CN111436893A - Medical flexible tubular tool - Google Patents
Medical flexible tubular tool Download PDFInfo
- Publication number
- CN111436893A CN111436893A CN202010406992.3A CN202010406992A CN111436893A CN 111436893 A CN111436893 A CN 111436893A CN 202010406992 A CN202010406992 A CN 202010406992A CN 111436893 A CN111436893 A CN 111436893A
- Authority
- CN
- China
- Prior art keywords
- flexible
- traction
- tubular tool
- tube
- working
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a medical flexible tubular tool, which comprises an imaging part and/or an instrument working channel, wherein the flexible tubular tool comprises a first traction part, a second traction part, a flexible working pipe and at least one flexible sleeve; the flexible working pipe is sleeved in the flexible sleeve; the flexible sleeve is provided with a first traction piece, the flexible working pipe is provided with a second traction piece, the first traction piece and the second traction piece are respectively arranged along the axial direction of the flexible sleeve and the axial direction of the flexible working pipe in parallel, and the flexible working pipe is internally provided with an imaging piece and/or an instrument working channel. The invention has the following beneficial effects: the medical flexible tubular tool can enter a tiny and winding human body cavity through a multistage tube partition control structure, and realizes multi-degree-of-freedom movement and accurate control.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a medical flexible tubular tool.
Background
With the continuous progress of clinical treatment, more and more novel medical instruments are applied in surgery and examination. When a doctor diagnoses and treats a patient's lumen, such as respiratory tract, digestive tract, etc., the doctor needs to diagnose and treat the patient by means of some flexible medical instruments, such as a flexible biopsy needle. Generally, these flexible medical devices also require the use of flexible tubular tools to perform diagnostic and therapeutic tasks.
The medical flexible tubular tool comprises an imaging part and/or an instrument working channel, wherein the imaging part is used for observing the condition of a human body cavity, and the instrument working channel provides a working space for the flexible medical instrument. When a medical flexible tubular tool needs to enter a slender, narrow and winding human body cavity, such as a human lung bronchus, the flexible tubular tool is required to be slender and enter a bronchus of a deeper level as much as possible, however, the existing medical flexible tubular tool has limited freedom and low control accuracy and cannot enter the slender, narrow and winding human body cavity.
Disclosure of Invention
Based on the problems that the degree of freedom of the conventional medical flexible tubular tool is limited, the control accuracy is low, and the flexible tubular tool cannot enter a slender, narrow and winding human body cavity, the invention provides the medical flexible tubular tool, and the flexible tubular tool realizes the precise control of the degree of freedom through a multistage tube zone control method and can enter the slender, narrow and winding human body cavity.
Based on the purpose, the technical scheme of the invention is as follows:
providing a medical flexible tubular tool comprising an imaging member and/or an instrument working channel, the flexible tubular tool comprising a first pulling member, a second pulling member, a flexible working tube and at least one flexible sleeve; the flexible working pipe is sleeved in the flexible sleeve; the flexible sleeve is provided with a first traction piece, the flexible working pipe is provided with a second traction piece, the first traction piece and the second traction piece are respectively arranged in parallel along the axial direction of the flexible sleeve and the flexible working pipe, and the flexible working pipe is internally provided with an imaging piece and/or an instrument working channel; according to the scheme, the S-shaped path multi-degree-of-freedom motion is realized in a 2-stage pipe partition control mode, and the S-shaped path multi-degree-of-freedom motion can enter a slender, narrow and winding human body cavity.
In order to enter a more winding human body cavity and realize a mode of multi-stage tube partition control, the multi-S-path multi-freedom-degree motion is realized, the number of the flexible sleeves is more than 2, the diameters of the flexible sleeves are different, and the flexible working tube and the flexible sleeves are sequentially sleeved according to the diameters.
In order to realize the controllable and accurate rotary motion of the flexible working pipe, a third traction piece is further arranged on the flexible working pipe, wherein at least part of the third traction pieces above 1 is spirally arranged on the flexible working pipe clockwise, and at least part of the third traction pieces above 1 is spirally arranged on the flexible working pipe anticlockwise.
The first piece setting of pulling of this application flexbile cannula is in flexbile cannula's inner wall or outer wall, the second of flexible working tube, three pull the piece setting and are in inner wall or outer wall of flexible working tube, wherein, the second of flexible working tube, three pull the piece setting and can reserve more spaces for flexible working tube inside outer wall, do benefit to the placing of the great surgical tools of external diameter.
