技术领域Technical field
本发明涉及医疗器械技术领域，尤其涉及一种可控鞘管、可控支气管镜、持镜臂和自动导航装置。The invention relates to the technical field of medical devices, and in particular to a controllable sheath, a controllable bronchoscope, a mirror-holding arm and an automatic navigation device.
背景技术Background technique
肺癌发病率约占我国整体癌症发病率的21％，而死亡率占到25％到27％。肺癌的早期诊断和治疗可有效提升肺癌患者预后，而肺部小结节的准确取样是实现肺癌早期治疗的关键。传统的支气管镜在针对肺部小结节的活检时，存在难以到达目标位置、操作稳定性差、诊断取样准确率低等问题。与常规支气管镜相比，机器人因其精准控制、灵活便捷的特点，大大地规避了现有肺外周病变活检的限制，能够有效定位并提高诊断率。现有技术中的气管镜机器人可控制支气管镜系统按照预定计划，在连续可视化下安全地深入导航到细小的外周气道，同时维持静态定位的稳定性，为肺小结节的活检提供一种更强的取样能力。The incidence of lung cancer accounts for about 21% of the overall cancer incidence in my country, and the mortality rate accounts for 25% to 27%. Early diagnosis and treatment of lung cancer can effectively improve the prognosis of lung cancer patients, and accurate sampling of small lung nodules is the key to early treatment of lung cancer. When traditional bronchoscopy is used to biopsy small lung nodules, there are problems such as difficulty in reaching the target location, poor operational stability, and low diagnostic sampling accuracy. Compared with conventional bronchoscopy, due to its precise control, flexibility and convenience, the robot greatly circumvents the limitations of existing biopsy of peripheral lung lesions, and can effectively locate and improve the diagnostic rate. The bronchoscope robot in the prior art can control the bronchoscope system to safely navigate deep into the small peripheral airways under continuous visualization according to a predetermined plan, while maintaining the stability of static positioning, providing a method for biopsy of small pulmonary nodules. Greater sampling capabilities.
现有的气管镜机器人的软镜由于集成了传统气管镜的所有功能，软镜的镜体较粗，前端难以进入直径较小的支气管，可取样或治疗的范围受限。The soft scope of the existing bronchoscope robot integrates all the functions of the traditional bronchoscope. The scope of the soft scope is thick, and the front end is difficult to enter the bronchus with a smaller diameter, and the scope of sampling or treatment is limited.
发明内容Contents of the invention
为了解决上述问题，本发明提供了一种可控鞘管，包括柔性管、远端位置感知部和旋转驱动部，所述远端位置感知部设置在所述柔性管的远端侧壁内；所述旋转驱动部与所述柔性管驱动连接，所述柔性管可在所述旋转驱动部的驱动下绕其长轴旋转；In order to solve the above problems, the present invention provides a controllable sheath tube, which includes a flexible tube, a distal position sensing part and a rotation driving part, and the distal position sensing part is provided in the distal side wall of the flexible tube; The rotary drive part is drivingly connected to the flexible tube, and the flexible tube can rotate around its long axis driven by the rotary drive part;
所述柔性管的远端具有预弯曲部，在自然状态下，所述柔性管的远端通过所述预弯曲部呈弯曲状态。The distal end of the flexible tube has a pre-bent portion, and in a natural state, the distal end of the flexible tube is bent through the pre-bent portion.
较佳地，所述柔性管沿其长轴方向贯通设有第一工作通道，所述远端位置感知部绕设在所述第一工作通道的远端外侧或设置在所述第一工作通道的远端旁侧。Preferably, the flexible tube is provided with a first working channel running through it along its long axis, and the distal position sensing portion is arranged around the distal outer side of the first working channel or is provided on the first working channel. the distal side.
较佳地，所述柔性管的远端设有第二工作通道，所述第二工作通道环设在所述第一工作通道的外侧，所述远端位置感知部绕设在所述第二工作通道内；Preferably, the distal end of the flexible tube is provided with a second working channel, the second working channel is arranged around the outside of the first working channel, and the distal position sensing part is arranged around the second working channel. In the working channel;
所述远端位置感知部为磁感应线圈。The remote position sensing part is a magnetic induction coil.
较佳地，所述柔性管的远端设有第二工作通道，所述第二工作通位于所述第一工作通道的旁侧，所述远端位置感知部位于所述第二工作通道内；Preferably, the distal end of the flexible tube is provided with a second working channel, the second working channel is located beside the first working channel, and the distal position sensing portion is located in the second working channel. ;
所述远端位置感知部为磁感应线圈或光纤。The remote position sensing part is a magnetic induction coil or an optical fiber.
较佳地，所述旋转驱动部包括旋转电机和传动机构，所述旋转电机通过所述传动机构与所述柔性管驱动连接。Preferably, the rotary driving part includes a rotary motor and a transmission mechanism, and the rotary motor is drivingly connected to the flexible tube through the transmission mechanism.
较佳地，所述传动机构包括相啮合的主动齿轮和从动齿轮，所述主动齿轮与所述旋转电机的输出轴固定连接；所述从动齿轮固定外套在所述柔性管的近端。Preferably, the transmission mechanism includes a meshing driving gear and a driven gear, the driving gear is fixedly connected to the output shaft of the rotating electrical machine; the driven gear is fixedly sleeved on the proximal end of the flexible tube.
较佳地，所述的可控鞘管还包括硬质外壳，所述硬质外壳固定外套在所述柔性管的近端，所述旋转驱动部与所述硬质外壳驱动连接。Preferably, the controllable sheath further includes a hard shell, the hard shell is fixedly wrapped around the proximal end of the flexible tube, and the rotation driving part is drivingly connected to the hard shell.
较佳地，所述的可控鞘管还包括旋转支架，所述硬质外壳转动设置在所述旋转支架上；所述旋转支架可拆卸安装在所述旋转驱动部上。Preferably, the controllable sheath further includes a rotating bracket, the hard shell is rotatably mounted on the rotating bracket; the rotating bracket is detachably mounted on the rotating driving part.
