Advancing system for flexible-end-controllable medical device and medical device

Abstract

The present application provides an advancing system for a flexible-end-controllable medical device and a medical device. The advancing system comprises a moving apparatus, a flexible-end-controllable medical device driving mechanism, a first displacement driving mechanism, a second displacement driving mechanism, and an advancing mechanism. The first displacement driving mechanism and the second displacement driving mechanism are both mounted on the moving apparatus, the flexible-end-controllable medical device driving mechanism is mounted on the first displacement driving mechanism, and the advancing mechanism is mounted on the second displacement driving mechanism. The flexible-end-controllable medical device driving mechanism comprises a connecting part, an inserting part driving mechanism, an inserting part mounting mechanism, and a sheath mounting mechanism. The connecting part is mounted on the first displacement driving mechanism. The inserting part mounting mechanism is mounted at one end of the connecting part by means of the inserting part driving mechanism, and the sheath mounting mechanism is fixedly mounted at the other end of the connecting part. The inserting part driving mechanism is configured for driving the inserting part mounting mechanism to move straight relative to the sheath mounting mechanism. The advancing system features a simple overall structure, compactness, and low weight.

Description

Flexible end-controllable medical device feeding system and medical equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 2023118567877, filed on December 29, 2023, entitled “Flexible end-controllable medical device feeding system and medical equipment,” which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the field of medical device technology, and in particular to a flexible end-controllable medical device feeding system and medical equipment. Background Art

[0004] Flexible, controllable end-devices can enter human organs through the mouth or other natural body cavities. Doctors can use these devices to observe organ pathology or perform minimally invasive surgery. Traditional examinations using flexible, controllable end-devices require doctors to move the device back and forth and bend the end, requiring high proficiency and posing a risk of fatigue. Therefore, robots with flexible, controllable end-devices have emerged.

[0005] The feeding system of existing flexible end-controllable medical devices generally uses two robotic arms or two linear drive mechanisms to drive the sheath and insertion part of the flexible device respectively. This method requires high hardness of the sheath, and also requires high coordinated control of the two robotic arms or two linear drive mechanisms. Since the sheath and insertion part of the flexible device are a two-stage concentric tubular structure, when the two robotic arms or two linear drive mechanisms drive the sheath and insertion part respectively, if the deviation of the coordinated control between the two is large, it will cause damage to the sheath and insertion part; and the driving length is determined by the feeding distance. When the feeding distance is long, the length of the corresponding parts of the two linear drive mechanisms must be lengthened, resulting in a complex structure of the entire system, a large space occupation and a heavy weight.

[0006] Therefore, it is necessary to provide a new technical solution to solve the above technical problems.

[0007] Summary of the Invention

[0008] The present application provides a flexible end-controllable medical device feeding system and medical equipment to solve the defects of existing flexible end-controllable medical devices, such as high requirements for coordinated control when using two robotic arms or two linear drive mechanisms to drive the sheath and insertion part of the flexible device respectively, and the entire system structure is complex, the cost is high, the space occupied is large, and the weight is heavy.

[0009] The present application provides a flexible end-controllable medical device feeding system, comprising a moving device, a flexible end-controllable medical device driving mechanism, a first displacement driving mechanism, a second displacement driving mechanism, and a feeding mechanism;

[0010] The first displacement drive mechanism and the second displacement drive mechanism are both mounted on the moving device, the flexible end-controllable medical device drive mechanism is mounted on the first displacement drive mechanism, and the feeding mechanism is mounted on the second displacement drive mechanism, and the first displacement drive mechanism and the second displacement drive mechanism are used to adjust the positions of the flexible end-controllable medical device drive mechanism and the feeding mechanism, respectively;

[0011] The flexible end-controllable medical device driving mechanism includes a connecting part, an insertion part driving mechanism, an insertion part mounting mechanism and a sheath mounting mechanism. The connecting part is installed at the end of the first displacement driving mechanism, the insertion part mounting mechanism is installed at one end of the connecting part through the insertion part driving mechanism, and the sheath mounting mechanism is fixedly installed at the other end of the connecting part, and the insertion part driving mechanism is used to drive the insertion part mounting mechanism to move linearly relative to the sheath mounting mechanism.

[0012] According to the flexible end-controllable medical device feeding system provided by the present application, the first displacement drive mechanism includes a first linear drive mechanism and a first mechanical drive mechanism, the first linear drive mechanism is mounted on the moving device along a preset direction, one end of the first mechanical drive mechanism is mounted on the first linear drive mechanism, and the other end of the first mechanical drive mechanism is connected to the flexible end-controllable medical device drive mechanism;

[0013] The second displacement drive mechanism includes a second linear drive mechanism and an alignment mechanism, the second linear drive mechanism is mounted on the moving device along a preset direction, one end of the alignment mechanism is mounted on the second linear drive mechanism, and the other end of the alignment mechanism is connected to the feeding mechanism;

[0014] The feeding mechanism is provided with at least one driving wheel and at least one driven wheel. The driving wheel and the driven wheel cooperate to clamp the flexible end-controllable medical device and drive the flexible end-controllable medical device to perform feeding operations along the feeding direction.

[0015] According to the flexible end-controllable medical device feeding system provided in the present application, the alignment mechanism includes a displacement adjustment component and a posture adjustment component. The displacement adjustment component is connected to the feeding mechanism through the posture adjustment component. The displacement adjustment component is used to move the feeding mechanism in the vertical and horizontal directions, and the posture adjustment component is used to adjust the angle and direction of the feeding mechanism.

[0016] According to the flexible end-controllable medical device feeding system provided by the present application, the displacement adjustment assembly includes a first brake mechanism, a second brake mechanism, a third brake mechanism, a fourth brake mechanism, a first connecting member, a second connecting member, a first connecting arm and a second connecting arm. When the brake mechanism is energized, the rotating shaft of the first brake mechanism is fixedly connected to the second linear drive mechanism and is rotatably connected to one end of the first connecting member; the rotating shaft of the second brake mechanism is rotatably connected to the other end of the first connecting member and is fixedly connected to one end of the first connecting arm; the rotating shaft of the third brake mechanism is rotatably connected to the other end of the first connecting arm and is fixedly connected to one end of the second connecting member; the rotating shaft of the fourth brake mechanism is fixedly connected to one end of the second connecting arm and is rotatably connected to the other end of the second connecting member;

[0017] The posture adjustment assembly includes a fifth brake mechanism, a sixth brake mechanism, a seventh brake mechanism, a third connecting member and a fourth connecting member. When the brake mechanism is energized, the rotating shaft of the fifth brake mechanism is fixedly connected to the other end of the second connecting arm and is rotatably connected to one end of the third connecting member; the rotating shaft of the sixth brake mechanism is fixedly connected to the other end of the third connecting member and is rotatably connected to one end of the fourth connecting member; the rotating shaft of the seventh brake mechanism is rotatably connected to the other end of the fourth connecting member and is fixedly connected to the feed mechanism.

[0018] According to the flexible end-controllable medical device feeding system provided in the present application, the insertion part drive mechanism includes an insertion part drive motor and a connecting rod mechanism, the insertion part drive motor is installed on the connecting part, one end of the connecting rod mechanism is connected to the output shaft of the insertion part drive motor, and the other end of the connecting rod mechanism is connected to the insertion part mounting mechanism, and the rotational motion of the output shaft is converted into linear motion of the insertion part mounting mechanism through the connecting rod mechanism.

[0019] According to the flexible end-controllable medical device feeding system provided by the present application, the insertion portion mounting mechanism includes an insertion portion linear wire drive assembly and an insertion portion mounting assembly, the insertion portion mounting assembly is detachably connected to a side of the insertion portion linear wire drive assembly close to the sheath mounting mechanism, and the insertion portion linear wire drive assembly is connected to the insertion portion drive mechanism;

[0020] The sheath mounting mechanism includes a sheath linear wire drive assembly and a sheath mounting assembly. The sheath mounting assembly is detachably connected to a side of the sheath linear wire drive assembly away from the insertion portion mounting mechanism. The sheath linear wire drive assembly is fixedly connected to the connecting portion.

