Flexible surgical instruments, flexible instruments, and means for transporting such instruments

Abstract

An instrument transport means (11) is provided, comprising a housing (111) and an instrument storage device (112), wherein the housing (111) has an internal storage space and an instrument outlet (1113) on its side wall, a spiral storage groove (11211) on the outer circumferential surface of the instrument storage device (112), the housing (111) comprises a position limiting guide portion (1112) and a first transmission screw (1111), and based on the arrangement of the position limiting guide portion (1112), the housing (111) is displaceable in the axial direction and its circumferential rotation is limited, and correspondingly, the instrument storage device (112) is provided with a second transmission screw (11212) which is connected to the first transmission screw (1111) for transmission, and based on this transmission connection relationship, when the instrument storage device (112) rotates, the housing (111) moves in the axial direction. The present invention further provides a flexible instrument and a flexible surgical instrument including the instrument transport means 11. The present invention has the advantages of realizing continuous transport of the flexible body of the actuator means, simple structure, and low maintenance costs.

Description

Technical Field

[0001] This application claims the priority of a Chinese patent application with an application number of 202211373251.5 and an invention title of "Flexible Surgical Instrument, Flexible Instrument and Its Instrument Transfer Means", which was filed with the China National Intellectual Property Administration on November 4, 2022, and all its contents are incorporated herein by reference.

[0002] The present invention relates to the technical field of medical instruments, specifically to flexible surgical instruments, flexible instruments and their instrument transfer means.

Background Art

[0003] In recent years, natural lumen diseases such as digestive, urinary, and respiratory diseases have endangered human health, and the morbidity and mortality rates of diseases such as gastric cancer, esophageal cancer, bladder cancer, and lung cancer have been increasing year by year. Using a flexible endoscope in combination with related surgical instruments for diagnosis and treatment has advantages such as minimally invasive, rapid postoperative recovery, and cost reduction of medical expenses, and thus has become the main treatment method for such diseases.

[0004] Furthermore, compared to conventional open surgery, the surgical space for procedures that pass through the body's natural lumens is narrow and limited, and diagnostic and therapeutic operations generally rely on flexible instruments. There is a wide variety of conventional flexible instruments, such as clamps, electrocoagulation and excision devices, injection devices, and guides, but they are not limited to these and can meet different operational needs in confined environments. In current endoscopy, surgical instruments are designed based on manual operation and require manual operation by medical professionals such as technicians or nurses who have received specialized training. Without a technician / nurse, it is difficult for a doctor to complete diagnostic and therapeutic operations alone. To meet the needs of diagnosis and treatment of natural lumens, conventional flexible instruments are designed as flexible and elongated instruments, and their use requires manual operation and close cooperation by medical professionals and caregivers, making the operation complex. Moreover, flexible and elongated instruments come into contact with foreign substances such as bodily fluids, making them susceptible to contamination, and there is a risk of cross-infection during the instrument withdrawal process. To address the above issues, endoscopic nurse / technician robots have been developed and are used to assist endoscopists in manipulating surgical instruments. [Overview of the project] [Problems that the invention aims to solve]

[0005] In light of this, it is necessary to optimize the design for flexible devices in order to overcome the aforementioned defects.

[0006] This application aims to provide a flexible surgical instrument, a flexible instrument, and a means for transporting the instrument. By optimizing the arrangement, the actuator body of the flexible instrument can be effectively housed, and the structural design is rational and reliable in meeting the functional requirement of avoiding cross-infection. [Means for solving the problem]

[0007] The instrument transport means provided in the embodiment of this application is used for transporting and storing actuator means having a flexible body, and includes a housing and an instrument storage device, the housing having an internal storage space, an instrument outlet opening in its side wall, the housing being provided with a first transmission screw, a position limiting guide portion being provided on the outside of the housing, the position limiting guide portion being arranged to engage with a fixing member or structure to guide axial displacement and limit rotation in the circumferential direction of the housing, at least a part of the instrument storage device being built into the housing, the outer circumferential surface of the instrument storage device being provided with a helical storage groove for winding and storing the flexible body of the actuator means, the instrument storage device being provided with a second transmission screw, the second transmission screw being connected to the first transmission screw to transmit power.

[0008] Preferably, the first transmission screw is provided on the inner wall surface of the housing, and a helical groove is provided on the outer circumferential surface of the device storage device, the helical groove includes an inner groove segment and an outer groove segment formed sequentially along the radial direction, the groove wall of the inner groove segment forms the helical housing groove, and the groove wall of the outer groove segment forms the second transmission screw.

[0009] Preferably, a screw rod is provided in the middle of the housing, the screw rod is provided with the first transmission screw, a nut is fixedly provided inside the device storage device, and the nut is provided with the second transmission screw.

[0010] Preferably, the housing is cylindrical with one end open, the device storage device is attached to the housing at one end, and a transport drive connection port is provided at the other end.

[0011] The present invention further provides a flexible instrument, comprising the instrument transport means, actuator means and transmission means described above, wherein the actuator means comprises an actuator and a flexible body, the flexible body comprises a drive wire and a sheath fitted inside and outside, the actuator is provided at the distal end of the drive wire, the transmission means is connected to an instrument storage device of the instrument transport means, the actuator is moved by the drive wire of the actuator means, the transmission means is provided with an execution drive connection port for engaging with an instrument drive device, the transmission means comprises a transmission board fixed to and connected to the instrument storage device, a push-pull transmission unit and a rotary transmission unit provided on the transmission board, the push-pull transmission unit pushes out or pulls back the drive wire, and the rotary transmission unit twists the drive wire.

[0012] Preferably, the push-pull transmission unit includes a fixed disk and a first drive shaft, the first drive shaft being inserted into the transmission board and connected to the device drive device via the execution drive connection port, the fixed disk being coaxially fixed and connected to the first drive shaft, the proximal end of the drive wire being connected to the fixed disk, the drive wire being pushed out or pulled back along a predetermined trajectory by the drive of the fixed disk and being arranged to have rotational degrees of freedom relative to the fixed disk.

[0013] Preferably, a first terminal is fitted and arranged on the outer circumferential surface of the fixed disk, the first terminal includes a first through hole, the drive wire is drilled through the first through hole of the first terminal, the body of the drive wire is provided with two position limiting blocks located on both ends of the first through hole of the first terminal, there is a radial gap between the drive wire and the first through hole of the first terminal, and the dimensions of each position limiting block are larger than the dimensions of the first through hole.

[0014] Preferably, a rotation position limiting pair is provided between the fixed disk and the transmission substrate, and the rotation position limiting pair is provided so as to be able to limit the rotation angle of the fixed disk.

[0015] Preferably, the body of the fixed disk has an arc groove, the center of the arc groove is concentric with respect to the rotation center of the fixed disk, the transmission substrate is provided with a position limiting stopper, the position limiting stopper is provided in the arc groove, and both ends of the arc groove can contact the position limiting stopper, thereby limiting the rotation angle of the fixed disk.

[0016] Preferably, a first constraint component is fixedly provided on the transmission substrate, the first constraint component includes a cylindrical guide body and a holding body, the fixed disk is built into the guide body, and the guide body and the holding body each have a constraint chamber capable of accommodating the drive wire, thereby pushing or pulling the drive wire along a predetermined trajectory, the constraint chamber in the inner wall of the guide body is an open lumen, and the constraint chamber in the holding body is a closed lumen.

[0017] Preferably, the rotary transmission unit includes a rotary shaft, a second terminal, a bevel gear group, and a second drive shaft, wherein the second drive shaft is inserted into the transmission board and connected to the device drive device via the actual drive connection port, the active wheels of the bevel gear group are connected to the second drive shaft, the rotary shaft is connected to the passive wheels of the bevel gear group, the drive wire is fixed to the second terminal, the second terminal is provided on the rotary shaft and is rotatable by the drive of the rotary shaft, and the second terminal is arranged to have a degree of freedom to slide along the pulling direction of the drive wire relative to the rotary shaft.