较佳地，所述旋转支架的下端设有母扣，与所述母扣卡扣连接的公扣与公扣顶开杆固定连接，所述公扣顶开杆与公扣解锁按钮固定连接，所述公扣解锁按钮与旋转轴转动连接，所述旋转轴固定在所述旋转驱动部上；按压所述公扣解锁按钮时，所述公扣顶开杆带动所述公扣与所述母扣脱离。Preferably, the lower end of the rotating bracket is provided with a female buckle, the male buckle snap-connected to the female buckle is fixedly connected to the male buckle push-opening rod, and the male buckle pushing-opening rod is fixedly connected to the male buckle unlocking button. The male button unlocking button is rotationally connected to a rotating shaft, and the rotating shaft is fixed on the rotating drive part; when the male button unlocking button is pressed, the male button pushing lever drives the male button and the female button The buckle comes off.
较佳地，所述硬质外壳包覆住所述柔性管的近端端面，所述硬质外壳上设有与所述第一工作通道连通的所述通道入口。Preferably, the hard shell covers the proximal end surface of the flexible tube, and the hard shell is provided with the channel inlet communicating with the first working channel.
本发明还提供一种可控支气管镜，包括主管和上述的可控鞘管，所述主管上设有主工作通道，所述主工作通道沿所述主管的轴向设置，根据上述的柔性管可活动地穿设于所述主工作通道，并且所述柔性管的远端自所述主工作通道的远端伸出；The present invention also provides a controllable bronchoscope, which includes a main tube and the above-mentioned controllable sheath. The main tube is provided with a main working channel, and the main working channel is arranged along the axial direction of the main tube. According to the above-mentioned flexible tube Movably installed in the main working channel, and the distal end of the flexible tube extends from the distal end of the main working channel;
所述主管的远端具有可弯曲部，所述可弯曲部与弯曲驱动部连接，所述可弯曲部可在所述弯曲驱动部的驱动下弯曲。The distal end of the main tube has a bendable portion, the bendable portion is connected to the bending driving portion, and the bending portion can be bent under the driving of the bending driving portion.
较佳地，所述可弯曲部包括蛇骨管，所述蛇骨管内设有若干线状传动件；Preferably, the flexible part includes a serpentine tube, and a plurality of linear transmission members are provided in the serpentine tube;
所述弯曲驱动部包括至少一弯曲电机和至少一传动组件，每个所述弯曲电机通过相应的一所述传动组件与至少一个所述线状传动件驱动连接。The bending driving part includes at least one bending motor and at least one transmission assembly, and each bending motor is drivingly connected to at least one of the linear transmission members through a corresponding transmission assembly.
本发明还提供一种持镜臂，包括基座、第一进退驱动部、第二进退驱动部以及上述的可控支气管镜，所述第二进退驱动部与所述可控鞘管连接，所述可控鞘管可在所述第二进退驱动部的驱动下做进退运动；The present invention also provides a mirror-holding arm, which includes a base, a first forward and backward driving part, a second forward and backward driving part and the above-mentioned controllable bronchoscope. The second forward and backward driving part is connected to the controllable sheath, so The controllable sheath can move forward and backward driven by the second forward and backward driving part;
所述可控支气管镜和所述第二进退驱动部均与所述基座可滑动连接，所述第一进退驱动部分别与所述可控支气管镜和所述第二进退驱动部连接，所述可控支气管镜和所述第二进退驱动部均可在所述第一进退驱动部的驱动下做进退运动。The controllable bronchoscope and the second forward and backward driving part are both slidably connected to the base, and the first forward and backward driving part is respectively connected to the controllable bronchoscope and the second forward and backward driving part, so Both the controllable bronchoscope and the second forward and backward driving part can move forward and backward driven by the first forward and backward driving part.
较佳地，所述第一进退驱动部包括第一驱动电机、第一传动机构、第一滑轨和第一滑块，所述第一滑块与所述主管固定连接，所述第一驱动电机通过所述第一传动机构与所述第一滑块驱动连接；所述第一滑轨固定在所述基座上，所述第一滑块可滑动设置在所述第一滑轨上；所述第二进退驱动部安装在所述第一滑块上。Preferably, the first forward and backward drive part includes a first drive motor, a first transmission mechanism, a first slide rail and a first slide block, the first slide block is fixedly connected to the main pipe, and the first drive The motor is drivingly connected to the first slide block through the first transmission mechanism; the first slide rail is fixed on the base, and the first slide block is slidably disposed on the first slide rail; The second forward and backward driving part is installed on the first slide block.
较佳地，所述第二进退驱动部包括第二驱动电机、第二传动机构和第二滑块，所述第二驱动电机与所述第一滑块相对固定连接；所述第二驱动电机通过第二传动机构与所述第二滑块驱动连接，所述旋转驱动部固定安装在所述第二滑块上。Preferably, the second forward and backward driving part includes a second drive motor, a second transmission mechanism and a second slide block, and the second drive motor is relatively fixedly connected to the first slide block; the second drive motor The second transmission mechanism is drivingly connected to the second slide block, and the rotation driving part is fixedly installed on the second slide block.
较佳地，所述基座位姿可调地设置在与手术室墙面、地面或顶棚连接的底座上。Preferably, the position of the base is adjustable and is provided on a base connected to the wall, floor or ceiling of the operating room.
较佳地，所述底座为台车结构，所述台车结构可在固定模式和移动模式间切换。Preferably, the base is a trolley structure, and the trolley structure can be switched between a fixed mode and a mobile mode.
较佳地，所述第一进退驱动部还包括第一柔性支撑体，所述第一柔性支撑体外套在所述主管上；在使用时，所述第一柔性支撑体位于所述可控支气管镜的近端与患者口腔之间。Preferably, the first forward and backward driving part further includes a first flexible support body, the first flexible support body is coated on the main tube; when in use, the first flexible support body is located on the controllable bronchus between the proximal end of the scope and the patient's mouth.
较佳地，所述第二进退驱动部还包括第二柔性支撑体，所述第二柔性支撑体外套在所述柔性管上；在使用时，所述第二柔性支撑体设置在所述可控鞘管的近端与所述主工作通道的入口之间。Preferably, the second forward and backward driving part further includes a second flexible support body, and the second flexible support body is coated on the flexible tube; when in use, the second flexible support body is disposed on the removable between the proximal end of the control sheath tube and the entrance of the main working channel.
