CN114947966B

Movatterモバイル変換

Info

Publication number: CN114947966B
Application number: CN202210914666.2A
Authority: CN
Inventors: 王双翌; 谢亿平; 侯西龙
Original assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd; Institute of Automation of Chinese Academy of Science
Current assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd; Institute of Automation of Chinese Academy of Science
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2022-10-28
Anticipated expiration: 2042-08-01
Also published as: CN114947966A

Abstract

The invention provides flexible medical equipment, which belongs to the technical field of medical instruments, and comprises a flexible instrument and a control device; the flexible instrument has a first rotating portion and a second rotating portion; the control device comprises a support, a shell, a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein the first driving mechanism, the second driving mechanism and the third driving mechanism are respectively arranged on the shell; the shell is arranged on the support and sleeved on the flexible instrument; the first driving mechanism is connected with the first rotating part; the second driving mechanism is connected with the second rotating part; the third driving mechanism is connected with the support; the first driving mechanism is used for driving the first rotating part to rotate, the second driving mechanism is used for driving the second rotating part to rotate, and the third driving mechanism is used for driving the shell to rotate. According to the invention, the automatic control of the flexible instrument can be realized through the first driving mechanism, the second driving mechanism and the third driving mechanism without manual participation, so that the operation difficulty of the flexible instrument is reduced.

Description

Translated fromChinese

柔性医疗设备Flexible Medical Devices

技术领域technical field

本发明涉及医疗器械技术领域，尤其涉及一种柔性医疗设备。The invention relates to the technical field of medical devices, in particular to a flexible medical device.

背景技术Background technique

经食道超声是一种超声检查手段，能为心内、外科患者的诊断与治疗过程提供有效帮助，经食道超声是将超声探头置于患者的食管中或者胃底，从心脏后方扫查心脏，克服了心脏胸壁超声检查的局限性，不受患者肺气肿、肥胖或者胸廓畸形等多因素的影响，能够获得左心耳、上腔静脉等胸壁超声难以显示的部位图像，用于肺动脉高压、肺栓塞、先天性心脏病等的检测。此外，相关心脏疾病微创介入手术中，使用X光成像与经食道超声共同引导已成为手术重要辅助方式。Transesophageal ultrasound is a method of ultrasound examination that can provide effective assistance for the diagnosis and treatment of patients with heart and surgery. Transesophageal ultrasound is to place the ultrasound probe in the patient's esophagus or gastric fundus to scan the heart from the back of the heart. It overcomes the limitations of cardiac chest wall ultrasonography and is not affected by multiple factors such as emphysema, obesity, or thoracic deformity. Detection of embolism, congenital heart disease, etc. In addition, in the minimally invasive interventional surgery of related heart diseases, the use of X-ray imaging and transesophageal ultrasound has become an important auxiliary method for surgery.

在传统经食道超声检查中，将经食道超声探头末端置于患者体内，医护人员通过手动操作经食道超声探头上的大旋钮和小旋钮，来控制经食道超声探头末端两个自由度的弯曲，并通过手动旋转经食道超声探头的手持端，实现经食道超声探头末端绕自身轴线自转运动，以及通过手动带动经食道超声探头的手持端移动，实现经食道超声探头的进给和回拉运动。综上所述，经食道超声探头末端具有四个方向两个自由度的弯曲、绕自身轴线转动（一个自由度）以及进给或回拉（一个自由度）共计四个自由度。In traditional transesophageal ultrasonography, the end of the transesophageal ultrasound probe is placed in the patient's body, and the medical staff controls the bending of the two degrees of freedom at the end of the transesophageal ultrasound probe by manually operating the large knob and the small knob on the transesophageal ultrasound probe. And by manually rotating the hand-held end of the transesophageal ultrasound probe, the end of the transesophageal ultrasound probe can rotate around its own axis, and by manually driving the hand-held end of the transesophageal ultrasound probe to move, the feeding and pulling motion of the transesophageal ultrasound probe can be realized. To sum up, the end of the transesophageal ultrasound probe has four degrees of freedom in total: bending with two degrees of freedom in four directions, rotation around its own axis (one degree of freedom), and feeding or pulling back (one degree of freedom).

但上述现有技术中，经食道超声探头在每个自由度的运动都是人工手动操作，而每个自由度的操作对医护人员的操作水平要求较高，从而增加了对经食道超声探头的操作难度。However, in the above-mentioned prior art, the movement of the transesophageal ultrasound probe in each degree of freedom is manually operated, and the operation of each degree of freedom requires a higher level of operation for medical personnel, thereby increasing the need for the transesophageal ultrasound probe. Difficulty of operation.

发明内容Contents of the invention

本发明提供一种柔性医疗设备，用以解决现有技术中增加了对经食道超声探头的操作难度的缺陷。The invention provides a flexible medical device, which is used to solve the defect in the prior art that the operation difficulty of the transesophageal ultrasound probe is increased.

本发明提供一种柔性医疗设备，包括：柔性器械和控制装置；The invention provides a flexible medical device, including: a flexible device and a control device;

所述柔性器械具有第一转动部和第二转动部；The flexible instrument has a first rotating portion and a second rotating portion;

所述控制装置包括支座、壳体、以及分别设置于所述壳体上的第一驱动机构、第二驱动机构和第三驱动机构；所述壳体设置在所述支座上，且所述壳体套设于所述柔性器械上；所述第一驱动机构与所述第一转动部连接；所述第二驱动机构与所述第二转动部连接；所述第三驱动机构与所述支座连接；The control device includes a support, a casing, and a first drive mechanism, a second drive mechanism and a third drive mechanism respectively arranged on the casing; the casing is arranged on the support, and the The housing is sleeved on the flexible instrument; the first driving mechanism is connected to the first rotating part; the second driving mechanism is connected to the second rotating part; the third driving mechanism is connected to the The support connection;

所述第一驱动机构用于驱动所述第一转动部转动，所述第二驱动用于驱动所述第二转动部转动，所述第三驱动机构用于驱动所述壳体转动。The first driving mechanism is used to drive the first rotating part to rotate, the second driving mechanism is used to drive the second rotating part to rotate, and the third driving mechanism is used to drive the housing to rotate.

根据本发明提供的一种柔性医疗设备，所述第一驱动机构包括第一驱动件、第一主动齿轮、第一传动部件和第一从动齿轮；According to a flexible medical device provided by the present invention, the first driving mechanism includes a first driving member, a first driving gear, a first transmission component and a first driven gear;

所述第一驱动件设置在所述壳体上，所述第一主动齿轮与所述第一驱动件的输出轴连接，所述第一传动部件转动设置在所述壳体上，所述第一传动部件分别与所述第一主动齿轮和所述第一从动齿轮啮合，所述第一从动齿轮与所述第一转动部连接。The first driving member is arranged on the housing, the first driving gear is connected to the output shaft of the first driving member, the first transmission part is rotatably arranged on the housing, and the first driving gear is connected to the output shaft of the first driving member. A transmission part meshes with the first driving gear and the first driven gear respectively, and the first driven gear is connected with the first rotating part.

根据本发明提供的一种柔性医疗设备，所述第一传动部件包括第一从过渡齿轮、第一力矩传感器和第一主过渡齿轮；According to a flexible medical device provided by the present invention, the first transmission part includes a first slave transition gear, a first torque sensor and a first main transition gear;

所述第一从过渡齿轮与所述第一主动齿轮啮合，所述第一力矩传感器分别与第一从过渡齿轮以及所述第一主过渡齿轮连接，所述第一主过渡齿轮转动设置在所述壳体上，且所述第一主过渡齿轮与所述第一从动齿轮啮合。The first slave transition gear meshes with the first driving gear, the first torque sensor is respectively connected to the first slave transition gear and the first main transition gear, and the first main transition gear is rotatably arranged at the on the housing, and the first main transition gear meshes with the first driven gear.

根据本发明提供的一种柔性医疗设备，所述第二驱动机构包括第二驱动件、第二主动齿轮、第二传动部件和第二从动齿轮；According to a flexible medical device provided by the present invention, the second driving mechanism includes a second driving member, a second driving gear, a second transmission component, and a second driven gear;

所述第二驱动件设置在所述壳体上，所述第二主动齿轮与所述第二驱动件的输出轴连接，所述第二传动部件转动设置在所述壳体上，所述第二传动部件分别与所述第二主动齿轮和所述第二从动齿轮连接，所述第二从动齿轮与所述第二转动部连接。The second driving member is arranged on the housing, the second driving gear is connected to the output shaft of the second driving member, the second transmission part is rotatably arranged on the housing, and the first The two transmission parts are respectively connected with the second driving gear and the second driven gear, and the second driven gear is connected with the second rotating part.

根据本发明提供的一种柔性医疗设备，所述第二传动部件包括第二从过渡齿轮、第二力矩传感器和第二主过渡齿轮；According to a flexible medical device provided by the present invention, the second transmission component includes a second slave transition gear, a second torque sensor, and a second main transition gear;

所述第二从过渡齿轮与所述第二主动齿轮啮合，所述第二力矩传感器分别与所述第二从过渡齿轮以及所述第二主过渡齿轮连接，所述第二主过渡齿轮转动设置在所述壳体上，且所述第二主过渡齿轮与所述第二从动齿轮啮合。The second slave transition gear meshes with the second driving gear, the second torque sensor is respectively connected to the second slave transition gear and the second main transition gear, and the second main transition gear is rotatably set on the housing, and the second primary transition gear meshes with the second driven gear.

根据本发明提供的一种柔性医疗设备，所述第三驱动机构包括第三驱动件、第三主动齿轮和第三从动齿轮；According to a flexible medical device provided by the present invention, the third driving mechanism includes a third driving member, a third driving gear and a third driven gear;

所述第三驱动件设置在所述壳体上，所述第三主动齿轮与所述第三驱动件的输出轴连接，所述第三从动齿轮与所述支座滑动连接，所述第三从动齿轮内侧具有与第三主动齿轮啮合的第一内环形齿部。The third driving member is arranged on the housing, the third driving gear is connected to the output shaft of the third driving member, the third driven gear is slidingly connected to the support, and the first The inner side of the three driven gears has a first inner ring gear meshed with the third driving gear.