[0018] Preferably, the second terminal is fitted into an intermediate mounting hole of the rotating shaft, and both have a rectangular cross-section that fits together, and the drive wire extends through the mounting hole to the constraint chamber of the first constraint component.

[0019] Preferably, a second constraint component is fixedly provided on the transmission substrate, and one end of the second constraint component and the end of the holding segment of the first constraint component are positioned opposite each other along the axial direction of the rotating shaft, and the shaft ends on both sides of the rotating shaft are pivotally attached to the second constraint component and the first constraint component, respectively.

[0020] Preferably, the second constraint component has a second through-hole, and the diameter of the second through-hole in the second constraint component matches the dimensions of the sheath of the actuator means to fix the end of the sheath, and the device storage device has a passage opening, and the flexible body of the actuator means extends and moves through the passage opening of the device storage device to the spiral storage groove on its outer surface.

[0021] The present invention further provides a flexible surgical instrument, comprising a flexible instrument and an instrument drive device that outputs driving force to the flexible instrument, wherein the flexible instrument described above is used for the flexible instrument.

[0022] Preferably, the device drive device includes a first drive component having an output terminal that outputs rotational driving force, a sleeve connected to the output terminal of the first drive component to transmit the force, a drive board fixed to the sleeve and transmitting the rotational driving force to the flexible device, and a second drive component and a third drive component, each fixed to the sleeve by a mounting board, the second drive component and the third drive component, each including an output terminal that outputs the rotational driving force, and transmitting the rotational driving force to a push-pull transmission unit and a rotary transmission unit of a transmission means, respectively.

[0023] Preferably, the device drive further includes a first active transmission disc and a second active transmission disc, the first active transmission disc being connected to transmit to the output terminal of the second drive component, and the second active transmission disc being connected to the output terminal of the third drive component; the transmission means further includes a first passive transmission disc connected to the push-pull transmission unit and a second passive transmission disc connected to the rotary transmission unit, the first active transmission disc being connected to the first passive transmission disc, and the second active transmission disc being connected to the second passive transmission disc.

[0024] Preferably, the first active transmission disc and the first passive transmission disc, and the second active transmission disc and the second passive transmission disc are arranged such that one of them has a butt hole along the axial direction, and the other has a butt column along the axial direction, and the engaging butt hole and butt column are arranged eccentrically with respect to the rotation center of the corresponding active transmission disc and passive transmission disc.

[0025] Preferably, the drive substrate has a first stepped hole and a second stepped hole, and both the first stepped hole and the second stepped hole are arranged to form a staircase, including a small-diameter segment and a large-diameter segment arranged sequentially from top to bottom, the first active transmission disk is rotatably provided within the large-diameter segment of the first stepped hole, and the second active transmission disk is rotatably provided within the large-diameter segment of the second stepped hole.

[0026] Preferably, key groove holes are respectively formed on the surfaces of the first active transmission disk and the second active transmission disk facing the corresponding driving components. Slide bushes are provided at the output ends of the second driving component and the third driving component. External slide keys are provided at the ends of the slide bushes facing the corresponding active transmission disks. The external slide keys are respectively inserted into the corresponding key groove holes. The two can rotate coaxially and can slide relative to each other in the axial direction. Transmission disk reset springs are respectively provided between the first active transmission disk, the second active transmission disk and the corresponding slide bushes. The transmission disk reset springs are provided between the slide bushes and the corresponding active transmission disks so as to be pre-compressed in the normal state.

[0027] Preferably, a detection element is provided on the mounting substrate, and the detection element is located on the axial displacement locus of the first active transmission disk and the second active transmission disk.

Advantages of the Invention

[0028] Compared with the prior art, the present invention provides a solution for realizing storage and transportation for an actuator means having a flexible body. Specifically, the housing of the instrument transportation means has an internal accommodation space, and an instrument outlet is formed on its side wall. On the outer peripheral surface of the instrument storage device, a spiral accommodation groove for winding and storing the flexible body of the actuator means is provided. Further, the housing includes a position limiting guide part and a first transmission screw. Based on the arrangement of the position limiting guide part, the housing can be displaced in the axial direction, and its circumferential rotation is limited. Correspondingly, the instrument storage device is provided with a second transmission screw connected to transmit to the first transmission screw. Based on this transmission connection relationship, when the instrument storage device rotates, the housing is moved in the axial direction. By applying this solution, the following beneficial technical effects are achieved: First, as the instrument storage device rotates, the flexible body that is stored so as to be wound around the spiral storage groove is continuously conveyed by the instrument outlet. At the same time, the instrument storage device synchronously axially displaces the housing. The flexible body that has detached from the spiral storage groove maintains a specific relative positional relationship with the instrument outlet in the housing. During the entire conveyance process of the actuator, the elastic deformation energy stored based on the winding deformation of the spiral is released, which can effectively overcome the resistance formed when entering the flexible endoscope and provides a good conveyance ability for assistance. In addition, this solution cooperates with an Endoscopic Nurse / Technician Robot to effectively improve the working efficiency of doctors.

[0029] Moreover, for the method in which the driving side simultaneously provides driving forces in two dimensions of rotation and axial direction, based on the rotational driving force that drives the instrument storage device, this solution has the feature that the axial movement of the instrument-side housing is suitable for the position where the flexible body in the conveyance process detaches from the spiral storage groove and has a simple structure. Also, by arranging it in this way, the manufacturing cost and maintenance cost of the driving mechanism can be reduced at the same time.

[0030] Third, in a preferred solution of the present invention, the first constraint component includes a cylindrical guide body and a holding body. A fixed disk for pushing out or retracting the drive wire along a predetermined locus is built into the cylindrical guide body, which can further guarantee the operating performance of the fixed disk in the pivotal relationship and the realization of the structure is more reliable.

[0031] Fourth, in another preferred solution of the present invention, a rotational position limiting pair is provided between the fixed disk and the transmission substrate, and the rotational position limiting pair is arranged to limit the rotational angle of the fixed disk. Furthermore, an arc groove is provided in the body of the fixed disk, and the center of the arc groove is arranged concentrically with respect to the rotational center of the fixed disk, and correspondingly, a position limiting stopper is provided on the transmission substrate, and the position limiting stopper is provided in the arc groove, and both ends of the arc groove can abut against the position limiting stopper, thereby limiting the rotational angle of the fixed disk. With this arrangement, the bidirectional limit position of the pulling motion can be positioned, that is, the limit working position of the push-pull transmission unit can be constructed and formed based on the arc groove and the position limiting stopper, and it is possible to avoid damaging the drive wire and further affecting the operating performance due to the rotational angle of the fixed disk being too large in order to meet the pulling stroke requirement of the first terminal.

[0032] Fifth, in another preferred solution of the present invention, the drive substrate has two stepped holes, each of which includes a small-diameter segment and a large-diameter segment arranged sequentially from top to bottom to form a step, and the first active transmission disc and the second active transmission disc are respectively provided within the large-diameter segments of the two stepped holes so as to rotate, and the first active transmission disc and the second active transmission disc are respectively constructed and formed on the drive component side, with coaxially rotatable and axially slidable engagement pairs, and the first active transmission disc and the second active transmission disc are respectively provided with transmission disc reset springs, which are normally pre-compressed to press against the corresponding active transmission discs. When actually mounted and operated, the passive transmission discs are centered and pressed against the corresponding active transmission discs. Based on the engagement pair that slides relative to each other in the axial direction, during the operator's pressing process, the passive transmission disc pushes the corresponding active transmission disc downward in synchronous motion, and the transmission disc reset spring is compressed and deformed to provide a cushioning adaptive capability, thereby avoiding the effects of rigid interference during the insertion process. After sufficient abutment, the transmission disc reset spring releases elastic deformation energy, pushing the passive transmission disc axially until it contacts the steps of the corresponding stepped hole.

