CN113598950A

CN113598950A - Device for controlling liquid knife

Info

Publication number: CN113598950A
Application number: CN202110798337.1A
Authority: CN
Inventors: 薛萍; 董雪
Original assignee: Shenzhen Xisikai Technology Co ltd
Current assignee: Shenzhen Xisikai Technology Co ltd
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2021-11-05

Abstract

The present invention relates to the technical field of liquid knives, in particular, to a device for controlling liquid knives. The device includes: a control body; a mechanical arm, one end of the mechanical arm is movably arranged on the control body; a feeding device, the feeding device is arranged on the end of the mechanical arm, used for Control the movement and/or bending of the liquid knife; wherein, the feeding device includes: a first feeding assembly, arranged on the mechanical arm, for driving the liquid knife to move; a second feeding assembly, disposed in the On the mechanical arm, it is used to drive the liquid knife to move and/or bend. This embodiment realizes that the computer intelligent control system automatically sends the liquid knife into the relevant parts, thereby realizing the intelligent control of the medical device, and greatly reducing the work intensity of the operator. into a higher accuracy.

Description

Device for controlling liquid knife

Technical Field

The invention relates to the technical field of liquid knives, in particular to equipment for controlling liquid knives.

Background

At present, in the technical field of medical instruments, the liquid state knife is generally used for medical instruments for checking, diagnosing and treating diseases in a natural cavity of a human body in practical application, and the medical instruments are required to be deeply inserted into a focus part in the human body for checking, diagnosing and treating by means of the natural cavity of the human body such as blood vessels, trachea, esophagus, bile ducts and the like in use.

In the process of implementing the invention, the inventor of the invention finds that: at present, when the existing medical instruments are used, the catheters and probes of the instruments are manually fed into a human body by manpower according to experience and feeling, the operation needs to be completely mastered and skilled, the training cost of doctors is huge, the manual feeding operation is high in intensity, and meanwhile, a plurality of doctors are required to mutually assist in feeding the medical instruments.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, a primary object of the present invention is to provide an apparatus for controlling a liquid knife, the apparatus comprising: a control body;

one end of the mechanical arm is movably arranged on the control main body;

the feeding device is arranged at the end part of the mechanical arm and is used for controlling the movement and/or bending adjustment of the liquid knife;

wherein the feeding device comprises: the first feeding assembly is arranged on the mechanical arm and used for driving the liquid knife to move;

and the second feeding assembly is arranged on the mechanical arm and is used for driving the liquid cutter to move and/or bend.

Further, the robot arm includes: one end of the first arm body is movably arranged on the control main body;

and one end of the second arm body is movably connected with the first arm body.

Further, the first feeding assembly comprises: a first power member;

the guide group is in transmission connection with the first power part, and the guide group is used for driving the liquid knife to move.

Further, the guide group comprises a first guide wheel, and the first guide wheel is connected with the first power part; and a process for the preparation of a coating,

the second guide wheel is in surface contact connection with the first guide wheel;

wherein, be provided with the guide way on first leading wheel and the second leading wheel.

Further, the second feeding assembly comprises: the moving device is arranged on the mechanical arm; and a process for the preparation of a coating,

and the bending adjusting device is movably arranged on the moving device, and the moving device can drive the bending adjusting device to move.

Further, the mobile device includes: the driving assembly is arranged on the second arm body and used for driving the bending adjusting device to do reciprocating movement; and a process for the preparation of a coating,

and the guide assembly is arranged on the second arm body and is movably connected with the bending adjusting device.

Further, the driving assembly comprises a second power piece arranged on the second arm body; and a process for the preparation of a coating,

and the transmission piece is respectively connected with the second power piece and the bending adjusting device, and the second power piece drives the bending adjusting device to move through the transmission piece.

Further, the bending adjusting device comprises: the rotating group is connected with the mobile device in an installing manner; and a process for the preparation of a coating,

and the upper part of the bending adjusting group is connected with the rotating group, and the lower part of the bending adjusting group is used for connecting the liquid knife and adjusting the bending angle of the liquid knife.

Further, the bend adjusting group comprises: the supporting frame is connected with the rotating group;

the third power part is arranged on the support frame;

the first bending adjusting piece is movably arranged on the supporting frame and is movably connected with the third power piece;

the second bending adjusting piece is movably arranged on the supporting frame and is movably connected with the third power piece;

and the first bending adjusting piece and the second bending adjusting piece move oppositely under the driving of the third power piece.

Further, the rotating group includes: the fourth power part is arranged on the moving device; and a process for the preparation of a coating,

and one end of the connecting piece is connected with the fourth power piece, and the other end of the connecting piece is connected with the supporting frame and is used for driving the bending adjusting group through the fourth power piece.

