Digestive endoscope support with adjustable angle

Abstract

The invention belongs to the field of digestive endoscopy supports, and particularly relates to an angle-adjustable digestive endoscopy support which comprises an adjusting frame capable of being adjusted in a three-dimensional mode, and a conveying mechanism is connected to the adjusting frame. The conveying mechanism comprises a shell, a conveying device for conveying the digestive endoscopes is arranged on the shell, and a lubricating device for lubricating the digestive endoscopes is further arranged in the shell; the lubricating device comprises a rotating cylinder rotationally connected with the shell, and a flow guide plate for guiding the flow of the lubricating liquid is arranged in the rotating cylinder; a pair of rotating rollers arranged on the two sides of the upper portion of the axis of the shell are slidably connected to the shell in the radial direction, and the pair of rotating rollers rotate along with rotation of the rotating cylinder. The invention provides an angle-adjustable digestive endoscopy support capable of supporting, conveying and lubricating a digestive endoscopy.

Description

Technical Field

[0001] This invention belongs to the field of digestive endoscopy stents, and specifically relates to an angle-adjustable digestive endoscopy stent. Background Technology

[0002] Gastrointestinal endoscopy is an examination or treatment method that uses optical instruments to directly observe the mucosa of the digestive tract. It is mainly used to diagnose lesions such as inflammation, ulcers, and tumors, and can perform procedures such as biopsy, hemostasis, and resection during the examination. Its core value lies in its intuitiveness, precision, and minimal invasiveness, and it has become an important tool for the diagnosis and treatment of modern digestive system diseases.

[0003] Digestive endoscopic procedures require a medical professional to stand beside the patient and hold the endoscope. Throughout the procedure, the surgeon uses their left hand to hold the endoscope handle and adjust two knobs (large for bending the endoscope tip vertically and small for bending it horizontally) to control the bending direction and angle of the endoscope tip, thus controlling its movement. Simultaneously, the right hand holds the endoscope body to control its forward and backward movement and assist in axial rotation, ensuring precise and smooth endoscopic procedures. However, the repetitive nature of these procedures and prolonged standing can easily cause discomfort and fatigue for the surgeon, affecting the quality of the examination or treatment. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention provides an adjustable endoscope stent that can support, transport and lubricate a digestive endoscope.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an angle-adjustable digestive endoscope support, comprising an adjustment frame capable of three-dimensional adjustment, wherein a conveying mechanism is connected to the adjustment frame; the conveying mechanism comprises a housing, wherein a conveying device for conveying the digestive endoscope is provided on the housing, and a lubrication device for lubricating the digestive endoscope is also provided inside the housing; the lubrication device comprises a rotating cylinder rotatably connected to the housing, wherein a guide plate for guiding the flow of lubricating fluid is provided inside the rotating cylinder; a pair of rotating rollers disposed on both sides above the axis of the housing are slidably connected radially to the housing, and the pair of rotating rollers rotate with the rotation of the rotating cylinder.

[0006] Furthermore, the adjustment frame includes a mounting plate with several mounting holes; a vertical motor is fixedly connected to the mounting plate, and a vertical lead screw is connected to the output end of the vertical motor; a vertical frame that is slidably connected to the mounting plate is screwed onto the vertical lead screw, and a vertical rod that guides the vertical frame is also fixedly connected to the mounting plate; a horizontal motor is fixedly connected to the vertical frame, and a horizontal lead screw is connected to the output end of the horizontal motor; a horizontal block that is slidably connected to the vertical frame is screwed onto the horizontal lead screw, and a robotic arm structure is connected to the horizontal block.

[0007] Furthermore, the robotic arm structure includes a first telescopic rod rotatably connected to a transverse block, and a first joint motor that drives the first telescopic rod to rotate is fixedly connected to the transverse block; a second telescopic rod is rotatably connected to the telescopic end of the first telescopic rod, and a second joint motor that drives the second telescopic rod to rotate is fixedly connected to the telescopic end of the first telescopic rod, and a rotary motor is connected to the output end of the second joint motor; a rotary block is connected to the output end of the rotary motor, and the housing is rotatably connected to the rotary block; a three-dimensional motor is fixedly connected to the rotary block, and the output end of the three-dimensional motor is fixedly connected to the housing.

