Flexible tip steerable medical device assembly

Abstract

The present application relates to the technical field of medical devices, and provides a flexible end controllable medical device assembly, which comprises a driving mechanism, a mounting seat and a detachable mechanism; the driving mechanism comprises a driving shell, a plurality of driving members and a plurality of transmission members; the mounting seat is provided with a connecting piece; the detachable mechanism comprises a mounting shell, a flexible end controllable medical device, a plurality of pull wire fixing members and a plurality of pull wires; the mounting shell is provided with a matching piece; the connecting piece is matched with the matching piece; the flexible end controllable medical device has a snake bone; each pull wire fixing member is detachably connected with each transmission member; one end of each pull wire is arranged in the corresponding pull wire fixing member, and the other end of each pull wire is connected with the snake bone respectively; wherein each driving member is used for driving each transmission member to drive the corresponding pull wire fixing member to move, so that each pull wire drives the snake bone to move in multiple degrees of freedom. The flexible end controllable medical device assembly provided by the present application aims to solve the problem that the disassembly process between the endoscope part and the driving part of the medical device in the prior art is relatively complex.

Description

Technical Field

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

[0002] Currently, in the flexible surgical instrument system market, flexible end-effectors are used to examine the human body for lesions. They can enter the body through the mouth or other natural cavities. Doctors can use these flexible end-effectors to observe the condition of human organs. After the surgery, doctors need to remove the flexible end-effectors for repeated disinfection. In the current situation, when doctors complete the surgery or when a malfunction occurs during the surgery, the flexible end-effectors need to be disassembled. This requires the motor in the rear drive mechanism to control all disassembly-enabled parts to return to their original positions before the flexible end-effectors can be removed. Summary of the Invention

[0003] This invention provides a flexible, end-effector-controlled medical device assembly, aiming to solve the problem of the complex disassembly process between the endoscope component and the drive component of medical devices in traditional technologies.

[0004] To address the problems existing in the prior art, embodiments of the present invention provide a flexible, end-effector-controlled medical device assembly, comprising:

[0005] A mounting base is provided on the drive housing, and a connector is provided on the mounting base; and...

[0006] A detachable mechanism includes a mounting housing, a flexible end-effector medical device disposed on the mounting housing, multiple pull-wire fixing members, and multiple pull wires. The mounting housing is provided with a mating member, and the connecting member is adapted to the mating member to allow the mounting housing to be detachably connected to the mounting base. The flexible end-effector medical device has a snake-like structure. Each of the pull-wire fixing members is detachably connected to each of the transmission members. One end of each pull wire is disposed on the corresponding pull-wire fixing member, and the other end is respectively connected to the snake-like structure.

[0007] Each of the driving components is used to drive each of the transmission components to move the corresponding pull wire fixing component, so that each pull wire drives the snake bone to move in multiple degrees of freedom.

[0008] According to the present invention, a flexible end-effector controllable medical device assembly is provided, wherein the detachable mechanism further includes a plurality of telescopic sleeves disposed within the mounting housing, each of the telescopic sleeves comprising a plurality of sleeves telescopically connected, a pull wire fixing member being disposed at the end of the sleeve, one end of the pull wire being disposed at the pull wire fixing member, and the other end extending along the inside of the sleeve and connected to the corresponding snake bone.

[0009] According to a flexible end-effector controllable medical device assembly provided by the present invention, the detachable mechanism further includes a plurality of winding seats disposed within the mounting housing, each winding seat extending along the length direction of the mounting housing and symmetrically distributed along the periphery of the mounting housing; each winding seat is provided with a winding pin, each winding pin being used to wind each pull wire, so that each pull wire extends along the central axis direction of the corresponding telescopic sleeve.

[0010] According to the present invention, a flexible end-effector controllable medical device assembly is provided, wherein the pull wire fixing component includes a first pull wire fixing component, a second pull wire fixing component, a third pull wire fixing component, and a fourth pull wire fixing component located on the same plane, wherein the first pull wire fixing component, the second pull wire fixing component, the third pull wire fixing component, and the fourth pull wire fixing component are all equidistant from a circle with radius R centered on the axis of the mounting housing;

[0011] Wherein, 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.