In an embodiment, the mechanical arm and the feeding device are electrically connected through the control main body, so that the actions of the mechanical arm and the feeding device are accurately controlled. The feeding work of the cutter head and the guide pipe of the liquid cutter into a human body is achieved, intelligent control is achieved, an operator can complete related actions only by operating the operating platform, the cutter head and the guide pipe can be automatically fed into related positions by the computer intelligent control system, intelligent control of medical instruments is achieved, the working strength of the operator is greatly reduced, and particularly in the aspect of micro feeding, the intelligent feeding has higher accuracy than manual feeding.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of an apparatus for controlling a liquid knife according to one embodiment of the present invention;

FIG. 2 is a schematic view of a robotic arm and feeder device according to one embodiment of the present invention;

FIG. 3 is a schematic view of the invention from another perspective of FIG. 2;

FIG. 4 is a schematic view of a bend adjustment apparatus according to an embodiment of the present invention;

FIG. 5 is an enlarged view of A of FIG. 4 in accordance with the present invention;

FIG. 6 is a schematic view of a bend adjustment apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic view of a first feed assembly of an embodiment of the present invention;

FIG. 8 is a schematic view of an outer catheter body according to an embodiment of the invention;

FIG. 9 is an enlarged view B of FIG. 8 in accordance with the present invention;

FIG. 10 is a schematic view from another perspective of an outer catheter body according to an embodiment of the invention;

FIG. 11 is an enlarged view of C of FIG. 10 in accordance with the present invention;

fig. 12 is a state diagram of the use of the apparatus for controlling a liquid knife of the present invention.

Reference numerals:

1. a feeding device;

11. a first feeding assembly; 12. a bending adjusting device; 13. a mobile device;

111. a first power member; 112. a second guide wheel; 113. a first guide wheel; 114. a guide groove; 121. a fourth power member; 122. a connecting member; 123. a cylindrical gear; 124. a rack motor; 125. a support frame; 126. a first bend adjustment member; 127. a second bend adjustment member; 131. a screw rod; 132. a nut; 133. a guide plate; 134. a guide assembly;

2. a mechanical arm;

21. a first arm body; 22. a second arm body;

3. a display device;

4. a control body;

41. an operating device;

5. an outer catheter body;

501. an adjustment member; 502. the liquid knife enters and exits the liquid piece; 503. a conduit connection; 504. a conduit portion; 505. a guide portion; 506. bending a notch; 507. an adjustment hole; 5031. a catheter adapter; 5032. installing a connector; 5033. a liquid knife inlet.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, an apparatus for controlling a liquid knife includes: a control body 4;

the mechanical arm 2 is movably arranged on the control main body 4 at one end of the mechanical arm 2 and is electrically connected with the control main body 4;

the feeding device 1 is arranged on the end part of the mechanical arm 2, is electrically connected with the control body 4 and is used for controlling the movement and/or bending of the liquid knife;

wherein the feeding device 1 comprises: the first feeding assembly 11 is arranged on the mechanical arm 2 and used for driving the liquid knife to move;

and the second feeding assembly is arranged on the mechanical arm 2 and is used for driving the liquid knife to move and/or bend.

It can be understood that, in the embodiment, by mounting the liquid knife on the feeding device 1 and movably mounting the feeding device 1 and the mechanical arm 2 with a manipulator function, the swinging angle of the mechanical arm 2 and the movement of the feeding device 1 can be realized, so that the swinging of the liquid knife to a required angle and the forward or backward movement of the actual liquid knife are driven, and the purpose of automatically controlling the liquid knife is finally realized. In addition, the control main body 4 with a control function is used for electrically connecting the mechanical arm 2 and the feeding device 1, so that the actions of the mechanical arm 2 and the feeding device 1 are accurately controlled, and the intelligentization and the precision are realized.

In an embodiment, the feeding device 1 is further configured to be disposed on the mechanical arm 2 and used for driving a first feeding assembly 11 of the liquid knife to move, and a second feeding assembly disposed on the mechanical arm 2 and used for driving the liquid knife to move and/or bend. The movement and/or bending adjustment of the liquid knife are controlled through the cooperation of the first feeding assembly 11 and the second feeding assembly, so that the operation is more accurate and flexible.

The liquid knife comprises an outer conduit body 5 and a liquid knife body, wherein the outer conduit body 5 is sleeved outside the liquid knife body and is spaced from the liquid knife body; the outer catheter body 5 comprises a free end and a connecting end, and the connecting end is connected with a liquid pump; one end of the inner conduit is provided with a liquid spraying structure, the liquid spraying structure is exposed out of the free end, and the other end of the inner conduit is connected with an injector.