[0033] Furthermore, in this invention, a detection element is provided, which is located in the axial displacement trajectory of the first active transmission disk and the second active transmission disk. When the flexible device is attached to the drive device, when the two active transmission disks are pushed to move downward synchronously, the pressure-sensitive detection element is pressed against them and generates a signal. When they are sufficiently aligned, the pressure-sensitive detection element loses pressure, the signal disappears, and the mounting state is detected. In this way, the operator can perform blind alignment between the device side and the drive side, further improving operability. [Brief explanation of the drawing]

[0034] [Figure 1]This is a schematic diagram illustrating the usage state of a flexible surgical instrument described in a specific embodiment. [Figure 2] Figure 1 is a plan view of the flexible surgical instrument. [Figure 3] This is a schematic diagram of the overall structure of the flexible device described in a specific embodiment. [Figure 4] This is a plan view of Figure 3. [Figure 5] This is a cross-sectional view AA in Figure 4. [Figure 6] This is an enlarged view of section B in Figure 5. [Figure 7] This is an exploded view of the flexible device as described in a specific embodiment. [Figure 8] This is a schematic diagram illustrating the usage state of the flexible device described in a specific embodiment. [Figure 9] This is a schematic diagram of the overall structure of the transmission means described in a specific embodiment. [Figure 10] Figure 8 is a cross-sectional view of CC. [Figure 11] This is an enlarged view of section D in Figure 10. [Figure 12] This is an enlarged view of section G in Figure 10. [Figure 13] This is a schematic diagram illustrating the assembly relationship of the butt joint means described in a specific embodiment. [Figure 14] This is a schematic diagram illustrating the assembly relationship of a bidirectional joint as described in a specific embodiment. [Figure 15] This is a plan view of the device drive device described in a specific embodiment. [Figure 16] Figure 15 is a cross-sectional view of HH. [Figure 17] Figure 15 is a local cross-sectional view of the assembly relationship between the drive board and the buckle. [Figure 18] This is an enlarged view of section J in Figure 16. [Figure 19] This is a schematic diagram illustrating the assembly relationship of another flexible device in a specific embodiment. [Figure 20] Figure 19 is an axial cross-sectional view of the flexible device. [Figure 21] This is a schematic diagram of an application scenario for the flexible surgical instrument described in a specific embodiment. [Modes for carrying out the invention]

[0035] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be described in more detail below, combining the drawings and specific embodiments.

[0036] Without sacrificing generality, this embodiment provides a flexible surgical instrument that effectively solves the problems of flexible, elongated instruments being complex to operate, difficult to store, and prone to contamination. Referring to Figures 1 and 2, Figure 1 is a schematic diagram of the overall structure of the flexible surgical instrument described in this embodiment, and Figure 2 is a plan view of the flexible surgical instrument of Figure 1.

[0037] The flexible surgical instrument 100 includes a flexible instrument 10 and an instrument drive device 20. The flexible instrument 10 is provided with actuator means 12 for diagnosis, treatment, and assistance in diagnosis and treatment. The instrument drive device 20 provides driving force to the flexible instrument 10 to enable transport operations of the flexible instrument and operations such as rotation or opening / closing of the actuator.

[0038] Refer to Figures 3, 4, and 5 together. Figure 3 is a schematic diagram of the overall structure of the flexible device described in this embodiment, Figure 4 is a plan view of Figure 3, and Figure 5 is a cross-sectional view AA of Figure 4.

[0039] The flexible device 10 includes a device transport means 11, an actuator means 12 built into the device transport means 11, and a transmission means 13 for transmitting motion driving force to the actuator.

[0040] The instrument transport means 11 includes a housing 111 and an instrument storage device 112, and the instrument storage device 112 can rotate relative to the housing 111 by the drive of the transmission means 13. In this embodiment, the housing 111 is cylindrical with one end open, and part of the instrument storage device 112 is provided in the housing 111. In other specific implementations, the instrument storage device may be provided entirely in the housing (not shown).

[0041] The inner wall surface of the housing 111 includes a first transmission screw 1111, and a position limiting guide portion 1112 is provided on the outside of the housing 111. The position limiting guide portion 1112 engages with a position limiting slide groove 251 of the device drive unit 20, as can be seen in conjunction with Figure 2. The position limiting slide groove 251 has side walls formed to extend along the axial direction, thereby allowing the position limiting guide portion 1112 to be inserted into the position limiting slide groove 251 and move axially along the position limiting slide groove 251. Here, the position limiting slide groove 251 is a structure that is relatively fixed and positioned, and can limit the circumferential rotation of the housing 111 in order to provide axial displacement guidance to the housing 111.

[0042] In concrete implementation, the cross-sectional shapes of the position-limiting guide portion 1112 and the position-limiting slide groove 251 are matched and fitted together, thereby obtaining a good movement guidance function. Here, the actual placement position of the position-limiting slide groove 251 may be selected based on the overall design requirements of the product and is not limited to the assembly relationship shown in the drawing; it is sufficient that it is fixed to the housing to form a reliable guide position limit.

[0043] A helical groove 1121 is provided on the outer circumferential surface of the device storage device 112, and the helical groove 1121 includes an inner groove segment I and an outer groove segment II, both of which are formed sequentially along the radial direction, as shown in Figures 5, 6 and 7. Figure 6 is an enlarged view of part B in Figure 5, and Figure 7 is an exploded view of the flexible device mounted according to this embodiment.

[0044] The groove walls of the inner groove segment I form a helical housing groove 11211 for winding and housing the flexible body of the actuator means 12 (for example, the drive wire 121 and sheath 123 described below, but not limited to these), and the flexible body extends out or retracts through an instrument outlet 1113 opened in the side wall of the housing 111.

[0045] The groove wall of the outer groove segment II forms a second transmission screw 11212, which is connected to the first transmission screw 1111.

[0046] As shown in Figure 7, the entire instrument storage device 112 is cylindrical, and the transmission means 13 is built into the instrument storage device 112. In this solution, a plurality of first mounting bases 1122 are provided on the inner wall of the instrument storage device 112, and screw holes are drilled in the first mounting bases 1122, where the first mounting bases 1122 are transport drive connection ports. Correspondingly, a plurality of first mounting holes 1332 are provided on the transmission substrate 133 of the transmission means 13, and the plurality of first mounting bases 1122 and the plurality of first mounting holes 1332 are arranged with a gap in the circumferential direction and are arranged to correspond to each other, thereby fixing and connecting the instrument storage device 112 and the transmission substrate 133 by screw fastening components (not shown).

[0047] Here, the fixed connection between the equipment storage device 112 and the transmission board 133 may be implemented by other methods, such as welding, bonding, or crimping, but is not limited to these.

[0048] After the assembly of the instrument storage device 112 and the transmission means 13 is completed, the instrument drive device 20 drives the transmission means 13 to rotate, thereby rotating the instrument storage device 112. Based on the position limiting guide relationship constructed from the position limiting guide portion 1112 and the position limiting slide groove 251, the housing 111 generates synchronous axial displacement, thereby disengaging the flexible body of the actuator means 12 from the portion of the helical housing groove 11211 and holding it approximately centered on the instrument outlet 1113 in two dimensions, allowing the storage operation to be performed smoothly.

[0049] In practical implementation, the structural dimensions of the related components ensure accurate centering of the circumferential and axial positions. Furthermore, a protective tube 113 is provided on the outside of the device outlet 1113, and this protective tube 113 is fixed to the housing 111, thereby maintaining a stable posture for the actuator means 12 extending from the housing 111. Refer to Figure 8, which is a schematic diagram of the usage state of the flexible device described in this embodiment.

[0050] During the entire transport process of the actuator, the elastic deformation energy stored based on the helical winding deformation is released, effectively overcoming the resistance formed upon entering the flexible endoscope and providing good transport capability to assist. As the instrument storage device 112 rotates, the flexible body of the actuator means 12 is continuously transported through the instrument outlet 1113. Similarly, as the instrument storage device 112 moves in the reverse direction, the flexible body is pulled back into the housing 111 and wound around the instrument storage device 112, realizing the retraction and storage of the actuator means 12.

