Flexible tail end controllable medical instrument feeding mechanism

Abstract

The invention relates to the technical field of medical instruments, and provides a flexible tail-end-controllable medical instrument feeding mechanism which comprises a feeding assembly, a first driving assembly and a second driving assembly, the feeding assembly comprises a driving wheel and a driven wheel, and the driving wheel and the driven wheel are configured to be clamped to the two sides of a flexible tail-end-controllable medical instrument; the first driving assembly is detachably connected with the driving wheel through a first quick release structure so as to drive the driving wheel to rotate; the second driving assembly is detachably connected with the driven wheel through a second quick release structure so as to drive the driven wheel to be close to or away from the driving wheel. According to the feeding mechanism, clamping and feeding of the flexible tail-end-controllable medical instrument can be conveniently achieved based on mutual cooperation of the driving wheel and the driven wheel, the feeding design structure is relatively simple, the driving wheel and the driven wheel can be conveniently detached, disinfected and cleaned, and the disinfection operation difficulty is reduced.

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 feeding mechanism. Background Art

[0002] At present, in the field of flexible surgical instruments, flexible end-controllable medical devices are usually used to check whether there are lesions in 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 pathological conditions of human organs.

[0003] Due to their flexibility, flexible end-controllable medical devices are prone to bending due to resistance when entering the human body. Therefore, these devices rely primarily on a foldable structure for support and guidance. The rigid foldable structure is typically mounted on the same robotic arm as the drive mechanism used to control the bending of the end of the flexible end-controllable medical device, and the length of the rigid foldable structure is matched to the length of the flexible end-controllable medical device. In actual applications, it has been found that such foldable structures used to control the feeding of flexible end-controllable medical devices are typically large and complex in structure. This makes it difficult to clean and disinfect the foldable structure after the operation, which has come into contact with the flexible end-controllable medical device. Summary of the Invention

[0004] The present invention provides a flexible end-controllable medical device feeding mechanism, which is used to at least solve or improve the problems in the prior art of devices used to control the feeding of flexible end-controllable medical devices, such as large size, complex structure, and inconvenience in postoperative cleaning and disinfection.

[0005] The present invention provides a flexible end-controllable medical device feeding mechanism, comprising: A feeding assembly, comprising a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are configured to be clamped on both sides of a flexible end-controllable medical device; a first drive assembly, the first drive assembly being detachably connected to the driving wheel via a first quick-release structure to drive the driving wheel to rotate; The second driving assembly is detachably connected to the driven wheel through a second quick-release structure to drive the driven wheel to approach or move away from the driving wheel.

[0006] According to a flexible end-controllable medical device feeding mechanism provided by the present invention, the first driving assembly includes: a first drive motor; a first gear set, wherein a first end of the first gear set is connected to the first driving motor; The first transmission assembly includes a first bearing seat and a first transmission shaft. The first transmission shaft is rotatably disposed on the first bearing seat. The first end of the first transmission shaft is connected to the second end of the first gear set. The second end of the first transmission shaft is detachably connected to the driving wheel through the first quick-release structure.

[0007] According to a flexible end-controllable medical device feeding mechanism provided by the present invention, the first quick-release structure includes: A square shaft connected to the driving wheel, the square shaft being configured to be inserted into a square hole corresponding to the first transmission shaft, the side wall of the square shaft being provided with a locking groove, the side wall of the first transmission shaft being provided with a ball groove, the ball groove being in communication with the square hole and being configured to be arranged opposite to the locking groove; A locking assembly comprising a ball and a locking sleeve, wherein the ball is embedded in the ball groove and can move radially along the first transmission shaft; the locking sleeve is movably sleeved on the peripheral wall of the first transmission shaft along the axial direction of the first transmission shaft, and the inner wall of the locking sleeve is provided with a locking portion and an unlocking portion; When the locking sleeve is in a first position relative to the first transmission shaft, the unlocking portion corresponds to the ball groove, and the square shaft can be movably inserted into the square hole; When the locking sleeve is in the second position relative to the first transmission shaft, the locking portion corresponds to the ball groove, and the locking portion presses at least part of the balls into the locking groove to prevent the square shaft from moving relative to the first transmission shaft.

[0008] According to a flexible end-controllable medical device feeding mechanism provided by the present invention, the locking assembly further includes: a limiting plate, the limiting plate being provided at the second end of the first transmission shaft; a spring, the spring being sleeved on the outside of the first transmission shaft and abutting between the locking sleeve and the first bearing seat; When the locking sleeve is in a first position relative to the first transmission shaft, the spring is in a first state, and the locking sleeve and the limiting plate are separated; When the locking sleeve is in the second position relative to the first transmission shaft, the spring is in the second state, and the locking sleeve abuts between the limiting plate and the spring; Wherein, the length of the spring in the first state is smaller than the length of the spring in the second state.