In practical use, the liquid state scalpel comprises the outer catheter body 5 and the liquid state scalpel body, and the outer catheter body 5 is sleeved outside the liquid state scalpel body, so that the whole liquid state scalpel can be controlled only by controlling the outer catheter body 5, for example, the outer catheter body 5 is bent, and the liquid state scalpel body sleeved inside the outer catheter body 5 can also be controlled along with the bending.

In the embodiment, the robot arm 2 and the feeding device 1 are electrically connected through the control main body 4, so that the actions of the robot arm 2 and the feeding device 1 are accurately controlled. The feeding work of the cutter head and the guide pipe of the liquid cutter into a human body is achieved, intelligent control is achieved, an operator can complete related actions only by operating the operating platform, the cutter head and the guide pipe can be automatically fed into related positions by the computer intelligent control system, intelligent control of medical instruments is achieved, the working strength of the operator is greatly reduced, and particularly in the aspect of micro feeding, the intelligent feeding has higher accuracy than manual feeding.

Referring to fig. 2 and 3, in a further embodiment, the robot arm 2 includes: the first arm body 21, one end of the first arm body 21 is movably arranged on the control main body 4;

and one end of the second arm body 22 is movably connected with the first arm body 21.

It is understood that the embodiment is not excluded to provide a multi-axis robot arm 2 other than two axes, of course, by providing the robot arm 2 as a two-axis robot arm 2. In an embodiment, one end of the first arm 21 is movably mounted to the control body 4, the second arm 22 is movably connected to the end of the first arm 21, and the first arm 21 and the second arm 22 are respectively electrically connected to the control body 4, that is, the first arm 21 and the second arm 22 can control the movement of the liquid knife through the control body 4, so as to precisely control the movement of the liquid knife.

During the actual use, arm 2 includes first arm body 21 with second arm body 22, first arm body 21 one end with control body 4 upper surface is articulated, realizes swing joint, first arm body 21 can be at the rotatory swing of certain angle range in the horizontal plane. First arm body 21 other end with second arm body 22 is articulated, realizes swing joint, realizes second arm body 22 also can center on the one end of first arm body 21 is in certain angle range rotation swing, first arm body 21 with second arm body 22 center is the cavity, is used for the wiring in the cavity and installs driving motor, is used for the electricity to be connected control main part 4, simultaneously through driving motor control first arm body 21 with second arm body 22 swings.

The second arm 22 is provided with a mounting portion for mounting the feeding device 1.

In the embodiment, the second arm 22 can rotate around the connecting end of the first arm 21, or can rotate radially, and in the process of rotation, the automatic feeding mechanism, the liquid knife catheter, the knife head and the like mounted on the second arm are driven to rotate together, so that the starting angle and direction of the liquid knife catheter entering the human body are adjusted. The second arm 22 and the first arm 21 are matched with each other to realize that the liquid knife moves along a designated path in a human body to any direction in a three-dimensional space.

Referring to fig. 7, in a further embodiment, the first feeding assembly 11 includes: a first power member 111;

and the guide group is in transmission connection with the first power part 111, and is used for driving the liquid knife to move.

It can be understood that the first feeding assembly 11 of the embodiment includes a first power member 111 and a guide set, the first power member 111 is used for driving the guide set to move, and the first power member 111 is electrically connected to the control body 4, that is, the first power member 111 is controlled to operate by the control body 4. The guide group is connected with the first power part 111, the guide group is driven to move by the first power part 111, the liquid knife penetrates through the guide group, the guide group drives the liquid knife to move forwards or backwards, and the guide group plays a role in guiding and stabilizing when the liquid knife moves.

Further to the embodiment, the guiding set comprises a first guiding wheel 113, and the first guiding wheel 113 is connected with the first power member 111;

the second guide wheel 112, the said second guide wheel 112 and the said first guide wheel 113 are connected in surface contact;

wherein, the first guide wheel 113 and the second guide wheel 112 are provided with guide grooves 114.

It can be understood that, in the embodiment, the operation of the two guide wheels is used to control the liquid knife to move forward or backward, and the first guide wheel 113 is connected with the first power member 111 in an axle, that is, the first power member 111 drives the first guide wheel 113 to move, and the first guide wheel 113 is connected with the second guide wheel 112 in a surface contact manner, and the first guide wheel 113 can drive the second guide wheel 112. It is also not excluded to arrange the first guide wheel 113 and the second guide wheel 112 in an axially parallel spaced arrangement, i.e. the first guide wheel 113 and the second guide wheel 112 have a gap directly in their outer surface.