本发明还提供一种自动导航装置，包括上述的持镜臂。The invention also provides an automatic navigation device, including the above-mentioned mirror-holding arm.
与现有技术相比，本发明存在以下技术效果：Compared with the prior art, the present invention has the following technical effects:
1、本发明为可控鞘管的远端增加了预弯曲结构，即鞘管的远端在自然状态下成弯曲状态，该预弯曲结构配合旋转运动(可控鞘管增加了旋转驱动功能)，来对准进管方向，即允许医生选择正确的方向推送鞘管。1. The present invention adds a pre-bending structure to the distal end of the controllable sheath, that is, the distal end of the sheath is bent in a natural state, and the pre-bending structure cooperates with the rotational movement (the controllable sheath has a rotation drive function) , to align the direction of the tube inlet, allowing the doctor to choose the correct direction to push the sheath.
2、本发明为可控鞘管增加了旋转驱动功能和进退功能，允许医生远程控制鞘管的旋转与进退。当可控鞘管遇到支气管岔路时，需要通过旋转运动对准进管方向。2. The present invention adds a rotational drive function and an advance and retreat function to the controllable sheath, allowing doctors to remotely control the rotation, advance and retreat of the sheath. When the controllable sheath encounters a bronchial bifurcation, it needs to be aligned with the tube inlet direction through rotation.
3、本发明简化了可控鞘管的结构，降低制造成本，增加有效径向空间的大小，远端可以进入直径较小的支气管。3. The present invention simplifies the structure of the controllable sheath, reduces manufacturing costs, increases the size of the effective radial space, and allows the distal end to enter bronchial tubes with smaller diameters.
4、本发明为可控支气管镜增加了旋转驱动功能和进退功能，允许医生远程控制支气管镜的旋转与进退。4. The present invention adds a rotational drive function and an advance and retreat function to the controllable bronchoscope, allowing doctors to remotely control the rotation, advance and retreat of the bronchoscope.
5、本发明为可控支气管镜的远端增加了可弯曲结构，当支气管是分叉结构时，可控支气管镜在进镜时需要通过其远端的弯曲运动选择进镜方向，来对准进管方向，即允许医生选择正确的方向推送支气管镜。5. The present invention adds a bendable structure to the distal end of the controllable bronchoscope. When the bronchus has a bifurcated structure, the controllable bronchoscope needs to select the direction of the entry through the bending movement of its distal end for alignment. The tube entry direction allows the doctor to choose the correct direction to push the bronchoscope.
6、本发明提供的自动导航装置，让医生在导航系统指引下，可以通过远程操作，将器械精准输送至传统支气管镜难以到达的狭窄支气管目标位置，为精准手术及活检取样操作做准备。6. The automatic navigation device provided by the present invention allows doctors, under the guidance of the navigation system, to accurately transport instruments to narrow bronchial target locations that are difficult to reach with traditional bronchoscopes through remote operation to prepare for precise surgery and biopsy sampling operations.
当然，实施本发明的任一产品并不一定需要同时达到以上所述的所有优点。Of course, any product implementing the present invention does not necessarily need to achieve all the above-mentioned advantages at the same time.
附图说明Description of the drawings
为了更清楚地说明本发明实施例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简单地介绍，显而易见地，下面描述中的附图仅仅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性的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.
图1是本发明一实施例提供的自动导航装置的结构示意图；Figure 1 is a schematic structural diagram of an automatic navigation device provided by an embodiment of the present invention;
图2是本发明一实施例提供的支气管镜进入支气管岔路的示意图；Figure 2 is a schematic diagram of a bronchoscope entering a bronchial bifurcation according to an embodiment of the present invention;
图3是本发明一实施例提供的可控鞘管的结构示意图；Figure 3 is a schematic structural diagram of a controllable sheath provided by an embodiment of the present invention;
图4为图3中A处的放大图；Figure 4 is an enlarged view of point A in Figure 3;
图5是本发明一实施例提供的远端位置感知部的安装位置示意图；Figure 5 is a schematic diagram of the installation position of the remote position sensing unit provided by an embodiment of the present invention;
图6是本发明另一实施例提供的远端位置感知部的安装位置示意图；Figure 6 is a schematic diagram of the installation position of the remote position sensing unit provided by another embodiment of the present invention;
图7是本发明一实施例提供的旋转驱动部的结构示意图；Figure 7 is a schematic structural diagram of a rotary drive part provided by an embodiment of the present invention;
图8是本发明一实施例提供的旋转支架的可拆卸结构示意图；Figure 8 is a schematic diagram of the detachable structure of the rotating bracket provided by an embodiment of the present invention;
图9是本发明一实施例提供的可控支气管的可弯曲部的结构示意图；Figure 9 is a schematic structural diagram of the flexible portion of a controllable bronchus provided by an embodiment of the present invention;
图10是本发明一实施例提供的弯曲驱动部的结构结构示意图；Figure 10 is a schematic structural diagram of a bending driving part provided by an embodiment of the present invention;
图11是本发明一实施例提供的第一进退驱动部的结构示意图；Figure 11 is a schematic structural diagram of the first forward and backward driving part provided by an embodiment of the present invention;
图12是本发明一实施例提供的第一柔性支撑体的结构示意图。Figure 12 is a schematic structural diagram of a first flexible support body provided by an embodiment of the present invention.
具体实施方式Detailed ways
本发明提供一种可控鞘管、可控支气管镜、持镜臂和自动导航装置，让医生在导航系统指引下，可以通过远程操作，将器械精准输送至传统支气管镜难以到达的狭窄支气管目标位置，为精准手术及活检取样操作做准备。The invention provides a controllable sheath, a controllable bronchoscope, a scope-holding arm and an automatic navigation device, allowing doctors, under the guidance of the navigation system, to accurately deliver instruments to narrow bronchial targets that are difficult to reach with traditional bronchoscopes through remote operation. position to prepare for precise surgery and biopsy sampling operations.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅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做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。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.
