Coaxial double-layer omnidirectional catheter electric control steering device of flexible endoscope robot

Abstract

The utility model discloses a coaxial double-layer omni-directional catheter electric control steering device of a flexible endoscope robot, which comprises an outer moving track, an inner moving track, an outer moving seat, an inner moving seat and a catheter, and the outer moving seat and the inner moving seat are movably connected onto the outer moving track and the inner moving track respectively. The catheter comprises an inner catheter body and an outer catheter body, the outer catheter body is connected to the outer moving seat, the inner catheter body is connected to the inner moving seat, the inner catheter body is located in the outer catheter body and movably connected with the outer catheter body, and an endoscope lens tube or a functional surgical instrument can enter a human body through the inner catheter body. An endoscope lens soft rope and surgical instruments such as a clamp holder, scissors and a laser head can be arranged in the inner tube. By means of the voice coil motor and the corresponding control circuit, the problem that in the prior art, the steering speed and precision are limited is effectively solved, precise multi-freedom-degree steering of the catheter is achieved, and the requirement for high-precision surgery is met.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical engineering, in particular to a coaxial double-layer omnidirectional catheter electric-controlled steering device of a flexible endoscope robot. Background Art

[0002] The present invention relates to the fields of mechanical, electrical, and medical engineering technology, and more particularly to an electrically controlled steering device for a coaxial, double-layer, omnidirectional catheter of a flexible endoscope robot. Background: Endoscopy, as a non-invasive medical diagnostic and surgical method, enables doctors to observe the condition of internal tissues in detail by inserting a device equipped with a small camera and light source into the human body. However, conventional endoscopes are limited by their inherent structure, resulting in insufficient steering freedom, inconvenient operation, and difficulty reaching narrow areas deep within the human body.

[0003] Flexible endoscopes have emerged to overcome the limitations of traditional endoscopes. However, single flexible endoscopes still suffer from limited steering capabilities. To address this issue, the present invention proposes a design for a coaxial double-layer omnidirectional catheter. This design, through the interaction of two coaxial catheter layers, enables flexible steering of the flexible endoscope within three dimensions, significantly expanding its operational range. Existing endoscopic catheters typically utilize passive steering, with physicians manually controlling the catheter's advance and retreat, while the catheter's bending and steering are controlled by the endoscope's steering mechanism.

[0004] This approach has several drawbacks: First, the doctor must rely on experience to manually control the catheter's advancement and retraction, which is tedious and easily fatigued. Second, the passive steering has limited control accuracy, making it difficult to achieve precise steering with the endoscope. The active guide tube proposed in this utility model overcomes these issues, enabling precise and flexible electronic steering of the catheter itself, thereby more accurately controlling the endoscope's posture.

[0005] In addition, the existing catheter steering control lacks precision, and doctors need to spend a long time adapting and adjusting during surgery, which affects the efficiency of the operation. In summary, the existing endoscopic catheter technology has problems such as insufficient steering freedom, complex operation, and low steering accuracy. In order to solve these problems, the utility model proposes a coaxial double-layer omnidirectional catheter electric steering device for a flexible endoscopic robot, which aims to improve the steering flexibility, operational convenience and steering accuracy of the flexible endoscope, and provide a more efficient and accurate medical device for clinical applications. Utility Model Content

[0006] The purpose of the utility model is to provide a coaxial double-layer omnidirectional catheter electric-controlled steering device for a flexible endoscope robot, so as to overcome the deficiencies in the prior art.

[0007] To achieve the above object, the utility model provides the following technical scheme:

[0008] The application discloses a coaxial double-layer omnidirectional catheter electric control steering device of a flexible endoscope robot, which comprises an outer moving track, an inner moving track, an outer moving seat, an inner moving seat and a catheter.

[0009] Preferably, the outer control mechanism and the inner control mechanism each comprise a plurality of transmission motors, one end of the transmission motor is power-connected with a winding wheel, the winding wheel is provided with a bending control wire, the bending control wire is connected to the inner catheter and the outer catheter, and the bending control wire is stretched or contracted to drive the inner catheter and the outer catheter to rotate to the side.

[0010] Preferably, the direction in which the bending control wire drives the inner catheter and the outer catheter to rotate comprises eight directions, i.e. up, down, left, right, left up, left down, right up and right down.

