CN117297790B

CN117297790B - Medical equipment and instrument control mechanism thereof

Info

Publication number: CN117297790B
Application number: CN202311600766.9A
Authority: CN
Inventors: 江维; 武文杰; 江国豪
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2023-11-28
Filing date: 2023-11-28
Publication date: 2024-03-08
Anticipated expiration: 2043-11-28
Also published as: CN117297790A

Abstract

The application discloses medical equipment and an instrument control mechanism thereof, wherein the instrument control mechanism is used for controlling a flexible instrument and comprises a base, a first transmission disc, a second transmission disc, three driving parts and three transmission parts; the first transmission disc and the second transmission disc are rotatably arranged on the base, and the rotation center lines of the first transmission disc and the second transmission disc are parallel; the three driving parts are respectively connected with the base, the first driving disc and the second driving disc in a driving way through the three driving parts so as to respectively transmit rotary driving force to the base, the first driving disc and the second driving disc; the rotation center line of the base is parallel to the rotation center lines of the first transmission disc and the second transmission disc; the three transmission parts comprise transmission shafts, the three transmission shafts are sequentially sleeved and matched from inside to outside, and the axial direction of the transmission shafts is parallel to the rotation center lines of the first transmission disc and the second transmission disc. The instrument control mechanism has compact structure, small occupied volume and convenient carrying, and provides technical support for improving the portability of medical equipment.

Description

Medical equipment and instrument control mechanism thereof

Technical Field

The application relates to the technical field of medical equipment, in particular to medical equipment and an equipment control mechanism thereof.

Background

With the development of Robot-assisted technology, an Endoscopic Nurse/Nurse Robot (endo-Nurse/technian Robot) was developed for assisting an endoscopist in manipulating a surgical instrument.

The conventional endoscope nurse/nurse robot is often designed on the premise of a fixed scene such as an operating room, and is not portable. However, in most primary hospitals, the endoscope diagnosis and treatment service cannot be spread in a large range due to the limitations of high equipment acquisition cost, insufficient professional staff, limited site and the like, and portable medical equipment is urgently needed to solve the problem. In addition, in the process of transferring the patient (for example, in emergency situations such as field or movement), if the illness state of endoscopic emergency treatment such as gastrointestinal hemorrhage, foreign matters and the like occurs, portable medical equipment is also required to assist medical staff in timely treatment.

In the endoscope diagnosis and treatment service, the flexible instrument needs to be conveyed to a natural cavity channel of a human body and related operations are performed in the natural cavity channel, and medical equipment is required to be provided with an instrument control mechanism to control the flexible instrument. The existing endoscope/nurse robot is mostly used in fixed scenes, the structure of the instrument control mechanism is complex, the volume is large, and the use requirement of portable medical equipment cannot be met.

In view of this, how to design an instrument control mechanism, which has compact structure and small occupied volume, is a technical problem that needs to be solved at present by the person skilled in the art.

Disclosure of Invention

The utility model provides a medical equipment and apparatus control mechanism thereof, this apparatus control mechanism's compact structure, occupy small, portable provides technical support for promoting medical equipment's portability.

In order to solve the technical problems, the application provides an instrument control mechanism for controlling a flexible instrument, which comprises a base, a first transmission disc, a second transmission disc, three driving parts and three transmission parts;

the first transmission disc and the second transmission disc are rotatably arranged on the base, and the rotation center lines of the first transmission disc and the second transmission disc are parallel;

the three driving parts are respectively in transmission connection with the base, the first driving disc and the second driving disc through the three transmission parts so as to respectively transmit rotary driving force to the base, the first driving disc and the second driving disc; the rotation center line of the base is parallel to the rotation center lines of the first transmission disc and the second transmission disc;

the three transmission parts comprise transmission shafts, the three transmission shafts are sequentially sleeved and matched from inside to outside, and the axial direction of the transmission shafts is parallel to the rotation center line of the first transmission disc and the second transmission disc.

Optionally, the three transmission parts are a first transmission part, a second transmission part and a third transmission part corresponding to the base, the first transmission disc and the second transmission disc respectively; the three transmission shafts are a first transmission shaft, a second transmission shaft and a third transmission shaft which correspond to the first transmission part, the second transmission part and the third transmission part respectively;

the second transmission shaft is rotatably sleeved on the outer side of the first transmission shaft, and the third transmission shaft is rotatably sleeved on the outer side of the second transmission shaft;

the axial direction of the first transmission shaft coincides with the rotation center line of the base; the center line of rotation of the first drive disk and the center line of rotation of the second drive disk are offset relative to the center line of rotation of the base.

Optionally, the three driving components are a first driving component, a second driving component and a third driving component corresponding to the base, the first transmission disc and the second transmission disc respectively;

the first transmission shaft is fixedly connected with the base; the first transmission part further comprises a first transmission wheel assembly, and the first transmission wheel assembly is in transmission connection between the first transmission shaft and the first driving part;

The second transmission part further comprises two second transmission wheel assemblies, and the input end and the output end of the second transmission shaft are respectively in transmission connection with the second driving part and the first transmission disc through the two second transmission wheel assemblies;

the third transmission part further comprises two third transmission wheel assemblies, and the input end and the output end of the third transmission shaft are respectively in transmission connection with the third driving part and the second transmission disc through the two third transmission wheel assemblies.

Optionally, at least one of the first, second and third drive wheel assemblies is a gear pair.

Optionally, the first driving disc is rotatably connected with the base through a first rotating shaft, and the output end of the second driving shaft is in driving connection with the first rotating shaft through the second driving wheel assembly;

the second transmission disc is rotatably connected with the base through a second rotating shaft, and the output end of the third transmission shaft is in transmission connection with the second rotating shaft through the third transmission wheel assembly.

Optionally, the instrument manipulation mechanism further includes a control module, where the control module is communicatively connected to the first driving component, the second driving component, and the third driving component, and is configured to control the first driving component to drive the base to rotate, and synchronously control the second driving component and the third driving component to work so that the first transmission disc and the second transmission disc keep relatively stationary with the base.

Optionally, the instrument control mechanism further includes a mounting frame, the three driving components are all mounted on the mounting frame, and one end of the first transmission shaft away from the base is rotatably mounted on the mounting frame.

Optionally, the instrument control mechanism further includes a support frame, the base rotatably supports in the support frame, the support frame includes a tubular support body, three the drive component and three the transmission component are all located the inner chamber of support body.

