Sterilizable fixing mechanism for flexible tail-end-controllable medical instrument and medical equipment

Abstract

The invention relates to the technical field of medical instruments, and provides a disinfecting fixing mechanism for a flexible tail-end-controllable medical instrument and medical device.The fixing mechanism comprises a driving mechanism, a fixing module, the flexible tail-end-controllable medical instrument and a pull wire, the fixing module comprises a base, a telescopic rod, a mounting assembly and an outer cover, and the base is detachably connected with the driving mechanism; the telescopic rod is connected with the driving mechanism, an installation space is defined by the outer cover and the base, the installation assembly is arranged in the installation space, and an avoiding hole is formed in the side, away from the base, of the outer cover; the flexible tail end controllable medical instrument is connected with the mounting assembly; one end of the pull wire is connected with the telescopic rod, and the other end of the pull wire penetrates through the base and the installation assembly and is connected to the tail end of the flexible tail-end-controllable medical instrument. Through an installation space formed by the base and the outer cover and a multi-sealing structure, disinfectant is prevented from permeating into internal components, the disinfection operation is simplified, and the reusability and the disinfection reliability of the equipment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, in particular to a sterilizable fixing mechanism and medical equipment for a flexible terminal-controllable medical device. Background Art

[0002] Currently, flexible surgical instrument systems are used to examine the human body for lesions. These devices can enter the body through the mouth or other natural cavities, allowing doctors to observe lesions in human organs. However, these devices require a rear-end drive mechanism to bend their ends, which is a linearly movable drive module including a motor. After the surgery, the fixed module of the flexible end-controllable medical device must be separated from the rear-end drive mechanism and repeatedly disinfected.

[0003] In related technologies, the fixed module of flexible end-controllable medical devices is a disposable structure or cannot be separated from the rear-end drive mechanism for disinfection. When the entire device needs to be disinfected, the disinfectant can easily enter the internal structure of the fixed module, affecting the overall use and making the disinfection operation more difficult. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention proposes a sterilizable fixing mechanism for a flexible end-controllable medical device, aiming to improve the convenience of repeated sterilization.

[0005] The present invention also provides a medical device.

[0006] The sterilizable fixing mechanism of the flexible end-controllable medical device according to the first embodiment of the present invention comprises: Drive mechanism; A fixed module, the fixed module comprising a base, a telescopic rod, a mounting assembly and an outer cover, the base being detachably connected to the drive mechanism, the telescopic rod being provided on one side of the base, the telescopic rod being connected to the drive mechanism, the outer cover covering a side of the base facing away from the telescopic rod, and enclosing an installation space with the base, the mounting assembly being provided in the installation space, a avoidance hole being provided on a side of the outer cover facing away from the base, the mounting assembly being provided with a mounting hole, and the mounting hole being provided corresponding to the avoidance hole; A flexible end-controllable medical device, wherein the flexible end-controllable medical device is connected to the mounting assembly through the mounting hole; A pull wire, one end of which is connected to the telescopic rod, and the other end passes through the base and the mounting assembly and is connected to the end of the flexible end-controllable medical device. The driving mechanism drives the telescopic rod to extend and retract so that the pull wire pulls the end of the flexible end-controllable medical device to bend.

[0007] The sterilizable fixing mechanism of the flexible end-controllable medical device according to the embodiment of the present invention prevents the disinfectant from penetrating into the internal components through the installation space formed by the base and the outer cover and the multiple sealing structures, while simplifying the disassembly and disinfection process, effectively preventing the disinfectant from penetrating into the internal precision parts, simplifying the disinfection operation, and improving the reusability and disinfection reliability of the equipment.

[0008] According to one embodiment of the present invention, a first sealing groove is formed on an end surface of the base facing away from the driving mechanism, and a side wall of the outer cover facing the base covers the first sealing groove, and a first sealing member is provided in the first sealing groove; Alternatively, a first sealing groove is provided on an end surface of the base facing away from the driving mechanism, the first sealing groove is arranged around the mounting assembly, the peripheral edge of the outer cover facing the base is inserted into the first sealing groove, and a first sealing member is provided in the first sealing groove.

[0009] According to one embodiment of the present invention, a second sealing groove is provided on the side of the mounting assembly facing away from the base, the inner wall of the outer cover covers the second sealing groove, and the second sealing groove is arranged around the mounting hole, and a second sealing member is provided in the second sealing groove.

[0010] According to one embodiment of the present invention, the telescopic rod includes a pull wire fixing part and a plurality of sleeves arranged in sequence, the plurality of sleeves are suitable for relative movement along the axial direction, the pull wire fixing part is arranged at one end of one of the sleeves, the pull wire is passed through the plurality of sleeves and connected to the pull wire fixing part, at least one of the two adjacent sleeves is provided with a third sealing groove, and a third sealing part is provided in the third sealing groove.

