Disclosure of Invention
The application aims to provide a catheter system for auxiliary medical treatment, which solves the problems that the traditional endoscope needs manual operation of operators, has high labor intensity and is easy to make mistakes, and the operators need a great deal of time training in the earlier stage.
In order to achieve the above purpose, the application adopts the following technical scheme:
A head end assembly having a first conduit disposed therein;
the bendable part is connected with the head end assembly, and a second pipeline is arranged in the bendable part;
the connecting bridge part is connected with one end of the bendable part far away from the head end assembly, and a third pipeline is arranged in the connecting bridge part;
The instrument box part is connected with one end, far away from the bendable part, of the connecting bridge part, a fourth pipeline is arranged in the instrument box part, and the instrument box part is used for being connected with a surgical robot arm;
The first pipeline, the second pipeline, the third pipeline and the fourth pipeline are sequentially connected and form an internal channel;
The first end of the winding component is connected to one end of the bendable part, which is close to the head end component;
The winding driving assembly is arranged in the instrument box part, the driving end of the winding driving assembly is connected with the second end of the winding assembly, and the winding driving assembly is used for driving the winding assembly to extend or retract to change the bending angle of the bendable part.
In one implementation, the bendable portion includes an elastic member connected with the head end assembly and a shape sensor disposed on a surface of the elastic member.
In one implementation, the winding assembly includes a plurality of pull ropes, and the plurality of pull ropes are uniformly arranged on the periphery of the elastic member.
In one implementation mode, one end of the pull rope is detachably provided with a rope end, the periphery of the elastic piece is provided with a clamping opening corresponding to the rope end, the rope end is clamped in the clamping opening, the elastic piece is provided with a plurality of clamping grooves, the plurality of clamping grooves are arranged along the axial direction of the clamping opening, which is close to one end of the elastic piece, which is connected with the bridge portion, and the pull rope portion is located in the clamping grooves.
In one implementation, the head end assembly includes a head end seat, a camera module and an illumination module, the head end seat is arranged on the bendable portion, the first pipeline is arranged in the head end seat, and the camera module and the illumination module are both arranged on the end face of the head end seat away from the bendable portion.
In one implementation, the wire-wound drive assembly includes a wire-wound wheel set and a drive motor set;
The winding wheel set comprises a plurality of winding wheels, the driving motor set comprises a plurality of driving motors, the driving motors are arranged in the instrument box, the winding wheels are arranged at the driving ends of the driving motors, spiral winding grooves are formed in the winding wheels, and one end of the pull rope is wound in the spiral winding grooves.
In one implementation, a first installation seat is arranged above the driving motor group in the instrument box part, the winding wheel group is arranged above the first installation seat, at least one wire guide wheel is arranged on one side of the winding wheel group on the first installation seat, and a plurality of wire guide grooves are formed in the wire guide wheel.
In one implementation, the instrument box portion is located above the driving motor unit and is provided with a second mounting seat, the catheter system further comprises a winding wheel shaft corresponding to the driving motor, one end of the winding wheel shaft is arranged at the driving end of the driving motor, the other end of the winding wheel shaft is arranged on the winding wheel, a clamping wheel is arranged on the winding wheel shaft, a protruding block is arranged on the clamping wheel, and a clamping groove corresponding to the protruding block is arranged on the second mounting seat.
In one implementation manner, the fourth pipeline is provided with a winding fixing seat, and a plurality of through holes are formed in the winding fixing seat.
In one implementation, a third mounting seat is provided in the instrument box portion, and the driving motor group is disposed on the third mounting seat.
The auxiliary medical catheter system has the advantages that the first pipeline of the head end assembly, the second pipeline of the bendable part, the third pipeline of the connecting bridge part and the fourth pipeline of the instrument box part are sequentially arranged in the catheter system to form the inner pipeline, the inner pipeline is connected with the operation robot arm through the instrument box part, the head end assembly of the catheter system is automatically driven by the operation robot arm to enter a lesion position from a human cavity, after the head end assembly enters the lesion position, an external corresponding diagnosis/treatment instrument such as a puncture needle can be used for rapidly reaching the lesion position through the inner channel of the catheter system to perform corresponding diagnosis, the instrument box part is always arranged outside the human cavity, and in the process that the operation robot arm drives the head end assembly to enter the lesion position from the human cavity, the wire winding assembly and the wire winding driving assembly are connected to stretch or retract, the angle of the bendable part is adjusted through the wire winding driving assembly, so that the head end assembly of the catheter system can smoothly enter one or more bent parts, the lesion positions can be easily reached through the inner channels of the catheter system, the conventional human body can be easily and manually trained until the human body is in a large amount of time is needed, and the human body is required to be easily achieved, and the human body is in the position is easy to be manually trained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a catheter system for assisted medical treatment according to an embodiment of the present application;
FIG. 2 is a schematic view showing a structure with a cap removed from a catheter system for assisting medical treatment according to an embodiment of the present application;
Fig. 3 is an enlarged view of a portion a of fig. 2;
Fig. 4 is an enlarged view of a portion B of fig. 3;
FIG. 5 is a schematic view illustrating an internal structure of one of the angles of the instrument box portion in the catheter system for assisting medical treatment according to the embodiment of the present application;
Fig. 6 is an enlarged view of a portion C of fig. 5;
Fig. 7 is an enlarged view of a portion D of fig. 5;
FIG. 8 is a schematic view illustrating an internal structure of one of the angles of the instrument box portion in the catheter system for assisting medical treatment according to the embodiment of the present application;
fig. 9 is an enlarged view of the portion E of fig. 8.
