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WO2023216860A1 - Dispositif médical - Google Patents

Dispositif médical Download PDF

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Publication number
WO2023216860A1
WO2023216860A1 PCT/CN2023/090257 CN2023090257W WO2023216860A1 WO 2023216860 A1 WO2023216860 A1 WO 2023216860A1 CN 2023090257 W CN2023090257 W CN 2023090257W WO 2023216860 A1 WO2023216860 A1 WO 2023216860A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
traction rope
axis
traction
component
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/090257
Other languages
English (en)
Chinese (zh)
Inventor
连洋
夏侯命金
林民才
孙强
王建辰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Edge Medical Co Ltd
Original Assignee
Shenzhen Edge Medical Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202210493457.5A external-priority patent/CN117045176A/zh
Priority claimed from CN202211261979.9A external-priority patent/CN116098561A/zh
Priority claimed from CN202211474164.9A external-priority patent/CN118058687A/zh
Application filed by Shenzhen Edge Medical Co Ltd filed Critical Shenzhen Edge Medical Co Ltd
Publication of WO2023216860A1 publication Critical patent/WO2023216860A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes

Definitions

  • the present invention relates to the technical field of medical devices, and in particular to a medical device.
  • Medical equipment includes endoscopes and surgical instruments.
  • an endoscope can enter the human body through natural channels or incisions to observe the internal conditions of the human body.
  • a doctor can use an endoscope to observe ulcers or tumors in the stomach, and formulate a plan based on this. The best treatment plan; and the end instruments of surgical instruments can be extended into the body to perform corresponding surgical operations.
  • the bending direction of the end camera of medical equipment such as an endoscope is limited after it is extended into the body.
  • the main purpose of this application is to provide a medical device designed to improve the operating space at the end of the medical device.
  • this application provides a medical device, which includes:
  • a handle portion, the handle portion is provided with a lever portion
  • the front end is used to acquire images
  • a support part one end of the support part is connected to the handle part, and the other end of the support part is connected to the front end part;
  • the first joint component is connected to the lever portion
  • the second joint component has one end connected to the front end and the other end connected to the support part;
  • the first joint component When the lever portion is moved in the first direction, the first joint component is driven to rotate in the first direction, and then the second joint component is driven to the first predetermined direction corresponding to the first direction. direction of rotation.
  • the first direction is the same as or opposite to the first predetermined direction.
  • the first direction can be the front-to-back direction.
  • the lever portion When the lever portion is moved forward, the front end portion is driven to rotate forward; When the rod is moved backward, the front end is driven to rotate backward. It can be seen from the above that the lever portion can be moved in the front and rear directions to rotate the front end portion forward and backward, thereby increasing the imaging range of the medical device.
  • Figure 1 is a schematic structural diagram of a medical device provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of the lever portion of the medical device in Figure 1 moving in the first direction;
  • Figure 3 is a schematic diagram of the lever portion of the medical device in Figure 1 moving in the second direction;
  • Figure 4 is a schematic structural diagram of Figure 1 with the support part and handle part removed;
  • Figure 5 is a schematic diagram of the assembly of the first joint component and the second joint component with the support portion in Figure 1;
  • Figure 6 is a schematic diagram of the symmetrical bending of the first joint and the sixth joint in Figure 5;
  • Figure 7 is a schematic diagram of the first joint and the sixth joint bending symmetrically in the opposite direction to Figure 6;
  • Figure 8 is a schematic diagram of the symmetrical bending of the second joint and the fifth joint in Figure 5;
  • Figure 9 is a schematic diagram of the second joint and the fifth joint bending symmetrically in the opposite direction to Figure 8;
  • Figure 10 is a schematic diagram of the first joint component marked with the first axis and the second axis;
  • Figure 11 is a schematic diagram of the second joint component marked with the third axis and the fourth axis;
  • Figure 12 is a schematic diagram of the traction rope passing through the pipe body
  • Figure 13 is a schematic diagram of the assembly of the lever part and the first joint component
  • Figure 14 is a schematic structural diagram of a joint assembly with connectors
  • Figure 15 is a schematic structural diagram of the joint assembly in Figure 14 rotated 90°;
  • Figure 16 is a schematic structural diagram of the connector in Figure 14;
  • Figure 17 is a schematic structural diagram of the first joint in Figure 4.
  • Figure 18 is a schematic structural diagram of the second joint in Figure 4.
  • Figure 19 is a schematic structural diagram of the third joint in Figure 4.
  • Figure 20 is a schematic structural view of the joint assembly with a connector between the first joint and the second joint in Figure 4;
  • Figure 21 is a schematic structural diagram of the first joint component in Figure 20 rotated 90°;
  • Figure 22 is a diagram showing the parameters of the two sets of joint components and the traction rope
  • Figure 23 is a mathematical model diagram of the two sets of joint components and the traction rope
  • Figure 24 is a schematic structural diagram of a medical device provided by another embodiment of the present application.
  • Figure 25 is a schematic structural diagram of Figure 24 with the support portion, fixed frame and other structures removed;
  • Figure 26 is a simplified structural schematic diagram of Figure 24 with the support part, fixed frame and other structures removed;
  • Figure 27 is a schematic cross-sectional structural view of the first joint component and the fixed frame in Figure 24;
  • Figure 28 is a partial structural diagram of Figure 26;
  • Figure 29 is a schematic cross-sectional structural view of the first joint component and the fixed frame in Figure 24;
  • Figure 30 is a schematic structural diagram of the first embodiment in which the extension part and the push-pull rod in Figure 25 cooperate;
  • Figure 31 is a schematic structural diagram of the second embodiment in which the extension part and the push-pull rod in Figure 25 cooperate;
  • Figure 32 is a schematic structural diagram of the first embodiment in which the guide mechanism in Figure 26 cooperates with the second set of traction ropes;
  • Figure 33 is a partial structural diagram of Figure 32;
  • Figure 34 is a schematic structural diagram of the first embodiment in which the guide mechanism in Figure 26 cooperates with the second set of traction ropes;
  • Figure 35 is a partial structural schematic diagram of Figure 34;
  • Figure 36 is a schematic structural diagram of the cooperation between the power part and the second set of traction ropes in this application.
  • Figure 37 is a schematic diagram of the first joint component on the handle side of the medical device provided by an embodiment of the present application with an elastic component;
  • Figure 38 is a schematic structural diagram of the first embodiment of the first elastic piece and the second elastic piece in Figure 37;
  • Figure 39 is a schematic diagram of the first limiting structure and the second limiting structure of the traction rope in Figure 37;
  • Figure 40 is a schematic structural diagram of the first elastic piece and the second elastic piece in Figure 37 according to the second embodiment.
  • 100-Medical equipment 101-handle part, 102-lever part, 1021-hat body part, 103-support part, 1031-tube body, 104-second joint component, 1041-fourth joint, 1042-fifth joint , 1043-sixth joint, 105-front end, 106-camera, 107-first joint component, 1071-first joint, 1072-second joint, 1073-third joint, 1081-first traction rope, 1082- The second traction rope, 1083-the third traction rope, 1084-the fourth traction rope, 109-connector, 109a-first connector, 109b-second connector, 1091-support rod, 1092-bulge, 1093 -Through hole, 1010-pin, 1011-damping rod; 1020-through hole; 118-first set of traction ropes, 128-second set of traction ropes, 110-fixed frame, 120-guide mechanism, 130-actuating assembly, 131-extension part, 132-push-pull rod, 140
  • connection can be a fixed connection, a detachable connection, or an integral body; it can It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited.
  • fixing can be a fixed connection, a detachable connection, or an integral body; it can It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited.
  • the purpose of this application is to provide a medical device 100, which may be an endoscope, a surgical instrument, or the like.
  • the medical device 100 is an endoscope
  • the power of the lever portion 102 passes through the support portion. 103 is transmitted to the front end portion 105 to drive the front end portion 105 to bend. In this way, by increasing the operating space of the front end portion 105, the imaging range of the endoscope can be increased.
  • the medical device 100 is a surgical instrument
  • the power of the lever part 102 is transmitted to the execution part at the front end (that is, the terminal instrument) through the support part 103 to drive the execution.
  • the operation flexibility of the surgical instrument can be improved by increasing the operating space of the execution part at the end of the surgical instrument.
  • the medical device 100 includes a handle part 101 , a lever part 102 , a front end part 105 and a support part 103 .
  • the lever part 102 is provided on the handle part 101, and the operator can operate the lever part 102 while holding the handle part 101. Specifically, while the operator holds the handle part 101, his thumb and/or index finger can The lever part 102 is operated.
  • the front end 105 is used to acquire images. Specifically, the front end 105 includes a camera 106. The front end 105 extends into the body and is bent within the body to achieve imaging by the camera 106 at different angles.
  • the support part 103 is used to connect the handle part 101 and the front end part 105. At the same time, the support part 103 is also used to realize transmission between the lever part 102 and the front end part 105.
  • the first direction is the same as the first predetermined direction
  • the second direction is the same as the second predetermined direction, that is, when the lever portion 102 is moved, the front end portion 105 rotates in the same direction.
  • the first direction is opposite to the first predetermined direction
  • the second direction is opposite to the second predetermined direction, that is, when the lever portion 102 is moved, the front end portion 105 rotates in the opposite direction.
  • the first direction and the second direction may be perpendicular.
  • the first direction can be the forward or backward direction.
  • the front end portion 105 is driven to rotate forward.
  • the lever portion 102 is moved backward, the front end portion 105 is driven to rotate backward;
  • second The direction can be left or right.
  • the lever portion 102 is moved to the left, the front end portion 105 is driven to rotate to the left; when the lever portion 102 is moved to the right, the front end portion 105 is driven to rotate to the right.
  • the first direction when the first direction is opposite to the first predetermined direction and the second direction is opposite to the second predetermined direction, the first direction may be the forward or backward direction.
  • the front end part 105 When the lever part 102 is moved forward, the front end part 105 is driven to Rotate backward; when the lever part 102 is moved backward, the front end part 105 is driven to rotate forward; the second direction can be left or right, and when the lever part 102 is moved to the left, the front end part 105 is driven to rotate right
  • the lever portion 102 is moved to the right, the front end portion 105 is driven to rotate to the left. It can be seen from the above that the lever portion 102 can be moved in the front, rear, left and right directions, so that the front end portion 105 can rotate front and rear, left and right, and the front end portion 105 can rotate in four directions.
  • the first direction may also have an included angle with the front and rear direction, and the included angle between the first direction and the front and rear direction may be any angle such as 30°, 60°, etc.