[0021] According to the flexible end-controllable medical device feeding system provided by the present application, at least one of the insertion portion linear wire drive assembly and the sheath linear wire drive assembly includes a mounting seat and a plurality of linear wire drive members, the mounting seat includes two side plates arranged opposite to each other, each linear wire drive member includes a first motor, a reversing wheel, a synchronous wheel and a linear transmission member, the first motor is located between the two side plates and is vertically mounted on the side plates, the synchronous wheel is mounted on the side plates, and the axial direction of the synchronous wheel is perpendicular to the output shaft of the first motor, the synchronous wheel is connected to the output shaft of the first motor through the reversing wheel, the linear transmission member is connected to the synchronous wheel, the first motor is used to drive the reversing wheel to rotate synchronously with the output shaft of the first motor, the reversing wheel is used to drive the synchronous wheel to rotate synchronously, and the synchronous wheel is used to drive the linear transmission member to move between the two side plates along the axial direction of the first motor;

[0022] Among them, the flexible end-controllable medical device includes an insertion part and a sheath, the sheath is arranged on the outside of the insertion part, the linear transmission part of the linear wire drive assembly of the insertion part is connected to the end of the insertion part through the insertion part pull wire, and / or the linear transmission part of the linear wire drive assembly of the sheath is connected to the end of the sheath through the sheath pull wire.

[0023] According to the flexible end-controllable medical device feeding system provided in the present application, the reversing wheel includes a first helical gear and a second helical gear, the first helical gear is mounted on the output shaft of the first motor, the second helical gear is mounted on the side plate and meshes with the first helical gear, the first helical gear is coaxially arranged with the output shaft of the first motor, and the axial direction of the second helical gear is perpendicular to the axial direction of the first helical gear.

[0024] According to the flexible end-controllable medical device feeding system provided in the present application, the synchronous wheel includes a first synchronous wheel and a second synchronous wheel, the linear transmission member is a synchronous belt, the first synchronous wheel and the reversing wheel are located on the outside of the same side plate, and the first synchronous wheel and the second bevel gear are installed on the same rotating shaft, the second synchronous wheel is located between the two side plates and is installed on the mounting seat, the axial direction of the second synchronous wheel is parallel to the axial direction of the first synchronous wheel, and the first synchronous wheel and the second synchronous wheel are arranged at intervals along the axial direction of the first motor, the synchronous belt is sleeved on the outer periphery of the first synchronous wheel and the second synchronous wheel, and the insertion part pull wire and / or the sheath pull wire are installed on the corresponding synchronous belt.

[0025] The present application also provides a medical device, comprising the flexible end-controllable medical instrument feeding system as described above.

[0026] The above technical solution of this application has the following beneficial effects:

[0027] The flexible end-controllable medical device feeding system and medical equipment provided by the present application integrate the flexible end-controllable medical device driving mechanism, the first displacement driving mechanism, the second displacement driving mechanism and the feeding mechanism into a mobile device. The coordinated use of the flexible end-controllable medical device driving mechanism and the first displacement driving mechanism can realize the overall feeding and independent feeding of the sheath and the insertion part, and the coordinated use of the second displacement driving mechanism and the feeding mechanism can realize the adjustment of the position and posture of the feeding mechanism, thereby facilitating the flexible end-controllable medical device to enter the natural cavity or minimally invasive wound of the human body with less resistance. Moreover, the relative linear movement of the insertion part and the sheath can be realized by a single insertion part driving mechanism, thereby avoiding the problem of the insertion part being easily damaged due to a large angular deviation between the center line of the insertion part and the center line of the sheath during the driving process. The entire system of the present application has a simple structure, low cost, small size and light weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] FIG1 is a schematic diagram of an application scenario of a flexible end-controllable medical device feeding system in a bronchoscope provided in Example 1 of the present application;

[0030] FIG2 is a schematic structural diagram of a driving mechanism of a flexible end-controllable medical device provided in an embodiment of the present application;

[0031] FIG3 is a schematic structural diagram of an insertion portion driving mechanism according to an embodiment of the present application driving an insertion portion mounting mechanism to move to a first position;

[0032] FIG4 is a schematic structural diagram of an insertion portion driving mechanism according to an embodiment of the present application driving an insertion portion mounting mechanism to move to a second position;

[0033] FIG5 is a schematic diagram of the structure of the insertion portion driving mechanism according to an embodiment of the present application;

[0034] FIG6 is a second structural diagram of the insertion portion driving mechanism provided in an embodiment of the present application;

[0035] FIG7 is a third structural diagram of the insertion portion driving mechanism provided in an embodiment of the present application;

[0036] FIG8 is a fourth structural diagram of the insertion portion driving mechanism provided in an embodiment of the present application;

[0037] FIG9 is a schematic structural diagram of an insertion portion mounting mechanism connected to an insertion portion driving mechanism according to an embodiment of the present application;

[0038] FIG10 is a schematic structural diagram of a sheath installation mechanism provided in an embodiment of the present application;

[0039] FIG11 is a schematic structural diagram of an insertion portion linear wire drive assembly or a sheath linear wire drive assembly provided in an embodiment of the present application;

[0040] FIG12 is a schematic diagram of a partial structure of an insertion portion linear wire drive assembly or a sheath linear wire drive assembly provided in an embodiment of the present application;

[0041] FIG13 is a schematic structural diagram of a feeding mechanism provided in Example 1 of the present application;

[0042] FIG14 is a schematic diagram of the structure of the alignment mechanism provided in Example 1 of the present application;

[0043] FIG15 is a second structural diagram of the alignment mechanism provided in Example 1 of the present application;

[0044] FIG16 is a schematic diagram of a partial structure of an alignment mechanism according to the first embodiment of the present application;

[0045] FIG17 is a second schematic diagram of the partial structure of the alignment mechanism provided in Example 1 of the present application;

[0046] FIG18 is a schematic diagram of an application scenario of a flexible end-controllable medical device feeding system in a urological endoscope provided in Example 2 of the present application;

[0047] Figure 19 is a schematic diagram of the application scenario of the flexible end-controllable medical device feeding system provided in Example 3 of the present application in neurosurgery endoscopes.

[0048] Reference numerals: 1. flexible end-controllable medical device driving mechanism; 2. first mechanical driving mechanism; 3. first linear driving mechanism; 4. moving device; 5. alignment mechanism; 6. feeding mechanism; 7. second linear driving mechanism; 11. connecting portion; 12. insertion portion driving mechanism; 13. insertion portion mounting mechanism; 14. sheath mounting mechanism; 101. side plate; 102. bottom plate; 103. first motor; 104. reversing wheel; 1041. first bevel gear; 1042. second bevel gear; 105. first synchronous wheel; 106. Second synchronous wheel; 107. Synchronous belt; 108. Linear guide; 109. Fixed connector; 110. Pull wire connector; 111. Force sensor; 121. Insertion drive motor; 122. Connecting rod mechanism; 123. Motor shaft connector; 124. Connecting rod fixing plate; 125. Pressing assembly; 1221. First connecting rod; 1222. Second connecting rod; 1223. Third connecting rod; 1224. Fourth connecting rod; 1225. Fifth connecting rod; 1226. Sixth connecting rod; 1251 , base; 1252, connecting plate; 1253, adapter; 1254, pressing member; 100, insertion portion; 200, sheath; 300, flexible end-controllable medical device; 400, first displacement drive mechanism; 500, second displacement drive mechanism; 131, insertion portion linear wire drive assembly; 132, insertion portion mounting assembly; 133, first clamping jaw assembly; 141, sheath linear wire drive assembly; 142, sheath mounting assembly; 143, second clamping jaw assembly; 71, second motor; 72, linear drive Dynamic module; 721, linear transmission member; 722, sliding member; 501, first brake mechanism; 502, second brake mechanism; 503, third brake mechanism; 504, fourth brake mechanism; 505, fifth brake mechanism; 506, sixth brake mechanism; 507, seventh brake mechanism; 508, first connecting member; 509, second connecting member; 510, first connecting arm; 511, second connecting arm; 512, third connecting member; 513, fourth connecting member; 61, driving wheel; 62, driven wheel. DETAILED DESCRIPTION

[0049] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0050] The flexible, controllable-end medical device of this application can be an endoscope used in the medical field, such as a bronchoscope, urethroscope, duodenoscope, choledochoscope, pyeloscope, or other slender flexible electronic endoscope. The flexible, controllable-end medical device has a two-stage concentric tubular structure, including an insertion portion and a sheath disposed around the insertion portion. The flexible, controllable-end medical device can be introduced into the human body through the oral cavity, minimally invasive incision, or other natural orifice to examine the patient's internal organs for pathological examination.

