CN111436892A - A medical flexible tubular tool - Google Patents

Abstract

The invention discloses a medical flexible tubular tool, comprising a flexible tube, and the flexible tubular tool further includes two or more first traction members, wherein, more than one first traction member is at least partially clockwise spirally arranged on the On the flexible tube, more than one first traction member is at least partially arranged on the flexible tube in a counterclockwise spiral. The present invention has the following beneficial effects as follows: the traction member of the medical flexible tubular tool of the present invention is arranged on the flexible tube in a helical manner, and the flexible tube can be rotated by controlling the traction member, thereby realizing precise control of the rotation angle of the flexible tube itself; On this basis, more than two traction members arranged in parallel in the axial direction are additionally added, so that the flexible tubular tool can be rotated and yawed, and the multi-degree-of-freedom control of the medical flexible tubular tool is realized.

Description

A medical flexible tubular tool

technical field

The invention relates to the field of medical instruments, in particular to a medical flexible tubular tool.

Background technique

With the continuous progress of clinical treatment, more and more new medical devices are used in surgery and inspection. When a doctor diagnoses and treats a patient's cavity, such as the respiratory tract, digestive tract, etc., the doctor needs to use some flexible medical devices, such as a flexible biopsy needle. Generally, these flexible medical devices require the use of flexible tubular tools to complete the work of diagnosis and treatment.

The medical flexible tubular tool includes a pulling member and a flexible tube, and the pulling member is used to control the movement direction of the flexible tube. When the medical flexible tubular tool needs to enter the meandering and slender human body cavity, the flexible tube is required to have more directional control, that is, multiple degrees of freedom; however, the existing medical flexible tubular tools have limited degrees of freedom. When the length is long and the flexible pipe needs to rotate around itself to adjust the angle of the flexible pipe, this type of rotation will have obvious hysteresis problems. For example, when one end of the flexible pipe is rotated by 10°, the other end can only be driven to rotate 1- 2°, under different environmental friction, it is difficult to accurately control the accurate movement of the other end of the flexible tubular tool through the rotational movement of one end around the axis, that is, the accurate movement of the end of the flexible tube entering the human body cavity, which increases the difficulty of control.

SUMMARY OF THE INVENTION

Based on the problem that the current medical flexible tubular tool has obvious hysteresis due to its rotation around itself, which leads to increased control difficulty, the present invention provides a medical flexible tubular tool, which can precisely control the self-rotation angle of the flexible tube.

Based on the above object, the technical scheme of the present invention is as follows:

A medical flexible tubular tool, comprising a flexible tube, the flexible tubular tool further comprising more than two first traction members, wherein more than one first traction member is at least partially clockwise spirally arranged on the flexible tube, More than one first traction member is at least partially arranged counterclockwise on the flexible pipe; in the present application, the rotation motion of the flexible pipe can be realized by spirally setting the traction member, and the rotation angle can be accurately controlled.

In order to increase the degree of freedom, the medical tubular tool further includes a second pulling member, there are more than two second pulling members, and the second pulling members are arranged in parallel along the axial direction of the flexible tube, so as to realize the flexible tube deflection movement.

The first and second traction members of the flexible tube of the present application are arranged on the inner wall or outer wall of the flexible tube. Space, providing a larger working space for some surgical instruments and/or imaging parts with larger outer diameters.

The first and second traction members of the present application may be elastic tubes and traction wire structures, or may be traction rings and traction wire structures. If it is an elastic tube and a pulling wire structure, the pulling wire is arranged in the elastic tube, and the elastic tube is fixedly connected with the flexible tube;

If it is a traction ring or a traction wire structure, the traction wire is arranged in the traction ring, and the traction ring is fixedly connected with the flexible tube.

At the same time, the elastic tube or the traction ring is provided with lubricant, which can reduce the friction between the traction wire and the flexible tube or the traction ring, improve the force transmission efficiency, and reduce the hysteresis of power transmission.

The present invention has the following beneficial effects as follows: the traction member of the medical flexible tubular tool of the present invention is arranged on the flexible tube in a spiral manner, and the flexible tube can be rotated by controlling the traction member, thereby realizing precise control of the rotation angle of the flexible tube itself; On this basis, more than two traction members arranged in parallel in the axial direction are additionally added, so that the flexible tubular tool can be rotated and yawed, thereby realizing multi-degree-of-freedom control of the medical flexible tubular tool.

