Flexible tip controllable medical device assembly

Abstract

The invention relates to the technical field of medical apparatus and instruments, and provides a flexible tail end controllable medical apparatus and instrument assembly, which comprises a driving mechanism comprising a driving shell, a plurality of driving parts and a plurality of transmission parts; the mounting seat is provided with a connecting piece; the detachable mechanism comprises a mounting shell, a flexible tail-end-controllable medical instrument, a plurality of stay wire fixing pieces and a plurality of stay wires, a matching piece is arranged on the mounting shell, the connecting piece is matched with the matching piece, the flexible tail-end-controllable medical instrument is provided with a snake bone, and the stay wire fixing pieces are detachably connected with the transmission pieces. One end of each stay wire is arranged on the corresponding stay wire fixing piece, and the other end of each stay wire is connected with the snake bone; and each driving piece is used for driving each transmission piece to drive the corresponding stay wire fixing piece to move, so that each stay wire drives the snake bone to move with multiple degrees of freedom. The flexible tail-end-controllable medical instrument assembly aims at solving the problem that in the prior art, the detaching process between an endoscope component and a driving component of a medical instrument is complex.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible end-controllable medical device component. Background Art

[0002] Currently in the flexible surgical instrument system market, flexible end-controllable medical devices are used to check whether there are any lesions inside the human body. They can enter the human body through the mouth or other natural cavities of the human body. Doctors can use flexible end-controllable medical devices to observe the lesions of human organs. After the operation is completed, the doctor needs to remove the flexible end-controllable medical device for repeated disinfection. Under the current circumstances, when the doctor completes the operation or a malfunction occurs during the operation, the flexible end-controllable medical device needs to be disassembled. All parts with disassembly functions need to be controlled by a motor in the rear-end drive mechanism to return to the original position before the flexible end-controllable medical device can be disassembled. Summary of the Invention

[0003] The present invention provides a flexible end-controllable medical device assembly, which aims to solve the problem of a relatively complicated disassembly process between an endoscope component and a driving component of a medical device in traditional technologies.

[0004] In view of the problems existing in the prior art, an embodiment of the present invention provides a flexible end-controllable medical device assembly, comprising: A mounting seat is provided on the drive housing, and a connecting piece is provided on the mounting seat; and The detachable mechanism includes a mounting shell, a flexible end-controllable medical device provided on the mounting shell, a plurality of pull wire fixtures and a plurality of pull wires, the mounting shell is provided with a mating piece, the connecting piece is adapted to the mating piece so that the mounting shell and the mounting seat are detachably connected, the flexible end-controllable medical device has a snake bone, each of the pull wire fixtures is detachably connected to each of the transmission members, one end of each of the pull wires is provided on the corresponding pull wire fixture, and the other end is respectively connected to the snake bone; Wherein, each of the driving members is used to drive each of the transmission members to drive the corresponding pull wire fixing member to move, so that each of the pull wires drives the snake bone to move with multiple degrees of freedom.

[0005] According to a flexible end-controllable medical device assembly provided by the present invention, the detachable mechanism also includes a plurality of telescopic sleeves arranged in the mounting shell, each of the telescopic sleeves includes a plurality of telescopic sleeves, the pull wire fixing piece is arranged on the sleeve located at the end, one end of the pull wire is arranged on the pull wire fixing piece, and the other end extends along the sleeve and is connected to the corresponding snake bone.

[0006] According to a flexible end-controllable medical device assembly provided by the present invention, the detachable mechanism also includes a plurality of winding seats arranged in the mounting shell, each of the winding seats extends along the length direction of the mounting shell and is symmetrically distributed along the circumference of the mounting shell; each of the winding seats is provided with a winding pin, and each of the winding pins is used to wind each of the pull wires so that each of the pull wires extends in the corresponding telescopic sleeve along the central axis direction of the telescopic sleeve.