In order to sense the spatial position and the attitude of the tail end of the flexible working pipe, an electromagnetic sensor can be arranged at the tail end of the flexible working pipe; if the space position curve of the flexible working pipe is required to be sensed, the fiber bragg grating array can be arranged in the flexible working pipe.
The traction piece comprises an elastic tube and a traction wire, the traction wire is arranged in the elastic tube, the elastic tube of the first traction piece is fixedly connected with the flexible sleeve, and the elastic tubes of the second traction piece and the third traction piece are fixedly connected with the flexible working tube;
or the traction piece comprises a traction ring and a traction wire, the traction wire is arranged in the traction ring, the traction ring of the first traction piece is fixedly connected with the flexible sleeve, and the traction rings of the second traction piece and the third traction piece are fixedly connected with the flexible working pipe.
Preferably, the traction wire is made of a material with a high elastic modulus, such as steel; generally, the elastic tube and the traction ring are coated with a lubricant, so that the friction between the traction wire and the elastic tube or the traction ring can be reduced, the force transmission efficiency is improved, and the hysteresis of power transmission is reduced.
The number of the first traction pieces and the second traction pieces is more than 2, and generally, the larger the number of the first traction pieces and the second traction pieces is, the more the deflection direction of the flexible sleeve and the flexible working pipe is, namely the freedom degree of movement is.
The invention has the following beneficial effects: the multistage tube partition control structure of the medical flexible tubular tool enables the flexible tubular tool to carry out multi-S-path multi-degree-of-freedom control; meanwhile, the moving directions of the flexible sleeve and the working pipe have multiple degrees of freedom, so that the degree of freedom of the flexible tubular tool is increased, the flexible tubular tool can easily enter a slender, narrow and winding human body cavity, and the control is accurate;
because the flexible tubular tool of this application adopts the structure of multistage pipe subregion control, so flexible sleeve pipe and flexible working tube can make mutually independent subassembly, have improved the reusability of flexible sleeve pipe and working tube, and then reduce use cost, assemble into multistage pipe according to the operation demand, use in a flexible way.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
Some specific embodiments of the invention will hereinafter be described in detail by way of example and not by way of limitation, with reference to the accompanying drawings, in which like reference numerals identify the same or similar parts or features, and it will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a diagram of the socket connection of the present invention;
FIG. 2 is a schematic view of one aspect of the flexible tubular tool of the present invention;
as shown in fig. 3, an enlarged view of circle a in fig. 2;
FIG. 4 is a schematic view of the second pulling member disposed on the outer wall of the flexible working tube;
as shown in fig. 5 and 6, the drawing is a schematic view of the flexible working pipe provided with the second traction member and the third traction member;
FIG. 7 is a schematic view of one aspect of the flexible tubular tool of the present invention;
FIG. 8 is a schematic diagram of the fiber grating array of FIG. 3;
fig. 9 is a schematic view showing the arrangement of the traction rings.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways different from those described herein, and it will be apparent to those skilled in the art that similar modifications may be made without departing from the spirit of the invention, and the invention is therefore not limited to the specific embodiments disclosed below.
The invention provides a medical flexible tubular tool, which can realize multi-degree-of-freedom motion of an S-shaped path, and specifically comprises the following schemes: the medical flexible tubular tool comprises an imaging member and/or an instrument working channel, a first traction member, a second traction member, a flexible working tube and at least one flexible sleeve; the flexible working pipe is sleeved in the flexible sleeve, wherein the length of the flexible working pipe is longer than that of the flexible sleeve, and the diameter of the flexible working pipe is smaller than that of the flexible sleeve; the flexible sleeve is provided with a first traction piece, the flexible working pipe is provided with a second traction piece, the first traction piece and the second traction piece are respectively arranged in parallel along the axial direction of the flexible sleeve and the flexible working pipe, and the flexible working pipe is internally provided with an imaging piece and/or an instrument working channel.
In order to realize the movement of multiple S paths, the flexible tubular tool comprises more than 2 flexible sleeves with different diameters, and the flexible working tube and the more than 2 flexible sleeves are sequentially sleeved according to the diameter. Wherein the diameter of the flexible working tube is smaller than all the flexible sleeves, and the larger the diameter of the tube, the shorter the length.