  • the second direction may also have an included angle with the left and right directions, and the included angle between the second direction and the left and right directions may be any angle such as 30°, 60°, etc., which is not limited here.
  • the medical device 100 also includes a first joint assembly 107 and a second joint assembly 104 .
  • the first joint component 107 is connected to the lever part 102
  • one end of the second joint component 104 is connected to the front end part 105
  • the other end is connected to the support part 103.
  • the lever portion 102 drives the first joint assembly 107 to rotate in the first direction
  • the power of the first joint assembly 107 is transmitted to the second joint assembly 104 to rotate.
  • the second joint assembly 104 is rotated in the first predetermined direction
  • the second joint assembly 104 drives the front end portion 105 to rotate in the first predetermined direction.
  • the lever portion 102 is also used to drive the first joint assembly 107 to rotate in the second direction when the lever portion 102 is moved in the second direction, and then the power of the first joint assembly 107 is transmitted to the second joint assembly 104, so that the second joint assembly 104 can rotate.
  • the second joint assembly 104 rotates in the second predetermined direction, and finally the second joint assembly 104 drives the front end portion 105 to rotate in the second predetermined direction.
  • the linkage between the lever part 102 and the front end part 105 is realized, so that when the lever part 102 is moved, the front end part 105 faces each other. Rotate on the support part 103.
  • the first joint component 107 is located between the lever part 102 and the support part 103. One end of the first joint component 107 is connected to the lever part 102, and the other end of the first joint component 107 is connected to the lever part 102. The end is connected to the support part 103. As shown in FIG. 5 , the second joint component 104 is located between the front end 105 and the support part 103 . One end of the second joint component 104 is connected to the front end 105 , and the other end of the second joint component 104 is connected to the support part 103 .
  • the first joint assembly 107 includes a first joint 1071 , a second joint 1072 and a third joint 1073 .
  • the first joint 1071 , the second joint 1072 and the third joint 1073 are arranged in sequence.
  • the second joint 1072 Located between the first joint 1071 and the third joint 1073.
  • the first joint 1071 is rotatably connected to the second joint 1072
  • the third joint 1073 is rotatably connected to the second joint 1072.
  • one end of the second joint 1072 close to the first joint 1071 is rotatably connected to the first joint 1071
  • one end of the second joint 1072 close to the third joint 1073 is rotatably connected to the third joint 1073 .
  • Both ends of the second joint 1072 are hinged with the first joint 1071 and the second joint 1072 respectively.
  • the first joint 1071 is fixedly connected to the lever portion 102
  • the third joint 1073 is connected to the support portion 103 .
  • the first joint 1071 and the lever portion 102 can be an interference fit, threaded connection, screw connection, or an integrated structure, etc.
  • the third joint 1073 and the support portion 103 can be an interference fit, threaded connection, screw connection, or an integrated structure. etc., are not limited here.
  • the second joint assembly 104 includes a fourth joint 1041, a fifth joint 1042, and a sixth joint 1043.
  • the fourth joint 1041, the fifth joint 1042, and the sixth joint 1043 are arranged in sequence.
  • the fifth joint 1042 is located between the fourth joint 1041 and the sixth joint 1043. Between the sixth joint 1043.
  • the fourth joint 1041 is rotatably connected to the fifth joint 1042, and the sixth joint 1043 is rotatably connected to the fifth joint 1042.
  • one end of the fifth joint 1042 close to the fourth joint 1041 is rotatably connected to the fourth joint 1041, and one end of the fifth joint 1042 close to the sixth joint 1043 is rotatably connected to the sixth joint 1043.
  • Both ends of the fifth joint 1042 are hinged with the fourth joint 1041 and the sixth joint 1043 respectively.
  • the sixth joint 1043 is fixedly connected to the front end portion 105
  • the fourth joint 1041 is connected to the support portion 103 .
  • the sixth joint 1043 and the front end 105 can be an interference fit, threaded connection, screw connection or an integrated structure, etc.
  • the fourth joint 1041 and the support part 103 can be an interference fit, threaded connection, screw connection or an integrated structure, etc. , not limited here.
  • first joint 1071, the second joint 1072, the third joint 1073, the fourth joint 1041, the fifth joint 1042 and the sixth joint 1043 are not usually
  • the "joint” we understand corresponds to the joint units that constitute the joint assembly in the joint assembly. At least two joint units combine to form what is commonly understood as a “joint”, that is, the joint assembly in this application.
  • the first joint 1071, the second joint 1072, the third joint 1073 and the sixth joint 1043, the fifth joint 1042, and the fourth joint 1041 may be arranged symmetrically.
  • first joint 1071 rotates clockwise or counterclockwise in the first direction
  • power is transmitted to the sixth joint 1043, so that the sixth joint 1043 moves in the first predetermined direction.
  • the first direction is specifically for the first joint 1071 to rotate around the rotation axis between the second joint 1072 and the first joint 1071 .
  • the power is transmitted to the sixth joint 1043, so that the sixth joint 1043 and the fifth joint 1071 rotate clockwise or counterclockwise in the second direction.
  • the joint 1042 rotates in the second predetermined direction.
  • the second direction is specifically that the first joint 1071 rotates around the rotation axis between the second joint 1072 and the third joint 1073 .
  • the rotation axis of the first joint 1071 and the second joint 1072 is the first axis a, that is, the first joint 1071 can rotate relative to the second joint 1072 around the first axis a.
  • the rotation axis of the third joint 1073 and the second joint 1072 is the second axis b, that is, the second joint 1072 can rotate relative to the third joint 1073 around the second axis b.
  • the angle between the first axis a and the second axis b is greater than 0°. In other words, the first axis a and the second axis b are not parallel to each other.
  • first axis a and the second axis b are perpendicular to each other.
  • first axis a is along the diameter direction of the first joint 1071 and the second axis b is along the diameter direction of the third joint 1073 .
  • the rotation axis of the fourth joint 1041 and the fifth joint 1042 is the third axis c, that is, the fifth joint 1042 can rotate relative to the fourth joint 1041 around the third axis c.
  • the rotation axis of the fifth joint 1042 and the sixth joint 1043 is the fourth axis d, that is, the sixth joint 1043 can rotate relative to the fifth joint 1042 around the fourth axis d.
  • the angle between the third axis c and the fourth axis d is greater than 0°.
  • the third axis c and the fourth axis d are not parallel to each other.
  • the third axis c and the fourth axis d are perpendicular to each other.
  • the third axis c is along the diameter direction of the fourth joint 1041 and the fourth axis b is along the diameter direction of the sixth joint 1043 .
  • the first axis a is parallel to the fourth axis d
  • the second axis b is parallel to the third axis c.
  • the lever portion 102 drives the first joint 1071 to rotate.
  • the power is transmitted to the sixth joint 1043 to cause the sixth joint 1043 to rotate in the reverse direction.
  • the first axis a may be parallel to the third axis c
  • the second axis b may be parallel to the fourth axis d.
  • the first joint component 107 and the second joint component 104 are arranged asymmetrically, and the lever part 102 drives the third axis d.
  • the first axis a and the second axis b are perpendicular to each other, and the third axis c is perpendicular to the fourth axis d.
  • the bending direction when the sixth joint 1043 drives the front end 105 to rotate around the third axis c is perpendicular to the bending direction when the sixth joint 1043 drives the front end 105 to rotate around the fourth axis d.
  • the four bending directions of the front end 105 Evenly distributed along the circumferential direction, which is more conducive to medical observation.
  • the ratio of the width of the first joint 1071 to the width of the sixth joint 1043 is a first predetermined ratio, such as 1:1, 2:1, 3:2, 4:3 and other reasonable ratios.
  • the width of the first joint 1071 is the distance between the two farthest points on the first joint 1071
  • the width of the sixth joint 1043 is the distance between the two farthest points on the sixth joint 1043 .
  • the transmission ratio between the first joint 1071 and the sixth joint 1043 is inversely proportional to the first predetermined ratio.
  • the transmission ratio between the first joint 1071 and the sixth joint 1043 is adjusted, so that the sixth joint 1043 drives the bending of the front end portion 105 to adapt to the body space, and at the same time, the rotation of the first joint 1071 and the lever portion 102 is adapted to the worker's hand operation.
  • the width of the first joint 1071 can also be greater than the width of the sixth joint 1043, so that the sixth joint 1043 can extend into the body. At the same time, the width of the first joint 1071 is larger and easier to operate.
  • the first joint 1071 and the sixth joint 1043 may both be cylindrical.
  • the width of the first joint 1071 is the diameter of the first joint 1071
  • the width of the sixth joint 1043 is the diameter of the sixth joint 1043 .
  • first joint component 107 and the second joint component 104 have different overall widths or sizes. Through the combination of different sizes, the front end of the medical device can be adjusted.
  • the control unit performs acceleration or deceleration control, and may also affect the intensity with which the operator operates the lever portion 102 . For example, when the width or size of the first joint component 107 is larger than that of the second joint component 104 , the front end portion 105 can be accelerated and the operator's force of operating the lever portion 102 can also be reduced.
  • the medical device 100 further includes a first traction rope 1081 and a second traction rope 1082 .
  • the first traction rope 1081 and the second traction rope 1082 are both inserted into the support part 103 .
  • One end of the first traction rope 1081 and the second traction rope 1082 is fixed to the first joint 1071, and the other end is fixed to the sixth joint 1043. That is, the two ends of the first traction rope 1081 are fixed to the first joint 1071 and the sixth joint 1043 respectively, and the two ends of the second traction rope 1082 are also fixed to the first joint 1071 and the sixth joint 1043 respectively.
  • first traction rope 1081 is fixed to the first joint 1071 and the other end is fixed to the sixth joint 1043.
  • One end of the second traction rope 1082 is fixed to the second joint 1072 and the other end is fixed to the sixth joint 1043.
  • the two ends of the first traction rope 1081 are fixed to the first joint 1071 and the sixth joint 1043 respectively, and the two ends of the second traction rope 1082 are fixed to the second joint 1072 and the sixth joint 1043 respectively.
  • the second joint 1072 can also be driven to rotate in the second direction, and the power is transmitted to the sixth joint 1043 through the second traction rope 1082, so that the sixth joint 1043 drives the front end 105 along the second predetermined direction. direction of rotation.
  • the medical device 100 further includes a third traction rope 1083 and a fourth traction rope 1084 , both of which are threaded in the support part 103 .
  • the third traction rope 1083 is arranged opposite to the first traction rope 1081, and the two are connected in the same manner as the corresponding joints in the first joint assembly 107 and the second joint assembly 104. That is, the first traction rope 1081 and the third traction rope 1083 are located at the same end and fixed at the same joint.
  • the fourth traction rope 1084 and the second traction rope 1082 are arranged oppositely, and both are connected to the first The corresponding joints in the joint assembly 107 and the second joint assembly 104 are connected in the same manner. That is, the second traction rope 1082 and the fourth traction rope 1084 are located at the same end and fixed to the same joint.
  • the camera 106 when the camera 106 is bent in the body, precise transmission over a long distance and in a small space can be achieved by simply pulling the traction rope.
  • the traction rope extends along the length of the support part 103 and is connected to the joint assembly.