[0009] According to a flexible end-controllable medical device feeding mechanism provided by the present invention, the second quick-release structure has the same structure as the first quick-release structure.

[0010] According to a flexible end-controllable medical device feeding mechanism provided by the present invention, the second driving assembly includes: a second drive motor; a second gear set, one end of the second gear set being connected to the second driving motor; a sliding assembly comprising a rack, a slider, and a slide rail, wherein the rack is connected to the slider and meshes with the second gear set, the slider is slidably disposed on the slide rail, and the slide rail is configured to extend along the arrangement direction of the driving wheel and the driven wheel; The second transmission assembly includes a second bearing seat and a second transmission shaft. The second transmission shaft is rotatably disposed on the second bearing seat. The second bearing seat is connected to the slider. The second transmission shaft is detachably connected to the driven wheel through the second quick-release structure.

[0011] According to the present invention, a flexible end-controllable medical device feeding mechanism further includes: a first force sensor configured to be supported on a lower side of the first bearing seat; a second force sensor configured to be supported on a lower side of the second bearing seat; The first force sensor and the second force sensor cooperate to detect the resistance of the feeding assembly when driving the flexible end-controllable medical device to feed.

[0012] According to the present invention, a flexible end-controllable medical device feeding mechanism further includes: a first limit sensor, the first limit sensor being arranged on a side of the second bearing seat facing the driving wheel to detect a limit distance that the driven wheel moves toward the driving wheel; a second limit sensor, the second limit sensor being arranged on a side of the second bearing seat away from the driving wheel, so as to detect a limit distance that the driven wheel moves away from the driving wheel; A control board, the first limit sensor and the second limit sensor are electrically connected to the control board respectively, and the control board is electrically connected to the first drive motor and the second drive motor respectively.

[0013] According to a feeding mechanism for a flexible end-controllable medical device provided by the present invention, the driving wheel and the driven wheel each include a hub and a rubber wheel body, the rubber wheel body being sleeved on the outer side of the hub, the edge of the rubber wheel body being provided with a groove extending along its circumference, the groove of the driving wheel and the groove of the driven wheel being used to clamp the flexible end-controllable medical device along a first direction; The driven wheel further includes a first baffle and a second baffle, the first baffle and the second baffle being arranged oppositely on two sides of the rubber wheel body corresponding to the driven wheel, and the first baffle and the second baffle on the driven wheel are used to clamp the flexible end-controllable medical device along the second direction; The first direction and the second direction are perpendicular.

[0014] According to the present invention, a flexible end-controllable medical device feeding mechanism further includes: a housing, the feeding assembly being disposed outside the housing, and at least a portion of the first driving assembly and at least a portion of the second driving assembly being disposed inside the housing; a control button, the control button being arranged on the surface of the housing; A control panel is provided in the housing, the control button is electrically connected to the control panel, and the control panel is electrically connected to the first drive assembly and the second drive assembly respectively.

[0015] The flexible end-controllable medical device feeding mechanism provided by the present invention is configured with a feeding component, a first driving component and a second driving component, and the feeding component is provided to include a driving wheel and a driven wheel. The second driving component can be used to conveniently control the driven wheel to approach the driving wheel, so that based on the mutual cooperation between the driving wheel and the driven wheel, the flexible end-controllable medical device can be clamped and fed. The second driving component can also be used to control the driven wheel to move away from the driving wheel, so that the flexible end-controllable medical device can be conveniently removed from between the driving wheel and the driven wheel after the operation. Considering that the driving wheel and the driven wheel need to contact the flexible end-controllable medical device during the operation, the first quick-release structure and the second quick-release structure can be provided to conveniently complete the disassembly of the driving wheel and the driven wheel, so that the driving wheel and the driven wheel can be cleaned and disinfected after the operation.

[0016] Compared with the rigid foldable structure in the prior art that provides support and guidance for the flexible end-controllable medical device, the feeding mechanism shown in the embodiment of the present invention has a relatively simple structure and an overall miniaturized design, which facilitates the separate disassembly and cleaning of the driving wheel and the driven wheel that come into contact with the flexible end-controllable medical device after surgery. It is not only simple to operate but also easy to disinfect. 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 1This is one of the schematic diagrams of the feeding mechanism of the flexible end-controllable medical device provided by the present invention.

[0019] Figure 2 The present invention provides Figure 1 One of the diagrams after the shell is hidden.

[0020] Figure 3 The present invention provides Figure 1 The second diagram behind the hidden shell.

[0021] Figure 4 This is the second schematic diagram of the flexible end-controllable medical device feeding mechanism provided by the present invention.

[0022] Figure 5 The present invention provides Figure 4 One of the diagrams after the shell is hidden.

[0023] Figure 6 The present invention provides Figure 4 The second diagram behind the hidden shell.

[0024] Figure 7 It is a schematic diagram of the first driving assembly provided by the present invention being detachably connected to the driving wheel via a first quick-release structure.