[0012] According to the present invention, a flexible end-effector controllable medical device assembly includes two first transmission components and two second transmission components. The first transmission component includes a first transmission block and a first connecting block, and the second transmission component includes a second transmission block and a second connecting block. The first transmission block and the second transmission block are connected to the corresponding driving component and extend along the length direction of the mounting housing. The two first connecting blocks are disposed opposite to each other and extend along the height direction of the mounting housing. The two second connecting blocks are disposed between the two first connecting blocks and extend along the height direction of the mounting housing. The length of the first connecting block is greater than the length of the second connecting block.

[0013] The first connecting block is provided with a first guide groove, and the second connecting block is provided with a second guide groove. The first guide groove and the second guide groove are arranged opposite to each other, and each of the pull wire fixing components is respectively provided in the corresponding first guide groove or second guide groove.

[0014] According to a flexible end-effector controllable medical device assembly provided by the present invention, each of the transmission components is provided with a force sensor, which is used to detect the tension borne by the pull wire.

[0015] According to the present invention, a flexible end-effector controllable medical device assembly includes a driving component comprising a motor, a transmission gear set, a synchronous pulley set, and a synchronous belt. The motor extends along the length direction of the driving housing and drives the transmission gear set. The transmission gear set is coaxially arranged with the synchronous pulley set. The synchronous belt is sleeved on the synchronous pulley set. The end of the driving component is disposed on the synchronous belt, and the synchronous belt drives the driving component to reciprocate along the length direction of the driving housing.

[0016] According to the present invention, a flexible end-effector controllable medical device assembly includes a transmission gear set comprising a first bevel gear and a second bevel gear, a synchronous pulley set comprising a first synchronous pulley and a second synchronous pulley, a motor drivingly connected to the first bevel gear, the first bevel gear drivingly connected to the second bevel gear, the first synchronous pulley and the second bevel gear being coaxially arranged, and the first synchronous pulley and the second synchronous pulley being connected by a synchronous belt.

[0017] According to the present invention, a flexible end-effector controllable medical device assembly is provided, wherein the drive housing is provided with a PCB board, two shielding meshes and a fan, the PCB board extends along the height direction of the mounting housing and is disposed between each of the drive components, the two shielding meshes are disposed at both ends of the PCB board, and the fan is disposed corresponding to the PCB board.

[0018] According to the present invention, a flexible end-effector controllable medical device assembly is provided, wherein the connector includes a claw hinged to the mounting base, and the mating component includes a slot provided in the mounting housing, wherein the claw engages with the slot;

[0019] The connector further includes a socket provided on the mounting base, and the mating component includes a plug provided on the mounting housing, the plug being inserted into the socket.

[0020] According to the present invention, a flexible end-effector controllable medical device assembly is provided, the flexible end-effector controllable medical device includes a camera, a male connector is provided on the mounting base, a female connector is provided on the mounting housing, the male connector is electrically connected to the PCB board, the female connector is electrically connected to the camera, and the male connector and the female connector are plugged into each other to supply power to the camera.

[0021] According to a flexible end-effector medical device assembly provided by the present invention, the mounting base is provided with an optical fiber fixing head, the optical fiber fixing head is provided with a plurality of optical fibers, and the mounting housing is provided with an optical fiber fixing hole. The optical fiber fixing head is inserted into the optical fiber fixing hole for guiding light to the optical fiber of the flexible end-effector medical device; or...

[0022] The mounting base is provided with a plurality of optical fiber fixing heads, each optical fiber fixing head is provided with an optical fiber, and the mounting housing is provided with a plurality of optical fiber fixing holes. Each optical fiber fixing head is inserted into each optical fiber fixing hole for guiding optical fiber light to the flexible end controllable medical device.

[0023] The flexible end-effector controllable medical device assembly provided by this invention can be detachably connected to a detachable mechanism via a mounting base outside the drive mechanism. The detachable mechanism can be disassembled at any time without resetting the drive or transmission components in the drive mechanism, simplifying the disassembly process of the detachable mechanism. In addition, through the cooperation of multiple drive components, transmission components and pull wire fixing components, the flexible end-effector controllable medical device can be easily controlled to move with multiple degrees of freedom, making operation simpler and more convenient. Attached Figure Description

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

[0025] Figure 1 This is a three-dimensional structural schematic diagram of the flexible end-effector controllable medical device component provided by the present invention;

[0026] Figure 2 yes Figure 1 A sectional view of the structure;

[0027] Figure 3 yes Figure 2 A partially enlarged structural diagram;

