius can be adjusted.

4. The guidewire intervention device according to any one of claims 1 to 3, characterized in that: The forward and backward feeding of the guide wire is realized by a roller pair. The active roller of the roller pair is driven by a motor and is tightly fitted with the passive roller of the roller pair through the action of a tightening bolt. The guide wire passes between the active roller and the passive roller, and is driven forward and backward by friction when the active roller rotates.

5. The guidewire intervention device according to any one of claims 2 to 4, characterized in that: The guide wire posture adjustment device further comprises an overall forward and backward movement module, which is used to enable the overall forward and backward movement of the three-axis flexible parallel wrist joint mechanism of the guide wire posture adjustment device.

6. The guidewire intervention device according to claim 5, wherein: Each wire guide adjustment motor is connected to each wire guide adjustment screw pair through a split coupling with a micro-interference connection. Each motor is fixed on a translation connection seat, and each wire guide adjustment screw pair is fixed on a quick-change base. The quick-change base is connected to the translation connection seat in a detachable manner, and the translation connection seat is installed on the overall forward and backward moving module.

7. The guidewire intervention device according to any one of claims 1 to 6, characterized in that: The guide wire entrance fixing device includes a flexible clamp, which includes two groups of flexible skeletons and rigid skeletons arranged in parallel, and a fixing device driving wire group extending inside the flexible skeleton and fixed at the distal end to the rigid skeleton at the very end. The flexible skeleton and the rigid skeleton in each group are alternately combined, and the two groups together constitute the two clips of the flexible clamp; preferably, the overall contours of the flexible skeleton and the rigid skeleton are both semi-cylindrical; preferably, the fixing device driving wire is NiTi wire.

8. The guidewire intervention device according to claim 7, wherein: The guidewire inlet fixture also includes an elastic tube with a dual channel and two other fixture drive wires. The elastic tube with a dual channel is fixed between the fixture end base and the fixture fixing plate. The fixture drive wire extends from the elastic tube into the flexible skeleton. The two fixture drive wires in the dual channel are closely spaced, while the other two fixture drive wires are relatively far apart.

9. The guidewire intervention device according to claim 8, wherein: Each fixing device drive wire is transmitted over a long distance through a wire sheath structure, the distal ends of the two fixing device drive wires in the dual channels are fixed on the rigid skeleton at the farthest end of the flexible clamp, and the distal ends of the other two fixing device drive wires are fixed on the fixed plate at the root of the flexible clamp, and the driving ends of the other two fixing device drive wires are respectively controlled by two sets of linear screw pairs, and the two fixing device drive wires in the dual channels are controlled by one set of linear screw pairs or are respectively controlled by two sets of linear screw pairs; preferably, the two ends of the wire sheath of the fixing device drive wire are respectively fixed on the fixing device quick-change base and the fixing device end base, and each wire sheath is wrapped in a torque tube, and the two ends of the torque tube are respectively fixed on the fixing base quick-change device and the fixing device end base.

10. The guidewire intervention device according to any one of claims 7 to 9, characterized in that: The guidewire inlet fixing device further comprises an overall forward and backward movement module, which is used to enable the overall forward and backward movement of the three-axis flexible parallel wrist joint of the guidewire inlet fixing device.

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