CN212630720U

CN212630720U - Medical flexible tubular tool

Info

Publication number: CN212630720U
Application number: CN202020798587.6U
Authority: CN
Inventors: 孙立宁; 杜志江; 薛人峰; 孙晨; 王珏; 孙玉宁
Original assignee: Jiangsu Gongda Boshi Medical Robot Research Development Co ltd
Current assignee: Suzhou ouchang Medical Technology Co., Ltd
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2021-03-02
Anticipated expiration: 2030-05-14

Abstract

The utility model discloses a medical flexible pipe-shaped tool, including the flexible pipe, flexible pipe-shaped tool still includes the first piece that pulls more than 2, and wherein, the first piece that pulls more than 1 is in at least partial clockwise spiral setting on the flexible pipe, the first piece that pulls more than 1 is in at least partial anticlockwise spiral setting on the flexible pipe. The utility model discloses following beneficial effect has: the traction piece of the medical flexible tubular tool is arranged on the flexible pipe in a spiral mode, the flexible pipe can be rotated by controlling the traction piece, and the accurate control of the rotation angle of the flexible pipe is realized; on the basis, more than 2 traction pieces which are arranged in parallel in the axial direction are additionally arranged, so that the flexible tubular tool can rotate and deflect, and the multi-degree-of-freedom control of the medical flexible tubular tool is realized.

Description

Medical flexible tubular tool

Technical Field

The utility model relates to the field of medical equipment, concretely relates to medical flexible pipe-shaped instrument.

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 resort to some flexible medical instrument, such as a flexible biopsy needle. Generally, these flexible medical devices require the use of flexible tubular tools to perform diagnostic and therapeutic tasks.

The medical flexible tubular tool comprises a traction piece and a flexible tube, wherein the traction piece is used for controlling the movement direction of the flexible tube. When the medical flexible tubular tool needs to enter a winding and slender human body cavity, the flexible tube is required to have more direction control, namely multiple degrees of freedom; however, the degree of freedom of the conventional medical flexible tubular tool is limited, and when the length of the flexible tube is long and the flexible tube needs to rotate around itself to adjust the angle of the flexible tube, the problem of obvious hysteresis can occur in the rotation mode, for example, when one end of the flexible tube rotates by 10 degrees, the other end of the flexible tube can only be driven to rotate by 1-2 degrees, and under different environmental friction forces, the accurate motion of the other end of the flexible tubular tool, namely the accurate motion of one end of the flexible tube entering a cavity of a human body, is difficult to accurately control through the pivoting motion of one end of the flexible tube, so that the control difficulty is increased.

Disclosure of Invention

Based on present medical flexible pipe-shaped instrument because it is obvious to appear the hysteresis nature around self rotation, and then lead to the problem of the increase of the control degree of difficulty, the utility model provides a medical flexible pipe-shaped instrument can the self rotation angle of accurate control flexible pipe.

Based on the above purpose, the technical scheme of the utility model is as follows:

a medical flexible tubular tool comprises a flexible tube and more than 2 first traction pieces, wherein more than 1 first traction piece is at least partially spirally arranged on the flexible tube clockwise, and more than 1 first traction piece is at least partially spirally arranged on the flexible tube anticlockwise; this application sets up the mode of pulling the piece through the spiral, can realize the rotary motion of flexible pipe to can accurate control rotatory angle.

In order to increase the degree of freedom, the medical tubular tool further comprises more than 2 second traction pieces, and the second traction pieces are arranged in parallel along the axial direction of the flexible pipe, so that the deflection motion of the flexible pipe is realized.

The first traction piece and the second traction piece of the flexible pipe are arranged on the inner wall or the outer wall of the flexible pipe, and if the first traction piece and the second traction piece of the flexible pipe are arranged on the outer wall of the flexible pipe, the space inside the flexible pipe can be increased, and a larger working space is provided for some surgical instruments and/or imaging pieces with larger outer diameters.

The first traction piece and the second traction piece can be of elastic tubes and traction wire structures, and can also be of traction rings and traction wire structures. If the structure is an elastic tube or a traction wire structure, the traction wire is arranged in the elastic tube, and the elastic tube is fixedly connected with the flexible tube;

if the structure is a traction ring and a traction wire, the traction wire is arranged in the traction ring, and the traction ring is fixedly connected with the flexible pipe.

Meanwhile, the elastic tube or the traction ring is provided with a lubricant, so that the friction between the traction wire and the flexible tube or the traction ring can be reduced, the force transmission efficiency is improved, and the hysteresis of power transmission is reduced.