[0011] According to one embodiment of the present invention, a side wall of the outer cover is provided with a tool port, which connects the installation space and the external space. The installation assembly includes a tool channel adapter, one end of which is connected to the flexible end-controllable medical device, and the other end is connected to the tool port.

[0012] According to one embodiment of the present invention, the fixed module includes a plurality of the telescopic rods and a plurality of the pull wires, the plurality of the telescopic rods are arranged at intervals on the base, each of the pull wires corresponds to a telescopic rod, the mounting assembly includes a winding assembly and a mounting piece, the winding assembly is used to wind the plurality of the pull wires so that each of the pull wires is connected to a corresponding telescopic rod, and the mounting piece is used to connect to the flexible end-controllable medical device.

[0013] According to one embodiment of the present invention, a camera is provided at the end of the flexible end-controllable medical device, the fixed module includes a circuit board, the circuit board is provided on the base, and the camera is connected to the circuit board via wires.

[0014] According to an embodiment of the present invention, the base is provided with a groove, the circuit board is arranged in the groove, the groove is filled with sealant, and the sealant covers the circuit board.

[0015] According to one embodiment of the present invention, the sterilizable fixing mechanism of the flexible end-controllable medical device includes an optical fiber and an optical fiber connector, the optical fiber connector is arranged on the base, one end of the optical fiber is connected to the optical fiber connector, and the other end is passed through the flexible end-controllable medical device and extends to the end of the flexible end-controllable medical device, for sensing the shape of the flexible end-controllable medical device.

[0016] The medical device according to the second embodiment of the present invention includes a device body and the above-mentioned sterilizable fixing mechanism for the flexible end-controllable medical device, wherein the sterilizable fixing mechanism for the flexible end-controllable medical device is connected to the device body.

[0017] The medical device according to the embodiment of the present invention includes the above-mentioned sterilizable fixing mechanism for the flexible end-controllable medical device, and therefore has all the technical effects of the above-mentioned sterilizable fixing mechanism for the flexible end-controllable medical device, which will not be repeated here.

[0018] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1It is a structural schematic diagram of a sterilizable fixing mechanism of a flexible terminal-controllable medical device provided by an embodiment of the present invention.

[0021] Figure 2 It is a structural diagram of a fixed module provided by an embodiment of the present invention.

[0022] Figure 3 It is a structural schematic diagram of the fixed module provided by an embodiment of the present invention without the outer cover.

[0023] Figure 4 It is a schematic cross-sectional structural diagram of a fixed module provided by an embodiment of the present invention.

[0024] Figure 5 It is a structural schematic diagram of the base and winding assembly provided by an embodiment of the present invention.

[0025] Figure 6 It is a schematic diagram of the installation structure of the base and the telescopic rod provided in an embodiment of the present invention.

[0026] Figure 7 It is a structural schematic diagram of the telescopic rod provided by an embodiment of the present invention when extended.

[0027] Figure 8 It is a schematic structural diagram of the telescopic rod provided by an embodiment of the present invention when it is shortened.

[0028] Figure 9 It is a schematic cross-sectional structural diagram of a telescopic rod provided by an embodiment of the present invention.

[0029] Reference numerals: 1. Driving mechanism; 2. Fixing module; 21. Base; 211. First sealing groove; 22. Telescopic rod; 221. Wire-pulling fixture; 222. Sleeve; 2221. Third sealing groove; 23. Mounting assembly; 231. Second sealing groove; 232. Winding assembly; 233. Mounting member; 2331. Mounting hole; 234. Tool channel adapter; 24. Outer cover; 241. Avoidance hole; 242. Tool port; 25. Installation space; 26. Circuit board; 27. Fiber optic connector. DETAILED DESCRIPTION

[0030] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0031] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional 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 should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0032] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0033] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0034] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0035] In existing technologies, the fixed module 2 of flexible, controllable end-devices often utilizes an integrated design, making it inseparable from the rear-end drive mechanism 1. This makes it easy for disinfectants to penetrate the internal structure during repeated disinfection, affecting transmission accuracy and the stability of electronic components. For example, in endoscopic surgery, where instruments are used multiple times, conventional fixed module 2 and drive mechanism 1 lack effective sealing measures at their connection, making assembly and disassembly cumbersome and time-consuming, making it difficult to meet the needs of frequent disinfection. Long-term use can also lead to problems such as cable corrosion or camera circuit short circuits.

[0036] To address these issues, a split-type design can fundamentally achieve physical isolation between the drive module and the fixed module 2, but this requires addressing transmission stability and sealing issues after separation. Further research has revealed that by integrating the telescopic rod 22 with the base 21, forming a modular interface with the drive mechanism 1, it is possible to maintain power transmission continuity. Furthermore, the combined sealing structure of the outer cover 24 and the base 21 ensures the patency of the flexible terminal-controllable medical device channel while establishing a multi-layered protective barrier.