[0025] Figure 8 The present invention provides Figure 7 Explosion diagram.

[0026] Figure 9 It is a schematic diagram of the first quick-release structure provided by the present invention in an unlocked state.

[0027] Figure 10 It is a schematic diagram of the first quick-release structure provided by the present invention in a locked state.

[0028] Figure 11 It is a schematic diagram of the second driving assembly provided by the present invention being detachably connected to the driven wheel via the second quick-release structure.

[0029] Figure 12 It is a schematic diagram of the feeding assembly provided by the present invention controlling the feeding of a flexible end-controllable medical device.

[0030] Reference numerals: 1. Feed assembly; 11. Driving wheel; 111. Wheel hub; 112. Rubber wheel body; 12. Driven wheel; 1201. First baffle; 1202. Second baffle; 2. First drive assembly; 21. First drive motor; 22. First gear set; 23. First transmission assembly; 231. First bearing seat; 232. First transmission shaft; 2321. Square hole; 2322. Ball groove; 3. Second drive assembly; 31. Second drive motor; 32. Second gear set; 33. Sliding assembly; 331. Rack; 332. Sliding block; 333. Slide rail; 34. Second transmission assembly; 341. Second bearing seat; 342. Second transmission shaft; 4. First quick-release structure; 41. Square shaft; 410. Locking groove; 42. Locking assembly; 421. Ball bearing; 422. Locking sleeve; 423. Limiting plate; 424. Spring; 5. Second quick-release structure; 6. First force sensor; 7. Second force sensor; 8. Second limit sensor; 9. Control panel; 10. Housing; 100. Control button; 1000. Flexible end-controllable medical device. DETAILED DESCRIPTION

[0031] 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.

[0032] The following combination Figures 1-12 , the flexible end-controllable medical device feeding mechanism provided by the embodiment of the invention is described in detail through specific embodiments and application scenarios.

[0033] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, the present invention provides a flexible end-controllable medical device feeding mechanism, comprising: a feeding assembly 1, a first driving assembly 2 and a second driving assembly 3; The feeding assembly 1 includes a driving wheel 11 and a driven wheel 12, which are configured to be clamped on both sides of the flexible end-controllable medical device 1000; The first drive assembly 2 is detachably connected to the driving wheel 11 through the first quick-release structure 4 to drive the driving wheel 11 to rotate; the second drive assembly 3 is detachably connected to the driven wheel 12 through the second quick-release structure 5 to drive the driven wheel 12 to approach or move away from the driving wheel 11.

[0034] It is understood that, depending on the application scenario, the flexible end-controllable medical device 1000 can be a flexible and slim endoscope such as a cystoscope, pyeloscope, bronchoscope, urethroscope, etc., without specific limitation. The diameter of the flexible end-controllable medical device 1000 can be 3-5 mm.

[0035] Exemplarily, the feeding assembly 1 is configured to be arranged above the human body passage, and the driving wheel 11 and the driven wheel 12 corresponding to the feeding assembly 1 are arranged side by side. Based on the mutual cooperation between the driving wheel 11 and the driven wheel 12, the flexible end-controllable medical device 1000 can be clamped and fed.

[0036] In actual application, when it is necessary to control the feeding of the flexible end-controllable medical device 1000, the second drive component 3 drives the driven wheel 12 to approach the driving wheel 11 through the second quick-release structure 5 until the driving wheel 11 and the driven wheel 12 clamp the flexible end-controllable medical device 1000 in a flexible clamping manner. At this time, the first drive component 2 drives the driving wheel 11 to rotate through the first quick-release structure 4. For example, the driving wheel 11 can be configured to rotate clockwise, and the driven wheel 12 will adaptively rotate counterclockwise, so that the flexible end-controllable medical device 1000 is fed under the control of the driving wheel 11 and the driven wheel 12.

[0037] After the flexible end-controllable medical device 1000 completes the operation, the second drive assembly 3 drives the driven wheel 12 away from the driving wheel 11 through the second quick-release structure 5 so as to remove the flexible end-controllable medical device 1000 from between the driving wheel 11 and the driven wheel 12.

[0038] Among them, the first quick-release structure 4 is a structure that facilitates the connection and separation of the first drive component 2 and the active wheel 11, such as a snap-on structure, a magnetic structure, a threaded connection structure, etc.; correspondingly, the second quick-release structure 5 is a structure that facilitates the connection and separation of the second drive component 3 and the driven wheel 12, such as a snap-on structure, a magnetic structure, a threaded connection structure, etc.