The utility model discloses following beneficial effect has: the traction piece of the medical flexible tubular tool is arranged on the flexible pipe in a spiral mode, the flexible pipe can be rotated by controlling the traction piece, and the accurate control of the rotation angle of the flexible pipe is realized; on the basis, more than 2 traction pieces which are arranged in parallel in the axial direction are additionally arranged, so that the flexible tubular tool can rotate and deflect, and the multi-degree-of-freedom control of the medical flexible tubular tool is realized.

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 the embodiments of the present invention when taken in conjunction with the accompanying drawings.

Drawings

Certain embodiments of the invention will hereinafter be described in detail by way of example and not limitation with reference to the accompanying drawings, in which like references indicate similar or analogous elements or parts, and it will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the drawings:

as shown in fig. 1-3, the first traction member of the present invention is disposed on the inner wall of the flexible pipe;

as shown in fig. 4, it is an implementation manner that the first traction member of the present invention is disposed on the outer wall of the flexible pipe;

as shown in fig. 5, it is another implementation manner of the first traction member of the present invention;

as shown in fig. 6, it is an implementation manner of the present invention to provide both the first traction member and the second traction member;

as shown in fig. 7 and 8, another implementation manner of the present invention is to provide both the first traction member and the second traction member;

as shown in fig. 9, is a schematic cross-sectional view of the pulling member 11 of fig. 1;

fig. 10 is a schematic view showing the arrangement of the traction rings.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be embodied in many other forms 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 it is therefore intended that the invention not be limited to the specific embodiments disclosed below.

Fig. 1 shows an embodiment of the medical flexible tubular tool of the present invention. The flexible tubular tool comprises a first traction piece 1 and a flexible tube 2, wherein the first traction piece 1 is arranged on the inner wall of the flexible tube, the first traction piece comprises a traction piece 11 and a traction piece 12, the traction piece 11 is arranged on the flexible tube 2 in a spiral mode in a clockwise mode, and the traction piece 12 is arranged on the flexible tube 2 in a spiral mode in a counterclockwise mode. When the traction element 11 is loosened and the traction element 12 is tightened, a counter-clockwise rotation of the flexible tube 2 may be achieved; when the traction element 11 is tightened and the traction element 12 is loosened, a clockwise rotation of the flexible tube 2 can be achieved; when simultaneously tensioning the

pulling elements

11, 12, a locking of the flexible tube 2 is achieved.

Generally, the flexible tube and the pulling member of the flexible tube are driven by an external driving device, such as a mechanical arm, a continuum robot, etc., taking the mechanical arm as an example, the mechanical arm can control the flexible tube to enter the body cavity, and tighten or loosen the pulling member according to the situation. This application is through the rotation that uses the piece of pulling control flexibility pipe, has replaced the mode that the flexible pipe is rotatory around self, has solved because rotatory around self, and the hysteresis quality appears obviously, and then leads to the problem of control degree of difficulty increase.

The number of the first traction members 1 is not limited to 2 in this embodiment, as shown in fig. 2 and 3, as long as 1 or more first traction members are spirally arranged on the flexible tube 2 clockwise, and 1 or more first traction members are spirally arranged on the flexible tube 2 counterclockwise, for better control, the number of the first traction members arranged clockwise and counterclockwise is generally the same, and of course, may be different, such as 1 clockwise first traction member and 2 counterclockwise first traction members; fig. 3 shows a specific implementation manner, that is, a plurality of counterclockwise pulling members are arranged on the flexible tube 2 around a circle, and a plurality of clockwise pulling members are arranged on the flexible tube 2 around a circle, so that the shape of the flexible tube can be well maintained.

The first traction means 1 can be arranged not only on the inner wall of the flexible tube 2, but also on the outer wall of said flexible tube 2, as shown in fig. 4, which allows a larger space inside the flexible tube 2, providing a larger working space for e.g. imaging means and/or surgical instruments inside the flexible tube.

The first pulling member 1 may be partially disposed on the flexible pipe 2 clockwise and counterclockwise, as shown in fig. 5, one end of the first pulling member 1 is partially disposed on the flexible pipe 2 clockwise, one end of the first pulling member is partially disposed on the flexible pipe 2 counterclockwise, and the other end of the first pulling member is axially disposed on the flexible pipe 2 in parallel.

In order to make the medical tubular tool realize the deflection function at the same time, as shown in fig. 6, the medical flexible tubular tool further comprises 2 second traction members 3, the number of the second traction members 3 in this embodiment is 2, the second traction members 3 are arranged in parallel along the axial direction of the flexible tube 2, here, in order to match the arrangement of the second traction members 3, one end of the first traction member 1 is partially arranged on the flexible tube 2 clockwise, one end of the first traction member 1 is arranged on the flexible tube 2 counterclockwise, and the other end of the first traction member is arranged on the flexible tube 2 axially in parallel.