In an embodiment, the first guide wheel 113 and the second guide wheel 112 are further provided with a guide groove 114 for matching with the liquid knife, where the guide groove 114 is arranged along a radial circle of the first guide wheel 113 and the second guide wheel to form a groove structure around the outer surface, and the liquid knife is matched with the guide groove 114 and can play a role of maintaining stability when the liquid knife moves.

In practical use, the first feeding assembly 11 is mounted at the front side of the second arm 22, and is mainly used for guiding and feeding the liquid cutter head and the catheter into the human body smoothly. The first guide wheel 113 and the second guide wheel 112 are mounted in the first feeding assembly 11 in parallel, the first guide wheel 113 and the second guide wheel 112 are rubber wheels, and semicircular guide grooves with the diameter equal to that of the outer guide pipe body 5 are formed in the middle positions of the first guide wheel 113 and the second guide wheel 112 along the circumference. After the guide grooves on the first guide wheel 113 and the second guide wheel 112 are installed, a circle with a diameter equal to that of the outer catheter body 5 is just formed by combining the guide grooves, and the circle is used for realizing contact fit with the outer catheter body 5, the outer catheter body 5 penetrates into the guide grooves, the first guide wheel 113 and the second guide wheel 112 drive the guide tube to move forward or backward by friction force when rotating, and the first guide wheel 113 and the second guide wheel 112 are both installed on bearing seats at two ends through wheel shafts. The first guide wheel 113 is a driving wheel, the second guide wheel 112 is a driven wheel, the first guide wheel 113 is connected with a shaft of a stepping speed reduction motor through a coupler and is driven to rotate by the stepping speed reduction motor, and the control main body 4 controls the rotating speed and the forward and reverse rotating directions of the stepping speed reduction motor, so that the feeding speed and the feeding direction of the outer catheter body 5 can be controlled; the stepping speed reducing motor is connected with a mounting bottom plate through a support, and the mounting bottom plate is fixedly connected with the front side face of the second arm body 22. An adjusting screw is arranged at one end of the second guide wheel 112, and the size of the gap between the first guide wheel 113 and the second guide wheel 112 can be adjusted, so that the clamping force between the two rubber wheels to the outer catheter body 5, namely the feeding force to the catheter, can be adjusted.

Referring to fig. 3, in a further embodiment, the second feeding assembly includes: a moving device 13 provided on the robot arm 2;

the bending adjusting device 12 is movably arranged on the moving device 13, and the moving device 13 can drive the bending adjusting device 12 to move.

It will be understood that the second feeding assembly comprises a moving device 13 and a bending device 12. The moving device 13 is arranged on the second arm 22, the moving device 13 is arranged above the first feeding device 1 in a matching manner, and the moving device 13 drives the liquid knife to move forward or backward, namely, the moving device is matched with the first feeding assembly 11 to work, so that the whole forward or backward movement of the liquid knife is ensured.

The bending adjusting device 12 is arranged on the moving device 13, so that the bending adjusting device 12 moves along with the moving device 13, the liquid knife is connected with the bending adjusting device 12, bending of the liquid knife is achieved through the bending adjusting device 12, namely the end head of the liquid knife bends at a certain angle to achieve multi-angle adjustment, and the bending degree of the liquid knife is adjusted according to actual requirements in the process of actual operation.

Referring to fig. 2, in a further embodiment, the mobile device 13 includes: the driving component is arranged on the second arm body 22 and is used for driving the bending adjusting device 12 to do reciprocating movement;

and the guide assembly 134 is arranged on the second arm body 22 and is movably connected with the bending adjusting device 12.

It will be understood that the embodiment provides for the forward or backward movement of the bending device 12 connected to the moving device 13 by means of a driving assembly mounted on the second arm 22. In addition, in order to ensure the stability of the liquid knife in the moving process and improve the precision of the operation, the embodiment further comprises a guide assembly 134, and when the bending adjusting device 12 moves forwards or backwards, the guide assembly 134 ensures the stability.

Referring to fig. 2 and 3, in a further embodiment, the driving assembly includes a second power member disposed on the second arm 22;

and the transmission piece is respectively connected with the second power piece and the bending adjusting device 12, and the second power piece drives the bending adjusting device 12 to move through the transmission piece.

In this embodiment, the driving assembly uses the lead screw 131 and the nut 132 for transmission to complete the automatic feeding of the liquid knife, but other linear transmission modes, such as gear-rack linear transmission, servo electric push rod transmission, etc., may also be used.

In actual use, the second feeding assembly comprises a bending adjusting device 12 and a moving device 13.

