CN114209369A - An axial dynamic system suitable for flexible bending - Google Patents

Abstract

The invention relates to an axial power system suitable for flexible bending, comprising: the power assembly is used for generating axial braking force and comprises a sleeve, a push rod and a piston column, wherein the distal end of the sleeve is an instrument joint, the proximal end of the sleeve is a bent joint, the piston column divides the sleeve into a first chamber and a second chamber, the proximal end of the push rod is connected with the piston column, and the distal end of the push rod penetrates through the first chamber and extends out of the distal end of the sleeve; the driving assembly is used for driving the push rod to move and comprises a hose and a hydraulic pump, the distal end of the hose penetrates through the bent joint to be communicated with the second chamber, and the proximal end of the hose is communicated with the hydraulic pump. The invention can not only provide enough axial braking force, but also can not generate bad acting force influencing the bending amplitude under the condition that the surgical operation instrument realizes flexible bending in any direction relative to the axial direction, thereby improving the use stability of the surgical operation instrument.

Description

Axial power system suitable for flexible bending

Technical Field

The invention relates to the technical field of medical instruments, in particular to a power system suitable for flexible bending.

Background

Many surgical instruments transmit axial braking force from a handle to an end effector to achieve a given action of the instrument, for example, a linear stapler needs axial braking force to push a knife blade so as to complete the grasping, cutting and anastomosis of tissues by means of a sliding rail structure between the knife blade and an anvil plate and a cartridge seat, and a clamping type surgical instrument such as a forceps, a surgical scissors and the like needs axial braking force to pull/push a link mechanism at the end of the instrument so as to achieve the switching between a closed state and a closed state of the instrument, thereby completing the grasping, cutting and the like of tissues.

The prior surgical instruments which need to transmit axial braking force are mostly rigid structures, and the tips of a few instruments can only realize bending with one degree of freedom in an axial vertical plane. In such known surgical instruments, neither of the ends can reach two degrees of freedom (pitch, yaw) or more. The reason for this is mainly that the transmission chain of the axial braking force must have a portion that is flexible in order to achieve bending of the distal end of the instrument. Therefore, the existing axial braking force transmission scheme capable of realizing rotation in two degrees of freedom can only be used for very small force (such as biopsy forceps of an endoscope in the digestive tract). When the above solution is used in a medical surgical instrument requiring a large braking force, the transmission chain may generate a strong compression on the curved sidewall, thereby pressing the flexible bendable portion so that it cannot maintain the original bending amplitude. Due to the self-structure scheme, a bad force for restoring the bending part mechanism to the initial state is generated, so that the set bending amplitude cannot be maintained.

The surgical operation instrument in the prior art has low rigidity and poor stability. It is therefore desirable to design a power system that provides sufficient axial braking force in the event of a flexible bend without generating forces that return the structure to the original state.

Disclosure of Invention

Therefore, the technical problem to be solved by the present invention is to overcome the defects of low rigidity and poor stability of surgical instruments in the prior art, and provide an axial power system which can still provide sufficient axial braking force under the condition of flexible bending without affecting the bending amplitude.

In order to solve the above technical problem, the present invention provides an axial power system suitable for flexible bending, comprising:

the power assembly is used for generating axial braking force and comprises a sleeve, a push rod and a piston column, wherein the distal end of the sleeve is an instrument joint, the proximal end of the sleeve is a bent joint, the piston column divides the sleeve into a first chamber and a second chamber, the proximal end of the push rod is connected with the piston column, and the distal end of the push rod penetrates through the first chamber and extends out of the distal end of the sleeve;

the driving assembly is used for driving the push rod to move and comprises a hose and a hydraulic pump, the distal end of the hose penetrates through the bent joint to be communicated with the second chamber, and the proximal end of the hose is communicated with the hydraulic pump.

In one embodiment of the invention, the first chamber is separated from the instrument connector by an end cap, and the end cap is provided with a vent.

In one embodiment of the invention, a detection assembly is connected to the hose between the second chamber and the hydraulic pump.

In one embodiment of the invention, the detection assembly comprises a flow meter and/or a barometer.

In one embodiment of the invention, the piston column is circumferentially provided with a sealing groove, and a sealing ring is arranged in the sealing groove.

In one embodiment of the invention, the hose is a spring tube.