The second traction part 3 comprises a traction part 31 and a traction part 32, the traction part 31 is tensioned, and meanwhile, the traction part 32 is loosened, so that the flexible pipe 2 can swing towards the direction of the traction part 31; similarly, the traction piece 32 is tightened, and meanwhile, the traction piece 31 is loosened, so that the flexible pipe 2 can swing towards the direction of the traction piece 32; and simultaneously, the

traction pieces

31 and 32 are tensioned, so that the flexible pipe is locked.

As shown in fig. 7 and 8, the first and second pulling members of the present application may also be disposed on the inner wall of the flexible pipe, wherein the number of the first and second pulling members in this embodiment is 4, the

first pulling members

11, 12, 13, 14 are all spirally disposed on the inner wall of the flexible pipe, and the second pulling members 3 are axially 31, 32, 33, 34 disposed on the inner wall of the flexible pipe. The arrangement mode of the flexible pipe is not limited to that the first traction piece and the second traction piece are arranged on the inner wall or the outer wall of the flexible pipe, the first traction piece can be arranged on the outer wall, and the second traction piece can be arranged on the inner wall; or the first traction piece is arranged on the inner wall, and the second traction piece is arranged on the outer wall.

In addition, the number of the second pulling members is not limited to 2 in the present embodiment, and theoretically, the number of the first and second pulling members may be 2 or more, and generally, the larger the number of the second pulling members, the larger the controllable direction, that is, the more the degree of freedom; the arrangement of the second traction members is not limited to the symmetrical arrangement of the traction members along the circle center in fig. 6-8 of the present application, but the second traction members may be arranged along the inner wall or the outer wall of the flexible pipe, and the arrangement of the second traction members in fig. 6-8 is only one preferred arrangement.

As shown in fig. 1 and 9, the first traction member includes an elastic tube and a traction wire, taking 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 in the elastic tube 111, the elastic tube 111 provides a stretching track for the traction wire 112, and the elastic tube of the first traction member is fixedly connected with the inner wall of the flexible tube to complete the fixation of the elastic tube. The fixed connection mode includes: the inner wall of the flexible pipe is provided with a fixed welding spot, and the elastic pipe of the first traction piece is connected with the flexible pipe in a welding mode and fixed on the flexible pipe. Likewise, it is sufficient if the second pulling element is also of elastic tube, pulling wire construction, in that the elastic tube of the second pulling element is fixedly connected to the inner or outer wall of the flexible tube, and the pulling wire is arranged in the elastic tube.

The manner of providing the tension track for the traction wire is not limited to using an elastic tube, and a traction ring may be used, as shown in fig. 10, taking the second traction member using a traction ring and a traction wire as an example, a plurality of traction rings 311 are fixedly coupled to the inner wall of the flexible tube 2, and the traction wire 312 is disposed in the traction ring 311. Likewise, if the first pulling means is also of pulling ring and pulling wire construction, it is sufficient to arrange it in the manner described above, i.e. the pulling ring of the first pulling means is fixedly connected to the inner or outer wall of the flexible tube, and the pulling wire is arranged in the pulling ring.

Generally, the elastic tube and the traction ring are coated with lubricant, so that the friction between the traction wire and the flexible 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.

Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described in detail herein, many other variations and modifications can be made, consistent with the principles of the invention, which are directly determined or derived from the disclosure herein, without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and interpreted to cover all such other variations or modifications.

Claims

1. The medical flexible tubular tool comprises a flexible tube and is characterized by further comprising more than 2 first traction pieces, wherein more than 1 first traction piece is at least partially spirally arranged on the flexible tube clockwise, and more than 1 first traction piece is at least partially spirally arranged on the flexible tube anticlockwise.

2. The medical flexible tubular tool according to claim 1, further comprising 2 or more second pulling members, wherein the second pulling members are arranged in parallel along the axial direction of the flexible tube.

3. The medical flexible tubular tool according to claim 2, wherein the first and second pulling members of the flexible tube are disposed on an inner wall or an outer wall of the flexible tube.

4. A medical flexible tubular tool according to claim 3, wherein said pulling member comprises an elastic tube and a pulling wire, said pulling wire being arranged in said elastic tube, said elastic tube being fixedly connected to said flexible tube.

5. The medical flexible tubular tool of claim 3, wherein the pulling member comprises a pulling loop and a pulling wire, the pulling wire being disposed in the pulling loop, the pulling loop being fixedly connected to the flexible tube.

6. The medical flexible tubular tool of claim 4, wherein the elastic tube is provided with a lubricant.

7. The medical flexible tubular tool of claim 5, wherein the pull ring is provided with a lubricant.