Flexible tip steerable medical instrument sterilizable securement mechanism and medical device

Abstract

The present application relates to the technical field of medical devices, and provides a sterilizable fixing mechanism for flexible tip controllable medical devices and medical equipment, which comprises a driving mechanism, a fixing module, a flexible tip controllable medical device and a pull wire, the fixing module comprises a base, an extension rod, a mounting assembly and an outer cover, the base is detachably connected with the driving mechanism, the extension rod is connected with the driving mechanism, the outer cover and the base enclose a mounting space, the mounting assembly is arranged in the mounting space, and a clearance hole is formed in the side of the outer cover away from the base; the flexible tip controllable medical device is connected with the mounting assembly; one end of the pull wire is connected with the extension rod, the other end of the pull wire passes through the base and the mounting assembly, and is connected with the tip of the flexible tip controllable medical device. The mounting space formed by the base and the outer cover and the multiple sealing structures avoid the penetration of disinfectant into the internal components, simplify the disinfection operation, and improve the reusability and disinfection reliability of the equipment.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a fixation mechanism and medical device for a flexible, controllable, sterilizable end-effector. Background Technology

[0002] Currently, in the flexible surgical instrument system market, flexible end-effectors are used to examine the internal organs for lesions. These devices can enter the body through the mouth or other natural cavities. Doctors can use these devices to observe the condition of organs. Because these devices require a rear-end drive mechanism to bend their ends, and this mechanism consists of a linearly movable drive module including a motor, the device's fixation module needs to be disassembled from the rear-end drive mechanism and repeatedly sterilized after the surgery, once inside the body.

[0003] In related technologies, the fixing module of flexible end-effector controllable medical devices is a disposable component, or it cannot be separated from the back-end drive mechanism for sterilization. When overall sterilization is required, disinfectant can easily enter the internal structure of the fixing module, thus affecting overall use and making sterilization operations difficult. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention proposes a sterilizable fixation mechanism for flexible, controllable end-effector medical devices, designed to improve the convenience of repeated sterilization.

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

[0006] The sterilizable fixation mechanism of the flexible end-effector controllable medical device according to a first aspect embodiment of the present invention includes:

[0007] Drive mechanism;

[0008] A fixed module includes a base, a telescopic rod, a mounting assembly, and an outer cover. The base is detachably connected to the drive mechanism. The telescopic rod is located on one side of the base and connected to the drive mechanism. The outer cover covers the side of the base away from the telescopic rod and forms an installation space with the base. The mounting assembly is located within the installation space. An avoidance hole is provided on the side of the outer cover away from the base. The mounting assembly has mounting holes, and the mounting holes are correspondingly arranged with the avoidance holes.

[0009] A flexible end-effector controllable medical device, wherein the flexible end-effector controllable medical device is connected to the mounting assembly through the mounting hole;

[0010] A pull wire is provided, 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 drive 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.

[0011] The flexible end-effector controllable medical device sterilizable fixing mechanism according to embodiments of the present invention, through the installation space formed by the base and the outer cover and the multiple sealing structure, prevents disinfectant from seeping into internal components, while simplifying the disassembly and sterilization process. It effectively prevents disinfectant from seeping into internal precision parts, simplifies sterilization operations, and improves the reusability and sterilization reliability of the device.

[0012] According to one embodiment of the present invention, a first sealing groove is provided on one end face of the base facing away from the driving mechanism, and the first sealing groove is sealed on one side wall of the outer cover facing the base, and a first sealing element is provided in the first sealing groove;

[0013] Alternatively, a first sealing groove is provided on one end face of the base facing away from the driving mechanism. The first sealing groove surrounds the mounting assembly. The periphery of the outer cover facing the base is inserted into the first sealing groove. A first sealing element is provided in the first sealing groove.

[0014] According to one embodiment of the present invention, the mounting assembly has a second sealing groove on the side 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 element is provided in the second sealing groove.

[0015] According to one embodiment of the present invention, the telescopic rod includes a pull wire fixing member and a plurality of sleeves arranged in sequence, the plurality of sleeves being adapted to move relative to each other along the axial direction, the pull wire fixing member being disposed at one end of one of the sleeves, the pull wire passing through the plurality of sleeves and being connected to the pull wire fixing member, and at least one of two adjacent sleeves being provided with a third sealing groove, the third sealing groove being provided with a third sealing member.

