Automatic driving structure for push rod type handle and automatic consumable handle

Abstract

The utility model belongs to the technical field of medical instruments, and provides an automatic driving structure for a push rod type handle, which mainly comprises a control handle, a first driving push rod and a second driving push rod, one end of the first control outer pipe is connected with the control handle; the first control wire is movably arranged in the first control outer pipe in a penetrating manner, and one end of the first control wire is connected with the free end of the first driving push rod; the first connecting piece is used for being detachably connected with the handle, a first connecting support capable of doing reciprocating linear movement is arranged on the first connecting piece, and the first connecting support is provided with a first connecting structure used for being rapidly connected with an external auxiliary device. By the adoption of the structure, automatic conveying of the consumable catheter on the consumable handle can be achieved, an operator does not need to fix the consumable catheter repeatedly, operation time is shortened, and efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, and in particular refers to an automated drive structure and an automated consumable handle for a push rod type handle. Background Technology

[0002] Existing technologies in medical treatment employ various energy delivery methods, including radio frequency, microwave, high-intensity focused ultrasound (HIFU), and pulsed electric field (PEF). Current structures often employ methods such as single-handed operation of a rotating wheel, single-handed pushing of a slider, or two-handed advancement or retraction.

[0003] Currently used manual controls for the forward and backward movement, opening and retraction of consumables are not suitable for rapid and efficient integration with endoscopes, various channels, and other new devices (such as robots). When using endoscopes and channels, precise positioning or accurate release is impossible. When operating with a robot, consumables need to be repeatedly manipulated at the control panel and robot channel. The high number of repetitive consumable release and retrieval actions per surgery, coupled with the inability to precisely position or release consumables and the repetitive manipulation at the control panel and robot channel, all increase surgical time and complexity. Using two people simultaneously increases personnel costs and may lead to damage to patient cavities due to failure to retract consumables during movement, or other usage errors. Utility Model Content

[0004] This utility model provides an automated drive structure for a push-rod type handle, which solves the problems of inaccurate positioning or release, cumbersome operation, and high personnel costs in the manual control of consumables in the prior art. Another aspect of this utility model is to provide an automated consumables handle.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The control handle has a first cavity.

[0007] A first drive push rod is disposed in the first cavity of the control handle, and the first drive push rod has a free end capable of reciprocating linear movement;

[0008] A first control tube is provided with a first channel, and one end of the first control tube is connected to the control handle;

[0009] A first control wire is inserted into a first channel of the first control outer tube. One end of the first control wire extends out of the first channel and is connected to the free end of the first drive push rod, so that the first control wire can move relative to the first control outer tube.

[0010] A first connector is used for detachable connection with a push rod handle. The first connector is provided with a first connecting bracket, and one end of the first connecting bracket is provided with a first connecting structure. The first connecting structure is used for detachable connection with the handle.

[0011] Wherein, the first control wire is connected to the first connector, and the first control outer tube is connected to the first connecting bracket, or the first control wire is connected to the first connecting bracket, and the first control outer tube is connected to the first connector, so that the first connecting bracket and the first connector can move relatively linearly.

[0012] In some embodiments, the first connecting bracket is provided with a first linear groove, the first connector is provided with a first snap-fit ​​boss, the first snap-fit ​​boss snaps into the first linear groove, a first return spring is provided between the first snap-fit ​​boss and the first linear groove, the first control wire is connected to the first snap-fit ​​boss, and the first control outer tube is connected to the first connecting bracket.

[0013] In some embodiments, the first connection structure includes a first connecting seat disposed on the first connecting bracket. The first connecting seat has a through first hole and a first sliding groove. A first button is provided in the first sliding groove. The first button has a second through hole and a first snap-fit ​​portion. The first snap-fit ​​portion forms a first snap-fit ​​groove. The first snap-fit ​​groove communicates with the second through hole. The snap-fit ​​spacing of the first snap-fit ​​groove is smaller than the inner diameter of the second through hole.

[0014] In some embodiments, the first connecting seat is further provided with a second reset spring and a first limiting pin, the first button is provided with a matching first limiting groove, one end of the second reset spring abuts against the first connecting seat, and the other end of the second reset spring abuts against the first button. When the first button is pressed into place, the second reset spring is in a compressed state, and the first through hole and the second through hole are coaxial.