[0037] Therefore, please refer to Figures 1 to 4 The present application proposes a sterilizable fixed module 2 including a driving mechanism 1, a fixed module 2, a flexible end-controllable medical device (not shown) and a pull wire (not shown). The fixed module 2 includes a base 21, a telescopic rod 22, a mounting assembly 23 and an outer cover 24. The base 21 is detachably connected to the driving mechanism 1. The telescopic rod 22 is arranged on one side of the base 21 and is linked to the driving mechanism 1. The outer cover 24 covers the base 21 to form an installation space 25 to accommodate the installation assembly 23. The flexible end-controllable medical device is connected to the mounting assembly 23 through the installation hole 2331. The pull wire passes through the base 21 and the mounting assembly 23 to connect the telescopic rod 22 and the end of the flexible end-controllable medical device. The driving mechanism 1 controls the movement of the telescopic rod 22 to achieve the bending of the end of the flexible end-controllable medical device.

[0038] Among them, the driving mechanism 1 refers to a power unit including a motor and a transmission assembly, which can be specifically implemented by a linear motor or a hydraulic drive system. The telescopic rod 22 refers to a mechanical component that transmits linear motion, which can specifically adopt a multi-stage sleeve 222 structure, and a guide slide rail is arranged inside to ensure the accuracy of motion. The outer cover 24 refers to a protective shell, which can specifically be injection molded by medical-grade materials, and an annular groove is provided on the edge to accommodate a sealing ring. The mounting assembly 23 refers to a flexible end-controllable medical device connection mechanism, which can specifically adopt a quick-release clamp structure, with a wire hole inside to guide the direction of the pull wire. The flexible end-controllable medical device refers to a device that enters the human body for diagnosis and treatment, and has an integrated bending joint at the end. The pull wire refers to a transmission medium, which can specifically adopt nickel-titanium alloy wire or polymer fiber rope, which has corrosion resistance and high tensile strength.

[0039] Specifically, when the driving mechanism 1 outputs a linear displacement, it drives the telescopic rod 22 on the base 21 to generate axial movement, and this movement is transmitted to the end of the flexible end-controllable medical device through the pull wire. The outer cover 24 cooperates with the base 21 through an annular sealing groove. When it is disinfected separately after disassembly, the sealing structure can prevent the disinfectant from penetrating into the winding mechanism and circuit components in the installation space 25. The second sealing ring arranged around the mounting hole 2331 effectively isolates external liquid from penetrating into the installation space 25, and the multi-stage sealing structure forms a progressive protection. When the flexible end-controllable medical device is installed, its base is embedded in the quick-release clamp of the mounting assembly 23, and the pull wire passes through the guide tube inside the base 21 and is precisely connected to the cable holder at the end of the telescopic rod 22. The entire transmission path is in a closed environment.

[0040] Through the above technical solution, this application achieves the rapid separation and independent disinfection of the drive mechanism 1 and fixed module 2, effectively preventing the disinfectant from corroding the internal precision components. The split structural design forms a sealed protective space between the outer cover 24 and the base 21, ensuring the stability of the installation assembly 23 and the cable system during repeated disinfection processes.

[0041] like Figure 3 As shown, a first sealing groove 211 is formed on one end surface of the base 21 facing away from the driving mechanism 1 , and a side wall of the outer cover 24 facing the base 21 covers the first sealing groove 211 , and a first sealing member is provided in the first sealing groove 211 .

[0042] In other embodiments, a first sealing groove 211 surrounding the mounting assembly 23 is formed on an end surface of the base 21 facing away from the driving mechanism 1 , and a peripheral edge of the outer cover 24 facing the base 21 is inserted into the first sealing groove 211 , and a first sealing member is provided in the first sealing groove 211 .

[0043] The first sealing groove 211 refers to an annular recessed structure formed on the end surface of the base 21. Specifically, it can be achieved by machining to form a continuous closed annular groove, which is arranged around the mounting assembly 23 to form an isolation boundary. The peripheral edge of the outer cover 24 is inserted into the first sealing groove 211, which refers to an assembly method in which the edge of the outer cover 24 is embedded in the groove body. Specifically, it can be achieved by injection molding to form a flange structure that matches the groove width, forming a physical barrier through an interference fit. The first sealing member refers to an elastic material that fills the gap between the sealing groove and the outer cover 24. Specifically, it can be achieved by using an O-ring made of silicone or fluororubber, which deforms under pressure to compensate for the assembly gap.