[0016] According to one embodiment of the present invention, the side wall of the outer cover is provided with a tool opening, the tool opening communicating with the installation space and the external space, and 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 of which is connected to the tool opening.

[0017] According to one embodiment of the present invention, the fixing module includes a plurality of telescopic rods and a plurality of pull wires, the plurality of telescopic rods being spaced apart from the base, each pull wire corresponding to one telescopic rod, the mounting assembly including a winding assembly and a mounting member, the winding assembly being used to wind the plurality of pull wires so that each pull wire is connected to one telescopic rod, and the mounting member being used to connect to the flexible end controllable medical device.

[0018] According to one embodiment of the present invention, the flexible end-effector is provided with a camera at its end, the fixing module includes a circuit board, the circuit board is disposed on the base, and the camera is connected to the circuit board via a wire.

[0019] According to one embodiment of the present invention, the base has a groove, the circuit board is disposed in the groove, the groove is filled with sealant, and the sealant covers the circuit board.

[0020] 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 disposed on the base. One end of the optical fiber is connected to the optical fiber connector, and the other end passes 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.

[0021] According to a second aspect of the present invention, a medical device includes a device body and the above-described flexible end-controlled medical device sterilizable fixing mechanism, wherein the flexible end-controlled medical device sterilizable fixing mechanism is connected to the device body.

[0022] The medical device according to an embodiment of the present invention includes the above-mentioned flexible end controllable medical device sterilizable fixation mechanism, and therefore has all the technical effects of the above-mentioned flexible end controllable medical device sterilizable fixation mechanism, which will not be repeated here.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1This is a schematic diagram of the structure of the sterilizable fixation mechanism for a flexible end-effector controllable medical device provided in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the fixed module provided in an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the structure of the fixed module with the outer cover removed, provided in an embodiment of the present invention.

[0028] Figure 4 This is a cross-sectional structural diagram of the fixed module provided in an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the base and winding assembly provided in an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the installation structure of the base and telescopic rod provided in an embodiment of the present invention.

[0031] Figure 7 This is a schematic diagram of the structure of the telescopic rod when it is extended, as provided in an embodiment of the present invention.

[0032] Figure 8 This is a schematic diagram of the telescopic rod when it is shortened, as provided in an embodiment of the present invention.

[0033] Figure 9 This is a cross-sectional structural diagram of the telescopic rod provided in an embodiment of the present invention.

[0034] Figure label:

[0035] 1. Drive mechanism; 2. Fixing module; 21. Base; 211. First sealing groove; 22. Telescopic rod; 221. Pull wire fixing component; 222. Sleeve; 2221. Third sealing groove; 23. Mounting assembly; 231. Second sealing groove; 232. Winding assembly; 233. Mounting component; 2331. Mounting hole; 234. Tool channel adapter; 24. Outer cover; 241. Clearance hole; 242. Tool port; 25. Installation space; 26. Circuit board; 27. Fiber optic connector. Detailed Implementation

[0036] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0037] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0039] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above 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 one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0041] In existing technologies, the fixing module 2 of flexible end-effector controllable medical devices often adopts an integrated design, which makes it impossible to separate from the back-end drive mechanism 1. During repeated disinfection, disinfectant can easily seep into the internal structure, affecting transmission accuracy and the stability of electronic components. For example, in endoscopic surgery scenarios, instruments need to be used multiple times. The connection between the traditional fixing module 2 and the drive mechanism 1 lacks effective sealing measures, and the disassembly and assembly process is cumbersome and time-consuming, making it difficult to meet the requirements of high-frequency disinfection. After long-term use, problems such as wire corrosion or camera circuit short circuits are likely to occur.

[0042] To address the aforementioned issues, a split-structure design can fundamentally achieve physical isolation between the drive module and the fixed module 2. However, the stability and sealing of the transmission after the split must be resolved. Further research revealed that by integrating the telescopic rod 22 into the base 21 and forming a modular interface with the drive mechanism 1, the continuity of power transmission can be maintained. At the same time, the combined sealing structure of the outer cover 24 and the base 21 ensures both the unobstructed access of the flexible end-effector controllable medical device channel and establishes multiple protective barriers.