[0015] In some embodiments, the first connector includes a pressure cap body and a flip cover, the first snap-fit ​​protrusion is disposed on the pressure cap body, the flip cover is openable and closable relative to the pressure cap body, and an openable and closable second cavity is formed between the pressure cap body and the flip cover.

[0016] In some embodiments, the control handle is provided with a second drive push rod, the second drive push rod having a free end capable of reciprocating linear movement, the control handle is provided with a second control outer tube, one end of the second control outer tube is connected to the pressure cap body, the second control outer tube is provided with a second channel, the second channel is provided with a second control rod, one end of the second control rod is connected to the free end of the second drive push rod, the other end of the second control rod extends out of the second channel into the second cavity, the second cavity is provided with a first push block, one end of the second control rod is connected to the first push block.

[0017] In some embodiments, a control board, a pressure sensor, and a signal amplifier are also included, wherein the pressure sensor is disposed on the first push block, the control board and the signal amplifier are signal connected, and the control board is signal connected to the first drive push rod and the second drive push rod respectively.

[0018] In some embodiments, the present invention also provides an automated consumables handle, comprising:

[0019] The automated drive structure as described in the various embodiments above;

[0020] The handle body has a consumable guide tube and a push rod. The consumable guide tube has a consumable head end. The push rod is used to control the expansion and contraction of the consumable head end. The first push block and the push rod abut against each other. The pressure sensor is located between the push rod and the first push block.

[0021] Compared with the prior art, the beneficial effects of this utility model are:

[0022] 1. This application, by setting a first drive push rod in the control handle and connecting it to the first connector through the first control wire, combined with the first reset spring, replaces the traditional manual pushing of consumable tubing, and can realize the automated pushing and resetting of consumable tubing, reducing the repeated operation of operators between the robot and the instrument panel, or between the endoscope and the handle, or between the working channel and the handle. The consumable tubing is delivered accurately, conveniently and quickly.

[0023] 2. This application achieves automated operation of opening the consumable head by setting a second drive push rod in combination with a second control rod, without the need for continuous manual pressing. The consumable head can be kept in an expanded state for a long time, achieving precise contact between the consumable head and the inner wall of the human body cavity, reducing the labor intensity of operators.

[0024] 3. By setting a first connecting seat and a first button on the first connecting seat, this structure can be quickly positioned and connected to the robot interface, endoscope interface, or working channel interface.

[0025] 4. By installing a pressure sensor on the first pusher block, the adhesion state is controlled by changes in tension, replacing the traditional visual adhesion method. This results in better adhesion and avoids sparking caused by insufficient adhesion. The embedding depth can also be controlled by changes in tension, making previously unmeasurable depth measurements more precise.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0027] Figure 1 This is a three-dimensional schematic diagram of the automated drive structure for a push rod handle of this utility model assembled in a robot channel.

[0028] Figure 2 This is a schematic diagram of the internal structure of the control handle of this utility model;

[0029] Figure 3 This is a schematic diagram of the electric drive structure and the assembly of the handle according to this utility model;

[0030] Figure 4 for Figure 3 Exploded view in the image;

[0031] Figure 5 for Figure 4 Sectional view in;

[0032] Figure 6 for Figure 5 A schematic diagram of the internal transmission structure of the handle for consumable materials;

[0033] Figure 7 for Figure 5 Enlarged view of point A in the middle;

[0034] Figure 8 This is a cross-sectional view of the first button of this utility model connected to the robot interface;

[0035] Figure 9 This is a front view of the first button of this utility model;

[0036] Figure 10 for Figure 9 Sectional view in;

[0037] Figure 11 This is a flowchart illustrating the electric drive structure control of the basket electrode attachment process of this utility model.

[0038] Figure 12 This is a schematic diagram of the automated drive structure of this utility model fixed on the robot interface. Detailed Implementation

[0039] The present application will be further described in detail below with reference to the accompanying drawings. In the description of the embodiments, unless otherwise stated, the terms "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the present application must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application.