Optionally, the base is provided with a clamping component, and the clamping component is used for being matched with a clamping structure of the flexible instrument so as to limit the relative positions of the base and an instrument storage of the flexible instrument.

Optionally, the first driving disc and the second driving disc are provided with a docking structure for docking with the driving unit of the flexible instrument.

The application also provides medical equipment, including box and apparatus control mechanism, apparatus control mechanism installs in the box, apparatus control mechanism is the apparatus control mechanism of any one of the above-mentioned.

Optionally, an operation platform is disposed in the box, and an identification module is disposed adjacent to a side of the instrument control mechanism, where the identification module is used to identify a type of the flexible instrument that is docked with the instrument control mechanism.

Optionally, the operation platform is in the side of identification module still is equipped with spacing guide structure, spacing guide structure be used for with flexible apparatus cooperation, so that the shell of flexible apparatus can follow axial displacement and can restrict the circumferential rotation of shell.

Optionally, the operation platform is provided with a key assembly in communication connection with the controller, and the key assembly comprises at least one of a start key, a sampling key, a driving instruction key and an scram key.

Optionally, the box includes case body and case lid, the case lid with the case body articulates, the case lid orientation the internal surface of case body inner chamber is equipped with the display panel with controller communication connection.

Optionally, the medical device further includes a tissue sampling mechanism disposed in the case and disposed at least near one of the case side walls, the case side wall adjacent to the tissue sampling mechanism including a wall plate capable of being opened and closed, the wall plate corresponding to a position of the tissue sampling mechanism.

Optionally, the medical equipment further includes a man-machine interaction mechanism disposed in the box, the man-machine interaction mechanism includes a control handle and a connection cable, and the connection cable is used for being in communication connection with the control handle and the controller.

Optionally, a protective layer is arranged on the outer surface of the box body.

The utility model discloses an apparatus control mechanism to medical equipment has carried out optimal design, reducible apparatus control mechanism's occupation volume, provides the advantage for medical equipment's portability. Specifically, the instrument control mechanism is provided with three driving parts and three transmission parts, and the three driving parts respectively transmit rotary driving forces to the base, the first transmission disc and the second transmission disc through the three transmission parts so as to realize the related operation of the flexible instrument in butt joint with the instrument control mechanism. The three transmission shafts of the three transmission parts are sequentially sleeved together from inside to outside, and the axial directions of the three transmission shafts are parallel to the rotation center lines of the two transmission discs, so that other components of the transmission parts are arranged around the three transmission shafts, the device control mechanism has good structural compactness and small occupied volume, the whole volume of medical equipment comprising the device control mechanism can be reduced, portability is improved, and the medical equipment can be conveniently deployed in a basic-level hospital and is also convenient to use in a field or mobile treatment scene.

Drawings

FIG. 1 is a schematic diagram of a medical device in a first state in an embodiment;

FIG. 2 is a schematic diagram of a medical device in a second state according to an embodiment;

FIG. 3 is a top view of the medical device of FIG. 2;

FIG. 4 is a schematic diagram of a third embodiment of a medical device in a third state;

FIG. 5 is a schematic view of the instrument manipulation mechanism of FIG. 2;

FIG. 6 is a schematic view of the mechanism for manipulating the instrument illustrated in FIG. 2 with the support frame hidden;

FIG. 7 is a schematic view of the instrument manipulation mechanism of FIG. 6 from another perspective;

FIG. 8 is a top view of the instrument manipulation mechanism of FIG. 5;

FIG. 9 is a bottom view of the instrument manipulation mechanism of FIG. 6;

FIG. 10 is a schematic cross-sectional view of the instrument manipulation mechanism of FIG. 8;

FIG. 11 is a schematic cross-sectional view of the instrument manipulation mechanism of FIG. 9;

FIG. 12 is another cross-sectional schematic view of the instrument manipulation mechanism of FIG. 9;

FIG. 13 is a schematic diagram of the tissue sampling mechanism of FIG. 2;

fig. 14 is a schematic structural diagram of the man-machine interaction mechanism in fig. 2.

Detailed Description

In order to provide a better understanding of the present application, those skilled in the art will now make further details of the present application with reference to the drawings and detailed description.

Without losing generality, the embodiment provides medical equipment and an instrument control mechanism thereof, which are used for solving the problems of complex structure and large occupied volume of the instrument control mechanism and providing favorable conditions for improving the portability of the medical equipment. For ease of understanding and brevity of description, the following description is provided in connection with the medical device and its instrument handling mechanism, and the discussion of the advantageous portions will not be repeated.

Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of a medical apparatus in a first state according to an embodiment; FIG. 2 is a schematic diagram of a medical device in a second state according to an embodiment; FIG. 3 is a top view of the medical device of FIG. 2; fig. 4 is a schematic structural view of the medical device in a third state according to the embodiment.

The medical device 100 includes a housing 10, with associated mechanisms disposed within the housing 10 for assisting in endoscopic surgical use. The associated mechanisms disposed within the housing 10 may include an instrument manipulation mechanism 20, a tissue sampling mechanism 30, a human-machine interaction mechanism 40, and the like.

In practical applications, other association mechanisms may be disposed in the case 10 according to the related conditions of the endoscopic surgery, which is not limited to the above examples.

The device manipulation mechanism 20 is used for being in butt joint with the flexible device 200, and the device manipulation mechanism 20 can provide driving force to the flexible device 200 so as to realize the conveying operation of the flexible device 200 and the operations such as rotation or opening and closing of an actuator.

Here, the flexible apparatus 200 is configured with an actuator unit for diagnosis and auxiliary diagnosis, and the actuator unit of the flexible apparatus 200 may be selected according to application scenarios, for example, but not limited to, flexible apparatuses such as clamps, electrocoagulation and electrosection, basket, injection, guidance, and sensors. The clamp type flexible instrument comprises a tissue clamping device with a clamping degree of freedom and a hemostat with a clamping rotation degree of freedom; the electrocoagulation and electrosection type flexible instrument comprises a clamping degree of freedom for tissue electrocoagulation and a push-pull degree of freedom comprising a snare instrument; the basket-type flexible instrument includes a push degree of freedom for pushing out and retracting the basket; the injection-type flexible device includes a push degree of freedom for pushing out and retracting the needle; the guiding type is used for coaxial instrument guiding and has no degree of freedom; the sensor-like flexible instrument may include an image sensing instrument, a position sensing instrument, a shape sensing instrument, or the like.