In one embodiment of the invention, the hydraulic pump is connected to a hydraulic reservoir, which is charged with fluid.

In one embodiment of the invention, the fluid is high pressure gas, water or hydraulic oil.

In one embodiment of the invention, the hose fixing device further comprises a flexible assembly and a supporting seat, wherein the distal end of the flexible assembly is connected with the bending joint, the proximal end of the flexible assembly is connected with the distal end of the supporting seat, an intermediate channel is arranged in the flexible assembly and the supporting seat, and the hose penetrates through the intermediate channel.

In one embodiment of the present invention, the flexible assembly includes a catheter holder, a plurality of joint members, and a tool holder, the joint members are arranged in a chain shape and are connected in series, adjacent joint members can rotate around a contact surface, the distal end of the catheter holder is connected to the proximal end of the chain formed by the joint members, the proximal end of the catheter holder is connected to the supporting seat, the proximal end of the tool holder is connected to the distal end of the chain formed by the joint members, and the distal end of the tool holder is connected to the bending joint.

In one embodiment of the invention, the flexible assembly is driven to bend by a handle assembly, the handle assembly is installed at the proximal end of the supporting seat, the handle assembly is connected with one end of an attitude force piece, the flexible assembly and the supporting seat are provided with a plurality of peripheral channels in the circumferential direction of the middle channel, and the attitude force piece is fixedly connected with the distal end of the flexible assembly through the peripheral channels.

In one embodiment of the invention, the handle assembly comprises a plurality of inner rotating wheels, the inner rotating wheels are coaxially arranged, and the inner rotating wheels penetrate out of the supporting seat and are connected with a shifting wheel.

Compared with the prior art, the technical scheme of the invention has the following advantages:

the power system can not only provide enough axial braking force, but also can not generate bad acting force influencing the bending amplitude under the condition that the surgical operation instrument realizes flexible bending in any direction relative to the axial direction, thereby improving the use stability of the surgical operation instrument.

Drawings

In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which

FIG. 1 is a schematic illustration of the powertrain of the present invention;

FIG. 2 is a schematic view of the hose construction of the present invention;

FIG. 3 is a diagrammatic view of an embodiment of the surgical instrument of the present invention;

FIG. 4 is a cross-sectional view of the present invention;

FIG. 5 is a schematic view of an embodiment of a flexible component of the present invention;

FIG. 6 is a schematic view of a second embodiment of a flexible component of the present invention;

FIG. 7 is a third schematic view of an embodiment of a flexible component of the present invention;

FIG. 8 is a schematic view of the surgical instrument assembly of the present invention in a closed position;

fig. 9 is a schematic view of the open state of the surgical instrument assembly of the present invention.

The specification reference numbers indicate: 10. a power system; 1. a sleeve; 11. a hydraulic pump; 111. a vent; 12. a hydraulic tank; 13. a fluid; 14. a detection component; 2. a push rod; 3. a hose; 4. an end cap; 5. a piston post; 6. a seal ring; 7. a brake tab; 8. a bend joint; 9. an instrument adapter;

20. supporting a tube;

30. a flexible component; 301. a multi-link linking structure; 3011. a single link; 302. a snake-like bone chain structure; 303. a multi-hinge structure; 3031. a single hinge joint; 3032. a hinge point; 3033. a set of articulation joints; 3034. the hinge point of the group joint;

40. a surgical instrument assembly; 41. a stapler end effector assembly; 411. opening the jaw; 412. closing the jaws;

50. a middle channel;

60. a peripheral channel;

70. a posture force member;

80. a handle assembly; 81. braking force; 811. a distally directed braking force; 812. a proximal braking force; 82. an attitude force;

91. a trigger; 93. pitching; 94. deflecting; 95. an upper dial wheel; 96. a lower dial wheel.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

In this specification, the term "proximal" is generally used to refer to the portion of the device that is proximal to the clinician, while the term "distal" is generally used to refer to the portion of the device that is distal to the clinician. As used herein, "surgical instrument assembly" refers generally to a surgical instrument, such as a linear stapler, that requires axial braking forces to be transferred from a handle to an end effector to achieve a given instrument action.

