Flexible instrument conveying device and execution component thereof

Abstract

The utility model discloses a flexible instrument conveying device and an execution component thereof. A detection torque transmission mechanism of the execution component comprises a detection conveying wheel, a detection clamping conveying wheel and a torque output component. The detection conveying wheel and the conveying wheel are arranged on the support at intervals in the first direction, the detection clamping conveying wheel is opposite to the detection conveying wheel and is arranged at intervals with the driven conveying wheel in the first direction, the rotation axis of the detection clamping conveying wheel is parallel to the rotation axis of the driven conveying wheel, and the detection conveying wheel is in transmission connection with the torque output component. During clamping operation, the detection clamping conveying wheel and the driven conveying wheel can move towards the flexible instrument together, the detection conveying wheel and the detection clamping conveying wheel which are oppositely arranged synchronously abut against the surface of the flexible instrument in a pressing mode, the detection conveying wheel and the detection clamping conveying wheel synchronously move along with the movement of the flexible instrument in the first direction, and therefore torque is transmitted to the driving side; and the error possibility during operation starting and stopping can be avoided. The device has the characteristics of compact structure, small size and light weight.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a flexible instrument conveying device and an execution component thereof. Background Art

[0002] Natural cavities such as the digestive tract, respiratory tract, and urethra are common sites of human disease incidence. Since the lesions are located inside the natural cavities of the human body, they need to be examined and treated with a flexible endoscope.

[0003] During traditional flexible endoscopy examinations or surgeries, the operator usually needs to use both hands to hold the scope, operate the knobs, and manually transport the scope. Some examinations or surgeries need to be performed under the guidance of radiographic images, and the operator needs to wear heavy lead protective clothing and other protective gear. Manually operating the flexible endoscope for a long time has a great impact on the quality of diagnosis and treatment operations, physical strength, and health; in particular, it is more restrictive for experienced older or female medical staff, who are even forced to give up endoscopic work.

[0004] With the development of robot-assisted technology, operators can adjust the delivery length and posture of the flexible endoscope by adjusting the handle switch or button, which can greatly reduce the doctor's physical strength, reduce radiation to medical staff, and improve the interaction between medical staff and images.

[0005] For the detection function of the scope delivery length, the existing flexible endoscope delivery device uses a flexible shaft transmission to obtain the rotation parameters of the passive wheel, and determines the relative displacement of the scope based on this. However, due to the structural characteristics of the flexible shaft transmission, there is a possibility that errors will affect the detection accuracy when the operation is started and stopped.

[0006] In view of this, it is urgent to optimize the design of flexible devices to overcome the above-mentioned defects. Utility Model Content

[0007] The purpose of this application is to provide a flexible instrument delivery device and its actuator, which effectively improves the detection accuracy of the delivery length through structural optimization, and provides technical support for doctors to make accurate judgments and operations.

[0008] The actuator provided in the embodiment of the present application is used to transport flexible instruments, and the actuator includes an outer shell, and the outer shell is provided with a through hole opened along a first direction, and the through hole is used to wear the flexible instrument; the actuator also includes a transport actuator, a clamping actuator and a detection torque transmission mechanism located in the outer shell; the transport actuator includes a transport wheel and a transport input member for transmission connection with the transport output member of the driving component; the rotation axis of the transport wheel is arranged along a third direction, and the transport input member is transmission connected with the transport wheel; the clamping actuator includes a sliding bracket, a fixed bracket, a passive transport wheel, a screw nut mechanism and a clamping input member for transmission connection with the clamping output member of the driving component; the passive transport wheel is rotatably arranged relative to the sliding bracket, the screw of the screw nut mechanism is pivotally connected to the fixed bracket, and is axially positioned on the fixed bracket, and the screw nut mechanism The nut is fixedly arranged on the sliding bracket, the sliding bracket is slidably arranged in the second direction relative to the outer shell, and the clamping input member is transmission-connected to the screw of the screw nut mechanism; the detection torque transmission mechanism includes a detection conveying wheel, a detection clamping conveying wheel and a torque output member for transmission-connected to the torque input member of the driving component; the detection conveying wheel and the conveying wheel are arranged on the bracket at intervals in the first direction, and the rotation axis center lines of the two are parallel; in the second direction, the detection clamping conveying wheel is opposite to the detection conveying wheel, the detection clamping conveying wheel is rotationally arranged relative to the sliding bracket, and is spaced from the passive conveying wheel in the first direction, the detection clamping conveying wheel is parallel to the rotation axis center line of the passive conveying wheel, and the detection conveying wheel is transmission-connected to the torque output member; wherein, the second direction and the third direction are two directions in a plane perpendicular to the first direction.

[0009] Optionally, the conveying actuator also includes a first bevel gear set, the driving gear of the first bevel gear set is coaxially fixed with the conveying output member, and the driven gear of the first bevel gear set is coaxially fixed with the conveying wheel; the clamping actuator also includes a second bevel gear set, the driving wheel of the second bevel gear set is coaxially fixed with the clamping input member, and the driven wheel of the second bevel gear set can drive the screw of the screw nut mechanism to rotate; the detection torque transmission mechanism also includes a third bevel gear set, the driving wheel of the third bevel gear set is coaxially fixed with the detection and conveying wheel, and the driven wheel of the third bevel gear set is transmission connected to the torque output member through a belt drive mechanism.