请参考图1至图4，本实施例为可控鞘管20增加了旋转驱动功能和进退功能，允许医生远程控制鞘管的旋转与进退。并且鞘管的远端增加了预弯曲结构，即鞘管的远端在自然状态下成弯曲状态，该预弯曲结构配合旋转运动，来对准进管方向，即允许医生选择正确的方向推送鞘管。Please refer to Figures 1 to 4. This embodiment adds a rotational drive function and an advance and retreat function to the controllable sheath 20, allowing the doctor to remotely control the rotation, advance and retreat of the sheath. Moreover, a pre-bent structure is added to the distal end of the sheath, that is, the distal end of the sheath is bent in a natural state. This pre-bent structure cooperates with the rotational movement to align the direction of the tube inlet, allowing the doctor to choose the correct direction to push the sheath. Tube.
具体的，可控鞘管20包括柔性管201、远端位置感知部204和旋转驱动部203，所述柔性管201沿其长轴方向贯通设有第一工作通道2011，第一工作通道2011用于器械40如钳道器械、活检器械等插入。器械40插入时，从第一工作通道2011的近端向远端方向插入。Specifically, the controllable sheath 20 includes a flexible tube 201, a distal position sensing part 204 and a rotational driving part 203. The flexible tube 201 is provided with a first working channel 2011 along its long axis. The first working channel 2011 is used for Insert instruments 40 such as forceps instruments, biopsy instruments, etc. When the instrument 40 is inserted, it is inserted from the proximal end of the first working channel 2011 to the distal direction.
远端位置感知部204设置在柔性管201的远端头部的侧壁内，本实施例可根据远端位置感知部204的具体类型来安装，请参考图4和图5，如远端位置感知部204为磁感应线圈或光纤，所述远端位置感知部204设置在所述第一工作通道2011的远端旁侧。具体的，柔性管201的远端设有第二工作通道2012，所述第二工作通位于所述第一工作通道2011的旁侧，所述远端位置感知部204位于所述第二工作通道2012内。请参考图6，又如所述远端位置感知部204为磁感应线圈，则远端位置感知部204绕设在所述第一工作通道2011的远端外侧。具体的，所述柔性管201的远端设有第二工作通道2012'，所述第二工作通道2012'环设在所述第一工作通道2011的外侧，所述远端位置感知部204绕设在所述第二工作通道2012'内。The distal position sensing part 204 is disposed in the side wall of the distal head of the flexible tube 201. This embodiment can be installed according to the specific type of the distal position sensing part 204. Please refer to Figures 4 and 5. For example, the distal position The sensing part 204 is a magnetic induction coil or an optical fiber, and the distal position sensing part 204 is provided at the distal side of the first working channel 2011 . Specifically, the distal end of the flexible tube 201 is provided with a second working channel 2012. The second working channel is located beside the first working channel 2011. The distal position sensing part 204 is located in the second working channel. Within 2012. Please refer to FIG. 6 . If the distal position sensing part 204 is a magnetic induction coil, the distal position sensing part 204 is wound around the distal outer side of the first working channel 2011 . Specifically, the distal end of the flexible tube 201 is provided with a second working channel 2012', the second working channel 2012' is arranged around the outside of the first working channel 2011, and the distal position sensing part 204 surrounds Located in the second working channel 2012'.
旋转驱动部203用于驱动柔性管201旋转，即旋转驱动部203与所述柔性管201驱动连接，所述柔性管201可在所述旋转驱动部203的驱动下绕其长轴旋转。请参考图2，当柔性管201遇到支气管岔路时，需要通过旋转运动对准进管方向。旋转驱动部203属于本领域的常规技术手段，如可以是电驱动，也可以是液压驱动或气驱动等，本发明对旋转驱动部203的具体结构不做限制。在本实施例中，旋转驱动部203安装在柔性管201的近端，请参考图7和图8，旋转驱动部203包括旋转电机2031和传动机构，所述旋转电机2031通过所述传动机构与所述柔性管201驱动连接。The rotation driving part 203 is used to drive the flexible tube 201 to rotate, that is, the rotation driving part 203 is drivingly connected to the flexible tube 201 , and the flexible tube 201 can rotate around its long axis driven by the rotation driving part 203 . Please refer to Figure 2. When the flexible tube 201 encounters a bronchial fork, it needs to be aligned with the tube inlet direction through rotation. The rotational driving part 203 belongs to conventional technical means in this field, and may be electrically driven, hydraulically driven, or pneumatically driven. The present invention does not limit the specific structure of the rotating driving part 203. In this embodiment, the rotary drive part 203 is installed at the proximal end of the flexible tube 201. Please refer to Figures 7 and 8. The rotary drive part 203 includes a rotary motor 2031 and a transmission mechanism. The rotary motor 2031 is connected to the flexible tube 201 through the transmission mechanism. The flexible tube 201 is driven and connected.
传动机构可以为齿轮传动机构、链传动机构、带传动机构、齿轮齿条机构等，因此，本发明对传动机构的具体结构不做限制。本实施例以齿轮传动机构为例，所述传动结构包括相啮合的主动齿轮2032和从动齿轮2033，所述主动齿轮2032与所述旋转电机2031的输出轴固定连接；所述从动齿轮2033固定外套在所述柔性管201的近端。由于柔性管201是柔性的，因此，为了给鞘管的运动控制提供支撑面，柔性管201的近端固定外套有硬质外壳205，从动齿轮2033固定外套在硬质外壳205上。The transmission mechanism can be a gear transmission mechanism, a chain transmission mechanism, a belt transmission mechanism, a rack and pinion mechanism, etc. Therefore, the present invention does not limit the specific structure of the transmission mechanism. This embodiment takes a gear transmission mechanism as an example. The transmission structure includes a meshing driving gear 2032 and a driven gear 2033. The driving gear 2032 is fixedly connected to the output shaft of the rotating motor 2031; the driven gear 2033 A fixed outer sleeve is placed on the proximal end of the flexible tube 201 . Since the flexible tube 201 is flexible, in order to provide a supporting surface for motion control of the sheath, the proximal end of the flexible tube 201 is fixedly covered with a hard shell 205, and the driven gear 2033 is fixedly covered with the hard shell 205.