[0007] According to a flexible end-controllable medical device assembly provided by the present invention, the pull wire fixture includes a first pull wire fixture, a second pull wire fixture, a third pull wire fixture, and a fourth pull wire fixture that are located in the same plane, and the first pull wire fixture, the second pull wire fixture, the third pull wire fixture, and the fourth pull wire fixture are at the same straight-line distance from a circle with a radius R and an axis of the mounting housing as the center; The distance between the first and second pull wire fixing members and the circle is -a, and the distance between the third and fourth pull wire fixing members and the circle is a.

[0008] According to a flexible end-controllable medical device assembly provided by the present invention, the transmission member includes two first transmission members and two second transmission members, the first transmission member includes a first transmission block and a first connecting block, the second transmission member includes a second transmission block and a second connecting block, the first transmission block and the second transmission block are transmission-connected to the corresponding driving member and extend along the length direction of the mounting shell, the two first connecting blocks are arranged opposite to each other and extend along the height direction of the mounting shell, the two second connecting blocks are arranged between the two first connecting blocks and extend along the height direction of the mounting shell, and the length of the first connecting block is greater than the length of the second connecting block; The first connecting block is provided with a first guide slot, the second connecting block is provided with a second guide slot, the first guide slot and the second guide slot are arranged opposite to each other, and each of the pull wire fixing members is arranged in the corresponding first guide slot or the second guide slot.

[0009] According to a flexible end-controllable medical device assembly provided by the present invention, each of the transmission members is provided with a force sensor, and the force sensor is used to detect the tension borne by the pull wire.

[0010] According to a flexible end-controllable medical device assembly provided by the present invention, the driving member includes a motor, a transmission gear set, a synchronous wheel set and a synchronous belt. The motor extends along the length direction of the drive housing, and the motor drives the transmission gear set, which is coaxially arranged with the synchronous wheel set. The synchronous belt is sleeved on the synchronous wheel set, and the end of the transmission member is arranged on the synchronous belt. The synchronous belt drives the transmission member to reciprocate along the length direction of the drive housing.

[0011] According to a flexible end-controllable medical device assembly provided by the present invention, the transmission gear group includes a first bevel gear and a second bevel gear, the synchronous wheel group includes a first synchronous wheel and a second synchronous wheel, the motor drive is connected to the first bevel gear, the first bevel gear is transmission-connected to the second bevel gear, the first synchronous wheel and the second bevel gear are coaxially arranged, and the first synchronous wheel and the second synchronous wheel are connected through the synchronous belt transmission.

[0012] According to a flexible end-controllable medical device assembly provided by the present invention, a PCB board, two shielding nets and a fan are provided in the drive housing. The PCB board extends along the height direction of the mounting housing and is arranged between each of the driving parts. The two shielding nets are arranged at both ends of the PCB board, and the fan is arranged corresponding to the PCB board.

[0013] According to a flexible end-controllable medical device assembly provided by the present invention, the connecting member includes a claw hinged to the mounting seat, the matching member includes a bayonet provided on the mounting housing, and the claw is engaged with the bayonet; The connecting member further comprises a socket provided on the mounting seat, and the matching member comprises an inserting block provided on the mounting shell, and the inserting block is plugged into the socket.

[0014] According to a flexible end-controllable medical device assembly provided by the present invention, the flexible end-controllable medical device includes a camera, a male socket is provided on the mounting seat, a female socket is provided on the mounting shell, the male socket is electrically connected to the PCB board, the female socket is electrically connected to the camera, and the male socket and the female socket are plugged together to power the camera.

[0015] According to a flexible terminal-controllable medical device assembly provided by the present invention, the mounting seat is provided with an optical fiber fixing head, the optical fiber fixing head is provided with a plurality of optical fibers, the mounting housing is provided with an optical fiber fixing hole, the optical fiber fixing head is plugged into the optical fiber fixing hole to guide light for the optical fiber of the flexible terminal-controllable medical device; or The mounting seat is provided with a plurality of optical fiber fixing heads, each of which is provided with an optical fiber, and the mounting shell is provided with a plurality of optical fiber fixing holes. Each optical fiber fixing head is plugged into each optical fiber fixing hole to guide light for the optical fiber of the flexible end-controllable medical device.