The sleeving mode of the invention means that the pipe with small diameter is placed into the pipe with larger diameter, if the pipe is a plurality of pipes, the pipes are placed in sequence according to the diameter, namely the pipe with the second largest diameter is placed into the pipe with the largest diameter, the pipe with the third largest diameter is placed into the pipe with the second largest diameter, and the like, and the pipe with smaller diameter can move in the pipe with larger diameter.
The flexible sleeve and the flexible working tube of the flexible tubular tool are controlled to move by an external driving mechanism, the external driving mechanism can be a mechanical arm, a continuum robot and other driving mechanisms, taking the mechanical arm as an example, after the flexible working tube and the flexible sleeve are assembled, the mechanical arm clamps one end of the flexible sleeve and one end of the working tube, and the mechanical arm controls the extension and retraction of the multistage tube in a similar drawing and inserting mode, because the external driving mechanisms of the mechanical arm cannot enter the flexible sleeve and the working tube, and the larger the diameter of the tube is, the shorter the length is, so when the mechanical arm reaches the limit of extension in the control of the extension and retraction, as shown in the schematic diagram of fig. 1, one ends of the flexible sleeve and the flexible working tube are aligned, and the tube with the smaller diameter at the other end can be sequentially exposed from the; meanwhile, the traction piece is controlled by the external driving parts of the mechanical arm, so that the traction piece is tensioned and loosened.
The imaging part is used for observing the condition of a human body cavity, and can be an endoscope, a CCD imaging element, a camera and the like; the instrument working channel provides a working space for medical instruments such as a biopsy needle, a sputum suction tube, a drug administration tube and a puncture needle, and the purposes of injection, sputum suction, sampling and the like in the operation are achieved.
In order to realize the controllable rotary motion of the flexible working pipe, more than 1 third traction piece is at least partially spirally arranged on the flexible working pipe in a clockwise mode, and more than 1 third traction piece is at least partially spirally arranged on the flexible working pipe in a counterclockwise mode.
The traction pieces of the flexible working pipe and the flexible sleeve can be respectively provided with the inner wall or the outer wall of the flexible working pipe and the outer wall of the flexible sleeve, wherein compared with the traction piece arranged on the inner wall of the flexible working pipe, the traction piece is arranged on the outer wall of the flexible working pipe, and the space inside the flexible working pipe can be increased by the arrangement method of the traction piece arranged on the outer wall of the flexible working pipe, so that the diameter of an instrument working channel can be larger, and the use of a surgical tool with a larger outer diameter is.
In order to sense the spatial position and the attitude of the tail end of the flexible working pipe, an electromagnetic sensor can be arranged at the tail end of the flexible working pipe; if the space position curve of the flexible working pipe is required to be sensed, the fiber bragg grating array can be arranged in the flexible working pipe.
Fig. 2 and 3 are schematic views showing one form of the flexible tubular tool of the present invention. The flexible tubular tool in the embodiment is a primary sleeve, and specifically comprises a flexible sleeve 1 and a flexible working pipe 2, wherein the flexible working pipe 2 is sleeved in the flexible sleeve 1, an imaging part 3 and an instrument working channel 4 are arranged in the flexible working pipe 2, and an electromagnetic sensor is arranged at the tail end of the flexible working pipe 2.
In this embodiment, the flexible sleeve 1 and the flexible working pipe 2 are both provided with 4 traction members, the first traction member and the second traction member are respectively arranged along the axial direction of the flexible sleeve 1 and the axial direction of the flexible working pipe 2 in parallel, the traction members of the flexible sleeve 1 and the flexible working pipe 2 are respectively arranged on the inner walls of the flexible sleeve 1 and the flexible working pipe 2, and the traction members of the flexible sleeve 1 and the flexible working pipe 2 respectively control the movement of the flexible sleeve 1 and the flexible working pipe 2, so that the movement of an S-shaped path can be realized.