Wherein, each reference sign in the figure:
1. The cable connector comprises a head end assembly, 11, a head end seat, 12, a camera module, 13, a lighting module, 14, a clamp mouth, 2, a bendable part, 21, an elastic part, 211, a clamping and clamping mouth, 212, a clamping and clamping groove, 3, a connecting bridge part, 31, a third pipeline, 4, an instrument box part, 41, a fourth pipeline, 42, a first mounting seat, 43, a second mounting seat, 431, a clamping groove, 44, a third mounting seat, 45, a winding fixing seat, 451, a perforation, 5, a winding assembly, 51, a pull rope, 52, a rope head, 61, a winding wheel, 611, a spiral winding groove, 62, a driving motor, 7, a wire guide wheel, 71, a wire guide groove, 8, a clamping wheel, 81 and a bump.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are directions or positions based on the drawings, and are merely for convenience of description and are not to be construed as limiting the present technical solution. The terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
As shown in fig. 1, 2, 3 and 4, the catheter system for assisting medical treatment according to the present embodiment includes a head end assembly 1, a bendable portion 2, a connecting bridge portion 3, an instrument box portion 4, a winding assembly 5 and a winding driving assembly, wherein the bendable portion 2 is connected to the head end assembly 1, the connecting bridge portion 3 is connected to an end of the bendable portion 2 far from the head end assembly 1, the connecting bridge portion 3 is a bridge for the catheter system to enter a human body cavity, the instrument box portion 4 is connected to an end of the connecting bridge portion 3 far from the bendable portion 2, a first pipeline (not shown in the drawing) is disposed in the head end assembly 1, a second pipeline (not shown in the drawing) is disposed in the bendable portion 2, a third pipeline 31 is disposed in the connecting bridge portion 3, a fourth pipeline 41 is disposed in the instrument box portion 4, the first pipeline, the second pipeline 31 and the fourth pipeline 41 are sequentially connected to one another, the connecting end of the connecting bridge portion 3 far from the winding assembly 2, the winding assembly 5 is disposed in the winding assembly 5, and the winding assembly is connected to the winding assembly 5 at an angle which is disposed in the winding assembly 5, and the winding assembly is connected to the winding assembly 5 at a position near the winding end or the winding driving assembly is disposed in the winding assembly;
According to the embodiment, the first pipeline of the head end assembly 1, the second pipeline of the bendable part 2, the third pipeline 31 of the connecting bridge part 3 and the fourth pipeline 41 of the instrument box part 4 are sequentially arranged in the catheter system to form an inner pipeline, the inner pipeline is connected with the surgical robot arm through the instrument box part 4, the head end assembly 1 of the catheter system is automatically driven by the surgical robot arm to enter a lesion position from a human body cavity, after the head end assembly 1 enters the lesion position, an external corresponding diagnosis/treatment instrument such as a puncture needle can be directly used for rapidly reaching the lesion position through the inner channel of the catheter system to perform corresponding diagnosis, the instrument box part 4 of the embodiment is always arranged outside the human body cavity, in the process that the surgical robot arm drives the head end assembly 1 to enter the lesion position from the human body cavity, the embodiment realizes the bending angle adjustment of the bendable part 2 through the winding assembly 5 and the winding driving assembly, so that the head end assembly 1 of the catheter system can smoothly enter one or more bending parts, the conventional human body cavity can be easily reached, the manual operation is greatly, the manual operation is not needed until the human body cavity is required, and the manual operation is required, and the time is greatly shortened.