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and those skilled in the art will further understand the above and other objects, advantages and features of the present invention.

Description of drawings

Hereinafter, some specific embodiments of the present invention will be described in detail by way of example and not limitation with reference to the accompanying drawings, in which the same reference numerals designate the same or similar components or parts, and those skilled in the art should understand that, The drawings are not necessarily drawn to scale. In the attached picture:

As shown in Figures 1-3, it is an implementation manner in which the first traction member of the present invention is arranged on the inner wall of the flexible pipe;

As shown in FIG. 4 , it is an implementation manner in which the first traction member of the present invention is arranged 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 in which both the first traction member and the second traction member are provided;

As shown in Figures 7 and 8, it is another implementation manner of the present invention in which both the first traction member and the second traction member are provided;

As shown in FIG. 9, it is a schematic cross-sectional view of the traction member 11 in FIG. 1;

As shown in FIG. 10 , it is a schematic diagram of the setting method of the traction ring.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present invention, but the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar Improvements, therefore, the present invention is not limited by the specific implementations disclosed below.

As shown in FIG. 1 , it is an embodiment of a medical flexible tubular tool of the present invention. The flexible tubular tool includes a first pulling member 1 and a flexible tube 2, the first pulling member 1 is arranged on the inner wall of the flexible tube, the first pulling member includes a pulling member 11 and a pulling member 12, and the pulling members 11 are all clockwise spirally arranged on the flexible tube. 2 , the traction members 12 are all screwed counterclockwise on the flexible tube 2 . When the pulling member 11 is loosened and the pulling member 12 is tightened, the flexible tube 2 can be rotated counterclockwise; when the pulling member 11 is tightened and the pulling member 12 is loosened, the flexible tube 2 can be rotated clockwise; When the parts 11 and 12 are installed, the locking of the flexible pipe 2 can be realized.

Generally, the flexible tube and the traction member of the flexible tube are driven by an external driving device, such as a robotic arm, a continuum robot, etc. Taking a robotic arm as an example, the robotic arm can control the flexible tube to enter the human body cavity, and tighten or loosen it according to the situation Traction. The present application uses a traction member to control the rotation of the flexible tube, instead of the way that the flexible tube rotates around itself, and solves the problem of increased control difficulty due to obvious hysteresis due to the rotation around itself.

The number of the first traction members 1 is not limited to two in this embodiment. As shown in FIGS. 2 and 3 , as long as more than one first traction member 1 is spirally arranged on the flexible tube 2 clockwise, and more than one The first traction member can be arranged on the flexible tube 2 in a counterclockwise spiral. For better control, the number of the first traction member arranged clockwise and counterclockwise is generally the same, of course, it can be different, for example, one set is provided. The clockwise first traction member and the two counterclockwise first traction members; Fig. 3 is a relatively special implementation, that is, a plurality of counterclockwise traction members are arranged on the flexible tube 2 in a circle, and a plurality of counterclockwise traction members are arranged on the flexible tube 2 in a circle. The clockwise traction members are arranged on the flexible tube 2 in a circle. This method can make the flexible tube maintain its shape well. Generally, the more the first traction members are, the better the flexible tube can be maintained. shape.

The first traction member 1 can be arranged not only on the inner wall of the flexible tube 2, but also on the outer wall of the flexible tube 2. As shown in FIG. 4, the first traction member is arranged on the outer wall, which can make the inner space of the flexible tube 2 larger. , to provide a larger workspace for imaging components and/or surgical instruments such as inside the flexible tube.

The first traction member 1 can be partially clockwise and counterclockwise arranged on the flexible tube 2, as shown in FIG. On the tube 2 , the other end is axially parallel to the flexible tube 2 .

In order to make the medical tubular tool realize the yaw function at the same time, as shown in FIG. 6 , the medical flexible tubular tool further includes a second pulling member 3 , and the number of the second pulling member 3 in this embodiment is two, and the second pulling member 3 It is arranged in parallel along the axial direction of the flexible tube 2. Here, in order to match the arrangement of the second pulling member 3, one end of the first pulling member 1 is partly arranged on the flexible tube 2 clockwise, and a part is arranged counterclockwise on the flexible tube 2. On the tube 2 , the other end is axially parallel to the flexible tube 2 .