Specifically, as shown in fig. 3, the flexible sleeve is provided with first traction members 11, 12, 13, 14, the flexible working pipe is provided with second traction members 21, 22, 23, 24, taking the first traction members 11, 12, 13, 14 as an example, the traction members 11 are tightened, and the traction members 13 are loosened, so that the deflection motion of the flexible sleeve 1 towards the direction of the traction members 11 can be realized, and similarly, the traction members 13 are tightened, and the traction members 11 are loosened, so that the deflection motion of the flexible sleeve 1 towards the direction of the traction members 13 can be realized; the traction piece 12 is tensioned, and meanwhile, the traction piece 14 is loosened, so that the flexible sleeve 1 can swing towards the direction of the traction piece 12; tensioning the pulling element 14 and simultaneously relaxing the pulling element 12, a yawing movement of the flexible sleeve 1 in the direction of the pulling element 14 can be achieved. Of course, two of the non-mutually opposite traction pieces can be simultaneously tensioned, and the two non-mutually opposite traction pieces can be loosened to realize the movement in other directions; or simultaneously tensioning all the traction pieces to realize the locking of the flexible sleeve and the working pipe; or slackening all of the pulling member, such as the flexible working tube, the flexible working tube may follow the flexible sleeve. By mutually opposed pulling elements is meant here that the pair of pulling elements is tensioned, a slack allowing a movement in one direction, and if both are tensioned or slack, no movement in one direction takes place.
In addition, the number of the first and second pulling members is not limited to 4 in the present embodiment, and may be 2, 3, 5 or more, theoretically, 2 or more first and second pulling members are sufficient, and generally, the larger the number of the first and second pulling members is, the more the controllable direction, that is, the more the degree of freedom is; the arrangement of the first traction piece and the second traction piece is not limited to the symmetrical arrangement of every two traction pieces along the circle center in fig. 3 of the application, the first traction piece and the second traction piece are respectively arranged along the inner wall or the outer wall of the flexible working pipe and the flexible sleeve, and the arrangement of the first traction piece and the second traction piece in the embodiment is only an optimal arrangement mode. The first and second traction members of the flexible tubular tool can also be arranged in the manner shown in fig. 4, that is, the first traction members 11, 12, 13, 14 of the flexible sleeve 1 are arranged on the inner wall of the flexible sleeve, and the second traction members 21, 22, 23, 24 of the flexible working tube 2 are arranged on the outer wall of the flexible working tube, so that the arrangement manner can increase the space inside the flexible working tube 2, so that the instrument working channel 4 has more placing space, and is beneficial to using surgical tools with larger outer diameters.
As shown in fig. 5, the flexible working pipe 2 has both the second pulling member and the third pulling member disposed spirally, wherein the second pulling member 21, 22, 23, 24 is disposed on the inner wall of the flexible working pipe, the third pulling member 25, 26, 27, 28 is disposed on the outer wall of the flexible working pipe, the pulling members 25, 26 are all disposed on the flexible working pipe 2 clockwise, the pulling members 27, 28 are all wound on the flexible working pipe 2 counterclockwise, the clockwise pulling members 25, 26 are tightened, and the counterclockwise pulling members 27, 28 are loosened, so that the clockwise rotation of the flexible working pipe 2 can be realized; the counterclockwise rotation of the flexible working tube 2 can be achieved by tightening the counterclockwise disposed pulling elements 27, 28 and loosening the clockwise disposed pulling elements 25, 26. The number of the third traction members arranged in a spiral manner is not limited to 4 in the embodiment, and is more than 2, wherein at least 1 of the third traction members is arranged in a clockwise spiral manner, and at least 1 of the third traction members is arranged in a counterclockwise spiral manner, generally, the larger the number of the third traction members is, the better the shape of the flexible working pipe can be kept; the third traction member is not limited to be arranged on the outer wall of the flexible working pipe 2 in the embodiment, but can also be arranged on the inner wall of the flexible working pipe, and the arrangement of the second traction member on the inner wall of the flexible working pipe and the arrangement of the third traction member on the outer wall of the flexible working pipe in the invention are only one of the preferred embodiments; the third traction member is not limited to be arranged on the flexible working pipe in a full spiral manner, and as shown in fig. 6, the third traction member can be wound around only the front end of the flexible working pipe, and the rear end of the third traction member is axially arranged on the flexible working pipe.
Fig. 7 is a schematic view of another embodiment of the flexible tubular tool of the present invention. The flexible pipe-shaped tool is a two-stage sleeve, namely two flexible sleeves 1 and 5 and a flexible working pipe 2, the diameters of the flexible sleeves 1, the flexible sleeves 5 and the flexible working pipe 2 are sequentially reduced, the lengths of the flexible sleeves are sequentially increased, the flexible sleeves 1, the flexible sleeves 5 and the flexible working pipe 2 are sequentially sleeved, and when the flexible sleeves and the working pipe reach the limit of extension in control extension of the mechanical arm, three-level pipes as shown in fig. 7 are formed. The flexible tubular tool in the shape can realize operation actions with special requirements, for example, the flexible tubular tool can easily enter 4-level lung bronchus, and due to the two-level sleeve, double S paths are realized, so that one end of the flexible working tube entering a human body cavity can more smoothly reach a focus area. The flexible tubular tool can select the cannulas in corresponding stages according to the operation requirement. Generally, the more layers of the sleeve, the more tortuous body passages may be accessed.