Wherein, there are guide group and a drive assembly in the said shifter 13, the guide group includes left guide pillar and right guide pillar; the driving assembly comprises a servo motor, a screw rod 131 and a nut 132; meanwhile, a guide plate 133 is further included. The left guide post and the right guide post are fixedly arranged on the mounting part of the second arm body 22, and the lower end of the screw rod 131 is connected with a servo motor in the inner cavity of the second arm body 22 and is driven to rotate by the servo motor. The nut 132 is sleeved on the screw rod 131; two round holes are respectively arranged at two ends of the guide plate 133, the two round holes penetrate into the left guide pillar and the right guide pillar, a round hole is arranged in the middle of the guide plate 133 and is used for tightly matching with the excircle of the nut 132, and meanwhile, the guide plate 133 is connected with the bending adjusting device 12. In an embodiment, the left guide post, the right guide post, the screw 131, the nut 132 and the guide plate 133 are a motion mechanism that enables the bending adjustment device 12 to move up and down. In the embodiment, the lower end of the screw rod 131 is connected with a servo motor arranged in the inner cavity of the second arm body 22, and the servo motor drives the screw rod 131 to rotate forward and backward, so that the bending adjusting device 12 is driven to move up and down in the moving device 13, and finally the outer catheter body 5 and the guide head arranged on the bending adjusting device 12 move up and down and are fed; the speed of the bending adjusting device 12 moving up and down is adapted to the feeding speed of the first feeding assembly 11.

In the embodiment, the moving device 13 and the first feeding set are matched with each other to complete the whole feeding work, the speed and the direction of the whole up-and-down movement of the liquid knife are matched with the feeding speed and the direction of the first feeding set and basically kept consistent, in the actual control, the feeding speed of the bending adjusting set driven by the screw rod 131 in the moving device 13 is slightly less than the conveying speed of the rubber wheels in the first feeding set, so that the actual feeding speed of the liquid knife completely depends on the accurate control speed of the servo motor of the screw rod 131, the feeding rubber wheels of the first feeding set only play an auxiliary role, the difference of the feeding speeds of the rubber wheels and the liquid knife is compensated by the slip between the rubber wheels and the liquid knife, and the accurate feeding control is realized.

Referring to fig. 4 and 5, in a further embodiment, the bend-adjusting device 12 includes: the rotating group is connected with the moving device 13 in a mounting way;

It can be understood that, in the embodiment, the bending adjusting group is connected with the liquid knife and electrically connected with the control body 4, and the control body 4 controls the bending adjusting group to work, so that the bending adjusting group can adjust the guiding part 505 of the outer catheter body 5 to a required angle, and the adjustment according to specific conditions is ensured, so that the operation is more flexible.

Simultaneously, still increase a rotatory group, will the group of bending of transferring install rotatory on the group, rotatory group with control main part 4 electricity is connected, through control main part 4 control rotatory group work realizes rotatory group drives the group of bending of transferring realizes rotatoryly, thereby takes the liquid sword rotates, it can be thought that the rotation is around the liquid sword center rotates.

Referring to fig. 6, in a further embodiment, the bend adjustment set includes: a support frame 125 connected to the rotating group;

a third power member disposed on the supporting frame 125;

the first bending adjusting part 126 is movably arranged on the supporting frame 125 and is movably connected with the third power part;

the second bending adjusting part 127 is movably arranged on the supporting frame 125 and is movably connected with the third power part;

and, under the driving of the third power member, the first bending adjusting member 126 and the second bending adjusting member 127 move oppositely.

It will be appreciated that by connecting the support frame 125 to the rotating group, the support frame 125 follows the rotating group for rotational movement. And the third power member, the first bending member 126 and the second bending member 127 are mounted on the support frame 125, and the third power member is electrically connected to the control body 4. The third power part is installed in a matching manner with the first bending adjusting part 126 and the second bending adjusting part 127, the third power part drives the first bending adjusting part 126 and the second bending adjusting part 127 to move, the first bending adjusting part 126 and the second bending adjusting part 127 are driven by the third power part, and the first bending adjusting part 126 and the second bending adjusting part 127 move in opposite directions. The first bending adjusting part 126 and the second bending adjusting part 127 are connected with a liquid knife, and the liquid knife is bent through the first bending adjusting part 126 and the second bending adjusting part 127.

Referring to fig. 4, in a further embodiment, the rotating group includes: a fourth power member 121 provided on the moving device 13; and a process for the preparation of a coating,

one end of the connecting member 122 is connected to the fourth power member 121, and the other end is connected to the supporting frame 125, so as to drive the bending adjusting unit through the fourth power member 121.