[0040] like Figure 1 and Figure 2 As shown, the present invention provides an automated drive structure for a push-rod type handle, including: a control handle 100, which has a first cavity. In this embodiment, the control handle 100 includes two detachable housings.

[0041] The second drive push rod 101 is disposed in the first cavity of the control handle 100. The second drive push rod 101 has a free end, which can realize reciprocating linear movement.

[0042] The second control tube 200 is provided with a second channel, and one end of the second control tube 200 is fixedly connected to the housing of the control handle 100;

[0043] The second control rod 201 is movably inserted into the first channel of the second control outer tube 200. One end of the second control rod 201 is fixedly connected to the free end of the second drive push rod 101. In this embodiment, the first electric push rod 101 is connected to the second control rod 201 through the second connecting shaft. The second drive push rod 101 moves back and forth linearly, thereby driving the second control rod 201 to move axially back and forth relative to the second control outer tube 200.

[0044] The first connector 300 has a second cavity 3010. The first connector 300 is fixedly connected to the other end of the second control outer tube 200. To facilitate the locking and fixing of the first connector 300 and the consumable handle 400, the first connector 300 includes a pressure cap body 301 and a flip cover 302. The flip cover 302 can be flipped open and closed relative to the pressure cap body 301. Through the flipping setting of the flip cover 302, the first connector 300 and the consumable handle 400 can be quickly connected and disconnected. A first push block 2012 is provided at one end of the second control rod 201. The first push block 2012 abuts against the push rod 401 of the consumable handle 400. In this embodiment, the flip cover 302 is hinged to the pressure cap body 301. A fixing groove is provided on the pressure cap body 301, and an adapting fixing boss is provided on the flip cover 302. When the fixing boss is locked in the fixing groove, the first connector 300 locks the consumable handle 400, and no relative displacement can occur between the two. Furthermore, the first push block 2012 is partially adapted to the external structure of the second cavity 3010, thereby ensuring that the first push block 2012 can reciprocate linearly within the second cavity 3010, which in turn drives the push rod 401 of the consumable handle 400 to reciprocate linearly. In this embodiment, since the consumable handle 400 itself has a reset function for its push rod, a reset spring is fitted on the push rod 401, such as... Figure 5 As shown, the first push block 2012 and the push rod 401 of the consumable handle 400 are not fixedly connected. At the same time, this connection method also facilitates the separation of the first push block 2012 and the push rod 401 of the consumable handle 400. When not electrically driven, the consumable handle 400 can also be manually opened, which can meet the needs of use under two working conditions.

[0045] In this embodiment, the driving device is driven by a stepper motor. The moving structure of the second driving push rod 101 is similar to that of a linear motor or a lead screw and nut combined with a limiting structure. The reciprocating linear movement of the second driving push rod 101 is achieved by the forward and reverse rotation of the driving motor.

[0046] In one embodiment, the second control lever 201 is provided with a third channel. The second control lever 201 is located in the second cavity 3010 of the first connector 300 and is provided with a pressure sensor 20121. The control handle 100 is provided with a control board 104 and a pressure amplifier 103. A first signal line 2011 is provided between the pressure sensor 20121 and the signal amplifier 103 to realize signal transmission. The first signal line 2011 is provided in the third channel of the second control lever 201. The signal amplifier 103 is communicatively connected to the control board 104, and the second drive push rod 101 is communicatively connected to the control board 104. The control board 104 is used to receive the amplified pressure signal from the signal amplifier 103 and compare the received pressure signal with a preset value set on the control board 104, thereby controlling the movement direction of the second drive push rod 101.

[0047] In one embodiment, to facilitate precise control of the overall forward or backward movement of the consumable handle 400, a first connecting bracket 3011 disposed on the pressure cap body 301 is also included, such as... Figure 3 and Figure 4 As shown, the first connecting bracket 3011 is movably positioned relative to the cap body 301 to allow the consumable handle 400 to be adjusted linearly as a whole. The end of the first connecting bracket 3011 furthest from the cap body 301 can be detachably connected to the robot channel 500, thereby ensuring that the entire consumable handle 400 can achieve fully automated operation and be applied to different scenarios.