  • the relationship is simple and the operation is convenient; moreover, the distance between the camera 106 and the third axis c and the fourth axis d is small, so that the camera 106 has a small bending diameter, takes up less space when bending, and is less likely to collide with other surgical instruments.
  • the ratio of the distances is a second predetermined ratio.
  • the distance between the ends of the second traction rope 1082 and the fourth traction rope 1084 located on the first joint assembly 107 side is the same as the distance between the ends of the second traction rope 1082 and the fourth traction rope 1084 located on the second joint.
  • the ratio of the distances between the ends on the component 104 side is the third predetermined ratio. According to the actual situation, the second predetermined ratio and the third predetermined ratio can be adjusted.
  • the second predetermined ratio and the third predetermined ratio may be the same as the first predetermined ratio, or may be different.
  • the medical device 100 further includes a tube body 1031 , which is sleeved on the first traction rope 1081 and the second traction rope 1082 .
  • the tube body 1031 is used to provide resistance to the first traction rope 1081 and the second traction rope 1082 to change the extension of the first traction rope 1081 and the second traction rope 1082 between the first joint assembly 107 and the second joint assembly 104 direction.
  • the inner wall of the tube body 1031 resists the first traction rope 1081 and the second traction rope 1082 so that the first traction rope 1081 and the second traction rope 1082 bend.
  • the third traction rope 1083 and the fourth traction rope 1084 can also be covered with a tube body 1031.
  • the tube body 1031 is used to provide resistance to the third traction rope 1083 and the fourth traction rope 1084 to change the first joint.
  • the tube body 1031 can also reduce the wear between the traction rope and the corresponding joints during the movement process. In this way, the life of the traction rope can be improved while also avoiding the Affects the tension of the traction rope.
  • the first traction rope 1081 and the third traction rope 1083 form a first group of traction ropes (not shown in the figure), and the second traction rope 1082 and the fourth traction rope 1084 form a second group of traction ropes (not shown in the figure). ).
  • the second traction rope 1082 and the fourth traction rope 1084 cross at the position of the handle.
  • the second traction rope 1082 and the fourth traction rope 1084 exchange their fixed positions on the sixth joint 1043 , at this time, the second traction rope 1082 and the fourth traction rope 1084 will intersect.
  • the second traction rope 1082 and the fourth traction rope 1084 will intersect at the position of the handle portion.
  • the second traction rope 1082 and the fourth traction rope 1084 may also intersect in the support part 103 without intersecting at the position of the handle part. Reasonable selection can be made based on actual needs.
  • This embodiment does not limit whether the first traction rope 1081 and the third traction rope 1083 cross, because when the first traction rope 1081 and the third traction rope 1083 do not cross, it complies with the operator's intuitive operating habits.
  • the medical device 100 further includes a reversing wheel (not shown in the figure) provided in the support part 103, and the reversing wheel is used to change the first joint assembly 107 and the second joint assembly 104.
  • the first traction rope 1081 and the second traction rope 1082 each go around the reversing wheel to realize the bending steering of the first traction rope 1081 and the second traction rope 1082.
  • the reversing wheel can also be used to change the extending direction of the third traction rope 1083 and the fourth traction rope 1084 between the first joint assembly 107 and the second joint assembly 104 . That is, the third traction rope 1083 and the fourth traction rope 1084 each go around the reversing wheel to realize the bending steering of the third traction rope 1083 and the fourth traction rope 1084.
  • the rotation axis of the fourth joint 1041 and the fifth joint 1042 is the third axis c
  • the rotation axis of the sixth joint 1043 and the fifth joint 1042 is the fourth axis d.
  • the medical device 100 also includes a first traction rope 1081 , a second traction rope 1082 , a third traction rope 1083 and a fourth traction rope 1084 that are passed through the support part 103 .
  • the first traction rope 1081 and the third traction rope 1083 are respectively located on both sides of the fourth axis d.
  • the first traction rope 1081 and the third traction rope 1083 drive the sixth joint 1043 to rotate around the fourth axis d.
  • the first predetermined direction is The front end portion 105 rotates around the fourth axis d.
  • the second traction rope 1082 and the fourth traction rope 1084 are respectively located on both sides of the third axis c.
  • the fifth joint 1042 is driven to rotate around the third axis c through the second traction rope 1082 and the fourth traction rope 1084.
  • the second predetermined direction is The front end portion 105 rotates around the third axis c.
  • pulling the first traction rope 1081 or the third traction rope 1083 can cause the sixth joint 1043 to rotate toward one side or the other side around the fourth axis d.
  • the sixth joint 1043 drives the front end 105 to rotate around the fourth axis d, and the first predetermined direction is for the front end 105 to rotate around the fourth axis d.
  • pulling the second traction rope 1082 or the fourth traction rope 1084 can cause the fifth joint 1042 and the sixth joint 1043 to jointly rotate around the third axis c toward one side or toward the other side.
  • the sixth joint 1043 drives the front end 105 to rotate around the third axis c, and the second predetermined direction is for the front end 105 to rotate around the third axis c.
  • the straight line where the first joint component 107 is located intersects with the straight line where the second joint component 104 is located.
  • the straight line of the first joint component 107 is along the arrangement direction of the first joint 1071, the second joint 1072 and the third joint 1073
  • the straight line of the second joint component 104 is along the direction of the fourth joint 1041, the fifth joint 1042 and the sixth joint. 1043
  • the arrangement direction of the first joint 1071, the second joint 1072 and the third joint 1073 is different from the arrangement direction of the fourth joint 1041, the fifth joint 1042 and the sixth joint 1043.
  • the first joint component has a first central axis M
  • the second joint component has a second central axis N
  • the The first central axis is not parallel to the second central axis. That is, the first central axis M and the second central axis N may intersect. Alternatively, the first central axis M and the second central axis N may be perpendicular. The first central axis M and the second central axis N may not intersect and may be in different planes. The details can be reasonably set according to actual needs.
  • the lever portion 102 includes a cap body portion 1021 fixedly connected to the first joint assembly 107 , and the cap body portion 1021 can be fixedly connected to the first joint 1071 .
  • the cap body part 1021 may be cylindrical, and the cap body part 1021 covers the first joint 1071 .
  • One end of the cap body 1021 is fixedly connected to the first joint 1071, and the other end of the cap body 1021 is an operating end.
  • the first joint assembly 107 is located inside the handle part 101, and the operating end of the cap body part 1021 is exposed outside the handle part 101. The operator can hold the handle part 101 and operate the operating end of the cap body part 1021 with his thumb and/or index finger.
  • the lever portion 102 also includes a rotational damping member (not labeled) fixedly connected to the cap body 1021.
  • the rotational damping member is used to generate resistance during the rotation of the first joint 1071 and the second joint 1072. .
  • the rotational damping member includes a damping rod 1011 and a pin 1010.
  • the damping rod 1011 is inserted into the first joint assembly 107, that is, the damping rod 1011 is inserted into the first joint 1071, the second joint 1072, and the third joint 1073.
  • the pin 1010 passes through the damping rod 1011 transversely, and the cap body 1021 is provided with a through hole 1020.
  • the pin 1010 is inserted into the through hole 1020 of the cap body 1021 to achieve a fixed connection between the pin 1010 and the cap body 1021.
  • the material of the damping rod 1011 can be memory alloy or other elastic rods, which is not limited here.
  • the rotation damping member can also be disposed in the second joint component 104, which is not limited here.
  • the rotation damping component can also be a torsion spring or other components, which is not limited here.
  • the first joint assembly 107 and/or the second joint assembly 104 further includes a connector 109 for connecting two adjacent joints.
  • the connecting member 109 includes a support rod 1091 and two protrusions protruding from the end of the support rod 1091. Department 1092.
  • Each joint is provided with a fixing hole i, and the protruding portion 1092 is used to snap into the corresponding fixing hole i, and when two adjacent joints rotate relative to each other, the protruding portion 1092 rotates in the fixing hole i.
  • the number of connectors 109 may be multiple.
  • the plurality of connectors 109 include a first connector 109a and a second connector 109b.
  • the following description takes the first joint assembly 107 as an example.
  • the first connector 109a is connected to the first joint 1071 and the second joint 1072
  • the second connector 109b is connected to the second joint 1072 and the third joint 1073.
  • the two protruding portions 1092 of the first connecting member 109a are respectively engaged in the fixing holes i of the first joint 1071 and the second joint 1072, and the protruding portions 1092 can rotate in the fixing holes i.
  • the axes of the two protruding portions 1092 of the first connecting member 109a are parallel to the first axis a, and the first axis a and the axes of the two protruding portions 1092 of the first connecting member 109a are located in the same plane.
  • the axes of the two protruding portions 1092 of the first connecting member 109a and the first axis a are arranged sequentially along the arrangement direction of the three joints.
  • the arrangement direction of the three joints is perpendicular to the first axis a and the second axis b.
  • Both the second joint 1072 and the third joint 1073 are provided with fixing holes i for the protruding portions 1092 to engage.
  • the two protruding portions 1092 of the second connecting member 109b are respectively engaged in the fixing holes i of the second joint 1072 and the third joint 1073, and the protruding portions 1092 can rotate in the fixing holes i.
  • the axes of the two protruding portions 1092 of the second connecting member 109b are parallel to the second axis b, and the second axis b and the axes of the two protruding portions 1092 of the second connecting member 109b are located in the same plane.
  • the axes of the two protruding portions 1092 of the second connecting member 109b and the second axis b are arranged sequentially along the arrangement direction of the three joints.
  • the arrangement direction of the three joints is perpendicular to the first axis a and the second axis b.
  • one of the first joint 1071 and the second joint 1072 is provided with a protrusion h
  • the other of the first joint 1071 and the second joint 1072 is provided with a groove e.
  • the inner wall of the groove e and the top surface of the protrusion h are both arc surfaces.
  • the protrusion h can be inserted into the groove e so that the first joint 1071 and the second joint 1072 can rotate relative to each other, thereby realizing the first joint 1071 and the second joint 1072.
  • the rotation connection of the two joints 1072 After the protrusion h is inserted into the groove e, the arcuate surface extends around the first axis a, and the cross-section of the arcuate surface is an arc.
  • one of the second joint 1072 and the third joint 1073 is provided with a protrusion h
  • the other of the second joint 1072 and the third joint 1073 is provided with a groove.
  • the inner wall of the groove e and the top surface of the protrusion h are both arc surfaces, and the protrusion h can be inserted into the groove e so that the second joint 1072 and the third joint 1073 can rotate relative to each other, thereby realizing the second joint 1072 and the rotational connection of the third joint 1073.
  • the protrusion h is inserted into the groove e
  • the arc surface extends around the second axis b, and the cross section of the arc surface is an arc.