[0016] The flexible end-controllable medical device assembly provided by the present invention is detachably connected to the detachable mechanism through a mounting seat outside the driving mechanism. The detachable mechanism can be disassembled at any time without resetting the driving member or transmission member in the driving mechanism, thereby simplifying the disassembly process of the detachable mechanism. In addition, through the cooperation of multiple driving members, transmission members and wire fixing members, the flexible end-controllable medical device can be conveniently controlled to have multiple degrees of freedom of movement, making operation simpler and more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0018] Figure 1 Schematic diagram of the three-dimensional structure of the flexible end-controllable medical device assembly provided by the present invention; Figure 2 yes Figure 1 A cross-sectional structural diagram of ; Figure 3 yes Figure 2 Schematic diagram of a local enlarged structure; Figure 4 yes Figure 1 Schematic diagram of the three-dimensional structure of the middle driving mechanism; Figure 5 yes Figure 4 A schematic diagram of the first three-dimensional structure after removing the drive housing; Figure 6 yes Figure 4 A schematic diagram of the second three-dimensional structure after removing the drive housing; Figure 7 yes Figure 1 Schematic diagram of the three-dimensional structure of the transmission parts; Figure 8 yes Figure 1 A schematic diagram of the three-dimensional structure of the first embodiment of the middle mounting seat; Figure 9 yes Figure 1 A schematic diagram of the three-dimensional structure of the second embodiment of the middle mounting seat; Figure 10 yes Figure 1A first three-dimensional structural diagram of a first embodiment of the detachable mechanism; Figure 11 yes Figure 1 A second three-dimensional structural diagram of the first embodiment of the detachable mechanism; Figure 12 yes Figure 1 A schematic diagram of the three-dimensional structure of the second embodiment of the detachable mechanism; Figure 13 yes Figure 10 Schematic diagram of the bottom structure of the detachable mechanism; Figure 14 yes Figure 10 Schematic diagram of the partial three-dimensional structure of the detachable mechanism.

[0019] Figure numerals: 1, driving mechanism; 11, driving housing; 111, aviation plug; 112, optical fiber adapter; 12, driving member; 121, motor; 122, transmission gear set; 1221, first bevel gear; 1222, second bevel gear; 123, synchronous wheel set; 1231, first synchronous wheel; 1232, second synchronous wheel; 124, synchronous belt; 13, transmission member; 131, first transmission member; 1311, first transmission block; 1312, first connecting block; 1313, first guide slot; 132, second transmission member; 1321, second transmission block; 1322, second connecting block; 1323, second guide slot; 133, Force sensor; 14. PCB board; 15. Shielding net; 16. Fan; 17. Robot arm conversion parts; 2. Mounting seat; 21. Claw; 22. Socket; 23. Male socket; 24. Fiber optic fixing head; 3. Removable mechanism; 31. Mounting shell; 311. Bayonet; 312. Insert block; 313. Female socket; 314. Fiber optic fixing hole; 315. Tool inlet; 32. Flexible end-controllable medical device; 33. Wire draw fixture; 331. First wire draw fixture; 332. Second wire draw fixture; 333. Third wire draw fixture; 334. Fourth wire draw fixture; 34. Telescopic sleeve; 35. Winding seat; 351. Winding pin. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0021] 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.

[0022] 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" and "outside" indicate orientations or positional relationships based on the orientations or positional relationships 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, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the embodiments of the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0024] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0025] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will appreciate the applicability of other processes and / or the use of other materials.

[0026] The following combination Figures 1-10 The present invention describes a flexible distal-controllable medical device assembly.

[0027] In view of the problem that the disassembly process between the endoscope component and the driving component of the medical device in traditional technology is relatively complicated, in order to address the problems existing in the existing technology, an embodiment of the present invention provides a flexible end-controllable medical device assembly, including a driving mechanism 1, a mounting seat 2 and a detachable mechanism 3.