[0048] Furthermore, in order to facilitate the reciprocating linear movement of the cap body 301 relative to the first connecting bracket 3011, a first snap-fit ​​boss 3015 is provided on the cap body 301, and a first linear groove 30111 is provided on the first connecting bracket 3011. The first snap-fit ​​boss 3015 is snapped into the first linear groove 30111, and the first snap-fit ​​boss 3015 and the first linear groove 30111 are adapted in shape. The cap body 301 and the first connecting bracket 3011 abut against each other, and the contact surfaces between the two are both planar structures.

[0049] Furthermore, in order to realize the automated movement operation of the consumable handle 400, it also includes a first drive push rod 102, a first control outer tube 600, a first control wire 601, and a first return spring 3014 disposed in the first cavity of the control handle 100;

[0050] The first control tube 300 is provided with a first channel. One end of the first control tube 300 is fixedly connected to the housing of the control handle 100, and the other end of the first control tube 300 is fixedly connected to the first connecting bracket 3011.

[0051] The first drive push rod 102 is communicatively connected to the control board 104. The control board 104 drives the first drive push rod 102 to perform reciprocating linear movement. In this embodiment, the structure and principle of the first drive push rod 102 and the second drive push rod 101 are the same as described above, and will not be elaborated on here.

[0052] The first control wire 601 is movably inserted into the first channel of the first control outer tube 600, with one end connected to the first drive push rod 102 and the other end connected to the first snap-fit ​​boss 3015 on the pressure cap body 301. In this embodiment, the first control wire 601 is connected to the first drive push rod 102 via a first connecting shaft.

[0053] The first return spring 3014 is disposed within the first straight groove 30111. One end of the first return spring 3014 is connected to the inner wall of the first straight groove 30111, and the other end of the first return spring 3014 is fixedly connected to the first snap-fit ​​boss 3015. In this embodiment, in the initial state, the first return spring 3014 is in a stretched state, and the first snap-fit ​​boss 3015 abuts against the inner wall of the first connecting bracket 3011, i.e. Figure 5 As shown, the first engaging boss 3015 is located at the rightmost end of the first straight groove 3011. When the first drive push rod 102 moves towards the consumable handle 400, the first control wire 601 is released. Under the tension of the first return spring 3014, the consumable handle 400 can move relative to the first connecting bracket 3011 towards the robot channel 500. Conversely, the consumable handle 400 moves away from the robot channel 500. By adopting the above structure, compared with the existing guide rod type structure, which requires a certain gap in the middle to ensure that the push rod 401 can be flexibly pushed forward, the gap will lead to inaccurate displacement. For example, if the control end pushes 100mm, the implementation end will only displace 95mm, and the excess 5mm is caused by the deformation of the soft push rod 401 in the gap. The structure designed in this application has a 1:1 ratio between the displacement of the control end and the displacement of the delivery end, with no loss, achieving accurate overall delivery.

[0054] In one embodiment, to facilitate the quick connection and disconnection of the first connecting bracket 3011 and the robot interface 501, such as Figure 7 As shown, a first connecting structure is provided at one end of the first connecting bracket 3011. The first connecting structure includes a first connecting seat 3012 and a first button 3013. A through hole 30121 and a first sliding groove 30122 are provided on the first connecting seat 3012. The first through hole 30121 is adapted to the shape of the robot interface 501. The adapted first button 3013 is provided on the first sliding groove 30122. Figure 8 , Figure 9 and Figure 10 As shown, a second through hole 30131 and a first snap-fit ​​portion 30132 are provided on the first button 3013, wherein the second through hole 30131 is adapted to the shape of the robot interface 501, such as... Figure 7 and Figure 12As shown, the first latching portion 30132 is adapted to the first slot 5011 on the robot interface 501, that is, the thickness of the first latching portion 30132 is adapted to the width of the first slot 5011, thereby achieving limiting in the axial direction of the robot interface 501. The first latching portion 30132 forms a first latching groove, which is connected to the second through hole 30131. The latching distance of the first latching groove is smaller than the inner diameter of the second through hole 30131. In this embodiment, the first latching portion 30132 is a rectangular structure, and the second through hole 30131 intersects with the rectangular first latching portion 30132.