[0028] Figure 4 yes Figure 1 A three-dimensional structural diagram of the central drive mechanism;

[0029] Figure 5 yes Figure 4 A schematic diagram of the first three-dimensional structure after removing the drive housing;

[0030] Figure 6 yes Figure 4 A schematic diagram of the second three-dimensional structure after removing the drive housing;

[0031] Figure 7 yes Figure 1 A three-dimensional structural diagram of the transmission component;

[0032] Figure 8 yes Figure 1 A three-dimensional structural schematic diagram of the first embodiment of the mounting base;

[0033] Figure 9 yes Figure 1 A three-dimensional structural schematic diagram of the second embodiment of the mounting base;

[0034] Figure 10 yes Figure 1 A first perspective structural schematic diagram of the first embodiment of the detachable mechanism;

[0035] Figure 11 yes Figure 1 A second perspective structural schematic diagram of the first embodiment of the detachable mechanism;

[0036] Figure 12 yes Figure 1 A three-dimensional structural schematic diagram of the second embodiment of the detachable mechanism;

[0037] Figure 13 yes Figure 10 A schematic diagram of the bottom structure of the detachable mechanism;

[0038] Figure 14 yes Figure 10 A partial three-dimensional structural diagram of the detachable mechanism.

[0039] Reference numerals: 1. Drive mechanism; 11. Drive housing; 111. Aviation connector; 112. Fiber optic adapter; 12. Drive component; 121. Motor; 122. Transmission gear set; 1221. First bevel gear; 1222. Second bevel gear; 123. Synchronous pulley set; 1231. First synchronous pulley; 1232. Second synchronous pulley; 124. Synchronous belt; 13. Transmission component; 131. First transmission component; 1311. First transmission block; 1312. First connecting block; 1313. First guide groove; 132. Second transmission component; 1321. Second transmission block; 1322. Second connecting block; 1323. Second guide groove; 133. 14. Force sensor; 15. PCB board; 16. Shielding mesh; 17. Fan; 18. Robotic arm conversion parts; 2. Mounting base; 21. Claw; 22. Socket; 23. Male socket; 24. Fiber optic fixing head; 3. Detachable mechanism; 31. Mounting housing; 311. Clamp; 312. Insert block; 313. Female socket; 314. Fiber optic fixing hole; 315. Tool inlet; 32. Flexible end-effector controllable medical device; 33. Pull-wire fixing component; 331. First pull-wire fixing component; 332. Second pull-wire fixing component; 333. Third pull-wire fixing component; 334. Fourth pull-wire fixing component; 34. Telescopic sleeve; 35. Winding base; 351. Winding pin. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] 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.

[0042] 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", "inner", and "outer" 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.

[0043] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0045] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0046] The following is combined Figures 1-10 This invention describes a flexible, end-effector-controlled medical device assembly.

[0047] In view of the problem that the disassembly process between the endoscope component and the drive component of medical devices in traditional technology is relatively complicated, this invention provides a flexible end-effector controllable medical device assembly, including a drive mechanism 1, a mounting base 2 and a detachable mechanism 3.

[0048] Please see Figures 1-3 The drive mechanism 1 includes a drive housing 11, multiple drive components 12 and multiple transmission components 13 disposed within the drive housing 11, with each drive component 12 and each transmission component 13 corresponding to and connected to each other. A mounting base 2 is disposed on the drive housing 11, and a connecting component is provided on the mounting base 2. The detachable mechanism 3 includes a mounting housing 31, a flexible end-effector controllable medical device 32 disposed on the mounting housing 31, multiple pull-wire fixing components 33, and multiple pull wires.

[0049] The mounting housing 31 is equipped with a mating component, and the connecting component is adapted to the mating component to allow the mounting housing 31 to be detachably connected to the mounting base 2. It should be noted that in conventional technology, when a doctor completes surgery or a malfunction occurs during surgery, the detachable mechanism needs to be disassembled. This requires the motor in the drive mechanism to control all disassembly-enabled parts to return to their original positions before the detachable mechanism can be disassembled. In this invention, the detachable mechanism 3 is detachably connected to the mounting base 2 outside the drive mechanism 1, allowing the detachable mechanism 3 to be disassembled at any time without needing to reset the drive component 12 or transmission component 13 in the drive mechanism 1, thus simplifying the disassembly process of the detachable mechanism 3.