[0051] In concrete implementation, the actuator means 12 may be selected based on the application scenario, and examples include, but are not limited to, flexible devices such as clamps, electrocoagulation and excision devices, baskets, syringes, guides, and sensors. Flexible clamps include tissue clamping devices having one degree of freedom of clamping, and hemostatic devices having a degree of freedom of clamping and rotation; flexible electrocoagulation and excision devices include a degree of freedom of clamping for electrocoagulation of tissue, and a push-pull degree of freedom for snare devices; flexible baskets include a push degree of freedom for pushing out and pulling back baskets; flexible syringes include a push degree of freedom for pushing out and pulling back injection needles; guides are used to guide coaxial devices and do not have degrees of freedom; and flexible sensors include image sensors, position sensors, or shape sensors.

[0052] Based on the above functional needs of the actuator means 12, this is achieved by pulling or twisting the proximal end of the drive wire 121 of the actuator means 12. Specifically, as shown in Figure 8, pulling the drive wire 121 moves the actuator 122 at the distal end, including, but not limited to, opening and closing the actuator and pushing the actuator. Similarly, twisting the drive wire 121 can achieve rotational motion of the actuator 122 at the distal end.

[0053] The directional terms "proximal end" and "distal end" as used herein are defined according to the field of view of the operator of the surgical instrument; that is, the end of the drive wire 121 closer to the operator is the "proximal end," and correspondingly, the other end closer to the patient is the "distal end." Hereinafter, the above directional terms are used not as a substantial limitation to the flexible surgical instrument for which this application seeks protection, but merely to illustrate the technical solution.

[0054] The pulling and twisting of the drive wire 121 of the actuator means 12 are similarly realized based on the driving force output from the device drive device 20, specifically by transmitting the driving force via the push-pull transmission unit 131 and rotary transmission unit 132 of the transmission means 13. Refer together to Figures 9 and 10, where Figure 9 is a schematic diagram of the overall structure of the transmission means described in this embodiment, and Figure 10 is a cross-sectional view of Figure 8.

[0055] As shown in Figure 9, the transmission means 13 includes a push-pull transmission unit 131 and a rotary transmission unit 132 provided on the transmission substrate 133.

[0056] The push-pull transmission unit 131 includes a first terminal 1312, a fixed disk 1313, and a first drive shaft 1311.

[0057] The fixed disk 1313 and the first drive shaft 1311 are fixed and connected coaxially. The first drive shaft 1311 is inserted into the transmission board 133 and rotates under the action of the driving force of the device drive unit 20, causing the fixed disk 1313 to swing around its pivot point.

[0058] The first terminal 1312 is fixed to the fixed disk 1313 and moves with it when the fixed disk 1313 rotates. The proximal end of the drive wire 121 is connected to the first terminal 1312, and the drive wire 121 is pushed out or pulled back along a predetermined trajectory by the drive of the first terminal 1312, and can rotate relative to the first terminal 1312. Here, the range of oscillation of the fixed disk 1313 must satisfy the traction stroke requirement of the first terminal 1312, i.e., the required amount of displacement of the actuator 122 being pushed out or pulled back.

[0059] Refer to Figures 10 and 11 together, where Figure 11 is an enlarged view of section D in Figure 10.

[0060] The first terminal 1312 is fitted onto the fixed disk 1313. Specifically, a mounting groove 13131 is provided on the outer circumferential surface of the fixed disk 1313 to engage with the first terminal 1312. In other implementations, the first terminal may not be partially fitted onto the outer circumferential surface of the fixed disk 1313 (not shown), but may be entirely located inside the fixed disk.

[0061] In this solution, the drive wire 121 is drilled into the first through-hole 13121 of the first terminal 1312, and the drive wire 121 body is provided with two position-limiting protrusions 1211 located on both ends of the first through-hole 13121, the dimensions of which the position-limiting protrusions 1211 are larger than the dimensions of the first through-hole 13121. When the fixed disk 1313 rotates in the forward and reverse directions, the drive wire 121 can be pushed out and pulled back based on the position-limiting relationship between the first terminal 1312 and the corresponding position-limiting protrusion 1211, thereby satisfying the operational requirements during surgery.

[0062] Furthermore, there is a radial gap between the drive wire 121 and the first through hole 13121 of the first terminal 1312. This means that the drive wire 121 has rotational freedom relative to the first terminal, and when the drive wire rotates under the drive of the rotary transmission unit 132, it can rotate relative to the first through hole 13121 without operational interference with the first terminal. In other specific implementations, the first terminal and the fixed disk may be an integrated structure; that is, the functional structure of the first terminal is integrated into the fixed disk. In contrast, if the two adopt the separate structure shown in the drawing, good manufacturing engineering properties can be obtained.

[0063] To position the bidirectional limit positions of the tensile motion, a rotational position limiting pair is provided between the fixed disk 1313 and the transmission substrate 133. As shown in Figures 9 and 10, an arc groove 13132 is cut into the body of the fixed disk 1313, and correspondingly, a position limiting stopper 1314 is provided on the transmission substrate 133. The position limiting stopper 1314 is provided in the arc groove 13132 of the fixed disk 1313, and the center of the arc groove 13132 is positioned concentrically with respect to the rotation center of the fixed disk 1313. In this way, when the fixed disk 1313 rotates in the forward and reverse directions by the drive of the first drive shaft 1311, the arc groove 13132 contacts the position limiting stopper 1314 along both circumferential ends, thereby limiting its position. In other words, the limit working position of the push-pull transmission unit 131 is constructed and formed based on the arc groove 13132 and the position limiting stopper 1314, and it is possible to avoid the rotation angle of the fixed disc 1313 being too large in order to satisfy the traction stroke requirement of the first terminal 1312, thereby avoiding affecting the operating performance.

[0064] In this embodiment, both of the engaging ends of the position limiting stopper 1314 that abut are arc-shaped and project outward, thereby adapting to the structural configuration of both ends of the arc groove 13132.

[0065] A first constraint component 1315 is fixedly positioned on the transmission substrate 133. This first constraint component 1315 includes a guide body E and a holding body F, and has a constraint chamber 13151 through which the drive wire 121 is provided. Here, the guide body E is cylindrical and contains a fixed disk 1313. The holding body F and the guide body E are connected and fixed, and they may be an integrated structure. With this arrangement, the drive wire 121 is pushed out or pulled back along a predetermined trajectory constructed from the constraint chamber 13151 by the drive of the first terminal 1312.

[0066] As shown in Figure 10, the constraint chamber 13151 in the inner wall of the guide body E is an open lumen, forming a guide segment, while the constraint chamber 13151 in the retaining body F is a closed lumen, forming a retaining segment. In this way, the arc-shaped inner wall establishes rotational guidance for the fixed disk 1313, while the open lumen on the guide segment and the closed lumen on the retaining segment jointly establish a predetermined trajectory that guides the drive wire 121.

[0067] As shown in Figures 9 and 10, in this embodiment, the rotary transmission unit 132 includes a rotating shaft 1321, a second terminal 1322, a spur gear group 1323, a bevel gear group 1324, and a second drive shaft 1325.

[0068] The active wheels of the bevel gear group 1324 are connected to the second drive shaft 1325, which is inserted into the transmission base plate 133 and rotates under the driving force of the tool drive device 20, transmitting power sequentially through the spur gear group 1323 and the bevel gear group 1324, causing the rotating shaft 1321 to rotate around its pivot point.

[0069] In this implementation solution, in the rotary transmission path, the spur gear group 1323 is a primary gear group, and its active gear 13231 is fixed coaxially to the second drive shaft 1325; the bevel gear group 1324 is a secondary gear group, and its active bevel gear 13241 is fixed coaxially to the passive gear 13232 of the spur gear group 1323, and its passive bevel gear 13242 is fixed coaxially to the rotating shaft 1321.