[0011] Preferably, the outer control mechanism and the inner control mechanism each comprise four transmission motors, one transmission motor is connected with one bending control wire, and the inner catheter and the outer catheter are respectively connected with four bending control wires, so that the control of eight directions is realized through a single transmission motor and the combination of two adjacent transmission motors.

[0012] Preferably, the winding wheel is provided with a winding hole, the winding hole is penetrated by the bending control wire, and the winding wheel moves to control the bending control wire through the winding hole.

[0013] Preferably, the output end of the transmission motor is power-connected with a power gear, one side of the winding wheel, which faces the gear, is provided with an external gear groove, and the power gear is engaged with and connected to the external gear groove.

[0014] Preferably, the transmission motor is a voice coil motor.

[0015] Preferably, the outer surface of the catheter is provided with an outer braided layer made of medical-grade stainless steel wire to improve its flexibility and operability, and the inner surface of the catheter is provided with a moisturizing layer with lubricating effect and biocompatibility.

[0016] Preferably, the outer movable seat and the inner movable seat are both connected with electrical connectors for transmitting power, the electrical connectors are connected to the outer control mechanism and the inner control mechanism, the electrical connectors are connected to the controller that controls the outer control mechanism and the inner control mechanism, and the controller transmits control signals through the electrical connectors.

[0017] Preferably, the outer movable track and the inner movable track both include a track housing, a threaded screw is rotatably connected to the track housing, the outer movable seat and the inner movable seat are both provided with threaded holes that match the threaded screw, a servo motor is provided on the track housing, and the output end power of the servo motor is connected to the threaded screw.

[0018] Beneficial effects of the utility model:

[0019] (1) By adopting a voice coil motor as the driving motor of the electronically controlled steering device and using the corresponding control circuit, the problem of limited steering speed and accuracy in the existing technology is effectively solved; through the rapid response and high-precision control capability of the voice coil motor, the precise multi-degree-of-freedom steering of the catheter is achieved, meeting the needs of high-precision surgery;

[0020] (2) Medical-grade 316L stainless steel wire is arranged in a mesh-like weaving pattern on the inner and outer catheters, which can evenly disperse the friction. At the same time, the PTFE ultra-thin moisturizing layer improves the lubrication effect, further reduces the wear and damage of the catheter, and extends its service life. The use of PTFE material to prepare the ultra-thin moisturizing layer has good biocompatibility, avoids irritation and damage to human tissue, and expands the application range of catheters in the medical field.

[0021] (3) The outer moving track, the inner moving track and the outer moving seat connected to each other are used to realize the free extension and contraction of the inner and outer ducts. The structure is simple, the manufacturing and maintenance are convenient, and the cost is reduced. The control of 8 transmission motors realizes the precise control of the duct in 8 directions, simplifies the control system, and also reduces the manufacturing and maintenance costs.

[0022] (4) By optimizing the structure and using appropriate materials, the durability and stability of the catheter are enhanced and its service life is extended.

[0023] The features and advantages of the present invention will be described in detail through embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of a coaxial double-layer omnidirectional catheter electric-controlled steering device of a flexible endoscope robot according to the present utility model;

[0025] Figure 2 It is a schematic diagram of the planar structure of an embodiment of the utility model;

[0026] Figure 3 It is a schematic cross-sectional view of the internal structure of an embodiment of the present utility model;

[0027] Figure 4 It is a schematic cross-sectional view of the internal three-dimensional structure of an embodiment of the present utility model;

[0028] Figure 5 It is an embodiment of the present utility model Figure 4 A schematic diagram of the structure at center A;

[0029] Figure 6 It is a structural schematic diagram of the catheter portion of an embodiment of the present utility model;

[0030] Figure 7 It is a schematic cross-sectional view of a planar structure of an embodiment of the present utility model;

[0031] Figure 8 This is a schematic structural diagram of the outer layer control mechanism and the inner layer control mechanism of an embodiment of the utility model;

[0032] In the figure: 1. Outer movable track; 101. Inner movable track; 2. Outer movable seat; 201. Outer control chamber; 202. Transmission motor; 203. Winding wheel; 204. Power gear; 205. Outer gear groove; 206. Winding hole; 210. Inner movable seat; 211. Inner control chamber; 212. Motor seat; 301. Outer conduit; 302. Inner conduit; 4. Electrical connector; 5. Controller; 6. Servo motor; 7. Track housing. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of the present invention. Furthermore, descriptions of known structures and technologies are omitted in the following description to avoid unnecessary confusion regarding the concepts of the present invention.