[0028] See also Figure 1-Figure 3 The drive mechanism 1 includes a drive housing 11, a plurality of drive members 12 and a plurality of transmission members 13 disposed within the drive housing 11, each drive member 12 being drivenly connected to each transmission member 13 in a one-to-one correspondence. A mounting seat 2 is disposed within the drive housing 11 and is provided with a connector. The detachable mechanism 3 includes a mounting housing 31, a flexible distal end controllable medical device 32 disposed within the mounting housing 31, a plurality of pull wire fixtures 33, and a plurality of pull wires.

[0029] The mounting housing 31 is provided with a mating piece, and the connecting piece is adapted to the mating piece so that the mounting housing 31 is detachably connected to the mounting base 2. It should be noted that in conventional technology, when a doctor completes an operation or a malfunction occurs during an operation and needs to disassemble the detachable mechanism, it is necessary to control all parts with detachable functions in the drive mechanism to return to their original positions through a motor before the detachable mechanism can be disassembled. In the present invention, the detachable mechanism 3 is detachably connected to the mounting base 2 outside the drive mechanism 1, so that the detachable mechanism 3 can be disassembled at any time without resetting the drive member 12 or the transmission member 13 in the drive mechanism 1, thereby simplifying the disassembly process of the detachable mechanism 3.

[0030] Specifically, see Figure 10 , the flexible end-controllable medical device 32 is installed at the end of the mounting shell 31, and the flexible end-controllable medical device 32 has a snake bone. The end of the snake bone can be bent by controlling the pull wire, thereby realizing the bending of the flexible end-controllable medical device 32. In the technical solution provided by the present invention, each pull wire fixing member 33 is detachably connected to each transmission member 13, one end of each pull wire is provided at the corresponding pull wire fixing member 33, and the other end is respectively connected to the snake bone. During use, the driving member 12 will drive each transmission member 13 to drive the corresponding pull wire fixing member 33 to move, so that each pull wire drives the snake bone to move with multiple degrees of freedom. It should be noted that through the cooperation of multiple pull wires, pull wire fixing members 33, driving member 12 and transmission member 13, the accuracy of the control effect of the activity of the flexible end-controllable medical device 32 can be improved, so that the multi-degree-of-freedom activity of the flexible end-controllable medical device 32 can be conveniently controlled, and the operation is simpler and more convenient.

[0031] See also Figure 10-14The detachable mechanism 3 also includes a plurality of telescopic sleeves 34 provided in the mounting shell 31, and the size of each sleeve increases successively and is connected to each other. The pull wire fixing part 33 is provided in the sleeve at the end, one end of the pull wire is provided in the pull wire fixing part 33, and the other end is provided in the sleeve, and extends along each sleeve and is connected to the snake bone. It should be noted that when the transmission part 13 pulls the pull wire fixing part 33 back and forth, the telescopic sleeve 34 will extend or shorten. Regardless of whether the telescopic sleeve 34 extends or shortens, the pull wire is always located in the telescopic sleeve 34. By setting the telescopic sleeve 34, on the one hand, the extension direction of the pull wire can be constrained, and on the other hand, it can also protect the pull wire, avoid the pull wire from twisting or rubbing against external components, and extend its service life.

[0032] Since the wire fixing part 33 is still a certain distance away from the flexible end controllable medical device 32, in order to facilitate the connection between the wire and the snake bone, and to improve the range and accuracy of the wire's adjustment of the movement of the flexible end controllable medical device 32. Figure 14 The detachable mechanism 3 further includes a plurality of winding seats 35 disposed within the mounting housing 31. Each winding seat 35 extends along the length of the mounting housing 31 and is symmetrically distributed along the circumference of the mounting housing 31. Specifically, each winding seat 35 is provided with a winding pin 351. The cable is wound around the winding pin 351, which serves to position and steer the cable. After passing around the winding pin 351, the cable extends along the winding seat 35 and connects to the snake bone.