根据本发明提供的一种柔性医疗设备，还包括第四驱动机构，所述第四驱动机构与所述壳体连接，并与所述支座连接；According to the flexible medical device provided by the present invention, it also includes a fourth driving mechanism, the fourth driving mechanism is connected with the housing and connected with the support;

所述第四驱动机构用于驱动所述壳体相对支座移动。The fourth driving mechanism is used to drive the housing to move relative to the support.

根据本发明提供的一种柔性医疗设备，所述第四驱动机构包括第四驱动件、第四主动齿轮、传动齿组和齿条；According to a flexible medical device provided by the present invention, the fourth driving mechanism includes a fourth driving member, a fourth driving gear, a transmission tooth set, and a rack;

所述第四驱动件设置在所述壳体内，所述第四主动齿轮与所述第四驱动件的输出轴连接，所述齿条设置在所述支座上，所述第四主动齿轮通过所述传动齿组与所述齿条啮合。The fourth driving member is arranged in the housing, the fourth driving gear is connected to the output shaft of the fourth driving member, the rack is arranged on the support, and the fourth driving gear passes through The transmission tooth set meshes with the rack.

根据本发明提供的一种柔性医疗设备，所述传动齿组包括第四从动齿轮、第三过渡从齿轮和第五主动齿轮；According to a flexible medical device provided by the present invention, the transmission tooth set includes a fourth driven gear, a third transition driven gear and a fifth driving gear;

所述第四从动齿轮转动设置在所述壳体上，所述第四从动齿轮内侧具有与所述第四主动齿轮啮合的第二内环形齿部；所述第四从动齿轮外侧具有与所述第三过渡从齿轮啮合的外环形齿部；所述第三过渡从齿轮和所述第五主动齿轮通过转轴连接，所述转轴与所述壳体转动连接；所述第五主动齿轮与所述齿条啮合。The fourth driven gear is rotatably arranged on the housing, and the inside of the fourth driven gear has a second inner annular tooth portion meshed with the fourth driving gear; the outside of the fourth driven gear has a The outer annular gear meshed with the third transition slave gear; the third transition slave gear is connected with the fifth driving gear through a rotating shaft, and the rotating shaft is rotationally connected with the housing; the fifth driving gear Mesh with the rack.

根据本发明提供的一种柔性医疗设备，所述支座包括架体和设置在所述架体上的至少一个导向杆；According to a flexible medical device provided by the present invention, the support includes a frame body and at least one guide rod arranged on the frame body;

所述齿条设置在所述架体上，所述齿条与所述导向杆平行。The rack is arranged on the frame body, and the rack is parallel to the guide rod.

根据本发明提供的一种柔性医疗设备，所述柔性器械的末端具有柔性管；所述控制装置还包括导引组件，所述导引组件包括基座和与所述基座连接的导向部，所述基座与所述架体连接；According to a flexible medical device provided by the present invention, the end of the flexible device has a flexible tube; the control device further includes a guide assembly, the guide assembly includes a base and a guide part connected to the base, The base is connected to the frame;

所述导向部包括首尾依次铰接的多个连杆，以及设置在每个连杆上的导向部件。The guide part includes a plurality of connecting rods which are sequentially hinged head to tail, and a guide part arranged on each connecting rod.

根据本发明提供的一种柔性医疗设备，所述导向部件包括转动设置在连杆上的两个U型轴承，所述两个U型轴承间隔布置；According to a flexible medical device provided by the present invention, the guide member includes two U-shaped bearings rotatably arranged on the connecting rod, and the two U-shaped bearings are arranged at intervals;

所述柔性管位于所述两个U型轴承之间。The flexible tube is located between the two U-shaped bearings.

根据本发明提供的一种柔性医疗设备，所述控制装置还包括夹持组件，所述夹持组件包括设置在所述壳体上的夹持件和与所述夹持件可拆卸连接的固定件；According to a kind of flexible medical equipment provided by the present invention, the control device further includes a clamping assembly, and the clamping assembly includes a clamping part arranged on the housing and a fixing device detachably connected with the clamping part. pieces;

所述柔性器械夹持在所述夹持件和所述固定件之间。The flexible instrument is clamped between the clamping member and the fixing member.

根据本发明提供的一种柔性医疗设备，还包括驱动装置，所述控制装置的支座设置在所述驱动装置上。According to the flexible medical equipment provided by the present invention, it further includes a driving device, and the support of the control device is arranged on the driving device.

本发明提供的柔性医疗设备，通过设置在壳体内的第一驱动机构驱动柔性器械的第一转动部转动，使柔性器械末端一个自由度方向弯曲，通过设置在壳体内的第二驱动机构驱动柔性器械的第二转动部转动，使柔性器械末端另一个自由度方向弯曲，则通过第一驱动机构和第二驱动机构可实现柔性器械末端四个方向两个自由度弯曲的运动；并通过设置在壳体内的第三驱动机构驱动壳体转动，壳体带动柔性器械同步转动，实现柔性器械绕自身轴线的转动。可知，本发明通过第一驱动机构、第二驱动机构和第三驱动机构即可实现柔性器械的末端弯曲及转动自动控制，无需人工参与，从而降低了对柔性器械的操作难度。In the flexible medical device provided by the present invention, the first rotating part of the flexible device is driven to rotate through the first driving mechanism arranged in the casing, so that the end of the flexible device is bent in one degree of freedom direction, and the flexible medical device is driven by the second driving mechanism arranged in the casing. The second rotating part of the instrument rotates to make the end of the flexible instrument bend in the other degree of freedom direction, and the bending movement of the end of the flexible instrument in four directions and two degrees of freedom can be realized through the first driving mechanism and the second driving mechanism; The third driving mechanism in the housing drives the housing to rotate, and the housing drives the flexible device to rotate synchronously, realizing the rotation of the flexible device around its own axis. It can be seen that the present invention can realize the automatic control of the bending and rotation of the end of the flexible instrument through the first driving mechanism, the second driving mechanism and the third driving mechanism without manual participation, thereby reducing the difficulty of operating the flexible instrument.

附图说明Description of drawings

为了更清楚地说明本发明或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

图1是本发明提供的柔性医疗设备的结构示意图之一；Fig. 1 is one of the structural schematic diagrams of the flexible medical equipment provided by the present invention;

图2是本发明提供的柔性医疗设备的结构示意图之二；Fig. 2 is the second structural diagram of the flexible medical device provided by the present invention;

图3是本发明提供的柔性器械的结构示意图；Fig. 3 is a schematic structural view of the flexible device provided by the present invention;

图4是本发明提供的第一驱动机构和第二驱动机构的结构示意图；Fig. 4 is a structural schematic diagram of a first drive mechanism and a second drive mechanism provided by the present invention;

图5是本发明提供的第一驱动机构的结构示意图；Fig. 5 is a schematic structural view of the first driving mechanism provided by the present invention;

图6是本发明提供的第二驱动机构的结构示意图；Fig. 6 is a schematic structural view of a second driving mechanism provided by the present invention;

图7是本发明提供的第三驱动机构的结构示意图；Fig. 7 is a schematic structural view of a third driving mechanism provided by the present invention;

图8是本发明提供的第四驱动机构的结构示意图之一；Fig. 8 is one of the structural schematic diagrams of the fourth driving mechanism provided by the present invention;

图9是本发明提供的第四驱动机构的结构示意图之二；Fig. 9 is the second structural diagram of the fourth driving mechanism provided by the present invention;

图10是本发明提供的支座和壳体配合的结构示意图；Fig. 10 is a schematic structural diagram of the cooperation between the support and the housing provided by the present invention;

图11是本发明提供的柔性器械与导引组件配合的结构示意图；Fig. 11 is a structural schematic diagram of the cooperation between the flexible instrument and the guide assembly provided by the present invention;

图12是本发明提供的柔性器械通过夹持组件固定的结构示意图；Fig. 12 is a schematic structural view of the flexible instrument provided by the present invention fixed by the clamping assembly;

图13是本发明提供的柔性医疗设备的结构示意图之三；Fig. 13 is the third structural schematic diagram of the flexible medical device provided by the present invention;

附图标记：Reference signs:

1、控制装置； 2、柔性器械；3、驱动装置；1. Control device; 2. Flexible equipment; 3. Driving device;

11、支座；12、壳体；13、第一驱动机构；14、第二驱动机构；15、第三驱动机构；16、第四驱动机构；17、导引组件；18、夹持组件；11. Support; 12. Shell; 13. First driving mechanism; 14. Second driving mechanism; 15. Third driving mechanism; 16. Fourth driving mechanism; 17. Guide assembly; 18. Clamping assembly;

111、架体；112、导向杆；113、直线轴承；111, frame body; 112, guide rod; 113, linear bearing;

121、上壳体；122、下壳体；121, upper shell; 122, lower shell;

131、第一驱动件；132、第一传动组件；131. The first driving member; 132. The first transmission component;

1321、第一电机输出法兰轴；1322、第一主动齿轮； 1323、第一从过渡齿轮；1324、第一力矩传感器； 1325、第一主过渡齿轮；1326、第一从动齿轮；1321, the first motor output flange shaft; 1322, the first driving gear; 1323, the first slave transition gear; 1324, the first torque sensor; 1325, the first main transition gear; 1326, the first driven gear;

141、第二驱动件； 142、第二传动组件；141. The second driving member; 142. The second transmission component;

1421、第二电机输出法兰轴；1422、第二主动齿轮；1423、过渡齿轮；1424、第二从过渡齿轮；1425、第二力矩传感器；1426、第二主过渡齿轮；1427、第二从动齿轮；1421, the second motor output flange shaft; 1422, the second driving gear; 1423, the transition gear; 1424, the second transition gear from the second; 1425, the second torque sensor; 1426, the second main transition gear; 1427, the second slave moving gear;

151、第三驱动件；152、第三电机输出法兰轴；153、第三主动齿轮；154、第三从动齿轮；155、支架；151, the third driving member; 152, the third motor output flange shaft; 153, the third driving gear; 154, the third driven gear; 155, the bracket;

161、第四驱动件；162、第四电机输出法兰轴；163、第四主动齿轮；164、第四从动齿轮；165、第三过渡从齿轮；166、第五主动齿轮；167、齿条；161, the fourth driving member; 162, the fourth motor output flange shaft; 163, the fourth driving gear; 164, the fourth driven gear; 165, the third transition slave gear; 166, the fifth driving gear; 167, the tooth strip;

171、基座；172、导向部；171, base; 172, guide part;

1721、连杆；1722、导向部件；1721, connecting rod; 1722, guide part;

181、夹持件；182、固定件；181, clamping piece; 182, fixing piece;

21、镜体；22、第一转动部；23、第二转动部；24、末端位置保持拨片；25、柔性器械主机端；26、柔性管。21. The mirror body; 22. The first rotating part; 23. The second rotating part; 24. The paddle for maintaining the end position; 25. The main end of the flexible instrument; 26. The flexible tube.

