Driving box, flexible instrument assembly and medical instrument system

Abstract

The driving box comprises an outer shell and an inner shell, the outer wall of the inner shell is in threaded connection with the inner wall of the outer shell, and a containing groove for containing a flexible instrument is formed between the outer wall of the inner shell and the inner wall of the outer shell; the pipeline channel is located in the containing space of the inner shell, is of a bent structure and is used for allowing the driving wire to penetrate through, and one end of the pipeline channel communicates with the containing groove. The driving moving device is located in the containing space and used for driving the driving wire to move in the axial direction; and the driving rotating device is positioned in the accommodating space and is used for driving the driving wire to rotate relative to the axial direction. By arranging the pipeline channel and enabling the driving wire to penetrate through the pipeline channel, under the guiding effect of the pipeline channel, the path of the driving wire can be optimized, the winding curvature radius of the driving wire can be increased, meanwhile, the trend of the driving wire can be limited and guided, and the situation that the position of the driving wire deviates in the driving process is avoided; and the resistance of the driving wire in the moving and rotating processes is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a drive box, a flexible equipment assembly and a medical equipment system. Background Art

[0002] Natural cavities such as the digestive tract, respiratory tract, and urethra are common sites of human disease and are seriously harmful to human health. Therefore, the inspection of natural cavities is very important and has gradually become normalized. In the inspection of natural cavities, flexible endoscopes have the characteristics of less trauma, less bleeding, and low complication rate. In combination with relevant surgical instruments, diagnosis and treatment have become the mainstream treatment method.

[0003] In order to meet the needs of cavity intervention, existing flexible instruments are designed as flexible and slender instruments. During use, medical staff cooperation is required to achieve axial movement and rotation of the flexible instruments. In order to prevent the flexible instruments from being contaminated, a storage device is usually used to store the flexible instruments. At present, the storage method of flexible instruments is usually to wind the flexible instruments in a storage device. In order to reduce the volume of the storage device, the size of the structural member in the storage device that guides the winding of the proximal end of the drive wire of the flexible instrument is relatively small, resulting in a small winding radius of the drive wire. This makes the drive wire have excessive resistance to transportation and rotation due to the curvature of the winding during transportation and rotation.

[0004] Therefore, how to provide a driving box for a multi-degree-of-freedom flexible device to reduce the resistance during the transportation and rotation of the flexible device is a technical problem that needs to be solved urgently by technical personnel with this skill. Utility Model Content

[0005] In view of this, the utility model provides a driving box to reduce the resistance during the transportation and rotation of the flexible device. In addition, the utility model also provides a flexible device assembly and a medical device system having the driving box.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A drive box for storing and driving a flexible device; the drive box comprises:

[0008] An outer shell and an inner shell, wherein the outer wall of the inner shell is threadedly connected to the inner wall of the outer shell, and a receiving groove for receiving a flexible device is provided therebetween, and the interior of the inner shell has a receiving space;

[0009] A pipeline channel, which is located in the accommodating space and is a curved structure, and is used to pass a driving wire of a flexible device, and one end of the pipeline channel is connected to the accommodating groove;

[0010] A driving and moving device, the driving and moving device is located in the accommodating space and is used to drive the driving wire of the flexible device to move axially;

[0011] A driving rotation device is located in the accommodating space and is used to drive the driving wire of the flexible instrument to rotate relative to the axial direction.

[0012] Preferably, in the above-mentioned drive box, the driving moving device includes:

[0013] A driving disk, the driving disk is rotatably disposed in the accommodating space of the inner shell, the driving disk has a mounting groove for fixing the proximal end of the driving wire, the outer circumferential surface of the driving disk has a winding connecting groove, the mounting groove, the connecting groove and the other end of the pipeline channel are sequentially connected;

[0014] A limiting device, wherein the limiting device is used to limit the rotation angle of the driving disk.

[0015] Preferably, in the above-mentioned drive box, the limiting device includes:

[0016] A groove is provided on the driving disk, wherein the groove is an arc-shaped structure extending along the circumference of the driving disk, and the center of the groove is concentric with the rotation center of the driving disk;

[0017] A limit stopper is fixed in the inner shell and can slide along the groove.

[0018] Preferably, in the above-mentioned drive box, the driving and rotating device includes:

[0019] A first bevel gear, the first bevel gear is mounted on the inner wall of the inner shell, and the first bevel gear has a through hole that penetrates along the axial direction of the first bevel gear, the through hole communicates with the accommodating groove and the pipeline channel, the through hole can circumferentially limit the proximal end of the driving wire, and the proximal end of the driving wire can move along the axial direction of the through hole;

[0020] A second bevel gear, the second bevel gear meshing with the first bevel gear for transmission;

[0021] A rotating plate drives the second bevel gear to rotate.