Based on the above functional requirements of the actuator unit, the proximal end of the flexible body (such as a driving wire, a sleeve and the like) of the actuator unit can be pulled or twisted, for example, the distal actuator can be moved by pulling the proximal end of the flexible body, for example, the actuator can be opened, closed, rotated, pushed and the like.

The terms "proximal" and "distal" are defined in terms of the operator of the surgical instrument, i.e., the end proximal to the operator is the "proximal end" and, correspondingly, the end distal to the operator or patient is the "distal end".

In a specific implementation, the flexible apparatus 200 may be stored separately according to the requirements of the application scenario, and the flexible apparatus 200 is not disposed in the case 10, and a general mechanism related to the endoscopic surgery may be disposed in the case 10.

In the practical application scenario of the endoscopic surgery, the operation of the flexible instrument 200 may be summarized as the whole delivering and recovering of the actuator unit, the opening and closing and pushing of the actuator by the flexible body, and the like, which may be achieved by providing the driving force by the instrument manipulation mechanism 20.

Referring to fig. 5 to 9, fig. 5 is a schematic structural view of the instrument control mechanism in fig. 2; FIG. 6 is a schematic view of the mechanism for manipulating the instrument illustrated in FIG. 2 with the support frame hidden; FIG. 7 is a schematic view of the instrument manipulation mechanism of FIG. 6 from another perspective; FIG. 8 is a top view of the instrument manipulation mechanism of FIG. 5; fig. 9 is a bottom view of the instrument manipulation mechanism of fig. 6.

In this embodiment, the instrument control mechanism 20 may be integrally placed in the housing 10 or may be removed from the housing 10 as a single module. In particular applications, instrument manipulation mechanism 20 is positioned within housing 10 to interface with flexible instrument 200 for operation. When maintenance is required, the instrument manipulation mechanism 20 can be taken out of the case 10 as a whole.

The instrument manipulation mechanism 20 is used for manipulating a flexible instrument 200, and comprises a base 21, a first transmission disc 22, a second transmission disc 23 and three driving components; the first driving disc 22 and the second driving disc 23 are rotatably arranged on the base 21, and the rotation center lines of the first driving disc and the second driving disc are parallel; the three driving members are respectively in driving connection with the base 21, the first driving plate 22 and the second driving plate 23 through three driving members to respectively transmit rotational driving forces to the base 21, the first driving plate 22 and the second driving plate 23. That is, the base 21, the first driving plate 22, and the second driving plate 23 are each rotatable by the received rotational driving force, and the base 21, the first driving plate 22, and the second driving plate 23 are each independently rotatable. The rotation center line of the base 21 is parallel to the rotation center lines of the first and second transmission disks 22 and 23.

In one implementation, after the flexible instrument 200 is docked with the instrument manipulation mechanism 20, the base 21 may transmit a rotational driving force to the flexible instrument 200 for achieving overall feeding and retraction of the actuator unit of the flexible instrument 200, the first transmission disc 22 may transmit the rotational driving force to one transmission unit of the flexible instrument 200 for pulling the flexible body of the actuator unit, and the second transmission disc 23 may transmit the rotational driving force to the other transmission unit of the flexible instrument 200 for twisting or opening and closing operations of the actuator unit.

In other implementations, the first drive disk 22 may also provide rotational drive to another drive unit of the flexible instrument 200 for a twisting or opening operation of an actuator of the actuator unit, and the second drive disk 23 may also provide rotational drive to one drive unit of the flexible instrument 200 for pulling the flexible body of the actuator unit.

The specific configuration and relationship of the various drive units of the flexible instrument 200, which are not described in detail herein, are not important to the present application, and each drive unit of the flexible instrument 200 may be configured to transmit the various rotational drive forces provided by the instrument steering mechanism 20 to the associated components to perform a corresponding motion.

Referring to fig. 10-12, fig. 10 is a schematic cross-sectional view of the instrument manipulator of fig. 8; FIG. 11 is a schematic cross-sectional view of the instrument manipulation mechanism of FIG. 9; fig. 12 is another cross-sectional schematic view of the instrument manipulation mechanism of fig. 9. Wherein the section lines of the section views shown in fig. 10 are the section lines A-A in fig. 8, and the section lines of the section views shown in fig. 11 and 12 are the section lines B-B and C-C in fig. 9, respectively. It should be noted that the angles of view in fig. 10-12 are adjusted for ease of viewing and understanding, not strictly in terms of viewing angles corresponding to the section lines.

In this embodiment, the device control mechanism 20 further includes a support frame 29, the base 21 is supported by the support frame 29, the support frame 29 includes a cylindrical frame body, and three driving components and three transmission components of the device control mechanism 20 can be disposed in the frame body of the support frame 29, so that the driving components and the transmission components can be protected, and the device control mechanism 20 is also facilitated to form a whole.

In this embodiment, the three transmission parts of the instrument control mechanism 20 all include transmission shafts, and the three transmission shafts are sequentially sleeved and matched from inside to outside, and the axial direction of the transmission shafts is parallel to the rotation center lines of the first transmission disc 22 and the second transmission disc 23. In this way, conditions are provided for arranging the three driving components, the three transmission components and the base 21 in the axial direction of the instrument control mechanism 20, so that the increase of the overall radial dimension of the instrument control mechanism 20 can be avoided, the three transmission shafts are sequentially sleeved and matched, other transmission components of each transmission component can be arranged around the transmission shaft, the instrument control mechanism 20 can be compactly arranged, the occupied volume of the instrument control mechanism 20 is reduced, the overall volume of the box body 10 can be reduced, and a foundation is provided for the convenience of carrying the medical equipment 100. The portability of the medical equipment 100 is improved, the medical equipment 100 can be conveniently deployed in primary hospitals, the application of mobile treatment scenes is also convenient, and the endoscope diagnosis and treatment can be moved to primary, so that the overall health level of the national citizens is improved.

In the illustrated example, the base 21 of the instrument manipulation mechanism 20 has a circular structure as a whole, and the first transmission disc 22 and the second transmission disc 23 have circular structures, and the first transmission disc 22 and the second transmission disc 23 are mounted inside a circular region of the base 21. In other implementations, the outer shapes of the base 21, the first driving disc 22, and the second driving disc 23 may be set to other shapes according to the application scene needs, and the like.