[0070] Here, the distance between the active and driven gears of the spur gear group 1323 allows for the rational arrangement of the push-pull transmission unit 131 and the rotary transmission unit 132 on the transmission base plate 133. Furthermore, by further adjusting the speed transmission ratio of the two-stage transmission mechanism, it is possible to meet the design requirements of different products and achieve good adaptability.

[0071] The second terminal 1322 is provided on the rotating shaft 1321, and the drive wire 121 is fixed by the second terminal 1322 and moves with the rotation of the rotating shaft 1321. Driven by the rotating shaft 1321, the second terminal 1322 rotates and slides relative to the rotating shaft 1321 along the pulling direction of the drive wire 121. Here, the sliding stroke of the second terminal 1322 must similarly satisfy the pulling stroke requirement of the first terminal 1312.

[0072] Refer to Figures 10 and 12 together, where Figure 12 is an enlarged view of section G in Figure 10.

[0073] The second terminal 1322 is fitted onto the rotating shaft 1321. Specifically, a mounting hole 13211 is provided in the middle of the rotating shaft 1321, and the drive wire 121 extends through this mounting hole 13211 to the constraint chamber 13151 of the first constraint component. In this embodiment, the second terminal 1322, which is fixed to and connected to the drive wire 121, is inserted into the mounting hole 13211, and both have a rectangular cross-section that fits together. Thus, when the rotating shaft 1321 rotates, the second terminal 1322 rotates synchronously, driving the drive wire 121 to twist. Furthermore, the second terminal 1322 has a degree of freedom of sliding relative to the rotating shaft 1321, that is, the second terminal 1322 can move axially relative to the rotating shaft 1321, and when the drive wire is pulled by the drive of the push-pull transmission unit 131, it can rotate relative to the mounting hole 13211 without operational interference with the rotating shaft.

[0074] In other specific implementations, other structures may be adopted for the cross-sectional shape of the second terminal 1322 and the mounting hole 13211. For example, other polygons or shapes having a circumferential position limiting plane may be used, but are not limited to these. Any such structure that satisfies the functional need for the second terminal to slide within the mounting hole and rotate synchronously with the rotation axis falls within the scope of protection claimed by this application.

[0075] A second constraint component 1326 is fixedly positioned on the transmission substrate 133. As shown in Figures 9 and 10, one end of the second constraint component 1326 and the end of the holding body F of the first constraint component 1315 are positioned opposite each other along the axial direction of the rotating shaft 1321. The second constraint component 1326 and the first constraint component 1315 each provide support for the shaft end, and the shaft ends on both sides of the rotating shaft 1321 acquire a secure pivot and engagement relationship, satisfying the functional need for relative rotation.

[0076] Here, a second through-hole 13261 is made in the second constraint component 1326, and correspondingly, a passage opening 1123 is made in the instrument storage device 112 of the instrument transport means 11. This passage opening 1123 is made at an angle, so that the flexible body of the actuator means 12 extends and moves to the spiral storage groove 11211 on its outer surface. The diameter of the second through-hole 13261 is matched to the dimensions of the flexible body sheath 123 of the actuator means 12, so that the pipe end of the sheath 123 is securely fixed.

[0077] Overall, when the device needs to have both push-pull and rotational motion simultaneously, it is driven by a push-pull transmission unit and a rotational transmission unit, respectively. The relationship between the first terminal of the push-pull transmission unit and the drive wire is constrained only in the axial position, and the relationship between the rotation axis of the rotational transmission unit 132 and the second terminal is constrained only in the circumferential position. The two motion relationships are effectively decoupled to achieve simultaneous constraint of two degrees of freedom.

[0078] Furthermore, the flexible device 10 provided in this embodiment further includes butt joint means 14 for connecting to an external device, which may, for example, realize the connection of a power supply / signal source and a waterway connection, but is not limited thereto. Referring to Figures 1, 4 and 13, Figure 13 is a schematic diagram of the assembly relationship of the butt joint means described in this embodiment.

[0079] The butt joint 14 includes a bidirectional joint 141 having a through chamber, one end of which extends to the tip of the housing 111, and the other end which is inserted into the first terminal 1312 and connected to the drive wire 121 of the corresponding actuator means 12, thereby realizing the connection of a power / signal source and a water channel, respectively. Refer to Figure 14 as well, which shows a schematic diagram of the assembly relationship of the bidirectional joint, and a portion of the housing is not shown in order to clearly show the connection orientation of the bidirectional joint.

[0080] In concrete implementation, a usage scenario in which a waterway connection needs to be established may be cited, for example, a situation in which the actuator means 12 is the injection needle shown in the drawing, but is not limited to this. In this scenario, the external liquid tube (not shown) communicates with the hollow drive wire 121 of the corresponding actuator means 12 via a bidirectional joint 141 to supply the injection fluid to the distal end.

[0081] Here, a swivel joint is provided between the drive wire 121 and the insertion end of the bidirectional joint 141 within the first terminal 1312, thereby satisfying an application scenario in which the drive wire 121 can rotate relative to the first terminal 1312. Of course, in an application scenario in which rotation of the drive wire is not required and an injection needle is used, there is no need to provide a swivel joint between the drive wire 121 within the first terminal 1312 and the bidirectional joint 141; in other words, the two can communicate directly.

[0082] In other specific implementations, in usage conditions where power supply or communication needs to be established, the external cable is connected to the corresponding metal drive wire 121 by a bidirectional joint 141 made of metal material to meet the corresponding functional needs.

[0083] To facilitate the rapid assembly of the entire machine, this implementation provides a removable connecting mechanism between the flexible fixture 10 and the fixture drive unit 20, specifically between the fixture storage device 112, the transmission means 13 and the fixture drive unit 20, satisfying the functional need to transmit appropriate driving force for rapid assembly and operation.

[0084] Referring to Figures 15 and 16, Figure 15 is a plan view of the device drive device 20 described in this embodiment, and Figure 16 is a cross-sectional view of Figure 15, HH.

[0085] As shown in the drawing, the top of the device drive unit 20 is provided with a power output connector 24, which includes a drive board 241, a first active transmission disc 242, a second active transmission disc 243, and a sleeve 247. The drive board 241 is fixed to the top of the sleeve 247 and acts as a connector that outputs the driving force of the first drive component 21, transmitting power to the device storage device 112. The first active transmission disc 242 acts as a connector that outputs the driving force of the second drive component 22, transmitting power to the first drive shaft 1311 to pull the drive wire. The second active transmission disc 243 acts as a connector that outputs the driving force of the third drive component 23, transmitting power to the second drive shaft 1325 to twist the drive wire.

[0086] A mounting board 248 is fixedly positioned inside the sleeve 247, and the second drive component 22 and the third drive component 23 are fixed to the mounting board 248, respectively. Of course, other structural forms may be adopted for the mounting board 248 as the base mounting structure.

[0087] Here, the active drive connection port on the device side may be the first and second drive shafts, or it may be the first and second passive transmission disks connected to the corresponding drive shafts described below. In specific implementation, the choice should be made based on the overall design requirements of the product, and from the perspective of power transmission, any arrangement that ensures reliable power transmission falls within the scope of protection claimed by this application.

[0088] Referring together to Figures 1 and 15, in this solution, the first drive component 21 is mounted on a fixed bracket 25 and transmits power to the sleeve 247 via a transport gear group 26. The input gear 261 of the transport gear group 26 is coaxially fixed to the output end of the first drive component 21, and its output gear 262 is fixed and connected to the bottom of the sleeve 247, and further transmits power to a drive board 241 fixed to the sleeve 247.

[0089] Of course, in other specific implementations, the first drive component 21 may transmit power to the sleeve 247 using a belt drive mechanism. Compared to implementations in which the drive side simultaneously provides driving force in two dimensions, rotational and axial, the solution of this embodiment has the advantage of a simple structure and can reduce the manufacturing and maintenance costs of the drive mechanism.