[0034] Compared with the existing technology, this technical solution mainly solves the following problems:

[0035] 1) Limited steering speed and accuracy: Existing flexible endoscope robots use a lead screw and slider drive system. Their steering speed and accuracy are limited by the size and precision of the lead screw and slider, making them incapable of meeting the requirements of high-precision surgery. This technical solution utilizes a voice coil motor as the drive motor for the electronically controlled steering mechanism and designs a corresponding control circuit. This enables precise control of the inner and outer catheters 302 and 301 in eight directions, improving operational precision and flexibility.

[0036] 2) Wear and damage to the inner and outer tubes 302, 301: Due to the high friction between the inner and outer tubes 302, 301 and human tissue, existing flexible endoscope robots are prone to wear and damage, shortening their service life. This technical solution utilizes an ultra-thin moisturizing layer to improve the lubrication of the inner and outer tubes 302, 301, reducing friction, minimizing wear and damage to the inner and outer tubes 302, 301, and extending their service life.

[0037] 3) Complex structure and high manufacturing and maintenance costs: Existing flexible endoscope robots have complex structures and high manufacturing and maintenance costs, which limits their application range. This technical solution uses an outer movable track 1, an inner movable track 101, an outer movable base 2, and an inner movable base 210 to achieve the free extension and retraction of the inner and outer catheters 302, 301, simplifying the structure, reducing manufacturing and maintenance costs, and expanding its application range.

[0038] 4) Inaccurate control algorithms: Existing flexible endoscope robots suffer from inaccurate control algorithms, which can easily lead to instability in the movement of the inner and outer catheters 302 and 301. This technical solution utilizes a real-time control algorithm based on a kinematic model to control the movement of the motors, improving the stability of the inner and outer catheters 302 and 301.

[0039] See Figures 1 and 2 The present invention provides a coaxial double-layer omnidirectional catheter electric steering device for a flexible endoscope robot, comprising an outer movable track 1 and an inner movable track 101. The outer movable track 1 and the inner movable track 101 are movably connected to an outer movable seat 2 and an inner movable seat 210, respectively.

[0040] The catheter consists of an inner catheter 302 and an outer catheter 301. The outer movable base 2 is connected to the outer catheter 301, and the inner movable base 210 is connected to the inner catheter 302. The inner catheter 302 is nested within the outer catheter 301 and can be flexibly connected relative to the outer catheter 301. An endoscope lens tube or functional surgical instrument is connected to the inner catheter 302 and can enter the human body through the inner catheter 302. The inner catheter 302 can accommodate an endoscope lens cable or surgical instruments such as grippers, scissors, and laser heads.

[0041] The endoscope lens tube or functional surgical instrument here is common existing technology, so no further details are given here.

[0042] Within the outer and inner movable bases 2 and 210, respectively, are an outer control chamber 201 and an inner control chamber 211, each housing an outer control mechanism and an inner control mechanism. Both mechanisms are controlled by a plurality of transmission motors 202. One end of each transmission motor 202 is motively connected to a winding reel 203, which is provided with a bending control wire. These wires are connected to the inner and outer conduits 302 and 301, and when the wires extend or contract, they drive the inner and outer conduits 302 and 301 to rotate circumferentially.

[0043] In a feasible embodiment, the device can realize rotation in eight directions: up, down, left, right, upper left, lower left, upper right, and lower right.

[0044] The outer control mechanism and the inner control mechanism are provided with four transmission motors 202 , respectively, and control in different directions is achieved by utilizing a single transmission motor 202 or a combination of two adjacent transmission motors 202 .

[0045] A winding hole 206 is provided on the winding wheel 203 , and the bending control wire passes through the winding hole 206 , so that the winding wheel 203 controls the movement of the bending control wire through the winding hole 206 , thereby achieving precise control of the steering of the catheter.

[0046] The output power of the transmission motor 202 is connected to the power gear 204. The winding wheel 203 has an external gear groove 205 on the side facing the power gear 204. The power gear 204 is meshed with the external gear groove 205 to ensure stable power transmission.

[0047] A motor base 212 is provided in the outer control mechanism and the inner control mechanism, and four transmission motors 202 are provided in the motor base 212 .

[0048] In a feasible embodiment, the transmission motor 202 adopts a voice coil motor, which has the characteristics of fast response and high-precision control.