[0010] Optionally, the clamping actuator further comprises a gear transmission mechanism, the wheel axle of the gear transmission mechanism is arranged along a third direction; the passive wheel of the second bevel gear set is coaxially fixed with the active wheel of the gear transmission mechanism, and the passive wheel of the gear transmission mechanism is coaxially fixed with the screw.

[0011] Optionally, the conveying actuator further includes an auxiliary conveying wheel, the auxiliary conveying wheel and the conveying wheel are arranged on the bracket at an interval in the first direction, and the conveying wheel and the auxiliary conveying wheel are connected via a belt transmission mechanism.

[0012] Optionally, the passive conveying wheel is provided in plurality, and the plurality of passive conveying wheels are arranged at intervals in the first direction.

[0013] Optionally, the clamping actuator also includes a passive wheel bracket and a first elastic member, wherein the first elastic member is arranged between the passive wheel bracket and the sliding bracket; the passive conveying wheel and the detection clamping conveying wheel are respectively rotatably arranged on the passive wheel bracket, and the passive wheel bracket is slidably arranged relative to the sliding bracket in the second direction.

[0014] Optionally, the conveying input component is a first docking tray, the clamping input component is a second docking tray, and the outer end faces of the first docking tray and the second docking tray are respectively provided with recesses, the recess on the first docking tray is used to match with the protrusion on the conveying output component of the driving component, and the recess on the second docking tray is used to match with the protrusion on the clamping output component of the driving component.

[0015] Optionally, it also includes a cleaning component arranged at the front end of the actuator, the cleaning component includes an end cap and an absorption layer and a cleaning layer located on the inner side of the end cap, the end cap, the absorption layer and the cleaning layer all have a central through hole for the flexible instrument to pass through, and the absorption layer and the cleaning layer are both used to contact the surface of the flexible instrument.

[0016] Optionally, the absorption layer and the removal layer are both arranged in multiple layers, and are sequentially spaced and stacked.

[0017] Optionally, the removal layer is an elastic removal layer.

[0018] The utility model also provides a flexible instrument conveying device, comprising an actuating component for conveying the flexible instrument and a driving component for providing a driving force for conveying the flexible instrument. The actuating component is the actuating component described above.

[0019] Optionally, it also includes a quick-connect assembly, which includes a fixed buckle, a movable pressure rod and a second elastic member: the fixed buckle is fixedly arranged on the base plate of the driving component, and a bayonet is opened on the fixed buckle; the movable pressure rod is provided with a force-applying part and a movable hook, and the movable hook can be engaged with the bayonet of the fixed buckle, and the force-applying part and the movable hook are both exposed to the side wall of the outer shell of the actuator; the second elastic member is arranged on the inner side of the movable pressure rod, one end of the second elastic member is against the movable pressure rod, and the other end is against and fixed to the fixed seat in the outer shell, and is configured to provide a reset force for the movable pressure rod when the movable pressure rod is pressed inward and the movable hook is disengaged from the bayonet of the fixed buckle.

[0020] Compared with the prior art, the utility model provides an execution component, specifically, its detection torque transmission mechanism includes a detection conveying wheel, a detection clamping conveying wheel and a torque output member; the detection conveying wheel and the conveying wheel are arranged on the bracket at intervals in the first direction, and the rotation axis of the two are parallel; in the second direction, the detection clamping conveying wheel is opposite to the detection conveying wheel, the detection clamping conveying wheel is arranged to rotate relative to the sliding bracket, and is arranged at intervals with the passive conveying wheel in the first direction, the detection clamping conveying wheel and the rotation axis of the passive conveying wheel are parallel, and the detection conveying wheel is connected to the torque output member in a transmission manner. In this way, during the clamping operation, the detection clamping conveying wheel and the passive conveying wheel can move toward the flexible device together, and the relatively arranged detection conveying wheel and the detection clamping conveying wheel are synchronously pressed against the surface of the flexible device. As the flexible device moves along the first direction, the detection conveying wheel and the detection clamping conveying wheel move synchronously, and the rotation torque of the detection conveying wheel is transmitted to the third docking plate, thereby transmitting the torque to the detection mechanism on the driving side. It has the characteristics of compact structure, small volume and light weight.

[0021] Compared with the method of using a torque spring tube to realize the detection torque transmission, this implementation scheme sets the detection transmission wheel and the active transmission wheel on a fixed bracket and transmits them to the torque output component, which can avoid the possibility of errors during operation start and stop, and provide technical guarantee for doctors to make accurate judgments and operations.

[0022] In the optional scheme of the utility model, the conveying actuator, the clamping actuator and the detection torque transmission mechanism respectively establish power transmission paths through bevel gear sets, which not only ensure the reliable connection between the execution side and the driving side, but also have good product integration; wherein, the detection torque transmission mechanism is connected to the torque output member through the third bevel gear set and the belt transmission mechanism, and can adaptively set the specific position of the torque output member on the execution side according to the associated structure of the driving side, thereby realizing torque transmission without changing the basic matching structure of the driving side, and having good adaptability; at the same time, based on the good transmission accuracy of the synchronous belt, the reliable stability of the detection torque transmission can be effectively guaranteed.