In practical use, in the embodiment, a support frame 125 is installed in the bending adjustment device 12, the lower end of the support frame 125 is connected to a conduit connection part 503 of the outer conduit body 5, the conduit connection part 503 is hollow and can pass through an adjustment part 501 on the liquid cutter body, a first bending adjustment part 126 and a second bending adjustment part 127 are installed in the middle of the support frame 125, in the embodiment, an upper rack and a lower rack are provided, a third power part is arranged in the middle of the upper rack and the lower rack, the third power part comprises a cylindrical gear 123 and a rack motor 124, the cylindrical gear 123 is directly fixed on a rotating shaft of the rack motor 124, and the rack motor 124 is installed and fixed on one side of the support frame 125.

In an embodiment, when the rack motor 124 rotates, the lower rack and the upper rack are driven by the cylindrical gear 123, and the two racks move in opposite directions in the supporting frame 125 respectively. The lower ends of the lower rack and the upper rack are respectively connected with the adjusting pieces 501, and the lower rack and the upper rack form a pulling and pushing effect due to the fact that the moving directions are opposite, so that the guide pipe is bent towards the required feeding direction through the pulling and pushing of the two adjusting pieces 501, and the steering of the guide pipe is achieved.

The rotating group comprises a fourth power member 121 and a connecting member 122, in the embodiment, the fourth power member 121 is a rotating motor, and the connecting member 122 comprises a coupler, a journal and a bearing seat. The upper end of the support frame 125 is connected with the bearing seat through the journal, the bearing seat is fixed on the bottom plate of the bending adjusting device 12 through a bearing seat support, the journal of the support frame 125 is connected with the rotating motor through a coupler, and the rotating motor is fixed on the bottom plate of the bending adjusting device 12 through a motor support. When the rotating motor rotates, the rotating bracket is driven by the shaft coupling, all the parts mounted on the rotating bracket, the conduit connecting part 503, the conduit part 504 and the guide part 505 are all rotated in the radial direction. The bending motion of the guide part 505 under the action of the adjusting piece 501 and the common superposition of the circumferential rotation motion under the action of the rotating motor realize the 360-degree steering of the liquid knife guide head, and the screw rod 131 drives the integral feeding motion of the bending adjusting device 12, so that the guide part 505 and the guide pipe part 504 can enter the human body in any direction and any path.

Referring to fig. 1, in a further embodiment, the control body 4 includes: the control platform is internally provided with a control device and is used for controlling the mechanical arm 2 and the feeding device 1 to work;

and the control device 41 is arranged on the control console and is in communication connection with the control console.

It will be understood that the control body 4 comprises a console for supporting and protecting therein, and control means for controlling the operation of the various components of the device are provided inside the console, which in the embodiment can be considered as a computer, but other control devices with control functions are not excluded. And a control device 41 for operating an operator is arranged on the control console, and a user can realize automatic control of the liquid knife through the control device 41.

Referring to fig. 1, it can be understood that, in the embodiment, in order to more intuitively know the working condition of the liquid knife, the control main body 4 further includes a display device 3, the display device 3 is electrically connected to the control device, and the working condition of the liquid knife in a human body and the specific condition of the reached part can be observed in real time through the display device 3, so that an operator can more adopt the liquid knife to perform treatment according to the actual condition.

Further, the liquid knife comprises an outer catheter body 5 and a liquid knife body, wherein the outer catheter body 5 is sleeved outside the liquid knife body and is spaced from the liquid knife body.

Referring to fig. 8, in a further embodiment, the outer catheter body 5 comprises: a conduit part 504, wherein one end of the conduit part 504 is connected with the bending device 12;

a conduit connection part 503 provided at one end of the conduit part 504;

a guide part 505 provided on the tip of the conduit part 504 remote from the conduit connecting part 503;

the catheter portion 504, the catheter connecting portion 503, and the guide portion 505 communicate with each other in their inner cavities.

It is understood that the outer catheter body 5 is provided to include a catheter portion 504, a catheter connecting portion 503 and a guiding portion 505, and the bending control of the outer catheter body 5 through the bending group is realized through the connection of the catheter connecting portion 503 and the bending group. A catheter portion 504 is connected to a lower end of the catheter connecting portion 503, and a guide portion 505 is connected to the other end of the catheter, the guide portion 505 is used to perform a bending operation, and the catheter portion 504, the catheter connecting portion 503, and an inner cavity of the guide portion 505 communicate with each other.

Referring to fig. 9, in a further embodiment, at least one side of the guiding portion 505 is uniformly provided with a bending notch 506.