[0051] The flexible end-controllable medical device feeding system of the present application is described in detail below from different embodiments.

[0052] Please refer to Figure 1, which is a schematic diagram of the application scenario of the flexible end-controllable medical device feeding system provided in the first embodiment of the present application in a bronchoscope. The flexible end-controllable medical device feeding system of this embodiment includes a flexible end-controllable medical device driving mechanism 1, a first displacement driving mechanism 400, a second displacement driving mechanism 500, a mobile device 4 and a feeding mechanism 6. The first displacement driving mechanism 400 and the second displacement driving mechanism 500 are both installed on the mobile device 4, the flexible end-controllable medical device driving mechanism 1 is installed on the first displacement driving mechanism 400, and the feeding mechanism 6 is installed on the second displacement driving mechanism 500, and the first displacement driving mechanism 400 and the second displacement driving mechanism 500 are used to adjust the positions of the flexible end-controllable medical device driving mechanism 1 and the feeding mechanism 6 respectively. In this embodiment, the flexible end-controllable medical device driving mechanism 1, the first displacement driving mechanism 400, the second displacement driving mechanism 500 and the feeding mechanism 6 are integrated into a mobile device 4, which can make the entire system structure simple, low-cost, small in size and light in weight.

[0053] Specifically, the first displacement drive mechanism 400 includes a first linear drive mechanism 3 and a first mechanical drive mechanism 2. The first linear drive mechanism 3 is mounted on the mobile device 4 along a preset direction. One end of the first mechanical drive mechanism 2 is mounted on the first linear drive mechanism 3, and the other end of the first mechanical drive mechanism 2 is connected to the flexible end-controllable medical device drive mechanism 1. The second displacement drive mechanism 500 includes a second linear drive mechanism 7 and an alignment mechanism 5. The second linear drive mechanism 7 is mounted on the mobile device 4 along a preset direction. One end of the alignment mechanism 5 is mounted on the second linear drive mechanism 7, and the other end of the alignment mechanism 5 is connected to the feed mechanism 6.

[0054] Optionally, the first linear drive mechanism 3 is vertically mounted on the mobile device 4, the first mechanical drive mechanism 2 is used to adjust the position and posture of the flexible end-controllable medical device drive mechanism 1, and the first linear drive mechanism 3 is used to drive the first mechanical drive mechanism 2 and the flexible end-controllable medical device drive mechanism 1 to move synchronously in the vertical direction. The second linear drive mechanism 7 is vertically mounted on the mobile device 4, the feed mechanism 6 is mounted on the second linear drive mechanism 7 via an alignment mechanism 5, the alignment mechanism 5 is used to adjust the position and posture of the feed mechanism 6, and the second linear drive mechanism 7 is used to drive the feed mechanism 6 and the alignment mechanism 5 to move synchronously in the vertical direction.

[0055] Please refer to Figure 2, which is a schematic diagram of the structure of the drive mechanism of the flexible end-controllable medical device provided in an embodiment of the present application. The flexible end-controllable medical device 300 includes an insertion portion 100 and a sheath 200. The sheath 200 is arranged on the periphery of the insertion portion 100, and the insertion portion 100 and the sheath 200 can move relative to each other. Among them, the insertion portion mounting mechanism 13 is used to fix the front end of the insertion portion 100 and control the bending of the end of the insertion portion 100, and the sheath mounting mechanism 14 is used to fix the front end of the sheath 200 and control the bending of the end of the sheath 200.

[0056] The flexible end-controllable medical device driving mechanism 1 includes a connecting part 11, an insertion part driving mechanism 12, an insertion part mounting mechanism 13 and a sheath mounting mechanism 14. The connecting part 11 is installed at the end of the first mechanical driving mechanism 2. The insertion part mounting mechanism 13 is installed at one end of the connecting part 11 through the insertion part driving mechanism 12. The sheath mounting mechanism 14 is fixedly installed at the other end of the connecting part 11. The insertion part driving mechanism 12 is used to drive the insertion part mounting mechanism 13 to move linearly relative to the sheath mounting mechanism 14.

[0057] It should be noted that when the insertion portion mounting mechanism 13 moves linearly relative to the sheath mounting mechanism 14 , the center line of the sheath 200 and the center line of the insertion portion 100 can be maintained on the same straight line.

[0058] Please refer to Figures 3 and 4. The insertion part driving mechanism 12 is used to drive the insertion part mounting mechanism 13 to move linearly between a first position and a second position. When the insertion part mounting mechanism 13 moves to the first position, the insertion part mounting mechanism 13 is away from the sheath mounting mechanism 14. When the insertion part mounting mechanism 13 moves to the second position, the insertion part mounting mechanism 13 is close to the sheath mounting mechanism 14. Since the sheath mounting mechanism 14 is fixedly mounted on the connecting part 11, the present application can achieve the relative movement of the insertion part 100 and the sheath 200 only through one insertion part driving mechanism 12. While the insertion part mounting mechanism 13 moves linearly, the insertion part 100 and the sheath 200 can maintain relative movement on the same straight line. Therefore, the present application can solve the problem that the insertion part of the existing flexible end-controllable medical device is easily damaged due to the large angular deviation between the center line of the insertion part and the center line of the sheath when the sheath and the insertion part are driven.

[0059] Referring to Figures 2 to 4 , the insertion portion drive mechanism 12 includes an insertion portion drive motor 121 and a connecting rod mechanism 122. The insertion portion drive motor 121 is mounted on the connecting portion 11. One end of the connecting rod mechanism 122 is connected to the output shaft of the insertion portion drive motor 121, and the other end of the connecting rod mechanism 122 is connected to the insertion portion mounting mechanism 13. The configuration of the connecting rod mechanism 122 converts the rotational motion of the output shaft of the insertion portion drive motor 121 into linear motion of the insertion portion mounting mechanism 13, thereby ensuring that the insertion portion 100 and the sheath 200 can maintain relative motion on the same straight line.

[0060] It should be noted that the insertion portion drive motor 121 realizes linear drive of the insertion portion mounting mechanism 13 through the connecting rod mechanism 122 , and the linear movement of the insertion portion mounting mechanism 13 drives the linear movement of the insertion portion 100 relative to the sheath 200 .

[0061] The first mechanical drive mechanism 2 can be a driving structure such as a robotic arm or a multi-axis drive mechanism. The flexible end-controllable medical device drive mechanism 1 is installed at the end of the first mechanical drive mechanism 2, and the first mechanical drive mechanism 2 can adjust the position and posture of the flexible end-controllable medical device drive mechanism 1. When in use, the flexible end-controllable medical device feeding system can be moved to a preset position next to the bed by a moving device 4 (such as a cart), and then the first mechanical drive mechanism 2 and the flexible end-controllable medical device drive mechanism 1 can be adjusted to a certain height in the vertical direction by the first linear drive mechanism 3, and then the position and posture of the flexible end-controllable medical device drive mechanism 1 can be adjusted by the first mechanical drive mechanism 2.