For ease of understanding and description, the three drive components of instrument manipulation mechanism 20 are referred to as first drive component 241, second drive component 242, and third drive component 243, respectively, the three drive components are referred to as first drive component 251, second drive component 252, and third drive component 253, respectively, and the three drive shafts are referred to as first drive shaft 2511, second drive shaft 2521, and third drive shaft 2531, respectively, the first drive shaft 2511, second drive shaft 2521, and third drive shaft 2531 are slaved to first drive component 251, second drive component 252, and third drive component 253, respectively. Wherein, the first driving part 241 drives the base 21 to rotate through the first transmission part 251, the second driving part 242 drives the first transmission disc 22 to rotate through the second transmission part 252, and the third driving part 243 drives the second transmission disc 23 to rotate through the third transmission part 253.

In a specific implementation, the second transmission shaft 2521 is rotatably sleeved on the outer side of the first transmission shaft 2511, and the third transmission shaft 2531 is rotatably sleeved on the outer side of the second transmission shaft 2521. The axial direction of the first transmission shaft 2511 coincides with the rotation center line of the base 21, and the rotation center line of the first transmission disc 22 and the rotation center line of the second transmission disc 23 are offset with respect to the rotation center line of the base 21.

Because of the nested relationship of the second drive shaft 2521 and the third drive shaft 2531, both the second drive shaft 2521 and the third drive shaft 2531 are in the form of hollow shafts; the first transmission shaft 2511 is located at the innermost side, and may be a solid shaft structure or a hollow shaft structure.

Because the external dimension of the base 21 is larger, the first transmission disc 22 and the second transmission disc 23 are both positioned inside the base 21, so that the first transmission shaft 2511 in transmission connection with the base 21 is placed at the innermost side, the second transmission shaft 2521 and the third transmission shaft 2531 are sequentially sleeved outside the first transmission shaft 2511, and transmission between each transmission shaft and a driven component corresponding to each transmission shaft is conveniently arranged.

In the above arrangement, the other transmission structures of the first transmission member 251, the second transmission member 252 and the third transmission member 253 can be disposed around the first transmission shaft 2511, the second transmission shaft 2521 and the third transmission shaft 2531 which are sequentially sleeved, so that the instrument control mechanism 20 is compact in structure and small in occupied space.

In a specific implementation, the first transmission shaft 2511 of the first transmission component 251 may be directly and fixedly connected with the base 21, so as to directly transmit the rotational driving force transmitted to the first transmission shaft 2511 to the base 21, and drive the base 21 to rotate. In this way, there is no other structure between the first transmission shaft 2511 and the base 21, and compactness is improved.

The first transmission shaft 2511 may be fixedly connected to a central region of the base 21, so that the base 21 may be smoothly rotated under the driving of the first transmission shaft 2511, thereby more reliably operating the flexible instrument 200. In addition, the first transmission shaft 2511 is fixedly connected to the central region of the base 21, so that the first transmission disc 22 and the second transmission disc 23 are offset relative to the central region of the base 21, which is beneficial to enabling each transmission part and each driving part to be located in the axial projection plane of the base 21 as much as possible, and is beneficial to improving compactness.

Illustratively, the first transmission shaft 2511 may be integrally formed with the base 21, which can ensure structural strength and accuracy of power transmission, and also can simplify the assembly process. In other examples, the first transmission shaft 2511 and the base 21 may be separately configured and then fixedly connected.

In a specific implementation, the first transmission component 251 further includes a first transmission wheel assembly, and the first transmission wheel assembly is in transmission connection between the first transmission shaft 2511 and the first driving component 241.

In one possible implementation, the first transmission wheel assembly is a gear pair, and for convenience of distinction, is referred to herein as a first gear pair 2512, and the first driving member 241 is in driving connection with the first transmission shaft 2511 via the first gear pair 2512.

The first gear pair 2512 includes a first gear 25121 and a second gear 25122, which are meshed with each other, the first gear 25121 may be mounted on the output end of the first driving part 241, and the second gear 25122 may be fixedly sleeved on the first transmission shaft 2511. In this way, when the first driving member 241 outputs the rotational driving force, the rotational driving force is transmitted to the first transmission shaft 2511 through the first gear 25121 and the second gear 25122 meshed with each other, thereby driving the base 21 fixedly coupled with the first transmission shaft 2511 to rotate.

For example, the first driving part 241 may be a motor, and an output shaft of the motor is taken as an output end of the first driving part 241 and may be fixedly sleeved with the first gear 25121.

The power transmission between the first driving part 241 and the first transmission shaft 2511 is realized by the first gear pair 2512, and the structure is simple and compact.

In this embodiment, the second transmission part 252 further includes two second transmission wheel assemblies, and the input end and the output end of the second transmission shaft 2521 are respectively connected with the second driving part 242 and the first transmission disc 22 in a transmission manner through the two second transmission wheel assemblies.

In an implementation scheme, the two second driving wheel assemblies are also gear pairs, the two second driving wheel assemblies are two second gear pairs, the output end of the second driving part 242 is in transmission connection with the input end of the second transmission shaft 2521 through a first second gear pair 2522, and the output end of the second transmission shaft 2521 is in transmission connection with the first transmission disc 22 through a second gear pair 2523.

The second driving part 242 is located beside the first driving part 241, the first second gear pair 2522 is located near the bottom of the second transmission shaft 2521 away from the base 21, and the second gear pair 2523 is located near the top of the second transmission shaft 2521 near the base 21.

The first second gear pair 2522 includes a third gear 25221 and a fourth gear 25222 which are meshed with each other, the third gear 25221 may be mounted on the output end of the second driving part 242, and the fourth gear 25222 may be fixedly sleeved on the second transmission shaft 2521; the second gear pair 2523 includes a fifth gear 25231 and a sixth gear 25232, which are meshed with each other, and the fifth gear 25231 may be fixedly sleeved on the second transmission shaft 2521, and the sixth gear 25232 is in driving connection with the first transmission disc 22. In this way, when the second driving member 242 outputs the rotational driving force, the rotational driving force can be transmitted to the second transmission shaft 2521 through the gear three 25221 and the gear four 25222 which are meshed with each other, and then the rotational driving force can be transmitted to the first transmission disc 22 through the gear five 25231 and the gear six 25232 which are meshed with each other.

In a specific implementation, the first driving disc 22 is rotatably connected with the base 21 through a first rotating shaft 223, and a gear six 25232 may be fixedly sleeved on the first rotating shaft 223, where the gear six 25232 transmits the rotation driving force to the first driving disc 22 through the first rotating shaft 223. For convenient installation, first driving disk 22 accessible first mount table 224 is connected with first pivot 223, and first pivot 223 can be with first mount table 224 fixed connection or circumference spacing connection, and first driving disk 22 can be with first mount table 224 circumference spacing connection, and first pivot 223 can pass the bottom of base 21 and the cooperation of six 25232 of gear, and first pivot 223 can rotate relative to base 21, can set up the bearing between first pivot 23 and base 21 to ensure first pivot 223 pivoted stationarity, thereby ensure first driving disk 22 pivoted stability.