[0043] Therefore, please refer to the following: Figures 1 to 4 This application proposes a sterilizable fixing module 2 comprising a drive mechanism 1, a fixing module 2, a flexible end-controlled medical device (not shown), and a pull wire (not shown). The fixing 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 drive mechanism 1. The telescopic rod 22 is located on one side of the base 21 and is linked to the drive mechanism 1. The outer cover 24 covers the base 21 to form an installation space 25 to accommodate the mounting assembly 23. The flexible end-controlled medical device is connected to the mounting assembly 23 through a mounting hole 2331. The pull wire passes through the base 21 and the mounting assembly 23 to connect the telescopic rod 22 to the end of the flexible end-controlled medical device. The drive mechanism 1 controls the movement of the telescopic rod 22 to achieve bending of the end of the flexible end-controlled medical device.

[0044] The drive mechanism 1 refers to the power unit including a motor and transmission components, which can be implemented using a linear motor or a hydraulic drive system. The telescopic rod 22 refers to the mechanical component that transmits linear motion, which can be a multi-stage sleeve 222 structure with internal guide rails to ensure motion accuracy. The outer cover 24 refers to the protective shell, which can be injection molded from medical-grade materials and has an annular groove on the edge to accommodate the sealing ring. The mounting component 23 refers to the flexible end-effector controllable medical device connection mechanism, which can be a quick-release clamp structure with internal wire guide holes to guide the wire path. The flexible end-effector controllable medical device is used for diagnosis and treatment inside the human body, with an integrated bending joint at the end. The wire refers to the transmission medium, which can be made of nickel-titanium alloy wire or polymer fiber rope, possessing corrosion resistance and high tensile strength.

[0045] Specifically, when the drive mechanism 1 outputs linear displacement, it drives the telescopic rod 22 on the base 21 to generate axial movement. This movement is transmitted to the end of the flexible end-effector medical device via a pull wire. The outer cover 24 and the base 21 are fitted with an annular sealing groove. When the device is disassembled and sterilized separately, the sealing structure prevents disinfectant from seeping into the winding mechanism and circuit components in the installation space 25. The second sealing ring around the mounting hole 2331 effectively isolates external liquids from seeping into the installation space 25. The multi-level sealing structure forms a progressive protection. When the flexible end-effector medical device is installed, its base is embedded in the quick-release clamp of the mounting assembly 23. The pull wire passes through the guide tube inside the base 21 and is precisely connected to the cable retainer at the end of the telescopic rod 22. The entire transmission path is in a closed environment.

[0046] Through the above technical solution, this application achieves rapid separation and independent disinfection of the drive mechanism 1 and the fixed module 2, effectively preventing disinfectant from corroding internal precision components. The split structure design allows the outer cover 24 and the base 21 to form a sealed protective space, ensuring the stability of the installation component 23 and the pull-wire system during repeated disinfection processes.

[0047] like Figure 3 As shown, a first sealing groove 211 is provided on one end face of the base 21 facing away from the drive mechanism 1, and the outer cover 24 covers the first sealing groove 211 on one side wall facing the base 21. A first sealing element is provided in the first sealing groove 211.

[0048] In other embodiments, the base 21 has a first sealing groove 211 surrounding the mounting assembly 23 on one end face away from the drive mechanism 1, and the outer cover 24 is inserted into the first sealing groove 211 on the periphery of the side facing the base 21. The first sealing groove 211 is provided with a first sealing element.

[0049] The first sealing groove 211 refers to the annular recessed structure formed on the end face of the base 21, which can be achieved by machining a continuous closed annular groove, surrounding the mounting component 23 to form an isolation boundary. The outer cover 24 being inserted into the first sealing groove 211 refers to the assembly method where the edge of the outer cover 24 is embedded in the groove, which can be achieved by injection molding to form a flange structure matching the groove width, creating a physical barrier through an interference fit. The first sealing element refers to the elastic material filling the gap between the sealing groove and the outer cover 24, which can be an O-ring made of silicone or fluororubber, deforming under pressure to compensate for the assembly gap.

[0050] Specifically, the contact surfaces of the base 21 and the outer cover 24 form 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 penetrates inward along the contact surfaces of the base 21 and the outer cover 24. At this time, the annular structure of the sealing groove forces the liquid to travel 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 surrounded by the sealing groove, and its internal space is completely sealed, preventing disinfectant from entering the operating area of ​​the drive mechanism 1 and the pull cable through the contact surfaces of the base 21 and the outer cover 24.