[0022] Preferably, in the above-mentioned drive box, the driving and rotating device further comprises:

[0023] A ratchet tooth, wherein the ratchet tooth is arranged on an outer surface of the second bevel gear;

[0024] A baffle is fixed in the accommodating space of the inner shell, the cross section of the baffle is triangular, and during the rotation of the second bevel gear, the ratchet is connected to the baffle in a one-way limiting manner.

[0025] Preferably, the above-mentioned drive box further comprises a mounting base, wherein the mounting base is detachably connected to the inner wall of the inner shell;

[0026] The driving moving device and the driving rotating device are both installed on the mounting base, and the mounting base has a supporting plate for supporting the pipeline channel.

[0027] Preferably, the above-mentioned drive box further includes a clamping assembly for detachably connecting the mounting base and the connecting base of the drive device.

[0028] Preferably, in the above-mentioned drive box, the clamping assembly includes:

[0029] A bayonet pin, the bayonet pin is connected to the connection base, the bayonet pin is arranged along the circumference of the connection base, and can be telescopically moved relative to the axis of the inner shell, and the side of the bayonet pin close to the inner shell is used for clamping with the connection base;

[0030] An unlocking assembly is used to drive the bayonet to move relative to the axis of the inner shell.

[0031] Preferably, in the above-mentioned drive box, the unlocking component includes:

[0032] An elastic member, the elastic member can generate elastic deformation, the elastic member is connected to the end of the oppositely arranged bayonet away from the inner shell;

[0033] A release switch, wherein the drive rod of the release switch can move along the axis of the mounting base, and the elastic member is located within the moving path of the release switch, and the pressing disk of the release switch is a stepped disk;

[0034] A retaining ring, wherein a conductive connector is fixed to the retaining ring, the retaining ring is a stepped ring, and is sleeved on the outside of the release switch, and the outer ring of the retaining ring is position-limitedly connected to the inner wall of the connecting hole of the housing, the inner ring of the retaining ring is position-limitedly connected to the outer ring of the pressing plate, and the housing limits the retaining ring from being separated from the housing in a direction away from the elastic member, and the retaining ring limits the pressing plate from being separated from the retaining ring in the reverse direction;

[0035] A first spring is used for the release switch and the retaining ring to return to contact with the housing.

[0036] A flexible device assembly comprises a drive box and a flexible device, wherein the drive box is any one of the drive boxes described above.

[0037] A medical device system includes a flexible device assembly, wherein the flexible device assembly is the flexible device assembly described above.

[0038] The utility model discloses a drive box. By setting a pipeline channel and passing a drive wire through the pipeline channel, the path of the drive wire can be optimized under the guidance of the pipeline channel, and the curvature radius of the winding of the drive wire can be increased. At the same time, the direction of the drive wire can be limited and guided to avoid position deviation of the drive wire during driving and reduce the resistance of the drive wire during movement and rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a front view of the flexible device disclosed in the embodiment of the utility model;

[0041] Figure 2 It is a schematic diagram of the structure of the drive box disclosed in the embodiment of the utility model;

[0042] Figure 3 It is a partial exploded view of the drive box disclosed in the embodiment of the utility model;

[0043] Figure 4 A top view of the internal structure of the drive box disclosed in the embodiment of the utility model;

[0044] Figure 5 It is a top view of the drive box disclosed in the embodiment of the utility model;

[0045] Figure 6 for Figure 5 Sectional view in the AA direction;

[0046] Figure 7 It is a structural schematic diagram of the first bevel gear disclosed in the embodiment of the utility model;

[0047] Figure 8 It is a schematic diagram of the structure of the first bevel gear in another direction disclosed in the embodiment of the utility model;

[0048] Fig. 9 It is a structural schematic diagram of the second bevel gear disclosed in the embodiment of the utility model;

[0049] Fig.10 It is a structural schematic diagram of the mounting base disclosed in the embodiment of the utility model;

[0050] Fig.11It is a partial internal schematic diagram of the drive box disclosed in the embodiment of the utility model;

[0051] Fig.12 for Figure 5 Cross-sectional view along the BB direction.