  • both ends of the second joint 1072 are provided with protrusions h
  • the first joint 1071 and the third joint 1073 are provided with grooves e.
  • the protrusion h at one end of the second joint 1072 snaps into the groove e of the first joint 1071
  • the protrusion h at the other end of the second joint 1072 snaps into the groove e of the third joint 1073, so as to realize the movement of the second joint 1072.
  • Both ends are rotatably connected to the first joint 1071 and the third joint 1073 respectively.
  • the first joint 1071 and the second joint 1072 are rotationally connected through two grooves e and two protrusions h respectively engaged in the two grooves e. That is, the first joint 1071 is provided with two grooves e, and the first end of the second joint 1072 is provided with two protrusions h that match the two grooves e of the first joint 1071. The first end of the second joint 1072 The two protrusions h respectively snap into the two grooves e of the first joint 1071 to realize the rotational connection of the first joint 1071 and the second joint 1072.
  • the first joint 1071 is provided with two protrusions h
  • the first end of the second joint 1072 is provided with two grooves e that cooperate with the two protrusions h of the first joint 1071
  • the two protrusions h of the first joint 1071 are provided with The protrusions h are respectively locked into the two grooves e at the first end of the second joint 1072 to realize the rotational connection of the first joint 1071 and the second joint 1072.
  • the second joint 1072 and the third joint 1073 are rotationally connected through two grooves e and two protrusions h respectively engaged in the two grooves e. That is, the third joint 1073 is provided with two grooves e, and the second end of the second joint 1072 is provided with two protrusions h that match the two grooves e of the third joint 1073. The second end of the second joint 1072 is The two protrusions h are respectively locked into the two grooves e of the third joint 1073 to realize the rotational connection between the second joint 1072 and the third joint 1073.
  • the third joint 1073 is provided with two protrusions h
  • the second end of the second joint 1072 is provided with two grooves e that cooperate with the two protrusions h of the third joint 1073
  • the two protrusions h of the third joint 1073 are provided with The protrusions h are respectively locked into the two grooves e at the second end of the second joint 1072 to realize the rotational connection between the third joint 1073 and the second joint 1072 .
  • the second joint 1072 and the third joint 1073 can also be rotationally connected through a groove e and a protrusion h stuck in the groove e.
  • the second joint 1072 and the first joint 1071 can also be connected through a concave groove e.
  • the groove e is rotatably connected to a protrusion h stuck in the groove e, which is not limited here.
  • the number of first connecting members 109a is two.
  • Two sets of matching grooves e and protrusions h between the first joint 1071 and the second joint 1072 are respectively located on the two first connecting members 109a. between the two protrusions 1092.
  • the first joint 1071 and the second joint 1072 are rotationally connected through two sets of grooves e and protrusions h.
  • Each set of grooves e and the protrusions h that snap into the groove e are located on both sides of one of the first connecting parts 109a. between the protrusions 1092.
  • the number of second connecting parts 109b is two, and two sets of matching grooves e and protrusions h between the second joint 1072 and the third joint 1073 are respectively located on the two second connecting parts. between the two raised portions 1092 of 109b.
  • the second joint 1072 and the third joint 1073 are rotationally connected through two sets of grooves e and protrusions h.
  • Each set of grooves e and the protrusions h that snap into the groove e are located on both sides of one of the second connecting parts 109b. between the protrusions 1092.
  • the second joint component 104 has the same structure as the first joint component 107 and will not be described again.
  • the connecting piece 109 also includes a through hole 1093 that penetrates the support rod 1091.
  • Each joint is provided with a rope hole f.
  • the first traction rope 1081 is used to pass through the rope hole f of each joint in turn, and the connecting piece
  • the through hole 1093 of 109 terminates at the sixth joint 1043.
  • each joint is provided with a receiving hole g adjacent to the rope hole f.
  • the receiving hole g is used for the light source cable of the medical device 100 to pass through.
  • the light source cable can be an LED cable, an optical fiber cable, etc.
  • the length between the first joint component 107 and the second joint component 104; W2 is the length of the other of the two opposite traction ropes between the first joint component 107 and the second joint component 104; ⁇ is the first joint component The angle between the central axis of 107 and the central axis of the second joint assembly 104; ⁇ is the deflection angle of the first joint 1071; ⁇ is the deflection angle of the sixth joint 1043.
  • the angles ⁇ and The spatial positional relationship between the two joint components and the appropriate pre-tightening force of the traction rope (pressing both ends with clamping points) can form a long-distance transmission without backlash between W1 and W2, and then use the above parameters: k1
  • the geometric relationship between , k2, k3, k4, W, m, W1, W2, and ⁇ can be found in the sixth joint 1043
  • the functional relationship between the deflection angle ⁇ of and the deflection angle ⁇ of the first joint 1071: ⁇ ⁇ K ⁇ ;
  • the deflection angle ⁇ of the first joint 1071 is set in proportion to the deflection angle ⁇ of the sixth joint 1043, and the deflection direction of the first joint 1071 is the same as the deflection direction of the sixth joint 1043 or on the contrary.
  • the coefficient K value is related to k1, k2, k3, k4, W, m, W1, W2, and ⁇ .
  • ⁇ a certain ⁇ value is obtained, thereby realizing the second joint component 104 to follow the movement of the first joint component 107.
  • the second joint component 104 can also follow the movement of the head-end joint group according to the same movement relationship to achieve coupling or decomposition of movement, and combine the movements of the first joint component 107 with the movement of the first joint component 107 .
  • the spatial motion (translation and yaw of multiple degrees of freedom) is relatively accurately transmitted to the second joint component 104, so that the head and tail end joint groups realize follow-up motion with motion causality in general.
  • EF is equivalent to the end where the fourth joint 1041 and the fifth joint 1042 are connected
  • KL is equivalent to one end of the first joint 1071
  • IJ is equivalent to the end where the first joint 1071 is connected to the second joint 1072
  • MN is equivalent to the distance between the center lines of the two protrusions 1092 of the connecting member 109
  • GH is equivalent to the end where the second joint 1072 and the third joint 1073 are connected.
  • the first joint component 107 and the second joint component 104 form an isosceles trapezoid structure during transmission.
  • the connecting member 109 has a constant length but can rotate around the center line of the protruding portions 1092 at both ends to maintain the isosceles nature of the trapezoidal joint. From the simple geometric relationship of the above mathematical model, it can be seen that:
  • the motion of IJ can be translated to the other end AB with a certain farther spatial distance, achieving precise transmission in a longer distance and in a narrow space.
  • the first joint 1071 and the sixth joint 1043 are parallel to each other, and can accurately transmit the motion of the first joint component 107 to the second joint component 104, achieving 1:1 precise transmission over a longer distance, and the transmission is symmetrical.
  • the swing angles of the first joint 1071 and the sixth joint 1043 are equal.
  • the length of CF is L 1
  • the length of PQ is L 0
  • the length of DE is L 2
  • PQ is the deflection angle ⁇ of the connecting piece 109 .
  • the first traction rope 1081 and the second traction rope 1082 face each other, and the third traction rope 1083 and the fourth traction rope 1084 face each other.
  • the distance between the first traction rope 1081 and the second traction rope 1082 is b'.
  • ⁇ L side is the change in the length of the closed-loop traction rope, such as the length change of the first traction rope 1081; b' is the difference between the first traction rope and the traction rope 1083 opposite to the first traction rope in the second joint assembly
  • the deflection angle ⁇ is related to the two values of ⁇ L side and b', and b' is a fixed value determined by the joint structure itself. Therefore, Sin ⁇ is proportional to ⁇ L side .
  • the first traction rope 1081 , the second traction rope 1082 , the third traction rope 1083 and the fourth traction rope 1084 between the two joint assemblies may all have equal or unequal lengths.
  • the sixth joint 1043 will rotate with the first joint 1071 with different rotation angles.
  • the lengths of only some of the first traction rope 1081 , the second traction rope 1082 , the third traction rope 1083 and the fourth traction rope 1084 between the two joint assemblies are equal. That is, the lengths of some of the four traction ropes are equal, and the lengths of the remaining traction ropes are different from the lengths of the above-mentioned parts of the traction ropes.
  • the first joint 1071 of the first joint component 107 can rotate along with the first joint 1071 of the second joint component 104 .
  • the lengths of the first traction rope 1081, the second traction rope 1082, the third traction rope 1083 and the fourth traction rope 1084 can be set according to the actual situation.
  • the present application provides a medical device 100.
  • the medical device 100 includes a handle part 101, a lever part 102, an execution part (not shown in the figure) and a support part 103.
  • the lever part 102 is provided on the handle part 101, and the operator can operate the lever part 102 while holding the handle part 101. Specifically, while the operator holds the handle part 101, his thumb and/or index finger can The lever part 102 is operated.
  • the execution part may be the front end part 105 of the endoscope (shown in FIG. 1 ), which is used to acquire images.
  • the front end 105 includes a camera 106 (shown in FIG. 1 ).
  • the front end 105 extends into the body and is bent within the body to achieve imaging by the camera 106 at different angles.
  • the execution part may also be a terminal instrument (not shown in the figure) of the surgical instrument.
  • the terminal instrument extends into the body and is bent within the body to perform corresponding surgical operations.
  • One end of the support part 103 is connected to the handle part 101, and the other end of the support part 103 is connected to the execution part.
  • the support part 103 is used to connect the handle part 101 and the execution part, and at the same time, the support part 103 is also used to realize transmission between the lever part 102 and the execution part.
  • the execution portion rotates in the pitch direction
  • the lever portion when the lever portion is moved in the pitch direction (that is, the above-mentioned first direction), the execution portion rotates in the pitch direction; when the lever portion is moved in the yaw direction (that is, (the above-mentioned second direction), the execution part rotates in the deflection direction.
  • the pitching direction includes an opposite first side N and a second side S, where the first side N can be expressed as the pitching action direction in the pitching action; the second side S can be expressed as The direction of pitch action in pitch action.
  • the yaw direction includes an opposite third side L and a fourth side R, wherein the third side L can be expressed as the left sway action direction in the yaw direction; the fourth side R can be expressed as the right direction in the yaw direction. Swing action direction. It can be understood that the pitch direction and the yaw direction mentioned above are determined with the handle portion as the reference point, and the direction of looking at the front end portion 105 as the observation direction.
  • the execution portion 102 when the lever portion 102 is moved to the first side N in the pitch direction, the execution portion is driven to rotate correspondingly to the first side N in the pitch direction; when the lever portion 102 When the lever part 102 is moved to the second side S in the pitch direction, the execution part is driven to rotate correspondingly to the second side S in the pitch direction; when the lever part 102 is moved to the second side S in the pitch direction, When the third side L in the yaw direction is moved, the execution part is driven to rotate correspondingly to the third side L in the yaw direction; when the lever part 102 is moved to the fourth side L in the yaw direction. When side R is turned, the execution part is driven to rotate correspondingly to the fourth side R in the deflection direction. In this way, it is more in line with the operator's intuitive operating habits, thus improving the user experience.