[0051] Through the above technical solution, this application achieves complete sealing between the contact surfaces 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 seeping into the interior and causing corrosion of the drive mechanism 1 or failure of the wire drive, thus ensuring the safety and reliability of the fixed module 2 for repeated disinfection.

[0052] Please refer to the reference. Figure 3 and Figure 4 This application further proposes that the mounting component 23 has a second sealing groove 231 on the side 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 element is provided in the second sealing groove 231.

[0053] The second sealing groove 231 refers to an annular groove structure located on the side of the mounting component 23 facing away from the base 21. It can be achieved through machining or injection molding and is used to accommodate the second sealing element and form a continuous closed sealing path. The inner wall of the outer cover 24 covers the second sealing groove 231, meaning the inner wall surface of the outer cover 24 forms a planar contact with the opening end of the second sealing groove 231. The outer cover 24 can be made of metal or rigid plastic, and assembly pressure creates a sealing interface between the outer cover 24 and the second sealing groove 231. The second sealing element refers to the elastic sealing material filled within the second sealing groove 231, which can be a rubber ring, silicone gasket, or polyurethane foam.

[0054] Specifically, when the outer cover 24 is assembled to the base 21, its inner wall is pressed down, causing the second sealing element to elastically deform and fill the gap between the second sealing groove 231 and the outer cover 24, forming a continuous sealing band around the mounting hole 2331. This blocks the path of disinfectant seeping into the mounting space 25 from around the mounting hole 2331. For example, during high-pressure steam sterilization, the sealing element expands due to heat, further filling the gaps in the groove and enhancing the sealing effect.

[0055] The above technical solution avoids functional failure of precision components such as the drive mechanism 1 and circuit board 26 due to liquid corrosion. The redundant design of the sealed structure further enhances the reliability of the medical device under high temperature and high pressure sterilization environment, meeting the clinical needs for reusability.

[0056] Please refer to the reference. Figures 7 to 9 This application further proposes that the telescopic rod 22 includes a pull wire fixing member 221 and a plurality of sleeves 222 arranged in sequence. The plurality of sleeves 222 are adapted to move relative to each other along the axial direction. The pull wire fixing member 221 is provided at one end of one of the sleeves 222. The pull wire passes through the plurality of sleeves 222 and is connected to the pull wire fixing member 221. At least one of two adjacent sleeves 222 is provided with a third sealing groove 2221. A third sealing member is provided in the third sealing groove 2221.

[0057] The sleeve 222 refers to a hollow tubular structure, which can be made of metal or engineering plastic, and forms a telescopic assembly through nesting. The nested sleeve 222 structure creates multiple sealing interfaces during axial movement, effectively preventing the intrusion of external liquids. The pull cable fixing component 221 is the component that connects the pull cable, which can be a threaded or snap-fit ​​fixing seat, located at the end of the sleeve 222 to fix the pull cable. The third sealing groove 2221 is an annular groove located on the contact surface of the sleeve 222, which can be machined on the outer or inner wall of the sleeve 222, and is used to accommodate the elastic seal. The annular structure of the third sealing groove 2221 ensures that the seal is evenly compressed during relative movement of the sleeves 222. The third seal is the elastic material filled in the third sealing groove 2221, which can be made of silicone or rubber, and compensates for the assembly gap of the sleeves 222 through deformation, while maintaining a dynamic seal during axial movement of the sleeves 222.

[0058] Specifically, multiple sleeves 222 are assembled in a nested manner, with a third sealing groove 2221 and a third sealing element provided on the contact surface of adjacent sleeves 222. When the drive mechanism 1 drives the sleeves 222 to move axially, relative sliding occurs between the sleeves 222, and the third sealing element is compressed and deformed within the sealing groove, forming a continuous sealing interface. The pull cable passes through the interior of the multiple sleeves 222 and is fixed to the end of a specific sleeve 222 by the pull cable fixing member 221, ensuring the stability of the path during the pull cable traction process. The stacked structure of the nested sleeves 222 maintains the sealing contact between the sleeves 222 throughout the extension and retraction process. The third sealing element compensates for the assembly tolerance of the sleeves 222 through elastic deformation, while reducing sliding friction. When external disinfectant comes into contact with the sleeves 222, the third sealing element prevents the liquid from entering the interior of the sleeves 222, avoiding corrosion of the internal mechanical parts.