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

本发明实施例提供的技术方案可以应用于超声检查场景中，尤其是经食道超声中。现有经食道超声检查中，由于经食道超声对心脏成像具有较多特定切面及视角，需要对经食道超声探头末端进行四个方向两个自由度弯曲（一个自由度弯曲具有两个方向，则两个自由度弯曲具有四个方向）、绕自身轴线转动以及进给或回拉共计四个自由度的控制，该四个自由度的运动均为人工操作，该技术目前属于较高难度、极其依赖于经验的临床操作，而且能够熟练掌握此项技能的人员较少，基本分布于大型医院，在偏远地区及中小型医院未得到有效推广，使得此方面医疗条件地区差异较大；此外，目前的经食道超声检查均需要医生手动近距离控制经食道超声探头，在手术中需要长时间站立，并且在与X光共同引导手术中，由于医生无法远距离操作经食道超声探头，这样会使医生暴露于X光环境下，对医生造成一定的身体辐射，因此，医生需要穿戴沉重闷热的防护服，从而增加了医生的工作强度与职业风险；另外，经食道超声探头的操作对医生体力消耗和身体状态有一定的影响，长此以往易造成肌肉骨骼损伤，且累积辐射损伤会大大增加疾病的发病率。基于此，本发明对经食道超声探头进行自动化控制。The technical solutions provided by the embodiments of the present invention can be applied to ultrasound examination scenarios, especially transesophageal ultrasound. In the existing transesophageal ultrasonography, since transesophageal ultrasound has many specific sections and angles of view for cardiac imaging, it is necessary to bend the end of the transesophageal ultrasound probe in four directions and two degrees of freedom (one degree of freedom bending has two directions, then Two degrees of freedom bending has four directions), rotation around its own axis, and feed or pull back a total of four degrees of freedom control. The movements of these four degrees of freedom are all manually operated. This technology is currently relatively difficult and extremely Clinical operations rely on experience, and there are few people who can master this skill. They are basically distributed in large hospitals, and have not been effectively promoted in remote areas and small and medium-sized hospitals, which makes the medical conditions in this area vary greatly; in addition, currently All transesophageal ultrasound examinations require doctors to manually control the transesophageal ultrasound probe at close range, and they need to stand for a long time during the operation. Exposure to the X-ray environment will cause certain body radiation to doctors. Therefore, doctors need to wear heavy and stuffy protective clothing, which increases the work intensity and occupational risks of doctors; The physical condition has a certain influence, and it is easy to cause musculoskeletal damage in the long run, and the cumulative radiation damage will greatly increase the incidence of the disease. Based on this, the present invention automatically controls the transesophageal ultrasound probe.

下面结合图1-图13描述本发明的柔性医疗设备。The flexible medical device of the present invention will be described below with reference to FIGS. 1-13 .

图1是本发明提供的柔性医疗设备的结构示意图之一，图2是本发明提供的柔性医疗设备的结构示意图之二，如图1和图2所示，该柔性医疗设备包括柔性器械2和控制装置1。Figure 1 is one of the structural schematic diagrams of the flexible medical equipment provided by the present invention, and Figure 2 is the second structural schematic diagram of the flexible medical equipment provided by the present invention, as shown in Figure 1 and Figure 2, the flexible medical equipment includesflexible instruments 2 andControl device 1.

柔性器械2具有第一转动部22和第二转动部23，通过第一转动部22的转动可以实现柔性器械2的末端沿第一方向弯曲，通过第二转动部23的转动可以实现柔性器械2的末端沿第二方向弯曲，则柔性器械2末端通过第一转动部22和第二转动部23分别实现四个方向两个自由度的弯曲。比如，在柔性器械2的进给或回拉方向为前后方向时，第一方向可以为上下方向，第二方向可以为左右方向，则第一方向和第二方向是相垂直的两个方向，并且与柔性器械2的进给方向相垂直。Theflexible instrument 2 has a firstrotating part 22 and a secondrotating part 23, the end of theflexible instrument 2 can be bent in the first direction through the rotation of the firstrotating part 22, and theflexible instrument 2 can be realized through the rotation of the secondrotating part 23. The end of theflexible instrument 2 bends along the second direction, and the end of theflexible instrument 2 realizes bending in four directions and two degrees of freedom through the firstrotating part 22 and the secondrotating part 23 respectively. For example, when the feeding or pulling direction of theflexible instrument 2 is the front-back direction, the first direction can be the up-down direction, and the second direction can be the left-right direction, then the first direction and the second direction are two perpendicular directions, And it is perpendicular to the feeding direction of theflexible instrument 2 .

根据本发明的实施例，图3是本发明提供的柔性器械的结构示意图，如图3所示，柔性器械2可以是经食道超声探头，其主要包括镜体21、与镜体21连接的柔性器械主机端25和柔性管26、以及设置在镜体21上的末端位置保持拨片24、第一转动部22和第二转动部23 ；末端位置保持拨片24拨到一个位置之后可以锁紧镜体21末端的柔性管26弯曲，即便松开第一转动部22和第二转动部23，末端的柔性管26弯曲保持不动；柔性器械主机端25用于接成像系统和电源等，以及摄像头等信号线；第一转动部22为镜体21上的第一旋钮，第二转动部23为镜体21上的第二旋钮，通过驱动第二旋钮和第一旋钮来控制柔性器械2末端两个自由度的弯曲。According to an embodiment of the present invention, Fig. 3 is a structural schematic diagram of a flexible instrument provided by the present invention. As shown in Fig. 3 , theflexible instrument 2 may be a transesophageal ultrasound probe, which mainly includes amirror body 21, a flexible flexible instrument connected to themirror body 21 Instrumentmain body end 25 andflexible tube 26, and the end position that is arranged on themirror body 21 maintainsplectrum 24, firstrotating part 22 and secondrotating part 23; End position maintainsplectrum 24 and can be locked after dialing to a position Theflexible tube 26 at the end of themirror body 21 is bent, even if the firstrotating part 22 and the secondrotating part 23 are loosened, theflexible tube 26 at the end is bent and remains still; themain end 25 of the flexible instrument is used to connect the imaging system and power supply, etc. Camera and other signal lines; the firstrotating part 22 is the first knob on themirror body 21, and the secondrotating part 23 is the second knob on themirror body 21, and the end of theflexible instrument 2 is controlled by driving the second knob and the first knob Bending with two degrees of freedom.

需要说明的是，柔性器械2还可以是其他具有相同特点的柔性内窥镜，包括但不限于胃镜、肠镜等介入医疗工具。It should be noted that theflexible instrument 2 can also be other flexible endoscopes with the same characteristics, including but not limited to gastroscopes, colonoscopes and other interventional medical tools.

如图1和图2所示，控制装置1包括支座11、壳体12、以及分别设置于壳体12上的第一驱动机构13、第二驱动机构14和第三驱动机构15；壳体12设置在支座11上，且壳体12套设于柔性器械2上；第一驱动机构13与第一转动部22连接；第二驱动机构14与第二转动部23连接；第三驱动机构15与支座11连接。As shown in Figures 1 and 2, thecontrol device 1 includes asupport 11, ahousing 12, and afirst driving mechanism 13, asecond driving mechanism 14 and athird driving mechanism 15 respectively arranged on thehousing 12; 12 is set on thesupport 11, and thehousing 12 is sleeved on theflexible instrument 2; thefirst driving mechanism 13 is connected with the firstrotating part 22; thesecond driving mechanism 14 is connected with the secondrotating part 23; thethird driving mechanism 15 is connected withsupport 11.

其中，第一驱动机构13用于驱动第一转动部22转动，第一转动部22转动使柔性器械2的末端沿第一方向弯曲；第二驱动机构14用于驱动第二转动部23转动，第二转动部23的转动使柔性器械2的末端沿第二方向弯曲，则第一驱动机构13和第二驱动机构14用于柔性器械2的末端四个方向两个自由度弯曲的控制。Wherein, thefirst driving mechanism 13 is used to drive the firstrotating part 22 to rotate, and the firstrotating part 22 rotates to make the end of theflexible instrument 2 bend along the first direction; thesecond driving mechanism 14 is used to drive the secondrotating part 23 to rotate, The rotation of the secondrotating part 23 makes the end of theflexible instrument 2 bend along the second direction, and thefirst driving mechanism 13 and thesecond driving mechanism 14 are used to control the bending of the end of theflexible instrument 2 in four directions and two degrees of freedom.