[0090] In this implementation solution, the drive board 241 and the transmission board 133 are arranged opposite each other, the drive board 241 is provided with a buckle 244, and the transmission board 133 is provided with a corresponding locking groove 1331. Furthermore, as shown in Figures 3 and 17, Figure 17 is a local cross-sectional view of the assembly relationship between the drive board and the buckle in Figure 15.

[0091] After assembly, the buckle 244 is positioned in the locking groove 1331, forming a circumferential rotation position limiting pair. When the drive board 241 is rotated by the drive of the first drive component 21, the transmission board 133 is rotated synchronously based on the circumferential rotation position limiting pair, and further, the device storage device 112 fixed to the transmission board 133 is rotated to transport the actuator means 12.

[0092] Here, the locking groove 1331 for engaging with the buckle 244 to establish a circumferential rotation position limiting pair is not necessarily located on the transmission substrate. In other specific implementations, the locking groove may be located on the equipment storage device, or the engagement locking groove may be jointly formed on the transmission substrate and the equipment storage device.

[0093] In this implementation, two sets of engaging buckles 244 and locking grooves 1331 are arranged symmetrically and the load-bearing force is uniform. In other specific implementations, multiple other sets may be arranged at intervals in the circumferential direction.

[0094] Furthermore, the buckle 244 moves radially relative to the drive board 241, meaning the buckle 244 can also slide within the locking groove 1331. The buckle 244 is equipped with a hook portion 2441 formed to protrude from the main body, and correspondingly, the side wall of the instrument storage device 112 is provided with a locking opening 1124 that engages with the hook portion 2441. In this way, when the buckle 244 is in the protruding working position, the hook portion 2441 is inserted into the locking opening 1124, restricting the detachment of the instrument storage device 112 and achieving transport drive and axial locking.

[0095] To improve operability, a button 245 is provided on the outside of the buckle 244, and a buckle reset spring 246 is provided on the inside of the buckle 244. As shown in Figures 15 and 17, the buckle reset spring 246 is provided between the buckle 244 and the drive board 241 so as to be pre-compressed, thereby reliably holding the buckle 244 in the extended working position.

[0096] During removal, the operator applies force to the button 245, causing the buckle 244 to slide inward along the locking groove 1331, the buckle reset spring 246 to deform further, and the hook portion 2441 to escape from the locking opening 1124, thereby removing the flexible device 10. Hereinafter, in other specific implementations, the reset spring may be implemented in other structural forms, for example, a reset component manufactured based on the properties of a rubber material, or a reset component employing a leaf spring structure, but is not limited to these.

[0097] Furthermore, in order to avoid any potential impact from the exposure of the locking structure, in this embodiment, the sleeve 247 extends axially upward to the outside of the drive substrate 241 and the buckle 244 thereon, with two perforations 2471 drilled thereon, which are positioned radially opposite to two buttons 245, respectively, so that the push rods of the buttons 245 are fixed and connected to the body of the buckle 244 through the perforations 2471.

[0098] In this implementation solution, the drive board 241 has a first stepped hole 2411 and a second stepped hole 2412, both of which are smaller at the top and larger at the bottom, forming a staircase. The first active transmission disk 242 is rotatably provided within the large-diameter segment of the first stepped hole 2411, and the second active transmission disk 243 is rotatably provided within the large-diameter segment of the second stepped hole 2412, and can rotate by the drive of the corresponding drive component and be displaced along the axial direction within the corresponding large-diameter segment.

[0099] Here, the assembly relationship between the first active transmission disk 242, the second active transmission disk 243, and the corresponding drive components is the same, and the first active transmission disk 242 will be described in detail below as the main subject.

[0100] Refer to Figures 16 and 18 together; Figure 18 is an enlarged view of section J in Figure 16.

[0101] A keyway hole 2421 is provided on the surface of the first active transmission disk 242 corresponding to the second drive component 22, a slide bush 27 is provided at the output end of the second drive component 22, and an external slide key 271 is provided at the end of the slide bush 27 facing the first active transmission disk 242, the external slide key 271 is inserted into the keyway hole 2421 of the first active transmission disk 242, and the two are rotatable coaxially and slidable relative to each other in the axial direction. In other words, the keyway hole 2421 and the external slide key 271 are formed by constructing a rotational engagement pair and an axial sliding engagement pair.

[0102] Here, different cross-sectional shapes may be used for the engaging keyway hole 2421 and the external slide key 271. For example, polygons such as rectangles and hexagons may be used, or standard splines may be used, but the system is not limited to these. As long as rotational torque can be transmitted and the two can slide relative to each other along the axial direction, it is sufficient.

[0103] In concrete implementation, the engaging keyway 2421 and the external slide key 271 may be arranged in opposite directions. In other words, the keyway 2421 may be drilled in the slide bush, and the external slide key may be provided on the first active transmission disk (not shown) to the same extent, thereby achieving the functional need for both to rotate coaxially and slide relative to each other in the axial direction.

[0104] Furthermore, as shown in Figures 16 and 18, a transmission disc reset spring 28 is provided between the first active transmission disc 242 and the slide bush 27. Under normal conditions, the transmission disc reset spring 28 is positioned between the two so as to be pre-compressed, and based on the action of the transmission disc reset spring 28, the first active transmission disc 242 and the steps of the first stepped hole 2411 can maintain axial contact.

[0105] Furthermore, a butt column 2422 is provided on the surface of the first active transmission disc 242 facing the first passive transmission disc 134, and the butt column 2422 engages with a butt hole 1341 that is drilled in the axial direction in the first passive transmission disc 134. The butt column 2422 and the butt hole 1341 are positioned eccentrically with respect to the rotation centers of the active transmission disc and the passive transmission disc, and transmit torque to drive the passive transmission disc to rotate synchronously.

[0106] In this implementation solution, a first passive transmission disk 134 and a second passive transmission disk 135 are arranged at the bottom of the transmission substrate 133, and are provided in the push-pull transmission path and the rotary transmission path of the actuator, respectively. Specifically, the first passive transmission disk 134 is fixed and connected to the shaft end of the first drive shaft 1311, and is engaged and connected to the first active transmission disk 242, and is used for push-pull transmission. The second passive transmission disk 135 is fixed and connected to the shaft end of the second drive shaft 1325, and is engaged and connected to the second active transmission disk 243, and is used for rotary transmission.

[0107] Here, the assembly relationship between the first passive transmission disk 134, the second passive transmission disk 135, and the corresponding active transmission disk is the same, and the first passive transmission disk 134 will be described in detail below as the main subject.

[0108] As shown in Figure 7, the first passive transmission disc 134 has two abutting holes 1341, which equalize the load during the power transmission process and improve the stability of the transmission. Of course, in other specific implementations, the number of abutting holes 1341 may be selected according to the overall design of the product.

[0109] Furthermore, a guide hole 1342 is provided at the rotation center position of the first passive transmission disc 134, and correspondingly, a guide column 2423 is provided at the rotation center position on the first active transmission disc 242, and along the axial direction, the protruding end of the guide column 2423 extends beyond the protruding end of the abutting column 2422, specifically refer to dimension L in Figure 18. In this way, when assembled, the guide column 2423 is first abutted against the abutting column 2422 and inserted, contributing to the rapid abutting between the first passive transmission disc 134 and the first active transmission disc 242.

[0110] In concrete implementation, the engaging abutting holes 1341 and abutting columns 2422, and the guide holes 1342 and guide columns 2423 may be arranged in opposite directions. That is, the abutting holes and guide holes are opened in the first active transmission disc, and the abutting columns and guide columns are provided in the first passive transmission disc, and torque transmission and abutting guidance functions can be achieved in the same way.