[0023] In another optional solution of the present invention, the cleaning component is arranged at the front end of the execution component, and the inner side of the end cover thereof is provided with an absorption layer and a cleaning layer, and both the absorption layer and the cleaning layer can contact the surface of the flexible instrument. In this way, when the scope is retracted, the cleaning layer is used to initially scrape off the contamination, and the absorption layer is used to wipe off the remaining residue, which can effectively remove the contaminants on the scope body when the scope is retracted, so as to prevent the transmission wheel from being affected and slipping, and can reduce the subsequent scope cleaning work. It has the characteristics of simple structure and controllable cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the assembly relationship of the flexible instrument delivery device in a specific implementation manner;

[0025] Figure 2 It is a schematic diagram of the external structure of the execution component in the specific implementation mode;

[0026] Figure 3 It is a schematic diagram of the opposite sides of the execution component and the driving component in the specific implementation manner;

[0027] Figure 4 A schematic diagram of the internal layout relationship of the execution component in the specific implementation manner;

[0028] Figure 5 for Figure 4 The assembly diagram of the internal mechanisms of the actuator shown in FIG.

[0029] Figure 6 for Figure 5 Another angle diagram of the internal mechanisms of the actuator shown in FIG.

[0030] Figure 7 It is a cross-sectional view of the matching relationship between the clamping actuator and the conveying actuator in the specific implementation manner;

[0031] Figure 8 for Figure 5 Another angle schematic diagram of the internal mechanisms of the actuator shown in ;

[0032] Fig. 9 for Figure 1 AA section view shown in;

[0033] Fig.10 It is a schematic diagram of the assembly relationship of the quick-connect assembly described in the specific implementation method;

[0034] Fig.11 A schematic diagram of the overall structure of a cleaning assembly provided for a specific embodiment;

[0035] Fig.12 for Fig.11 BB cross-sectional view.

[0036] In the figure:

[0037] Flexible instrument delivery device 100, flexible instrument 200;

[0038] Actuating component 10, driving component 20, quick-connect component 30, cleaning component 40;

[0039] Conveying actuator 11, first docking plate 111, recess 1111, first bevel gear set 112, conveying wheel 113, auxiliary conveying wheel 114, first driving pulley 115, first synchronous belt 116, first driven pulley 117;

[0040] Clamping actuator 12, second docking plate 121, passive conveying wheel 122, sliding bracket 123, slider 1231, slide groove 1232, fixed bracket 124, second bevel gear set 125, gear transmission mechanism 126, screw nut mechanism 127, passive wheel bracket 128, guide slider 1281, first elastic member 129;

[0041] Torque transmission mechanism 13, third docking plate 131, third bevel gear set 132, detection conveying wheel 133, detection clamping conveying wheel 134, second driving pulley 135, second synchronous belt 136, second driven pulley 137;

[0042] The outer shell 14, the through hole 141, the fixing seat 142, and the bracket 143;

[0043] The fixed buckle 31, the bayonet 311, the movable pressure rod 32, the movable hook 321, the force applying part 322, and the second elastic member 33;

[0044] End cap 41 , absorption layer 42 , and removal layer 43 . DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0046] Without loss of generality, this embodiment provides a flexible instrument delivery device to perform reliable delivery motion for flexible instruments and meet clinical operational requirements for flexible instrument delivery. Figure 1 , Figure 2 and Figure 3 ,in, Figure 1 FIG. 1 is a schematic diagram of the assembly relationship between the actuator and the driving component of the flexible instrument delivery device in this embodiment. Figure 2 is a schematic diagram of the execution component described in this embodiment, Figure 3 for Figure 1 The schematic diagram of the opposite side of the actuator and the driving component is shown in FIG. 1 , which is a projection view formed from the perspective of the driving side; in addition, in order to clearly illustrate the application state of the flexible device, Figure 2 A partial cutaway view is used for illustration.

[0047] The flexible instrument delivery device 100 includes a driving component 20 and an actuator 10, wherein the driving component 20 can provide a driving force to the actuator 10, so as to realize the clamping and delivery operation of the flexible instrument 200 through the actuator 10. The driving component 20 can output a clamping driving force to a clamping actuator on the side of the actuator 10 to clamp the flexible instrument 200; on this basis, the driving component 20 can output a delivery driving force to a delivery actuator on the side of the actuator 10 to realize the delivery operation of the flexible instrument 200.

[0048] Here, "transportation motion" refers to the extension or retraction operation along the extension direction of the body of the flexible device 200. In order to clearly describe the relative positional relationship between the various components or structures of this solution, the first direction X is defined as the direction consistent with the transport motion, that is, along Figure 1 The actuator 10 can be assembled and disassembled relative to the driving component 20 along the first direction X.

[0049] In this embodiment, the actuator 10 is installed on the driving component 20 through the quick-connect assembly 30. The actuator 10 adopts a modular design and can be detachably installed on the driving component 20. It can be independently installed and disassembled, and can be quickly disassembled after the operation is completed, which has good operability. At the same time, the actuator can be docked with the driving component 20 for use, which effectively avoids cross contamination and greatly reduces the preparation time before the operation.