在本实施例中，带有硬质外壳205的鞘管通过旋转支架206支撑，硬质外壳205转动设置在所述旋转支架206上；所述旋转支架206可拆卸安装在所述旋转驱动部203上。在本实施例中，硬质外壳205具有外圆周面，旋转支架206的上端设有与该外圆周面适配的弧形托槽，硬质外壳205转动设置在该弧形托槽上。旋转驱动部203还包括安装座，旋转电机2031固定安装在该安装座上。旋转支架206的下端通过可拆卸机构207可拆卸安装在该安装座上。In this embodiment, the sheath with the hard shell 205 is supported by the rotating bracket 206, and the hard shell 205 is rotatably installed on the rotating bracket 206; the rotating bracket 206 is detachably installed on the rotating driving part 203 superior. In this embodiment, the hard shell 205 has an outer circumferential surface, and the upper end of the rotating bracket 206 is provided with an arc-shaped bracket that matches the outer circumferential surface. The hard shell 205 is rotatably mounted on the arc-shaped bracket. The rotation driving part 203 also includes a mounting base, on which the rotating motor 2031 is fixedly mounted. The lower end of the rotating bracket 206 is detachably mounted on the mounting base through a detachable mechanism 207 .
作为一种实施例，请参考图7和图8，可拆卸机构207包括旋转轴2071、公扣解锁按钮2072、公扣顶开杆2073和母扣结构2074，母扣结构2074包括母扣20741和与母扣20741卡接的公扣20742，所述旋转支架206的下端设有母扣20741，与所述母扣20741卡扣连接的公扣20742与公扣顶开杆2073固定连接，所述公扣顶开杆2073与公扣解锁按钮2072固定连接，所述公扣解锁按钮2072与旋转轴2071转动连接，所述旋转轴2071固定在所述旋转驱动部203的安装座上；按压所述公扣解锁按钮2072时，所述公扣顶开杆2073带动所述公扣20742与所述母扣20741脱离。As an embodiment, please refer to Figures 7 and 8. The detachable mechanism 207 includes a rotating shaft 2071, a male button unlocking button 2072, a male button opening lever 2073, and a female button structure 2074. The female button structure 2074 includes a female button 20741 and The male buckle 20742 is snap-connected with the female buckle 20741. The lower end of the rotating bracket 206 is provided with a female buckle 20741. The male buckle 20742 snap-connected to the female buckle 20741 is fixedly connected to the male buckle pushing rod 2073. The buckle top opening lever 2073 is fixedly connected to the male button unlocking button 2072, and the male button unlocking button 2072 is rotationally connected to the rotating shaft 2071. The rotating shaft 2071 is fixed on the mounting seat of the rotating drive part 203; press the male button unlocking button 2072. When the unlock button 2072 is pressed, the male buckle pushing rod 2073 drives the male buckle 20742 to separate from the female buckle 20741.
在本实施例中，所述硬质外壳205包覆住所述柔性管201的近端端面，因此，所述硬质外壳205上设有与第一工作通道2011连通的通道入口，通道入口用于将器械40插入，并将器械40引导至目标位置。In this embodiment, the hard shell 205 covers the proximal end surface of the flexible tube 201. Therefore, the hard shell 205 is provided with a channel inlet connected to the first working channel 2011, and the channel inlet is used for The instrument 40 is inserted and guided to the target location.
所述硬质外壳205上还设有光/电信号线或光/电信号接口，所述光/电信号线或光/电信号接口设置在所述硬质外壳205近端端部附近。The hard shell 205 is also provided with an optical/electrical signal line or an optical/electrical signal interface, and the optical/electrical signal line or optical/electrical signal interface is provided near the proximal end of the hard shell 205 .
请参考图3，柔性管201的远端具有预弯曲部202，在自然状态下，所述柔性管201的远端通过所述预弯曲部202呈弯曲状态。在本发明中，只要柔性管201的远端呈弯曲状即可，至于其是如何实现弯曲的属于本领域的常规技术手段，因此，本发明对此不做具体限制。如预弯曲部202与柔性管201的材质相同，预弯曲部202与柔性管201是一体的塑胶管，预弯曲部202通过热塑性加工而成。Please refer to FIG. 3 . The distal end of the flexible tube 201 has a pre-bent portion 202 . In a natural state, the distal end of the flexible tube 201 is bent through the pre-bent portion 202 . In the present invention, as long as the distal end of the flexible tube 201 is curved, how to realize the bending belongs to the conventional technical means in the art. Therefore, the present invention does not impose any specific limitations on this. For example, the pre-bent part 202 and the flexible pipe 201 are made of the same material, the pre-bent part 202 and the flexible pipe 201 are an integrated plastic pipe, and the pre-bent part 202 is formed by thermoplastic processing.
请参考图1、图9和图10，本实施例还提供一种可控支气管镜10，其包括主管102，主管102为柔性主管，所述主管102上设有主工作通道，所述主工作通道沿所述主管102的轴向设置，可控鞘管20的柔性管201可活动地穿设于所述主工作通道，并且所述柔性管201的远端自所述主工作通道的远端伸出。柔性管201插入时，从主工作通道的近端向远端插入。Please refer to Figures 1, 9 and 10. This embodiment also provides a controllable bronchoscope 10, which includes a main tube 102. The main tube 102 is a flexible main tube. The main tube 102 is provided with a main working channel. The channel is arranged along the axial direction of the main pipe 102. The flexible tube 201 of the controllable sheath 20 is movably threaded through the main working channel, and the distal end of the flexible tube 201 extends from the distal end of the main working channel. Reach out. When the flexible tube 201 is inserted, it is inserted from the proximal end to the distal end of the main working channel.
所述主管102的远端具有可弯曲部1021，所述可弯曲部1021与弯曲驱动部101连接，弯曲驱动部101安装在主管102的近端，所述可弯曲部1021可在所述弯曲驱动部101的驱动下弯曲。The distal end of the main tube 102 has a bendable portion 1021. The bendable portion 1021 is connected to the bending driving portion 101. The bending driving portion 101 is installed at the proximal end of the main tube 102. The bending portion 1021 can be connected to the bending driving portion. Part 101 is driven to bend.