[0052] Among them, 100 is a flexible device, 101 is a driving wire, 102 is an outer sheath, 1011 is a first terminal, 1012 is a second terminal, and 1021 is a third terminal; 200 is a driving box, 1 is an outer shell, 2 is an inner shell, 21 is a mounting seat, and 22 is a first slot; 3 is a mounting base, 31 is a connecting shaft, 311 is an assembly hole, 32 is a mounting base, 321 is a buckle, 322 is a mounting hole, 33 is a first mounting platform, 34 is a second mounting platform, 341 is a bottom plate, 342 is a guard plate, 343 is a baffle, 35 is a support column, and 351 is a support plate; 4 is a driving moving device, 41 is a limit The embodiment of the present invention is as follows: a stop block, 42 ​​is a driving disk, 421 is a groove; 5 is a driving rotating device, 51 is a first bevel gear, 511 is a first rotating shaft, 5111 is a perforation, 512 is a first conical tooth, 52 is a second bevel gear, 521 is a second rotating shaft, 5211 is a ratchet, 522 is a second conical tooth, and 53 is a rotating disk; 6 is a snap-fit ​​assembly, 61 is a release switch, 611 is a pressing disk, 612 is a driving rod, 62 is a retaining ring, 63 is a first spring, 64 is an elastic member, 65 is a bayonet pin, 651 is a snap-fit ​​end, 652 is an assembly end, 66 is a conductive connector, 67 is a second spring, and 7 is a pipeline channel. DETAILED DESCRIPTION

[0053] The utility model discloses a driving box to reduce the resistance during the conveying and rotating process of a flexible device. In addition, the utility model also discloses a flexible device assembly and a medical device system having the driving box.

[0054] 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.

[0055] Combination Figure 1 and Figure 2 As shown, the flexible instrument assembly of the present invention includes: a flexible instrument 100 and a drive box 200. The drive box 200 can store the flexible instrument 100, store the long and delicate flexible instrument, and solve the problem that the flexible instrument is easily contaminated; and the drive box 200 can also drive the flexible instrument 100 axially and rotate it around the axial direction.

[0056] like Figure 1 As shown, the flexible device 100 includes: an actuator (not shown in the figure), an outer sheath 102 and a driving wire 101 .

[0057] The distal end of the driving wire 101 passes through the outer sheath 102 and is connected to the actuator, and the proximal end of the driving wire 101 is the operating end. The directional words "proximal end" and "distal end" used in this article are defined from the perspective of the operator operating the flexible instrument 100, that is, the end of the driving wire 101 close to the operator is the "proximal end", and the end close to the patient is the "distal end". It should be understood that the use of the above directional words is only used to clearly describe the technical solution, and does not constitute a substantial limitation on the flexible surgical instrument claimed for protection by the utility model.

[0058] A first terminal 1011 is connected to the proximal end of the driving wire 101, and a second terminal 1012 is fixed at a preset distance from the first terminal 1011. Optionally, the first terminal 1011 and the second terminal 1012 can be fixed to the driving wire 101 by crimping or welding. The shape and size of the first terminal 1011 and the second terminal 1012 can be set according to different needs. For example, the first terminal 1011 is a square terminal, and the second terminal 1012 is a cylindrical terminal. A third terminal 1021 is fixed to the proximal end of the outer sheath 102. For example, the third terminal 1021 is welded to the outer sheath 102 and is a cylindrical terminal with an outer diameter greater than the outer diameter of the outer sheath 102. In the direction from the proximal end to the distal end of the driving wire 101, the first terminal 1011, the second terminal 1012 and the third terminal 1021 are arranged in sequence. It is defined herein that the extension direction from the proximal end to the distal end of the driving wire 101 is the axial direction of the flexible device 100.

[0059] The terms "first" and "second" herein are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0060] In some embodiments, the actuator can be selected according to the specific application, such as but not limited to: flexible instruments such as clamps, electrocoagulation and cutting, baskets, injections, guides or sensors. Among them, the clamp type flexible instrument includes a tissue clamp with a clamping freedom and a hemostat with a clamping rotation freedom; the electrocoagulation and cutting flexible instrument includes a clamping freedom for tissue electrocoagulation and a push-pull freedom containing a snare instrument; the basket type flexible instrument includes a push freedom for pushing out and retracting the basket; the injection type flexible instrument includes a push freedom for pushing out and retracting the needle; the guide type is used for coaxial instrument guidance and has no freedom; the sensor type flexible instrument may include image sensing instruments, position sensing instruments or shape sensing instruments, etc.

[0061] Based on the above functional requirements of the actuator, it can be achieved by pulling or twisting the proximal end of the drive wire 101 connected to the actuator. Specifically, by pulling the drive wire 101, the actuator at the distal end can be moved, for example but not limited to the opening and closing of the actuator and the pushing of the actuator; by twisting the drive wire 101, the rotational movement of the actuator at the distal end can be achieved.

[0062] like Figures 2 to 11 As shown, the drive box 200 in the present invention includes: a storage device, a mounting base 3, a drive movement device 4 and a drive rotation device 5.