[0050] In this embodiment, the actuator 10 includes a transport actuator 11, a clamping actuator 12 and a torque transmission mechanism 13 arranged in an outer shell 14. The outer shell 14 is provided with a through hole 141 in the first direction X so as to pass the flexible device 200; and the docking plates of the transport actuator 11 and the clamping actuator 12 are exposed from the outer shell 14 to be connected to the corresponding docking plates on the driving side. Figure 3 As shown, the first docking tray 111 , the second docking tray 121 and the third docking tray 131 are all exposed from the outer shell 14 of the actuator 10 .

[0051] Among them, the first docking disc 111 serves as the conveying input component of the conveying actuator 11, and the first docking disc 111 is used for transmission adaptation with the conveying output component of the driving side, and the second docking disc 121 serves as the clamping input component of the clamping actuator 12, and is used for transmission adaptation with the clamping output component of the driving side, thereby establishing a clamping transmission path and a conveying transmission path between the two. Among them, the third docking disc 131 serves as the torque output component of the torque transmission mechanism 13, and is used for transmission adaptation with the torque input component of the driving side, so as to collect the rotation signal to determine the conveying length. For the convenience of description, the second direction Y and the third direction Z are defined as two directions in a plane perpendicular to the first direction X, wherein the second direction Y is the clamping movement direction.

[0052] See also Figure 4 , Figure 5 and Figure 6 ,in, Figure 4 The internal layout diagram of the execution unit is shown below. Figure 5 for Figure 4 The assembly diagram of the internal mechanisms of the actuator is shown in the figure. Figure 6 for Figure 5 Another angle schematic diagram of the internal mechanisms of the actuator is shown in FIG.

[0053] The conveying actuator 11 includes a first docking plate 111 , a first bevel gear set 112 and a conveying wheel 113 .

[0054] The rotation axis of the conveying wheel 113 is arranged along the third direction Z, the driving gear of the first bevel gear set 112 is coaxially fixed with the first docking plate 111, and the driven gear of the first bevel gear set 112 is coaxially fixed with the conveying wheel 113. In this way, after the first docking plate 111 is docked with the driving side, the power passes through the first bevel gear set 112 to the conveying wheel 113, and as the conveying wheel 113 rotates, its outer wheel rim can drive the flexible device 200 to move along the first direction X. In a specific implementation, the forward rotation and reverse rotation of the conveying wheel 113 respectively correspond to the delivery or retraction operation of the flexible device 200.

[0055] Furthermore, the conveying actuator 11 may further include an auxiliary conveying wheel 114 , which is spaced apart from the conveying wheel 113 , whose rotation axes are parallel, and the conveying wheel 113 and the auxiliary conveying wheel 114 rotate synchronously via a belt transmission mechanism.

[0056] Specifically, the first active pulley 115 is coaxially fixed with the conveying wheel 113, and the first active pulley 115 forms the belt transmission mechanism by matching the first synchronous belt 116 with the first driven pulley 117, and the first driven pulley 117 is coaxially fixed with the auxiliary conveying wheel 114. Based on the good transmission accuracy of the synchronous belt, the outer edges of the conveying wheel 113 and the auxiliary conveying wheel 114 jointly drive the flexible device 200 to move along the first direction X. In other words, the conveying wheel 113 and the auxiliary conveying wheel 114 are both active conveying wheels, and the reliability and stability of the conveying operation are effectively improved.

[0057] For example, the figure takes an auxiliary conveying wheel 114 as an example to illustrate the coordination relationship between the conveying wheel 113 and the auxiliary conveying wheel 114. In other possible implementations, the auxiliary conveying wheel 114 can be set to multiple, for example but not limited to two, and can also achieve synchronous rotation based on the first synchronous belt. The specific number can be determined according to actual configuration needs. This embodiment of the application is not limited.

[0058] In a specific implementation, the driven gear of the first bevel gear set 112, the conveying wheel 113 and the first driving pulley 115 can be coaxially fixed and fixed by the bracket 143 at the shaft end. The rotating shafts of the auxiliary conveying wheel 114 and the first driven pulley 117 can also be fixed by the bracket 143 at the shaft end.

[0059] In order to increase the contact area between the conveying wheel 113 and the auxiliary conveying wheel 114 and the outer peripheral surface of the flexible device 200, the outer rims of both wheels can be configured as concave arc surfaces to increase the friction between the two wheels and reasonably control the possibility of conveying slippage.

[0060] Furthermore, the wheel surfaces of the conveying wheel 113 and the auxiliary conveying wheel 114 may be made of a silicone coating material to increase the friction between the conveying wheel 113 and the surface of the flexible device and reduce the possibility of slipping during conveying.

[0061] Exemplarily, the first docking plate 111 of the execution side is provided with a recess 1111, through which the recess 1111 can be adapted to transmit torque with a protrusion (not shown) on the driving side delivery output member. Of course, in other possible implementations, other structures can also be used to achieve reliable transmission of torque.

[0062] Likewise, torque transmission can also be achieved between the second docking plate 121 on the execution side and the clamping output member on the driving side by using matching convex parts and concave parts.

[0063] The clamping actuator 12 is used to provide a clamping force to the flexible device 200. The passive conveying wheel of the clamping actuator 12 can press against the flexible device 200 to achieve a clamping operation, and can follow the friction between the flexible device and the surface of the flexible device to efficiently perform a conveying operation. Figure 4 , Figure 5 and Figure 7 ,in, Figure 7 It is a cross-sectional view showing the matching relationship between the clamping actuator 12 and the conveying actuator 11.