其中，壳体12设置在支座11上，壳体12可相对支座11自转，柔性器械2设置在壳体12内，则柔性器械2随壳体12同步移动，第三驱动机构15设置在壳体12内，并与支座11连接，在第三驱动机构15的作用下，壳体12可在支座11上自转，壳体12自转的同时，壳体12上的柔性器械2同步绕自身轴线转动，则第三驱动机构15用于柔性器械2绕自身轴线转动的控制。Wherein, thecasing 12 is arranged on thesupport 11, thecasing 12 can rotate relative to thesupport 11, theflexible instrument 2 is arranged in thecasing 12, then theflexible instrument 2 moves synchronously with thecasing 12, and thethird driving mechanism 15 is arranged on the Inside thecasing 12, and connected with thesupport 11, under the action of thethird driving mechanism 15, thecasing 12 can rotate on thesupport 11, while thecasing 12 rotates, theflexible device 2 on thecasing 12 synchronously rotates When its own axis rotates, thethird driving mechanism 15 is used to control the rotation of theflexible instrument 2 around its own axis.

其中，壳体12包括连接的上壳体121和下壳体122，下壳体122用于柔性器械2的固定。Wherein, thehousing 12 includes a connectedupper housing 121 and alower housing 122 , and thelower housing 122 is used for fixing theflexible instrument 2 .

本发明提供的柔性医疗设备，通过设置在壳体12内的第一驱动机构13驱动柔性器械2的第一转动部22转动，使柔性器械2末端一个自由度方向弯曲，通过设置在壳体12内的第二驱动机构14驱动柔性器械2的第二转动部23转动，使柔性器械2末端另一个自由度方向弯曲，则通过第一驱动机构13和第二驱动机构14可实现柔性器械2末端四个方向两个自由度弯曲的运动；并通过设置在壳体12内的第三驱动机构15驱动壳体12转动，壳体12带动柔性器械2同步转动，实现柔性器械2绕自身轴线的转动。可知，本发明通过第一驱动机构13、第二驱动机构14和第三驱动机构15即可实现柔性器械2的末端弯曲及转动自动控制，无需人工参与，从而降低了对柔性器械2的操作难度。In the flexible medical device provided by the present invention, the firstrotating part 22 of theflexible device 2 is driven to rotate through thefirst driving mechanism 13 arranged in thehousing 12, so that the end of theflexible device 2 is bent in one degree of freedom. Thesecond driving mechanism 14 inside drives the secondrotating part 23 of theflexible instrument 2 to rotate, so that the end of theflexible instrument 2 bends in another degree of freedom direction, and the end of theflexible instrument 2 can be realized through thefirst driving mechanism 13 and thesecond driving mechanism 14. Bending movement in four directions with two degrees of freedom; and through thethird drive mechanism 15 set in thehousing 12 to drive thehousing 12 to rotate, thehousing 12 drives theflexible device 2 to rotate synchronously, realizing the rotation of theflexible device 2 around its own axis . It can be seen that the present invention can realize the automatic control of the bending and rotation of the end of theflexible instrument 2 through thefirst driving mechanism 13, thesecond driving mechanism 14 and thethird driving mechanism 15 without manual participation, thereby reducing the difficulty of operating theflexible instrument 2 .

进一步地，图4是本发明提供的第一驱动机构和第二驱动机构的结构示意图，如图4所示，第一驱动机构13包括第一驱动件131和第一传动组件132，第一驱动件131固定在下壳体122上，第一驱动件131通过第一传动组件132与柔性器械2的第一转动部22连接，则第一传动组件132将第一驱动件131的旋转运动转化为第一转动部22的旋转运动。第二驱动机构14包括第二驱动件141和第二传动组件142，第二驱动件141固定在下壳体122上，第二驱动件141通过第二传动组件142与柔性器械2的第二转动部23连接，则第二传动组件142将第二驱动件141的旋转运动转化为第二转动部23的旋转运动。因此，第一驱动机构13和第二驱动机构14为驱动柔性器械2的两个自由度弯曲的机构。Further, FIG. 4 is a structural schematic diagram of the first drive mechanism and the second drive mechanism provided by the present invention. As shown in FIG. Thecomponent 131 is fixed on thelower housing 122, thefirst driving component 131 is connected with the firstrotating part 22 of theflexible instrument 2 through thefirst transmission assembly 132, and then thefirst transmission component 132 converts the rotational motion of thefirst driving component 131 into the second A rotational movement of therotating part 22. Thesecond driving mechanism 14 includes asecond driving member 141 and asecond transmission assembly 142. Thesecond driving member 141 is fixed on thelower housing 122. Thesecond driving member 141 communicates with the second rotating part of theflexible instrument 2 through thesecond transmission assembly 142. 23 , thesecond transmission assembly 142 converts the rotational movement of thesecond driving member 141 into the rotational movement of the secondrotating part 23 . Therefore, thefirst driving mechanism 13 and thesecond driving mechanism 14 are mechanisms that drive the two-degree-of-freedom bending of theflexible instrument 2 .

根据本发明的实施例，图5是本发明提供的第一驱动机构的结构示意图，如图5所示，第一驱动件131可为电机；第一传动组件132包括第一主动齿轮1322、第一传动部件和第一从动齿轮1326，第一驱动件131设置在下壳体122上，第一主动齿轮1322与第一驱动件131的输出轴连接，第一传动部件转动设置在壳体12上，第一传动部件分别与第一主动齿轮1322和第一从动齿轮1326啮合，第一从动齿轮1326与柔性器械2的第一转动部22连接，则第一驱动件131驱动第一主动齿轮1322转动，第一主动齿轮1322通过第一传动部件带动第一从动齿轮1326转动，由于第一从动齿轮1326与第一转动部22连接，则第一从动齿轮1326同步带动第一转动部22转动，进而实现驱动柔性器械2的末端沿第一方向弯曲。According to an embodiment of the present invention, FIG. 5 is a schematic structural view of the first driving mechanism provided by the present invention. As shown in FIG. 5 , the first drivingmember 131 can be a motor; A transmission part and the first drivengear 1326, thefirst driving part 131 is arranged on thelower casing 122, thefirst driving gear 1322 is connected with the output shaft of thefirst driving part 131, and the first transmission part is rotatably arranged on thecasing 12 , the first transmission part meshes with thefirst driving gear 1322 and the first drivengear 1326 respectively, the first drivengear 1326 is connected with the firstrotating part 22 of theflexible instrument 2, then the first drivingmember 131 drives thefirst driving gear 1322 rotates, and thefirst driving gear 1322 drives the first drivengear 1326 to rotate through the first transmission part. Since the first drivengear 1326 is connected with the firstrotating part 22, the first drivengear 1326 synchronously drives the firstrotating part 22 to rotate, so as to drive the end of theflexible instrument 2 to bend along the first direction.

进一步地，第一传动部件包括第一从过渡齿轮1323、第一力矩传感器1324和第一主过渡齿轮1325；第一从过渡齿轮1323与第一主动齿轮1322啮合，第一力矩传感器1324分别与第一从过渡齿轮1323以及第一主过渡齿轮1325连接，第一主过渡齿轮1325转动设置在壳体12上，且第一主过渡齿轮1325与第一从动齿轮1326啮合。Further, the first transmission part includes a firstslave transition gear 1323, afirst torque sensor 1324 and a first main transition gear 1325; the firstslave transition gear 1323 meshes with thefirst driving gear 1322, and thefirst torque sensor 1324 is respectively connected to thefirst driving gear 1322. Aslave transition gear 1323 is connected to the first main transition gear 1325 , the first main transition gear 1325 is rotatably disposed on thehousing 12 , and the first main transition gear 1325 is meshed with the first drivengear 1326 .

具体地，本实施例中，第一主动齿轮1322为主动锥齿轮，第一从过渡齿轮1323为从动锥齿轮，第一主过渡齿轮1325为主动正齿轮，第一从动齿轮1326为从动正齿轮。第一主动齿轮1322通过第一电机输出法兰轴1321固定在第一驱动件131的输出轴上，且第一主动齿轮1322与第一从过渡齿轮1323啮合配合，第一力矩传感器1324的一端与第一从过渡齿轮1323固定，另一端与第一主过渡齿轮1325固定连接，第一主过渡齿轮1325与第一从动齿轮1326啮合配合，第一从动齿轮1326与柔性器械2的第一转动部22配合连接，第一主过渡齿轮1325通过轴承固定于上壳体121上。Specifically, in this embodiment, thefirst driving gear 1322 is a driving bevel gear, the firstslave transition gear 1323 is a driven bevel gear, the first main transition gear 1325 is a driving spur gear, and the first drivengear 1326 is a driven Spur gear. Thefirst driving gear 1322 is fixed on the output shaft of the first drivingmember 131 through the first motoroutput flange shaft 1321, and thefirst driving gear 1322 meshes with the firstslave transition gear 1323, and one end of thefirst torque sensor 1324 is connected to the The firstslave transition gear 1323 is fixed, and the other end is fixedly connected with the first main transition gear 1325. The first main transition gear 1325 meshes with the first drivengear 1326, and the first drivengear 1326 and the first rotation of theflexible instrument 2 The first main transition gear 1325 is fixed on theupper casing 121 through bearings.

其中，第一传动组件132可以实现第一驱动件131到柔性器械2的第一转动部22的运动传递，以及第一力矩传感器1324可以实现第一驱动件131到柔性器械2的第一转动部22上的力矩测量。Wherein, thefirst transmission assembly 132 can realize the motion transmission from the first drivingmember 131 to the firstrotating part 22 of theflexible instrument 2, and thefirst torque sensor 1324 can realize the motion transmission from the first drivingmember 131 to the firstrotating part 22 of theflexible instrument 2. Moment measurement on 22.

需要说明的是，在第一驱动机构13中引入第一力矩传感器1324与第一驱动件131，第一驱动件131为直流电机，第一力矩传感器1324可实现第一驱动机构13的输出的力感知和力控制。It should be noted that thefirst torque sensor 1324 and the first drivingmember 131 are introduced into thefirst driving mechanism 13, the first drivingmember 131 is a DC motor, and thefirst torque sensor 1324 can realize the output force of thefirst driving mechanism 13. Perception and force control.