[0062] 1 to 4 , a first linear drive mechanism 3 and a first mechanical drive mechanism 2 are used to drive the flexible end-controllable medical device drive mechanism 1 close to a natural cavity or minimally invasive incision in the human body. The position and posture of the flexible end-controllable medical device drive mechanism 1 can be further adjusted by the first mechanical drive mechanism 2. An alignment mechanism 5 is used in conjunction with a second linear drive mechanism 7. The second linear drive mechanism 7 preliminarily adjusts the vertical positions of the alignment mechanism 5 and the feeding mechanism 6. The alignment mechanism 5 then further adjusts the vertical and horizontal positions of the feeding mechanism 6, as well as the posture (i.e., direction and angle) of the feeding mechanism 6 relative to the natural cavity or minimally invasive incision in the human body, so that the feeding position and direction of the flexible end-controllable medical device 300 mounted on the feeding mechanism 6 are consistent with the orientation of the natural cavity or minimally invasive incision in the human body, thereby facilitating smooth entry of the flexible end-controllable medical device 300 into the human body without requiring the patient to adjust their posture to accommodate the feeding position and direction of the flexible end-controllable medical device.

[0063] In this embodiment, an insertion portion drive motor 121 is used in conjunction with a connecting rod mechanism 122 to achieve the feeding movement of the insertion portion 100. The sheath 200 and the insertion portion 100 can be fed simultaneously or independently. When the sheath 200 and the insertion portion 100 need to be fed simultaneously, the first linear drive mechanism 3 and the first mechanical drive mechanism 2 are used to integrally drive the flexible end-controllable medical device drive mechanism 1 to move; when the sheath 200 needs to be fed alone, at least one of the first linear drive mechanism 3 and the first mechanical drive mechanism 2 moves a certain distance in the direction of the feeding movement, and the insertion portion drive motor 121 drives the insertion portion 100 to move the same distance in the opposite direction; when the insertion portion 100 needs to be fed alone, the first linear drive mechanism 3 and the first mechanical drive mechanism 2 remain stationary, and only the insertion portion drive motor 121 drives the insertion portion 100 to move.

[0064] It should be noted that when the sheath 200 and the insertion portion 100 perform feeding motions independently, it is the insertion portion 100 that moves relative to the sheath 200 .

[0065] Specifically, referring to Figures 5 to 8, the insertion portion drive mechanism 12 of this embodiment includes an insertion portion drive motor 121, a connecting rod mechanism 122, a motor shaft connector 123, a connecting rod fixing plate 124, and a clamping assembly 125. The connecting rod fixing plate 124 is mounted on the output shaft side of the insertion portion drive motor 121 and is used to fix the connecting rod mechanism 122; the motor shaft connector 123 is sleeved on the output shaft of the insertion portion drive motor 121 and is used to connect the connecting rod mechanism 122 to the output shaft of the insertion portion drive motor 121; and the clamping assembly 125 is disposed at the end of the insertion portion drive mechanism 12, and the connecting rod mechanism 122 is connected to the insertion portion mounting mechanism 13 via the clamping assembly 125.

[0066] Specifically, the connecting rod fixing plate 124 is installed on the output shaft of the insertion drive motor 121 and fixed to the body of the insertion drive motor 121. A gap is formed between the connecting rod fixing plate 124 and the output shaft to prevent the connecting rod fixing plate 124 from affecting the normal rotation of the output shaft. The motor shaft connector 123 is fixed to the output shaft and rotates synchronously with the output shaft.

[0067] The connecting rod mechanism 122 includes a first connecting rod 1221, a second connecting rod 1222, a third connecting rod 1223, a fourth connecting rod 1224, a fifth connecting rod 1225 and a sixth connecting rod 1226. One end of the first connecting rod 1221 is fixedly connected to the output shaft of the insertion portion drive motor 121 through the motor shaft connecting member 123, the other end of the first connecting rod 1221 is rotatably connected to one end of the second connecting rod 1222, and the other end of the second connecting rod 1222 is rotatably connected to the connecting plate 1252 on the clamping assembly 125; one end of the third connecting rod 1223 is rotatably connected to the motor shaft connecting member 123 and the connecting rod fixing plate 124 respectively. The other end of the third link 1223 is coaxially connected to the fourth link 1224 and one end of the sixth link 1226, and the other end of the fourth link 1224 is coaxially connected to one end of the fifth link 1225 in the middle of the second link 1222. The other end of the fifth link 1225 is rotatably connected to the link fixing plate 124, and the fifth link 1225 is arranged parallel to the third link 1223. The other end of the sixth link 1226 is on the same side as the second link 1222 and is rotatably installed on the connecting plate 1252 of the clamping assembly 125, and the sixth link 1226 is arranged parallel to the second link 1222.

[0068] It is understandable that the connecting rod mechanism 122 further includes a plurality of rotating shafts, and the rotational connections between two adjacent connecting rods, between a connecting rod and the connecting rod fixing plate 124, and between a connecting rod and the connecting plate 1252 are all achieved through rotating shafts.

[0069] The clamping assembly 125 includes a base 1251, a connecting plate 1252, an adapter 1253, and a clamping member 1254. The connecting plate 1252 is mounted on one side of the base 1251 for connection to the linkage 122; the adapter 1253 is mounted on the opposite side of the base 1251 for connection to the insertion portion mounting mechanism 13; and the clamping member 1254 is mounted on the base 1251 for clamping and securing the base 1251 and the insertion portion mounting mechanism 13.

[0070] The connecting rod mechanism 122 is a planar four-bar mechanism, which can convert the rotational motion of the insertion part drive motor 121 into the linear motion of the insertion part installation mechanism 13. Its working principle is: the first connecting rod 1221 is fixedly connected to the insertion part drive motor 121 through the motor shaft connecting member 123, the motor shaft connecting member 123 is rotatably connected to the connecting rod fixing plate 124 and the third connecting rod 1223, the fifth connecting rod 1225 is arranged parallel to the third connecting rod 1223, and the second connecting rod 1222 is arranged parallel to the sixth connecting rod 1226; the second connecting rod 1222 and the sixth connecting rod 1226 are rotatably connected to the connecting plate 1252 in the clamping assembly 125 through the rotating shaft, and the insertion part installation mechanism 13 is fixedly connected to the adapter 1253 in the clamping assembly 125. When the insertion portion drive motor 121 is driven, the motor shaft connector 123 rotates with the first connecting rod 1221, driving the entire connecting rod mechanism 122 to move, thereby achieving linear movement of the end positions of the second connecting rod 1222 and the sixth connecting rod 1226, that is, horizontal movement of the clamping assembly 125. Because the insertion portion mounting mechanism 13 is fixedly connected to the adapter 1253 in the clamping assembly 125, the insertion portion drive motor 121 can drive the insertion portion mounting mechanism 13 to move linearly.

[0071] Referring to Figure 9, the insertion section mounting mechanism 13 includes an insertion section linear wire drive assembly 131 and an insertion section mounting assembly 132. It should be noted that the insertion section mounting assembly 132 is used to mount the insertion section 100. The distal end of the insertion section 100 includes a flexible controllable insertion section device. The insertion section linear wire drive assembly 131 controls the bending posture of the flexible controllable insertion section device at the distal end of the insertion section via an insertion section pull wire. The insertion section mounting assembly 132 is detachably connected to the side panels of the insertion section linear wire drive assembly 131. The insertion section linear wire drive assembly 131 is connected to the linkage mechanism 122 via a clamping assembly 125. Two sets of first clamping jaw assemblies 133 are provided on the side panels of the insertion section linear wire drive assembly 131. When the clamping jaws of both sets of first clamping jaw assemblies 133 are open, the insertion section mounting assembly 132 can be separated from the insertion section linear wire drive assembly 131. When the clamping jaws of both sets of first clamping jaw assemblies 133 are closed, the insertion section mounting assembly 132 can be clamped and fixed to the insertion section linear wire drive assembly 131.