[0039] The feeding mechanism shown in the embodiment of the present invention is configured with a feeding component 1, a first driving component 2 and a second driving component 3, and the feeding component 1 is provided with a driving wheel 11 and a driven wheel 12. The driven wheel 12 can be conveniently controlled by the second driving component 3 to approach the driving wheel 11, so that based on the mutual cooperation between the driving wheel 11 and the driven wheel 12, the flexible end-controllable medical device 1000 can be clamped and fed. The driven wheel 12 can also be controlled by the second driving component 3 to move away from the driving wheel 11, so that the flexible end-controllable medical device 1000 can be conveniently removed from between the driving wheel 11 and the driven wheel 12 after the operation. Considering that the driving wheel 11 and the driven wheel 12 need to contact the flexible end-controllable medical device 1000 during the operation, the first quick-release structure 4 and the second quick-release structure 5 can be provided to conveniently complete the disassembly of the driving wheel 11 and the driven wheel 12, so that the driving wheel 11 and the driven wheel 12 can be cleaned and disinfected after the operation.

[0040] Compared with the rigid foldable structure in the prior art that provides support and guidance for the flexible end-controllable medical device 1000, the feeding mechanism shown in the embodiment of the present invention has a relatively simple structure and an overall miniaturized design, which facilitates the separate disassembly and disinfection and cleaning of the driving wheel 11 and the driven wheel 12 that come into contact with the flexible end-controllable medical device 1000 after surgery, thereby reducing the difficulty of the disinfection operation.

[0041] In some embodiments, as Figure 2 and Figure 3 As shown, the first drive assembly 2 includes: a first drive motor 21, a first gear set 22 and a first transmission assembly 23; The first end of the first gear group 22 is connected to the first drive motor 21, and the first transmission assembly 23 includes a first bearing seat 231 and a first transmission shaft 232. The first transmission shaft 232 is rotatably disposed on the first bearing seat 231. For example, the first transmission shaft 232 is passed through the axial hole of the first bearing seat 231, and the first bearing seat 231 provides rotation support for the first transmission shaft 232. The first end of the first transmission shaft 232 is connected to the second end of the first gear group 22, and the second end of the first transmission shaft 232 is detachably connected to the driving wheel 11 through the first quick-release structure 4.

[0042] It is understandable that the first drive motor 21 may be a servo motor.

[0043] The first gear set 22 can be configured to include a first gear and a second gear, the first gear and the second gear are meshed, the output end of the first drive motor 21 is coaxially connected to the first gear, and the second gear is coaxially connected to the second gear corresponding to the first transmission assembly 23.

[0044] In actual applications, the diameter of the first gear can be set to be smaller than the diameter of the second gear. This design can achieve that the rotation speed of the driving wheel 11 is lower than the rotation speed of the first drive motor 21, and compared with the design of using the first drive motor 21 to directly drive the driving wheel 11, it can ensure that the driving wheel 11 can achieve a relatively large torque, so that based on the cooperation between the driving wheel 11 and the driven wheel 12, the feeding of the flexible end-controllable medical device 1000 can be better controlled.

[0045] In some embodiments, as Figure 7 、 Figure 8 、 Figure 9 and Figure 10 As shown, the first quick-release structure 4 includes: a square shaft 41 and a locking assembly 42; The square shaft 41 is connected to the driving wheel 11, and the square shaft 41 is configured to be inserted into the square hole 2321 corresponding to the first transmission shaft 232. The square shaft 41 and the square hole 2321 cooperate to prevent the square shaft 41 from rotating relative to the first transmission shaft 232. The side wall of the square shaft 41 is provided with a locking groove 410, and the side wall of the first transmission shaft 232 is provided with a ball groove 2322. The ball groove 2322 is connected to the square hole 2321 and is configured to be arranged opposite to the locking groove 410; wherein, the notch of the ball groove 2322 is formed on the side wall of the square shaft 41, and the bottom of the ball groove 2322 is provided with a limiting hole, and the ball groove 2322 is connected to the square hole 2321 through the limiting hole.

[0046] like Figure 9 and Figure 10 As shown, the locking assembly 42 includes a ball 421 and a locking sleeve 422. The ball 421 is embedded in the ball groove 2322 and can move radially along the first transmission shaft 232. The diameter of the ball 421 matches the inner diameter of the ball groove 2322, and the aperture of the limiting hole is smaller than the diameter of the ball 421 to prevent the ball 421 from falling from the ball groove 2322 into the square hole 2321. The ball 421 and the ball groove 2322 can be arranged in a plurality relative to each other, and the plurality of ball grooves 2322 are arranged along the circumference of the first transmission shaft 232.

[0047] At the same time, the locking sleeve 422 is movably sleeved on the peripheral wall of the first transmission shaft 232 along the axial direction of the first transmission shaft 232, and the inner wall of the locking sleeve 422 is provided with a locking portion and an unlocking portion; illustratively, the locking portion can be an annular protrusion provided on the inner wall of the locking sleeve 422, and the unlocking portion can be an annular groove provided on the inner wall of the locking sleeve 422, and the annular protrusion and the annular groove both extend along the circumference of the locking sleeve 422, and the annular protrusion and the annular groove are connected by a transition surface inclined relative to the central axis of the locking sleeve 422.