[0033] It should be noted that the number of the pull-wire fixing members 33 can be any, and is generally set to be two or more, such as three or four. In an embodiment provided by the present invention, the pull-wire fixing members 33 include four. Figure 13 The wire fixing member 33 includes a first wire fixing member 331, a second wire fixing member 332, a third wire fixing member 333, and a fourth wire fixing member 334, which are located in the same plane. Referring to the accompanying drawings, the first wire fixing member 331, the second wire fixing member 332, the third wire fixing member 333, and the fourth wire fixing member 334 are at the same straight-line distance from a circle having a radius R and having the axis of the mounting housing 31 as the center.

[0034] It should be noted that the size of R and the straight-line distance are mainly designed according to the size of the mounting housing 31, and it is necessary to ensure that the various wire fixing members 33 can be installed at intervals and do not interfere with each other. Furthermore, the distance between the first wire fixing member 331 and the second wire fixing member 332 and the circle is -a, and the distance between the third wire fixing member 333 and the fourth wire fixing member 334 and the circle is a. Figure 13The four wire-drawing fixtures 33 are arranged in a trapezoidal shape, with the first and second wire-drawing fixtures 331 and 332 located inside the circle, and the third and fourth wire-drawing fixtures 333 and 334 located outside the circle. However, the four wire-drawing fixtures are equidistant from the circle. This arrangement ensures that the wire-drawing fixtures 33 and the transmission member 13 are installed without interfering with each other. Furthermore, it facilitates the arrangement of the winding seat 35 and the winding pin 351, improving the control accuracy and effect of the wire-drawing.

[0035] When there are four wire fixing members 33, there are correspondingly four transmission members 13. Figure 4-Figure 7 The transmission member 13 includes two first transmission members 131 and two second transmission members 132. The first transmission member 131 includes a first transmission block 1311 and a first connecting block 1312. The second transmission block 132 includes a second transmission block 1321 and a second connecting block 1322. The first transmission block 1311 and the second transmission block 1321 are transmission-connected to the corresponding driving member 12 and extend along the length direction of the mounting housing 31. The two first connecting blocks 1312 are arranged opposite each other and extend along the height direction of the mounting housing 31. The two second connecting blocks 1322 are arranged between the two first connecting blocks 1312 and extend along the height direction of the mounting housing 31. As can be seen in the accompanying drawings, the length of the first connecting block 1312 is greater than the length of the second connecting block 1322. In this way, the four wire-drawing fixing members 33 are arranged in a trapezoidal shape for convenience. Specifically, the first connecting block 1312 is provided with a first guide slot 1313, and the second connecting block 1322 is provided with a second guide slot 1323, with the first guide slot 1313 and the second guide slot 1323 being arranged opposite each other. When the detachable mechanism 3 is installed in place with the mounting base 2, the four wire fixing members 33 slide along the corresponding first guide slot 1313 or second guide slot 1323 to the top and are installed in place. In an optional embodiment, the wire fixing members 33 are configured as sliders, which can be cylindrical or square, but this invention is not limited to this.

[0036] The bottoms of the first connecting block 1312 and the second connecting block 1322 are flush but of different lengths, so that the wire fixing members 33 do not interfere with each other and can be arranged in a trapezoidal shape. Figure 7 The transmission member 13 is provided with a force sensor 133, which is used to detect the tension of the pull line, so as to better control the bending posture of the snake bone. The force sensor 133 can be set on the first transmission block 1311 and the second transmission block 1321.

[0037] Furthermore, in the technical solution provided by the present invention, the driving member 12 includes a motor 121, a transmission gear set 122, a synchronous wheel set 123, and a synchronous belt 124. The motor 121 extends along the length direction of the driving housing 11. In an optional embodiment, four motors 121 are arranged at the four corners of the driving housing 11. The motor 121 drives and connects the transmission gear set 122, the transmission gear set 122 is coaxially arranged with the synchronous wheel set 123, and the synchronous belt 124 is sleeved on the synchronous wheel set 123. The first transmission block 1311 or the second transmission block 1321 of each transmission member 13 is connected to the synchronous belt 124, and the synchronous belt 124 can drive the transmission member 13 to reciprocate along the length direction of the driving housing 11. Correspondingly, when the transmission member 13 reciprocates along the length direction of the drive housing 11, it will pull the pull wire fixing member 33 to reciprocate along the length direction of the drive housing 11 (the length direction of the installation housing 31), the telescopic sleeve 34 will retract and contract, and the pull wire movement drives the snake bone to bend the end, thereby realizing the bending of the flexible end-controllable medical device 32.