[0050] Specifically, please refer to Figure 10A flexible end-effector 32 is mounted on the end of the mounting housing 31. The flexible end-effector 32 has a snake-like structure, the end of which can be bent by a pull wire, thus enabling the flexible end-effector 32 to bend. In the technical solution provided by this invention, each pull wire fixing member 33 is detachably connected to each transmission member 13. One end of each pull wire is located on the corresponding pull wire fixing member 33, and the other end is connected to the snake-like structure. During use, the driving member 12 drives each transmission member 13 to move the corresponding pull wire fixing member 33, allowing each pull wire to drive the snake-like structure to move in multiple degrees of freedom. It should be noted that the cooperation of multiple pull wires, pull wire fixing members 33, driving member 12, and transmission member 13 can improve the accuracy of the control effect on the flexible end-effector 32, thereby facilitating the control of the flexible end-effector 32's multi-degree-of-freedom movement and making operation simpler and more convenient.

[0051] Please see Figures 10-14 The detachable mechanism 3 also includes multiple telescopic sleeves 34 disposed within the mounting housing 31, with each sleeve increasing in size sequentially and interlocking with the others. A cable fixing member 33 is disposed at the end of each sleeve, with one end of the cable located in the fixing member 33 and the other end inside the sleeve, extending along the sleeve and connecting to the snake bone. It should be noted that when the transmission member 13 reciprocates by pulling the cable fixing member 33, the telescopic sleeves 34 will extend or shorten. Regardless of whether the telescopic sleeves 34 extend or shorten, the cable remains within the telescopic sleeves 34. The telescopic sleeves 34 serve two purposes: firstly, they constrain the cable's extension direction; secondly, they protect the cable, preventing twisting or friction with external components and extending its service life.

[0052] Since the pull wire fixing member 33 is still some distance from the flexible end-effector 32, in order to facilitate the connection between the pull wire and the snake bone, and to improve the range and accuracy of the pull wire's adjustment of the flexible end-effector 32's movement, please refer to the technical solution provided by this invention. Figure 14 The detachable mechanism 3 also 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 periphery of the mounting housing 31. Specifically, each winding seat 35 is provided with a winding pin 351. The pull wire is wound around the winding pin 351, which serves to position and turn the pull wire. After passing over the winding pin 351, the pull wire extends along the winding seat 35 and connects with the snake bone.

[0053] It should be noted that the number of cable fasteners 33 can be arbitrary, generally set to two or more, such as three or four. In one embodiment provided by the present invention, the cable fasteners 33 include four. For details, please refer to [link to specific documentation]. Figure 13The cable fixing component 33 includes a first cable fixing component 331, a second cable fixing component 332, a third cable fixing component 333, and a fourth cable fixing component 334, all located on the same plane. Referring to the accompanying drawings, the first cable fixing component 331, the second cable fixing component 332, the third cable fixing component 333, and the fourth cable fixing component 334 are all equidistant from a circle with radius R centered on the axis of the mounting housing 31.

[0054] It should be noted that the size of R and the straight-line distance are mainly designed based on the dimensions of the mounting housing 31, ensuring that each pull wire fixing component 33 can be installed at intervals without interfering with each other. Furthermore, the distance from the circle between the first pull wire fixing component 331 and the second pull wire fixing component 332 is -a, and the distance from the circle between the third pull wire fixing component 333 and the fourth pull wire fixing component 334 is a. (See reference...) Figure 13 The four cable fixing members 33 are arranged in a trapezoidal shape. The first cable fixing member 331 and the second cable fixing member 332 are located inside the circle, while the third cable fixing member 333 and the fourth cable fixing member 334 are located outside the circle. However, all four cable fixing members are equidistant from the circle. This arrangement ensures that the installation of the cable fixing members 33 and the transmission member 13 does not interfere with each other. In addition, it also assists in the setting of the winding seat 35 and the winding pin 351, resulting in better control accuracy and control effect of the cable.