[0048] like Figure 9 As shown, when the locking sleeve 422 is in the first position relative to the first transmission shaft 232, the first quick-release structure 4 is in an unlocked state, the unlocking portion of the locking sleeve 422 corresponds to the ball groove 2322, and the square shaft 41 can be movably inserted into the square hole 2321.

[0049] It is understandable that in actual application, when the driving wheel 11 needs to be installed, it can be installed according to Figure 9Move the locking sleeve 422 to the first position in the direction shown. At this time, the square shaft 41 can be inserted into the square hole 2321 until the locking groove 410 on the square hole 2321 and the ball groove 2322 on the first transmission shaft 232 are radially opposite to each other. Since at least part of the balls 421 in the ball groove 2322 can be accommodated in the area corresponding to the unlocking portion, for example, at least part of the balls 421 are accommodated in the annular groove, the locking groove 410 on the square shaft 41 and the balls 421 cannot form an axial abutment. Therefore, the square shaft 41 can be inserted into the square hole 2321 or the square shaft 41 can be pulled out of the square hole 2321 according to actual needs.

[0050] like Figure 10 As shown, when the locking sleeve 422 is in the second position relative to the first transmission shaft 232, the first quick-release structure 4 is in a locked state, the locking portion of the locking sleeve 422 corresponds to the ball groove 2322, and the locking portion presses at least part of the ball 421 into the locking groove 410 to prevent the square shaft 41 from moving relative to the first transmission shaft 232.

[0051] It is understandable that in actual application, after completing the plugging operation of the square shaft 41, it is only necessary to follow Figure 10 The locking sleeve 422 is moved to the second position in the direction shown. At this time, the locking portion presses on the ball 421, so that the ball 421 moves to the bottom of the ball groove 2322, so that a part of the ball 421 will be restricted in the locking groove 410, so that the locking groove 410 on the square shaft 41 and the ball 421 form an axial abutment, making it impossible to pull the square shaft 41 out of the square hole 2321.

[0052] In some embodiments, as Figure 9 and Figure 10 As shown, in order to facilitate the reliable unlocking or locking operation of the square shaft 41, the locking assembly 42 also includes: a limit plate 423 and a spring 424; the limit plate 423 is arranged at the second end of the first transmission shaft 232, and the spring 424 is sleeved on the outside of the first transmission shaft 232 and abuts between the locking sleeve 422 and the first bearing seat 231.

[0053] like Figure 9 As shown, when the locking sleeve 422 is in the first position relative to the first transmission shaft 232, the spring 424 is in the first state, and the locking sleeve 422 and the limiting plate 423 are separated; Figure 10 As shown, when the locking sleeve 422 is in the second position relative to the first transmission shaft 232 , the spring 424 is in the second state, and the locking sleeve 422 abuts between the limiting plate 423 and the spring 424 ; Among them, the length of the spring 424 in the first state is less than the length of the spring 424 in the second state. In practical applications, it can be considered that the spring 424 is in a compressed state in both the first state and the second state, or that the spring 424 is in a compressed state in the first state and the spring 424 is in a naturally extended state in the second state.

[0054] It should be pointed out here that the second quick-release structure 5 and the first quick-release structure 4 can be set to the same structure. The second quick-release structure 5 is used to conveniently realize the assembly and disassembly between the driven wheel 12 and the second drive assembly 3. The structure of the second quick-release structure 5 is not introduced in detail here.

[0055] In some embodiments, as Figure 2 and Figure 3 As shown, the second drive assembly 3 includes: a second drive motor 31, a second gear set 32, a sliding assembly 33 and a second transmission assembly 34; One end of the second gear set 32 ​​is connected to the second drive motor 31. The sliding assembly 33 includes a rack 331, a slider 332, and a slide rail 333. The rack 331 and the slider 332 are connected and meshed with the second gear set 32. The slider 332 is slidably disposed on the slide rail 333. The slide rail 333 is configured to extend along the arrangement direction of the driving wheel 11 and the driven wheel 12. The second transmission assembly 34 includes a second bearing seat 341 and a second transmission shaft 342 . The second transmission shaft 342 is rotatably disposed on the second bearing seat 341 . The second bearing seat 341 is connected to the slider 332 . The second transmission shaft 342 is detachably connected to the driven wheel 12 via the second quick-release structure 5 .

[0056] It is understandable that the second driving motor 31 may be a servo motor.

[0057] The second gear set 32 ​​can be configured to include a third gear and a fourth gear, the third gear and the fourth gear are meshed, the output end of the second drive motor 31 is coaxially connected to the third gear, and the fourth gear is meshed with the rack 331 corresponding to the sliding component 33.