  • the medical device 100 further includes a first joint component 107 and a second joint component 104 .
  • the first joint component 107 is connected to the lever part 102
  • one end of the second joint component 104 is connected to the execution part
  • the other end is connected to the support part 103 .
  • the lever portion 102 drives the first joint assembly 107 to rotate in the pitch direction, and then the power of the first joint assembly 107 is transmitted to the second joint assembly 104, so that the second joint assembly 104 rotates in the pitch direction.
  • the joint assembly 104 rotates in the pitch direction, and finally the second joint assembly 104 drives the execution part to rotate in the pitch direction.
  • the lever portion 102 When the lever portion 102 is moved in the yaw direction, the lever portion 102 drives the first joint assembly 107 to rotate in the yaw direction, and then the power of the first joint assembly 107 is transmitted to the second joint assembly 104, so that the second joint The component 104 rotates in the yaw direction, and finally the second joint component 104 drives the execution part to rotate in the yaw direction.
  • the linkage between the first joint component 107 and the second joint component 104 the linkage between the lever part 102 and the execution part is realized, so that when the lever part 102 is moved, the execution part is relative to the support Part 103 rotates.
  • the linkage between the first joint assembly 107 and the second joint assembly 104 can be realized specifically through the first set of traction ropes 118 and the second set of traction ropes 128 connecting the two.
  • one end of the first set of traction ropes 118 is fixed to the end of the first joint component, and the other end is fixed to the end of the second joint component; one end of the second traction rope can be fixed to the first joint component.
  • One end and the other end of the second traction rope can be fixed on the end of the second joint component; or one end of the second traction rope can be fixed on the first joint component and the other end can be fixed on the end of the second joint component.
  • one end of the second traction rope can be fixed to the end of the first joint component according to actual needs, such as the end close to the side of the support portion; it can also be fixed to the non-end of the first joint component, For example, it can be fixed on the second joint.
  • the first set of traction ropes 118 and the second set of traction ropes 128 may be fixed at other suitable positions associated with the first joint assembly and the second joint assembly.
  • the first group of traction ropes 118 is configured such that when the lever portion is moved toward the first side N in the pitch direction, the traction ropes located on the first side N of the first group of traction ropes 118 (such as the first traction rope 1081) is in the pay-off state; the traction rope (such as the third traction rope 1083) located on the second side S opposite to the first side N in the first group of traction ropes 118 is in the pull-line state. . It can be understood that, in order to distinguish the two traction ropes in the first group of traction ropes 118, they are distinguished by the opposite first side N and the second side S.
  • the pitch direction specifically means that the first joint 1071 rotates around the rotation axis between the second joint 1072 and the first joint 1071;
  • the yaw direction specifically means that the second joint 1072 and/or the first joint 1071 rotates around the second joint 1072 and the second joint 1072.
  • the rotation axis of the third joint 1073 rotates.
  • the traction rope such as the third traction rope 1083 located on the second side S of the first group of traction ropes 118 is in a position of release. Line state; the traction rope (such as the first traction rope 1081) located on the first side N opposite to the second side S among the first group of traction ropes 118 is in the line pulling state.
  • the second set of traction ropes 128 is configured such that when the lever portion is moved toward the third side L in the deflection direction, the traction ropes located on the third side L of the second set of traction ropes 128 (The fourth traction rope 1084) is in the pulling state; among the second group of traction ropes 128, the traction rope (the second traction rope 1082) located on the fourth side R opposite to the third side L is in the releasing state. It can be understood that, in order to distinguish the two traction ropes in the second group of traction ropes 128, they are distinguished by the opposite third side L and the fourth side R.
  • the traction rope (second traction rope 1082) located on the fourth side R of the second set of traction ropes 128 is in the pulling state;
  • the traction rope (the fourth traction rope 1084) located on the third side L opposite to the fourth side R is in a pay-out state.
  • first side N and the second side S of the first set of traction ropes 118 and the third side L and the fourth side R of the second set of traction ropes 128 are different from the pitch.
  • the first side N and the second side S of the direction correspond to the third side L and the fourth side R of the yaw direction.
  • the two traction ropes in the first group of traction ropes 118 do not cross each other, or the two traction ropes in the second group of traction ropes 128 do not cross each other, or the first group of traction ropes 128 do not cross each other. There is no intersection between the traction rope 118 and the second set of traction ropes 128 . In this way, by setting the traction ropes not to cross, not only can cross friction between the traction ropes be avoided, but also the impact on the tension effect of the traction ropes can be avoided, thereby improving the lifespan and control accuracy of the medical equipment.
  • the handle part also includes a fixed frame 110 connected to the support part and a guide mechanism 120 fixed on the fixed frame 110 .
  • the third joint is fixed on the fixed frame 110;
  • the first joint component also includes an actuating component 130 extending from the second joint, and one end of the second set of traction ropes 128 is fixed on the fixed frame 110. on the actuating assembly 130.
  • the number of the actuating components 130 may be 1, 2 or more.
  • the two actuating assemblies 130 may be disposed oppositely along the rotation axis between the second joint 1072 and the third joint 1073 .
  • the specific direction in which the actuating component 130 extends relative to the second joint is not limited, as long as it can be implemented within the handle portion.
  • the second group of traction ropes 128 when the lever portion is moved to the third side L in the deflection direction, through the actuation effect of the actuating assembly 130, the second group of traction ropes 128 is located at the third side L.
  • the traction ropes on the three sides L (the fourth traction rope 1084) are in the pulling state; and the traction ropes (the second traction ropes) on the fourth side R of the second group of traction ropes 128 located opposite to the third side L are 1082) is in the release state.
  • the lever portion when the lever portion is moved toward the fourth side R in the deflection direction, through the actuation effect of the actuating assembly 130, the second group of traction ropes 128 is positioned at the fourth side.
  • the traction rope (second traction rope 1082) on side R is in the pulling state; the traction rope (fourth traction rope 1084) on the third side L opposite to the fourth side R in the second group of traction ropes 128 is in the pulling state. Pay-off status.
  • the actuating assembly 130 further includes an extension portion 131 protruding from the second joint, and a push-pull rod 132 movably connected with the extension portion 131 .
  • one end of the second set of traction ropes 128 is fixed on the end of the push-pull rod 132 , specifically by welding, snapping or other fixing methods, or on the end of the push-pull rod 132
  • a receiving groove for accommodating the ends of the second group of traction ropes 128 is provided on the upper side.
  • one end of the second set of traction ropes 128 is not limited to being located at the end of the push-pull rod 132, but can also be provided at other positions of the push-pull rod 132 or at reasonable positions of other structures.
  • the fixed frame 110 is provided with a limiting hole 140 at a position corresponding to the push-pull rod 132 , and the limiting hole 140 is configured to limit the push-pull rod 132 along the direction of the first push-pull rod 132 .
  • the three joints 1073 move in basically parallel directions.
  • the limiting hole 140 may be a complete through hole or a blind hole extending to the bottom along the side wall of the fixed frame 110 , or may be a through hole that only penetrates the top wall of the fixed frame 110 . Specifically, it can be set reasonably according to actual needs, and this embodiment does not limit this.
  • the end of the push-pull rod 132 may be an enlarged portion or an extension 131 to stop the push-pull rod 132 from moving when the push-pull rod 132 conflicts with the top or bottom wall of the fixed frame 110 .
  • stoppers may also be provided at appropriate positions on the side walls of the fixed frame 110 to limit the movement of the push-pull rod 132 . Since the third joint 1073 is fixed on the fixed frame 110 , the push-pull rod 132 moves along the path of the limiting hole 140 relative to the third joint 1073 or the fixed frame 110 , specifically moving The direction mainly depends on the direction of the limiting hole 140 relative to the fixed frame 110 , which may be parallel, substantially parallel, or inclined.
  • the extension part 131 is provided with a chute 150 , and one end of the push-pull rod 132 close to the first joint is slidably connected in the chute 150 .
  • the push-pull rod 132 is It is configured so that when the lever portion is moved in the deflection direction, one end Sliding in the slide groove 150 , the other end moves in a direction substantially parallel to the third joint 1073 .
  • the extension portion 131 is provided with a first chute 151 and a second chute 152 communicating with the first chute 151 .
  • the extending direction of the chute 151 intersects the extending direction of the second chute 152.
  • the extending direction of the first chute 151 is perpendicular to the extending direction of the second chute 152
  • the third chute 151 is perpendicular to the extending direction of the second chute 152.
  • the push-pull rod 132 includes a main body 133 and two sliding parts 134 protruding from the end of the main body 133 close to the side of the extension 131 , and the end of the main body 133 close to the side of the extension 131 is received in the first chute 151 and is movable or slidable relative to the first chute 151.
  • the two sliding parts 134 are respectively received in the two second chute 152, and It is movable or slidable relative to the second slide groove 152 .
  • the extension portion 131 is provided with a slide groove 150 and a limiting portion 153 protruding from the groove wall of the slide groove 150 .
  • the push-pull rod 132 includes a body 133 and a sliding portion 134 protruding from an end of the body 133 close to the extension portion 131 .
  • the sliding portion 134 is received in the first slide groove 151 And conflicts with the limiting portion 153 , so that the sliding portion 134 can be movable or slidable relative to the first slide groove 151 .
  • the push-pull rod 132 located on the third side L is substantially parallel to the third joint 1073 specifically, taking the two push-pull rods 132 as an example, the push-pull rod 132 located on the third side L moves in a direction away from the first joint, and the push-pull rod 132 located on the fourth side R moves in a direction away from the first joint.
  • the traction rope (the fourth traction rope 1084) located on the third side L of the second group of traction ropes 128 is actuated to be in the pulling state, and the second group of traction ropes 128 is Among the traction ropes 128, the traction rope (the second traction rope 1082) located on the fourth side R opposite to the third side L is in a pay-out state.
  • the push-pull rod 132 located on the fourth side R moves in a direction substantially parallel to the third joint 1073 , specifically, the push-pull rod 132 located on the fourth side R is moved away from the first