[0008] Furthermore, the housing is provided with a drive structure that drives the rotating cylinder to rotate, and the drive structure is connected to a lubrication drive structure that can drive the pair of rotating rollers to rotate synchronously and in opposite directions. The housing is also provided with a lubrication adjustment structure that drives the pair of rotating rollers to slide synchronously along the radial direction of the housing.

[0009] Furthermore, the delivery device includes multiple delivery structures connected to the drive structure that can drive the movement of the digestive endoscope. The delivery structures can slide radially along the housing, and the housing is provided with a delivery adjustment structure for adjusting the delivery structures.

[0010] Furthermore, the drive structure includes a drive motor fixedly connected to the housing, an output end of the drive motor connected to a drive wheel, and a gear ring fixedly connected to the rotating cylinder to mesh with the drive wheel.

[0011] Furthermore, the lubrication drive structure includes a driven wheel meshing with a gear ring, a driving bevel gear set connected to the driven wheel, and the output ends of the pair of driving bevel gear sets rotating in opposite directions; the output ends of the driving bevel gear sets are connected to a lubrication spline cylinder, and a lubrication spline shaft is slidably connected to the lubrication spline cylinder; both ends of the pair of rotating rollers are rotatably connected to sliders slidably connected to the housing, and the lubrication spline shaft is rotatably connected to the sliders; a driven bevel gear set is connected to the lubrication spline shaft, and the output end of the driven bevel gear set is coaxially fixed to the rotating rollers.

[0012] Furthermore, the lubrication adjustment structure includes a second adjustment motor fixedly connected to the housing, and the output end of the second adjustment motor is connected to a drive wheel; an adjustment gear is meshed on the drive wheel, and the adjustment gear is provided with a pair of lubrication arc grooves; each of the pair of rotating rollers is rotatably connected to a roller that cooperates with the pair of lubrication arc grooves.

[0013] Furthermore, the conveying mechanism includes an input wheel meshing with a gear ring, and an input bevel gear set rotatably connected to the input wheel and the housing; a square shaft is slidably connected to the housing, a conveying frame is connected to the square shaft, and a conveying wheel is rotatably connected to the conveying frame; an output bevel gear set is coaxially fixed to the conveying wheel, a conveying spline cylinder is connected to the output end of the input bevel gear set, a conveying spline shaft is slidably connected to the conveying spline cylinder, and the conveying spline shaft is connected to the input end of the output bevel gear set.

[0014] Furthermore, the conveying adjustment structure includes an adjustment disc rotatably connected to the housing, the adjustment disc having multiple conveying arc grooves; rotating wheels cooperating with the multiple conveying arc grooves are rotatably connected to the multiple square shafts; a first adjustment motor is fixedly connected to the housing, the output end of the first adjustment motor is connected to the adjustment wheel, and a sector gear meshing with the adjustment wheel is fixedly connected to the adjustment disc.

[0015] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows:

[0016] 1. In use, the present invention adjusts the conveying mechanism to the corresponding position by adjusting the frame, and the digestive endoscope is passed through the conveying mechanism. The adjustment frame and the conveying mechanism work together to support the digestive endoscope, thereby improving the stability of the digestive endoscope, reducing the burden on doctors, and improving the quality of digestive endoscopic diagnosis and treatment.

[0017] 2. In use, the present invention uses a delivery device to feed the digestive endoscope into the patient's digestive tract; and a lubrication device to lubricate the digestive endoscope to reduce resistance during the insertion process, thereby facilitating the insertion of the digestive endoscope.

[0018] 3. In use, the present invention allows the conveying mechanism to adapt to different sizes of digestive endoscopes (adults and children) by making the rotating roller and conveying structure slide radially along the shell, thereby improving the adaptability of the present invention. Attached Figure Description

[0019] Figure 1 This is the first isometric view of the present invention;

[0020] Figure 2 This is the second isometric view of the present invention;

[0021] Figure 3 This is a schematic diagram of the conveying mechanism in this invention;

[0022] Figure 4 This is a cross-sectional view of the conveying mechanism in this invention;

[0023] Figure 5 This is a first isometric view of the lubrication device in this invention;

[0024] Figure 6 This is a second isometric view of the lubrication device in this invention;

[0025] Figure 7 This is a schematic diagram showing the engagement state of the rotating roller, adjusting gear, driving bevel gear set, driven bevel gear set, and other structures in this invention.