[0055] When there are four pull wire fixing parts 33, there are correspondingly four transmission parts 13. For details, please refer to [link / reference needed]. Figures 4-7The transmission component 13 includes two first transmission components 131 and two second transmission components 132. Each first transmission component 131 includes a first transmission block 1311 and a first connecting block 1312. Each second transmission block 132 includes a second transmission block 1321 and a second connecting block 1322. The first transmission blocks 1311 and 1321 are connected to their corresponding driving components 12 and extend along the length of the mounting housing 31. The two first connecting blocks 1312 are positioned opposite each other and extend along the height of the mounting housing 31. The two second connecting blocks 1322 are located between the two first connecting blocks 1312 and extend along the height of the mounting housing 31. Referring to the accompanying drawings, the length of the first connecting block 1312 is greater than the length of the second connecting block 1322, thus allowing the four cable fixing components 33 to be arranged in a trapezoidal shape for convenience. Specifically, the first connecting block 1312 is provided with a first guide groove 1313, and the second connecting block 1322 is provided with a second guide groove 1323, with the first guide groove 1313 and the second guide groove 1323 being arranged opposite to each other. When the detachable mechanism 3 and the mounting base 2 are installed in place, the four pull wire fixing members 33 slide along the corresponding first guide groove 1313 or second guide groove 1323 to the top and be installed in place. In an optional embodiment, the pull wire fixing member 33 is set as a slider, which can be a cylindrical slider or a square slider, and the present invention is not limited thereto.

[0056] The bottoms of the first connecting block 1312 and the second connecting block 1322 are flush but of different lengths, so that the cable fixing parts 33 can be installed without interference and can be arranged in a trapezoidal shape. Further, please refer to... Figure 7 Each transmission component 13 is equipped with a force sensor 133, which is used to detect the tension on the pull wire, thus enabling better control of the snake's bending posture. The force sensor 133 can be installed on the first transmission block 1311 and the second transmission block 1321.

[0057] Furthermore, in the technical solution provided by the present invention, the driving component 12 includes a motor 121, a transmission gear set 122, a synchronous pulley 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 the transmission gear set 122, which is coaxially arranged with the synchronous pulley set 123. The synchronous belt 124 is sleeved on the synchronous pulley set 123. The first transmission block 1311 or the second transmission block 1321 of each transmission component 13 is connected to the synchronous belt 124, and the synchronous belt 124 can drive the transmission component 13 to reciprocate along the length direction of the driving housing 11. Correspondingly, when the transmission component 13 reciprocates along the length of the drive housing 11, it will pull the wire fixing component 33 to reciprocate along the length of the drive housing 11 (the length of the mounting housing 31), and the telescopic sleeve 34 will extend and retract. The wire movement will drive the snake bone to bend at the end, thereby realizing the bending of the flexible end controllable medical device 32.

[0058] Specifically, the transmission gear set 122 includes a first bevel gear 1221 and a second bevel gear 1222, and the synchronous pulley set 123 includes a first synchronous pulley 1231 and a second synchronous pulley 1232. The motor 121 drives the first bevel gear 1221, and the first bevel gear 1221 is driven by the second bevel gear 1222. The first bevel gear 1221 and the second bevel gear 1222 can change the transmission direction. The first synchronous pulley 1231 and the second bevel gear 1222 are coaxially arranged and rotate synchronously with the second bevel gear 1222. The first synchronous pulley 1231 and the second synchronous pulley 1232 are connected by a synchronous belt 124. It should be noted that this invention drives the corresponding cable pulling activity through four independent driving components 12 and transmission components 13. Each set of driving components 12 and transmission components 13 can be independently disassembled. When any part inside the driving component 12 is damaged, it can be quickly replaced, which is beneficial for subsequent maintenance.

[0059] Furthermore, the drive housing 11 houses a PCB board 14, two shielding meshes 15, and a fan 16. The PCB board 14 extends along the height of the mounting housing 31 and is located between the four drive components 12. All electrical components can be integrated on the PCB board 14. The two shielding meshes 15 are located at both ends of the PCB board 14 for electromagnetic shielding. One or more fans 16 can be provided, and the drive housing 11 has fan windows. The fans 16 are positioned corresponding to the PCB board 14 to dissipate heat and prevent problems caused by overheating of the PCB board 14. Furthermore, the drive housing 11 also houses a robotic arm conversion component 17, which connects to the robotic arm, enabling the drive mechanism 1 to move forward and backward.

[0060] There are various implementations of the connector and mating parts. In one embodiment provided by the present invention, the connector includes a claw 21 hinged to the mounting base 2, and the mating part includes a slot 311 provided in the mounting housing 31. The mounting base 2 is configured as a semi-enclosed structure, and there are two claws 21, which are respectively engaged with the corresponding slots 311 to fix the entire detachable mechanism 3 from both sides. Further, the connector also includes an insertion port 22 provided in the mounting base 2, and the mating part includes an insertion block 312 provided in the mounting housing 31. The insertion block 312 is located at the bottom of the mounting housing 31 and can be inserted into the insertion port 22 to complete another installation and positioning of the detachable mechanism 3.