在本实施例中，所述可弯曲部1021包括蛇骨管，所述蛇骨管内设有若干线状传动件，如钢丝绳或者其他线状传动件。弯曲驱动部101对可弯曲部1021的弯曲控制主要是通过拉动线状传动件来实现，本实施例对拉动线状传动件的个数不做限制，如在四根线状传动件的前提下，分别拉动四根线状传动件可使得可弯曲部1021朝四个方向(上下左右)弯曲。如果采用两根线状传动件时，则分别拉动两根线状传动件可使得可弯曲部1021朝两个方向弯曲。In this embodiment, the bendable portion 1021 includes a serpentine tube, and a number of linear transmission members, such as steel wire ropes or other linear transmission members, are disposed in the serpentine tube. The bending control of the bendable part 1021 by the bending driving part 101 is mainly achieved by pulling the linear transmission parts. This embodiment does not limit the number of pulling linear transmission parts. For example, under the premise of four linear transmission parts , respectively pulling the four linear transmission members can make the bendable portion 1021 bend in four directions (up, down, left, right). If two linear transmission members are used, pulling the two linear transmission members respectively can cause the bendable portion 1021 to bend in two directions.
所述弯曲驱动部101包括至少一弯曲电机和至少一传动组件，一所述弯曲电机通过一所述传动组件与至少一所述线状传动件驱动连接。本实施例对线状传动件个数不做限制，实际使用时，可根据具体的线状传动件个数来确定弯曲电机和传动组件的个数。传动组件包括齿轮和齿条，齿轮安装在弯曲电机输出轴上，一个齿轮对应与两根齿条啮合，两根齿条设置于对应齿轮的两侧且相互平行，两根齿条分别用于与可弯曲部1021的一根线状传动件连接。The bending driving part 101 includes at least one bending motor and at least one transmission component. One of the bending motors is drivingly connected to at least one of the linear transmission members through a transmission component. This embodiment does not limit the number of linear transmission parts. In actual use, the number of bending motors and transmission components can be determined according to the specific number of linear transmission parts. The transmission assembly includes a gear and a rack. The gear is installed on the output shaft of the bending motor. One gear meshes with two racks. The two racks are arranged on both sides of the corresponding gear and are parallel to each other. The two racks are used to communicate with each other. The flexible part 1021 is connected to a linear transmission member.
当可弯曲部1021的线状传动件为两根时，一组传动组件即可。本实施例以可弯曲部1021具有四根线状传动件为例，因此本实施例的传动组件为两组，该两组传动机构分别由两个弯曲电机驱动，且每组传动组件可分别控制两条线状传动件。When there are two linear transmission members of the bendable portion 1021, one set of transmission components is sufficient. In this embodiment, the bendable portion 1021 has four linear transmission members as an example. Therefore, there are two groups of transmission components in this embodiment. The two groups of transmission mechanisms are driven by two bending motors respectively, and each group of transmission components can be controlled separately. Two linear transmission parts.
具体说来，齿条为四根，由第一弯曲电机1011驱动第一齿轮，第一齿轮带动第一齿条和第二齿条1013直线运动。第二电机驱动第二齿轮1015，该第二齿轮1015带动第三齿条和第四齿条1014直线运动。弯曲驱动部101具有一个接头1012，该接头1012用于固定可弯曲部1021。其中，第一齿条、第二齿条1013、第三齿条和第四齿条1014伸出该接头1012并与可弯曲部1021上的线状传动件固定连接。Specifically, there are four racks. The first bending motor 1011 drives the first gear, and the first gear drives the first rack and the second rack 1013 to move linearly. The second motor drives the second gear 1015, and the second gear 1015 drives the third rack and the fourth rack 1014 to move linearly. The bending driving part 101 has a joint 1012, which is used to fix the bendable part 1021. The first rack, the second rack 1013, the third rack and the fourth rack 1014 extend out of the joint 1012 and are fixedly connected to the linear transmission member on the bendable portion 1021.
可弯曲部1021上的四个线状传动件设定为第一线状传动件10221、第二线状传动件10222、第三线状传动件10223、第四线状传动件10224。第一线状传动件10221和第二线状传动件10222为一组，控制可弯曲部1021上下弯曲。第三线状传动件10223和第四线状传动件10224为一组，控制可弯曲部1021左右弯曲。其中，第一齿条与第一线状传动件10221固定连接，第二齿条1013与第二线状传动件10222固定连接，第三齿条与第三线状传动件10223固定连接，第四齿条1014与第四线状传动件10224固定连接。The four linear transmission members on the bendable part 1021 are set as the first linear transmission member 10221, the second linear transmission member 10222, the third linear transmission member 10223, and the fourth linear transmission member 10224. The first linear transmission member 10221 and the second linear transmission member 10222 form a group and control the bendable portion 1021 to bend up and down. The third linear transmission member 10223 and the fourth linear transmission member 10224 form a group and control the bendable portion 1021 to bend left and right. Among them, the first rack is fixedly connected to the first linear transmission member 10221, the second rack 1013 is fixedly connected to the second linear transmission member 10222, the third rack is fixedly connected to the third linear transmission member 10223, and the fourth rack is fixedly connected to the third linear transmission member 10223. 1014 is fixedly connected to the fourth linear transmission member 10224.
请参考图2，当支气管是分叉结构时，可控支气管镜10在进镜时需要通过其远端的弯曲运动选择进镜方向。Please refer to Figure 2. When the bronchus has a bifurcated structure, the controllable bronchoscope 10 needs to select the direction of the telescope through the bending movement of its distal end when entering the bronchoscope.