  • the traction rope located on the fourth side R of the second set of traction ropes 128 (the second The traction rope 1082) is in the pulling state; the traction rope (the fourth traction rope 1084) located on the third side L opposite to the fourth side R in the second group of traction ropes 128 is in the releasing state. It can be understood that there may be only one push-pull rod 132 .
  • the guide mechanism 120 includes a first reversing wheel 121 fixed on the fixed frame 110, and the second set of traction ropes 128 is provided as one end. It is fixed on the end 135 of the push-pull rod 132, and the other end goes around the top of the first reversing wheel 121 and enters the support tube.
  • the second set of traction ropes 128 there is a conflicting relationship between the second set of traction ropes 128 and the first reversing wheel 121, that is, the first reversing wheel 121 can not only tighten the second set of traction ropes 128, the second group of traction ropes 128 can also be reversed.
  • the number of the first reversing wheels 121 corresponds to the number of traction ropes in the second group of traction ropes 128 .
  • the second set of traction ropes 128 enters the support tube in a parallel or substantially parallel direction.
  • the support part is provided with a guide hole 300 for the second set of traction ropes 128 to enter on the side close to the handle part, and the second set of traction ropes 128 is located there.
  • the fixed point on the end of the push-pull rod 132 is the first point X
  • the tangent point of the second set of traction ropes 128 on the first reversing wheel 121 is the third point Z.
  • the second set of traction ropes The position where 128 enters the guide hole 300 is the fourth point O, and the first point X, the third point Z and the fourth point O are coplanar.
  • Such a coplanar arrangement can not only avoid wear on the traction rope, but also avoid affecting the tension of the traction rope, thereby improving the control accuracy of the medical device.
  • the guide mechanism 120 includes a first reversing wheel 121 and a second reversing wheel 122 fixed on the fixed frame 110 .
  • the direction wheel 122 is located between the third joint 1073 and the first reversing wheel 121.
  • the second set of traction ropes 128 is configured with one end fixed on the end 135 of the push-pull rod 132 and the other end wound around it in turn. Enter the support tube through the top of the second reversing wheel 122 and the bottom of the first reversing wheel 121 .
  • the second set of traction ropes 128 are in a conflicting relationship with the first reversing wheel 121 and the second reversing wheel 122, that is, the The first reversing wheel 121 and the second reversing wheel 122 can not only tension the second set of traction ropes 128, but also reverse the direction of the second set of traction ropes 128. It can be understood that the number of the first reversing wheel 121 and the second reversing wheel 122 corresponds to the number of traction ropes in the second set of traction ropes 128 . Wherein, the second set of traction ropes 128 enters the support tube in a parallel or substantially parallel direction.
  • the support part is provided with a guide hole 300 for the second set of traction ropes 128 to enter on the side close to the handle part, and the second set of traction ropes 128 is located there.
  • the fixed point on the end 135 of the push-pull rod 132 is the first point X
  • the tangent point of the second set of traction ropes 128 on the second reversing wheel 122 is the second point Y.
  • the tangent point of the rope 128 on the first reversing wheel 121 is the third point Z
  • the position where the second group of traction ropes 128 enters the guide hole 300 is the fourth point O
  • the second point, the third point Z and the fourth point O are coplanar.
  • Such a coplanar arrangement can not only avoid wear on the traction rope, but also avoid affecting the tension of the traction rope, thereby improving the control accuracy of the medical device.
  • the first reversing wheel 121 is located between the first point X and the first joint 1071.
  • the first reversing wheel 121 can also be located between the first point X and the first joint 1071.
  • the first reversing wheel 121 may also be located between the first point X and the third joint 1073 .
  • This embodiment does not limit the specific position of the first reversing wheel 121, as long as the second group of traction ropes 128 can be in a tensioned state.
  • the direction E of the rotation axis 1210 of the first reversing wheel 121 is perpendicular to the extension direction F of the push-pull rod.
  • the actuating assembly 130 and the guide mechanism 120 can be replaced by a power part 160 fixed in the fixed frame 110 .
  • the power part 160 There is a drive shaft 161, and one end of the second set of traction ropes 128 is fixed on the power part 160, and the winding direction of the two traction ropes in the second set of traction ropes 128 on the power part 160 on the contrary.
  • the second group pulls One of the two traction ropes in the lead rope 128 is wound in a clockwise direction on the power part 160
  • the other one is wound in a counterclockwise direction on the power part 160 .
  • the power portion 160 rotates clockwise, driving the traction rope located on the third side L of the second group of traction ropes 128 to be in the pulling state. ; and the traction rope (second traction rope 1082) located on the fourth side R opposite to the third side L among the second group of traction ropes 128 is in a pay-off state.
  • the power portion 160 rotates counterclockwise to drive the traction rope located on the fourth side R of the second group of traction ropes 128 (
  • the second traction rope 1082) is in the pulling state;
  • the traction rope (the fourth traction rope 1084) located on the third side L opposite to the fourth side R in the second group of traction ropes 128 is in the releasing state.
  • the winding direction of the two traction ropes in the second group of traction ropes 128 on the drive shaft 161 is not limited, and can be reasonably set according to actual needs.
  • this embodiment adopts the cooperative effect of the guide mechanism 120 and the actuating assembly 130 to achieve the internal control of the second group of traction ropes 128.
  • the two traction ropes do not cross, which can not only avoid cross friction between the traction ropes, but also avoid affecting the tension effect of the traction ropes, thereby improving the life and control accuracy of the medical equipment.
  • the first joint component 107 in the handle part 101 has an interference-fit elastic component 1012 and a first limiting structure 1013 for fixing the traction rope.
  • the elastic component 1012 includes two first elastic pieces 1012a and two second elastic pieces 1012b. Two first elastic pieces 1012a are provided at a first set of relative positions of the first joint assembly 107, and two second elastic pieces 1012b are provided at a second set of relative positions of the first joint assembly 107.
  • the first joint assembly 107 includes a first joint 1071, the second joint 1072 and the third joint 1073, two first elastic pieces 1012a are arranged at the relative position between the first joint 1071 and the second joint 1072, and two second elastic pieces 1012b are arranged between the second joint 1072 and the third joint 1072.
  • the line connecting the first group of relative positions is perpendicular to the line connecting the second group of relative positions.
  • One end of the two first elastic pieces 1012a is fixed on the first joint 1071, and the other end forms an interference fit with the side of the second joint 1072; one end of the two second elastic pieces 1012b is fixed on the third joint.
  • the other end of joint 1073 forms an interference fit with the side surface of second joint 1072.
  • first friction fit structures 1012c are respectively provided on the left, right, front and rear sides of the second joint 1072.
  • a second friction fitting structure 1012d is provided at a corresponding position of the elastic component 1012.
  • the first friction fitting structure 1012c has a plurality of spaced grooves or uneven friction surfaces.
  • the second friction fitting structure 1012d has protrusions.
  • the second friction fitting structure 1012d can move along the first friction fitting structure under the action of external force. 1012c sliding friction, and can rely on friction to stay when the external force is lost. This presses the joint in the stopping position, which creates a hovering effect.
  • the elastic material of the elastic component 1012 provides flexibility for repeated use, and the above-mentioned sheet shape has a larger contact area, which is conducive to pressing the joints.
  • the sheet shape can also be in the shape of a plate or multiple strips. Such deformations.
  • a top bracket 1017 can be added.
  • the first elastic piece 1012a can be directly in the shape of "l".
  • the second elastic piece 1012b is designed into an "L" shape. One vertical end of the "L" shape is used for sliding friction and the other end is used for fixation.
  • the second spring piece 1012b can be first fixed on the L-shaped fixing seat 1015a in the first bracket 1015, the first bracket 1015 is fixed on the second bracket 1016, and then the third joint 1073 is pressed into the first bracket 1073. Between the bracket 1015 and the second bracket 1016, the third joint 1073 is fixed in this way. Both the elastic piece and the bracket can be fixed through pins 1018 and pin holes 1019.
  • the top bracket 1017 together with the first joint 1071 moves with the cap body 1021, and the end of the first elastic piece 1012a sliding friction on the side of the second joint 1072, and Moreover, the first joint 1071 and the second joint 1072 also rely on the rotational cooperation of the protrusion h and the corresponding groove around the first axis a to help realize the driving of other joints to move in a predetermined direction as described in the first embodiment.
  • the front end 105 can reach a predetermined position on the left or right, and the first elastic piece 1012a causes the second joint 1072 to hover, so that the front end 105 hovers at the predetermined position.
  • the top bracket 1017 together with the first joint 1071 moves with the cap body 1021 because the first joint 1071 is connected to the second joint 1072 , and the second joint 1072 relies on the protrusion h and the corresponding groove around its second axis b relative to the third joint 1073, which helps to drive other joints to move in a predetermined direction, and the front end 105 can reach a predetermined position forward or backward.
  • the end of the second elastic piece 1012b slides and rubs on the side of the second joint 1072 until the toggle (or push) fails and stops, so that the second joint 1072 hovers, so that the front end 105 hovers at the predetermined orientation.
  • This method of hovering achieves the effect of stopping when the user stops the front end by hand, that is, it facilitates the locking of rotation and has a self-locking function.
  • the medical device 100 has the function of moving in four directions, front, rear, left and right.
  • the first joint 1071 is provided with a first limiting structure 1013 of the traction rope 108.
  • the first joint 1071 corresponds to the rope holes f of the second joint 1072 and the third joint 1073.
  • Four first limiting structures 1013 are provided at the position.
  • the first limiting structure 1013 includes a separated first through hole 1013a and a second through hole 1013b.
  • One end of the traction rope 108 passes through the first through hole 1013a, and then is folded into the second through hole 1013b.
  • the second through hole 1013b is welded and fixed. This type of limiting structure allows the traction rope to be better straightened and fixed, without the need for traditional knotting and fixation.
  • the second limiting structure 1014 can be used in the sixth joint 1043 of the second joint assembly 104.
  • the second limiting structure 1014 has only one limiting hole 1014a, and the other end of the traction rope 108 can be directly The limiting hole 1014a is welded and fixed.
  • the above-mentioned first elastic piece 1012a and the second elastic piece 1012b are A schematic diagram of another structure.
  • the friction fit structure on the elastic piece is a protruding pin 1020 whose front and rear positions can be finely adjusted.
  • the end surface 1020a of the protruding pin 1020 for contacting the side of the first joint component 107 is spherical to better Good touch.
  • the protruding pin 1020 can move slightly forward and backward in its pin hole 1020a, thereby slightly adjusting the amount of interference between the elastic piece and the joint, so that the user receives less resistance when moving. , but when the dialing force is removed, the protruding pin 1020 can still maintain the hovering resistance requirement on the side of the joint.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