As shown in fig. 8, the schematic diagram of the flexible working tube is provided with the fiber bragg grating array 6, and the fiber bragg grating array 6 is used for measuring the spatial position shape of the flexible working tube, because the curvature change of the corresponding position can be calculated through the central wavelength offset measured by the fiber bragg grating, and the spatial position curve of the flexible working tube can be fitted through the bending change condition of each position of the flexible working tube measured by the fiber bragg grating array. The virtual navigation, the electromagnetic navigation technology and the fluoroscopy technology are combined to realize the accurate control of the flexible catheter and the flexible working tube. The fiber grating array is not limited to the inner wall of the flexible working tube 2 shown in fig. 8, but may be provided on the outer wall of the flexible working tube.
The traction member used in fig. 3 includes an elastic tube and a traction wire, taking the flexible sleeve of fig. 3 with the traction member 11 as an example, the traction member 11 includes an elastic tube 111 and a traction wire 112, the traction wire 112 is disposed inside the elastic tube, the elastic tube provides a stretching track for the traction wire, the elastic tube of the first traction member is fixedly connected with the inner wall of the flexible sleeve, and the elastic tube of the second traction member is fixedly connected with the inner wall of the flexible working tube to complete the fixation of the elastic tube. The fixed connection mode includes: the inner walls of the flexible sleeve and the flexible working pipe are provided with fixed welding spots, the elastic pipe of the first traction piece is connected with the flexible sleeve in a welding mode and is fixed on the flexible sleeve, and the elastic pipe of the second traction piece is connected with the flexible working pipe and is fixed on the flexible working pipe.
The manner of providing the tension track for the pull wire is not limited to the use of an elastic tube, as shown in fig. 9, but for the example of a flexible working tube having a plurality of pull rings 212, the pull ring 212 of the second pull member is fixed to the flexible working tube 2, and the pull wire 211 is disposed in the pull ring 212, and similarly, the first pull member, if a pull ring structure is used, is also disposed as described above.
Generally, the elastic tube and the traction ring are coated with a lubricant, so that the friction between the traction wire and the elastic tube or the traction ring can be reduced, the force transmission efficiency is improved, and the hysteresis of power transmission is reduced. Preferably, the traction wire is made of a material having a large elastic modulus, such as steel.
The flexible tubular tool can be applied to the examination of various human body cavities, and based on the structure of a multistage pipe partition, the multi-freedom-degree motion of multiple S paths is realized. For example, the secondary cannula structure of the application can enter the four-level bronchus of a human body, can suck out mucus in the lung by controlling the entrance to a designated area of the lung of the human body, can complete oxygen administration treatment through the passage, and has positive effects on the treatment and rehabilitation of lung diseases and pneumonia. In addition, the flexible tubular tool can be made into a three-level flexible sleeve structure, and can easily enter six-level bronchus of a human body.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A medical flexible tubular tool comprising an imaging member and/or an instrument working channel, characterized in that the flexible tubular tool comprises a first pulling member, a second pulling member, a flexible working tube and at least one flexible sleeve; the flexible working pipe is sleeved in the flexible sleeve;
the flexible sleeve is provided with a first traction piece, the flexible working pipe is provided with a second traction piece, the first traction piece and the second traction piece are respectively arranged along the axial direction of the flexible sleeve and the axial direction of the flexible working pipe in parallel, and the flexible working pipe is internally provided with an imaging piece and/or an instrument working channel.
2. The medical flexible tubular tool according to claim 1, wherein the number of the flexible sleeves is more than 2, the diameters of the flexible sleeves are different from each other, and the flexible working tube and the flexible sleeves with the number of the flexible sleeves of more than 2 are sequentially sleeved according to the diameters.
3. The medical flexible tubular tool according to claim 1, wherein the flexible working tube is further provided with a plurality of third traction members, and the number of the third traction members is more than 2;
wherein, more than 1 third traction piece is at least partially arranged on the flexible working pipe in a clockwise spiral manner, and more than 1 third traction piece is at least partially arranged on the flexible working pipe in a counterclockwise spiral manner.