[0026] Figure 8 This is a first isometric view of the conveying device in this invention;

[0027] Figure 9 This is a second isometric view of the conveying device in this invention;

[0028] Figure 10 This is a schematic diagram showing the engagement state of the conveyor wheel, input bevel gear set, output bevel gear set, input wheel, square shaft, and other structures in this invention.

[0029] In the diagram: 1. Mounting plate, 2. Vertical motor, 3. Vertical lead screw, 4. Vertical frame, 5. Horizontal motor, 6. Horizontal lead screw, 7. Horizontal block, 8. First joint motor, 9. First telescopic rod, 10. Second telescopic rod, 11. Rotating block, 12. Three-dimensional motor, 13. Conveying mechanism, 14. Rotating motor, 15. Second joint motor, 16. Housing, 17. First adjusting motor, 18. Drive motor, 19. Adjusting disc, 20. Second adjusting motor, 21. Rotating... 22. Cylinder, 23. Guide plate, 24. Rotating roller, 25. Conveyor wheel, 26. Drive wheel, 27. Gear ring, 28. Input wheel, 29. Driven bevel gear set, 30. Driven bevel gear set, 31. Adjusting gear, 32. Lubricating arc groove, 33. Drive wheel, 34. Driven wheel, 35. Lubricating spline shaft, 36. Square shaft, 37. Input bevel gear set, 38. Conveyor spline shaft, 39. Conveyor arc groove, 40. Sector gear, 41. Output bevel gear set, 42. Conveyor frame. Detailed Implementation

[0030] An angle-adjustable gastrointestinal endoscopic stent, such as Figure 1-10 As shown, the device includes an adjustment frame capable of three-dimensional adjustment, with a conveying mechanism 13 connected to the adjustment frame. The conveying mechanism 13 includes a housing 16, on which a conveying device for conveying the digestive endoscope is provided, and inside the housing 16 is a lubrication device for lubricating the digestive endoscope. The lubrication device includes a rotating cylinder 21 rotatably connected to the housing 16, and inside the rotating cylinder 21 is a guide plate 22 for guiding the flow of lubricating fluid. A pair of rotating rollers 23 are slidably connected radially to the housing 16 on both sides above the axis of the housing 16, and the pair of rotating rollers 23 rotate with the rotation of the rotating cylinder 21.

[0031] In use, the present invention adjusts the conveying mechanism 13 to the appropriate position using an adjusting frame, and the digestive endoscope passes through the conveying mechanism 13. The adjusting frame and the conveying mechanism 13 work together to support the digestive endoscope, thereby improving its stability, reducing the burden on doctors, and improving the quality of digestive endoscopic diagnosis and treatment. Furthermore, the conveying mechanism 13, during use, delivers the digestive endoscope via a conveying device, allowing it to penetrate deep into the patient's digestive tract. A lubrication device lubricates the digestive endoscope to reduce resistance during insertion, facilitating further insertion. During lubrication, the rotating roller 23 slides radially along the housing 16, aligning its size with that of the digestive endoscope. The rotating cylinder 21 and the rotating roller 23 rotate, and the rotating cylinder 21, through a guide plate 22, drives the lubricating fluid to move circumferentially and spray it onto the digestive endoscope and the rotating roller 23. The rotation of the rotating roller 23 ensures a continuous flow of lubricating fluid to the digestive endoscope, thus achieving lubrication.

[0032] In addition, an elastic scraper connected to the housing 16 is provided between the conveying device and the lubrication device. By setting the elastic scraper, when the conveying device drives the digestive endoscope to extend, the elastic scraper scrapes off the lubricant on the digestive endoscope, so as to ensure the friction between the digestive endoscope and the conveying device and improve the operational stability of this application.

[0033] Furthermore, such as Figure 1 and Figure 2 As shown, the adjustment frame includes a mounting plate 1 with several mounting holes; a vertical motor 2 is fixedly connected to the mounting plate 1, and a vertical lead screw 3 is connected to the output end of the vertical motor 2; a vertical frame 4 that is slidably connected to the mounting plate 1 is screwed onto the vertical lead screw 3, and a vertical rod that guides the vertical frame 4 is also fixedly connected to the mounting plate 1; a horizontal motor 5 is fixedly connected to the vertical frame 4, and a horizontal lead screw 6 is connected to the output end of the horizontal motor 5; a horizontal block 7 that is slidably connected to the vertical frame 4 is screwed onto the horizontal lead screw 6, and a robotic arm structure is connected to the horizontal block 7.