In this embodiment, the third transmission member 253 further includes two third transmission wheel assemblies, and the input end and the output end of the third transmission shaft 2531 are respectively in transmission connection with the third driving member 243 and the second transmission disc 23 through the two third transmission wheel assemblies.

In an implementation scheme, the two third driving wheel assemblies are gear pairs, the two third driving wheel assemblies are two third gear pairs, the output end of the third driving part 243 is in transmission connection with the input end of the third transmission shaft 2531 through the first third gear pair 2532, and the output end of the third transmission shaft 2531 is in transmission connection with the second transmission disc 23 through the second third gear pair 2533.

The third driving part 243 is also located beside the first driving part 241, and beside the second driving part 242, and in conjunction with fig. 7 and 9, the first driving part 241, the second driving part 242 and the third driving part 243 are arranged in a triangle, and all the three parts are located below the base 21, and are close to the corresponding transmission shafts and far from the bottom of the base 21, so that the structural arrangement is more reasonable and compact.

The first third gear pair 2532 is disposed near the third drive shaft 2531 away from the bottom of the base 21, and the second third gear pair 2533 is disposed near the third drive shaft 2531 near the top of the base 21.

The first third gear pair 2532 includes a seventh gear 25321 and an eighth gear 25322 that are meshed with each other, the seventh gear 25321 may be mounted at an output end of the third driving part 243, and the eighth gear 25322 may be fixedly sleeved on the third transmission shaft 2531; the second third gear pair 2533 includes a gear nine 25331 and a gear ten 25332 which are meshed with each other, the gear nine 25331 can be fixedly sleeved on the third transmission shaft 2531, and the gear ten 25332 is in transmission connection with the second transmission disc 23. In this way, when the third driving member 243 outputs the rotational driving force, the rotational driving force can be transmitted to the third transmission shaft 2531 through the gears seventh 25321 and eighth 25322 which are meshed with each other, and then the rotational driving force can be transmitted to the second transmission disk 23 through the gears ninth 25331 and tenth 25332 which are meshed with each other.

In a specific implementation, the second driving disc 23 is rotatably connected with the base 21 through a second rotating shaft 233, a gear ten 25332 can be fixedly sleeved on the second rotating shaft 233, and a gear ten 25332 transmits the rotation driving force to the second driving disc 23 through the second rotating shaft 233. For convenient installation, the second driving disc 23 may be connected to the second rotating shaft 233 through the second mounting table 234, the second rotating shaft 233 may be fixedly connected to the second mounting table 234 or circumferentially limited connected, the second driving disc 23 may be circumferentially limited connected to the second mounting table 234, the second rotating shaft 233 may pass through the bottom of the base 21 to cooperate with the gear ten 25332, the second rotating shaft 233 may rotate relative to the base 21, and a bearing may be disposed between the second rotating shaft 233 and the base 21 to ensure the stability of rotation of the second rotating shaft 233, thereby ensuring the stability of rotation of the second driving disc 23.

In other embodiments, the first, second and third drive wheel assemblies may take other forms, such as a pulley drive arrangement or a sprocket drive arrangement, in addition to the form of a gear pair. Relatively, the gear pair is adopted to achieve good transmission effect, and the structure is simpler and more compact.

With reference to fig. 10 to 12, in an arrangement, to facilitate connection of the gears with the matched transmission shafts, the bottom of the first transmission shaft 2511 extends out of the second transmission shaft 2521, and the second gear 25122 is fixedly sleeved on a shaft section of the first transmission shaft 2511 extending out of the second transmission shaft 2521; the axial dimension of the third transmission shaft 2531 is smaller than that of the second transmission shaft 2521, and the top and the bottom of the second transmission shaft 2521 extend out of the top and the bottom of the third transmission shaft 2531 respectively, so that a gear IV 25222 and a gear V25231 can be fixedly sleeved on the bottom and the top of the second transmission shaft 2521 respectively without interfering with the third transmission shaft 2531; the third transmission shaft 2531 is located outside the second transmission shaft 2521, and a gear eighth 25322 and a gear ninth 25331 fixedly sleeved thereon may be provided at axial positions of the third transmission shaft 2531 as needed. So arranged, in the axial direction of the drive shaft, there are, in order from bottom to top, a first gear pair 2512, a first second gear pair 2522, a first third gear pair 2532, a second third gear pair 2533, and a second gear pair 2523.

For example, the second driving part 242 and the third driving part 243 may also be motors, and output shafts of the motors are directly fixedly sleeved with corresponding gears.

On the basis that the first driving part 241, the second driving part 242 and the third driving part 243 adopt the same type of motor, in the axial direction of the transmission shaft, the axial positions of the first gear pair 2512, the first second gear pair 2522 and the first third gear pair 2532 are different, and accordingly, the axial heights of the first driving part 241, the second driving part 242 and the third driving part 243 are also different. In summary, the axial height of the first drive member 241 is lower than the axial height of the second drive member 242, and the axial height of the second drive member 242 is lower than the axial height of the third drive member 243.

In other embodiments, the first driving part 241, the second driving part 242, and the third driving part 243 may be other power parts that can output rotational driving force.

In this embodiment, the instrument manipulation mechanism 20 further includes a mounting frame 26, and the first driving member 241, the second driving member 242, and the third driving member 243 are all mountable on the mounting frame 26, and the mounting frame 26 can be connected with the supporting frame 29 of the instrument manipulation mechanism 20 to provide a stable supporting base for the driving members and the transmission members. The mounting bracket 26 may be constructed to fit the mounting position of the three drive members.

In a specific implementation, the bottom of the first transmission shaft 2511 may also be rotatably inserted on the mounting frame 26, so as to ensure the stability and reliability of the rotation of the base 21.

In the present embodiment, the base 21 may include a base plate 211 and a cylindrical portion 212, and an outer peripheral wall of the base plate 211 extends upward in an axial direction (the axial direction here refers to an axial direction of the transmission shaft) to form the cylindrical portion 212. The base plate 211 serves as a driving force receiving end of the base 21, that is, the first transmission shaft 2511 may be directly fixedly connected with the base plate 211 to transmit the rotational driving force of the first driving part 241 to the base plate 211.