[0064] The clamping actuator 12 includes a second docking plate 121 , a passive conveying wheel 122 , a sliding bracket 123 , a fixed bracket 124 , a second bevel gear set 125 , a gear transmission mechanism 126 and a screw nut mechanism 127 .

[0065] The passive conveying wheel 122 is rotatably arranged on the sliding bracket 123, and its rotation axis is arranged along the third direction Z. As shown in the figure, the two passive conveying wheels 122 are arranged opposite to the active conveying wheels (the conveying wheel 113 and the auxiliary conveying wheel 114) in the second direction Y, and the rotation axis is parallel. The active gear of the second bevel gear set 125 is coaxially fixed with the second docking plate 121, and the passive gear of the second bevel gear set 125 is coaxially fixed with the active gear of the gear transmission mechanism 126, and the passive gear of the gear transmission mechanism 126 is coaxially fixed with the screw of the screw nut mechanism 127; here, the screw of the screw nut mechanism 127 is pivotally connected to the fixed bracket 124 and axially positioned on the fixed bracket 124, and the fixed bracket 124 is fixedly arranged in the outer shell 14; the nut of the screw nut mechanism 127 is fixedly arranged on the sliding bracket 123, and the sliding bracket 123 can be slidably arranged relative to the outer shell 14 in the second direction Y.

[0066] In this way, after the second docking plate 121 is docked with the clamping output member on the driving side, the power is transmitted to the screw nut mechanism 127 through the second bevel gear set 125 and the gear transmission mechanism 126. Based on the transmission principle of the screw nut mechanism 127, the power transmission torque can be converted into a positive pressure in the second direction Y, and finally the passive conveying wheel 122 is driven by the sliding bracket 123 to move toward the active conveying wheel (the conveying wheel 113 and the auxiliary conveying wheel 114) to realize the clamping operation.

[0067] It can be understood that, on the transmission path from the second docking plate 121 to the screw nut mechanism 127 , a reasonable layout of the external interface and the internal components is achieved through the gear transmission mechanism 126 , thereby improving the overall integration of the actuator 10 .

[0068] In other possible implementations, the gear transmission mechanism 126 can be selectively configured, that is, after the adaptive change of the rotation direction is achieved through the second bevel gear set 125, the driven wheel of the second bevel gear set 125 can be directly coaxially fixed with the screw of the screw nut mechanism 127, and the above-mentioned clamping operation can also be reliably achieved. In comparison, this embodiment can achieve a better integration through the provision of the gear transmission mechanism 126.

[0069] In a specific implementation, the passive conveying wheels 122 may be arranged in a plurality of intervals in the first direction X, such as but not limited to the two passive conveying wheels 122 shown in the figure, to ensure reliable stability of the conveying operation. In addition, the outer rims of the passive conveying wheels 122 may also be configured with concave arc surfaces to increase the friction with the surface of the flexible device and reasonably control conveying slippage.

[0070] In other specific implementations, the fixing bracket 124 may be fixed to the inner wall of the adjacent outer shell 14, for example but not limited to, fixed to the top wall of the outer shell 14 shown in the figure. This embodiment of the present application is not limited.

[0071] In addition, the specific implementation method of sliding the sliding bracket 123 in the second direction Y can also be determined according to the overall design requirements of the product, for example but not limited to, setting sliders 1231 on both sides of the sliding bracket 123 in the third direction Z, such as Figure 4 As shown, the sliding bracket 123 is slidably matched with the fixing seat 142 fixed to the outer shell. Of course, in other possible implementation schemes, the sliding bracket 123 can also directly establish a sliding matching relationship with the inner wall of the outer shell 14, which is not limited in the embodiment of the present application.

[0072] Furthermore, in order to reasonably control the positive pressure acting on the surface of the flexible device 200 , in a specific implementation, a passive wheel bracket 128 and a first elastic member 129 may be additionally provided.

[0073] Specifically, Figure 4 , Figure 5 and Figure 7 As shown, the passive conveying wheel 122 is integrated on the passive wheel bracket 128, and the passive conveying wheel 122 is rotatably arranged on the passive wheel bracket 128; at the same time, the passive wheel bracket 128 can be slidably arranged relative to the sliding bracket 123 in the second direction Y, that is, the passive conveying wheel 122 is indirectly rotatably arranged relative to the sliding bracket 123 through the passive wheel bracket 128. The first elastic member 129 is arranged between the passive wheel bracket 128 and the sliding bracket 123, and the positive pressure of the movement of the sliding bracket 123 is transmitted to the passive wheel bracket 128 and the passive conveying wheel 122 through the first elastic member 129. In this way, the force when the passive conveying wheel 122 presses against the flexible device can be effectively buffered, and while obtaining reliable conveying friction, the adverse effects that may be caused by excessive positive pressure can be avoided.

[0074] In other specific implementations, the first elastic member 129 may be a spring, or an elastic member of other structural forms.