本发明提供的柔性医疗设备，柔性器械2在进入患者体内组织进行检测时，可以通过第一力矩传感器1324测量第一驱动件131传递到第一转动部22上的力矩，避免第一驱动件131传递给第一转动部22的力矩过大，使柔性器械2末端沿第一方向弯曲过渡，造成患者体内组织的损坏。In the flexible medical device provided by the present invention, when theflexible device 2 enters the patient's internal tissue for detection, thefirst torque sensor 1324 can measure the torque transmitted from the first drivingmember 131 to the firstrotating part 22, so as to avoid the first drivingmember 131 The torque transmitted to the firstrotating part 22 is too large, causing the end of theflexible instrument 2 to bend and transition along the first direction, causing damage to tissues in the patient's body.

在柔性器械2与超声成像配合使用时，由于超声成像时需要一定的接触力，因此，本发明提供的柔性医疗设备可以通过第一力矩传感器1324实时测量第一驱动件131传递到第一转动部22上的力矩，以实现柔性器械2与患者体内目标组织区域之间的接触力达到目标接触力，进而保证超声成像质量。When theflexible device 2 is used in conjunction with ultrasonic imaging, because ultrasonic imaging requires a certain contact force, the flexible medical device provided by the present invention can measure in real time the first drivingmember 131 transmitted to the first rotating part through thefirst torque sensor 1324 22, so that the contact force between theflexible device 2 and the target tissue area in the patient reaches the target contact force, thereby ensuring the quality of ultrasound imaging.

根据本发明的实施例，图6是本发明提供的第二驱动机构的结构示意图，如图6所示，第二驱动件141可以为电机；第二传动组件142包括第二主动齿轮1422、第二传动部件和第二从动齿轮1427，第二驱动件141设置在壳体12上，第二主动齿轮1422与第二驱动件141的输出轴连接，第二传动部件转动设置在壳体12上，第二传动部件分别与第二主动齿轮1422和第二从动齿轮1427连接，第二从动齿轮1427与柔性器械2的第二转动部23连接，则第二驱动件141驱动第二主动齿轮1422转动，第二主动齿轮1422通过第二传动部件带动第二从动齿轮1427转动，由于第二从动齿轮1427与第二转动部23连接，则第二从动齿轮1427同步带动第二转动部23转动，进而实现驱动柔性器械2的末端沿第二方向弯曲。According to an embodiment of the present invention, FIG. 6 is a schematic structural view of a second driving mechanism provided by the present invention. As shown in FIG. 6 , thesecond driving member 141 may be a motor; Two transmission parts and the second drivengear 1427, thesecond driving part 141 is arranged on thecasing 12, thesecond driving gear 1422 is connected with the output shaft of thesecond driving part 141, and the second transmission part is rotatably arranged on thecasing 12 , the second transmission part is respectively connected with thesecond driving gear 1422 and the second drivengear 1427, and the second drivengear 1427 is connected with the secondrotating part 23 of theflexible instrument 2, then thesecond driving member 141 drives thesecond driving gear 1422 rotates, and thesecond driving gear 1422 drives the second drivengear 1427 to rotate through the second transmission part. Since the second drivengear 1427 is connected with the secondrotating part 23, the second drivengear 1427 synchronously drives the secondrotating part 23 to rotate, thereby realizing to drive the end of theflexible instrument 2 to bend in the second direction.

进一步地，第二传动部件包括过渡齿轮1423、第二从过渡齿轮1424、第二力矩传感器1425和第二主过渡齿轮1426；第二从过渡齿轮1424通过过渡齿轮1423与第二主动齿轮1422啮合，第二力矩传感器1425分别与第二从过渡齿轮1424以及第二主过渡齿轮1426连接，第二主过渡齿轮1426转动设置在壳体12上，且第二主过渡齿轮1426与第二从动齿轮1427啮合。Further, the second transmission part includes atransition gear 1423, a secondslave transition gear 1424, asecond torque sensor 1425 and a secondmain transition gear 1426; the secondslave transition gear 1424 meshes with thesecond driving gear 1422 through thetransition gear 1423, Thesecond torque sensor 1425 is respectively connected with the secondslave transition gear 1424 and the secondmain transition gear 1426, the secondmain transition gear 1426 is rotatably arranged on thehousing 12, and the secondmain transition gear 1426 is connected with the second drivengear 1427 engage.

具体地，本实施例中，第二主动齿轮1422为主动正齿轮，第二从过渡齿轮1424为从动正齿轮，第二主过渡齿轮1426为主动伞齿轮，第二从动齿轮1427为从动伞齿轮；第二主动齿轮1422通过第二电机输出法兰轴1421固定在第二驱动件141的输出轴上，且第二主动齿轮1422通过过渡齿轮1423与第二从过渡齿轮1424啮合，第二从过渡齿轮1424与第二力矩传感器1425的一端固定连接，第二力矩传感器1425的另一端与第二主过渡齿轮1426固定连接，第二主过渡齿轮1426与第二从动齿轮1427啮合连接，第二从动齿轮1427与柔性器械2的第二转动部23配合连接。其中，过渡齿轮1423和第二主过渡齿轮1426均可以通过轴承转动固定在下壳体122上。Specifically, in this embodiment, thesecond driving gear 1422 is a driving spur gear, the secondslave transition gear 1424 is a driven spur gear, the secondmain transition gear 1426 is a driving bevel gear, and the second drivengear 1427 is a driven Bevel gear; thesecond driving gear 1422 is fixed on the output shaft of thesecond driver 141 through the second motoroutput flange shaft 1421, and thesecond driving gear 1422 meshes with the secondslave transition gear 1424 through thetransition gear 1423, and the second Theslave transition gear 1424 is fixedly connected to one end of thesecond torque sensor 1425, the other end of thesecond torque sensor 1425 is fixedly connected to the secondmain transition gear 1426, and the secondmain transition gear 1426 is engaged with the second drivengear 1427. The two drivengears 1427 are matched with the secondrotating part 23 of theflexible instrument 2 . Wherein, both thetransition gear 1423 and the secondmain transition gear 1426 can be rotatably fixed on thelower housing 122 through bearings.

其中，第二传动组件142可以实现第二驱动件141的转动到柔性器械2的第二转动部23的运动传递，以及第二力矩传感器1425可以实现第二驱动件141到柔性器械2的第二转动部23上的力矩测量。Wherein, thesecond transmission assembly 142 can realize the motion transmission from the rotation of thesecond driving member 141 to the secondrotating part 23 of theflexible apparatus 2, and thesecond torque sensor 1425 can realize the second rotation of thesecond driving member 141 to theflexible apparatus 2. Moment measurement on therotating part 23 .

本发明提供的柔性医疗设备，柔性器械2在进入患者体内组织进行检测时，可以通过第二力矩传感器1425测量第二驱动件141传递到第二转动部23上的力矩，避免第二驱动件141传递给第二转动部23的力矩过大，使柔性器械2末端沿第二方向弯曲过渡，造成患者体内组织的损坏。In the flexible medical device provided by the present invention, when theflexible instrument 2 enters the patient's internal tissue for detection, thesecond torque sensor 1425 can measure the torque transmitted from thesecond driving member 141 to the secondrotating part 23, so as to avoid thesecond driving member 141 The torque transmitted to the secondrotating part 23 is too large, so that the end of theflexible instrument 2 bends and transitions along the second direction, causing damage to tissues in the patient's body.

需要说明的是，在柔性器械2与超声成像配合使用时，第二力矩传感器1425具有与第一力矩传感器1324相同的作用，本发明在此不再赘述。It should be noted that, when theflexible instrument 2 is used in conjunction with ultrasound imaging, thesecond torque sensor 1425 has the same function as thefirst torque sensor 1324 , which will not be repeated in the present invention.

本实施例中，第一从动齿轮1326与柔性器械2的第一转动部22配合连接，可以是在第一从动齿轮1326的中部开设有与第一转动部22配合的第一安装孔，在第一转动部22为不规则圆形或者其他不规则形状时，第一安装孔的形状与第一转动部22的外形相适配，则第一转动部22套设在第一从动齿轮1326的第一安装孔内，第一转动部22无法相对第一从动齿轮1326转动，则第一转动部22和第一从动齿轮1326同步转动；在第一转动部22为规则圆形时，可在第一转动部22外侧设有定位凸块，在第一安装孔内设有与定位凸块配合的定位槽，通过定位凸块与定位槽的配合，实现第一转动部22卡装在第一从动齿轮1326的第一安装孔内，使第一转动部22无法相对第一从动齿轮1326转动，则第一转动部22和第一从动齿轮1326同步转动。In this embodiment, the first drivengear 1326 is cooperatively connected with the firstrotating part 22 of theflexible instrument 2, and a first mounting hole matching the firstrotating part 22 may be opened in the middle of the first drivengear 1326, When the firstrotating part 22 is an irregular circle or other irregular shapes, the shape of the first mounting hole is adapted to the shape of the firstrotating part 22, and the firstrotating part 22 is sleeved on the first driven gear. In the first mounting hole of 1326, the firstrotating part 22 cannot rotate relative to the first drivengear 1326, so the firstrotating part 22 and the first drivengear 1326 rotate synchronously; when the firstrotating part 22 is a regular circle , a positioning bump can be provided on the outside of the firstrotating part 22, and a positioning groove cooperating with the positioning bump is provided in the first installation hole. In the first mounting hole of the first drivengear 1326 , the firstrotating part 22 cannot rotate relative to the first drivengear 1326 , so the firstrotating part 22 and the first drivengear 1326 rotate synchronously.

需要说明的是，第一从动齿轮1326与柔性器械2的第一转动部22配合连接，还可以是通过锁紧件，或卡扣件等其他连接件。It should be noted that the first drivengear 1326 is cooperatively connected with the firstrotating part 22 of theflexible instrument 2 , and may also be connected by other connecting members such as a locking member or a buckle.