[0038] Specifically, the transmission gear set 122 includes a first bevel gear 1221 and a second bevel gear 1222, and the synchronous gear set 123 includes a first synchronous gear 1231 and a second synchronous gear 1232. The motor 121 drives and connects the first bevel gear 1221, and the first bevel gear 1221 is transmission-connected to the second bevel gear 1222. The first bevel gear 1221 and the second bevel gear 1222 can complete the change of transmission direction. The first synchronous gear 1231 is coaxially arranged with the second bevel gear 1222 and rotates synchronously with the second bevel gear 1222. The first synchronous gear 1231 and the second synchronous gear 1232 are connected by a synchronous belt 124. It should be noted that the present invention drives the corresponding wire pulling activities through four independent driving members 12 and transmission members 13. Each set of driving members 12 and transmission members 13 can be disassembled independently. When any parts inside the driving member 12 are damaged, they can be quickly replaced, which is beneficial for subsequent maintenance. Furthermore, a PCB board 14, two shielding nets 15, and a fan 16 are provided in the drive housing 11. The PCB board 14 extends in the height direction of the mounting housing 31 and is located between the four drive members 12. All electrical components can be integrated on the PCB board 14. Two shielding nets 15 are provided at both ends of the PCB board 14 to provide electromagnetic shielding. The fan 16 can be provided as one or more fans. A fan window is provided on the drive housing 11. The fan 16 is provided corresponding to the PCB board 14 to achieve heat dissipation of the PCB board 14 and prevent problems caused by overheating of the PCB board 14. Furthermore, a robotic arm conversion part 17 is also provided on the drive housing 11. The robotic arm conversion part 17 is used to connect the robotic arm to enable the drive mechanism 1 to move forward and backward.

[0039] There are various implementations of the connecting member and the mating member. In one embodiment provided by the present invention, the connecting member includes a claw 21 hingedly connected to the mounting base 2, and the mating member includes a slot 311 provided on the mounting housing 31. The mounting base 2 is configured as a semi-enclosed structure, with two claws 21 provided. The two claws 21 respectively engage with corresponding slots 311 to secure the entire detachable mechanism 3 from both sides. Furthermore, the connecting member includes a socket 22 provided on the mounting base 2, and the mating member includes an insert 312 provided on the mounting housing 31. The insert 312 is located at the bottom of the mounting housing 31 and can be inserted into the socket 22 to complete the other installation and positioning of the detachable mechanism 3.

[0040] In an optional embodiment, the flexible end-controllable medical device 32 includes a camera, and the snake-bone movement can drive the camera to rotate and shoot scenes in different directions. The camera generally needs to be powered, please refer to Figure 8 and Figure 9 The mounting base 2 is provided with a male socket 23, and the mounting housing 31 is provided with a female socket 313. The male socket 23 is electrically connected to the PCB board 14, and power is supplied to the male socket 23 via the PCB board 14. The female socket 313 is electrically connected to the camera. When the detachable mechanism 3 is in place, the male socket 23 and the female socket 313 are plugged together to power the camera. It should be noted that the drive housing 11 is provided with an aviation plug 111, which can supply power to the PCB board 14.