To better understand the design of the proposed power system, the present specification, in embodiments, generally introduces a flexible assembly and a posture force member that can achieve two degrees of freedom multi-directional deflection in opposite axial directions, in turn introducing the handle of the surgical instrument and its portion connected to the end effector assembly as inputs to achieve the intended function of the end effector. In addition, the present specification illustrates how the axial braking force is converted into an instrument action by taking the end effector of a linear stapler as an example.

Referring to FIG. 1, a schematic view of anaxial power system 10 adapted for flexible bending according to the present invention is shown. Thepower system 10 of the present invention includes:

the power assembly is used for generatingaxial braking force 81 and comprises asleeve 1, apush rod 2 and apiston column 5, wherein the distal end of thesleeve 1 is an instrument joint 9, the proximal end of thesleeve 1 is a bent joint 8, thepiston column 5 divides thesleeve 1 into a first chamber and a second chamber, the proximal end of thepush rod 2 is connected with thepiston column 5, and the distal end of thepush rod 2 penetrates through the first chamber to protrude from the distal end of thesleeve 1;

the driving assembly is used for driving thepush rod 2 to move and comprises ahose 3 and ahydraulic pump 11, the distal end of thehose 3 penetrates through the bent joint 8 to be communicated with the second chamber, and the proximal end of thehose 3 is communicated with thehydraulic pump 11.

In the embodiment of the present invention, thehydraulic pump 11 is used as the power source input of thepower system 10, and thehydraulic pump 11 uses the fluid 13 as the medium for providing the power source. In order to ensure a continuous supply of the fluid 13, ahydraulic reservoir 12 is also provided, and thehydraulic pump 11 is connected to thehydraulic reservoir 12 and pumps the fluid 13 in thehydraulic reservoir 12 into the power assembly. In the present embodiment, the fluid 13 includes, but is not limited to, a flowable substance such as high pressure gas, water, hydraulic oil, and the like. The power assembly serves as the final actuator for thepower system 10. Therefore, under the condition that thesurgical instrument assembly 40 realizes the change of the spatial postures of two degrees of freedom ofpitch 93 andyaw 94, theaxial braking force 81 is provided for the end effector. Specifically, when the surgical instrument sets a posture with two degrees of freedom relative to the axial direction and needs to provide the axialdistal braking force 81, thehydraulic pump 11 starts to work, the fluid 13 starts to be injected into the second chamber of thecannula 1, the fluid 13 pushes thepiston column 5 to move towards the distal end of thecannula 1, thepush rod 2 is driven to move, the volume of the first chamber of thecannula 1 is reduced, and the axialdistal braking force 81 is provided. When the axialproximal braking force 81 needs to be provided, thehydraulic pump 11 starts to work, the fluid 13 in the second chamber is sucked out, the volume of the first chamber is increased, thepiston column 5 is pushed to move towards the proximal end of thesleeve 1, thepush rod 2 is driven to reset, and therefore the axialproximal braking force 81 is provided. In the process, only thepiston column 5 and thepush rod 2 connected with thepiston column 5 are involved to generate displacement, and the position of thehose 3 for conveying the fluid 13 is unchanged. Therefore, when the surgical instrument is set to have a posture in a plurality of directions relative to the axial direction, the posture of thehose 3 is consistent with the set posture and changes with the change of the set posture, and the posture of thehose 3 itself does not change under the condition that the posture of the outer wall is not changed. Even if the fluid 13 passes through, the main flow direction of the fluid 13 is the axial direction of thehose 3, and therefore the pressure of the fluid 13 on thehose 3 does not change the posture of thehose 3. Therefore, when theaxial braking force 81 is provided, under the condition that the bending position and the posture of thehose 3 are not changed, thehose 3 cannot extrude the bending position of the outer wall to influence the posture of the outer wall, and therefore the sufficientaxial braking force 81 is provided under the condition that the surgical instrument is ensured to realize stable multi-direction posture change relative to the axial direction. To facilitate coupling with components of thesurgical instrument assembly 40 that are required to provide pulling and pushing forces, the distal end of thepusher arm 2 is provided with astop tab 7.

Referring to fig. 1, to facilitate installation of thepush rod 2, the first chamber is separated from the instrument connector 9 by an end cap 4, so that thepush rod 2 and thepiston post 5 can be installed in thesleeve 1 by opening the end cap 4. In order to ensure that the end cover 4 and thesleeve 1 are tightly installed, the outer diameter of the end cover 4 is less than or equal to the outer diameter of thesleeve 1 and greater than the inner diameter of thesleeve 1. When thehydraulic pump 11 injects or withdraws the fluid 13 into or from the second chamber, in order to ensure the pressure of the first chamber and the second chamber to be consistent, the first chamber needs to be exhausted or charged, and therefore, avent hole 111 is formed in the end cover 4.