[0072] Referring to Figure 10 , the sheath mounting mechanism 14 includes a sheath linear wire drive assembly 141 and a sheath mounting assembly 142. The sheath mounting assembly 142 is used to mount the sheath 200. The distal end of the sheath 200 includes a flexible, controllable sheath device. The sheath linear wire drive assembly 141 can control the bending posture of the flexible, controllable sheath device at the distal end of the sheath via a sheath pull wire. The sheath mounting assembly 142 is detachably connected to the side panel of the sheath linear wire drive assembly 141. Two sets of second clamping jaw assemblies 143 are provided on the side panel of the sheath linear wire drive assembly 141. When the jaws of both sets of second clamping jaw assemblies 143 are open, the sheath mounting assembly 142 can be separated from the sheath linear wire drive assembly 141. When the jaws of both sets of second clamping jaw assemblies 143 are closed, the sheath mounting assembly 142 can be clamped and fixed to the sheath linear wire drive assembly 141.

[0073] Please refer to Figure 11. The insertion part linear wire drive assembly 131 includes a mounting seat and multiple linear wire drive components. The mounting seat includes two side plates 101 and two bottom plates 102 arranged opposite to each other. The bottom plate 102 is connected between the two side plates 101. The two side plates 101 are used to install and support multiple linear wire drive components.

[0074] Each linear wire drive member includes a first motor 103, a reversing wheel 104, a synchronous wheel and a linear transmission member. The first motor 103 is located between the two side plates 101 and is vertically installed on the side plates 101. The first motor 103 is a power source that can convert electrical energy into mechanical energy and transmit the mechanical energy to the linear transmission member; the synchronous wheel is installed on the side plate 101, and the axial direction of the synchronous wheel is perpendicular to the output shaft of the first motor 103. The synchronous wheel is connected to the output shaft of the first motor 103 through the reversing wheel 104. The first motor 103 is used to drive the reversing wheel 104 and the output shaft of the first motor 103. Synchronous rotation, the reversing wheel 104 is used to drive the synchronous wheel to rotate synchronously, and the reversing wheel 104 can reverse the rotation of the first motor 103 along the axial direction of the output shaft and convert it into rotation along the axial direction of the synchronous wheel; the linear transmission member is connected to the synchronous wheel, and the rotation of the synchronous wheel can drive the linear transmission member to move back and forth along the axial direction of the first motor 103. The linear transmission member, as a transmission element, can transmit the mechanical energy generated by the first motor 103 to the insertion part pull wire, so as to realize the insertion part pull wire to move back and forth along the axial direction of the first motor, thereby controlling the bending posture of the insertion part flexible controllable instrument at the end of the insertion part.

[0075] The linear transmission member extends from the connection position with the synchronous wheel to between the two side plates 101. The insertion part pull wire is installed on the linear transmission member. The linear transmission member drives the insertion part pull wire to move along the axial direction of the first motor 103 between the two side plates 101 through the rotation of the synchronous wheel to control the bending posture of the flexible controllable instrument of the insertion part.

[0076] The insertion part linear wire drive assembly 131 can convert the rotational motion of the first motor 103 into linear motion by setting a reversing wheel 104, a synchronous wheel and a linear transmission member, and can fold the linear transmission member above or below the first motor 103, so that the overall structural length of the drive assembly is shortened, the structure is more compact, the volume is small and the weight is light.

[0077] In one embodiment of the present application, the insertion portion linear wire drive assembly 131 includes at least three sets of insertion portion pull wires, each of which is driven forward and backward by a linear wire drive element. By changing the forward and backward positions of the three sets of insertion portion pull wires, the bending posture of the insertion portion flexible controllable device can be controlled. Each linear wire drive element includes a first motor 103, a set of reversing wheels 104, two synchronous wheels, and a linear transmission element.

[0078] Specifically, multiple first motors 103 are mounted between two side plates 101, with the output shafts of the multiple first motors 103 arranged on the same side. Multiple through-holes are provided on the side plate 101 near the output shafts of the first motors 103. The output shafts of the multiple first motors 103 extend through the multiple through-holes to the outside of the side plates 101. A set of reversing wheels 104 includes a first helical gear 1041 and a second helical gear 1042. The first helical gear 1041 is mounted on the output shafts of the first motors 103, and the second helical gear 1042 is mounted on the side plate 101 and meshes with the first helical gear 1041. The first helical gear 1041 is coaxial with the output shafts of the first motors 103, and the axial direction of the second helical gear 1042 is perpendicular to the axial direction of the first helical gear 1041.

[0079] The two synchronous wheels are the first synchronous wheel 105 and the second synchronous wheel 106. The first synchronous wheel 105 and the reversing wheel 104 are located on the outside of the same side plate 101, and the first synchronous wheel 105 and the second bevel gear 1042 are installed on the same rotating shaft. The second synchronous wheel 106 is located between the two side plates 101 and is installed on the mounting seat. The axial direction of the second synchronous wheel 106 is parallel to the axial direction of the first synchronous wheel 105, and the first synchronous wheel 105 and the second synchronous wheel 106 are arranged at intervals along the axial direction of the first motor 103.

[0080] In this embodiment, the linear transmission element is a synchronous belt 107, which is sleeved around the outer circumference of the first synchronous wheel 105 and the second synchronous wheel 106. When the first motor 103 drives the reversing wheel 104 to rotate synchronously, the reversing wheel 104 can drive the first synchronous wheel 105 to rotate synchronously. The rotation of the first synchronous wheel 105 can drive the synchronous belt 107 to move along the axial direction of the first motor 103. At the same time, the second synchronous wheel 106 rotates with the movement of the synchronous belt 107. The insertion portion pull wire is installed on the synchronous belt 107, which can drive the insertion portion pull wire to move along the axial direction of the first motor 103 between the two side plates 101 to control the bending posture of the insertion portion flexible controllable device.

[0081] Further, referring to Figures 11 and 12, each linear wire drive component also includes a linear guide 108, a fixed connector 109, and a wire pull connector 110. The linear guide 108 is mounted on the two base plates 102 along the axial direction of the first motor 103. The linear guide 108 is used to guide the movement of the wire pull. One end of the fixed connector 109 is mounted on the synchronous belt 107, and the other end of the fixed connector 109 is slidably mounted on the linear guide 108. When the synchronous belt 107 is driven back and forth around the first synchronous wheel 105 and the second synchronous wheel 106, it can drive the fixed connector 109 to slide on the linear guide 108. The linear wire connector 110 is mounted on the clamping fixture 109, and the wire pull is connected to the wire pull connector 110. The wire pull connector 110 moves synchronously with the fixed connector 109.

[0082] Furthermore, the insertion portion linear wire drive assembly 131 also includes a plurality of force sensing sensors 111, and the plurality of force sensing sensors 111 correspond one-to-one to the plurality of linear wire drive components. The force sensing sensors 111 are installed on the fixed connector 109, and the pull wire connector 110 is connected to the force sensing sensor 111. The force sensing sensor 111 moves synchronously with the pull wire, and the force sensing sensor 111 is used to measure the real-time tension on the pull wire.

[0083] It can be understood that the structure of the sheath linear wire drive assembly 141 is the same as that of the above-mentioned insertion portion linear wire drive assembly 131, both of which include a mounting seat and multiple linear wire drive components. For the specific structure, please refer to Figures 11 and 12 and the description in the above-mentioned embodiments, which will not be repeated here.

[0084] Referring to Figure 13 , the feeding mechanism 6 supports, guides, and feeds the flexible, controllable-end medical device 300. The feeding mechanism 6 includes at least one driving wheel 61 and at least one driven wheel 62 . The driving wheel 61 and the driven wheel 62 cooperate to clamp the flexible, controllable-end medical device 300 and drive the flexible, controllable-end medical device 300 along a feeding direction.