[0061] In an optional embodiment, the flexible end-effector 32 includes a camera; the snake-like motion can rotate the camera to capture images from different angles. The camera typically requires a power supply; please refer to [link to relevant documentation]. Figure 8 and Figure 9 The mounting base 2 is equipped with a male connector 23, and the mounting housing 31 is equipped with a female connector 313. The male connector 23 is electrically connected to the PCB board 14, and power is supplied to the male connector 23 through the PCB board 14. The female connector 313 is electrically connected to the camera. When the detachable mechanism 3 is installed in place, the male connector 23 and the female connector 313 are plugged in, which can supply power to the camera. It should be noted that the drive housing 11 is equipped with an aviation connector 111, which can supply power to the PCB board 14.

[0062] Furthermore, the flexible end-effector 32 is generally connected to an optical fiber. In an optional embodiment, the mounting base 2 is provided with an optical fiber fixing head 24, which is rhomboid in shape and has multiple optical fibers; in this embodiment, three optical fibers are provided. The mounting housing 31 is provided with an optical fiber fixing hole 314, and the optical fiber fixing head 24 is inserted into the optical fiber fixing hole 314 to guide the optical fiber of the flexible end-effector 32. It should be noted that an optical fiber conversion connector is provided on the drive housing 11, which can guide the optical fiber of the optical fiber fixing head 24. In another optional embodiment, the mounting base 2 is provided with multiple optical fiber fixing heads 24, each with one optical fiber, and the mounting housing 31 is provided with multiple optical fiber fixing holes 314, each optical fiber fixing head 24 being inserted into each optical fiber fixing hole 314 to guide the optical fiber of the flexible end-effector 32. In practical applications, a suitable optical fiber conduction method can be selected, and this invention does not limit this.

[0063] It should be noted that the mounting housing 31 is also equipped with a tool inlet 315, and the flexible end-effector 32 is also equipped 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 end-effector 32 through the tool inlet 315 and then reach the inside of the human body. It should also be noted that other medical devices can be integrated into the flexible end-effector 32 as needed; the camera is only one implementation method.

[0064] The flexible end-effector controllable medical device assembly provided by this invention allows the detachable mechanism 3 to be disassembled and reinstalled or disinfected at any position after surgery or in case of emergency power outage, without requiring all motion mechanisms to return to their original positions before disassembly, thus simplifying the disassembly process of the detachable mechanism 3. In addition, through the coordinated operation of multiple drive components 12, transmission components 13 and pull wire fixing components 33, the flexible end-effector controllable medical device 32 can be easily controlled to move with multiple degrees of freedom, making operation simpler and more convenient.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible, end-effector-controlled medical device assembly, characterized in that, include: A drive mechanism includes a drive housing, a plurality of drive components and a plurality of transmission components disposed within the drive housing, wherein each drive component and each transmission component are driven and connected in a one-to-one correspondence. A mounting base is provided on the drive housing, and a connector is provided on the mounting base; and... A detachable mechanism includes a mounting housing, a flexible end-effector medical device disposed on the mounting housing, multiple pull-wire fixing members, and multiple pull wires. The mounting housing is provided with a mating member, and the connecting member is adapted to the mating member to detachably connect the mounting housing to the mounting base. The flexible end-effector medical device has a snake-like structure. Each pull-wire fixing member is detachably connected to each of the transmission members. One end of each pull wire is disposed on the corresponding pull-wire fixing member, and the other end is respectively connected to the snake-like structure. Each of the driving components is used to drive each of the transmission components to move the corresponding pull wire fixing component, so that each pull wire drives the snake bone to move in multiple degrees of freedom. The detachable mechanism further includes a plurality of telescopic sleeves disposed within the mounting housing. Each telescopic sleeve includes a plurality of sleeves that are telescopically connected. The pull wire fixing member is disposed at the end of the sleeve. One end of the pull wire is disposed at the pull wire fixing member, and the other end extends along the inside of the sleeve and is connected to the corresponding snake bone. The pull wire fixing components include a first pull wire fixing component, a second pull wire fixing component, a third pull wire fixing component, and a fourth pull wire fixing component, all located on the same plane. The first pull wire fixing component, the second pull wire fixing component, the third pull wire fixing component, and the fourth pull wire fixing component are all equidistant from a circle with radius R centered on the axis of the mounting housing. Wherein, the distance between the first pull wire fixing member and the second pull wire fixing member and the circle is -a, and the distance between the third pull wire fixing member and the fourth pull wire fixing member and the circle is a; The connector includes a claw hinged to the mounting base, and the mating component includes a slot provided in the mounting housing, with the claw engaging with the slot; The connector further includes a socket provided on the mounting base, and the mating component includes a plug provided on the mounting housing, the plug being inserted into the socket.