[0044] Specifically, the contact surface between the base 21 and the outer cover 24 forms a continuous, closed isolation zone through the annular first sealing groove 211. When disinfectant is sprayed onto the surface of the outer cover 24, the liquid permeates inward along the contact surface between the base 21 and the outer cover 24. The annular structure of the sealing groove forces the liquid to circumvent a complete circumferential path, while the seal embedded in the groove expands under pressure to fill the assembly gap, forming a double sealing barrier. The mounting assembly 23 is located within the area surrounding the sealing groove, and its internal space is completely enclosed, preventing disinfectant from entering the operating area of ​​the drive mechanism 1 and the cable through the contact surface between the base 21 and the outer cover 24.

[0045] Through the above technical solution, the present application achieves complete sealing between the contact surface of the outer cover 24 and the base 21. During the disinfection operation, the liquid is confined to the outside of the fixed module 2, preventing the disinfectant from penetrating into the interior and causing corrosion of the drive mechanism 1 or failure of the wire transmission, thereby ensuring the safety and reliability of the repeated disinfection of the fixed module 2.

[0046] Please refer to Figure 3 and Figure 4 The present application further proposes that a second sealing groove 231 is provided on the side of the mounting assembly 23 facing away from the base 21, the inner wall of the outer cover 24 covers the second sealing groove 231, and the second sealing groove 231 is arranged around the mounting hole 2331, and a second sealing member is provided in the second sealing groove 231.

[0047] The second sealing groove 231 refers to an annular groove structure located on the side of the mounting assembly 23 facing away from the base 21. Specifically, it can be achieved through machining or injection molding processes, and is used to accommodate the second sealing component and form a continuous closed sealing path. The inner wall of the outer cover 24 covering the second sealing groove 231 means that the inner wall surface of the outer cover 24 forms a planar contact with the open end of the second sealing groove 231. Specifically, the outer cover 24 can be made of metal or hard plastic, and the outer cover 24 and the second sealing groove 231 form a sealed interface through assembly pressure. The second sealing component refers to the elastic sealing material filled in the second sealing groove 231, and can specifically be a rubber ring, silicone pad, or polyurethane foam.

[0048] Specifically, when the outer cover 24 is assembled to the base 21, its inner wall presses downward, causing the second sealing member to elastically deform, filling the gap between the second sealing groove 231 and the outer cover 24, forming a continuous sealing band around the mounting hole 2331. This prevents disinfectant from seeping into the mounting space 25 from around the mounting hole 2331. For example, during high-pressure steam sterilization, the sealing member expands due to heat, further filling the gap in the groove and enhancing the sealing effect.

[0049] The above technical solution can prevent the functional failure of precision components such as the drive mechanism 1 and the circuit board 26 due to liquid corrosion. The redundant design of the sealing structure further improves the reliability of the medical device in high-temperature and high-pressure sterilization environments, meeting the clinical needs of repeated use.

[0050] Please refer to Figures 7 to 9 The present application further proposes that the telescopic rod 22 includes a wire fixing part 221 and a plurality of sleeves 222 arranged in sequence, and the plurality of sleeves 222 are suitable for relative movement along the axial direction. The wire fixing part 221 is arranged at one end of one of the sleeves 222, and the wire is passed through the plurality of sleeves 222 and connected to the wire fixing part 221. At least one of the two adjacent sleeves 222 is provided with a third sealing groove 2221, and a third sealing part is provided in the third sealing groove 2221.

[0051] Among them, the sleeve 222 refers to a hollow tubular structure, which can be made of metal or engineering plastics, and is nested to form a telescopic component. The nested sleeve 222 structure forms multiple sealing interfaces during axial movement, effectively preventing external liquid from invading. The pull wire fixture 221 refers to a component that connects the pull wire, which can be a fixing seat with threads or buckles, and is set at the end of the sleeve 222 to fix the pull wire. The third sealing groove 2221 refers to an annular groove provided on the contact surface of the sleeve 222, which can be processed on the outer wall or inner wall of the sleeve 222 to accommodate an elastic seal. The annular structure of the third sealing groove 2221 ensures that the seal is evenly compressed when the sleeve 222 moves relative to each other. The third seal refers to the elastic material filled in the third sealing groove 2221, which can be made of silicone or rubber. It compensates for the assembly gap of the sleeve 222 through deformation, and maintains dynamic sealing when the sleeve 222 moves axially.

[0052] Specifically, multiple sleeves 222 are assembled in a nested manner, and the contact surfaces of adjacent sleeves 222 are provided with a third sealing groove 2221 and a third sealing member. When the driving mechanism 1 drives the sleeve 222 to move axially, relative sliding occurs between the sleeves 222, and the third sealing member is compressed and deformed in the sealing groove to form a continuous sealing interface. The pull wire passes through the interior of the multi-layer sleeve 222 and is fixed to the end of a specific sleeve 222 by the pull wire fixing member 221 to ensure that the path is stable during the pulling process of the pull wire. The stacked structure of the nested sleeves 222 always maintains the sealed contact between the sleeves 222 during the telescopic process. The third sealing member compensates for the assembly tolerance of the sleeve 222 through elastic deformation and reduces sliding friction. When the external disinfectant contacts the sleeve 222, the third sealing member blocks the liquid from entering the interior of the sleeve 222 to prevent the internal mechanical components from being corroded.