In a specific implementation, the base 21 may further include a mounting plate 27, where the mounting plate 27 is fixed inside the barrel 212 and is located above the base plate 211, the mounting plate 27 is arranged parallel to the base plate 211, and holes adapted to the first transmission disc 22 and the second transmission disc 23 are formed in corresponding positions of the mounting plate 27, and are used for mounting the first transmission disc 22 and the second transmission disc 23.

The above-mentioned structure arrangement of the base 21 forms a relatively closed space between the mounting plate 27 and the base 211, and at least part of the first driving disk 22 and its mounting structure with the base 21, the second driving disk 23 and its mounting structure with the base 21 may be located in the space between the mounting plate 27 and the base 211, so that a better protection effect may be provided for these structures.

According to the connection relationship of the foregoing transmission components, the first rotation shaft 223 and the second rotation shaft 233 pass through the base plate 211 to be convenient for connection and cooperation with corresponding gears, obviously, through holes for the first rotation shaft 223 and the second rotation shaft 233 to pass through are required to be provided on the base plate 211 in a matching manner, the base plate 211 can extend downwards at positions corresponding to the through holes to form a first sleeve 2111 and a second sleeve 2112, the first rotation shaft 223 and the second rotation shaft 233 respectively pass through the first sleeve 2111 and the second sleeve 2112 to be matched with the gear six 25232 and the gear ten 25332, a bearing can be provided between the first rotation shaft 223 and the first sleeve 2111, and a bearing can be provided between the second rotation shaft 233 and the second sleeve 2112 to ensure stability and reliability of rotation driving force transmission of the first rotation shaft 223 and the second rotation shaft 233.

In this embodiment, the first drive plate 22 and the second drive plate 23 are each provided with a docking structure for docking with two drive units of the flexible instrument 200.

In one implementation, referring to fig. 8, the docking structure on the first drive disk 22 includes a first docking post 221, and a docking hole matching the first docking post 221 is provided on a corresponding drive unit of the flexible instrument 200; the docking structure on the second drive disk 23 includes a second docking post 231, and a docking hole matching the second docking post 231 is provided on the corresponding drive unit of the flexible instrument 200.

In a specific arrangement, the first docking post 221 is eccentrically disposed with respect to the rotational center of the first driving disk 22 to transmit torque to drive the power input end of the driving unit to rotate synchronously.

In the illustrated example, the first driving disc 22 is provided with two first docking posts 221 to uniformly load during the power transmission process, which is beneficial to improving the driving stability. In other examples, the number and arrangement of the first docking posts 221 may be determined according to the overall design needs of the product.

The arrangement of the second docking post 231 is similar to that of the first docking post 221 and will not be described in detail.

In addition, a first guide post 222 may be disposed on the first driving disc 22, and a second guide post 232 may be disposed on the second driving disc 23, and correspondingly, a matched guide hole may be disposed on the side of the driving unit matched with the first driving disc and the second driving disc, so as to facilitate rapid docking of the flexible apparatus 200 and the apparatus control mechanism 20.

In a specific implementation, the matched docking posts and docking holes may be configured reversely, and the matched guiding posts and guiding holes may also be configured reversely, for example, the docking holes may be disposed on the first driving disc 22, and the matched docking posts may be disposed on the driving unit side that is docked with the first driving disc 22.

In other implementations, the interfacing structure on the first and second drive discs 22, 23 may take other forms as long as power transfer between the drive discs and the drive unit is enabled.

In this embodiment, the base 21 of the instrument manipulation mechanism 20 is further provided with a clamping member 28, and the clamping member 28 is configured to cooperate with the clamping structure of the flexible instrument 200 to limit the relative positions of the base 21 and the instrument reservoir of the flexible instrument 200. The rotational driving force can be transmitted to the instrument reservoir of the flexible instrument 200 through the base 21 to effect the feeding and retrieving of the actuator unit.

Referring to fig. 8 and 11, in a specific implementation, the clamping component 28 includes a buckle 281, a side where the flexible apparatus 200 is located may be provided with a slot adapted to the buckle 281, after the assembly, the buckle 281 is disposed in the slot, and forms a circumferential rotation limiting pair with an apparatus storage of the flexible apparatus 200, so that when the base 21 rotates under the rotation driving force of the first driving component 241, the apparatus storage may be driven to rotate, so as to realize the conveying of the actuator unit.

The clamping component 28 may further comprise a sliding groove 282, the sliding groove 282 may be disposed on the mounting plate 27, the buckle 281 may slide along the sliding groove 282 in a radial direction of the mounting plate 27, a hook portion with an inclined surface may be disposed at a top of the buckle 281, a bayonet matched with the hook portion may be disposed on a side of the flexible device 200, and after assembly, the buckle 281 is disposed at a position extending outwards in a radial direction, at this time, the hook portion of the buckle 281 may be inserted into the bayonet to lock the device reservoir in an axial direction.

The catch member 28 may further comprise a return spring 284, the return spring 284 being pre-compressed between the catch 281 and the mounting plate 27 such that the catch 281 may be maintained in a radially outwardly extending, extended operative position. The return spring 284 is illustrated in one of the snap members 28 of fig. 8, with the return spring 284 omitted from the other views.

For convenience of operation, a button 283 may be provided to be connected to the buckle 281, the button 283 may be located outside the barrel 212 of the base 21, and the button 283 may be connected to the buckle 281 by a connection shaft passing through the barrel 212. When the flexible instrument 200 is detached, the operator can apply force to the button 283 to press the button 283 toward the center of the base 21, and the hook portion of the buckle 281 can be separated from the bayonet of the flexible instrument 200, so that the flexible instrument 200 can be detached.

In the illustrated example, two clamping components 28 are provided, and the two clamping components 28 are symmetrically arranged relative to the center of the base 21, so that the stress uniformity is good. In other implementations, the number and arrangement of the snap features 28 may be provided in other forms as well, depending on the application requirements.

The specific configuration of the snap-in member 28 may also be adjusted so long as the reliability of the interface of the flexible instrument 200 with the associated components of the instrument manipulation mechanism 20 is achieved.

Referring again to fig. 2-4, the housing 10 of the medical device 100 has a receiving cavity therein that mates with the instrument manipulation mechanism 20, and the instrument manipulation mechanism 20 is positionable within the receiving cavity.