[0059] Through the above technical solution, this application can effectively prevent disinfectant from seeping into the interior of the telescopic rod 22, avoid liquid corrosion of the drive components, and ensure that the fixed module 2 can maintain structural stability and motion accuracy after repeated disinfection. The sealing design of the nested sleeve 222 also reduces the interference of disinfection operation on the internal pull-wire traction system, improving the overall reliability and service life of the equipment.

[0060] like Figure 4 As shown, this application further proposes that the outer cover 24 be provided with a tool port 242 on the side wall, the tool port 242 connecting the installation space 25 and the external space, and the installation component 23 includes a tool channel adapter 234, one end of the tool channel adapter 234 being connected to a flexible end controllable medical device, and the other end being connected to the tool port 242.

[0061] The tool port 242 refers to a through-type pipe structure located on the side wall of the outer casing 24. Specifically, it can be implemented as an annular channel with a sealing ring, used to establish an independent path for surgical instruments to enter the installation space 25. The tool channel adapter 234 refers to a rigid or flexible tube body that connects a flexible end-effector to the tool port 242 at both ends, forming a closed guide channel to prevent the tool from directly contacting the internal structure of the installation space 25.

[0062] Specifically, the inlet end of the tool port 242 is located on the outer side wall of the outer casing 24, and the outlet end extends into the installation space 25 and is fixedly connected to the tool channel adapter 234. When a surgical instrument enters through the tool port 242, the tool channel adapter 234 guides it to the area where the flexible end-effector is located, ensuring that the instrument's operating range is confined within the tool channel adapter 234. Because the connection between the tool port 242 and the side wall of the outer casing 24 is secured with a sealing ring, an integrated sealed structure is formed between the tool channel adapter 234 and the outer casing 24. During sterilization, the connection between the tool port 242 and the outside will not compromise the airtightness of the installation space 25.

[0063] Through the above technical solution, this application realizes the establishment of an independent channel for surgical tools while maintaining the airtightness of the installation space 25, which solves the problem of seal failure caused by tools entering and exiting during the disinfection process, and at the same time reduces the risk of component wear caused by frequent disassembly of the outer cover 24.

[0064] like Figure 5 and Figure 6 As shown, this application further proposes a fixing module 2 including multiple telescopic rods 22 and multiple pull wires. The multiple telescopic rods 22 are spaced apart on the base 21, and each pull wire corresponds to one telescopic rod 22. The mounting component 23 is composed of a winding component 232 and a mounting component 233. The winding component 232 is used to wind multiple pull wires and connect them to the corresponding telescopic rods 22. The mounting component 233 is used to connect a flexible end controllable medical device.

[0065] The multiple telescopic rods 22 refer to linear motion units distributed at different positions on the base 21. These can be implemented using independent cylinders or motors, and the extension stroke of each telescopic rod 22 can be independently controlled, resulting in independent adjustment of the cable traction force. The winding assembly 232 refers to a mechanism for separating and winding multiple cables, which can be implemented using multi-groove wheel or spiral guide groove structure. The grooves isolate the movement trajectories of each cable, preventing frictional interference between cables. The mounting component 233 refers to an interface component for quick connection to the flexible end-effector medical device, which can be achieved using adhesive bonding. The mounting component 233 is the connection between the flexible end-effector medical device and the mounting component 233.

[0066] Specifically, when the multiple telescopic rods 22 move axially, each pull line connected to them generates an independent traction force. After passing through the groove of the winding assembly 232, the pull line extends to the end of the flexible end controllable medical device. The groove of the winding assembly 232 separates each pull line, ensuring that each pull line maintains an independent path during movement and avoiding tension interference caused by multiple lines tangling.

[0067] Through the above technical solution, this application realizes independent control and path management of multiple pull wires, while ensuring the flexible end controllable medical device end to bend accurately in multiple directions, reducing the complexity of disassembly and assembly for disinfection and maintenance, resolving the structural contradiction between multi-line collaborative control and disinfection operation, and extending the service life of drive mechanism 1.

[0068] This application further proposes that the end of a flexible end-controllable medical device is equipped with a camera, and the fixed module 2 includes a circuit board 26, which is located on the base 21, and the camera is connected to the circuit board 26 via a wire.