It can be understood that the bending adjusting notches 506 are arranged on at least one side of the guide part 505, that is, only one row of bending adjusting notches 506 can be uniformly arranged on the side surface along the axis, that is, only bending can be performed on the side surface provided with the bending adjusting notches 506; meanwhile, two rows of axisymmetric bending adjusting notches 506 can be uniformly arranged along the axis at the two opposite positions of the side surfaces, that is, bending can be performed to the two side surfaces provided with the bending adjusting notches 506. Meanwhile, in some embodiments, the bending adjustment notches 506 may also be uniformly arranged in three or four rows along the axis, which is not described herein again.

Referring to fig. 9 and 11, in a further embodiment, the bend adjustment notch 506 is a gradually increasing structure from near the center line to far from the center line.

It can be understood that the bending-adjusting notch 506 is a notch which gradually increases from the position close to the center line to the position away from the center line, and when bending is needed, the bending-adjusting notch 506 can meet the bending requirement due to the gradually increasing size, so that the bending purpose is achieved. The guide portion 505 is configured to be steerable, and this portion of the structure is similar to the snake bone tube structure used in an endoscope, and will not be described in detail here.

Further, the liquid conduit is provided with an adjusting member 501, and the adjusting member 501 extends from the end of the conduit connecting part 503 to the end of the guiding part 505.

It can be understood that, in order to realize the bending of the outer catheter body 5, an adjusting member 501 is provided on the liquid catheter, one end of the adjusting member 501 is connected with the end of the guiding portion 505, and the other end extends to the end of the catheter connecting portion 503, and is connected with the first bending adjusting member 126 and the second bending adjusting member 127 of the bending adjusting group, and the bending of the outer catheter body 5 is realized by the mutual reverse movement of the first bending adjusting member 126 and the second bending adjusting member 127.

Referring to fig. 10 and 11, in a further embodiment, the liquid conduit is provided with an adjustment hole 507, and the adjustment hole 507 is used for installing the adjustment member 501.

Further, the adjusting hole 507 is disposed along the side walls of the conduit connection part 503, the conduit part 504 and the guide part 505 in sequence, and the adjusting hole 507 is disposed from the end of the conduit connection part 503 to the end of the guide part 505 and corresponds to the side where the bending notch 506 is located.

It will be appreciated that adjustment holes 507 are provided in the wall of the liquid conduit, and that adjustment holes 507 are used to mount adjustment members 501. The adjustment hole 507 is provided at a position corresponding to the bend adjustment notch 506, and the adjustment hole 507 is sequentially penetrated by the conduit connection part 503, the conduit part 504, and the guide part 505, and when the adjustment device is mounted, one end of the adjustment piece 501 is connected to the bend adjustment group by penetrating the adjustment hole 507.

Referring to fig. 6 and 8, in a further embodiment, the conduit coupling 503 includes: a catheter hub 5031, said catheter hub 5031 being disposed on the tip of the catheter portion 504;

a mounting adapter 5032 disposed on the end of the catheter adapter 5031, and a second lumen disposed within the mounting adapter 5032 and the catheter adapter 5031, the second lumen communicating with the first lumen; and a process for the preparation of a coating,

a liquid knife inlet in communication with the second lumen.

It is understood that the catheter connecting portion 503 comprises a catheter adapter 5031, a mounting adapter 5032 and a liquid knife inlet, the catheter adapter 5031 is used for connecting the catheter portion, a mounting adapter 5032 is arranged at the end of the catheter adapter 5031, the other end of the mounting adapter 5032 is connected and mounted with the bend adjusting group, and a liquid knife inlet 5033 is arranged.

Referring to fig. 8, in a further embodiment, the liquid knife inlet includes a liquid knife inlet/outlet member 502, one end of the liquid knife inlet/outlet member 502 is connected to the liquid knife inlet, and the other end is provided with a plurality of openings.

It will be appreciated that the fluid knife inlet/outlet member 502 is provided with a plurality of openings to facilitate insertion of the fluid knife body and addition or removal of fluid through the openings.

In practical use, in order to realize guiding, the outer catheter body 5 is symmetrically provided with bending adjusting notches 506 at two sides of the guide catheter, the bending adjusting notches 506 are triangular chutes, adjusting holes 507 are arranged near the middle position of the chutes along the axial direction of the outer catheter body 5, adjusting pieces 501 are respectively penetrated in the adjusting holes 507, the adjusting pieces 501 are drawn wires, the two drawn wires are distributed at the outer side of the wall of the guide catheter in a 180-degree mode, the other ends of the drawn wires are respectively connected with the lower rack and the upper rack in the automatic feeding mechanism, the lower rack and the upper rack are respectively driven by the cylindrical gear 123 to move in opposite directions, one guide drawn wire is under tension, one guide drawn wire is under thrust, the chute of the guide part 505 is compressed and contracted at the side of the tension, and the guide part 505 is bent to the direction, so that the steering is realized. If the bending direction of the guide part 505 deviates from the actual required direction under the drawing action, the rotating group can be operated to rotate at this time, so that the whole outer catheter body 5 can rotate in the circumferential direction until the steering head points to the required advancing direction, that is, the guide part 505 can be changed to advance in any required direction by controlling the two drawing wires of the steering head and the circumferential rotation of the guide part 505 per se.