[0075] In this embodiment, the passive wheel bracket 128 is partially embedded in the sliding bracket 123, and the two slide relative to each other through matching sliding grooves and guide sliders. Figure 5As shown, a guide slider 1281 is provided on the passive wheel bracket 128, and correspondingly, a slide groove 1232 is opened on the sliding bracket 123, and the guide slider 1281 is built into the slide groove 1232, so that the passive wheel bracket 128 can slide relative to the sliding bracket 123 in the second direction Y.

[0076] In other specific implementations, the slide groove and the guide slider may also be reversely arranged on the passive wheel bracket 128 and the sliding bracket 123 (not shown in the figure). In other possible implementations, other structural forms may be used to realize the sliding arrangement of the passive wheel bracket 128 relative to the sliding bracket 123. This embodiment of the application is not limited.

[0077] The detection torque transmission mechanism 13 includes a third docking plate 131, a third bevel gear set 132, a detection conveying wheel 133 and a detection clamping conveying wheel 134. Figure 5 , Figure 7 and Figure 8 ,in, Figure 8 for Figure 5 Another angle schematic diagram of the internal mechanisms of the actuator is shown in .

[0078] The detection conveying wheel 133 is rotatably disposed on the bracket 143. The detection conveying wheel 133 is spaced apart from the conveying wheel 113 in the first direction X and is parallel to the rotation axis of the conveying wheel 113. Correspondingly, in the second direction Y, the detection clamping conveying wheel 134, which is disposed opposite to the detection conveying wheel 133, is rotatably disposed on the passive wheel bracket 128; the detection clamping conveying wheel 134 is spaced apart from the passive conveying wheel 122 in the first direction X and is parallel to the rotation axis of the passive conveying wheel 122.

[0079] The detection conveying wheel 133 is coaxially fixed with the driving wheel of the third bevel gear set 132. Here, the detection conveying wheel 133 and the driving wheel of the third bevel gear set 132 are respectively located on both sides of the bracket 143 to reasonably utilize the internal space. The driven wheel of the third bevel gear set 132 is connected to the third docking plate 131 through a belt transmission mechanism, and the third docking plate 131 as a torque output member can rotate synchronously with the detection conveying wheel 133.

[0080] During the clamping operation, the detection clamping conveying wheel 134 and the passive conveying wheel 122 move toward the flexible device along the second direction Y, and the detection conveying wheel 133 and the detection clamping conveying wheel 134 arranged opposite to each other are synchronously pressed against the surface of the flexible device. As the flexible device moves along the first direction X, the detection conveying wheel 133 and the detection clamping conveying wheel 134 follow synchronously, and the rotational torque of the detection conveying wheel 133 is transmitted to the third docking disk 131 through the third bevel gear set 132 and the belt transmission mechanism, thereby transmitting the torque to the detection mechanism on the driving side. Different implementation methods can be used on the driving side to obtain the conveying length for implementing the operation based on the torque, for example, but not limited to, using a magnetic angle magnetic encoder.

[0081] Compared with the method of using a torque spring tube to realize the detection torque transmission, this embodiment sets the detection conveying wheel 133 and the active conveying wheel on the fixed bracket 143, and transmits it to the third docking plate 131 through a belt transmission mechanism, which can avoid the possibility of errors when starting and stopping operations.

[0082] Specifically, the second driving pulley 135 is coaxially fixed with the detection conveying wheel 133, and the second driving pulley 135 forms the belt transmission mechanism by matching the second synchronous belt 136 with the second driven pulley 137, and the second driven pulley 137 is coaxially fixed with the third docking disk 131. In this way, according to the associated structure of the driving side, the specific position of the third docking disk 131 on the execution side can be adaptively set, and torque transmission is achieved without changing the basic matching structure of the driving side, which has good adaptability; at the same time, based on the good transmission accuracy of the synchronous belt, the reliable stability of the detection torque transmission can be effectively guaranteed.

[0083] In a possible implementation, the third docking plate 131 can be directly fixed coaxially with the detection conveying wheel 133, and can also rotate synchronously with the detection conveying wheel 133 to achieve the transmission of rotational torque. In other words, the above-mentioned belt transmission mechanism can be selectively configured, and the embodiment of the present application is not limited thereto.

[0084] In other possible implementations, the detection clamping and conveying wheel 134 can also be selectively configured. When the flexible device moves along a direction X, the detection conveying wheel 133 can also follow the movement based on the friction with the flexible device, and transmit the torque to the detection mechanism on the driving side. In comparison, this embodiment can ensure the synchronization of the detection conveying wheel 133 by synchronously clamping the detection clamping and conveying wheel 134, thereby providing technical guarantee for ensuring the detection accuracy of the conveying length.

[0085] Furthermore, the flexible instrument delivery device provided in this embodiment is also provided with a quick-connect assembly 30. Figure 1 , Fig. 9 and Fig.10 ,in, Fig. 9for Figure 1 The AA section view shown in Fig.10 It is a schematic diagram of the assembly relationship of the quick-connect assembly described in this embodiment.

[0086] The quick-connect assembly 30 includes a matching fixed buckle 31 and a movable hook 321, wherein the fixed buckle 31 is fixedly arranged on the driving component 20, and a bayonet 311 matching the movable hook 321 is arranged on the fixed buckle 31; the movable hook 321 is arranged on the movable pressure rod 32 on the execution side, and the force-applying part 322 and the movable hook 321 of the movable pressure rod 32 are both exposed to the opening of the side wall of the outer shell 14. At the same time, a second elastic member 33 is also arranged on the inner side of the movable pressure rod 32, one end of the second elastic member 33 is against the movable pressure rod 32, and the other end can be fixed against the fixing seat in the outer shell 14.