[0111] When actually assembled and operated, the flexible device 10 is inserted and butted into the connection port component 24 of the device drive unit 20 by the transmission means 13, and the butt hole 1341 and guide hole 1342 of the first passive transmission disc 134 are centered and press-fitted into the butt column 2422 and guide column 2423 of the first active transmission disc 242, respectively. Based on the axial slide engagement pair between the two, during the operator's pressing process, the first passive transmission disc 134 pushes the first active transmission disc 242 to move downward synchronously, the transmission disc reset spring 28 is pressed and deformed to provide cushioning adaptive capability, avoiding the effects of rigid interference during the insertion process of the butt column 2422 and guide column 2423, and after sufficient butt, the transmission disc reset spring 28 releases elastic deformation energy, pushing the first passive transmission disc 134 to move axially until it abuts against the steps of the first stepped hole 2411.

[0112] Furthermore, in order to monitor the mounting status in real time, a detection element 29 is provided in this embodiment. A pressure-sensitive element may be used for the detection element 29, and this pressure-sensitive element is located in the axial displacement trajectory of the first active transmission disc 242 and the second active transmission disc 243. When the flexible device is attached to the drive device, the first active transmission disc 242 and the second active transmission disc 243 are pushed to move downward synchronously, pressing against the pressure-sensitive element and generating a signal. When they are sufficiently aligned, the corresponding transmission disc reset spring 28 causes the first active transmission disc 242 and the second active transmission disc 243 to move upward, pressing against the steps of the corresponding stepped holes. After the pressure-sensitive element loses pressure, the signal disappears, and the mounting status is detected. This allows the operator to perform blind alignment between the device side and the drive side, further improving operability.

[0113] Here, other device configurations may be used for the detection element, and specifically, they are not limited to the device type and placement shown in the drawing, but may be selected according to the design requirements of the actual product.

[0114] The drive transmission side described above is consistent with the operating mechanism of the push-pull transmission side, and since the functional realization of the drive transmission side is the same as that of the push-pull transmission side, no further explanation is provided.

[0115] In the above implementation solution, a transmission connection is established based on the first transmission screw 1111 of the housing 111 and the second transmission screw 11212 of the equipment storage device 112. In other words, the first transmission screw 1111 is a female screw and the second transmission screw 11212 is a male screw, and as the equipment storage device 112 rotates and transports the flexible body of the actuator means 12, the housing 111 cooperates to perform axial movement. In other specific implementations, the engaging transmission female and transmission male screws may be arranged in opposite directions.

[0116] Refer to Figures 19 and 20 together, where Figure 19 is a schematic diagram of the assembly relationship of another flexible device, and Figure 20 is an axial cross-sectional view of the flexible device in Figure 19. In order to clarify the differences and relationships between this implementation solution and the above solution, components or structures with the same function are indicated by the same reference numerals in the drawings.

[0117] The differences between this implementation solution and the above implementation solution are as follows: A screw rod 1114a is provided in the middle of the housing 111a, and a first transmission screw 1111a is provided on the screw rod 1114a. Correspondingly, a nut 1125a is provided inside the device storage device 112a, and a second transmission screw 11212a is provided on the nut 1125a, and the screw rod 1114a engages with the nut 1125a.

[0118] The nut 1125a is fixed to the inner wall of the instrument storage device 112a. When the instrument storage device 112a rotates and transports the instrument, the nut 1125a rotates synchronously, and based on the positional limiting guide relationship between the engaged screw rod nut and the positional limiting guide portion 1112, the housing 111a generates synchronous axial displacement.

[0119] As shown in Figure 20, the outer circumferential surface of the device storage device 112a is provided only with a spiral storage groove 11211a for winding and storing the flexible body, and the housing 111a has a smooth inner wall, which can form radial constraints on the flexible body.

[0120] Other structural and connection relationships are the same as those in the implementation solution described above, so they are not elaborated upon here.

[0121] The flexible surgical instrument provided in this solution is applied to an Endoscopic Nurse / Technician Robot. As shown in Figure 21, the flexible surgical instrument 100 is mounted on the robot body 200, assisting the endoscopist in operating the surgical instrument, rationally realizing effective storage of the actuator body, avoiding cross-infection, and effectively improving the doctor's work efficiency.

[0122] The ordinal numbers "first" and "second" used herein are used solely to describe the configuration or structure of the same function of the technical solution. The use of these ordinal numbers "first" and "second" does not constitute a limitation of understanding of the technical solution for which this application seeks protection.

[0123] The above are merely preferred embodiments of the present invention, and thereafter, on the premise that those skilled in the art do not deviate from the principles of the present invention, several improvements and modifications may be made, and these improvements and modifications are also within the scope of protection of the present invention. [Explanation of Symbols]

[0124] 10...flexible instruments; 11. Equipment transport means; 111 ···Housing; 1111 ···First drive screw; 1112 ···Location restriction guidance section; 1113...equipment outlet; 112... Equipment storage device; 1121 ···Spiral groove; 11211 ···Spiral housing groove; 11212 ···Second drive screw; 1122 ···First mounting base; 1123...passage port; 1124... Locking port; 113... Protective tube; 12. Actuator means; 121 ···Drive wire; 1211 ···Position-limiting projection; 122...actuator; 123 ···Sheath; 13. Transmission means; 131... Push-pull transmission unit; 1311 ···First drive shaft; 1312...1st terminal; 13121 ···First through hole; 1313 ···Fixed disk; 13131 ···Mounting groove; 13132 ···Arc groove; 1314 ···Position restriction stopper; 1315 ···First constraint component; 13151 ···Restriction room; 132... Rotary transmission unit; 1321 ···Rotation axis; 13211 ···Mounting hole; 1322...2nd terminal; 1323 ···Spur gear group; 13231 ···Active gear; 13232 ···Passive gear; 1324 ··· Bevel gear group; 13241 ···Active bevel gear; 13242 ···Passive bevel gear; 1325 ···Second drive shaft; 1326 ···Second constraint component; 13261 ···Second through hole; 133... Transmission board; 1331... Locking groove; 1332 ···First mounting hole; 134 ···First passive transmission disk; 1341...butt holes; 1342 ··· Guide hole; 135...Second passive transmission disk; 14. Butt joint method; 141... Bidirectional joint; 20. Equipment drive devices; 21 ···First drive component; 22...Second drive component; 23...Third drive component; 24...Connection port components; 241...Drive board; 2411 ···First stage hole; 2412 ···Second stage hole; 242 ···First active transmission disk; 2421... Keyway hole; 2422...butt joint columns; 2423 ···Information post; 243 ···Second active transmission disk; 244...buckle; 2441...Hook part; 245...button; 246...Buckle reset spring; 247 ···Sleeves; 2471 ...Drilling hole; 25 ···Fixing bracket; 251...Position limiting slide groove; 26... Conveyor gear group; 261 ···Input gear; 262... Output gear; 27. Slide bush; 271 ···External slide key; 28. Transmission disc reset spring; 29...Detection element; 111a ···Housing; 1111a ···First drive screw; 1114a ···Screw rod; 112a ···Device storage device; 11211a ···Spiral storage groove; 11212a ···Second drive screw; 1125a ···nut; 100...Flexible surgical instruments; 200...Robot body.

Claims

1. An instrument transport means used for transporting and storing actuator means having a flexible body, A housing having an internal housing space and having an equipment outlet in its side wall, wherein a first transmission screw is provided in the housing, and a position limiting guide is provided on the outside of the housing, and the position limiting guide is arranged to engage with a fixed structure to guide the axial displacement of the housing and limit the rotation in the circumferential direction, An instrument transport means comprising an instrument storage device in which at least a portion thereof is housed in the housing, and a spiral storage groove for winding and storing the flexible body of the actuator means is provided on its outer circumferential surface, wherein the instrument storage device is provided with a second transmission screw, the second transmission screw is screwed into the first transmission screw, and when the instrument storage device rotates, the housing is displaced axially in synchronization with the rotation of the instrument storage device, thereby holding the flexible body of the actuator means so as to be aligned with the instrument outlet in both the axial and circumferential directions.