[0063] See also Figure 3 As shown, the storage device includes an outer shell 1 and an inner shell 2, wherein the outer shell 1 is a circular sleeve structure, the inner wall of the outer shell 1 has an internal thread, and the outer shell 1 has an instrument outlet. The inner shell 2 is a circular ring structure, and the interior is a receiving space, and the mounting base 3, the driving moving device 4 and the driving rotating device 5 are all arranged in the receiving space; the outer wall of the inner shell 2 has a receiving groove and an external thread, and the external thread is located at the notch of the receiving groove, and the external thread of the inner shell 2 can be matched and connected with the internal thread of the outer shell 1, and after connection, the receiving groove forms a spiral groove with a sealed side wall, and the flexible instrument 100 can be wound in the spiral groove to realize the storage of the flexible instrument 100.

[0064] The inner wall of the inner shell 2 has a mounting seat 21 and a first slot 22, wherein the first bevel gear 51 of the driving rotating device 5 is rotatably mounted on the mounting seat 21, the mounting seat 21 passes through the inner shell 2 and is connected to the receiving groove of the inner shell 2. The first slot 22 is spirally arranged along the inner wall of the inner shell 2.

[0065] like Figure 3 and Figure 4 As shown, the pipeline channel 7 is a circular tube structure, the port at one end of the pipeline channel 7 is connected to the first slot 22, and the port at the other end of the pipeline channel 7 is connected to the mounting seat 21, the third terminal 1021 of the outer sheath 102 is fixed in the mounting seat 21, the driving wire 101 passes through the pipeline channel 7 and the first slot 22, and the first terminal 1011 is clamped in the mounting slot, and the second terminal 1012 of the driving wire 101 can slide in the arc-shaped pipeline track.

[0066] In the utility model, by setting a pipeline channel 7 and passing the driving wire 101 through the pipeline channel 7, under the guidance of the pipeline channel 7, the path of the driving wire 101 can be optimized, the curvature radius of the winding of the driving wire 101 can be increased, and at the same time, the direction of the driving wire 101 can be limited and guided to avoid the position deviation of the driving wire 101 during the driving process, and reduce the resistance of the driving wire 101 during the movement and rotation process.

[0067] Combination Figure 3 and Figure 4As shown, the driving and moving device 4 includes a driving disk 42 and a limit stopper 41 .

[0068] The driving disk 42 is used to connect with the first driving device (not shown in the figure), and the first terminal 1011 is fixed on the driving disk 42 and can rotate synchronously with the driving disk 42. Exemplarily, the first terminal 1011 can be embedded in the driving disk 42. Specifically, the outer peripheral surface of the driving disk 42 is provided with a mounting groove (not shown in the figure) adapted for the first terminal 1011. In other implementations, the first terminal 1011 can also be completely arranged inside the driving disk 42, rather than being limited to being embedded on the outer peripheral surface of the driving disk 42.

[0069] Most of the outer circumferential surface of the driving disk 42 is tightly fitted with the first slot 22 of the inner shell 2. Specifically, the outer circumferential surface of the driving disk 42 has a receiving groove that is connected to the inner shell 2. The receiving groove is fitted with the inner wall of the inner shell 2. Specifically, it is opposite to the first slot 22 and clamps the driving wire 101 between the receiving groove and the first slot 22. Exemplarily, the receiving groove is arranged in a circumferential spiral along the driving disk 42.

[0070] During the rotation of the drive disk 42, the drive disk 42 and the inner shell 2 rotate relative to each other, so that the winding path between the first terminal 1011 of the drive wire 101 and the third terminal 1021 of the outer sheath 102 changes, thereby realizing the axial delivery of the drive wire 101. During the process of the proximal end of the drive wire 101 being wound around the drive disk 42, the drive wire 101 is embedded in the receiving groove of the drive disk 42 and is limited by the tightly fitting first clamping groove 22.

[0071] In the utility model, the rotation of the driving disk 42 is used to realize the axial conveyance of the driving wire 101. In some embodiments, a limiting device is used to limit the rotation of the driving disk 42 to limit the conveying distance of the driving wire 101. The limiting device includes a groove 421 and a limiting block 41.

[0072] The driving disk 42 is provided with a groove 421, which is in an arc-shaped structure, and the center of the groove 421 is concentric with the rotation center of the driving disk 42. Figure 4 and Fig.11 As shown, a limit stopper 41 is fixed on the mounting base 3, and the limit stopper 41 is placed in the groove 421 of the driving disk 42. Since the center of the groove 421 is concentric with the rotation center of the driving disk 42, during the forward and reverse rotation of the driving disk 42, the two side ends of the groove 421 along the circumferential direction can respectively abut against the limit stopper 41. In other words, based on the groove 421 and the limit stopper 41, the limit working position of the driving moving device 4 is formed, and on the basis of meeting the pulling stroke requirement of the first terminal 1011, it can be avoided that the driving disk 42 rotates too much to affect the actuation performance.