[0087] During assembly, the actuator 10 moves along the first direction X toward the driving component 20. Under the action of the fixed buckle 31, the movable hook 321 drives the movable pressure rod 32 to retract inward and presses the second elastic member 33 to deform. When the movable hook 321 is aligned with the bayonet 311 on the fixed buckle 31, the second elastic member 33 releases the elastic deformation energy and pushes the movable hook 321 to return to its original position until it is engaged with the bayonet 311.

[0088] When the actuator 10 needs to be disassembled, the operator presses the force-applying portion 322 of the movable pressure rod 32 to push the movable pressure rod 32 to move inward until the movable hook 321 is disengaged from the snap hole 311 on the fixed buckle 31, and then the actuator 10 can be disassembled from the driving component 20. The disassembly or replacement operation can be performed quickly during and after the operation, which can not only reduce the operation preparation time or operation time, but also effectively avoid cross contamination.

[0089] In a specific implementation, the second elastic member 33 may be a spring, or an elastic member of other structural forms.

[0090] In addition, in order to improve operability and assembly reliability, the quick-connect assembly 30 can be Fig.10 The arrangement shown is on two opposite sides of the actuator 10, and the operator can quickly disassemble and assemble the actuator 10 with one hand.

[0091] In addition, the flexible instrument delivery device provided in this embodiment further includes a cleaning component 40, such as Figure 1 and Figure 2 As shown, the cleaning assembly 40 is arranged at the front end of the actuator 10, and is used to clean the mucus and other attachments on the surface of the flexible device. The "front end" here refers to the end of the actuator 10 opposite to the patient.

[0092] Please also see Fig.11 and Fig.12 ,in, Fig.11 This is a schematic diagram of the overall structure of the cleaning component provided in the embodiment of the present application. Fig.12 for Fig.11 BB cross-sectional view.

[0093] The cleaning assembly 40 includes an end cap 41, and an absorption layer 42 and a removal layer 43 located on the inner side of the end cap 41. The end cap 41 can be connected to the outer shell 14 of the actuator 10, for example but not limited to a detachable connection, so as to be configured or replaced according to actual operating requirements.

[0094] like Fig.12 As shown, the absorption layer 42 and the cleaning layer 43 are stacked, and the end cap 41, the absorption layer 42 and the cleaning layer 43 all have a middle through hole for the flexible instrument to pass through, and the absorption layer 42 and the cleaning layer 43 can both contact the surface of the flexible instrument. In this way, when the scope is retracted, the cleaning layer 43 is used to initially scrape off the contamination, and the absorption layer 42 is used to wipe off the remaining residue, which can effectively remove the contaminants on the scope body when the scope is retracted, prevent the transmission wheel from being affected and slipping, and reduce the subsequent scope cleaning work.

[0095] Both the absorption layer 42 and the removal layer 43 can be arranged as multiple layers as needed, and are arranged in sequence and overlapped at intervals, that is, one layer of absorption layer 42 and one layer of removal layer 43 are overlapped in sequence and at intervals, so as to obtain a good removal effect.

[0096] In order to further improve the cleaning effect, the cleaning layer 43 can be an elastic cleaning layer, which can be pressed against the surface of the flexible device without affecting the normal conveying operation of the flexible device. In a specific implementation, the absorption layer 42 and the cleaning layer 43 can be selected according to the material, for example but not limited to, the absorption layer 42 can be a medical dressing, and the elastic cleaning layer 43 can be a polymer medical film. This application is not limited.

[0097] The working principle of the flexible instrument delivery device described in this embodiment is briefly described below:

[0098] First, the actuator 10 is connected to the driving component 20 through the quick-connect assembly 30; then, the flexible device 200 is inserted along the first direction X, and the clamping drive mechanism drives the clamping actuator 12 to press down to clamp the flexible device 200. This solution can be applied to flexible endoscopes of various diameters.

[0099] In actual operation, the driving force output by the driving component 20 can drive the conveying wheel of the actuator 10 to rotate, completing the conveying operation of the flexible device. In an emergency, the operator presses the quick-connect assembly 30, and the docking plates of the actuator 10 and the driving component 20 are disconnected, and the actuator 10 no longer exerts an effect on the flexible device, avoiding secondary injury to the patient.

[0100] The ordinal numbers "first" and "second" used in this article are only used to describe the composition or structure of the same function in the technical solution. It is understandable that the use of the ordinal numbers "first" and "second" does not constitute an understanding limitation on the technical solution claimed for protection in this application.