[0053] Through the above-mentioned technical solution, the present application can effectively prevent disinfectant from seeping into the interior of the telescopic rod 22, protecting the driving components from liquid corrosion, and ensuring that the fixed module 2 maintains structural stability and motion accuracy after repeated disinfection. The sealing design of the nested sleeve 222 also reduces the interference of the disinfection operation on the internal cable traction system, thereby improving the overall reliability and service life of the device.

[0054] like Figure 4 As shown, the present application further proposes that a tool opening 242 is provided on the side wall of the outer cover 24, and the tool opening 242 connects the installation space 25 and the external space. The installation assembly 23 includes a tool channel adapter 234, and one end of the tool channel adapter 234 is connected to the flexible end-controllable medical device, and the other end is connected to the tool opening 242.

[0055] The tool port 242 is a through-type conduit structure provided on the side wall of the housing 24. Specifically, it can be implemented as an annular channel with a sealing ring, which is used to establish an independent path for surgical tools to enter the installation space 25. The tool channel adapter 234 is a rigid or flexible tube with two ends connecting the flexible end-controllable medical device to the tool port 242, forming a closed guide channel to prevent the tool from directly contacting the internal structure of the installation space 25.

[0056] Specifically, the inlet end of tool port 242 is located outside the sidewall of outer cover 24, while the outlet end extends into the interior of installation space 25 and is fixedly connected to tool channel adapter 234. When a surgical tool enters through tool port 242, tool channel adapter 234 guides it to the area where the flexible distal-controllable medical device is located, ensuring that the tool's operating range is confined to the interior of tool channel adapter 234. Because the connection between tool port 242 and the sidewall of outer cover 24 is secured with a sealing ring, a single, sealed structure is formed between tool channel adapter 234 and outer cover 24. During the sterilization process, the connection between tool port 242 and the outside world does not compromise the airtightness of installation space 25.

[0057] Through the above technical solution, the present application realizes the establishment of an independent channel for surgical tools while maintaining the sealing of the installation space 25, solves the problem of sealing failure caused by the entry and exit of tools during disinfection, and reduces the risk of component wear caused by frequent disassembly of the outer cover 24.

[0058] like Figure 5 and Figure 6 As shown, the present application further proposes a fixed module 2 including multiple telescopic rods 22 and multiple pull wires, the multiple telescopic rods 22 are arranged at intervals on the base 21, each pull wire corresponds to a telescopic rod 22, the installation assembly 23 is composed of a winding assembly 232 and a mounting member 233, the winding assembly 232 is used to wind multiple pull wires and connect them to the telescopic rods 22, and the mounting member 233 is used to connect a flexible end-controllable medical device.

[0059] Among them, multiple telescopic rods 22 refer to linear motion units distributed at different positions of the base 21, which can be specifically implemented by independent cylinders or motors. The telescopic stroke of each telescopic rod 22 can be independently controlled to form an independent adjustment of the pulling force of the wire. Among them, the winding assembly 232 refers to a mechanism for path separation and winding of multiple wires, which can be specifically implemented by a multi-groove wire wheel or a spiral guide groove structure. The wire grooves are used to isolate the movement trajectories of each wire to prevent friction interference between the wires. Among them, the mounting part 233 refers to an interface component for quick connection with a flexible end-controllable medical device, which can be specifically implemented by gluing. The mounting part 233 is the connection with the flexible end-controllable medical device.

[0060] Specifically, when multiple telescopic rods 22 move axially respectively, each pull wire connected thereto generates an independent traction force. The pull wire passes through the wire groove of the winding assembly 232 and extends to the end of the flexible end-controllable medical device. The wire groove of the winding assembly 232 separates the pull wires, ensuring that each pull wire maintains an independent path during movement, thereby avoiding tension interference caused by multiple wire entanglements.

[0061] Through the above technical solution, the present application realizes the independent control and path management of multiple pull wires, while ensuring the multi-directional precise bending of the end of the flexible end-controllable medical device, reducing the complexity of disassembly and assembly for disinfection and maintenance, solving the structural contradiction between multi-line collaborative control and disinfection operation, and extending the service life of the drive mechanism 1.

[0062] The present application further proposes that a camera is provided at the end of the flexible terminal controllable medical device, the fixed module 2 includes a circuit board 26, the circuit board 26 is provided on the base 21, and the camera is connected to the circuit board 26 via wires.