2. The instrument transport means according to claim 1, characterized in that the first transmission screw is provided on the inner wall surface of the housing, a helical groove is provided on the outer circumferential surface of the instrument storage device, the helical groove includes an inner groove segment and an outer groove segment formed sequentially along the radial direction, the groove wall of the inner groove segment forms the helical storage groove, and the groove wall of the outer groove segment forms the second transmission screw.

3. The instrument transport means according to claim 1, characterized in that a screw rod is provided in the middle of the housing, the screw rod is provided with the first transmission screw, a nut is fixedly provided inside the instrument storage device, and the nut is provided with the second transmission screw.

4. The equipment transport means according to any one of claims 1 to 3, characterized in that the housing is cylindrical with one end open, the equipment storage device has one end positioned inside the housing, and the other end is provided with a transport drive connection port for connecting to an external device, which is a transmission means, to transmit driving force.

5. A flexible device, The instrument transport means described in claim 1, An actuator means comprising an actuator and a flexible body, wherein the flexible body includes a drive wire and a sheath fitted inside and outside, and the actuator is provided at the distal end of the drive wire. A flexible instrument characterized in that it is connected to an instrument storage device of the instrument transport means and moves the actuator by a drive wire of the actuator means, the transmission means is provided with an execution drive connection port for engaging with an instrument drive device, and the transmission means includes a transmission board fixed to and connected to the instrument storage device, and a push-pull transmission unit and a rotary transmission unit provided on the transmission board, the push-pull transmission unit being a transmission means for pushing out or pulling back the drive wire, and the rotary transmission unit being a transmission means for twisting the drive wire.

6. The flexible device according to claim 5, wherein the push-pull transmission unit includes a fixed disk and a first drive shaft, the first drive shaft is inserted into and positioned on the transmission substrate and power-transmitted to the device drive device by the execution drive connection port, the fixed disk is coaxially fixed and connected to the first drive shaft, the proximal end of the drive wire is connected to the fixed disk, and the drive wire is pushed out or pulled back along a predetermined trajectory by the drive of the fixed disk and is positioned to have a degree of rotational freedom relative to the fixed disk.

7. The flexible device according to claim 6, wherein a first terminal is fitted and arranged on the outer circumferential surface of the fixed disk, the first terminal includes a first through hole, the drive wire is inserted through the first through hole of the first terminal, the body of the drive wire is provided with two position limiting blocks located on both ends of the first through hole of the first terminal, there is a radial gap between the drive wire and the first through hole of the first terminal, and the dimensions of each position limiting block are larger than the dimensions of the first through hole.

8. The flexible device according to claim 7, characterized in that a rotation position limiting pair is provided between the fixed disk and the transmission substrate, and the rotation position limiting pair is provided so as to be able to limit the rotation angle of the fixed disk.

9. The flexible device according to claim 8, wherein the rotational position limiting pair comprises an arc groove opened in the body of the fixed disk and a position limiting stopper provided on the transmission substrate and positioned within the arc groove, the center of the arc groove is concentric with respect to the rotation center of the fixed disk, and both ends of the arc groove are capable of contacting the position limiting stopper, thereby limiting the rotational angle of the fixed disk.

10. The flexible device according to claim 9, wherein a first constraint component is fixedly provided on the transmission substrate, the first constraint component includes a cylindrical guide body and a holding body, the fixed disk is built into the guide body, the guide body and the holding body each have constraint chambers capable of accommodating the drive wire, the constraint chamber in the inner wall of the guide body is an open lumen, and the constraint chamber in the holding body is a closed lumen.

11. The rotary transmission unit includes a rotary shaft, a second terminal, a bevel gear group, and a second drive shaft, wherein the second drive shaft is inserted into the transmission substrate and connected to the device drive device by the actual drive connection port so as to transmit power, the active wheels of the bevel gear group are connected to the second drive shaft, the rotary shaft is connected to the passive wheels of the bevel gear group, the drive wire is fixed to the second terminal, the second terminal is provided on the rotary shaft and is rotatable by the drive of the rotary shaft, and the second terminal is arranged to have a degree of freedom to slide along the pulling direction of the drive wire with respect to the rotary shaft, as described in 10.

12. The flexible device according to claim 11, characterized in that the second terminal is fitted into an intermediate mounting hole of the rotating shaft, both have a rectangular cross-section that fits together, and the drive wire extends through the mounting hole to the constraint chamber of the first constraint component.

13. The flexible device according to claim 12, wherein a second constraint component is fixedly provided on the transmission substrate, one end of the second constraint component and the end of the holding segment of the first constraint component are arranged opposite each other along the axial direction of the rotating shaft, and the shaft ends on both sides of the rotating shaft are pivotally attached to the second constraint component and the first constraint component, respectively.

14. The flexible device according to claim 13, characterized in that a second through-hole is made in the second constraint component, the diameter of the second through-hole in the second constraint component is matched to the dimensions of the sheath of the actuator means, thereby fixing the end of the sheath, a passage opening is made in the device storage device, and the flexible body of the actuator means extends and moves through the passage opening of the device storage device to a spiral storage groove on its outer surface.

15. A flexible surgical instrument comprising a flexible instrument and an instrument drive device that outputs a driving force to the flexible instrument, wherein the flexible instrument is the flexible instrument described in any one of claims 5 to 14.

16. The aforementioned device drive device is A first drive component having an output terminal that outputs rotational driving force, A sleeve connected to the output terminal of the first drive component in a power-transmitting manner, A drive board fixed to the sleeve and provided for transmitting the rotational driving force to the flexible device, The flexible surgical instrument according to claim 15, comprising a second drive component and a third drive component, each fixed to the sleeve by a mounting board, the second drive component and the third drive component, each including an output terminal that outputs the rotational drive force, and transmitting the rotational drive force to a push-pull transmission unit and a rotary transmission unit of a transmission means, respectively.

17. The flexible surgical instrument according to claim 16, wherein the instrument drive device further includes a first active transmission disc and a second active transmission disc, the first active transmission disc being power-transmittable to the output terminal of the second drive component, the second active transmission disc being power-transmittable to the output terminal of the third drive component, and the transmission means further includes a first passive transmission disc connected to the push-pull transmission unit and a second passive transmission disc connected to the rotary transmission unit, the first active transmission disc being power-transmittable to the first passive transmission disc, and the second active transmission disc being power-transmittable to the second passive transmission disc.

18. The flexible surgical instrument according to claim 17, wherein one of the first active transmission disc and the first passive transmission disc, and the second active transmission disc and the second passive transmission disc, each has a butt hole along the axial direction and a butt column along the axial direction on the other side, and the engaging butt hole and the butt column are arranged eccentrically with respect to the rotation center of the corresponding active transmission disc and passive transmission disc.

19. The drive substrate has a first stepped hole and a second stepped hole, and both the first stepped hole and the second stepped hole are arranged to form a staircase by including a small-diameter segment and a large-diameter segment arranged sequentially from top to bottom, the first active transmission disk is rotatably provided within the large-diameter segment of the first stepped hole, and the second active transmission disk is rotatably provided within the large-diameter segment of the second stepped hole, characterized in that the flexible surgical instrument is as described in 18.

20. Keyway holes are provided on the surfaces of the first active transmission disk and the second active transmission disk facing the corresponding drive components, slide bushes are provided at the output ends of the second and third drive components, external slide keys are provided at the ends of the slide bushes facing the corresponding active transmission disks, the external slide keys are inserted into the corresponding keyway holes, and both are rotatable coaxially and slidable relative to each other in the axial direction. The flexible surgical instrument according to claim 19, wherein a transmission disc reset spring is provided between the first active transmission disc, the second active transmission disc, and the corresponding slide bush, and the transmission disc reset spring is provided between the slide bush and the corresponding active transmission disc so as to be pre-compressed under normal conditions.

21. The flexible surgical instrument according to claim 20, characterized in that a detection element is provided on the mounting substrate, and the detection element is located in the axial displacement trajectory of the first active transmission disk and the second active transmission disk.

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