[0073] In some embodiments, both side ends of the groove 421 along the circumferential direction are planes, and the limit stopper 41 is a square structure to adapt to the structural form of the two side ends of the groove 421 .

[0074] Combination Figures 3 to 9 As shown, the driving rotation device 5 includes: a first bevel gear 51, a second bevel gear 52 and a rotating disk 53. The first bevel gear 51 includes a first rotating shaft 511 and first bevel teeth 512, and the second bevel gear 52 includes a second rotating shaft 521 and second bevel teeth 522.

[0075] Among them, the first rotating shaft 511 can be set to a structure of equal diameter or unequal diameter according to different needs, and the first rotating shaft 511 is installed on the mounting seat 21 of the inner shell 2. The first rotating shaft 511 has a through hole 5111 that passes through along its axial direction, and the flexible instrument 100 passes through the through hole 5111, the proximal end of the flexible instrument 100 passes through the pipeline channel 7, and the distal end of the flexible instrument 100 is wound in the receiving groove. Exemplarily, the third terminal 1021 of the outer sheath 102 is fixed to the inner shell 2 (exemplarily, it can be fixed at the receiving groove), the proximal end of the drive wire 101 passes through the first bevel gear 51, and the second terminal 1012 is circumferentially limited and axially movable in the through hole 5111, and the position between the first terminal 1011 and the second terminal 1012 of the drive wire 101 passes through the pipeline channel 7.

[0076] Exemplarily, the through hole 5111 is a rectangular through hole, and the second terminal 1012 is a rectangular block adapted to the through hole 5111. The end of the rectangular through hole has a guide to reduce the wear of the driving wire 101.

[0077] The axis of the first rotating shaft 511 is arranged perpendicular to the axis of the second rotating shaft 521, the first bevel teeth 512 and the second bevel teeth 522 are meshed and transmitted, and the second bevel gear 52 is fixed on the rotating disk 53. Specifically, the second rotating shaft 521 is sleeved on the rotating disk 53, and the axial flatness is used to limit the circumferential position of the rotating disk 53. The rotating disk 53 is used to connect with the second driving device (not shown in the figure). Exemplarily, the axis of the first bevel gear 51 is arranged horizontally, and the axis of the second bevel gear 52 is arranged vertically. When the second driving device drives the rotating disk 53 to rotate, it can drive the second bevel gear 52 to rotate. During the rotation of the second bevel gear 52, it drives the second terminal 1012 to rotate, thereby realizing the rotation of the driving wire 101.

[0078] It should be noted that the rotation of the driving wire 101 can be achieved only when the second terminal 1012 of the driving wire 101 is located in the through hole 5111 of the first bevel gear 51 .

[0079] In some embodiments, the flexible device 100 can only rotate in one direction during use. Based on this, the second bevel gear 52 in the present invention can only rotate in one direction.

[0080] Combination Figures 9 to 11 As shown, the outer wall of the second rotating shaft 521 is provided with a ratchet 5211, and the mounting base 3 is provided with a triangular baffle 343. During the rotation of the second bevel gear 52, the ratchet 5211 and the baffle 343 can limit the position in one direction. Specifically, when the second bevel gear 52 rotates in the forward direction, the inclined surface of the ratchet 5211 contacts the triangular baffle 343, which will generate an outward force. At this time, the triangular baffle 343 will deform outward, allowing the ratchet 5211 to pass through, so that the second bevel gear 52 continues to rotate in the forward direction. When the second bevel gear 52 rotates in the reverse direction, the plane of the ratchet 5211 contacts the plane of the triangular baffle 343, and the baffle 343 will limit the ratchet 5211 from passing through, so that the second bevel gear 52 continues to rotate in the reverse direction, thereby realizing the one-way limit of the rotation of the second bevel gear 52, and then the driving wire 101 can only rotate in one direction.

[0081] See also Fig.10 As shown, the mounting base 3 in the present invention includes: a connecting shaft 31, a mounting base 32, a first mounting platform 33, a second mounting platform 34 and a support column 35. The second mounting platform 34 includes a bottom plate 341, a guard plate 342 and a baffle plate 343.

[0082] The connecting shaft 31 and the mounting base 32 include but are not limited to an integrally formed structure, and the center of the connecting shaft has an assembly hole 311 that penetrates along the axial direction of the connecting shaft 31 , and the assembly hole 311 is but is not limited to a rectangular through hole.

[0083] The mounting base 32 includes but is not limited to a rectangular structure, and the mounting base 32 is fixedly connected to the inner wall of the inner shell 2. Exemplarily, the mounting base 32 has a plurality of clips 321 along the circumferential direction, and the clips 321 are snapped together with the inner wall of the inner shell 2 to fix the mounting base 32 to the inner shell 2.