Est divulgué dans la présente demande un dispositif médical. Le dispositif médical comprend une partie poignée, une partie levier de manœuvre étant disposée sur la partie poignée ; une partie d'extrémité avant utilisée pour acquérir une image ; une partie de support, une extrémité de la partie de support étant reliée à la partie de poignée, et l'autre extrémité de la partie de support étant reliée à la partie d'extrémité avant ; un premier ensemble articulé relié à la partie levier de manœuvre ; et un second ensemble articulé, une extrémité du second ensemble articulé étant reliée à la partie d'extrémité avant, et l'autre extrémité du second ensemble articulé étant reliée à la partie de support Lorsque la partie levier de manœuvre est utilisée pour être déplacée dans une première direction, le premier ensemble articulé est entraîné pour tourner dans la première direction, puis le second ensemble articulé est entraîné pour tourner dans une première direction prédéfinie correspondant à la première direction. Lorsque la partie levier de manœuvre du dispositif médical est décalée, la puissance de la partie levier de manœuvre est transmise à la partie d'extrémité avant en passant à travers la partie de support de façon à entraîner la partie d'extrémité avant à plier, ce qui élargit la plage d'imagerie.
PCT/CN2023/090257 2022-05-07 2023-04-24 Dispositif médical Ceased WO2023216860A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202210493457.5A CN117045176A (zh) 2022-05-07 2022-05-07 内窥镜
CN202210493457.5 2022-05-07
CN202211261979.9 2022-10-14
CN202211261979.9A CN116098561A (zh) 2021-11-10 2022-10-14 医疗设备
CN202211474164.9 2022-11-23
CN202211474164.9A CN118058687A (zh) 2022-11-23 2022-11-23 医疗设备