[0063] The circuit board 26 is an insulating substrate mounted with electronic components. Specifically, it can be implemented as a multi-layer printed circuit board 26, with the image processing chip and signal conversion module integrated onto the substrate surface via surface mount technology. The base 21 is the mounting carrier for the drive mechanism 1, and can be machined from metal or plastic, with internal positioning slots for securing the circuit board 26. The wires are conductors used to transmit electrical signals and power, and can be implemented as multi-core shielded cables, with the wire cores coated with an insulating layer and connected to the contacts of the circuit board 26 via welding.

[0064] Specifically, the image signal collected by the camera is transmitted to the circuit board 26 inside the base 21 through a shielded cable. The processing chip on the circuit board 26 performs noise reduction and code conversion on the original signal. The base 21 adopts an integrated sealing structure. After the circuit board 26 is embedded in the groove of the base 21 through the positioning slot, it is fixed with sealant to form a physical isolation layer. When the shielded cable extends from the inside of the base 21 to the flexible end-controllable medical device, an annular sealing ring is provided at the junction of the base 21 and the outer cover 24 to achieve channel sealing. When the disinfectant contacts the surface of the outer cover 24, the sealant layer and the sealing ring form a double protection to prevent the liquid from penetrating into the circuit board 26 area along the wire channel.

[0065] Through the above technical solution, this application achieves physical isolation of the camera's electronic components from the disinfection environment, ensuring that the circuit board 26 is not corroded by liquids during repeated sterilization processes, maintaining image transmission stability. The sealed structure of the base 21 effectively secures the wire connection position, preventing the wires from loosening due to repeated plugging and unplugging operations, and extending the device's service life. The integrated circuit layout reduces the number of external connection interfaces, making it easier to clean blind spots during disinfection.

[0066] like Figure 5 As shown, the present application further proposes that the base 21 is provided with a groove, the circuit board 26 is arranged in the groove, the groove is filled with sealant, and the sealant covers the circuit board 26 .

[0067] The groove is a recessed space formed by the inward depression on the surface of the base 21. This recess can be achieved through machining or injection molding. It provides a secure location for the circuit board 26 and a sealant filling area. Its sidewalls and bottom form a physical barrier around the circuit board 26. The sealant, a polymer material with waterproof and insulating properties, can be epoxy resin or silicone rubber. It is injected into the groove in liquid form and then cured to form a continuous sealing layer around the circuit board 26.

[0068] Specifically, after circuit board 26 is secured within the groove, sealant is injected into the groove in a fluid state, filling the gap between circuit board 26 and the groove's sidewalls. After curing, it forms a protective layer that completely covers the surface of circuit board 26. The depth and shape of the groove are designed to accommodate the amount of sealant required, ensuring a uniform and gap-free sealant layer after curing. The combination of the groove and sealant creates a double barrier between circuit board 26 and the external environment, preventing disinfectant from penetrating the circuit board 26 area through the assembly gaps between base 21 and outer cover 24 or through material pores.

[0069] Through the above technical solution, the present application effectively blocks the contact path between the disinfectant and the circuit board 26, avoids the chemical corrosion and short circuit risk of the liquid on the components of the circuit board 26 during the disinfection process, and ensures the electrical connection stability of the circuit board 26 after multiple high-temperature and high-pressure steam sterilizations, thereby extending the service life of the fixed module 2.

[0070] like Figure 2 As shown, the present application further proposes that a sterilizable fixing mechanism of a flexible end-controllable medical device includes an optical fiber (not shown) and an optical fiber connector 27. The optical fiber connector 27 is provided on the base 21. One end of the optical fiber is connected to the optical fiber connector 27, and the other end is passed through the flexible end-controllable medical device and extends to the end of the flexible end-controllable medical device for sensing the shape of the flexible end-controllable medical device.

[0071] Among them, the optical fiber connector 27 refers to a mechanical connection structure for fixing the end of the optical fiber and realizing signal transmission. Specifically, it can be realized by a physical contact connection structure of a ceramic ferrule and a metal shell, and a sealing ring or an injection-molded sealing layer is provided at the assembly interface with the base 21. This feature prevents liquid from invading the optical fiber transmission path during the disinfection process by centrally fixing the optical fiber connection points to the base 21. Among them, the optical fiber is passed through the flexible end-controllable medical device, which means that the optical fiber extends to the end along the inside of the flexible end-controllable medical device or the gap between the tube walls. Specifically, it can be arranged in a manner that it is pre-buried in the interlayer of the flexible end-controllable medical device, and the optical fiber end is embedded in the strain detection area of ​​the bending section of the end of the flexible end-controllable medical device. This feature ensures that the deformation information of the end is directly transmitted to the connector at the base 21 through the deformation amount of the optical fiber by forming an integrated structure with the flexible end-controllable medical device.