[0085] Referring to Figures 14 and 15 , the alignment mechanism 5 cooperates with the second linear drive mechanism 7 to adjust the position and posture of the feed mechanism 6. The second linear drive mechanism 7 includes a second motor 71 and a linear drive module 72. The linear drive module 72 moves vertically under the drive of the second motor 71. The alignment mechanism 5 includes a displacement adjustment assembly and a posture adjustment assembly. One end of the displacement adjustment assembly is connected to the linear drive module 72, and the other end of the displacement adjustment assembly is connected to the feed mechanism 6 via the posture adjustment assembly. The displacement adjustment assembly is used to move the feed mechanism 6 vertically and horizontally, and the posture adjustment assembly is used to adjust the angle and direction of the feed mechanism 6.

[0086] The linear drive module 72 includes a linear transmission member 721 and a sliding member 722 . The sliding member 722 is slidably disposed on the linear transmission member 721 , and one end of the displacement adjustment component is connected to the sliding member 722 .

[0087] In one embodiment, the linear transmission member 721 may be a screw rod, and the sliding member 722 may be a sliding block sleeved on the screw rod.

[0088] In another embodiment, the linear transmission member 721 may be a gear and a belt, and the sliding member 722 is fixedly mounted on the belt. Of course, it is not limited thereto, and may also be other types of linear drive structures.

[0089] The displacement adjustment assembly includes a first brake mechanism 501, a second brake mechanism 502, a third brake mechanism 503, a fourth brake mechanism 504, a first connector 508, a second connector 509, a first connecting arm 510, and a second connecting arm 511. When the brake mechanisms are energized, the rotating shaft of the first brake mechanism 501 is fixedly connected to the linear drive module 72 of the second linear drive mechanism 7 and is rotationally connected to one end of the first connecting arm 508. The rotating shaft of the second brake mechanism 502 is rotationally connected to the other end of the first connecting member 508 and is fixedly connected to one end of the first connecting arm 510. The rotating shaft of the third brake mechanism 503 is rotationally connected to the other end of the first connecting arm 510 and is fixedly connected to one end of the second connecting member 509. The rotating shaft of the fourth brake mechanism 504 is fixedly connected to one end of the second connecting arm 511 and is rotationally connected to the other end of the second connecting member 509.

[0090] Referring to Figures 16 and 17 , the posture adjustment assembly includes a fifth brake mechanism 505, a sixth brake mechanism 506, a seventh brake mechanism 507, a third connector 512, and a fourth connector 513. When power is supplied to these brake mechanisms, the rotating shaft of the fifth brake mechanism 505 is fixedly connected to the other end of the second connecting arm 511 and is rotationally connected to one end of the third connector 512. The rotating shaft of the sixth brake mechanism 506 is fixedly connected to the other end of the third connector 512 and is rotationally connected to one end of the fourth connector 513. The rotating shaft of the seventh brake mechanism 507 is rotationally connected to the other end of the fourth connector 513 and is fixedly connected to the feed mechanism 6.

[0091] Please refer to Figures 14 to 17. The alignment mechanism 5 of this embodiment integrates 7 brake mechanisms for use in conjunction with the second linear drive mechanism 7. First, the second linear drive mechanism 7 is used to preliminarily adjust the vertical positions of the alignment mechanism 5 and the feeding mechanism 6, and then the alignment mechanism 5 is used to further adjust the vertical and horizontal positions of the feeding mechanism 6, as well as the posture (i.e., direction and angle) of the feeding mechanism 6 relative to the natural cavity or minimally invasive incision of the human body, so that the feeding position and direction of the flexible end-controllable medical device 300 installed on the feeding mechanism 6 are consistent with the orientation of the natural cavity or minimally invasive incision of the human body, which is conducive to the smooth entry of the flexible end-controllable medical device 300 into the human body, and the patient does not need to adjust his posture to adapt to the feeding position and direction of the flexible end-controllable medical device. In addition, the alignment mechanism 5 of this embodiment has the advantages of small space occupation and low cost compared with traditional robotic arms.

[0092] Specifically, among the seven brake mechanisms in the alignment mechanism 5, the three brake mechanisms located on the proximal side of the feeding mechanism 6 (i.e., the fifth brake mechanism 505, the sixth brake mechanism 506 and the seventh brake mechanism 507) are used to adjust the posture of the feeding mechanism 6 so that the feeding mechanism 6 can be accurately aligned with the natural cavity entrance or minimally invasive incision of the human body; the remaining four brake mechanisms are used to adjust the position of the feeding mechanism 6 to adapt to beds of different positions and heights. The second brake mechanism 502 and the fourth brake mechanism 504 of these four brake mechanisms are used to adjust the position of the feeding mechanism 6 in the vertical direction (Z direction), and the first brake mechanism 501 and the third brake mechanism 503 are used to adjust the position of the feeding mechanism 6 in the horizontal direction (X, Y directions). By controlling the seven brake mechanisms, the position, direction and angle of the feeding mechanism 6 can be flexibly adjusted, and the operation is simple.

[0093] It can be understood that since the flexible end-controllable medical device 300 is clamped on the feeding mechanism 6, the feeding position and direction of the flexible end-controllable medical device 300 installed on the feeding mechanism 6 can be better aligned with the natural cavity or minimally invasive incision of the human body by adjusting the position and posture of the feeding mechanism 6.

[0094] Furthermore, the first connecting member 508 , the second connecting member 509 , the third connecting member 512 and the fourth connecting member 513 each include a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate are fixedly connected in an L-shape.

[0095] In one embodiment, the first connecting plate and the second connecting plate are integrally formed.

[0096] Each brake mechanism consists of a brake unit, a rotating shaft, and a rotor hub. The rotating shaft passes through the rotor hub and the brake unit in sequence. The brake mechanism works as follows: when power is on, the brake unit releases the rotating shaft, allowing it to rotate; when power is off, the brake unit holds the shaft tightly, preventing it from rotating.

[0097] The flexible end-controllable medical device feeding system also includes a control unit. The first brake mechanism 501 to the seventh brake mechanism 507 are all electrically connected to the control unit. The control unit controls the rotation of the rotating shafts of the first brake mechanism 501 to the seventh brake mechanism 507 by controlling the power on or off of the first brake mechanism 501 to the seventh brake mechanism 507.

[0098] Please continue to refer to Figure 1. In the application scenario of the bronchoscope, the sheath and the insertion part are both end-controllable flexible medical devices, which require the coordinated use of a flexible end-controllable medical device drive mechanism 1, a first mechanical drive mechanism 2, a first linear drive mechanism 3, a second linear drive mechanism 7, an alignment mechanism 5 and a feeding mechanism 6. Among them, the flexible end-controllable medical device drive mechanism 1, the first mechanical drive mechanism 2 and the first linear drive mechanism 3 are used in conjunction to drive the sheath and the insertion part to move simultaneously and separately. The second linear drive mechanism 7 and the alignment mechanism 5 are used in conjunction to place the feeding mechanism 6 above the natural cavity or minimally invasive incision of the human body to provide guidance, support and feeding functions for the flexible end-controllable medical device (flexible endoscope).

[0099] In application scenarios such as bronchoscopes, urethroscopes, and pyeloscopes, the feeding mechanism 6 first clamps the flexible end-controllable medical device 300, and then uses the second linear drive mechanism 7 and the alignment mechanism 5 to adjust the position and posture of the feeding mechanism 6 so that the feeding position and direction of the sheath and insertion part of the flexible end-controllable medical device 300 are aligned with the natural cavity or minimally invasive incision of the human body, making it easier for the sheath and insertion part to enter the human body. The vertically mounted first linear drive mechanism 3, the first mechanical drive mechanism 2, and the flexible end-controllable medical device drive mechanism 1 are used in conjunction to drive the sheath and insertion part to move as a whole or individually. After the flexible end-controllable medical device 300 enters the human body through the natural cavity or minimally invasive incision of the human body, the first linear drive mechanism 3 and the first mechanical drive mechanism 2 drive the sheath and insertion part to move back and forth as a whole, and the feeding mechanism 6 clamps the flexible end-controllable medical device 300 and can realize the forward and backward feeding of the flexible end-controllable medical device 300 by rotating the active wheel. When it is necessary to pass through a thinner channel in the human body, the feeding mechanism 6, the first mechanical driving mechanism 2 and the first linear driving mechanism 3 stop the overall feeding of the sheath and the insertion part, and the insertion part with a smaller diameter continues to be driven forward by the insertion part driving mechanism to reach the patient's site in the human body for detection and minimally invasive surgery.

