CN-117357043-B - Flexible end controllable medical instrument motion control system and medical equipment

CN117357043BCN 117357043 BCN117357043 BCN 117357043BCN-117357043-B

Abstract

The invention provides a flexible tail end controllable medical instrument motion control system and medical equipment, and belongs to the technical field of medical instruments, wherein the flexible tail end controllable medical instrument motion control system comprises a mounting main body, a sheath control device and an insertion part swinging device, the sheath control device is connected with the mounting main body, the insertion part swinging device comprises an insertion part driving mechanism, an insertion part swinging arm mechanism and an insertion part mounting mechanism, the insertion part driving mechanism is connected with the mounting main body, and the insertion part mounting mechanism is connected with the insertion part driving mechanism through the insertion part swinging arm mechanism; the inserting part driving mechanism is used for driving the inserting part swing arm mechanism to drive the inserting part mounting mechanism to swing, and the inserting part swing arm mechanism is used for driving the inserting part mounting mechanism to rotate. According to the invention, the movement of the insertion part relative to the sheath is realized through the swing of the insertion part mounting mechanism, and the posture of the insertion part mounting mechanism is adjusted through the insertion part swing arm mechanism, so that the posture of the insertion part is adjusted, and the bending of the insertion part when the insertion part enters the sheath control device is avoided.

Inventors

LIU HONGBIN
XIAO YING

Assignees

中国科学院自动化研究所

Dates

Publication Date: 20260505
Application Date: 20220630

Claims (9)

1. A flexible, end-controllable medical device motion control system, comprising: A mounting main body; A sheath control device connected to the mounting body; The inserting part swinging device comprises an inserting part driving mechanism, an inserting part swinging arm mechanism and an inserting part mounting mechanism, wherein the inserting part driving mechanism is connected with the mounting main body, and the inserting part mounting mechanism is connected with the inserting part driving mechanism through the inserting part swinging arm mechanism; The insertion part driving mechanism is used for driving the insertion part swing arm mechanism to drive the insertion part mounting mechanism to swing between a first position and a second position, wherein the insertion part mounting mechanism is close to the sheath control device in the first position, and the insertion part mounting mechanism is far away from the sheath control device in the second position; the insertion part swing arm mechanism is used for driving the insertion part mounting mechanism to rotate between a third position and a fourth position, wherein the insertion part mounting mechanism is close to the sheath control device in the third position, and the insertion part mounting mechanism is far away from the sheath control device in the fourth position; the inserting part swing arm mechanism comprises an inserting part swing arm, an inserting part posture adjustment driving assembly and a transmission assembly; The device comprises an inserting part swing arm, an inserting part installation mechanism, an inserting part posture adjustment driving assembly, a transmission assembly, an inserting part driving mechanism, a driving assembly and a driving assembly, wherein one end of the inserting part swing arm is connected with an output shaft of the inserting part driving mechanism, and the inserting part installation mechanism is connected with the other end of the inserting part swing arm in a rotating way; the insertion part posture adjustment driving assembly is used for driving the transmission assembly to drive the insertion part installation mechanism to rotate between a third position and a fourth position.
2. The flexible tip controllable medical device motion control system of claim 1, wherein the insert mounting mechanism comprises an insert linear wire drive assembly and an insert mounting assembly removably connected to the insert linear wire drive assembly; the insert linear wire driving assembly is connected with the transmission assembly.
3. The flexible end-controllable medical device motion control system of claim 2, wherein the insert swing arm mechanism further comprises a rotating assembly; the rotating assembly comprises a rotating shaft and a connecting piece connected with the rotating shaft, the rotating shaft is rotatably arranged on the inserting portion swing arm, the rotating shaft is connected with the transmission assembly, and the connecting piece is connected with the inserting portion linear wire driving assembly.
4. The flexible, end-controllable medical device motion control system of claim 3, wherein said drive assembly comprises a master drive member and a slave drive member in driving engagement with said master drive member; the main transmission piece is connected with the output shaft of the insertion part posture adjustment driving assembly, and the auxiliary transmission piece is sleeved on the rotating shaft.
5. The flexible end-controllable medical device motion control system of any one of claims 1 to 4, wherein the insertion swing apparatus further comprises a locking assembly disposed on the insertion swing arm and/or the insertion mounting mechanism; The locking assembly is used for locking the insertion part mounting mechanism when the insertion part mounting mechanism rotates to the fourth position.
6. The flexible, end-controllable medical device motion control system of claim 5, wherein the locking assembly comprises a first magnet and a second magnet that is ferromagnetically attractable to the first magnet; The first magnet is arranged on the insert part swing arm, and the second magnet is arranged on the insert part mounting mechanism.
7. The flexible end-controllable medical device motion control system of any one of claims 1 to 4, wherein the sheath control means comprises a sheath arm and a sheath mounting mechanism, the sheath mounting mechanism comprising a sheath linear wire drive assembly and a sheath mounting assembly removably connected to the sheath linear wire drive assembly; the sheath linear wire driving assembly is connected with the mounting main body through the sheath arm.
8. The flexible, end-controllable medical device motion control system of claim 6, wherein the insert drive mechanism comprises an insert drive motor, the insert swing device further comprising a sensing assembly disposed on the mounting body; the sensing assembly is used for detecting the rotation angle of the driving motor of the insertion part.
9. A medical device comprising a displacement drive system and a flexible end-controllable medical instrument motion control system according to any one of claims 1 to 8; the mounting body of the flexible end controllable medical instrument motion control system is connected with the displacement driving system.