[0072] Specifically, a mounting groove matching the optical fiber connector 27 is provided on the surface of the base 21. The mounting groove is filled with a waterproof colloid to achieve sealing. The optical fiber connector 27 is fixed in the mounting groove by a snap or thread. After the optical fiber is led out from the connector, it passes through the internal channel of the base 21 and enters the flexible end-controllable medical device. A groove is provided in the flexible end-controllable medical device to constrain the direction of the optical fiber. When the end of the flexible end-controllable medical device is bent, the optical fiber is squeezed by the wall of the flexible end-controllable medical device to generate strain. The strain signal is transmitted to the base 21 connector through the optical fiber and then analyzed into shape data by an external device. The sealing structure between the base 21 and the outer cover 24 covers the installation area of ​​the optical fiber connector 27, and the disinfectant cannot penetrate into the interior of the connector.

[0073] In some embodiments, the optical fiber connector 27 can be an LC-type connector with a self-locking mechanism. A spring-loaded plate is provided at the bottom of the mounting slot of the base 21 to maintain contact pressure on the connector. The optical fiber is coated with a polyimide coating to improve its bending resistance. A reflective film is provided at the end of the flexible, controllable medical device to form an optical feedback path with the end face of the optical fiber.

[0074] Through the above technical solution, this application solves the problem of signal distortion caused by the susceptibility of optical fiber connections to liquid erosion during the disinfection of flexible instruments, and achieves the stability of the optical fiber sensing function after disinfection. The sealing structure of the base 21 protects the optical fiber connector 27, avoiding connection loss caused by repeated disassembly, and ensuring that the shape perception accuracy of the flexible end-controllable medical device is not affected by the disinfection operation. The integrated arrangement of the optical fiber and the flexible end-controllable medical device eliminates the disturbance of the signal transmission path caused by external interference, making the end shape detection data continuously reliable.

[0075] The present application further proposes a medical device, comprising a device body and a sterilizable fixing mechanism for a flexible end-controllable medical device, wherein the sterilizable fixing mechanism for the flexible end-controllable medical device is connected to the device body.

[0076] Among them, the medical device refers to the device body including the drive control unit and the power supply module, which can be specifically implemented by a box structure with an integrated motor and a circuit board 26, and is used to provide the operating power of the flexible terminal-controllable medical device. The sterilizable fixing mechanism of the flexible terminal-controllable medical device refers to a component that is physically separated from the device body, which can be specifically detachably connected through a snap-fit ​​structure or a threaded interface, and a multi-layer sealing protection structure is arranged inside it. The detachable connection between the base 21 and the drive mechanism 1 means that the two are matched through a plug-in mechanical interface, such as a metal connector with a guide groove, to achieve the dual functions of power transmission and structural separation. The outer cover 24 and the base 21 enclose to form an installation space 25 means that an annular flange is provided on the surface of the base 21, and the outer cover 24 and the flange are snapped together to form a closed cavity, and the tool channel adapter 234 and the winding wheel and other components are arranged in the installation space 25.

[0077] Specifically, after the surgical operation is completed, the fixed module 2 is disconnected from the main body of the device through the plug-in structure between the base 21 and the main body of the device, and the entire module is separated from the main body of the device. The outer cover 24 and the base 21 are blocked from liquid penetration by the sealing ring in the first sealing groove 211, and the second sealing groove 231 around the mounting hole 2331 further prevents the disinfectant from penetrating along the interface of the flexible end-controllable medical device. When the disassembled fixed module 2 is placed in a disinfected environment, the tool port 242 allows the disinfectant to flow into the interior of the flexible end-controllable medical device for cleaning, while the sealant filled in the groove isolates the circuit board 26 from the external environment. The hard connection design of the optical fiber connector 27 and the base 21 ensures that the optical fiber maintains positioning accuracy during repeated disassembly, avoiding failure of the shape sensing function due to displacement. The combination of multiple sealing structures and the detachable power transmission interface enables the fixed module 2 to withstand high-temperature and high-pressure sterilization without affecting the internal precision components.

[0078] Through the above technical solution, the present application realizes the rapid disassembly of the fixed module 2 and the main body of the equipment, so that the disinfection operation can be carried out on independent components, avoiding contact of non-corrosion-resistant components such as the drive motor with the disinfection medium. The sealing structure of the outer cover 24 and the base 21 effectively isolates the winding assembly 232 and the circuit board 26 in the installation space 25, preventing liquid infiltration from causing mechanical jamming or circuit short circuit. The through-design of the tool port 242 and the flexible end-controllable medical device improves the cleaning efficiency of the internal pipeline and eliminates the blind spots of traditional immersion disinfection. The fixed installation method of the optical fiber connector 27 ensures the stability of the sensing function after repeated disassembly, avoiding the impact of assembly errors on surgical accuracy.