[0041] Furthermore, the flexible terminal-controllable medical device 32 is generally connected to an optical fiber. In an optional embodiment, a fiber optic fixing head 24 is provided on the mounting seat 2, and the fiber optic fixing head 24 is diamond-shaped. A plurality of optical fibers are provided on the fiber optic fixing head 24, and in this embodiment, three optical fibers are provided. A fiber optic fixing hole 314 is provided on the mounting shell 31, and the fiber optic fixing head 24 is plugged into the fiber optic fixing hole 314 to guide the optical fiber of the flexible terminal-controllable medical device 32. It should be noted that a fiber optic conversion joint is provided on the drive shell 11, which can guide the optical fiber of the fiber optic fixing head 24. In another optional embodiment, a plurality of fiber optic fixing heads 24 are provided on the mounting seat 2, and each fiber optic fixing head 24 is provided with an optical fiber. A plurality of fiber optic fixing holes 314 are provided on the mounting shell 31, and each fiber optic fixing head 24 is plugged into each fiber optic fixing hole 314 to guide the optical fiber of the flexible terminal-controllable medical device 32. In actual application, a suitable fiber optic conduction method can be selected, and the present invention is not limited to this.

[0042] It should be noted that the mounting housing 31 is also provided with a tool inlet 315, and the flexible distal-controllable medical device 32 is also provided with a tool channel, which is connected to the tool inlet 315. Surgical instruments such as biopsy forceps and puncture needles can enter the tool channel of the flexible distal-controllable medical device 32 through the tool inlet 315 and then reach the human body. It should also be noted that other medical devices can be integrated with the flexible distal-controllable medical device 32 as needed; a camera is only one embodiment.

[0043] The flexible end-controllable medical device assembly provided by the present invention can realize that after the operation is completed or when an emergency requires an emergency stop and power outage, the detachable mechanism 3 can be disassembled at any position for reinstallation or disinfection, without the need for all moving mechanisms to return to the origin before disassembly, thereby simplifying the disassembly process of the detachable mechanism 3; in addition, through the mutual cooperation of multiple driving parts 12, transmission parts 13 and pull wire fixing parts 33, the flexible end-controllable medical device 32 can be conveniently controlled to have multiple degrees of freedom of movement, and the operation is simpler and more convenient.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A flexible end-controllable medical device assembly, characterized in that: include: The driving mechanism includes a driving housing, a plurality of driving members and a plurality of transmission members disposed in the driving housing, wherein each of the driving members is drivingly connected to each of the transmission members in a one-to-one correspondence; A mounting seat is provided on the drive housing, and a connecting piece is provided on the mounting seat; and The detachable mechanism includes a mounting shell, a flexible end-controllable medical device provided on the mounting shell, a plurality of pull wire fixtures and a plurality of pull wires, the mounting shell is provided with a mating piece, the connecting piece is adapted to the mating piece so that the mounting shell and the mounting seat are detachably connected, the flexible end-controllable medical device has a snake bone, each of the pull wire fixtures is detachably connected to each of the transmission members, one end of each of the pull wires is provided on the corresponding pull wire fixture, and the other end is respectively connected to the snake bone; Wherein, each of the driving members is used to drive each of the transmission members to drive the corresponding pull wire fixing member to move, so that each of the pull wires drives the snake bone to move with multiple degrees of freedom.

2. The flexible end-controllable medical device assembly according to claim 1, characterized in that: The detachable mechanism also includes a plurality of telescopic sleeves arranged in the mounting shell, each of the telescopic sleeves includes a plurality of telescopic sleeves, the pull wire fixing piece is arranged at the sleeve located at the end, one end of the pull wire is arranged at the pull wire fixing piece, and the other end extends along the sleeve and is connected to the corresponding snake bone.

3. The flexible end-controllable medical device assembly according to claim 2, characterized in that: The detachable mechanism also includes a plurality of winding seats arranged in the mounting shell, each of the winding seats extends along the length direction of the mounting shell and is symmetrically distributed along the circumference of the mounting shell; each of the winding seats is provided with a winding pin, and each of the winding pins is used to wind each of the pull wires so that each of the pull wires extends along the central axis direction of the telescopic sleeve in the corresponding telescopic sleeve.