本实施例还提供一种持镜臂30，请参考图1和图11，所述持镜臂30包括基座301、第一进退驱动部303和第二进退驱动部302，第一进退驱动部303用于驱动可控支气管镜10做进退运动，第二进退驱动部302用于驱动可控鞘管20做进退运动。This embodiment also provides a mirror-holding arm 30. Please refer to Figures 1 and 11. The mirror-holding arm 30 includes a base 301, a first forward and backward driving part 303 and a second forward and backward driving part 302. The first forward and backward driving part 303 is used to drive the controllable bronchoscope 10 to make forward and backward motions, and the second forward and backward driving part 302 is used to drive the controllable sheath 20 to make forward and backward motions.
在本实例中，所述第二进退驱动部302与所述可控鞘管20连接，所述可控鞘管20可在所述第二进退驱动部302的驱动下做进退运动。In this example, the second forward and backward driving part 302 is connected to the controllable sheath 20 , and the controllable sheath 20 can move forward and backward driven by the second forward and backward driving part 302 .
所述可控支气管镜10和所述第二进退驱动部302均与所述基座301可滑动连接，所述第一进退驱动部303分别与所述可控支气管镜10和所述第二进退驱动部302连接，所述可控支气管镜10和所述第二进退驱动部302均可在所述第一进退驱动部303的驱动下做进退运动，即第一进退驱动部303在驱动可控支气管镜10运动时，第二进退驱动部302也跟着可控支气管镜10一起做进退运动，即第二进退驱动部302与可控支气管镜10是同步做进退运动的。The controllable bronchoscope 10 and the second forward and backward driving part 302 are both slidably connected to the base 301, and the first forward and backward driving part 303 is respectively connected to the controllable bronchoscope 10 and the second forward and backward driving part. The driving part 302 is connected, and both the controllable bronchoscope 10 and the second forward and backward driving part 302 can make forward and backward motions driven by the first forward and backward driving part 303, that is, the first forward and backward driving part 303 is controllable when driven. When the bronchoscope 10 moves, the second forward and backward driving part 302 also moves forward and backward together with the controllable bronchoscope 10 , that is, the second forward and backward driving part 302 and the controllable bronchoscope 10 make forward and backward motions synchronously.
第一进退驱动部303和第二进退驱动部302分别可以是电驱动、液压驱动或气驱动，本发明对此不做限制。本实施例以电驱动为例，第一进退驱动部303包括第一驱动电机3031、第一传动机构、第一滑轨3036和第一滑块3035，所述第一滑块3035与所述主管102相对固定连接，所述第一驱动电机3031通过所述第一传动机构与所述第一滑块3035驱动连接；所述第一滑轨3036固定在所述基座301上，所述第一滑块3035可滑动设置在所述第一滑轨3036上。所述第二进退驱动部302安装在所述第一滑块3035上。在本实施例中，第一进退驱动部303内置于基座301中。The first forward and backward driving part 303 and the second forward and backward driving part 302 may be electrically driven, hydraulically driven or pneumatically driven respectively, and the present invention is not limited thereto. This embodiment takes electric drive as an example. The first forward and backward driving part 303 includes a first drive motor 3031, a first transmission mechanism, a first slide rail 3036 and a first slide block 3035. The first slide block 3035 and the main pipe 102 is relatively fixedly connected, and the first driving motor 3031 is drivingly connected to the first slider 3035 through the first transmission mechanism; the first slide rail 3036 is fixed on the base 301, and the first The slider 3035 is slidably disposed on the first slide rail 3036. The second forward and backward driving part 302 is installed on the first slide block 3035. In this embodiment, the first forward and backward driving part 303 is built in the base 301 .
本实施例对第一传动机构的具体结构不做限制，如可以是同步带传动机构，其包括主动同步带轮3032、从动同步带轮3034、绕设在主动同步带轮3032和从动同步带轮3034的同步带3033，第一滑块3035与该同步带3033局部固定连接。可达到同样效果的传动机构还有链传动机构、丝杆螺母机构、摩擦轮驱动机构、齿轮齿条机构、钢丝绞盘机构、液压缸、串联机器人、并联机器人等。This embodiment does not limit the specific structure of the first transmission mechanism. For example, it can be a synchronous belt transmission mechanism, which includes an active synchronous pulley 3032 and a driven synchronous pulley 3034. The synchronous belt 3033 of the pulley 3034 and the first slider 3035 are partially fixedly connected to the synchronous belt 3033. Transmission mechanisms that can achieve the same effect include chain transmission mechanisms, screw nut mechanisms, friction wheel drive mechanisms, rack and pinion mechanisms, wire winch mechanisms, hydraulic cylinders, series robots, parallel robots, etc.
第二进退驱动部302的结构与第一进退驱动部303类似，如所述第二进退驱动部302包括第二驱动电机、第二传动机构和第二滑块，所述第二驱动电机与所述第一滑块3035相对固定连接；所述第二驱动电机通过第二传动机构与所述第二滑块驱动连接，所述旋转驱动部203固定安装在所述第二滑块上。The structure of the second forward and backward driving part 302 is similar to that of the first forward and backward driving part 303. For example, the second forward and backward driving part 302 includes a second driving motor, a second transmission mechanism and a second slider. The second driving motor is connected with the second sliding block. The first slide block 3035 is relatively fixedly connected; the second drive motor is drivingly connected to the second slide block through a second transmission mechanism, and the rotation driving part 203 is fixedly installed on the second slide block.
所述第二进退驱动部302还包括安装基板，所述第二驱动电机固定安装在安装基板上，安装基板固定在第一滑块3035上，弯曲驱动部101固定安装在安装基板上。安装基板上还设有第二滑轨，第二滑块可滑动设置在第二滑轨上。The second forward and backward driving part 302 also includes a mounting base plate, the second driving motor is fixedly mounted on the mounting base plate, the mounting base plate is fixed on the first slider 3035, and the bending driving part 101 is fixedly mounted on the mounting base plate. The mounting base is also provided with a second slide rail, and the second slide block is slidably disposed on the second slide rail.