As shown in fig. 2 and 3, in one embodiment, the head end assembly 1 includes a head end seat 11, a camera module 12 and an illumination module 13, the head end seat 11 is disposed on the bendable portion 2, a clamp opening 14 is disposed on the head end seat 11, the first pipe is disposed in the head end seat 11, the first pipe is communicated with the outside through being communicated with the clamp opening 14, a camera mounting groove (not shown in the drawing) and an illumination mounting groove (not shown in the drawing) are formed on an end surface of the head end seat 11 away from the bendable portion 2, the camera module 12 is disposed in the camera mounting groove, the illumination module 13 is disposed in the illumination mounting groove, wherein one or more groups of camera modules 12 may be disposed, one or more groups of illumination modules 13 may also be disposed, in this embodiment, the camera module 12 is disposed in one group, and the illumination module 13 is disposed in two groups;
In this embodiment, the camera module 12 and the lighting module 13 are disposed on the head end seat 11, and in the process that the head end assembly 1 enters the lesion position from the human body cavity, the camera module 12 can be used for shooting the suspected lesion position, providing the functions of relevant pictures, image data and other diagnostic data, and the lighting module 13 can be used for realizing the lighting function, wherein the lighting system can be realized through an LED lamp or through the optical fiber conduction of an external light source.
As shown in fig. 3 and fig. 4, in an embodiment, the bendable portion 2 includes an elastic member 21 and a shape sensor (not shown in the drawings), the elastic member 21 may be an elastic tube, where the elastic member 21 is connected to the head end seat 11, the elastic member 21 is sleeved on the second pipe, the shape sensor may be a long pipe, which is disposed on the surface of the elastic member 21, and the position and the posture of the catheter system need to be adjusted by setting the shape sensor, and sensing the feedback position and posture by the shape sensor, so as to assist the winding driving assembly to drive the winding assembly 5 to extend or retract to change the bending angle of the bendable portion 2.
As shown in fig. 4, in an embodiment, a plurality of clamping openings 211 are uniformly formed on the periphery of the elastic member 21, the winding assembly 5 includes a plurality of pull ropes 51, and a rope end 52 matched with the clamping openings 211 is detachably disposed at one end of each pull rope 51, and the rope ends 52 are clamped in the clamping openings 211, in this embodiment, the clamping openings 211 are disposed, the pull ropes 51 are connected to the elastic member 21 by means of clamping the rope ends 52 of the pull ropes 51 in the clamping openings 211, and the pull ropes 51 are conveniently detached from the elastic member 21 due to the detachable arrangement of the rope ends 52 and the pull ropes 51, so that the problem of low service life of the catheter system caused by the fact that ropes cannot be replaced when the time is too long can be avoided.
Further, a plurality of clamping grooves 212 are formed in the elastic piece 21, the plurality of clamping grooves 212 are formed in the elastic piece 21 along the axial direction, which is close to one end of the connecting bridge portion 3, of the elastic piece 21 and faces the clamping opening 211, the pull rope 51 is located in the clamping grooves 212, and the pull rope 51 located on the elastic piece 21 can be fixed in the clamping grooves 212 by the aid of the clamping grooves 212, so that the winding driving assembly drives the elastic piece 21 to bend when the winding assembly 5 stretches or retracts.
In an embodiment, the outside cover of elastic component 21 is equipped with the sleeve pipe (not shown in the figure), the sleeve pipe one end with head end seat 11 is connected, the other end with connect bridge portion 3 and be connected, and this embodiment can prevent that the draw-in groove 212 on elastic component 21 and the elastic component 21 from exposing to outside through setting up the sleeve pipe to avoid the kink 2 after entering into the human body cavity, the material in human body cavity pollutes the stay cord 51 and causes inconvenient washing, and the risk of cross infection is easy in the mutual use.
As shown in fig. 5, 6,7 and 8, in one embodiment, a first mounting seat 42, a second mounting seat 43 and a third mounting seat 44 are disposed in the instrument box 4, the first mounting seat 42, the second mounting seat 43 and the third mounting seat 44 are sequentially disposed from high to low, the first mounting seat 42 is disposed on the second mounting seat 43, the second mounting seat 43 is disposed on the third mounting seat 44, the fourth pipe 41 is disposed above the first mounting seat 42, a winding fixing seat 45 is disposed on the fourth pipe 41, a plurality of through holes 451 are formed in the winding fixing seat 45, and the size of the through holes 451 is larger than that of the pull ropes 51 so that the pull ropes 51 can pass through;
The winding driving assembly comprises a winding wheel set and a driving motor set, wherein the winding wheel set comprises a plurality of winding wheels 61, the driving motor set comprises a plurality of driving motors 62, the winding wheels 61, the driving motors 62 and the pull ropes 51 are the same in number and are in one-to-one correspondence, the driving motors 62 are fixedly arranged on the third mounting seats 44 in the instrument box part 4, the winding wheels 61 are arranged on the driving ends of the driving motors 62 and are positioned above the first mounting seats 42, spiral winding grooves 611 are formed in the winding wheels 61, and the pull ropes 51 pass through the through holes 451 and are wound in the spiral winding grooves 611;
in this embodiment, one end of the pull cord 51 is wound and fixed in the spiral winding groove 611 of the reel 61, and when the driving motor 62 rotates, the reel 61 is driven to rotate, so as to drive the pull cord 51 in the spiral winding groove 611 to extend or retract, thereby changing the bending angle of the bendable portion 2.