[0058] In actual applications, the diameter of the third gear can be set to be smaller than the diameter of the fourth gear. This design facilitates the deceleration adjustment of the speed output by the second drive motor 31, thereby increasing the torque of the fourth gear, and facilitates the reliably controlling the driven wheel 12 to approach or move away from the driving wheel 11 based on the meshing setting between the fourth gear and the rack 331 corresponding to the sliding assembly 33.

[0059] In some embodiments, as Figure 7 and Figure 11 As shown, the flexible end-controllable medical device feeding mechanism further includes: a first force sensor 6 and a second force sensor 7; The first force sensor 6 is configured to be supported on the lower side of the first bearing seat 231 , and the second force sensor 7 is configured to be supported on the lower side of the second bearing seat 341 ; The first force sensor 6 and the second force sensor 7 cooperate to detect the resistance and clamping force of the feeding assembly 1 when driving the flexible end-controllable medical device 1000 to feed.

[0060] It can be understood that, in practical applications, one of the first force sensor 6 and the second force sensor 7 can be used, and the other of the first force sensor 6 and the second force sensor 7 can be used as a backup.

[0061] When the second driving component 3 drives the driven wheel 12 to approach the driving wheel 11 until the driving wheel 11 and the driven wheel 12 clamp the flexible end-controllable medical device 1000, the first force sensor 6 and / or the second force sensor 7 can be used to collect the clamping force on the flexible end-controllable medical device 1000; when controlling the feeding of the flexible end-controllable medical device 1000, the resistance of the feeding component 1 when driving the flexible end-controllable medical device 1000 to feed can be obtained based on the information collected by the first force sensor 6 and / or the second force sensor 7.

[0062] like Figure 2 and Figure 3 As shown, an embodiment of the present invention discloses a layout of the first drive component 2 and the second drive component 3, the feed mechanism is equipped with a fixed frame, the fixed frame includes a vertical plate and a horizontal plate vertically connected, the first drive motor 21 corresponding to the first drive component 2 and the second drive motor 31 corresponding to the second drive component 3 are both connected to the vertical plate of the fixed frame, the first bearing seat 231 corresponding to the first drive component 2 is connected to the horizontal plate of the fixed frame through the first force sensor 6, the second bearing seat 341 corresponding to the second drive component 3 is connected to the horizontal plate of the fixed frame through the second force sensor 7, and the sliding component 33 corresponding to the second drive component 3 is installed on the horizontal plate of the fixed frame.

[0063] like Figure 5 and Figure 6 As shown, an embodiment of the present invention discloses a layout of the first drive component 2 and the second drive component 3, the feed mechanism is provided with a vertical plate, the first drive motor 21 corresponding to the first drive component 2 and the second drive motor 31 corresponding to the second drive component 3 are both connected to the vertical plate of the fixed frame, the first bearing seat 231 corresponding to the first drive component 2 is connected to the vertical plate through a first horizontal connecting plate, and the first horizontal connecting plate is located on the upper side of the first gear group 22; the second bearing seat 341 corresponding to the second drive component 3 is connected to the slider 332 of the sliding component 33 through a second horizontal connecting plate, and the second horizontal connecting plate is located on the upper side of the second gear group 32, and the slide rail 333 of the sliding component 33 is arranged on the side of the vertical plate.

[0064] In some embodiments, as Figure 2 and Figure 3 As shown, the flexible end-controllable medical device feeding mechanism also includes: a first limit sensor, a second limit sensor 8 and a control board 9; wherein the first limit sensor is Figure 3 Not shown in the figure; The first limit sensor is provided on the side of the second bearing seat 341 facing the driving wheel 11 to detect the limit distance of the driven wheel 12 moving toward the driving wheel 11; The second limit sensor 8 is provided on the side of the second bearing seat 341 away from the driving wheel 11 to detect the maximum distance that the driven wheel 12 moves away from the driving wheel 11; The first limit sensor and the second limit sensor 8 are electrically connected to the control board 9 , respectively. The control board 9 is electrically connected to the first drive motor 21 and the second drive motor 31 , respectively.

[0065] In actual application, the first limit sensor and the second limit sensor 8 can both adopt photoelectric switches installed on the U-shaped seat, and the second bearing seat 341 is provided with a first trigger component corresponding to the first limit sensor and a second trigger component corresponding to the second limit sensor 8.

[0066] When the first trigger member extends into the U-shaped seat on the side of the second bearing seat 341 facing the driving wheel 11, the first limit sensor will be triggered, and a trigger signal will be generated by the first limit sensor. The control board 9 controls the second drive motor 31 to stop rotating according to the trigger signal generated by the first limit sensor to prevent the driven wheel 12 from continuing to move toward the side of the driving wheel 11.

[0067] When the second trigger member extends into the U-shaped seat on the side of the second bearing seat 341 away from the driving wheel 11, the second limit sensor 8 will be triggered, and a trigger signal will be generated by the second limit sensor 8. The control board 9 controls the second drive motor 31 to stop rotating according to the trigger signal generated by the second limit sensor 8 to prevent the driven wheel 12 from continuing to move toward the side away from the driving wheel 11.