[0055] Furthermore, a second return spring 30123 and a first limiting pin 30124 are provided on the first connecting seat 3012, and a corresponding first limiting groove 30133 is provided on the first button 3013. One end of the second return spring 30123 abuts against the first connecting seat 3012, and the other end abuts against the first button 3013. In the initial position, the second return spring 30123 presses the first button 3013 to the first position. At this time, the second through hole 30131 and the first through hole 30121 are misaligned and not on the same axis, that is, they belong to the engagement position of the first engaging part 30132 and the first engaging groove 5011 at the robot interface 501. Figure 4 and Figure 5 As shown; when an external force is applied to press the first button 3013 to the limit position and it remains stationary, the first through hole 30121 and the second through hole 30131 are coaxial. At this time, the first connecting seat 3012 and the robot interface 501 can be quickly engaged or disengaged. When quick engagement is achieved, since the second return spring 30123 is in a compressed state, when the first slot 5011 at the robot interface 501 corresponds to the position of the first engaging part 30132, the external force is released. Under the action of the second return spring 30123, the first engaging part 30132 engages with the first slot 5011.

[0056] In one embodiment, such as Figure 5 and Figure 6 As shown, an automated consumables handle is provided, which has the automated drive structure described in the above embodiments;

[0057] The handle body 400 has a consumable guide tube and a push rod 401. The consumable guide tube has a consumable head end, and the push rod 401 is used to control the expansion and contraction of the consumable head end. A first push block 2012 abuts against the push rod 401, and a pressure sensor 20121 is located between the push rod 401 and the first push block 2012. In this embodiment, a reduction gear meshing transmission assembly 402 is used to connect the push rod 401 and the traction wire 403. By pushing the push rod 401, the traction wire 403 is pulled back, thereby expanding the consumable head end.

[0058] In one embodiment, such as Figure 11 As shown, a method for attaching the consumable head end is also provided, using the above-mentioned electric control structure, the steps of which are as follows:

[0059] S1. Press the electronic control button, and the second drive push rod 101 drives the consumable handle 400 to open the basket electrode;

[0060] S2. The basket electrode opens, expands and approaches the inner wall of the human body cavity. The basket electrode generates a counter-pull force, which is transmitted to the pressure sensor 20121. The pressure sensor 20121 transmits the converted electrical signal to the signal amplifier 103. The signal amplifier 103 transmits the amplified electrical signal to the control board 104. The control board 104 compares the signal with a preset threshold.

[0061] S3. If the transmitted electrical signal does not meet the preset threshold, the second drive push rod 101 continues to move. If the transmitted electrical signal meets the preset threshold, the second drive push rod 101 stops moving and maintains the current state. The action of the basket electrode sticking to the wall is completed.

[0062] Specifically, two buttons are provided on the control handle 100: a basket control button and a handle movement button. The basket control button is marked with expansion and contraction symbols, and the handle movement button is marked with forward and backward symbols.

[0063] By pressing the basket control button on the expansion mark side, the control board controls the second drive push rod 101 to move linearly. The second control rod 201 squeezes and pushes the push rod 401 of the consumable handle 400. The push rod 401 drives the traction wire of the consumable handle 400 to pull back, the basket electrode expands, and the basket electrode generates a resistance force. The resistance force is transmitted to the push rod 401 of the consumable handle 400, and then to the pressure sensor 20121. The pressure sensor 20121 transmits the converted electrical signal to the signal amplifier 103. The signal amplifier 103 then transmits the amplified electrical signal to the control board 104. The control board 104 compares the amplified electrical signal with a preset value. If it is within the preset value range, the basket electrode is in contact, the second drive push rod 101 stops moving and maintains the current state. If it is not within the preset value range, the control board 101 continues to control the second drive push rod 101 to move, repeating the above process.

[0064] In one embodiment, a net basket electrode wall-adhering control closing process is also provided. Pressing the net basket control button on the shrink mark side causes the control board 104 to control the second drive push rod 101 to move in the reverse direction to the initial position. The first push block 2012 disengages from the push rod 401 of the consumable handle 400. Under the action of the reset spring of the consumable handle 400, the traction wire moves in the reverse direction, and the net basket electrode shrinks.