[0084] The first mounting platform 33 and the second mounting platform 34 are distributed on both sides of the connecting shaft 31 of the mounting base 32. The driving moving device 4 is mounted on the first mounting platform 33. For example, the first mounting platform 33 is a sleeve structure, and the driving shaft of the first driving device extends into the first mounting platform 33 and is connected to the driving disk 42. The driving disk 42 is rotatably sleeved on the outer side of the first mounting platform 33.

[0085] The driving rotating device 5 is installed on the second mounting platform 34. For example, the rotating disk 53 can be rotatably set on the base plate 341. The guard plate 342 is an arc-shaped plate, which is located on the outside of the second bevel gear 52, including but not limited to being integrally formed with the base plate 341. The guard plate 342 and the baffle plate 343 are arranged opposite to each other, and the second bevel gear 52 is located between the two.

[0086] One end of the support column 35 is fixedly connected to the mounting base 32, including but not limited to being integrally formed, and the other end of the support column 35 has a support plate 351, which is used to support the pipeline channel 7. Exemplarily, the shape of the pipeline channel 7 is adapted to the shape of the inner wall of the support plate 351.

[0087] In addition, see Fig.12 As shown, a snap-in assembly 6 is also provided in the drive box 200 of the utility model, and the snap-in assembly 6 can be used to realize a detachable connection between the drive box 200 and a connecting base (not shown in the figure), so that the first drive device and the second drive device on the connecting base can provide drive for the drive disk 42 and the rotating disk 53 respectively.

[0088] The clamping assembly 6 comprises: a release switch 61 , a retaining ring 62 , a first spring 63 , an elastic member 64 , a clamping pin 65 and a second spring 67 . The release switch 61 comprises a pressing plate 611 and a driving rod 612 .

[0089] The conductive connector 66 is installed on the retaining ring 62. It should be noted that when the flexible device in this article is a device that requires an external high-frequency voltage, a conductive connector 66 is set on the driving box 200. The conductive connector 66 is used to electrically connect to the external female connector. One end of the conductive connector 66 extending into the driving box 200 is used for connecting the driving wire 101.

[0090] The pressing plate 611 is a stepped disc structure, the retaining ring 62 is a stepped ring structure, and the retaining ring 62 is sleeved on the outer circumference of the pressing plate 611, and the inner ring of the retaining ring 62 is connected to the pressing plate 611 through a step limiter, and the outer ring of the retaining ring 62 is connected to the inner wall of the connecting hole (not shown in the figure) at the top of the housing 1 (the end away from the connection bottom plate) through a step limiter. Specifically, the diameter of the end of the pressing plate 611 close to the driving rod 612 is smaller than the diameter away from the driving rod 612, which can be understood as, Fig.12 The diameter of the upper end of the middle pressing plate 611 is larger than the diameter of the lower end of the pressing plate 611, and the diameter of the upper end of the retaining ring 62 is smaller than the diameter of the lower end of the retaining ring 62, so that after the retaining ring 62 is connected to the pressing plate 611, the retaining ring 62 is used to limit the pressing plate 611 from moving along the axis of the pressing plate 611 toward the direction of the driving rod 612. It can be understood that the pressing plate 611 is limited from moving downward.

[0091] The diameter of the upper end of the inner wall of the connection hole of the housing 1 is smaller than the diameter of the lower end, so that after the retaining ring 62 is connected to the housing 1, the housing 1 can limit the retaining ring 62 from moving upward.

[0092] The driving rod 612 is integrally formed with the pressing plate 611 and is located at the center of the pressing plate 611, so that the axis of the pressing plate 611 coincides with the axis of the driving rod 612. The driving rod 612 can be embedded in the assembly hole 311 of the connecting shaft 31 of the mounting base 3 and can move along the axis direction of the assembly hole 311.

[0093] There are two latches 65, which are arranged symmetrically with respect to the axis of the release switch 61. Fig.10 As shown, two opposite sides of the mounting base 32 of the mounting base 3 have mounting holes 322, which are through holes that penetrate in the vertical direction of the axis of the driving rod 612. The bayonet 65 is inserted into the mounting hole 322, and the side where the two bayonet pins 65 are close to each other is connected to the elastic member 64. It can be understood that the two ends of the elastic member 64 are respectively connected to a bayonet 65, and the elastic member 64 is located in the path of the release switch 61 moving in the axial direction. The elastic member 64 includes but is not limited to a structure such as a connecting rope or a spring that can be deformed by being squeezed.