[0068] The first drive motor 21 is equipped with a first drive board, the second drive motor 31 is equipped with a second drive board, and the control board 9 is connected to the first drive motor 21 through the first drive board and to the second drive motor 31 through the second drive board.

[0069] In some embodiments, as Figure 8 and Figure 12As shown, in order to ensure that the feeding assembly 1 reliably drives the flexible end-controllable medical device 1000 to feed, the driving wheel 11 and the driven wheel 12 both include a hub 111 and a rubber wheel body 112. The rubber wheel body 112 is made of medical rubber, and the rubber wheel body 112 is made of silicone rubber. The rubber wheel body 112 is sleeved on the outer side of the hub 111. The wheel edge of the rubber wheel body 112 is provided with a groove extending along its circumference. The groove of the driving wheel 11 and the groove of the driven wheel 12 are used to clamp the flexible end-controllable medical device 1000 along the first direction.

[0070] like Figure 11 and Figure 12 As shown, the driven wheel 12 also includes a first baffle 1201 and a second baffle 1202, which are relatively arranged on both sides of the rubber wheel body 112 corresponding to the driven wheel 12. For example, the first baffle 1201 and the second baffle 1202 are both disc-shaped, and the diameters of the first baffle 1201 and the second baffle 1202 are larger than the diameter of the rubber wheel body 112 corresponding to the driven wheel 12; the first baffle 1201 and the second baffle 1202 on the driven wheel 12 are used to clamp the flexible end-controllable medical device 1000 along the second direction; wherein the first direction and the second direction are perpendicular, and the second direction can be considered to be along the axial direction of the driven wheel 12.

[0071] In some embodiments, as Figure 1 、 Figure 2 and Figure 4 As shown, the flexible end-controllable medical device feeding mechanism further includes: a housing 10, a control button 100 and a control panel 9; The feed assembly 1 is arranged outside the shell 10, at least part of the first drive assembly 2 and at least part of the second drive assembly 3 are arranged inside the shell 10; the control button 100 is arranged on the surface of the shell 10; the control panel 9 is arranged inside the shell 10, the control button 100 and the control panel 9 are electrically connected, and the control panel 9 is electrically connected to the first drive assembly 2 and the second drive assembly 3 respectively.

[0072] It can be understood that the control button 100 can be a self-locking button. For example, the control button 100 is in a normally closed state under normal circumstances. When the operator presses the control button 100, the control button 100 can switch to a normally open state and remain in the normally open state. When the operator presses the control button 100 again, the control button 100 returns to the normally closed state.

[0073] For example, the operator can press the control button 100 to send a first control instruction to the control panel 9. Based on the first control instruction, the control panel 9 can control the second drive assembly 3 to drive the driven wheel 12 close to the driving wheel 11 to clamp the flexible end-controllable medical device 1000. Accordingly, after the operation is completed, the operator can press the control button 100 again to send a second control instruction to the control panel 9. Based on the second control instruction, the control panel 9 can control the second drive assembly 3 to drive the driven wheel 12 away from the driving wheel 11 to remove the flexible end-controllable medical device 1000 from between the driving wheel 11 and the driven wheel 12.

[0074] In actual application, the shell 10 has a accommodating cavity and a through hole connected to the accommodating cavity. The accommodating cavity is used to accommodate the first drive component 2 and the second drive component 3. The through hole is used to arrange the connection structure between the driving wheel 11 and the first drive component 2, and to arrange the connection structure between the driven wheel 12 and the second drive component 3 to ensure that the feed component 1 is arranged outside the shell 10.

[0075] Exemplarily, the shell 10 can be configured to include an upper shell and a lower shell. The shell 10 is assembled by the upper shell and the lower shell. A accommodating cavity for accommodating the first drive component 2 and the second drive component 3 is formed between the upper shell and the lower shell. The control button 100 can be set in either the upper shell or the lower shell, and there is no specific limitation on this.

[0076] 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 feeding mechanism, characterized in that: include: A feeding assembly, comprising a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are configured to be clamped on both sides of a flexible end-controllable medical device; a first drive assembly, the first drive assembly being detachably connected to the driving wheel via a first quick-release structure to drive the driving wheel to rotate; The second driving assembly is detachably connected to the driven wheel through a second quick-release structure to drive the driven wheel to approach or move away from the driving wheel.

2. The flexible end-controllable medical device feeding mechanism according to claim 1, characterized in that: The first drive assembly comprises: a first drive motor; a first gear set, wherein a first end of the first gear set is connected to the first driving motor; The first transmission assembly includes a first bearing seat and a first transmission shaft. The first transmission shaft is rotatably disposed on the first bearing seat. The first end of the first transmission shaft is connected to the second end of the first gear set. The second end of the first transmission shaft is detachably connected to the driving wheel through the first quick-release structure.