[0049] The outer surface of the catheter is provided with an outer braid layer made of medical-grade stainless steel wire, which improves the flexibility and operability of the catheter; and the inner surface is provided with a water lubricating layer, which can provide good lubricating effect and biocompatibility.

[0050] The outer moving seat 2 and the inner moving seat 210 are connected with electrical connectors for transmitting power and connecting with the outer layer control mechanism and the inner layer control mechanism to ensure the coordinated operation of the whole device.

[0051] The outer moving track 1 and the inner moving track 101 each comprise a track shell, the track shell is rotationally connected with a threaded screw rod, the outer moving seat 2 and the inner moving seat 210 are each provided with a threaded hole matched with the threaded screw rod, the threaded screw rod is driven by a servo motor on the track shell, thereby driving the movement of the outer moving seat 2 and the inner moving seat 210 to realize the accurate adjustment of the position of the catheter.

[0052] Through the above specific embodiments, the flexible endoscope robot steering system can realize accurate multi-degree-of-freedom steering, improve operation precision and flexibility, and has the advantages of reducing wear, prolonging service life, simplifying structure, etc.

[0053] Embodiment 1: The embodiment provides a coaxial double-layer omnidirectional braided inner catheter 302 and outer catheter 301 electric control steering system, and the specific implementation manner is as follows:

[0054] One: medical-grade stainless steel wires are arranged in a mesh braid manner. A certain number of medical-grade stainless steel wires are arranged on the inner catheter 302 and the outer catheter 301 in a mesh braid manner. This special braid manner can reduce the number of steering control bending wires, simplify the structure of the inner catheter 302 and the outer catheter 301, and improve the flexibility and operability thereof.

[0055] Specifically, the diameters of the inner catheter 302 and the outer catheter 301 are 3 mm and 5 mm respectively, the diameter of the braided stainless steel wire is 0.1 mm, and the braiding density is 10 wires per square centimeter. Four bending control wires with bending flexibility are arranged in the pipe wall of the inner catheter 302 and the outer catheter 301 respectively, the diameter of the bending control wire is 1 mm, and the rear end of the bending control wire is fixedly wound on the winding wheel 203.

[0056] Two: a voice coil motor is used as the driving motor of the electric control steering device. A voice coil motor is used as the driving motor of the electric control steering device, and a corresponding control circuit is designed. This motor has high response speed and accurate position control capability, which can improve the steering speed and precision and improve the steering performance of the inner catheter 302 and the outer catheter 301.

[0057] Specifically, the model of the voice coil motor is VCM300, with a maximum output force of 3N and a maximum speed of 300rpm.

[0058] 3. Use of high-performance ultra-thin moisturizing layer. The moisturizing layer is made of high-performance ultra-thin moisturizing layer material. This moisturizing layer has excellent lubrication and biocompatibility, reducing friction between the inner and outer catheters 302, 301, and human tissue, reducing wear and damage to the inner and outer catheters 302, 301, and extending their service life.

[0059] Specifically, the thickness of the moistening layer is 0.1 mm and the material is polytetrafluoroethylene.

[0060] Fourth: Telescopic Movement of Inner and Outer Conduits 302, 301. The outer movable track 1, inner movable track 101, outer movable seat 2, and inner movable seat 210 enable the free telescopic movement of inner and outer conduits 302, 301. This mechanism simplifies the structure, reduces manufacturing and maintenance costs, and expands the application range of inner and outer conduits 302, 301.

[0061] Fifth: Using a real-time control algorithm based on a kinematic model. Using a real-time control algorithm based on a kinematic model to control the movement of the motor can improve the stability of the inner catheter 302 and the outer catheter 301, ensuring that the inner catheter 302 and the outer catheter 301 maintain good stability and accuracy during movement.

[0062] Specifically, the control algorithm adopts PID control with a proportional coefficient of 10, an integral coefficient of 5, and a differential coefficient of 1.

[0063] Sixth: Achieve more precise multi-degree-of-freedom steering. By optimizing the control algorithm, precise bending control of the outer catheter 301 and the inner catheter 302 in eight directions is achieved, improving operational accuracy and flexibility. This allows the inner catheter 302 and the outer catheter 301 to more accurately reach the surgical site, allowing for more delicate operations.

[0064] Specifically, the 8 directions include up, down, left, right, upper left, lower left, upper right, and lower right.

[0065] The above are the specific implementation methods of this embodiment. Through these methods, a flexible endoscope robot steering system with simple structure and excellent performance can be realized, which has broad application prospects.