2. The flexible end-effector controllable medical device assembly according to claim 1, characterized in that, The detachable mechanism further includes a plurality of winding seats disposed within the mounting housing. Each winding seat extends along the length of the mounting housing and is symmetrically distributed along the periphery of the mounting housing. Each winding seat is provided with a winding pin, and each winding pin is used to wind each pull wire so that each pull wire extends along the central axis of the corresponding telescopic sleeve.

3. The flexible end-effector controllable medical device assembly according to claim 1, characterized in that, The transmission component includes two first transmission components and two second transmission components. The first transmission component includes a first transmission block and a first connecting block. The second transmission component includes a second transmission block and a second connecting block. The first transmission block and the second transmission block are connected to the corresponding driving component and extend along the length direction of the mounting housing. The two first connecting blocks are arranged opposite to each other and extend along the height direction of the mounting housing. The two second connecting blocks are located between the two first connecting blocks and extend along the height direction of the mounting housing. 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 groove, and the second connecting block is provided with a second guide groove. The first guide groove and the second guide groove are arranged opposite to each other, and each of the pull wire fixing components is respectively provided in the corresponding first guide groove or second guide groove.

4. The flexible end-effector controllable medical device assembly according to claim 1, characterized in that, Each of the transmission components is equipped with a force sensor, which is used to detect the tension borne by the pull wire.

5. The flexible end-effector controllable medical device assembly according to claim 1, characterized in that, The driving component includes a motor, a transmission gear set, a synchronous pulley set, and a synchronous belt. The motor extends along the length of the driving housing and drives the transmission gear set. The transmission gear set is coaxially arranged with the synchronous pulley set. The synchronous belt is sleeved on the synchronous pulley set. The end of the driving component is located on the synchronous belt. The synchronous belt drives the driving component to reciprocate along the length of the driving housing.

6. The flexible end-effector controllable medical device assembly according to claim 5, characterized in that, The transmission gear set includes a first bevel gear and a second bevel gear, the synchronous pulley set includes a first synchronous pulley and a second synchronous pulley, the motor drives and connects to the first bevel gear, the first bevel gear drives and connects to the second bevel gear, the first synchronous pulley and the second bevel gear are coaxially arranged, and the first synchronous pulley and the second synchronous pulley are connected by the synchronous belt.

7. The flexible end-effector controllable medical device assembly according to claim 1, characterized in that, The drive housing contains a PCB board, two shielding meshes, and a fan. The PCB board extends along the height direction of the mounting housing and is located between each of the drive components. The two shielding meshes are located at both ends of the PCB board, and the fan is positioned corresponding to the PCB board.

8. The flexible end-effector controllable medical device assembly according to claim 1, characterized in that, The flexible end-effector controllable medical device includes a camera. The mounting base is provided with a male connector, and the mounting housing is provided with a female connector. The male connector is electrically connected to the PCB board, and the female connector is electrically connected to the camera. The male connector and the female connector are plugged into each other to supply power to the camera.

9. The flexible end-effector controllable medical device assembly according to claim 8, characterized in that, The mounting base is provided with an optical fiber fixing head, which has multiple optical fibers. The mounting housing has optical fiber fixing holes, and the optical fiber fixing head is inserted into the optical fiber fixing holes for guiding optical fiber light to the flexible end-effector controllable medical device; or... The mounting base is provided with a plurality of optical fiber fixing heads, each optical fiber fixing head is provided with an optical fiber, and the mounting housing is provided with a plurality of optical fiber fixing holes. Each optical fiber fixing head is inserted into each optical fiber fixing hole for guiding optical fiber light to the flexible end controllable medical device.

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