4. The flexible end-controllable medical device assembly according to claim 2, characterized in that: The pull wire fixing member includes a first pull wire fixing member, a second pull wire fixing member, a third pull wire fixing member and a fourth pull wire fixing member that are in the same plane, and the first pull wire fixing member, the second pull wire fixing member, the third pull wire fixing member and the fourth pull wire fixing member are at the same straight-line distance from a circle with a radius R and an axis of the mounting housing as the center; The distance between the first and second pull wire fixing members and the circle is -a, and the distance between the third and fourth pull wire fixing members and the circle is a.

5. The flexible end-controllable medical device assembly according to claim 4, characterized in that: The transmission member includes two first transmission members and two second transmission members, the first transmission member includes a first transmission block and a first connecting block, the second transmission member includes a second transmission block and a second connecting block, the first transmission block and the second transmission block are transmission-connected to the corresponding driving member and extend along the length direction of the mounting shell, the two first connecting blocks are arranged opposite to each other and extend along the height direction of the mounting shell, the two second connecting blocks are arranged between the two first connecting blocks and extend along the height direction of the mounting shell, and the length of the first connecting block is greater than the length of the second connecting block; The first connecting block is provided with a first guide slot, the second connecting block is provided with a second guide slot, the first guide slot and the second guide slot are arranged opposite to each other, and each of the pull wire fixing members is arranged in the corresponding first guide slot or the second guide slot.

6. The flexible distal controllable medical device assembly according to claim 1, characterized in that: Each of the transmission parts is provided with a force sensor, and the force sensor is used to detect the tension borne by the pull wire.

7. The flexible distal controllable medical device assembly according to claim 1, characterized in that: The driving member includes a motor, a transmission gear set, a synchronous wheel set and a synchronous belt. The motor extends along the length direction of the drive housing. The motor drives the transmission gear set. The transmission gear set and the synchronous wheel set are coaxially arranged. The synchronous belt is sleeved on the synchronous wheel set. The end of the transmission member is arranged on the synchronous belt. The synchronous belt drives the transmission member to reciprocate along the length direction of the drive housing.

8. The flexible distal controllable medical device assembly according to claim 7, characterized in that: The transmission gear set includes a first bevel gear and a second bevel gear, the synchronous gear set includes a first synchronous gear and a second synchronous gear, the motor drives the first bevel gear, the first bevel gear is transmission-connected to the second bevel gear, the first synchronous gear and the second bevel gear are coaxially arranged, and the first synchronous gear and the second synchronous gear are connected via the synchronous belt transmission.

9. The flexible distal controllable medical device assembly according to claim 1, characterized in that: A PCB board, two shielding nets and a fan are provided in the drive housing. The PCB board extends along the height direction of the mounting housing and is provided between the driving components. The two shielding nets are provided at both ends of the PCB board, and the fan is provided corresponding to the PCB board.

10. The flexible distal-controllable medical device assembly according to claim 1, characterized in that: The connecting member includes a claw hinged to the mounting seat, and the matching member includes a bayonet provided on the mounting shell, and the claw is engaged with the bayonet; The connecting member further comprises a socket provided on the mounting seat, and the matching member comprises an inserting block provided on the mounting shell, and the inserting block is plugged into the socket.

11. The flexible distal controllable medical device assembly according to claim 1, characterized in that: The flexible end-controllable medical device includes a camera, a male socket is provided on the mounting seat, a female socket is provided on the mounting shell, the male socket is electrically connected to the PCB board, the female socket is electrically connected to the camera, and the male socket and the female socket are plugged together to power the camera.

12. The flexible distal-controllable medical device assembly according to claim 11, characterized in that: The mounting seat is provided with an optical fiber fixing head, the optical fiber fixing head is provided with a plurality of optical fibers, the mounting housing is provided with an optical fiber fixing hole, the optical fiber fixing head is plugged into the optical fiber fixing hole to guide light for the optical fiber of the flexible end-controllable medical device; or, The mounting seat is provided with a plurality of optical fiber fixing heads, each of which is provided with an optical fiber, and the mounting shell is provided with a plurality of optical fiber fixing holes. Each optical fiber fixing head is plugged into each optical fiber fixing hole to guide light for the optical fiber of the flexible end-controllable medical device.

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