In this embodiment, adetection assembly 14 is further connected to thehose 3 between the second chamber and thehydraulic pump 11. Thedetection component 14 detects information such as flow, volume, pressure and the like of thepower system 10 in real time, and provides feedback for system implementation. When thedistal braking force 811 needs to be provided, thehydraulic pump 11 starts to operate, the fluid 13 is sucked from thehydraulic pool 12, and when the fluid 13 is liquid, thedetection component 14 detects that the volume of the sucked liquid reaches thecorresponding casing 1, thehydraulic pump 11 stops operating and maintains the pressure; when the fluid 13 is gas, the detectingcomponent 14 detects that the pressure of the gas reaches a corresponding value, thehydraulic pump 11 stops working, and the pressure is maintained at the moment, and the action of providing the brakingforce 81 is completed. When thebraking force 812 is required to be applied to the distal end, thehydraulic pump 11 starts to operate to suck the fluid 13 out of thecannula 1, and when the fluid 13 is a liquid, thedetection module 14 detects that the volume of the sucked liquid reaches thecorresponding cannula 1, and thehydraulic pump 11 stops to operate and maintains the pressure at the moment. When the fluid 13 is gas, the detectingcomponent 14 detects that the pressure of the gas reaches a corresponding value, thehydraulic pump 11 stops working, and the pressure is maintained at the moment, and the action of providing the brakingforce 81 is completed. Thesensing component 14 includes, but is not limited to, a flow meter and/or a pressure sensor for detecting the flow, volume and pressure of the fluid 13.

Because the second chamber is internally filled with the fluid 13, in order to ensure the sealing of the second chamber, the circumference of thepiston column 5 is provided with a sealing groove, and asealing ring 6 is arranged in the sealing groove. Thepiston column 5 is in a short cylindrical shape, the sealing groove is positioned on the circumference of the short cylindrical shape, and the diameter of thepiston column 5 is slightly smaller than the inner diameter of thesleeve 1, so that the piston column is conveniently arranged in thesleeve 1. The outer diameter of the sealingring 6 is slightly larger than the inner diameter of thesleeve 1, so that the sealing effect is ensured. Thepush rod 2 connected with thepiston post 5 provides larger thrust, so thepush rod 2 should be a cuboid or cylinder structure capable of bearing larger thrust, the maximum length of the cross section should be smaller than the diameter of the piston, and the length should be slightly larger than the length of thesleeve 1.

Referring to fig. 2, there are shown several embodiments of thehose 3, which are schematically shown in the initial state of nodeflection 94 or bending in any one degree of freedom in the axial direction and the state after thedeflection 94 in any one degree of freedom in the axial direction. Fig. 3 shows the bending of one degree of freedom in the plane of the front view of the reader, which also allows bending of another degree of freedom in a plane perpendicular to this plane and passing through the axis. Thehose 3 is a spring tube, and includes, but is not limited to, a spring-like structure, and also includes other structures that can be bent with two degrees of freedom and have only a small change in length in the axial direction. When thehose 3 is deflected 94 or bent in any one of the axial degrees of freedom, the spring-like structure will compress in the portion facing the left side of the reader and expand in the portion facing the right side of the reader, ensuring that the overall axial length changes only slightly. The driving mode of theadditional fluid 13 ensures that the bending part mechanism with any degree of freedom in the axial direction does not generate a bad force to restore the initial state, and the set bending amplitude is maintained. Therefore, in the process of providing theaxial braking force 81, the bending position cannot be changed, so that the outer wall of the surgical instrument cannot be squeezed, and the bending amplitude cannot be changed.