[0100] Please refer to Figure 18, which is a schematic diagram of the application scenario of the flexible end-controllable medical device feeding system provided in Example 2 of the present application in urological endoscopes. The flexible end-controllable medical device feeding system of this embodiment includes a flexible end-controllable medical device driving mechanism 1, a first displacement driving mechanism 400, a second displacement driving mechanism 500, a feeding mechanism 6 and a moving device 4. The first displacement driving mechanism 400 includes a first mechanical driving mechanism 2 and a first linear driving mechanism 3, and the second displacement driving mechanism 500 includes an alignment mechanism 5 and a second linear driving mechanism 7. Among them, the structures of the flexible end-controllable medical device driving mechanism 1, the first mechanical driving mechanism 2, the first linear driving mechanism 3, the moving device 4, the alignment mechanism 5, the feeding mechanism 6 and the second linear driving mechanism 7 and their connection relationships are the same as those of the flexible end-controllable medical device feeding system in the above-mentioned Example 1. Please refer to the description in the above-mentioned Example 1 for details, and no further details will be given here.

[0101] In the above-mentioned embodiment 1 and embodiment 2, the flexible end-controllable medical device drive mechanism and the feeding mechanism are integrated into the same system. Compared with installing these two mechanisms in different systems respectively, integrating them into the same system facilitates the transportation of the two mechanisms and saves space. In addition, the present application adopts the flexible end-controllable medical device drive mechanism 1, the first mechanical drive mechanism 2 and the first linear drive mechanism 3 for use in combination, so that the driving direction of the flexible end-controllable medical device facilitates the smooth feeding of the flexible end-controllable medical device inside the human body.

[0102] The function of the flexible end-controllable medical device drive mechanism is to drive the endoscope into the human body for inspection or treatment. The flexible end-controllable medical device feeding mechanism is placed at the front end of the natural cavity of the human body or the minimally invasive incision used for surgery, and plays a role in supporting and guiding the endoscope. The two are used together to achieve smooth feeding of the endoscope, so the relative positions of the two can be adjusted to allow driving and feeding with less resistance. Specifically, a group of QR codes are respectively provided on the flexible end-controllable medical device drive mechanism and the feeding mechanism as marking points. Each group of QR codes consists of 3 QR codes. The flexible end-controllable medical device feeding system also includes a camera unit (such as a depth camera). First, the position and posture of the feeding mechanism are adjusted through the alignment mechanism so that the position and direction of the endoscope match the natural cavity of the human body or the minimally invasive incision used for surgery; then the depth camera is used to take pictures of the QR codes on the flexible end-controllable medical device driving mechanism and the feeding mechanism, which can record the spatial positions of the flexible end-controllable medical device driving mechanism and the feeding mechanism respectively; according to the spatial position of the feeding mechanism, the first displacement driving mechanism can adjust the spatial position of the flexible end-controllable medical device driving mechanism, so that the driving position and direction of the endoscope match the feeding position and direction, thereby realizing smooth feeding of the endoscope.

[0103] Please refer to Figure 19, which is a schematic diagram of the application scenario of the flexible end-controllable medical device feeding system provided in Example 3 of the present application in neurosurgery endoscopes. The flexible end-controllable medical device feeding system of this embodiment includes a flexible end-controllable medical device driving mechanism 1, a first displacement driving mechanism 400, a second displacement driving mechanism (not shown), a feeding mechanism (not shown) and a moving device 4. The first displacement driving mechanism 400 includes a first mechanical driving mechanism 2 and a first linear driving mechanism 3, and the second displacement driving mechanism includes an alignment mechanism and a second linear driving mechanism. Among them, the structures of the flexible end-controllable medical device driving mechanism 1, the first mechanical driving mechanism 2, the first linear driving mechanism 3, the moving device 4, the alignment mechanism, the feeding mechanism and the second linear driving mechanism and their connection relationship are the same as those of the flexible end-controllable medical device feeding system in the above-mentioned Example 1. Please refer to the description in the above-mentioned Example 1 for details, and no further details will be given here.

[0104] It should be noted that the second displacement drive mechanism and the feeding mechanism in this embodiment may not be provided.

[0105] In application scenarios such as neurosurgery endoscopes, traditional neurosurgery endoscopes are rigid endoscopes. Since they cannot bend after entering the brain, two incisions must be made in the patient's brain to complete the operation. In this embodiment, a sheath with a controllable flexible end is used in conjunction with an insertion part, and the operation can be completed through only one incision, reducing trauma to the brain.

[0106] Specifically, the first linear drive mechanism 3 and the first mechanical drive mechanism 2 are used to drive the flexible end-controllable medical device drive mechanism 1 close to the minimally invasive incision in the human brain. The position and posture of the flexible end-controllable medical device drive mechanism 1 can be further adjusted by the first mechanical drive mechanism 2 so that the feeding direction of the sheath 200 and the insertion part 100 are aligned with the brain incision. The sheath 200 and the insertion part 100 are driven by the first mechanical drive mechanism 2 to enter the brain through the minimally invasive incision. The flexible end-controllable medical device drive mechanism 1 can drive the sheath 200 and the insertion part 100 to move relative to each other, and can also control the bending of the ends of the sheath 200 and the insertion part 100 and drive the insertion part 100 to reach the third ventricle and the lateral ventricle, so that the doctor can perform surgery.

[0107] In traditional feeding systems for flexible, end-controllable medical devices, one approach is to use two robotic arms to separately drive the sheath and insertion portion of the flexible device. This requires the two robotic arms to work together to insert a plastic rigid tube into the human body's natural cavity for guidance. For example, a curved rigid tube is inserted into the human mouth. The rigid tube is hollow inside, and the sheath and insertion portion can be guided by the curved rigid tube through the human body's natural cavity and into the human body. However, this approach requires high collaborative control of the two robotic arms. The plastic rigid tube is only inserted into the human body's natural cavity for guidance, without support or feeding functions. This solution also requires high sheath hardness, and the sheath cannot bend during the endoscopic feeding process. Another way is to use two linear drive mechanisms to drive the sheath and insertion part of the flexible instrument respectively. The linear drive mechanism is composed of a motor, a screw and a guide rail. The front end of the linear drive mechanism of the sheath and the insertion part has a sheath outer tube support mechanism. The support mechanism is a retractable mechanism. One end of the support mechanism is connected to the linear drive mechanism, and the other end is fixed near the natural cavity of the human body. However, this method occupies a large space and is heavy because the driving length of the linear drive mechanism is determined by the feed distance required by the endoscope sheath and the insertion part. The support structure used to support the flexible endoscope sheath catheter is complex and the retractable length is limited.