The inside of the box 10 is also provided with an operation platform 13, the operation platform 13 is provided with an identification module 133 adjacent to the instrument manipulation mechanism 20, and the identification module 133 is used for identifying the type of the flexible instrument 200 docked with the instrument manipulation mechanism 20 and transmitting corresponding signals to the controller of the medical device 100, so that the controller can call matched operation instructions and the like according to the type of the docked flexible instrument 200.

In a specific implementation, the identification module 133 may be an RFID (Radio Frequency Identification ) identification module. In other implementations, the identification module 133 may take other forms as well.

In this embodiment, the operation platform 13 may further be provided with a limit guide structure 134 beside the identification module 133, where the limit guide structure 134 is configured to cooperate with the flexible instrument 200 to enable the housing of the flexible instrument 200 to move in the axial direction and limit the circumferential rotation of the housing of the flexible instrument 200. It will be appreciated that the housing of the flexible instrument 200 cannot rotate due to the constraint of the constrained position guide structure 134.

In a specific implementation, the limiting guide structure 134 is a chute extending along an axial direction, and the housing of the flexible apparatus 200 may be provided with a guide portion adapted to the chute. In other implementations, the chute and guide may be configured in reverse.

Briefly, the flexible instrument 200 includes a housing and the aforementioned instrument reservoir, which is located inside the housing with a threaded mating pair therebetween. After the flexible instrument 200 is in butt joint with the instrument control mechanism 20, the instrument reservoir is in butt joint with the base 21 of the instrument control mechanism 20, the rotation of the base 21 can drive the instrument reservoir to rotate, and the shell can move along the axial direction relative to the instrument reservoir due to the limitation of the circumferential rotation of the shell, so that the conveying of the actuator unit in the instrument reservoir is realized. The limiting guide structure 134 provided on the operation platform 13 can guide the axial movement of the flexible apparatus 200 and limit the circumferential rotation, so as to ensure the reliability of the conveying of the actuator unit.

In particular implementations, the spacing guide structure 134 and the identification module 133 may be integrated as one component to facilitate assembly. The identification module 133 and the limit guide structure 134 may have two positions in the case 10, where one position is a working position shown in fig. 2, and at this time, the identification module 133 and the limit guide structure 134 are located above the operation platform 13, so as to be convenient to cooperate with the flexible apparatus 200, and the other position is a storage position located below the operation platform 13, so as to be convenient for closing the case cover 12 of the case 10.

In a specific application scenario, the conveying of the actuator unit of the flexible apparatus 200 and the operation of the actuator unit are relatively independent, and on the side where the apparatus manipulating mechanism 20 is located, the rotation of the base 21 drives the conveying of the actuator unit as a whole, and the rotation of the first driving disk 22 and the second driving disk 23 drives the actuator to operate, so that the rotation of the base 21, the first driving disk 22 and the second driving disk 23 needs to be relatively independent.

According to the foregoing arrangement of the instrument manipulation mechanism 20, the first driving disc 22 is rotatably connected to the base 21 through the first rotation shaft 223, the second driving disc 23 is rotatably connected to the base 21 through the second rotation shaft 233, and the rotation centers of the first driving disc 22 and the second driving disc 23 are both offset with respect to the rotation center of the base 21. Thus, when the first driving part 241 drives the base 21 to rotate, the first and second driving disks 22 and 23 are rotated around their respective rotation centers while the first and second driving disks 22 and 23 are rotated together with the base 21 based on the relative positional relationship and the connection relationship of the base 21 and the first and second driving disks 22 and 23.

In practical application, the first driving component 241 drives the base 21 to rotate, so that the conveying of the actuator unit of the flexible apparatus 200 is finally realized, and the actuator of the actuator unit is not required to operate at this time, that is, the first driving disc 22 or the second driving disc 23 is not required to rotate respectively to drive the actuator to act. Based thereon, instrument manipulation mechanism 20 further comprises a control module communicatively coupled to first drive member 241, second drive member 242, and third drive member 243 for controlling operation of the three drive members and configured to synchronously control operation of second drive member 242 and third drive member 243 to maintain first drive disk 22 and second drive disk 23 relatively stationary with base 21 as first drive member 241 drives base 21 for rotation.

In particular, the control module of the instrument manipulation mechanism 20 may be integrated with the controller of the medical device 100 or, alternatively, the control module of the instrument manipulation mechanism 20 may be part of the controller of the medical device 100.

In a specific implementation, the operation platform 13 is further provided with a key assembly 131 in communication connection with the controller, and the key assembly 131 includes at least one of a start key, a sampling key, a driving instruction key and an scram key. After each key is pressed, a corresponding instruction can be sent to the controller, so that the controller sends a control instruction to the related execution component or driving component to realize corresponding operation. In other implementations, the key assembly 131 may also provide other function keys as desired. The layout of the keys of the key assembly 131 may be set as required, so as to minimize the occupied space.

In this embodiment, the case 10 of the medical device 100 includes a case body 11 and a case cover 12, and the case cover 12 is hinged with the case body 11 to facilitate opening and closing of the case cover 12. The inner surface of the box cover 12 facing the inner cavity of the box body 11 is provided with a display panel 121 in communication connection with the controller, and the display panel 121 can display relevant information in the diagnosis and treatment process. Integrating the display panel 121 on the case cover 12 can make the medical device 100 more compact.

In endoscopic surgery, there is a need for biopsy tissue to be collected at a corresponding site in a patient, so a tissue sampling mechanism 30 may be configured within the housing 10 of the medical device 100 for transferring the biopsy tissue collected by the actuator unit of the flexible instrument 200 into a sampling bottle. The tissue sampling mechanism 30 is arranged in the box body 10 and is at least close to one box side wall 111, the box side wall 111 is provided with a wall plate 1111 which can be opened and closed, the wall plate 1111 corresponds to the tissue sampling mechanism 30 in position, and the sampling bottle can be conveniently taken under the use scene. Fig. 2 and 3 show a structural illustration of the wall panel 1111 in an open state. An operator may take a sample bottle from the self-organizing sampling mechanism 30 at the opening in the wall 1111.

Referring to fig. 13, fig. 13 is a schematic diagram illustrating a structure of the tissue sampling mechanism in fig. 2.

The tissue sampling mechanism 30 is also an integral module that facilitates removal from the housing 10. Tissue sampling mechanism 30 may include a support module 31, an instrument access module 32, a vibration module 33, and a sample vial movement module 34. Wherein the instrument access module 32, the vibration module 33, and the sample vial movement module 34 may all be mounted on the support module 31. The instrument path module 32 is configured to interface with an actuator unit of the flexible instrument 200, and biopsy tissue collected by the actuator unit may fall from the outlet into a sample vial corresponding to the location via an internal path of the instrument path module 32 under the vibration of the vibration module 33, and the sample vial movement module 34 is configured to move the sample vial to a location corresponding to the outlet of the instrument path module 32.