In this embodiment, referring to fig. 12, the intelligent control mechanism designed for overcoming the defects of the existing manual control system realizes the automatic feeding of the outer catheter body 5 and the liquid knife body in the liquid knife, and can be used in diagnosis and treatment equipment for various diseases in the natural body lumens, such as the lung bronchus, the cardiovascular and cerebrovascular vessels, and the gastrointestinal tract. In the embodiment, the mechanical movement mechanism is combined with the computer intelligent control system, so that the automatic alignment, automatic feeding and automatic steering of the liquid knife are realized during working, and the liquid knife head and the catheter can be accurately inserted into an examination part or a determined focus part, so as to realize examination, diagnosis and treatment of diseases by diagnosis. In the embodiment, the liquid cutter head of the liquid cutter body and the outer catheter body 5 can be inserted into a natural cavity of a human body in an all-round manner, and can also go deep into a focus position or a target position according to an appointed movement track, a doctor only controls and operates by means of an operating handle, an operating panel and an image display screen during operation, the whole automation of a disease diagnosis and treatment process is realized, the technical defect of manual feeding of an operator is overcome, and the operation accuracy is improved.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A device for controlling a liquid knife, wherein the device comprises: a control body;

a robotic arm, one end of the robotic arm is movably arranged on the control body;

a feeding device, which is arranged on the end of the mechanical arm and is used to control the movement and/or bending of the liquid knife;

Wherein, the feeding device includes: a first feeding component, which is arranged on the mechanical arm and is used to drive the liquid knife to move;

The second feeding component is arranged on the mechanical arm, and is used for driving the liquid knife to move and/or bend.

2. The apparatus for controlling a liquid knife according to claim 1, characterized in that,

The mechanical arm includes: a first arm body, one end of the first arm body is movably arranged on the control body;

A second arm body, one end of the second arm body is movably connected with the first arm body.

3. The apparatus for controlling a liquid knife according to claim 1, wherein the first feeding assembly comprises: a first power member;

A guide group is used to drive the liquid knife to move.

4. The apparatus for controlling a liquid knife according to claim 3, wherein the guide group comprises a first guide wheel, and the first guide wheel is connected with the first power member; and,

a second guide wheel, the second guide wheel is in contact and connected with the first guide wheel;

Wherein, the first guide wheel and the second guide wheel are provided with guide grooves.

5 . The apparatus for controlling a liquid knife according to claim 1 , wherein the second feeding assembly comprises: a moving device, which is provided on the mechanical arm; and, 5 .

The bending device is movably arranged on the moving device, and the moving device can drive the bending device to move.

6. The device for controlling a liquid knife according to claim 5, wherein the moving device comprises: a driving assembly, arranged on the second arm body, for driving the bending device to reciprocate; and,

The guide assembly is arranged on the second arm body and is movably connected with the bending device.

7. The apparatus for controlling a liquid knife according to claim 6, wherein the driving assembly comprises a second power member disposed on the second arm body; and,

A transmission member, the transmission member is respectively connected with the second power member and the bending device, and the second power member drives the bending device to move through the transmission member.

8. The apparatus for controlling a liquid knife according to claim 5, wherein the bending device comprises: a rotating group, which is installed and connected to the moving device; and,

A bending group, the upper part of the bending group is connected with the rotating group, and the lower part is used for connecting the liquid knife to adjust the bending angle of the liquid knife.

9 . The device for controlling a liquid knife according to claim 8 , wherein the bending group comprises: a support frame, which is connected with the rotating group; 10 .

a third power member, arranged on the support frame;

The first bending part is movably arranged on the support frame and is movably connected with the third power part;

The second bending member is movably arranged on the support frame and is movably connected with the third power member;

And, driven by the third power member, the first bending member and the second bending member move in opposite directions.

10 . The apparatus for controlling a liquid knife according to claim 8 , wherein the rotating group comprises: a fourth power member provided on the moving device; and, 10 .

The connecting piece is connected to the fourth power piece at one end and the support frame at the other end, and is used for driving the bending group through the fourth power piece.