[0101] The above are only preferred implementations of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An actuator for conveying a flexible device, characterized in that: The actuator comprises an outer shell, wherein the outer shell is provided with a through hole opened along a first direction, wherein the through hole is used for inserting a flexible device; the actuator further comprises: The conveying actuator comprises a conveying wheel and a conveying input member for drivingly connecting with the conveying output member of the driving component; the rotation axis of the conveying wheel is arranged along the third direction, and the conveying input member is drivingly connected with the conveying wheel; The clamping actuator comprises a sliding bracket, a fixed bracket, a passive conveying wheel, a screw-nut mechanism and a clamping input member for transmission connection with a clamping output member of a driving component; the passive conveying wheel is rotatably arranged relative to the sliding bracket, the screw of the screw-nut mechanism is pivotally connected to the fixed bracket and axially positioned on the fixed bracket, the nut of the screw-nut mechanism is fixedly arranged on the sliding bracket, the sliding bracket is slidably arranged in a second direction relative to the outer shell, and the clamping input member is transmission connected with the screw of the screw-nut mechanism; The detection torque transmission mechanism comprises a detection conveying wheel, a detection clamping conveying wheel and a torque output member for transmission connection with the torque input member of the driving component; the detection conveying wheel and the conveying wheel are arranged on the bracket at intervals in the first direction, and the rotation axis center lines of the two are parallel; in the second direction, the detection clamping conveying wheel is opposite to the detection conveying wheel, the detection clamping conveying wheel is rotatably arranged relative to the sliding bracket, and is spaced from the passive conveying wheel in the first direction, the detection clamping conveying wheel is parallel to the rotation axis center lines of the passive conveying wheel, and the detection conveying wheel is transmission connected with the torque output member; The second direction and the third direction are two directions in a plane perpendicular to the first direction.

2. The actuator according to claim 1, characterized in that: The conveying actuator also includes a first bevel gear set, a driving gear of the first bevel gear set is coaxially fixed with the conveying output member, and a driven gear of the first bevel gear set is coaxially fixed with the conveying wheel; the clamping actuator also includes a second bevel gear set, a driving wheel of the second bevel gear set is coaxially fixed with the clamping input member, and a driven wheel of the second bevel gear set can drive the screw of the screw nut mechanism to rotate; the detection torque transmission mechanism also includes a third bevel gear set, a driving wheel of the third bevel gear set is coaxially fixed with the detection and conveying wheel, and a driven wheel of the third bevel gear set is transmission-connected to the torque output member through a belt transmission mechanism.

3. The actuator according to claim 2, characterized in that: The clamping actuator also includes a gear transmission mechanism, the wheel axle of the gear transmission mechanism is arranged along the third direction; the passive wheel of the second bevel gear set is coaxially fixed with the active wheel of the gear transmission mechanism, and the passive wheel of the gear transmission mechanism is coaxially fixed with the screw.

4. The actuator according to any one of claims 1 to 3, characterized in that: The conveying actuator further comprises an auxiliary conveying wheel, wherein the auxiliary conveying wheel and the conveying wheel are arranged on the bracket at intervals in the first direction, and the conveying wheel and the auxiliary conveying wheel are connected via a belt transmission mechanism.

5. The actuator according to claim 4, characterized in that: The passive conveying wheels are provided in plurality, and the plurality of passive conveying wheels are arranged at intervals in the first direction.

6. The actuator according to any one of claims 1 to 3, characterized in that: The clamping actuator further comprises a passive wheel bracket and a first elastic member, wherein the first elastic member is arranged between the passive wheel bracket and the sliding bracket; The passive conveying wheel and the detection clamping conveying wheel are respectively rotatably arranged on the passive wheel bracket, and the passive wheel bracket is slidably arranged relative to the sliding bracket in the second direction.

7. The actuator according to any one of claims 1 to 3, characterized in that: The conveying input component is a first docking tray, the clamping input component is a second docking tray, and the outer end faces of the first docking tray and the second docking tray are respectively provided with recesses, the recess on the first docking tray is used to match with the protrusion on the conveying output component of the driving component, and the recess on the second docking tray is used to match with the protrusion on the clamping output component of the driving component.

8. The actuator according to claim 1, characterized in that: It also includes a cleaning component, which is arranged at the front end of the actuator, and includes an end cover and an absorption layer and a cleaning layer located on the inner side of the end cover, the end cover, the absorption layer and the cleaning layer all have a middle through hole for the flexible instrument to pass through, and the absorption layer and the cleaning layer are both used to contact the surface of the flexible instrument.

9. The execution component according to claim 8, characterized in that: The absorption layer and the removal layer are both arranged in multiple layers, and are sequentially spaced and overlapped.

10. The actuator according to claim 9, characterized in that: The scavenging layer is an elastic scavenging layer.

11. A flexible instrument conveying device, comprising an actuating component for conveying the flexible instrument and a driving component for providing a driving force for conveying the flexible instrument, characterized in that: The actuator is the actuator according to any one of claims 1 to 10.

12. The flexible instrument delivery device according to claim 11, characterized in that: Also included is a quick-connect assembly, the quick-connect assembly comprising: A fixing buckle, fixedly arranged on the base plate of the driving component, and having a bayonet opening; A movable pressure rod, on which a force-applying portion and a movable hook are provided, the movable hook can be engaged with the bayonet of the fixed buckle, and the force-applying portion and the movable hook are both exposed on the side wall of the outer shell of the actuator; The second elastic member is arranged on the inner side of the movable pressure rod, one end of the second elastic member is against the movable pressure rod, and the other end is against and fixed to the fixing seat in the outer shell, and is configured to provide a restoring force for the movable pressure rod when the movable pressure rod is retracted under pressure and the movable hook is disengaged from the bayonet of the fixed buckle.

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