Referring to fig. 3 and 4, theaxial power system 10 of the present invention further includes aflexible assembly 30 and a support base, the support base includes a housing and asupport tube 20, the housing is connected to thesupport tube 20 for supporting, atrigger 91 can be connected to a lower portion of a proximal end of the housing, thetrigger 91 is connected to a switch of thehydraulic pump 11 in the driving assembly for controlling the operation of thehydraulic pump 11, and thesupport tube 20 is installed at a distal end of the housing. The distal end of thesupport tube 20 is fixedly connected to the proximal end of aflexible member 30, the distal end of theflexible member 30 is connected to the bending joint 8, and theflexible member 30 can be bent in two degrees of freedom along the axial direction (fig. 4 shows one degree of freedom in the front plane of the reader, which can also be bent in another degree of freedom in a plane perpendicular to the plane and passing through the axial direction). The proximal end of the power assembly is fixedly connected to the distal end of theflexible assembly 30. Anintermediate channel 50 is arranged in theflexible assembly 30 and the support base, and thehose 3 passes through theintermediate channel 50. Thehose 3 is bent with theintermediate channel 50 in two degrees of freedom with respect to the axial direction.

In order to meet the requirement of free bending of theflexible assembly 30 in the relative axial direction, theflexible assembly 30 is of a joint structure and comprises a plurality of joint pieces, the joint pieces are sequentially connected in a chain shape, and adjacent joint pieces can rotate around a contact surface, so that theflexible assembly 30 is bent. In order to facilitate connection with thesupport tube 20 at the proximal end of theflexible assembly 30 and the power assembly at the distal end, the device further comprises a catheter holder and an instrument holder, the distal end of the catheter holder is connected to the proximal end of the chain consisting of the joint elements, the proximal end of the catheter holder is connected to the support seat, in particular thesupport tube 20, the proximal end of the instrument holder is connected to the distal end of the chain consisting of the joint elements, and the distal end of the instrument holder is connected to the power assembly, in particular the bending joint 8.

Referring to fig. 5-7, a side view cross-section of several embodiments of theflexible component 30 is shown. In whichflexible component 30 is shown in figure 5 as amulti-link structure 301, in which the articulating member links are shown. The two ends of thesingle link 3011 are provided with a rotating surface, the far end is a convex surface, and the near end is a concave surface, so that the steering with two degrees of freedom in the relative axial direction can be realized. After the far ends and the near ends of the links are connected in sequence, thedeflection 94 with two degrees of freedom relative to the axial direction can be formed, the degree of thedeflection 94 is determined by the radian of the rotating surface of the links and the number of the links, and the larger the radian is, the more the number is, the larger the rotatable angle is. Thecompliant member 30 of fig. 6 includes, but is not limited to, aserpentine chain structure 302, and is generally made of a plastically deformable tubular material with equally spaced grooves formed in the circumference of the tubular to ensure overall stability in the event of adeflection 94. Theflexible assembly 30 in fig. 7 is amulti-hinge structure 303, the joint components are hinge joints, a single hinge joint 3031 is provided withhinge joints 3032 at the proximal end and the distal end, the two hinge joints can rotate along thehinge joints 3032 to form a hingejoint group 3033, the hingejoint group 3033 is hinged through a group joint hinge joint 3034, and the two hingejoint groups 3033 can relatively rotate along the group joint hinge joint 3034. The amount ofdeflection 94 is determined by the number of articulationjoint sets 3033, with greater arc and greater number, and greater rotational angle.

Further, referring to fig. 3 and 4, in order to realize the bending of theflexible assembly 30, theflexible assembly 30 is driven to bend by ahandle assembly 80, thehandle assembly 80 is installed at the proximal end of the supporting seat, thehandle assembly 80 is connected with one end of anattitude force member 70, theflexible assembly 30 and the supporting seat are provided with a plurality ofperipheral channels 60 in the circumferential direction of themiddle channel 50, and theattitude force member 70 passes through theperipheral channels 60 and is fixedly connected with the distal end of theflexible assembly 30. In this embodiment, theperipheral channel 60 has three or more channels and is uniformly distributed along the cross-sectional outer contour of thesupport tube 20 and theflexible member 30, and thehandle member 80 drives theposture force member 70 to move axially along theperipheral channel 60.