[0069] The circuit board 26 refers to an insulating substrate on which electronic components are mounted. Specifically, it can be implemented using a multilayer printed circuit board 26, with image processing chips and signal conversion modules integrated onto the substrate surface using surface mount technology. The base 21 refers to the mounting carrier of the drive mechanism 1, which can be machined from metal or plastic and has internal positioning slots for fixing the circuit board 26. The wires refer to conductors used to transmit electrical signals and energy, and can be implemented using multi-core shielded cables. The wire cores are wrapped with an insulating layer and connected to the contacts of the circuit board 26 by soldering.

[0070] Specifically, the image signal captured by the camera is transmitted to the circuit board 26 inside the base 21 via a shielded cable. The processing chip on the circuit board 26 performs noise reduction and encoding conversion on the original signal. The base 21 adopts an integrated sealed structure. After the circuit board 26 is embedded into the groove of the base 21 through a 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-effector medical device, an annular sealing ring is set at the joint between the base 21 and the outer cover 24 to achieve channel sealing. When disinfectant comes into contact with the surface of the outer cover 24, the sealant layer and the sealing ring form a double protection, preventing liquid from seeping into the area of ​​the circuit board 26 along the wire channel.

[0071] Through the above technical solutions, this application achieves physical isolation between the camera's electronic components and the disinfection environment, ensuring that the circuit board 26 is not corroded by liquids during repeated sterilization processes and maintaining image transmission stability. The sealed structure of the base 21 effectively fixes the wire connection positions, preventing loosening of the wires due to repeated plugging and unplugging operations, and extending the service life of the equipment. The integrated circuit layout reduces the number of external connection interfaces and lowers the difficulty of cleaning disinfection dead corners.

[0072] like Figure 5 As shown, this application further proposes that the base 21 has a groove, the circuit board 26 is disposed in the groove, the groove is filled with sealant, and the sealant covers the circuit board 26.

[0073] The groove refers to the inward recessed space formed by the surface of the base 21, which can be achieved through machining or injection molding. It provides a fixed position for the circuit board 26 and a sealant filling area, with its sidewalls and bottom forming a physical barrier surrounding the circuit board 26. The sealant is a polymer material with waterproof and insulating properties, specifically epoxy resin or silicone rubber. After being injected into the groove in a liquid state, it cures to form a continuous sealing layer encapsulating the circuit board 26.

[0074] Specifically, after the circuit board 26 is fixed in the groove, sealant is injected into the groove in a flowing state, filling the gap between the circuit board 26 and the sidewall of the groove, and forming a protective layer that completely covers the surface of the circuit board 26 after curing. The depth and shape of the groove are designed to accommodate the amount of sealant filling, ensuring that the cured sealant layer is of uniform thickness and without gaps. Through the combination of the groove and the sealant, a double barrier is formed between the circuit board 26 and the external environment, preventing disinfectant from penetrating into the area of ​​the circuit board 26 through the assembly gap or material pores between the base 21 and the outer cover 24.

[0075] Through the above technical solution, this 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, ensures the electrical connection stability of the circuit board 26 after multiple high temperature and high pressure steam disinfections, and thus extends the service life of the fixed module 2.

[0076] like Figure 2 As shown, this application further proposes a sterilizable fixing mechanism for a flexible end-controlled medical device, including an optical fiber (not shown) and an optical fiber connector 27. The optical fiber connector 27 is disposed on the base 21. One end of the optical fiber is connected to the optical fiber connector 27, and the other end is inserted into the flexible end-controlled medical device and extends to the end of the flexible end-controlled medical device for sensing the shape of the flexible end-controlled medical device.

[0077] The fiber optic connector 27 is a mechanical connection structure used to fix the end of the optical fiber and realize signal transmission. Specifically, it can be implemented using a physical contact connection structure with a ceramic ferrule and a metal shell. A sealing ring or injection-molded sealing layer is provided at the assembly interface with the base 21. This feature, by centrally fixing the optical fiber connection point to the base 21, prevents liquid from entering the optical fiber transmission path during sterilization. The optical fiber passing through the flexible end-controlled medical device refers to the optical fiber extending along the interior of the flexible end-controlled medical device or through gaps in the tube wall to the end. Specifically, it can be arranged by pre-embedding it in the interlayer of the flexible end-controlled medical device, with the end of the optical fiber embedded in the strain detection area of ​​the bent section at the end of the flexible end-controlled medical device. This feature, by forming an integrated structure with the optical fiber and the flexible end-controlled medical device, ensures that the end deformation information is directly transmitted to the connector at the base 21 through the optical fiber deformation.