The second traction member 3 includes a traction member 31 and a traction member 32. The traction member 31 is tightened and the traction member 32 is loosened at the same time, so that the yaw motion of the flexible tube 2 in the direction of the traction member 31 can be realized; At the same time, loosening the traction member 31 can realize the yaw motion of the flexible tube 2 in the direction of the traction member 32; at the same time, tighten the traction members 31 and 32 to realize the locking of the flexible tube.

As shown in FIGS. 7 and 8 , the first and second traction members of the present application can also be arranged on the inner wall of the flexible tube, wherein, in this embodiment, the number of the first and second traction members is 4, and the first traction member 11 , 12 , 13 , 14 are all spirally arranged on the inner wall of the flexible tube, and the second traction member 3 is arranged on the inner wall of the flexible tube in the axial direction 31 , 32 , 33 , 34 . The setting method of the present application is not limited to that the first and second traction members are both arranged on the inner wall or outer wall of the flexible pipe, the first traction member may be arranged on the outer wall, and the second traction member may be arranged on the inner wall; The second traction member is arranged on the outer wall.

In addition, the second traction members are not limited to the two in this embodiment. In theory, more than two first and second traction members are sufficient. Generally, the more the second traction members are, the more free the controllable direction is. The arrangement of the second traction members is not limited to the way in which the traction members are symmetrically arranged along the center of the circle in Figs. 6-8 of the present application. The arrangement of the second traction member in -8 is only an optimal arrangement.

As shown in FIGS. 1 and 9 , the used first pulling member includes an elastic tube and a pulling wire. Taking the pulling member 11 as an example, the pulling member 11 includes an elastic tube 111 and a pulling wire 112 , and the pulling wire 112 is arranged in the middle of the elastic tube 111 . , the elastic tube 111 provides a stretching track for the pulling wire 112, and the elastic tube of the first pulling member is fixedly connected with the inner wall of the flexible tube to complete the fixing of the elastic tube. For example, the fixed connection means: the inner wall of the flexible pipe is provided with fixed welding points, and the elastic pipe of the first traction member is connected with the flexible pipe by welding and fixed on the flexible pipe. Similarly, if the second traction member is also an elastic tube and a traction wire, it can be arranged in the above manner, that is, the elastic tube of the second traction member is fixedly connected to the inner or outer wall of the flexible tube, and the traction wire is arranged in the elastic tube.

The way of providing a stretching track for the traction wire is not limited to the use of an elastic tube, but a traction ring can be used, as shown in FIG. 2, the pulling wire 312 is set in the pulling ring 311. Similarly, if the first traction member is also constructed of a traction ring and a traction wire, it can be set as described above, that is, the traction ring of the first traction member is fixedly connected to the inner or outer wall of the flexible pipe, and the traction wire is arranged in the traction ring.

Generally, the elastic tube and the traction ring are coated with lubricant, which can reduce the friction between the traction wire and the flexible tube or the traction ring, improve the force transmission efficiency, and reduce the hysteresis of power transmission. Preferably, the material of the traction wire is a material with a large elastic modulus, such as steel.

By now, those skilled in the art will recognize that, although various exemplary embodiments of the present invention have been illustrated and described in detail herein, the present invention may still be implemented in accordance with the present disclosure without departing from the spirit and scope of the present invention. The content directly determines or derives many other variations or modifications consistent with the principles of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (6)

1. A medical flexible tubular tool, comprising a flexible tube, characterized in that the flexible tubular tool also includes more than 2 first traction members, wherein, more than 1 first traction member is at least partially clockwise spirally arranged on the On the flexible pipe, more than one first traction member is at least partially arranged in a counterclockwise spiral on the flexible pipe. 2 . The medical flexible tubular tool according to claim 1 , wherein the medical tubular tool further comprises a second pulling member, the number of the second pulling member is more than 2, and the second pulling member is along the The axial directions of the flexible pipes are arranged in parallel. 3 . The medical flexible tubular tool according to claim 2 , wherein the first and second traction members of the flexible tube are arranged on the inner wall or the outer wall of the flexible tube. 4 . 4 . 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, and the elastic tube is connected with the pulling wire. 5 . Flexible pipe fixed connection. 5 . The medical flexible tubular tool according to claim 3 , wherein the pulling member comprises a pulling ring and a pulling wire, the pulling wire is arranged in the pulling ring, and the pulling ring is connected with the pulling wire. 6 . Flexible pipe fixed connection. 6 . The medical flexible tubular tool according to claim 4 or 5 , wherein a lubricant is provided on the elastic tube or the traction ring. 7 .

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