Further, thehandle assembly 80 comprises a plurality of inner rotating wheels, the inner rotating wheels are coaxially arranged, and the inner rotating wheels penetrate out of the supporting seat and are connected with shifting wheels. In this embodiment, two degrees of freedom are provided, so the thumb wheel includes anupper thumb wheel 95 and alower thumb wheel 96, and theupper thumb wheel 95 and thelower thumb wheel 96 can be installed on one side or both sides of the housing. Theupper thumb wheel 95 controls the magnitude of bending of theattitude force member 70 in the direction of theaxial pitch 93 while rotating theattitude force member 70 to provide theattitude force 82 required for bending in the direction of theaxial pitch 93, and thelower thumb wheel 96 controls the magnitude of bending of theattitude force member 70 in the direction of theaxial yaw 94 while rotating theattitude force member 70 to provide theattitude force 82 required for bending in the direction of theaxial yaw 94.

Referring to fig. 8 and 9, the end effector ofsurgical instrument assembly 40 is illustrated as staplerend effector assembly 41. Thehandle assembly 80 is pulled, theattitude force member 70 is driven to move axially along theperipheral channel 60 to output anattitude force 82, and theattitude force 82 is transmitted to theflexible assembly 30 through theattitude force member 70 to enable the joints thereof to rotate relatively, so that bending with two degrees of freedom, namely pitching 93 and yawing 94 shown in fig. 3 is realized. Theposture force 82 may be controlled by other means such as an electric motor, which will not be described in detail. After the posture adjustment is completed, the externalhydraulic pump 11 acts on thepush rod 2 in the power assembly through the injection and withdrawal of the fluid 13 through theflexible tube 3 in the driving assembly, and is finally transmitted to thesurgical instrument assembly 40 to provide abraking force 81 for the reciprocating motion in the axial direction, thereby completing the intended instrument action (grasping, cutting and stapling of the tissue). Specifically, when thejaws 412 are closed, thedistal braking force 811 is applied, thetrigger 91 is pulled, thehydraulic pump 11 starts to operate, the fluid 13 is sucked from thehydraulic reservoir 12, and when the fluid 13 is liquid, thedetection assembly 14 detects that the volume of sucked liquid reaches thecorresponding cannula 1, thehydraulic pump 11 stops operating and maintains the pressure at that time. When the fluid 13 is a gas, thedetection assembly 14 detects that the pressure of the gas reaches a corresponding value, thehydraulic pump 11 stops operating, and the pressure is maintained at that time. When thejaws 411 are opened, a distally directedbraking force 812 is applied, thetrigger 91 is pulled again, thehydraulic pump 11 starts to operate to suck the fluid 13 out of thecannula 1, when the fluid 13 is liquid, thedetection assembly 14 detects that the volume of the sucked liquid reaches thecorresponding cannula 1, thehydraulic pump 11 stops operating and maintains the pressure at the moment. When the fluid 13 is a gas, thedetection assembly 14 detects that the pressure of the gas reaches a corresponding value, thehydraulic pump 11 stops operating, and the pressure is maintained at that time.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (12)