[0078] Specifically, the base 21 has a mounting groove on its surface that matches the fiber optic connector 27. The mounting groove is filled with waterproof adhesive for sealing, and the fiber optic connector 27 is fixed to the mounting groove by clips or threads. The optical fiber exits from the connector, passes through the internal channel of the base 21, and enters the flexible end-effector medical device. A groove within the flexible end-effector medical device constrains the fiber's direction. When the end of the flexible end-effector medical device bends, the optical fiber is compressed by the device wall, generating strain. This strain signal is transmitted through the optical fiber to the connector in the base 21, and then analyzed into shape data by external equipment. The sealing structure between the base 21 and the outer casing 24 covers the mounting area of ​​the fiber optic connector 27, preventing disinfectant from penetrating the connector.

[0079] In some specific embodiments, the fiber optic connector 27 may be an LC-type fiber optic connector with a self-locking structure, and a spring pressure plate is provided at the bottom of the mounting groove of the base 21 to maintain the contact pressure of the connector. The outer layer of the fiber is coated with polyimide to improve its bending resistance, and a reflective film is provided at the flexible end of the controllable medical device to form an optical feedback path with the fiber end face.

[0080] Through the above technical solution, this application solves the problem of signal distortion caused by liquid erosion at the fiber optic connection point during the sterilization process of flexible medical devices, and achieves the stability of the fiber optic sensing function after sterilization. The base 21's sealing structure protects the fiber optic connector 27, avoiding connection losses caused by repeated disassembly, and ensuring that the shape sensing accuracy of the flexible end-effector is not affected by the sterilization operation. The integrated arrangement of the fiber optic cable and the flexible end-effector eliminates external interference disturbances to the signal transmission path, ensuring continuous and reliable end-shape detection data.

[0081] This application further proposes a medical device, including a device body and a flexible end-effector controllable medical device sterilizable fixing mechanism, wherein the flexible end-effector controllable medical device sterilizable fixing mechanism is connected to the device body.

[0082] The medical device refers to the main body of the device, including a drive control unit and a power supply module. Specifically, it can be implemented using a housing structure integrating a motor and circuit board 26, providing operating power for the flexible end-effector controllable medical device. The sterilizable fixing mechanism of the flexible end-effector controllable medical device refers to a component physically separated from the main body of the device. Specifically, it can be detachably connected via a snap-fit ​​structure or threaded interface, and its internal structure features multiple layers of sealed protection. The detachable connection between the base 21 and the drive mechanism 1 means that they cooperate through a plug-in mechanical interface, such as a metal connector with a guide groove, achieving both power transmission and structural separation. The enclosure 24 and the base 21 forming the installation space 25 refers to an annular flange on the surface of the base 21, with the outer cover 24 engaging with the flange to form a closed cavity. The installation space 25 contains components such as a tool channel adapter 234 and a winding wheel.

[0083] Specifically, after the surgical procedure is completed, the fixation module 2 is disconnected from the main body of the device via the insertion structure between the base 21 and the main body, thus detaching itself from the main body. The outer cover 24 and the base 21 are separated by a sealing ring within the first sealing groove 211 to prevent liquid penetration, while the second sealing groove 231 around the mounting hole 2331 further prevents disinfectant from seeping in along the flexible end-controlled medical device interface. When the disassembled fixation module 2 is placed in a sterilization environment, the tool port 242 allows disinfectant to flow into the flexible end-controlled medical device for cleaning, while the sealant filling the groove isolates the circuit board 26 from the external environment. The rigid connection design between the fiber optic connector 27 and the base 21 ensures that the fiber maintains its positioning accuracy during repeated disassembly and reassembly, preventing shape sensing function failure due to displacement. The combination of the multiple sealing structures and the detachable power transmission interface allows the fixation module 2 to withstand high-temperature and high-pressure sterilization without affecting internal precision components.