[0034] When in use, the mounting plate 1 is installed on the wall or on the nursing frame that holds the digestive endoscope body through the mounting holes. The vertical height of the robotic arm structure and the conveying mechanism 13 is adjusted by the cooperation of the vertical motor 2, the vertical lead screw 3, and the vertical frame 4. The horizontal position of the robotic arm structure and the conveying mechanism 13 is adjusted by the cooperation of the horizontal motor 5, the horizontal lead screw 6, and the horizontal block 7. Thus, the robotic arm structure and the conveying mechanism 13 in this application can be adjusted in a two-dimensional area. Combined with the robotic arm structure, the conveying mechanism 13 can be adjusted in three dimensions.

[0035] Furthermore, the robotic arm structure includes a first telescopic rod 9 rotatably connected to the transverse block 7, and a first joint motor 8 that drives the first telescopic rod 9 to rotate is fixedly connected to the transverse block 7; a second telescopic rod 10 is rotatably connected to the telescopic end of the first telescopic rod 9, and a second joint motor 15 that drives the second telescopic rod 10 to rotate is fixedly connected to the telescopic end of the first telescopic rod 9, and a rotary motor 14 is connected to the output end of the second joint motor 15; a rotary block 11 is connected to the output end of the rotary motor 14, and a housing 16 is rotatably connected to the rotary block 11; a three-dimensional motor 12 is fixedly connected to the rotary block 11, and the output end of the three-dimensional motor 12 is fixedly connected to the housing 16.

[0036] The position of the conveying mechanism 13 is adjusted by the cooperation of the first joint motor 8, the first telescopic rod 9, the second joint motor 15, and the second telescopic rod 10. The three-dimensional angle of the housing 16 is adjusted by the cooperation of the rotating motor 14, the rotating block 11, and the three-dimensional motor 12, so that the angle of the conveying mechanism 13 corresponds to the feed angle of the digestive endoscope, thereby improving the stability of the digestive endoscope feed.

[0037] Furthermore, the housing 16 is provided with a drive structure that drives the rotating cylinder 21 to rotate, and the drive structure is connected to a lubrication drive structure that can drive a pair of rotating rollers 23 to rotate synchronously and in opposite directions. The housing 16 is also provided with a lubrication adjustment structure that drives a pair of rotating rollers 23 to slide synchronously along the radial direction of the housing 16.

[0038] Furthermore, in this application, the driving bevel gear set 28, the driven bevel gear set 29, the input bevel gear set 36, and the output bevel gear set 40 all include a driving bevel gear and a driven bevel gear meshing with the driving bevel gear, with the driving bevel gear being the input end and the driven bevel gear being the output end.

[0039] Furthermore, such as Figure 5 As shown, the drive structure includes a drive motor 18 fixedly connected to the housing 16, an output end of the drive motor 18 connected to a drive wheel 25, and a gear ring 26 fixedly connected to the rotating cylinder 21 and meshing with the drive wheel 25; the rotating cylinder 21 is driven to rotate by the cooperation of the drive motor 18, the drive wheel 25, and the gear ring 26.

[0040] Furthermore, such as Figure 5 and Figure 7 As shown, the lubrication drive structure includes a driven wheel 33 meshing with the gear ring 26, and a driving bevel gear set 28 connected to the driven wheel 33. The output ends of the pair of driving bevel gear sets 28 rotate in opposite directions. The specific arrangement of the pair of driving bevel gear sets 28 is as follows: Figure 7As shown, a pair of driven bevel gears are respectively disposed on both sides of the driving bevel gear, so that the rotation directions of the pair of driven bevel gears are opposite, thereby making the rotation directions of the output ends of the pair of driving bevel gear sets 28 opposite; the output end of the driving bevel gear set 28 is connected to a lubricating spline cylinder, and a lubricating spline shaft 34 is slidably connected to the lubricating spline cylinder; both ends of the pair of rotating rollers 23 are rotatably connected to sliders that are slidably connected to the housing 16, and the lubricating spline shaft 34 is rotatably connected to the sliders; a driven bevel gear set 29 is connected to the lubricating spline shaft 34, and the output end of the driven bevel gear set 29 is coaxially fixed to the rotating rollers 23.