Translated fromChinese

1.一种适于柔性弯曲的轴向动力系统，其特征在于，包括：1. An axial dynamic system suitable for flexible bending, characterized in that, comprising:动力组件，用于产生轴向制动力，包括套管、推动杆和活塞柱，所述套管的远侧端为器械接头，所述套管的近侧端为弯曲接头，所述活塞柱将所述套管分隔为第一腔室和第二腔室，所述推动杆的近侧端连接所述活塞柱，所述推动杆的远侧端穿过所述第一腔室从所述套管的远侧端伸出；A power assembly for generating an axial braking force, including a sleeve, a push rod and a piston rod, the distal end of the sleeve is an instrument joint, the proximal end of the sleeve is a curved joint, and the piston rod will The sleeve is divided into a first chamber and a second chamber, the proximal end of the push rod is connected to the piston rod, and the distal end of the push rod passes through the first chamber from the sleeve. the distal end of the tube protrudes;驱动组件，用于驱动所述推动杆移动，包括软管和液压泵，所述软管的远侧端穿过所述弯曲接头连通所述第二腔室，所述软管的近侧端连通所述液压泵。A driving assembly for driving the push rod to move, including a hose and a hydraulic pump, the distal end of the hose is connected to the second chamber through the bending joint, and the proximal end of the hose is connected to the second chamber the hydraulic pump.2.根据权利要求1所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述第一腔室与器械接头之间通过端盖分隔，所述端盖上设置有通气口。2 . The axial power system suitable for flexible bending according to claim 1 , wherein the first chamber and the instrument connector are separated by an end cap, and the end cap is provided with a vent hole. 3 . .3.根据权利要求1所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述第二腔室与液压泵之间的所述软管上连接有检测组件。3 . The axial power system suitable for flexible bending according to claim 1 , wherein a detection component is connected to the hose between the second chamber and the hydraulic pump. 4 .4.根据权利要求3所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述检测组件包括流量计和/或气压检测计。4 . The axial dynamic system suitable for flexible bending according to claim 3 , wherein the detection component comprises a flow meter and/or a gas pressure detection meter. 5 .5.根据权利要求1所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述活塞柱圆周设置有密封凹槽，所述密封凹槽内设置有密封圈。5 . The axial power system suitable for flexible bending according to claim 1 , wherein a sealing groove is provided on the circumference of the piston rod, and a sealing ring is provided in the sealing groove. 6 .6.根据权利要求1所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述软管为弹簧管。6 . The axial power system suitable for flexible bending according to claim 1 , wherein the hose is a spring tube. 7 .7.根据权利要求1所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述液压泵连接液压池，所述液压池内装载有流体。7 . The axial power system suitable for flexible bending according to claim 1 , wherein the hydraulic pump is connected to a hydraulic pool, and the hydraulic pool is loaded with fluid. 8 .8.根据权利要求7所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述流体为高压气体、水或液压油。8 . The axial power system suitable for flexible bending according to claim 7 , wherein the fluid is high-pressure gas, water or hydraulic oil. 9 .9.根据权利要求1所述的一种适于柔性弯曲的轴向动力系统，其特征在于，还包括柔性组件和支撑座，所述柔性组件的远侧端与所述弯曲接头相连，所述柔性组件的近侧端与所述支撑座的远侧端相连，所述柔性组件和支撑座内设置有中间通道，所述软管从所述中间通道中穿过。9 . The axial power system suitable for flexible bending according to claim 1 , further comprising a flexible component and a support seat, the distal end of the flexible component is connected with the bending joint, and the The proximal end of the flexible assembly is connected with the distal end of the support seat, and an intermediate channel is arranged in the flexible assembly and the support seat, and the hose passes through the intermediate channel.10.根据权利要求9所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述柔性组件包括导管座、关节件和器械座，所述关节件设置有多个，所述关节件呈链条状依次相连，相邻所述关节件之间可绕接触面转动，所述导管座的远侧端连接于所述关节件组成的链条的近侧端，所述导管座的近侧端连接所述支撑座，所述器械座的近侧端连接于所述关节件组成的链条的远侧端，所述器械座的远侧端连接所述弯曲接头。10 . The axial power system suitable for flexible bending according to claim 9 , wherein the flexible assembly comprises a catheter seat, a joint part and an instrument seat, the joint part is provided with a plurality of the joint parts, and the 10 . The joints are connected in sequence in a chain shape, and the adjacent joints can rotate around the contact surface, the distal end of the catheter holder is connected to the proximal end of the chain formed by the joints, and the proximal end of the catheter holder is The side end is connected to the support seat, the proximal end of the instrument seat is connected to the distal end of the chain formed by the joint parts, and the distal end of the instrument seat is connected to the curved joint.11.根据权利要求9所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述柔性组件通过手柄组件驱动弯曲，所述手柄组件安装在所述支撑座的近侧端，所述手柄组件连接姿态力件一端，所述柔性组件和支撑座在所述中间通道的周向设置有多个外围通道，所述姿态力件穿过所述外围通道与所述柔性组件的远侧端固定连接。11 . The axial power system suitable for flexible bending according to claim 9 , wherein the flexible assembly is driven to bend by a handle assembly, and the handle assembly is mounted on the proximal end of the support base, 11 . The handle assembly is connected to one end of the attitude force member, the flexible assembly and the support base are provided with a plurality of peripheral channels in the circumferential direction of the intermediate channel, and the attitude force member passes through the peripheral channel and the distance from the flexible assembly. Side fixed connection.12.根据权利要求11所述的一种适于柔性弯曲的轴向动力系统，其特征在于，所述手柄组件包括多个内部转轮，多个所述内部转轮同轴设置，所述内部转轮从所述支撑座内穿出连接有拨轮。12 . The axial power system suitable for flexible bending according to claim 11 , wherein the handle assembly comprises a plurality of inner runners, and a plurality of the inner runners are coaxially arranged, and the inner A dial is connected to the runner passing through the support base.

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