[0108] The flexible end-controllable medical device feeding system of the present application can realize the overall feeding and independent feeding of the sheath and the insertion part through the coordinated use of the flexible end-controllable medical device driving mechanism and the first displacement driving mechanism. Among them, the vertically mounted first linear driving mechanism and the first mechanical driving mechanism are used in combination to realize the feeding of the flexible end-controllable medical device in the vertical direction, which facilitates the flexible end-controllable medical device to enter the natural cavity or minimally invasive wound of the human body with less resistance. A flexible end-controllable medical device feeding mechanism is also required to be placed above the natural cavity or minimally invasive wound of the human body. The flexible end-controllable medical device feeding mechanism has a group of relatively arranged rollers that can provide a clamping and guiding function for the flexible end-controllable medical device. Therefore, there is no special requirement for the hardness of the sheath. The clamping and guiding function of the flexible end-controllable medical device feeding mechanism can replace the complex and long endoscope sheath catheter support structure, and when the flexible end-controllable medical device needs to be fed slightly, it is only necessary to accurately control the angle of rotation of the active wheel. In this feeding system, the flexible end-controllable medical device driving mechanism and the flexible end-controllable medical device feeding mechanism are integrated on the same mobile device (cart), which reduces the space occupied and facilitates operation and movement. In addition, the positions of the flexible end-controllable medical device driving mechanism and the flexible end-controllable medical device feeding mechanism can be adjusted separately, so that the flexible end-controllable medical device can smoothly enter the human body with less resistance.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A flexible end-controllable medical device feeding system, comprising a moving device, a flexible end-controllable medical device driving mechanism, a first displacement driving mechanism, a second displacement driving mechanism, and a feeding mechanism. Among them, The first displacement driving mechanism and the second displacement driving mechanism are both installed on the moving device. The flexible end-controllable medical device driving mechanism is installed on the first displacement driving mechanism. The feeding mechanism is installed on the second displacement driving mechanism. The first displacement driving mechanism and the second displacement driving mechanism are respectively used to adjust the positions of the flexible end-controllable medical device driving mechanism and the feeding mechanism. The flexible end-controllable medical device driving mechanism includes a connecting portion, an insertion portion driving mechanism, an insertion portion mounting mechanism, and a sheath mounting mechanism. The connecting portion is installed at the end of the first displacement driving mechanism. The insertion portion mounting mechanism is installed at one end of the connecting portion through the insertion portion driving mechanism. The sheath mounting mechanism is fixedly installed at the other end of the connecting portion. And the insertion portion driving mechanism is used to drive the insertion portion mounting mechanism to perform a linear movement relative to the sheath mounting mechanism.

2. The flexible distal end controllable medical device feeding system according to claim 1, wherein, The first displacement driving mechanism includes a first linear driving mechanism and a first mechanical driving mechanism. The first linear driving mechanism is installed on the moving device along a preset direction. One end of the first mechanical driving mechanism is installed on the first linear driving mechanism. The other end of the first mechanical driving mechanism is connected to the flexible end-controllable medical device driving mechanism. The second displacement driving mechanism includes a second linear driving mechanism and an alignment mechanism. The second linear driving mechanism is installed on the moving device along a preset direction. One end of the alignment mechanism is installed on the second linear driving mechanism. The other end of the alignment mechanism is connected to the feeding mechanism. Wherein, the feeding mechanism is provided with at least one driving wheel and at least one driven wheel. The driving wheel and the driven wheel cooperate to clamp the flexible end-controllable medical device and drive the flexible end-controllable medical device to perform a feeding operation along the feeding direction.

3. The flexible end controllable medical device feeding system according to claim 2, wherein, The alignment mechanism includes a displacement adjustment component and an attitude adjustment component. The displacement adjustment component is connected to the feeding mechanism through the attitude adjustment component. The displacement adjustment component is used to move the feeding mechanism in the vertical direction and the horizontal direction. The attitude adjustment component is used to adjust the angle and direction of the feeding mechanism.

4. The flexible end controllable medical device feeding system according to claim 3, wherein, The displacement adjustment assembly includes a first brake mechanism, a second brake mechanism, a third brake mechanism, a fourth brake mechanism, a first connecting member, a second connecting member, a first connecting arm, and a second connecting arm. When the brake mechanism is powered on, the rotating shaft of the first brake mechanism is fixedly connected to the second linear driving mechanism and rotatably connected to one end of the first connecting member; the rotating shaft of the second brake mechanism is rotatably connected to the other end of the first connecting member and fixedly connected to one end of the first connecting arm; the rotating shaft of the third brake mechanism is rotatably connected to the other end of the first connecting arm and fixedly connected to one end of the second connecting member; the rotating shaft of the fourth brake mechanism is fixedly connected to one end of the second connecting arm and rotatably connected to the other end of the second connecting member. The attitude adjustment assembly includes a fifth brake mechanism, a sixth brake mechanism, a seventh brake mechanism, a third connecting member, and a fourth connecting member. When the brake mechanism is powered on, the rotating shaft of the fifth brake mechanism is fixedly connected to the other end of the second connecting arm and rotatably connected to one end of the third connecting member; the rotating shaft of the sixth brake mechanism is fixedly connected to the other end of the third connecting member and rotatably connected to one end of the fourth connecting member; the rotating shaft of the seventh brake mechanism is rotatably connected to the other end of the fourth connecting member and fixedly connected to the feeding mechanism.

5. The flexible distal end controllable medical device feeding system according to claim 1, wherein, The insertion part driving mechanism includes an insertion part driving motor and a linkage mechanism. The insertion part driving motor is installed on the connecting part. One end of the linkage mechanism is connected to the output shaft of the insertion part driving motor, and the other end of the linkage mechanism is connected to the insertion part installation mechanism. The rotational movement of the output shaft is converted into a linear movement of the insertion part installation mechanism through the linkage mechanism.

6. The flexible end controllable medical device feeding system according to claim 1 or 5, wherein, The insertion part installation mechanism includes an insertion part linear wire driving assembly and an insertion part installation assembly. The insertion part installation assembly is detachably connected to the side of the insertion part linear wire driving assembly close to the sheath installation mechanism. The insertion part linear wire driving assembly is connected to the insertion part driving mechanism. Among them, the sheath installation mechanism includes a sheath linear wire driving assembly and a sheath installation assembly. The sheath installation assembly is detachably connected to the side of the sheath linear wire driving assembly away from the insertion part installation mechanism. The sheath linear wire driving assembly is fixedly connected to the connecting part.

7. The flexible end controllable medical device feeding system according to claim 6, wherein, At least one of the straight wire driving assembly of the insertion part and the straight wire driving assembly of the sheath includes a mounting base and a plurality of straight wire driving members. The mounting base includes two side plates arranged oppositely. Each straight wire driving member includes a first motor, a reversing wheel, a synchronous wheel and a linear transmission member. The first motor is located between the two side plates and is vertically mounted on the side plates. The synchronous wheel is mounted on the side plates, and the axial direction of the synchronous wheel is perpendicular to the output shaft of the first motor. The synchronous wheel is connected to the output shaft of the first motor through the reversing wheel. The linear transmission member is connected to the synchronous wheel. The first motor is used to drive the reversing wheel to rotate synchronously with the output shaft of the first motor. The reversing wheel is used to drive the synchronous wheel to rotate synchronously. The synchronous wheel is used to drive the linear transmission member to move between the two side plates along the axial direction of the first motor; Among them, the flexible end controllable medical device includes an insertion part and a sheath. The sheath is sleeved outside the insertion part. The linear transmission member of the straight wire driving assembly of the insertion part is connected to the end of the insertion part through an insertion part pulling wire, and / or the linear transmission member of the straight wire driving assembly of the sheath is connected to the end of the sheath through a sheath pulling wire.

8. The flexible end controllable medical device feeding system according to claim 7, wherein, The reversing wheel includes a first bevel gear and a second bevel gear. The first bevel gear is mounted on the output shaft of the first motor. The second bevel gear is mounted on the side plate and meshes with the first bevel gear. The first bevel gear is coaxially arranged with the output shaft of the first motor. The axial direction of the second bevel gear is perpendicular to the axial direction of the first bevel gear.

9. The flexible distal end controllable medical device feeding system according to claim 8, wherein, The synchronous wheel includes a first synchronous wheel and a second synchronous wheel. The linear transmission member is a synchronous belt. The first synchronous wheel and the reversing wheel are located outside the same side plate, and the first synchronous wheel and the second bevel gear are mounted on the same rotating shaft. The second synchronous wheel is located between the two side plates and is mounted on the mounting base. The axial direction of the second synchronous wheel is parallel to the axial direction of the first synchronous wheel, and the first synchronous wheel and the second synchronous wheel are arranged at intervals along the axial direction of the first motor. The synchronous belt is sleeved on the outer peripheries of the first synchronous wheel and the second synchronous wheel. The insertion part pulling wire and / or the sheath pulling wire are mounted on the corresponding synchronous belt.

10. A medical device, comprising a flexible end controllable medical device feeding system according to any one of claims 1-9.

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