[0041] When the rotating roller 23 needs to rotate, the gear ring 26 rotates, driving the driven wheel 33 to rotate, which in turn drives the driving bevel gear set 28 to rotate. The driving bevel gear set 28, through the lubrication spline cylinder and lubrication spline shaft 34, drives the driven bevel gear set 29 to rotate, which in turn drives the rotating roller 23 to rotate along the slider. By making the rotation directions of the output ends of the pair of driving bevel gear sets 28 opposite, the rotation directions of the pair of rotating rollers 23 are also opposite, causing both of the rotating rollers 23 to rotate inward. The pair of rotating rollers 23 drive the lubricating fluid to flow from above the digestive endoscope to the digestive endoscope, thereby improving the lubrication effect of the digestive endoscope.

[0042] Furthermore, such as Figure 6 and Figure 7 As shown, the lubrication adjustment structure includes a second adjustment motor 20 fixedly connected to the housing 16, and the output end of the second adjustment motor 20 is connected to a drive wheel 32; an adjustment gear 30 is meshed on the drive wheel 32, and a pair of lubrication arc grooves 31 are provided on the adjustment gear 30; and a pair of rotating rollers 23 are rotatably connected to rollers that cooperate with the pair of lubrication arc grooves 31.

[0043] When the rotating roller 23 needs to be adjusted, the second adjustment motor 20 is started. The second adjustment motor 20 drives the adjustment gear 30 to rotate through the drive wheel 32. The adjustment gear 30 cooperates with the roller through the lubricating arc groove 31, driving the rotating roller 23 to slide radially along the housing 16 through the slider. This allows the rotating roller 23 to adapt to digestive endoscopes of different sizes, improving the adaptability of this application.

[0044] Furthermore, such as Figure 8-10 As shown, the delivery device includes multiple delivery structures connected to the drive structure that can drive the movement of the digestive endoscope. The delivery structures can slide radially along the housing 16, and the housing 16 is provided with a delivery adjustment structure for adjusting the delivery structures.

[0045] Furthermore, the conveying mechanism 13 includes an input wheel 27 meshing with the gear ring 26, and an input bevel gear set 36 rotatably connected to the input wheel 27 and the housing 16; a square shaft 35 is slidably connected to the housing 16, a conveying frame 41 is connected to the square shaft 35, and a conveying wheel 24 is rotatably connected to the conveying frame 41; an output bevel gear set 40 is coaxially fixed to the conveying wheel 24, a conveying spline cylinder is connected to the output end of the input bevel gear set 36, a conveying spline shaft 37 is slidably connected to the conveying spline cylinder, and the conveying spline shaft 37 is connected to the input end of the output bevel gear set 40.

[0046] When the conveying mechanism 13 is in use, the gear ring 26 rotates, which drives the input wheel 27 to rotate. The input wheel 27 drives the input bevel gear set 36 to rotate. The input bevel gear set 36 drives the output bevel gear set 40 to rotate through the conveying spline cylinder and the conveying spline shaft 37. The output bevel gear set 40 drives the conveying wheel 24 to rotate, and the conveying wheel 24 drives the digestive endoscope to move.

[0047] Furthermore, the conveying adjustment structure includes an adjustment disk 19 rotatably connected to the housing 16, and the adjustment disk 19 is provided with a plurality of conveying arc-shaped grooves 38; a plurality of square shafts 35 are each rotatably connected with a rotating wheel that cooperates with the plurality of conveying arc-shaped grooves 38; a first adjustment motor 17 is fixedly connected to the housing 16, the output end of the first adjustment motor 17 is connected to the adjustment wheel, and a sector gear 39 that meshes with the adjustment wheel is fixedly connected to the adjustment disk 19.

[0048] When the conveying adjustment structure is in use, the first adjustment motor 17 is started, which drives the adjustment wheel to rotate. The adjustment wheel drives the adjustment disc 19 to rotate around a certain angle through the sector gear 39. The adjustment disc 19 drives the square shaft 35 to slide along the housing 16 through the conveying arc groove 38 and the rotating wheel. The square shaft 35 drives the conveying frame 41 and the conveying wheel 24 to move.

[0049] like Figures 1 to 10 As shown below, the working process of the present invention will be explained in detail.