Publications (1)

Publication Number Publication Date
WO2023216860A1 true WO2023216860A1 (fr) 2023-11-16

Family

ID=88729665

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/090257 Ceased WO2023216860A1 (fr) 2022-05-07 2023-04-24 Dispositif médical

Country Status (1)

Country Link
WO (1) WO2023216860A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120514304A (zh) * 2025-07-23 2025-08-22 湖南省华芯医疗器械有限公司 一种包覆组件、操作手柄以及内窥镜

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180214226A1 (en) * 2015-07-09 2018-08-02 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
CN109171837A (zh) * 2018-09-30 2019-01-11 泗洪县正心医疗技术有限公司 多方向灵活弯曲与锁定的手术装置
JP2020062377A (ja) * 2014-10-02 2020-04-23 リブスメド インコーポレーテッド 手術用インストルメント
CN113876282A (zh) * 2021-11-10 2022-01-04 深圳市精锋医疗科技有限公司 内窥镜
CN114224496A (zh) * 2022-02-18 2022-03-25 极限人工智能有限公司 器械弯曲关节组件、手术器械及分体式手术装置

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
JP2020062377A (ja) * 2014-10-02 2020-04-23 リブスメド インコーポレーテッド 手術用インストルメント
US20180214226A1 (en) * 2015-07-09 2018-08-02 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
CN109171837A (zh) * 2018-09-30 2019-01-11 泗洪县正心医疗技术有限公司 多方向灵活弯曲与锁定的手术装置
CN113876282A (zh) * 2021-11-10 2022-01-04 深圳市精锋医疗科技有限公司 内窥镜
CN114224496A (zh) * 2022-02-18 2022-03-25 极限人工智能有限公司 器械弯曲关节组件、手术器械及分体式手术装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120514304A (zh) * 2025-07-23 2025-08-22 湖南省华芯医疗器械有限公司 一种包覆组件、操作手柄以及内窥镜

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