[0094] The sides of the two latches 65 that are away from each other are used for being connected to the connecting base. The connecting base is installed with a first driving member for driving the driving disk 42 of the above-mentioned driving moving device 4 to rotate, and a second driving member for driving the rotating disk 53 of the above-mentioned driving rotating device 5 to rotate.

[0095] In some embodiments, the length of the elastic member 64 is equal to the distance between the mounting holes 322 on both sides of the mounting base 3. When the elastic member 64 connects the bayonet 65 on both sides, the bayonet 65 can be limited from moving along the axial direction of the bayonet, so that the bayonet 65 maintains a symmetrical state on both sides.

[0096] Specifically, the bayonet 65 includes a clamping end 651 and an assembly end 652 .

[0097] Among them, the clamping end 651 and the assembly end 652 are connected in sequence, including but not limited to being an integrated structure, the circumferential dimension of a section of the clamping end 651 close to the assembly end 652 is larger than the circumferential dimension of the assembly end 652, and the circumferential dimension of a section of the clamping end 651 close to the assembly end 652 can be circumferentially clamped with the mounting hole 322.

[0098] During the assembly process of the bayonet 65 and the mounting base 3, the assembly end 652 is inserted into the mounting hole 322 of the mounting base 3. For example, a section of the clamping end 651 close to the assembly end 652 is matched and connected with the mounting hole 322, while a section of the clamping end 651 away from the assembly end 652 is located outside the first end of the mounting hole 322, and is used for clamping and connecting with the connecting base. A step surface is formed at the connection between the assembly end 652 and the clamping end 651, and a second spring 67 is arranged between the step surface and the second end of the mounting hole 322. The second spring 67 is a compression spring, which provides an axial support force for the bayonet 65 to ensure the stable clamping of the bayonet 65 and the connecting base.

[0099] During the installation of the bayonet 65, the second spring 67 acts on the mounting hole 322 and the step surface of the bayonet 65. The bayonet 65 moves outward under the action of the second spring 67 until the elastic member 64 is straightened, and the second spring 67 also provides an axial support force for the bayonet 65.

[0100] When it is necessary to release the connecting base, the operator can press the release switch 61 downward until the driving rod 612 squeezes the middle position of the elastic member 64. The squeezing force of the driving rod 612 acts on the elastic member 64, causing the elastic member 64 to deform. The distance between the two ends of the elastic member 64 is reduced, which will pull the pins 65 on both sides back to the center, releasing the connection between the pins 65 and the connecting base.

[0101] In order to ensure that the release switch 61 can automatically reset after being pressed, so as to cancel the external force applied by the release switch 61 to the elastic member 64, a first spring 63 is arranged between the pressing plate 611 and the mounting base 3 in the present invention. Specifically, the outer ring of the first spring 63 abuts against the retaining ring 62. The first spring 63 is in a compressed state. Under the action of the first spring 63, the release switch 61 and the retaining ring 62 are always flush with the top surface of the outer shell 1 to prevent foreign matter from entering the inner shell 2.

[0102] Since the external female connector is pressed onto the conductive connector 66 , a downward external force is applied to the conductive connector 66 . If the release switch 61 is pushed downward simultaneously, the connection base may be released outside the release switch 61 .

[0103] Based on this, the conductive connector 66 in the present invention is fixed on the retaining ring 62. During the process of the female connector being pressed and connected to the conductive connector 66, the retaining ring 62 is forced to move downward. Although the release switch 61 moves downward, the squeezing force of the release switch 61 on the elastic member 64 cannot deform the elastic member 64. After the female connector is pressed and connected to the conductive connector 66, the external force disappears. Under the action of the first spring 63, the retaining ring 62 moves upward to abut against the inner wall of the housing 1. Under the action of the retaining ring 62 and the first spring 63, the release switch 61 returns to its initial state.

[0104] It should be noted that the inner ring of the retaining ring 62 and the outer ring of the pressing plate 611 in this article respectively have a protrusion and a connecting groove, and the protrusion cooperates with the connecting groove to limit the circumferential rotation of the retaining ring 62 and the pressing plate 611, so that during the relative rotation of the inner shell 2 and the outer shell 1, the retaining ring 62 and the release switch 61 rotate synchronously with the inner shell 2.

[0105] The above-mentioned snap-on assembly 6 is used in the utility model to realize the connection and separation between the connecting base and the mounting base 3. It has a simple structure and is easy to operate. It can also make the structure inside the inner shell 2 more compact, occupy the axial direction of the inner shell 2, and reduce the radial size of the drive box 200.

[0106] The flexible instrument assembly provided in this implementation scheme can be applied to an endoscopic nurse / technician robot. The flexible instrument assembly is configured on the robot body to assist endoscopists in operating surgical instruments. It can effectively improve the doctor's work efficiency while reasonably realizing the effective storage of the actuator unit body and avoiding cross contamination.