需要说明的是，第二从动齿轮1427与柔性器械2的第二转动部23配合连接，可采用与第一从动齿轮1326和柔性器械2的第一转动部22配合连接相同的方式，本发明在此不再赘述。It should be noted that the second drivengear 1427 is connected with the secondrotating part 23 of theflexible instrument 2 in the same way as the first drivengear 1326 is connected with the firstrotating part 22 of theflexible instrument 2. The invention will not be described in detail here.

进一步地，图7是本发明提供的第三驱动机构的结构示意图，如图7所示，第三驱动机构15包括第三驱动件151、第三主动齿轮153和第三从动齿轮154；第三驱动件151设置在壳体12上，第三主动齿轮153与第三驱动件151的输出轴连接，第三从动齿轮154与支座11滑动连接，第三从动齿轮154内侧具有与第三主动齿轮153啮合的第一内环形齿部。Further, FIG. 7 is a schematic structural view of the third driving mechanism provided by the present invention. As shown in FIG. 7, thethird driving mechanism 15 includes athird driving member 151, athird driving gear 153 and a third drivengear 154; The three drivingparts 151 are arranged on thehousing 12, thethird driving gear 153 is connected with the output shaft of thethird driving part 151, the third drivengear 154 is slidingly connected with thesupport 11, and the inner side of the third drivengear 154 has a The three drivinggears 153 mesh with the first inner ring gear.

其中，第三驱动件151可以为电机，第三驱动件151设置在下壳体122上，第三主动齿轮153通过第三电机输出法兰轴152固定在第三驱动件151的输出轴上；第三从动齿轮154为圆环结构，第三从动齿轮154转动设置在壳体12上，第三从动齿轮154的内侧具有与第三主动齿轮153啮合的第一内环形齿部，第三从动齿轮154的外侧连接有一个支架155，支架155与支座11滑动连接，支架155可相对支座11沿柔性器械2进给或回拉方向移动。第三驱动件151旋转式带动第三主动齿轮153一起旋转，第三主动齿轮153带动第三从动齿轮154旋转，由于与第三从动齿轮154固连的支架155与支座11连接，使得第三从动齿轮154无法旋转，则第三主动齿轮153相对第三从动齿轮154旋转，从而带动下壳体122转动，使得壳体12上的第一驱动机构13、第二驱动机构14和柔性器械2同步旋转运动，从而实现柔性器械2末端绕自身轴线转动。Wherein, thethird driving member 151 can be a motor, thethird driving member 151 is arranged on thelower housing 122, and thethird driving gear 153 is fixed on the output shaft of thethird driving member 151 through theoutput flange shaft 152 of the third motor; The three drivengears 154 have a ring structure, and the third drivengear 154 is rotatably arranged on thehousing 12. The inner side of the third drivengear 154 has a first inner ring gear meshed with thethird driving gear 153, and thethird A bracket 155 is connected to the outer side of the drivengear 154 , and thebracket 155 is slidingly connected with thesupport 11 , and thebracket 155 can move relative to thesupport 11 along the feeding or pulling direction of theflexible instrument 2 . Thethird driving member 151 rotates to drive thethird driving gear 153 to rotate together, and thethird driving gear 153 drives the third drivengear 154 to rotate, because thesupport 155 fixedly connected with the third drivengear 154 is connected with thesupport 11, so that The third drivengear 154 cannot rotate, then thethird driving gear 153 rotates relative to the third drivengear 154, thereby driving thelower housing 122 to rotate, so that thefirst driving mechanism 13, thesecond driving mechanism 14 and the Theflexible instrument 2 rotates synchronously, so that the end of theflexible instrument 2 can rotate around its own axis.

具体地，第三驱动件151设置在下壳体122的一端，第三驱动件151的轴线与壳体12的中心线平行，第三从动齿轮154包括环形齿面和与环形齿面连接的环形侧面，环形侧面套设在壳体12的一端，环形齿面的内环面具有所述第一内环形齿部。Specifically, thethird driving member 151 is disposed at one end of thelower housing 122, the axis of thethird driving member 151 is parallel to the center line of thehousing 12, and the third drivengear 154 includes a ring tooth surface and a ring connected to the ring tooth surface. As for the side surface, the annular side surface is sheathed on one end of thehousing 12 , and the inner annular surface of the annular tooth surface has the first inner annular tooth portion.

需要说明的是，可以在环形侧面和壳体12之间设有一个轴承，实现壳体12和第三从动齿轮154的转动连接，本实施例在壳体12外侧面设有圆周布置的多个小型轴承，优选地，第三从动齿轮154的环形侧面内壁设有与小型轴承配合的环形定位槽，实现第三从动齿轮154的轴向位置的定位。It should be noted that a bearing can be provided between the annular side surface and thehousing 12 to realize the rotational connection between thehousing 12 and the third drivengear 154 . A small bearing, preferably, the inner wall of the annular side of the third drivengear 154 is provided with an annular positioning groove matched with the small bearing, so as to realize the positioning of the axial position of the third drivengear 154.

需要说明的是，现有技术中，柔性器械2在转动过程中，柔性器械2上的连接线会同步发生转动，从而缠绕在柔性器械2上，在柔性器械2转动多圈时，连接线之间会发生干涉，影响柔性器械2的正常工作；而为了避免干涉问题，柔性器械2通常只能转一圈。It should be noted that, in the prior art, during the rotation of theflexible device 2, the connecting wires on theflexible device 2 will rotate synchronously, so as to be wound on theflexible device 2. When theflexible device 2 rotates multiple times, the connecting wires There will be interference between them, affecting the normal operation of theflexible device 2; and in order to avoid the interference problem, theflexible device 2 can usually only rotate once.

本发明提供的柔性医疗设备，通过第三驱动机构15驱动壳体12转动，使得壳体12上柔性器械2同步旋转运动，则柔性器械2和壳体12同步转动，柔性器械2可以实现超过一圈的旋转运动，并避免柔性器械2的连接线之间的干涉问题。The flexible medical device provided by the present invention drives thecasing 12 to rotate through thethird driving mechanism 15, so that theflexible device 2 on thecasing 12 rotates synchronously, then theflexible device 2 and thecasing 12 rotate synchronously, and theflexible device 2 can achieve more than one Rotational movement of the circle, and avoid interference problems between the connecting wires of theflexible instrument 2.

根据本发明的实施例，如图2所示，柔性医疗设备还包括第四驱动机构16，第四驱动机构16与壳体12连接，并与支座11连接；通过第四驱动机构16驱动壳体12相对支座11移动，实现柔性器械2的自动进给或回拉。According to an embodiment of the present invention, as shown in FIG. 2 , the flexible medical device further includes afourth drive mechanism 16, thefourth drive mechanism 16 is connected to thecasing 12 and connected to thesupport 11; the casing is driven by thefourth drive mechanism 16 Thebody 12 moves relative to thesupport 11 to realize the automatic feeding or pulling back of theflexible instrument 2 .

其中，壳体12滑动设置在支座11上，壳体12可相对支座11移动，第四驱动机构16驱动壳体12相对支座11移动，壳体12上的柔性器械2随壳体12同步相对支座11移动，从而使柔性器械2进给或回拉，则第四驱动机构16用于柔性器械2进给或回拉的自动控制。Wherein, thehousing 12 is slidably arranged on thesupport 11, thehousing 12 can move relative to thesupport 11, thefourth driving mechanism 16 drives thehousing 12 to move relative to thesupport 11, and theflexible instrument 2 on thehousing 12 moves with thehousing 12. Synchronously move relative to thesupport 11, so that theflexible instrument 2 is fed or pulled back, and thefourth driving mechanism 16 is used for automatic control of theflexible instrument 2 to feed or pull back.

本发明提供的柔性医疗设备，通过第四驱动机构16驱动壳体12相对支座11移动，实现柔性器械2的进给或回拉。可知，本发明通过第一驱动机构13、第二驱动机构14、第三驱动机构15和第四驱动机构16即可实现柔性器械2的四个自由度的自动控制，无需人工参与，从而进一步降低了医护人员的工作强度。In the flexible medical device provided by the present invention, thefourth driving mechanism 16 drives thecasing 12 to move relative to thesupport 11 to realize the feeding or pulling back of theflexible device 2 . It can be seen that the present invention can realize the automatic control of the four degrees of freedom of theflexible instrument 2 through thefirst driving mechanism 13, thesecond driving mechanism 14, thethird driving mechanism 15 and thefourth driving mechanism 16 without manual participation, thereby further reducing the the workload of medical staff.

进一步地，图8是本发明提供的第四驱动机构的结构示意图之一，图9是本发明提供的第四驱动机构的结构示意图之二，如图8和图9所示，第四驱动机构16包括第四驱动件161、第四主动齿轮163、传动齿组和齿条167；第四驱动件161设置在壳体12内，第四主动齿轮163与第四驱动件161的输出轴连接，齿条167设置在支座11上，第四主动齿轮163通过传动齿组与齿条167啮合。Further, FIG. 8 is one of the structural schematic diagrams of the fourth driving mechanism provided by the present invention, and FIG. 9 is the second structural schematic diagram of the fourth driving mechanism provided by the present invention. As shown in FIG. 8 and FIG. 9 , thefourth driving mechanism 16 includes afourth driving member 161, afourth driving gear 163, a transmission gear set and arack 167; the fourth drivingmember 161 is arranged in thehousing 12, and thefourth driving gear 163 is connected to the output shaft of the fourth drivingmember 161, Therack 167 is arranged on thesupport 11 , and thefourth driving gear 163 meshes with therack 167 through the transmission tooth set.