The specific construction and relationship of the various modules of tissue sampling mechanism 30 are not considered an inventive point of the present application and are not described in detail herein.

Referring to fig. 14 together, fig. 14 is a schematic structural diagram of the man-machine interaction mechanism in fig. 2.

The operation platform 13 in the housing 10 of the medical device 100 may be provided with a recess 132 for placing the human-machine interaction means 40, the human-machine interaction means 40 comprising a manipulation handle 41 and a connection cable 42, wherein the connection cable 42 is for communicatively connecting the manipulation handle 41 and the controller.

In practical application, the medical staff can take out the man-machine interaction mechanism 40 from the groove 132, so that the medical staff can conveniently control related mechanisms in the box 10 at a place far away from the box 10 or near the patient side. Fig. 4 illustrates a use scenario in which the man-machine interaction means 40 is taken out of the casing 10.

The manipulation handle 41 may include a manipulation rocker 411 and a manipulation button 412, and an instruction may be transmitted to the controller by an operation of the manipulation rocker 411 and an operation of the manipulation button 412 to control related actions of the respective mechanisms within the case 10. The manipulation handle 41 may also be provided with a clamping portion 413 to facilitate clamping the manipulation handle 41 to other structures that facilitate manipulation by a medical practitioner, such as structures that may be located outside the patient's body on the actuator unit of the flexible instrument 200.

In this embodiment, the outer surface of the case 10 may be provided with a protective layer to protect related mechanisms in the case 10. The protective layer can be made of waterproof and dustproof materials.

In particular embodiments, the outer wall of the case 10 may also be provided with a handle 14 to facilitate transfer of the case 10 by medical personnel.

In a specific implementation, the medical device 100 may further be provided with a case supporting mechanism independent of the case 10, so that the case 10 can be supported at a certain height during application, and the medical staff can operate conveniently.

The instrument control mechanism 20 provided in the embodiment of the present application is compact in structure, so that the volume of the medical device 100 can be reduced, and the instrument control mechanism is convenient to carry and suitable for being used in the field, mobile or basic medical scenes.

Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.

Claims

1. An instrument control mechanism for controlling a flexible instrument is characterized by comprising a base, a first transmission disc, a second transmission disc, three driving components and three transmission components;

the three transmission parts comprise transmission shafts, the three transmission shafts are sequentially sleeved and matched from inside to outside, and the axial direction of the transmission shafts is parallel to the rotation center lines of the first transmission disc and the second transmission disc;

the three driving parts are respectively a first driving part, a second driving part and a third driving part, the three transmission parts are respectively a first transmission part, a second transmission part and a third transmission part, and the three transmission shafts are respectively a first transmission shaft, a second transmission shaft and a third transmission shaft corresponding to the first transmission part, the second transmission part and the third transmission part;

The first driving part drives the base to rotate through the first transmission part, the second driving part drives the first transmission disc to rotate through the second transmission part, and the third driving part drives the second transmission disc to rotate through the third transmission part;

2. The instrument manipulation mechanism of claim 1, wherein the first drive shaft is fixedly connected to the base; the first transmission part further comprises a first transmission wheel assembly, and the first transmission wheel assembly is in transmission connection between the first transmission shaft and the first driving part;

3. The instrument manipulation mechanism of claim 2, wherein at least one of the first, second, and third drive wheel assemblies is a gear pair.

4. The instrument manipulation mechanism of claim 2, wherein the first drive disk is rotatably coupled to the base via a first shaft, and the output end of the second drive shaft is drivingly coupled to the first shaft via the second drive wheel assembly;

5. The instrument manipulation mechanism of claim 2, further comprising a control module communicatively coupled to each of the first drive member, the second drive member, and the third drive member and configured to control the first drive member to drive the base to rotate and to synchronously control the operation of the second drive member and the third drive member to maintain the first drive disk and the second drive disk relatively stationary with the base.

6. The instrument manipulation mechanism of claim 1, further comprising a mounting frame on which the three drive members are mounted, wherein an end of the first drive shaft remote from the base is rotatably mounted to the mounting frame.

7. The instrument manipulation mechanism of any one of claims 1-6, further comprising a support frame to which the base is rotatably supported, the support frame comprising a cylindrical frame body, the three drive members and the three transmission members being located within an interior cavity of the frame body.

8. The instrument manipulation mechanism of any one of claims 1-6, wherein a snap-fit feature is provided on the base for cooperating with a snap-fit feature of the flexible instrument to limit the relative position of the base and instrument reservoir of the flexible instrument.

9. The instrument manipulation mechanism of any one of claims 1-6, wherein the first and second drive discs are each provided with a docking structure thereon for docking with a drive unit of the flexible instrument.

10. A medical device comprising a housing and an instrument manipulation mechanism mounted within the housing, the instrument manipulation mechanism being the instrument manipulation mechanism of any one of claims 1-9.

11. The medical device of claim 10, wherein an operating platform is disposed within the housing, the operating platform being provided adjacent a side of the instrument manipulation mechanism with an identification module for identifying a type of flexible instrument interfacing with the instrument manipulation mechanism.

12. The medical device of claim 11, wherein the operating platform is further provided with a limit guide structure beside the identification module for cooperating with the flexible instrument to enable the housing of the flexible instrument to move axially and to limit circumferential rotation of the housing.

13. The medical device of claim 11, wherein the operating platform is provided with a key assembly in communication with the controller, the key assembly including at least one of a start key, a sample key, a drive command key, and a scram key.

14. The medical device of any one of claims 10-13, wherein the housing comprises a housing body and a cover, the cover being hinged to the housing body, an inner surface of the cover facing the housing body interior cavity being provided with a display panel in communication with the controller.

15. The medical device of any one of claims 10-13, further comprising a tissue sampling mechanism disposed within the housing and disposed adjacent at least one housing sidewall, the housing sidewall adjacent the tissue sampling mechanism comprising an openable and closable wall corresponding to a position of the tissue sampling mechanism.

16. The medical device of any one of claims 10-13, further comprising a human-machine interaction mechanism disposed within the housing, the human-machine interaction mechanism comprising a steering handle and a connection cable for communicatively coupling the steering handle and a controller.

17. The medical device according to any one of claims 10-13, wherein the outer surface of the housing is provided with a protective layer.