[0050] In use, this invention adjusts the vertical height of the robotic arm structure and conveying mechanism 13 by cooperating with the vertical motor 2, vertical lead screw 3, and vertical frame 4; adjusts the lateral position of the robotic arm structure and conveying mechanism 13 by cooperating with the horizontal motor 5, horizontal lead screw 6, and horizontal block 7; furthermore, adjusts the position of the conveying mechanism 13 by cooperating with the first joint motor 8, first telescopic rod 9, second joint motor 15, and second telescopic rod 10, thereby achieving three-dimensional adjustment of the conveying mechanism 13 in this application; and adjusts the three-dimensional angle of the housing 16 by cooperating with the rotation motor 14, rotation block 11, and three-dimensional motor 12, so that the angle of the conveying mechanism 13 corresponds to the feed angle of the digestive endoscope, thereby improving the stability of the digestive endoscope feed.

[0051] The digestive endoscope is passed through the transport mechanism 13. The transport mechanism 13 and the adjusting frame work together to support the digestive endoscope, thereby improving its stability, reducing the burden on doctors, and improving the quality of digestive endoscopic diagnosis and treatment. When the digestive endoscope needs to be transported, the drive motor 18 is started. The drive motor 18 drives the input wheel 27 to rotate through the cooperation of the drive wheel 25 and the gear ring 26. The input wheel 27 drives the input bevel gear set 36 to rotate. The input bevel gear set 36 drives the output bevel gear set 40 to rotate through the cooperation of the transport spline cylinder and the transport spline shaft 37. The output bevel gear set 40 drives the transport wheel 24 to rotate, and the transport wheel 24 moves the digestive endoscope.

[0052] Meanwhile, the gear ring 26 drives the rotating cylinder 21 to rotate, and the rotating cylinder 21 drives the lubricating fluid to move in a circle and spray it onto the digestive endoscope and rotating roller 23 through the guide plate 22; the gear ring 26 drives the driven wheel 33 to rotate, and the driven wheel 33 drives the active bevel gear set 28 to rotate; the active bevel gear set 28 drives the driven bevel gear set 29 to rotate through the lubricating spline cylinder and lubricating spline shaft 34, and the driven bevel gear set 29 drives the rotating roller 23 to rotate along the slider; by making the rotation directions of the output ends of the pair of active bevel gear sets 28 opposite, the rotation directions of the pair of rotating rollers 23 are opposite, so that the pair of rotating rollers 23 both rotate inward, and the pair of rotating rollers 23 drive the lubricating fluid to flow from above the digestive endoscope to the digestive endoscope, so as to improve the lubrication effect of the digestive endoscope.

Claims

1. An angle-adjustable digestive endoscope stent, comprising an adjustment frame capable of three-dimensional adjustment, wherein a delivery mechanism (13) is connected to the adjustment frame; characterized in that: The conveying mechanism (13) includes a housing (16), on which a conveying device for conveying a digestive endoscope is provided, and inside the housing (16) a lubrication device for lubricating the digestive endoscope is also provided; the lubrication device includes a rotating cylinder (21) rotatably connected to the housing (16), and inside the rotating cylinder (21) a guide plate (22) for guiding the flow of lubricating fluid is provided; a pair of rotating rollers (23) located on both sides above the axis of the housing (16) are slidably connected to the housing (16) radially, and the pair of rotating rollers (23) rotate with the rotation of the rotating cylinder (21).

2. The angle-adjustable digestive endoscope stent as described in claim 1, characterized in that: The adjustment frame includes a mounting plate (1) with several mounting holes; a vertical motor (2) is fixedly connected to the mounting plate (1), and a vertical lead screw (3) is connected to the output end of the vertical motor (2); a vertical frame (4) that is slidably connected to the mounting plate (1) is screwed onto the vertical lead screw (3), and a vertical rod that guides the vertical frame (4) is also fixedly connected to the mounting plate (1); a horizontal motor (5) is fixedly connected to the vertical frame (4), and a horizontal lead screw (6) is connected to the output end of the horizontal motor (5); a horizontal block (7) that is slidably connected to the vertical frame (4) is screwed onto the horizontal lead screw (6), and a mechanical arm structure is connected to the horizontal block (7).