其中，第四驱动件161可以为电机，第四驱动件161设置在下壳体122的另一端，则第三驱动件151和第四驱动件161分别设置在下壳体122的两端；第四主动齿轮163通过第四电机输出法兰轴162同轴固定在第四驱动件161的输出轴上。第四驱动件161输出的旋转运动驱动第四主动齿轮163转动，第四主动齿轮163输出的旋转运动通过传动齿组传递给齿条167，由于齿条167无法移动，则第四主动齿轮163和传动齿组相对齿条167移动，从而带动壳体12以及壳体12上的第一驱动机构13、第二驱动机构14和柔性器械2同步移动，从而实现柔性器械2进给或回拉的运动。Wherein, the fourth drivingmember 161 can be a motor, and the fourth drivingmember 161 is arranged on the other end of thelower casing 122, and then thethird driving member 151 and the fourth drivingmember 161 are respectively arranged on two ends of thelower casing 122; Thegear 163 is coaxially fixed on the output shaft of the fourth drivingmember 161 through the fourth motoroutput flange shaft 162 . The rotary motion output by thefourth driver 161 drives thefourth driving gear 163 to rotate, and the rotary motion output by thefourth driving gear 163 is transmitted to therack 167 through the transmission tooth set. Since therack 167 cannot move, thefourth driving gear 163 and The transmission tooth set moves relative to therack 167, thereby driving thehousing 12 and thefirst driving mechanism 13, thesecond driving mechanism 14 on thehousing 12 and theflexible instrument 2 to move synchronously, thereby realizing the movement of theflexible instrument 2 to feed or pull back .

具体地，传动齿组包括第四从动齿轮164、第三过渡从齿轮165和第五主动齿轮166；第四从动齿轮164转动设置在壳体12上，第四从动齿轮164内侧具有与第四主动齿轮163啮合的第二内环形齿部；第四从动齿轮164外侧具有与第三过渡从齿轮165啮合的外环形齿部；第三过渡从齿轮165和第五主动齿轮166通过转轴连接，转轴与壳体12转动连接；第五主动齿轮166与齿条167啮合。Specifically, the transmission gear set includes a fourth drivengear 164, a third transition drivengear 165 and afifth driving gear 166; The second inner ring tooth portion engaged by thefourth driving gear 163; the outer ring tooth portion of the fourth drivengear 164 is engaged with the thirdtransition slave gear 165; the thirdtransition slave gear 165 and thefifth drive gear 166 pass through the rotating shaft Connected, the rotating shaft is rotationally connected with thehousing 12; thefifth driving gear 166 meshes with therack 167.

其中，第四从动齿轮164转动设置在壳体12的另一端，并通过设置在壳体12上的端盖进行轴向限位；第三过渡从齿轮165和第五主动齿轮166的转轴通过连接板设置在壳体12外侧壁上。Wherein, the fourth drivengear 164 is rotatably arranged at the other end of thehousing 12, and is axially limited by the end cover arranged on thehousing 12; the thirdtransition slave gear 165 and the shaft of thefifth driving gear 166 pass through The connecting plate is arranged on the outer wall of thehousing 12 .

其中，第四主动齿轮163为正齿轮，第四从动齿轮164的内环面的第二内环形齿部为正齿，第四从动齿轮164的外环面的外环形齿部为外锥齿；第三过渡从齿轮165为锥齿轮，第五主动齿轮166为正齿轮。当第四驱动件161输出的旋转运动时，带动第四主动齿轮163和第四从动齿轮164圆周运动，第四从动齿轮164的运动带动第三过渡从齿轮165和第五主动齿轮166同步转动，使得第五主动齿轮166在齿条167上往复直线运动，最终实现整个壳体12相对支座11的往复直线运动，从而实现壳体12上的柔性器械2进给或回拉的运动。Wherein, thefourth driving gear 163 is a spur gear, the second inner annular tooth portion of the inner ring surface of the fourth drivengear 164 is a spur tooth, and the outer annular tooth portion of the outer ring surface of the fourth drivengear 164 is an outer cone. teeth; the thirdtransition slave gear 165 is a bevel gear, and thefifth driving gear 166 is a spur gear. When thefourth drive member 161 outputs the rotary motion, it drives thefourth driving gear 163 and the fourth drivengear 164 to move circularly, and the movement of the fourth drivengear 164 drives the thirdtransition slave gear 165 and thefifth driving gear 166 to synchronize Rotation makes thefifth driving gear 166 reciprocate and linearly move on therack 167 , and finally realize the reciprocating linear motion of theentire housing 12 relative to thesupport 11 , thereby realizing the feeding or pulling back movement of theflexible instrument 2 on thehousing 12 .

进一步地，图10是本发明提供的支座和壳体配合的结构示意图，如图10所示，支座11包括架体111和设置在架体111上的至少一个导向杆112；齿条167设置在架体111上，齿条167与导向杆112平行。Further, Fig. 10 is a structural diagram of the cooperation between the support and the housing provided by the present invention. As shown in Fig. 10, thesupport 11 includes aframe body 111 and at least oneguide rod 112 arranged on theframe body 111; arack 167 Set on theframe body 111 , therack 167 is parallel to theguide rod 112 .

其中，架体111可以是平行间隔设置的两个固定安装板，导向杆112的两端分别与两个固定安装板连接；导向杆112给壳体12相对支座11的移动提供导向作用，则本实施例导向杆112为平行设置的两个。Wherein, theframe body 111 can be two fixed mounting plates arranged in parallel at intervals, and the two ends of theguide rod 112 are respectively connected with the two fixed mounting plates; In this embodiment, there are twoguide rods 112 arranged in parallel.

其中，下壳体122上的支架155通过直线轴承113设置在导向杆112上，当第四驱动件161的旋转运动通过第四主动齿轮163、第四从动齿轮164、第三过渡从齿轮165的啮合运动，最终传递给第五主动齿轮166沿着齿条167的直线运动，直线轴承113和导向杆112为第五主动齿轮166与齿条167运动提供导向作用。Wherein, thebracket 155 on thelower housing 122 is arranged on theguide rod 112 through thelinear bearing 113, when the rotation of the fourth drivingmember 161 passes through thefourth driving gear 163, the fourth drivengear 164, and the thirdtransition slave gear 165 The meshing movement is finally transmitted to the linear movement of thefifth driving gear 166 along therack 167, and thelinear bearing 113 and theguide rod 112 provide guidance for the movement of thefifth driving gear 166 and therack 167.

本发明提供的柔性医疗设备，通过导向杆112给第五主动齿轮166沿齿条167运动提供导向作用，进而给壳体12（壳体12上的柔性器械2）进给或回拉的运动提供导向运动，提高柔性器械2进给或回拉运动的稳定性。The flexible medical device provided by the present invention provides guidance for the movement of thefifth driving gear 166 along therack 167 through theguide rod 112, and then provides a guide for the movement of the housing 12 (theflexible device 2 on the housing 12) to feed or pull back. Guidance movement, improving the stability of theflexible device 2 feeding or pulling back movement.

进一步地，图11是本发明提供的柔性器械与导引组件配合的结构示意图，如图1所示，柔性器械2的末端具有柔性管26；控制装置1还包括导引组件17，如图11所示，导引组件17用于给柔性器械2末端的柔性管26提供导向作用；导引组件17包括基座171和与基座171连接的导向部172，基座171与架体111连接，导向部172给柔性器械2末端的柔性管26提供导向作用。Further, Fig. 11 is a structural schematic view of the cooperation between the flexible instrument and the guide assembly provided by the present invention. As shown in Fig. 1, the end of theflexible instrument 2 has aflexible tube 26; thecontrol device 1 also includes aguide assembly 17, as shown in Fig. 11 As shown, theguide assembly 17 is used to provide guidance to theflexible tube 26 at the end of theflexible instrument 2; theguide assembly 17 includes abase 171 and aguide portion 172 connected to thebase 171, thebase 171 is connected to theframe body 111, Theguide portion 172 provides guidance for theflexible tube 26 at the end of theflexible instrument 2 .

其中，导向部172包括首尾依次铰接的多个连杆1721，并在连杆1721上设有导向部件1722。本实施例中，每个连杆1721的末端设有一个导向部件1722，位于首部的连杆1721的首端与基座171连接，且该位于首部的连杆1721的首端也设有一个导向部件1722。Wherein, theguide part 172 includes a plurality of connectingrods 1721 which are sequentially hinged from end to end, and guideparts 1722 are arranged on the connectingrods 1721 . In this embodiment, aguide member 1722 is provided at the end of each connectingrod 1721, and the head end of the connectingrod 1721 at the head is connected to thebase 171, and the head end of the connectingrod 1721 at the head is also provided with aguide Part 1722.

具体地，导向部件1722包括转动设置在连杆1721上的U型轴承对，U型轴承包括间隔布置的两个U型轴承，柔性器械2的柔性管26位于该两个U型轴承之间，则每个连杆1721上具有一个控制柔性器械2的柔性管26的控制点，且在柔性管26递送时通过U型轴承转动减小摩擦。Specifically, theguide member 1722 includes a pair of U-shaped bearings rotatably arranged on the connectingrod 1721. The U-shaped bearings include two U-shaped bearings arranged at intervals, and theflexible tube 26 of theflexible instrument 2 is located between the two U-shaped bearings. Then each link 1721 has a control point for controlling theflexible tube 26 of theflexible instrument 2, and the U-shaped bearing rotates to reduce friction when theflexible tube 26 is delivered.

需要说明的是，相邻连杆1721采用铰接方式，通过调节相邻连杆1721之间的转角，实现所有连杆1721上的所有导向部件1722布置位置的变化，从而改变柔性器械2末端的柔性管26的布置方式，比如柔性器械2末端的柔性管26可以呈直线形布置，或者U形布置，或者三角形布置，或者一个或多个S弯折布置。It should be noted that adjacent connectingrods 1721 are hinged, and by adjusting the rotation angle between adjacent connectingrods 1721, the arrangement positions of allguide components 1722 on all connectingrods 1721 can be changed, thereby changing the flexibility of the end of theflexible instrument 2. The arrangement of thetubes 26, for example, theflexible tubes 26 at the end of theflexible instrument 2 can be arranged in a straight line, or in a U-shape, or in a triangle, or one or more S-bends.