Description

Flexible end controllable medical instrument motion control system and medical equipment Technical Field The invention relates to the technical field of medical equipment, in particular to a flexible tail end controllable medical equipment motion control system and medical equipment. Background In recent years, flexible distal end-controllable medical devices and surgical instruments thereof have been used in a large number of fields for minimally invasive diagnosis and treatment. In the flexible surgical instrument system, a flexible tail end controllable medical instrument is used for checking whether a lesion exists in a human body, the flexible tail end controllable medical instrument is of a secondary concentric tube type structure, can enter the human body through an oral cavity or other natural human body cavity channels, and can observe the lesion condition in the human body by means of the flexible tail end controllable medical instrument. In the prior art, flexible distal end controllable medical devices mainly comprise a sheath and an insertion portion, which is required to pass through the sheath into the body of the subject to be treated. The flexible tail end controllable medical instrument control system mainly comprises a sheath mounting mechanism and an inserting part mounting mechanism, wherein a sheath is arranged on the sheath mounting mechanism, an inserting part is arranged on the inserting part mounting mechanism, and in the moving process of the inserting part mounting mechanism close to the sheath mounting mechanism, the inserting part on the inserting part mounting mechanism penetrates through the sheath mounting mechanism and the sheath on the sheath mounting mechanism to enter a acted object. However, in the above prior art, when there is a large angular deviation between the center line of the insertion portion mounting mechanism and the center line of the sheath mounting mechanism, the insertion portion on the insertion portion mounting mechanism is easy to bend when moving relative to the sheath mounting mechanism, which may cause damage to the power line inside the insertion portion, and therefore, it is highly desirable to provide a flexible distal end controllable medical instrument motion control system to avoid bending of the insertion portion. Disclosure of Invention The invention provides a flexible tail end controllable medical instrument motion control system and medical equipment, which are used for solving the defect that an insertion part entering a sheath is easy to bend in the prior art. The invention provides a flexible end controllable medical instrument motion control system, comprising: A mounting main body; A sheath control device connected to the mounting body; The inserting part swinging device comprises an inserting part driving mechanism, an inserting part swinging arm mechanism and an inserting part mounting mechanism, wherein the inserting part driving mechanism is connected with the mounting main body, and the inserting part mounting mechanism is connected with the inserting part driving mechanism through the inserting part swinging arm mechanism; The insertion part driving mechanism is used for driving the insertion part swinging arm mechanism to swing between a first position and a second position, wherein the insertion part installing mechanism is close to the sheath control device in the first position, the insertion part installing mechanism is far away from the sheath control device in the second position, the insertion part swinging arm mechanism is used for driving the insertion part installing mechanism to rotate between a third position and a fourth position, the insertion part installing mechanism is close to the sheath control device in the third position, and the insertion part installing mechanism is far away from the sheath control device in the fourth position. According to the flexible tail end controllable medical instrument motion control system provided by the invention, the insertion part swing arm mechanism comprises an insertion part swing arm, an insertion part posture adjustment driving assembly and a transmission assembly; The device comprises an inserting part swing arm, an inserting part installation mechanism, an inserting part posture adjustment driving assembly, a transmission assembly, an inserting part driving mechanism, a driving assembly and a driving assembly, wherein one end of the inserting part swing arm is connected with an output shaft of the inserting part driving mechanism, and the inserting part installation mechanism is connected with the other end of the inserting part swing arm in a rotating way; the insertion part posture adjustment driving assembly is used for driving the transmission assembly to drive the insertion part installation mechanism to rotate between a third position and a fourth position. According to the flexible tail end controllable medical instrument motion control system provided by the