[0079] Finally, it should be noted that the above embodiments are intended to illustrate the present invention only and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and are intended to be encompassed by the claims of the present invention.

Claims

1. A sterilizable fixing mechanism for a flexible end-controllable medical device, characterized in that: include: Drive mechanism; A fixed module, the fixed module comprising a base, a telescopic rod, a mounting assembly and an outer cover, the base being detachably connected to the drive mechanism, the telescopic rod being provided on one side of the base, the telescopic rod being connected to the drive mechanism, the outer cover covering a side of the base facing away from the telescopic rod, and enclosing an installation space with the base, the mounting assembly being provided in the installation space, a avoidance hole being provided on a side of the outer cover facing away from the base, the mounting assembly being provided with a mounting hole, and the mounting hole being provided corresponding to the avoidance hole; A flexible end-controllable medical device, wherein the flexible end-controllable medical device is connected to the mounting assembly through the mounting hole; A pull wire, one end of which is connected to the telescopic rod, and the other end passes through the base and the mounting assembly and is connected to the end of the flexible end-controllable medical device. The driving mechanism drives the telescopic rod to extend and retract so that the pull wire pulls the end of the flexible end-controllable medical device to bend.

2. The sterilizable fixing mechanism for a flexible end-controllable medical device according to claim 1, characterized in that: A first sealing groove is formed on an end surface of the base facing away from the driving mechanism, and a side wall of the outer cover facing the base covers the first sealing groove, and a first sealing member is provided in the first sealing groove; Alternatively, a first sealing groove is provided on an end surface of the base facing away from the driving mechanism, the first sealing groove is arranged around the mounting assembly, the peripheral edge of the outer cover facing the base is inserted into the first sealing groove, and a first sealing member is provided in the first sealing groove.

3. The sterilizable fixing mechanism for a flexible distal-controllable medical device according to claim 1, characterized in that: A second sealing groove is provided on a side of the mounting assembly facing away from the base. The inner wall of the outer cover covers the second sealing groove, and the second sealing groove is arranged around the mounting hole. A second sealing member is provided in the second sealing groove.

4. The sterilizable fixing mechanism for a flexible distal-controllable medical device according to claim 1, characterized in that: The telescopic rod includes a pull wire fixing part and a plurality of sleeves arranged in sequence. The plurality of sleeves are suitable for relative movement along the axial direction. The pull wire fixing part is arranged at one end of one of the sleeves. The pull wire is passed through the plurality of sleeves and connected to the pull wire fixing part. At least one of the two adjacent sleeves is provided with a third sealing groove, and a third sealing part is provided in the third sealing groove.

5. The sterilizable fixing mechanism for a flexible distal-controllable medical device according to claim 1, characterized in that: The fixed module includes multiple telescopic rods and multiple pull wires, and the multiple telescopic rods are arranged at intervals on the base. Each pull wire corresponds to a telescopic rod. The mounting assembly includes a winding assembly and a mounting piece. The winding assembly is used to wind multiple pull wires so that each pull wire is connected to a telescopic rod. The mounting piece is used to connect to the flexible end-controllable medical device.

6. The sterilizable fixing mechanism for a flexible distal-controllable medical device according to claim 1, characterized in that: A tool port is provided on the side wall of the outer cover, which communicates with the installation space and the external space. The installation assembly includes a tool channel adapter, one end of which is communicated with the flexible end-controllable medical device, and the other end is communicated with the tool port.

7. The sterilizable fixing mechanism for a flexible distal-controllable medical device according to claim 1, characterized in that: The end of the flexible end-controllable medical device is provided with a camera, the fixed module includes a circuit board, the circuit board is provided on the base, and the camera is connected to the circuit board via an electric wire.

8. The sterilizable fixing mechanism for a flexible distal-controllable medical device according to claim 7, characterized in that: The base is provided with a groove, the circuit board is arranged in the groove, the groove is filled with sealant, and the sealant covers the circuit board.

9. The sterilizable fixing mechanism for a flexible distal-controllable medical device according to any one of claims 1 to 8, characterized in that: The sterilizable fixing mechanism of the flexible end-controllable medical device includes an optical fiber and an optical fiber connector. The optical fiber connector is arranged on the base. One end of the optical fiber is connected to the optical fiber connector, and the other end is passed through the flexible end-controllable medical device and extends to the end of the flexible end-controllable medical device, so as to sense the shape of the flexible end-controllable medical device.

10. A medical device, characterized in that: The device comprises a device body and a sterilizable fixing mechanism for a flexible end-controllable medical device according to any one of claims 1 to 9, wherein the sterilizable fixing mechanism for the flexible end-controllable medical device is connected to the device body.

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