[0107] It can be understood that the present invention also discloses a medical device system, including the flexible device assembly disclosed in the above embodiments. Therefore, the medical device system having the flexible device assembly also has all the above technical effects.

[0108] 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. A drive box, characterized in that: Used to store and drive flexible instruments; the drive box includes: An outer shell and an inner shell, wherein the outer wall of the inner shell is threadedly connected to the inner wall of the outer shell, and a receiving groove for receiving a flexible device is provided therebetween, and the interior of the inner shell has a receiving space; A pipeline channel, which is located in the accommodating space and is a curved structure, and is used to pass a driving wire of a flexible device, and one end of the pipeline channel is connected to the accommodating groove; A driving and moving device, the driving and moving device is located in the accommodating space and is used to drive the driving wire of the flexible device to move axially; A driving rotation device is located in the accommodating space and is used to drive the driving wire of the flexible instrument to rotate relative to the axial direction.

2. The drive box according to claim 1, characterized in that: The driving and moving device comprises: A driving disk, the driving disk is rotatably disposed in the accommodating space of the inner shell, the driving disk has a mounting groove for fixing the proximal end of the driving wire, the outer circumferential surface of the driving disk has a winding connecting groove, the mounting groove, the connecting groove and the other end of the pipeline channel are sequentially connected; A limiting device, wherein the limiting device is used to limit the rotation angle of the driving disk.

3. The drive box according to claim 2, characterized in that: The limiting device comprises: A groove is provided on the driving disk, wherein the groove is an arc-shaped structure extending along the circumference of the driving disk, and the center of the groove is concentric with the rotation center of the driving disk; A limit stopper is fixed in the inner shell and can slide along the groove.

4. The drive box according to claim 1, characterized in that: The driving and rotating device comprises: A first bevel gear, the first bevel gear is mounted on the inner wall of the inner shell, and the first bevel gear has a through hole that penetrates along the axial direction of the first bevel gear, the through hole communicates with the accommodating groove and the pipeline channel, the through hole can circumferentially limit the proximal end of the driving wire, and the proximal end of the driving wire can move along the axial direction of the through hole; A second bevel gear, the second bevel gear meshing with the first bevel gear for transmission; A rotating plate drives the second bevel gear to rotate.

5. The drive box according to claim 4, characterized in that: The driving and rotating device also includes: A ratchet tooth, wherein the ratchet tooth is arranged on an outer surface of the second bevel gear; A baffle is fixed in the accommodating space of the inner shell, the cross section of the baffle is triangular, and during the rotation of the second bevel gear, the ratchet is connected to the baffle in a one-way limiting manner.

6. The drive box according to any one of claims 1 to 5, characterized in that: Also included is a mounting base, the mounting base being detachably connected to the inner wall of the inner shell; The driving moving device and the driving rotating device are both installed on the mounting base, and the mounting base has a supporting plate for supporting the pipeline channel.

7. The drive box according to claim 6, characterized in that: It also includes a clamping assembly for detachably connecting the mounting base to a connecting base of a driving device.

8. The drive box according to claim 7, characterized in that: The clamping assembly comprises: A bayonet pin, the bayonet pin is connected to the connection base, the bayonet pin is arranged along the circumference of the connection base, and can be telescopically moved relative to the axis of the inner shell, and the side of the bayonet pin close to the inner shell is used for clamping with the connection base; An unlocking assembly is used to drive the bayonet to move relative to the axis of the inner shell.

9. The drive box according to claim 8, characterized in that: The unlocking component comprises: An elastic member, the elastic member can generate elastic deformation, the elastic member is connected to the end of the oppositely arranged bayonet away from the inner shell; A release switch, wherein the drive rod of the release switch can move along the axis of the mounting base, and the elastic member is located within the moving path of the release switch, and the pressing disk of the release switch is a stepped disk; A retaining ring, wherein a conductive connector is fixed to the retaining ring, the retaining ring is a stepped ring, and is sleeved on the outside of the release switch, and the outer ring of the retaining ring is position-limitedly connected to the inner wall of the connecting hole of the housing, the inner ring of the retaining ring is position-limitedly connected to the outer ring of the pressing plate, and the housing limits the retaining ring from being separated from the housing in a direction away from the elastic member, and the retaining ring limits the pressing plate from being separated from the retaining ring in the reverse direction; A first spring is used for the release switch and the retaining ring to return to contact with the housing.

10. A flexible device assembly, comprising a drive box and a flexible device, characterized in that: The drive box is a drive box as described in any one of claims 1 to 9.

11. A medical device system, comprising a flexible device assembly, characterized in that: The flexible device assembly is the flexible device assembly as claimed in claim 10.

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