As shown in fig. 8 and 9, in an embodiment, at least one wire guiding wheel 7 is disposed on the first mounting seat 42 at one side of the wire guiding wheel set, and a plurality of wire guiding grooves 71 are disposed on the wire guiding wheel 7, that is, the pull wires 51 pass through the through holes 451, bypass the wire guiding grooves 71 and are wound in the spiral winding grooves 611, and in this embodiment, the wire guiding wheel 7 is disposed, so that the plurality of pull wires 51 are wound on the wire guiding wheels 61 close to each other and are not staggered with each other, thereby reducing the occupied space between the wire guiding wheels 61, wherein when the wire guiding wheel 7 is disposed as one wire guiding wheel, the number of the wire guiding grooves 71 is not less than the number of the pull wires 51, and in this embodiment, the number of the wire guiding wheels 7 is not less than two, and at this time, the number of the wire guiding grooves 71 is not less than two.
As shown in fig. 6 and 7, in an embodiment, a reel shaft (not shown in the drawings) is further disposed on the catheter system, the reel shaft is disposed between the reel 61 and the driving motor 62, specifically, one end of the reel shaft is disposed on the driving end of the driving motor 62, the other end of the reel shaft is disposed on the reel 61, a latch wheel 8 is further disposed on the reel shaft, the latch wheel 8 is disposed above the second mounting seat 43, a bump 81 is disposed on the latch wheel 8, a slot 431 corresponding to the bump 81 is disposed on the second mounting seat 43, and in this embodiment, the initial state of the pull cord 51 can be set through the latch wheel 8 and the slot 431 corresponding to the bump 81 on the latch wheel 8.
In one embodiment, a force feedback device (not shown) is disposed on the pull rope 51, so that the state (loose or tight) of the pull rope 51 can be monitored at any time by disposing the force feedback device, so as to switch the state of the pull rope 51 at any time.
In summary, the catheter system for assisting medical treatment provided by the application comprises a head end assembly 1, a bendable portion 2, a connecting bridge portion 3, an instrument box portion 4, a winding assembly 5 and a winding driving assembly, wherein the bendable portion 2 is connected with the head end assembly 1, the connecting bridge portion 3 is connected with one end of the bendable portion 2 far away from the head end assembly 1, the connecting bridge portion 3 is a bridge for allowing a catheter system to enter a cavity of a human body, the instrument box portion 4 is connected with one end of the connecting bridge portion 3 far away from the bendable portion 2, wherein a first pipeline is arranged in the head end assembly 1, a second pipeline is arranged in the bendable portion 2, a third pipeline 31 is arranged in the connecting bridge portion 3, a fourth pipeline 41 is arranged in the instrument box portion 4, the first pipeline, the second pipeline, the third pipeline 31 and the fourth pipeline 41 are sequentially connected and form an internal channel, the first end of the winding assembly 5 is connected with one end of the bendable portion 2 near the head end of the winding assembly 1, the winding assembly is arranged in the winding box portion 4 and the winding driving assembly is connected with the winding assembly 5, and the angle of the winding assembly is changed, and the winding assembly is driven by the winding box portion 5 is driven by the winding assembly 4; the application sets an inner pipeline formed by sequentially connecting a first pipeline of a head end component 1, a second pipeline of a bendable part 2, a third pipeline 31 of a connecting bridge part 3 and a fourth pipeline 41 of an instrument box part 4 in a catheter system, and is connected with an operation robot arm through the instrument box part 4, the head end component 1 of the catheter system is automatically driven by the operation robot arm to enter a lesion position from a human body cavity, after the head end assembly 1 enters the lesion position, an external corresponding diagnosis/treatment instrument such as a puncture needle can be used for rapidly reaching the lesion position through the internal channel of the catheter system to perform corresponding diagnosis, and the instrument box part 4 is always outside the human body cavity, and in the process that the surgical robot arm drives the head end assembly 1 to enter the lesion position from the human body cavity, the application realizes the adjustment of the bending angle of the bendable part 2 through the winding assembly and the winding assembly connected to the bendable part 5 by arranging the winding assembly 5 and the winding assembly for driving the winding assembly 5 to extend or retract, so that the head end assembly 1 of the catheter system can smoothly enter the human body cavity with one or more bending parts until reaching the lesion position without manual operation, and further solves the problems of high manual operation strength, easy error and large time training required by a front operator of the traditional endoscope.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.