4. The medical flexible tubular tool according to claim 3, wherein the first pulling member of the flexible sleeve is disposed on the inner wall or the outer wall of the flexible sleeve, and the second and third pulling members of the flexible working tube are disposed on the inner wall or the outer wall of the flexible working tube.
5. The medical flexible tubular tool according to claim 1, wherein the distal end of the flexible working tube is provided with an electromagnetic sensor.
6. The medical flexible tubular tool according to claim 1, wherein the flexible working tube is provided with a fiber grating array.
7. The medical flexible tubular tool according to claim 3, wherein the pulling member comprises an elastic tube and a pulling wire, the pulling wire is arranged in the elastic tube, the elastic tube of the first pulling member is fixedly connected with the flexible sleeve, and the elastic tubes of the second and third pulling members are fixedly connected with the flexible working tube;
or the traction piece comprises a traction ring and a traction wire, the traction wire is arranged in the traction ring, the traction ring of the first traction piece is fixedly connected with the flexible sleeve, and the traction rings of the second traction piece and the third traction piece are fixedly connected with the flexible working pipe.
8. The medical flexible tubular tool of claim 7, wherein said pull wire is a pull wire.
9. The medical flexible tubular tool of claim 7, wherein said elastic tube or said pull ring is provided with a lubricant.
10. The medical flexible tubular tool according to any one of claims 1 to 9, wherein the number of the first and second pulling members is 2 or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010406992.3A CN111436893A (en) | 2020-05-14 | 2020-05-14 | Medical flexible tubular tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010406992.3A CN111436893A (en) | 2020-05-14 | 2020-05-14 | Medical flexible tubular tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111436893A true CN111436893A (en) | 2020-07-24 |
Family
ID=71654967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010406992.3A Pending CN111436893A (en) | 2020-05-14 | 2020-05-14 | Medical flexible tubular tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111436893A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114886498A (en) * | 2022-04-26 | 2022-08-12 | 骨圣元化机器人(深圳)有限公司 | Bone drill device |
| WO2024000926A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Flexible endoscope and flexible endoscopic robot |
-
2020
- 2020-05-14 CN CN202010406992.3A patent/CN111436893A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114886498A (en) * | 2022-04-26 | 2022-08-12 | 骨圣元化机器人(深圳)有限公司 | Bone drill device |
| WO2024000926A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Flexible endoscope and flexible endoscopic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7220240B2 (en) | Steerable medical device with strain relief elements | |
| US20180064312A1 (en) | Integrated steering device | |
| US6960162B2 (en) | Shape lockable apparatus and method for advancing an instrument through unsupported anatomy | |
| EP2401954B1 (en) | Tendon-driven endoscope | |
| US6984203B2 (en) | Endoscope with adjacently positioned guiding apparatus | |
| US20060089528A1 (en) | Method of navigating a therapeutic instrument with an apparatus having a handle coupled to an overtube | |
| JP2010527653A (en) | Hollow device connected to torque | |
| US20220304550A1 (en) | Systems and methods for modular endoscope | |
| CN111436893A (en) | Medical flexible tubular tool | |
| JP2022509462A (en) | Insertion unit for medical devices and its intubation system | |
| JP4145309B2 (en) | Treatment tool | |
| JP2008220971A (en) | Treatment instrument | |
| JPH1057500A (en) | Tube for medical use | |
| CN212489827U (en) | Medical flexible tubular tool | |
| CN212630720U (en) | Medical flexible tubular tool | |
| WO2023055600A1 (en) | Systems and methods for configurable endoscope bending section | |
| CN111436892A (en) | Medical flexible tubular tool | |
| JP2705701B2 (en) | Endoscope system | |
| WO2024107570A1 (en) | Systems and methods for robotic endoscope bending section |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211108 Address after: Room 201-6, building 13, No. 158, Jinfeng Road, science and Technology City, high tech Zone, Suzhou, Jiangsu 215163 Applicant after: Suzhou ouchang Medical Technology Co.,Ltd. Address before: 215000 101, building 13, No.158, Jinfeng Road, science and Technology City, Suzhou, Jiangsu Province Applicant before: JIANGSU GONGDA BOSHI MEDICAL ROBOT RESEARCH DEVELOPMENT Co.,Ltd. |
|
| TA01 | Transfer of patent application right |