[0084] Through the above technical solutions, this application achieves rapid separation of the fixed module 2 from the main body of the equipment, enabling disinfection operations to be performed on individual components and avoiding contact between non-corrosion-resistant components such as the drive motor and 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 within the installation space 25, preventing liquid infiltration that could lead to mechanical jamming or short circuits. The through-hole design of the tool port 242 and the flexible end-effector improves the cleaning efficiency of the internal pipeline and eliminates blind spots present in traditional immersion disinfection. The fixed installation method of the fiber optic connector 27 ensures the stability of the sensing function after repeated disassembly and avoids affecting surgical accuracy due to assembly errors.

[0085] Finally, it should be noted that the above embodiments are only for illustrating the present invention and not for limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand 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 should be covered within the scope of the claims of the present invention.

Claims

1. A sterilizable fixation mechanism for a flexible, controllable end-effector medical device, characterized in that, include: Drive mechanism; A fixed module includes a base, a telescopic rod, a mounting assembly, and an outer cover. The base is detachably connected to the drive mechanism. The telescopic rod is located on one side of the base and connected to the drive mechanism. The outer cover covers the side of the base away from the telescopic rod and forms an installation space with the base. The mounting assembly is located within the installation space. An avoidance hole is provided on the side of the outer cover away from the base. The mounting assembly has mounting holes, and the mounting holes are correspondingly arranged with the avoidance holes. A flexible end-effector controllable medical device, wherein the flexible end-effector controllable medical device is connected to the mounting assembly through the mounting hole; A pull wire is provided, 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 drive 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 fixation mechanism for a flexible, controllable end-effector medical device according to claim 1, characterized in that, The base has a first sealing groove on one end face away from the drive mechanism, and the outer cover covers the first sealing groove on one side wall facing the base. A first sealing element is provided in the first sealing groove. Alternatively, a first sealing groove is provided on one end face of the base facing away from the driving mechanism. The first sealing groove surrounds the mounting assembly. The periphery of the outer cover facing the base is inserted into the first sealing groove. A first sealing element is provided in the first sealing groove.

3. The sterilizable fixation mechanism for a flexible, controllable end-effector medical device according to claim 1, characterized in that, The mounting assembly has a second sealing groove on the side 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 element is provided in the second sealing groove.

4. The sterilizable fixation mechanism for a flexible, controllable end-effector medical device according to claim 1, characterized in that, The telescopic rod includes a pull wire fixing member and a plurality of sleeves arranged in sequence. The plurality of sleeves are adapted to move relative to each other along the axial direction. The pull wire fixing member is located at one end of one of the sleeves. The pull wire passes through the plurality of sleeves and is connected to the pull wire fixing member. At least one of two adjacent sleeves is provided with a third sealing groove, and a third sealing member is provided in the third sealing groove.

5. The sterilizable fixation mechanism for a flexible, controllable end-effector medical device according to claim 1, characterized in that, The fixed module includes multiple telescopic rods and multiple pull wires. The multiple telescopic rods are spaced apart on the base, and each pull wire corresponds to one telescopic rod. The mounting assembly includes a winding assembly and a mounting component. The winding assembly is used to wind multiple pull wires so that each pull wire is connected to one telescopic rod. The mounting component is used to connect to the flexible end controllable medical device.

6. The sterilizable fixation mechanism for a flexible, controllable end-effector medical device according to claim 1, characterized in that, The outer cover has a tool opening on its side wall, which connects the installation space and the outside space. The installation component 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 opening.

7. The sterilizable fixation mechanism for a flexible, controllable end-effector medical device according to claim 1, characterized in that, The flexible end-effector is equipped with a camera at its end. The fixed module includes a circuit board, which is located on the base. The camera is connected to the circuit board via a wire.

8. The sterilizable fixation mechanism for a flexible, controllable end-effector medical device according to claim 7, characterized in that, The base has a groove, the circuit board is placed in the groove, the groove is filled with sealant, and the sealant covers the circuit board.

9. The sterilizable fixation mechanism for a flexible, controllable end-effector 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 located on the base. One end of the optical fiber is connected to the optical fiber connector, and the other end passes 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.

10. A medical device, characterized in that, It includes a device body and a sterilizable fixing mechanism for a flexible end-effector medical device as described in any one of claims 1 to 9, wherein the sterilizable fixing mechanism for the flexible end-effector medical device is connected to the device body.

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