本发明提供的柔性医疗设备，通过铰接的多个连杆1721和设置在连杆1721上的U型轴承对，实现柔性器械2末端的柔性管26位置和姿态的规划，并通过U型轴承转动减小柔性管26递送时的摩擦力。The flexible medical equipment provided by the present invention realizes the planning of the position and posture of theflexible tube 26 at the end of theflexible device 2 through a plurality of hinged connectingrods 1721 and U-shaped bearing pairs arranged on the connectingrods 1721, and rotates through the U-shaped bearings. Friction is reduced when theflexible tube 26 is delivered.

进一步地，图12是本发明提供的柔性器械通过夹持组件固定的结构示意图，如图2和图12所示，控制装置1还包括夹持组件18，夹持组件18包括设置在壳体12上的夹持件181和与夹持件181可拆卸连接的固定件182；柔性器械2夹持在夹持件181和固定件182之间。Further, FIG. 12 is a schematic structural view of the fixed flexible instrument provided by the present invention through the clamping assembly. As shown in FIG. 2 and FIG. 12 , thecontrol device 1 also includes a clampingassembly 18, which includes aThe clamping part 181 on the upper part and the fixingpart 182 detachably connected with the clampingpart 181; theflexible instrument 2 is clamped between the clampingpart 181 and the fixingpart 182.

其中，夹持件181固定在下壳体122上，固定件182与夹持件181连接时，夹持件181和固定件182将柔性器械2固定在下壳体122上，此时，柔性器械2相对于下壳体122固定不动。Wherein, the clampingpart 181 is fixed on thelower housing 122, and when the fixingpart 182 is connected with the clampingpart 181, the clampingpart 181 and the fixingpart 182 fix theflexible instrument 2 on thelower housing 122, and at this moment, theflexible instrument 2 is relatively Thelower casing 122 is fixed.

需要说明的是，固定件182可以为两个，分别位于夹持件181的两端，两个固定件182之间的空隙，可以供柔性器械2的第一转动部22和第二转动部23伸出夹持组件18；也可以是固定件182为一个，在固定件182上设有供第一转动部22和第二转动部23伸出的安装缺口。It should be noted that there can be two fixingpieces 182, which are respectively located at both ends of theclamping piece 181, and the gap between the two fixingpieces 182 can be used for the firstrotating part 22 and the secondrotating part 23 of theflexible instrument 2. Protruding from the clampingassembly 18 ; there may also be one fixingpiece 182 , and installation notches for the firstrotating part 22 and the secondrotating part 23 to protrude are provided on the fixingpiece 182 .

需要说明的是，第一驱动机构13在装配时，也可以将第一力矩传感器1324与第一从过渡齿轮1323连接的一端通过轴承设置在固定件182，第一从过渡齿轮1323固定在第一力矩传感器1324上，第一力矩传感器1324的另一端可以通过键连接方式连接第一主过渡齿轮1325内。It should be noted that, when thefirst drive mechanism 13 is assembled, one end of thefirst torque sensor 1324 connected to the firstslave transition gear 1323 can also be arranged on the fixingmember 182 through a bearing, and the firstslave transition gear 1323 is fixed on the first On thetorque sensor 1324, the other end of thefirst torque sensor 1324 can be connected to the first main transition gear 1325 through a key connection.

需要说明的是，第二驱动机构14在装配时，也可以将第二力矩传感器1425与第二从过渡齿轮1424连接的一端通过轴承设置在夹持件181，第二从过渡齿轮1424固定在第二力矩传感器1425上，第二力矩传感器1425的另一端可以通过键连接方式连接在第二主过渡齿轮1426内。另外，过渡齿轮1423也可以通过轴承设置在夹持件181上。It should be noted that, when thesecond drive mechanism 14 is assembled, one end of thesecond torque sensor 1425 connected to the secondslave transition gear 1424 can also be arranged on the clampingmember 181 through a bearing, and the secondslave transition gear 1424 is fixed on thesecond transition gear 1424. On thesecond torque sensor 1425, the other end of thesecond torque sensor 1425 can be connected to the secondmain transition gear 1426 through a key connection. In addition, thetransition gear 1423 can also be arranged on the clampingmember 181 through a bearing.

本发明提供的柔性医疗设备，通过夹持组件18将柔性器械2安装在壳体12内，便于柔性器械2的安装与拆卸。另外，柔性器械2与控制装置1的壳体12快速拆卸，可有效应对手术过程中的突发事件。In the flexible medical device provided by the present invention, theflexible device 2 is installed in thehousing 12 through the clampingassembly 18, which facilitates the installation and disassembly of theflexible device 2. In addition, theflexible instrument 2 and thecasing 12 of thecontrol device 1 can be quickly disassembled, which can effectively deal with emergencies during the operation.

进一步地，图13是本发明提供的柔性医疗设备的结构示意图之三，如图13所示，本发明柔性医疗设备还包括驱动装置3，控制装置1的支座11设置在驱动装置3上。Further, FIG. 13 is the third structural schematic diagram of the flexible medical device provided by the present invention. As shown in FIG. 13 , the flexible medical device of the present invention also includes adriving device 3 on which thesupport 11 of thecontrol device 1 is arranged.

其中，驱动装置3可以是机械手，或者是多轴驱动机构等驱动结构，可以使控制装置1和柔性器械2整体移动和转动，进而调整柔性器械2的位置和姿态。驱动装置3还可以移动小车，通过移动小车的移动，实现控制装置1和柔性器械2整体移动；优选地，可以在控制装置1和小车之间设置多维调整平台，以实现控制装置1位置的调整，比如可以实现控制装置1高度方向的位置调节，以适应不同的工作环境。Wherein, the drivingdevice 3 can be a manipulator, or a driving structure such as a multi-axis driving mechanism, which can make thecontrol device 1 and theflexible device 2 move and rotate as a whole, and then adjust the position and posture of theflexible device 2 . The drivingdevice 3 can also move the trolley, and realize the overall movement of thecontrol device 1 and theflexible instrument 2 through the movement of the mobile trolley; preferably, a multi-dimensional adjustment platform can be set between thecontrol device 1 and the trolley to realize the adjustment of the position of thecontrol device 1 , for example, the position adjustment of thecontrol device 1 in the height direction can be realized to adapt to different working environments.

本发明提供的柔性医疗设备，驱动装置3用于控制装置1和柔性器械2整体的定位和移动。控制装置1用于固定柔性器械2并实现柔性器械2所需四个自由度运动的自动控制，提高控制精度，减少了传统手持方式下医护人员因长时间手术带来的体力消耗问题；可实现柔性器械2远端自动控制，并无需医护人员近距离操作，避免医护人员长期暴露在X光射线下造成辐射等危险情况。In the flexible medical equipment provided by the present invention, thedrive device 3 is used to control the overall positioning and movement of thedevice 1 and theflexible device 2 . Thecontrol device 1 is used to fix theflexible device 2 and realize the automatic control of the four degrees of freedom movement required by theflexible device 2, improve the control accuracy, and reduce the physical exertion of medical staff caused by long-term operations in the traditional handheld mode; it can realize The remote end of theflexible device 2 is automatically controlled, and there is no need for medical staff to operate at close range, so as to avoid dangerous situations such as radiation caused by long-term exposure of medical staff to X-rays.

本发明提供的柔性医疗设备中，第一驱动机构13、第二驱动机构14、第三驱动机构15和第四驱动机构16基于电机和齿轮传动。若将第一驱动机构13、第二驱动机构14、第三驱动机构15和第四驱动机构16安装在不同平台上，使平台运动带动柔性器械2运动，这将会带来各驱动机构的驱动方向不一致导致运动冲突的问题，若为了实现控制装置1运动的一致性与各驱动机构之间的协调，并避免带来运动范围的约束，会使控制装置1的整体体积与重量的较大，因此，本发明驱动机构通过锥齿轮转换传动方向，从而克服各驱动机构的驱动方向不一致导致运动冲突的问题；基于锥齿轮方式将电机动力转动一定方向，从而依据机械结构消除各驱动机构之间的干涉，并避免各驱动机构安装位置互相分离，导致的体积与重量的较大的问题；使用小型轴承呈圆周阵列安装在壳体12外部实现整体或分离部件圆周转动效果，从而利于控制装置1的整体封装，提高了柔性医疗设备的一体性与集成度；并在控制装置1中集成第一力矩传感器1324和第二力矩传感器1425，实现控制装置1的第一驱动机构13和第二驱动机构14输出力的测量，提高使用安全性。In the flexible medical device provided by the present invention, thefirst driving mechanism 13 , thesecond driving mechanism 14 , thethird driving mechanism 15 and thefourth driving mechanism 16 are based on motor and gear transmission. If thefirst driving mechanism 13, thesecond driving mechanism 14, thethird driving mechanism 15 and thefourth driving mechanism 16 are installed on different platforms, and the platform movement drives theflexible apparatus 2 to move, this will bring about the driving of each driving mechanism. Inconsistent directions lead to motion conflicts. In order to achieve the consistency of the motion of thecontrol device 1 and the coordination between the various driving mechanisms, and to avoid constraints on the range of motion, the overall volume and weight of thecontrol device 1 will be larger. Therefore, the driving mechanism of the present invention converts the transmission direction through the bevel gear, thereby overcoming the problem of motion conflict caused by the inconsistency of the driving directions of each driving mechanism; Interference, and avoid the separation of the installation positions of the driving mechanisms from each other, resulting in larger volume and weight problems; use small bearings to be installed in a circular array on the outside of thehousing 12 to achieve the effect of circular rotation of the whole or separate parts, thereby facilitating thecontrol device 1 Overall packaging improves the integrity and integration of flexible medical equipment; and integrates thefirst torque sensor 1324 and thesecond torque sensor 1425 in thecontrol device 1 to realize thefirst drive mechanism 13 and thesecond drive mechanism 14 of thecontrol device 1 The measurement of output force improves the safety of use.

以上所描述的装置实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place , or can also be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.

最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.