3. The flexible end-controllable medical device feeding mechanism according to claim 2, characterized in that: The first quick-release structure includes: A square shaft connected to the driving wheel, the square shaft being configured to be inserted into a square hole corresponding to the first transmission shaft, the side wall of the square shaft being provided with a locking groove, the side wall of the first transmission shaft being provided with a ball groove, the ball groove being in communication with the square hole and being configured to be arranged opposite to the locking groove; A locking assembly comprising a ball and a locking sleeve, wherein the ball is embedded in the ball groove and can move radially along the first transmission shaft; the locking sleeve is movably sleeved on the peripheral wall of the first transmission shaft along the axial direction of the first transmission shaft, and the inner wall of the locking sleeve is provided with a locking portion and an unlocking portion; When the locking sleeve is in a first position relative to the first transmission shaft, the unlocking portion corresponds to the ball groove, and the square shaft can be movably inserted into the square hole; When the locking sleeve is in the second position relative to the first transmission shaft, the locking portion corresponds to the ball groove, and the locking portion presses at least part of the balls into the locking groove to prevent the square shaft from moving relative to the first transmission shaft.

4. The flexible end-controllable medical device feeding mechanism according to claim 3, characterized in that: The locking assembly further comprises: a limiting plate, the limiting plate being provided at the second end of the first transmission shaft; a spring, the spring being sleeved on the outside of the first transmission shaft and abutting between the locking sleeve and the first bearing seat; When the locking sleeve is in a first position relative to the first transmission shaft, the spring is in a first state, and the locking sleeve and the limiting plate are separated; When the locking sleeve is in the second position relative to the first transmission shaft, the spring is in the second state, and the locking sleeve abuts between the limiting plate and the spring; Wherein, the length of the spring in the first state is smaller than the length of the spring in the second state.

5. The flexible end-controllable medical device feeding mechanism according to claim 3, characterized in that: The second quick-release structure has the same structure as the first quick-release structure.

6. The feeding mechanism of a flexible end-controllable medical device according to any one of claims 2 to 5, characterized in that: The second drive assembly includes: a second drive motor; a second gear set, one end of the second gear set being connected to the second driving motor; a sliding assembly comprising a rack, a slider, and a slide rail, wherein the rack is connected to the slider and meshes with the second gear set, the slider is slidably disposed on the slide rail, and the slide rail is configured to extend along the arrangement direction of the driving wheel and the driven wheel; The second transmission assembly includes a second bearing seat and a second transmission shaft. The second transmission shaft is rotatably disposed on the second bearing seat. The second bearing seat is connected to the slider. The second transmission shaft is detachably connected to the driven wheel through the second quick-release structure.

7. The flexible end-controllable medical device feeding mechanism according to claim 6, characterized in that: Also includes: a first force sensor configured to be supported on a lower side of the first bearing seat; a second force sensor configured to be supported on a lower side of the second bearing seat; The first force sensor and the second force sensor cooperate to detect the resistance of the feeding assembly when driving the flexible end-controllable medical device to feed.

8. The flexible end-controllable medical device feeding mechanism according to claim 6, characterized in that: Also includes: a first limit sensor, the first limit sensor being arranged on a side of the second bearing seat facing the driving wheel to detect a limit distance that the driven wheel moves toward the driving wheel; a second limit sensor, the second limit sensor being arranged on a side of the second bearing seat away from the driving wheel, so as to detect a limit distance that the driven wheel moves away from the driving wheel; A control board, the first limit sensor and the second limit sensor are electrically connected to the control board respectively, and the control board is electrically connected to the first drive motor and the second drive motor respectively.

9. The feeding mechanism of a flexible end-controllable medical device according to any one of claims 1 to 5, characterized in that: The driving wheel and the driven wheel each include a hub and a rubber wheel body, the rubber wheel body is sleeved on the outer side of the hub, and the edge of the rubber wheel body is provided with a groove extending along the circumference thereof, and the groove of the driving wheel and the groove of the driven wheel are used to clamp the flexible end-controllable medical device along a first direction; The driven wheel further includes a first baffle and a second baffle, the first baffle and the second baffle being arranged oppositely on two sides of the rubber wheel body corresponding to the driven wheel, and the first baffle and the second baffle on the driven wheel are used to clamp the flexible end-controllable medical device along the second direction; The first direction and the second direction are perpendicular.

10. The feeding mechanism of a flexible end-controllable medical device according to any one of claims 1 to 5, characterized in that: Also includes: a housing, the feeding assembly being disposed outside the housing, and at least a portion of the first driving assembly and at least a portion of the second driving assembly being disposed inside the housing; a control button, the control button being arranged on the surface of the housing; A control panel is provided in the housing, the control button is electrically connected to the control panel, and the control panel is electrically connected to the first drive assembly and the second drive assembly respectively.

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