本实施例对第二传动机构的具体结构不做限制，如可以是同步带传动机构，第二滑块与第二同步带传动机构的同步带局部固定连接。可达到同样效果的传动机构还有链传动机构、丝杆螺母机构、摩擦轮驱动机构、齿轮齿条机构、钢丝绞盘机构、液压缸、串联机器人、并联机器人等。This embodiment does not limit the specific structure of the second transmission mechanism. For example, it may be a synchronous belt transmission mechanism, and the second slide block is partially fixedly connected to the synchronous belt of the second synchronous belt transmission mechanism. Transmission mechanisms that can achieve the same effect include chain transmission mechanisms, screw nut mechanisms, friction wheel drive mechanisms, rack and pinion mechanisms, wire winch mechanisms, hydraulic cylinders, series robots, parallel robots, etc.
本发明对基座301的安装位置不做限定，可根据实际使用需求设定。在本实施例中，所述基座301位姿可调地设置在与手术室墙面或地面或顶棚连接的底座上。以底座为台车结构为例，所述台车结构可在固定模式和移动模式间切换。The present invention does not limit the installation position of the base 301 and can be set according to actual usage requirements. In this embodiment, the base 301 is adjustable in position and position on a base connected to the wall, floor, or ceiling of the operating room. Taking the base as a trolley structure as an example, the trolley structure can switch between fixed mode and mobile mode.
请参考图12，所述第一进退驱动部303还包括第一柔性支撑体3037，所述第一柔性支撑体3037活动外套在所述主管102上；在使用时，所述第一柔性支撑体3037位于所述可控支气管镜10的近端与患者口腔之间。由于可控支气管镜10的主管102是柔性的，支气管镜的进镜驱动力作用在其近端位置，如果没有支撑，则当主管102头端遇到阻力时，主管102会因严重弯曲而无法进镜。第一柔性支撑部在主管102的周围形成刚性支撑，避免其产生大的形变，进而确保进镜驱动力的有效传递。Please refer to Figure 12, the first forward and backward driving part 303 also includes a first flexible support body 3037, the first flexible support body 3037 is movably coated on the main pipe 102; when in use, the first flexible support body 3037 is located between the proximal end of the controllable bronchoscope 10 and the patient's oral cavity. Since the main tube 102 of the controllable bronchoscope 10 is flexible, the bronchoscope's entry driving force acts on its proximal position. If there is no support, when the head end of the main tube 102 encounters resistance, the main tube 102 will be severely bent and unable to function. Enter the mirror. The first flexible support part forms a rigid support around the main tube 102 to prevent it from large deformation, thereby ensuring effective transmission of the driving force for entering the lens.
同理，所述第二进退驱动部302还包括第二柔性支撑体，所述第二柔性支撑体活动外套在所述柔性管201上；在使用时，所述第二柔性支撑体设置在所述可控鞘管20的近端与所述主工作通道的入口之间。Similarly, the second forward and backward driving part 302 also includes a second flexible support body, and the second flexible support body is movably coated on the flexible tube 201; when in use, the second flexible support body is disposed on the between the proximal end of the controllable sheath 20 and the entrance of the main working channel.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各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，或者对其中部分或者全部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范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. 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: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. scope.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311212081.7ACN117179879A (en) | 2023-09-19 | 2023-09-19 | A controllable sheath, a controllable bronchoscope, a mirror-holding arm and an automatic navigation device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311212081.7ACN117179879A (en) | 2023-09-19 | 2023-09-19 | A controllable sheath, a controllable bronchoscope, a mirror-holding arm and an automatic navigation device |
| Publication Number | Publication Date |
|---|---|
| CN117179879Atrue CN117179879A (en) | 2023-12-08 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311212081.7APendingCN117179879A (en) | 2023-09-19 | 2023-09-19 | A controllable sheath, a controllable bronchoscope, a mirror-holding arm and an automatic navigation device |
| Country | Link |
|---|---|
| CN (1) | CN117179879A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119074226A (en)* | 2024-08-28 | 2024-12-06 | 南京航空航天大学 | A wire/fluid hybrid driven bronchoscope robot and control method |
| CN119908638A (en)* | 2025-04-01 | 2025-05-02 | 湖南省华芯医疗器械有限公司 | A sheath and endoscope system |
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| CN112617728A (en)* | 2020-12-30 | 2021-04-09 | 上海市胸科医院 | Bronchoscope sheath and operating device thereof |
| CN112957590A (en)* | 2020-12-31 | 2021-06-15 | 杭州诺茂医疗科技有限公司 | Ablation system, ablation device and adjustable-bending catheter |
| CN113040917A (en)* | 2021-03-16 | 2021-06-29 | 山东大学 | Concentric tube surgical robot for natural orifice |
| WO2022194178A1 (en)* | 2021-03-16 | 2022-09-22 | 上海微创微航机器人有限公司 | Bronchoscope, bronchoscope holding arm, controllable sheath tube, operating method, and patient end apparatus |
| CN115281586A (en)* | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Flexible endoscope and flexible endoscope robot |
| CN221229401U (en)* | 2023-09-19 | 2024-06-28 | 上海市胸科医院 | Controllable sheath tube, controllable bronchoscope, mirror holding arm and automatic navigation device |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112617728A (en)* | 2020-12-30 | 2021-04-09 | 上海市胸科医院 | Bronchoscope sheath and operating device thereof |
| CN112957590A (en)* | 2020-12-31 | 2021-06-15 | 杭州诺茂医疗科技有限公司 | Ablation system, ablation device and adjustable-bending catheter |
| CN113040917A (en)* | 2021-03-16 | 2021-06-29 | 山东大学 | Concentric tube surgical robot for natural orifice |
| WO2022194178A1 (en)* | 2021-03-16 | 2022-09-22 | 上海微创微航机器人有限公司 | Bronchoscope, bronchoscope holding arm, controllable sheath tube, operating method, and patient end apparatus |
| CN115281586A (en)* | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Flexible endoscope and flexible endoscope robot |
| CN221229401U (en)* | 2023-09-19 | 2024-06-28 | 上海市胸科医院 | Controllable sheath tube, controllable bronchoscope, mirror holding arm and automatic navigation device |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119074226A (en)* | 2024-08-28 | 2024-12-06 | 南京航空航天大学 | A wire/fluid hybrid driven bronchoscope robot and control method |
| CN119908638A (en)* | 2025-04-01 | 2025-05-02 | 湖南省华芯医疗器械有限公司 | A sheath and endoscope system |
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