3. The angle-adjustable digestive endoscope stent as described in claim 2, characterized in that: The robotic arm structure includes a first telescopic rod (9) rotatably connected to a transverse block (7), and a first joint motor (8) that drives the first telescopic rod (9) to rotate is fixedly connected to the transverse block (7); a second telescopic rod (10) is rotatably connected to the telescopic end of the first telescopic rod (9), and a second joint motor (15) that drives the second telescopic rod (10) to rotate is fixedly connected to the telescopic end of the first telescopic rod (9), and a rotary motor (14) is connected to the output end of the second joint motor (15); a rotary block (11) is connected to the output end of the rotary motor (14), and a housing (16) is rotatably connected to the rotary block (11); a three-dimensional motor (12) is fixedly connected to the rotary block (11), and the output end of the three-dimensional motor (12) is fixedly connected to the housing (16).

4. The angle-adjustable digestive endoscope stent as described in claim 1, characterized in that: The housing (16) is provided with a drive structure that drives the rotating cylinder (21) to rotate. The drive structure is connected to a lubrication drive structure that can drive a pair of rotating rollers (23) to rotate synchronously and in opposite directions. The housing (16) is provided with a lubrication adjustment structure that drives a pair of rotating rollers (23) to slide synchronously along the radial direction of the housing (16).

5. The angle-adjustable digestive endoscope stent as described in claim 4, characterized in that: The delivery device includes multiple delivery structures connected to the drive structure that can drive the movement of the digestive endoscope. The delivery structures can slide radially along the housing (16). The housing (16) is provided with a delivery adjustment structure for adjusting the delivery structures.

6. The angle-adjustable digestive endoscope stent as described in claim 4, characterized in that: The drive structure includes a drive motor (18) fixedly connected to the housing (16), the output end of the drive motor (18) is connected to a drive wheel (25), and a gear ring (26) that meshes with the drive wheel (25) is fixedly connected to the rotating cylinder (21).

7. The angle-adjustable digestive endoscope stent as described in claim 6, characterized in that: The lubrication drive structure includes a driven wheel (33) meshing with a gear ring (26), a driving bevel gear set (28) connected to the driven wheel (33), and the output ends of the pair of driving bevel gear sets (28) rotating in opposite directions; the output end of the driving bevel gear set (28) is connected to a lubrication spline cylinder, and a lubrication spline shaft (34) is slidably connected to the lubrication spline cylinder; both ends of the pair of rotating rollers (23) are rotatably connected to sliders that are slidably connected to the housing (16), and the lubrication spline shaft (34) is rotatably connected to the sliders; a driven bevel gear set (29) is connected to the lubrication spline shaft (34), and the output end of the driven bevel gear set (29) is coaxially fixed to the rotating roller (23).

8. The angle-adjustable digestive endoscope stent as described in claim 7, characterized in that: The lubrication adjustment structure includes a second adjustment motor (20) fixedly connected to the housing (16), and the output end of the second adjustment motor (20) is connected to a drive wheel (32); an adjustment gear (30) meshes on the drive wheel (32), and a pair of lubrication arc grooves (31) are provided on the adjustment gear (30); and a pair of rotating rollers (23) are rotatably connected to rollers that cooperate with the pair of lubrication arc grooves (31).

9. The angle-adjustable digestive endoscope stent as described in claim 6, characterized in that: The conveying mechanism (13) includes an input wheel (27) meshing with a gear ring (26), an input bevel gear set (36) rotatably connected to the input wheel (27) and the housing (16); a square shaft (35) is slidably connected to the housing (16), a conveying frame (41) is connected to the square shaft (35), and a conveying wheel (24) is rotatably connected to the conveying frame (41); an output bevel gear set (40) is coaxially fixed to the conveying wheel (24), a conveying spline cylinder is connected to the output end of the input bevel gear set (36), a conveying spline shaft (37) is slidably connected to the conveying spline cylinder, and the conveying spline shaft (37) is connected to the input end of the output bevel gear set (40).

10. The angle-adjustable digestive endoscope stent as described in claim 9, characterized in that: The conveying adjustment structure includes an adjustment disk (19) rotatably connected to the housing (16), and the adjustment disk (19) is provided with a plurality of conveying arc grooves (38); a plurality of square shafts (35) are rotatably connected with rotating wheels that cooperate with the plurality of conveying arc grooves (38); a first adjustment motor (17) is fixedly connected to the housing (16), the output end of the first adjustment motor (17) is connected to the adjustment wheel, and a sector gear (39) that meshes with the adjustment wheel is fixedly connected to the adjustment disk (19).

Images