[0065] In one embodiment, if the position of the overall consumable handle 400 is required, the handle control button is pressed to adjust the relative position of the handle with respect to the robot channel 500, thereby meeting the requirements.

[0066] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model. These improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. An automated drive structure for a push-rod type handle, characterized in that, include: The control handle has a first cavity. A first drive push rod is disposed in the first cavity of the control handle, and the first drive push rod has a free end capable of reciprocating linear movement; A first control tube is provided with a first channel, and one end of the first control tube is connected to the control handle; A first control wire is inserted into a first channel of the first control outer tube. One end of the first control wire extends out of the first channel and is connected to the free end of the first drive push rod, so that the first control wire can move relative to the first control outer tube. A first connector is used for detachable connection with a push rod handle. The first connector is provided with a first connecting bracket, and one end of the first connecting bracket is provided with a first connecting structure. The first connecting structure is used for detachable connection with the handle. Wherein, the first control wire is connected to the first connector, and the first control outer tube is connected to the first connecting bracket, or the first control wire is connected to the first connecting bracket, and the first control outer tube is connected to the first connector, so that the first connecting bracket and the first connector can move relatively linearly.

2. The automated drive structure for a push-rod type handle according to claim 1, characterized in that, The first connecting bracket is provided with a first straight groove, the first connector is provided with a first snap-fit ​​boss, the first snap-fit ​​boss snaps into the first straight groove, a first return spring is provided between the first snap-fit ​​boss and the first straight groove, the first control wire is connected to the first snap-fit ​​boss, and the first control outer tube is connected to the first connecting bracket.

3. The automated drive structure for a push-rod type handle according to claim 1, characterized in that, The first connection structure includes a first connecting seat disposed on the first connecting bracket. The first connecting seat is provided with a through first hole and a first sliding groove. A first button is provided in the first sliding groove. The first button is provided with a second through hole and a first snap-fit ​​part. The first snap-fit ​​part forms a first snap-fit ​​groove. The first snap-fit ​​groove and the second through hole are connected. The snap-fit ​​distance of the first snap-fit ​​groove is smaller than the inner diameter of the second through hole.

4. The automated drive structure for a push-rod type handle according to claim 3, characterized in that, The first connecting seat is also provided with a second reset spring and a first limiting pin. The first button is provided with a matching first limiting groove. One end of the second reset spring abuts against the first connecting seat, and the other end of the second reset spring abuts against the first button. When the first button is pressed into place, the second reset spring is in a compressed state. The first through hole and the second through hole are coaxial.

5. The automated drive structure for a push-rod type handle according to claim 2, characterized in that, The first connector includes a pressure cap body and a flip cover. The first snap-fit ​​protrusion is disposed on the pressure cap body. The flip cover is openable and closable relative to the pressure cap body. An openable and closable second cavity is formed between the pressure cap body and the flip cover.

6. The automated drive structure for a push-rod type handle according to claim 5, characterized in that, The control handle is equipped with a second drive push rod, which has a free end capable of reciprocating linear movement. The control handle is also equipped with a second control outer tube, one end of which is connected to the pressure cap body. The second control outer tube has a second channel, and a second control rod is provided within the second channel. One end of the second control rod is connected to the free end of the second drive push rod, and the other end of the second control rod extends out of the second channel into the second cavity. A first push block is provided within the second cavity, and one end of the second control rod is connected to the first push block.

7. The automated drive structure for a push-rod type handle according to claim 6, characterized in that, It also includes a control board, a pressure sensor, and a signal amplifier. The pressure sensor is disposed on the first push block. The control board and the signal amplifier are connected by signal. The control board is connected by signal to the first drive push rod and the second drive push rod.

8. An automated consumables handle, characterized in that, include: The automated drive structure as described in any one of claims 1-7 above; The handle body has a consumable guide tube and a push rod. The consumable guide tube has a consumable head end. The push rod is used to control the expansion and contraction of the consumable head end. The first push block and the push rod abut against each other. The pressure sensor is located between the push rod and the first push block.

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