[0066] Due to the advanced nature of this technical solution, it can be widely used in application fields such as medical diagnosis and surgical operations. In the field of medical diagnosis, the flexible endoscope robot steering system of the present invention can enter narrow or curved parts more flexibly, obtain clearer images, and improve diagnostic accuracy. At the same time, due to its optimized structure and materials, it can reduce patient discomfort and surgical risks, and improve patient satisfaction and trust. In the field of surgical operations, the flexible endoscope robot steering system of the present invention can reach the surgical site more precisely and perform more complex operations. This can not only reduce the operation time and bleeding volume, and improve the success rate of the operation, but also reduce the incidence of postoperative complications, and improve the patient's recovery speed and quality of life. In general, the flexible endoscope robot steering system of the present invention has broad market demand and application prospects.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements or improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A coaxial double-layer omnidirectional catheter electrically controlled steering device for a flexible endoscope robot, characterized in that: The invention comprises an outer movable track (1), an inner movable track (101), an outer movable seat (2), an inner movable seat (210) and a conduit, wherein the outer movable seat (2) and the inner movable seat (210) are movably connected to the outer movable track (1) and the inner movable track (101), respectively; the conduit comprises an inner conduit (302) and an outer conduit (301); the outer movable seat (2) is connected to the outer conduit (301); the inner movable seat (210) is connected to the inner conduit (302); the inner conduit (302) is located on the outer conduit ( 301) and is movably connected to the outer catheter (301), the outer control cavity (201) and the inner control cavity (211) are respectively provided in the outer movable seat (2) and the inner movable seat (210), and the outer control mechanism and the inner control mechanism for controlling the rotation of the outer catheter (301) and the inner catheter (302) are respectively provided in the outer control cavity (201) and the inner control cavity (211), and the output ends of the outer control mechanism and the inner control mechanism are respectively connected to the outer catheter (301) and the inner catheter (302).

2. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 1, characterized in that: The outer layer control mechanism and the inner layer control mechanism both include a plurality of transmission motors (202), one end of the transmission motor (202) is connected to a winding wheel (203) by power, the winding wheel (203) is provided with a bending control line, and the bending control line is connected to the inner tube (302) and the outer tube (301). When the bending control line is extended or contracted, it drives the inner tube (302) and the outer tube (301) to rotate toward the circumference.

3. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 2, characterized in that: The directions in which the inner catheter (302) and the outer catheter (301) are driven by the bending control line to rotate include up, down, left, right, upper left, lower left, upper right, and lower right, a total of 8 directions.

4. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 3, characterized in that: The outer control mechanism and the inner control mechanism each include four transmission motors (202), each transmission motor (202) is connected to one of the bending control wires, and the inner conduit (302) and the outer conduit (301) are each connected to four bending control wires, so that control in eight directions is achieved through a single transmission motor (202) and a combination of two adjacent transmission motors (202).

5. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 2, characterized in that: A winding hole (206) is provided on the winding wheel (203), the bending control wire passes through the winding hole (206), and the winding wheel (203) controls the movement of the bending control wire through the winding hole (206).

6. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 2, characterized in that: The output end of the transmission motor (202) is connected to a power gear (204), and an external gear groove (205) is provided on a side of the winding wheel (203) facing the gear, and the power gear (204) is meshed and connected with the external gear groove (205).

7. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 2, characterized in that: The transmission motor (202) is a voice coil motor.

8. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 1, characterized in that: The outer surface of the catheter is provided with an outer braided layer made of medical-grade stainless steel wires to improve its flexibility and operability, and the inner surface of the catheter is provided with a moisturizing layer with lubricating effect and biocompatibility.

9. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 1, characterized in that: The outer movable seat (2) and the inner movable seat (210) are both connected to electrical connectors for transmitting power, the electrical connectors are connected to the outer control mechanism and the inner control mechanism, the electrical connectors are connected to a controller that controls the outer control mechanism and the inner control mechanism, and the controller transmits control signals through the electrical connectors.

10. The coaxial double-layer omnidirectional catheter electrically controlled steering device of a flexible endoscope robot according to claim 1, characterized in that: The outer movable track (1) and the inner movable track (101) both comprise a track housing, a threaded screw being rotatably connected to the track housing, the outer movable seat (2) and the inner movable seat (210) both have threaded holes matched with the threaded screw, a servo motor is provided on the track housing, and the output end power of the servo motor is connected to the threaded screw.

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