Endoscope holding device and control system

Abstract

The embodiment of the specification provides an endoscope holding device and a control system. The device comprises a supporting mechanism, a base arranged at the end of the supporting mechanism, and a clamping piece in sliding rotary connection with the base. The clamping piece comprises a limiting part and a clamping space for clamping an endoscope handle. The clamping space is formed by a through hole on the clamping piece, and the through hole has an opening on the side. The limiting part is used for limiting the rotation of the endoscope handle relative to the clamping piece. The control system comprises an endoscope, an endoscope holding device, and a pushing device configured to control the rotation of the insertion part based on first information.

Description

Technical Field

[0001] This specification relates to the field of endoscope support technology, and in particular to an endoscope holding device and control system. Background Technology

[0002] Endoscopes are widely used in surgical diagnosis, examination, and treatment. Endoscopes also contain instruments such as forceps, suture devices, ablation tools, and scalpels for performing surgery. Therefore, it is necessary to achieve stable positioning of the proximal endoscope to prevent endoscopic vibration and avoid secondary injury to the patient during surgery. Typically, during surgery and diagnosis, the surgeon and surgical assistant manually fix and position the endoscope. Manual control introduces errors and increases the workload of the surgeon.

[0003] The relevant patent "WO2023011440A1" discloses a flexible endoscope system, a flexible endoscope auxiliary device, and an operating method. In this system, the robotic arm can be fixed during surgery according to the doctor's needs. However, changing the position of the robotic arm during surgery requires significant adjustments to the entire robotic arm, and the method of fixing the endoscope handle within the robotic arm is not clearly defined. This may lead to problems such as limited rotation of the endoscope handle fixed to the robotic arm or axial movement.

[0004] Therefore, some embodiments of this specification provide an endoscope holding device and control system that enables precise adjustment of the endoscope angle and position, while the components are easy to disassemble and assemble, enabling flexible control. Summary of the Invention

[0005] This specification provides one or more embodiments of an endoscope holding device, including: a support mechanism; a base disposed at the end of the support mechanism; and a clamping member slidably and rotatably connected to the base. The clamping member includes a limiting part and a clamping space for clamping an endoscope handle. The clamping space is formed by a through hole on the clamping member, and the through hole has an opening on its periphery. The limiting part is used to restrict the rotation of the endoscope handle relative to the clamping member.

[0006] In a first direction, the outer dimension of the opening is larger than the inner dimension of the opening, and the first direction is the diameter direction of the through hole.

[0007] In the second direction, the distance between the end faces on one side of the opening is greater than the distance between the end faces on the other side, and the second direction is the direction of the central axis of the through hole.

[0008] In the second direction, the distance between the end faces on one side of the opening is equal to the distance between the end faces on the other side.

[0009] The limiting part includes a first limiting member and / or a second limiting member. The first limiting member is disposed inside the through hole, and the second limiting member is disposed on both sides of the opening. The second limiting member can cooperate with the protruding part on the endoscope handle to restrict the rotation of the endoscope handle relative to the clamping member.

[0010] The diameter of the through hole increases from one end to the other along the second direction, and the first limiting member matches the through hole.

[0011] The base includes a first fixing member and a second fixing member, which are arranged opposite to each other and have a clamping gap, and the clamping member is disposed in the clamping gap.

[0012] The clamping member is provided with an annular sliding portion, and the first fixing member and / or the second fixing member are provided with a sliding mating portion that matches the sliding portion.

[0013] The clamping component includes a third limiting member, which restricts the sliding range of the sliding part relative to the sliding mating part.

[0014] The endoscope holding device also includes a first reading mechanism configured to acquire first information, the first information representing a first rotation angle of the clamp relative to the base.

[0015] The first reading mechanism includes a transmission disk, a first motor, and a first encoder. The transmission disk is disposed in the clamping gap and is connected to the clamping member and the output shaft of the first motor respectively. The first encoder is used to read the first information.

[0016] The first fixing member is disposed on one side of the second fixing member, the first motor is disposed on the other side of the second fixing member, and the output shaft of the first motor passes through the second fixing member and is connected to the transmission disk.

[0017] The endoscope holding device also includes a transmission rope, the two ends of which are fixed to the clamping components, and the transmission rope is wound around the transmission disc.

[0018] The support mechanism includes a positioning arm and an end arm. The end arm is rotatably connected to the end of the positioning arm, and the rotation axis of the end arm is perpendicular to the axis of the end arm.

[0019] The endoscope holding device also includes a force compensation device, which is disposed at the connection between the end arm and the positioning arm, and is configured to provide a compensating force to the end arm.

[0020] The endoscope holding device also includes a second reading mechanism, which is disposed at the connection between the end arm and the positioning arm. The second reading mechanism is configured to acquire second information, including the rotation angle of the end arm.

[0021] This specification provides one or more embodiments of an endoscope control system, including: an endoscope, including an endoscope handle and an insertion part; an endoscope holding device; and a pushing device configured to control the rotation of the insertion part based on first information. Attached Figure Description

[0022] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein: Figure 1 This is a schematic diagram of the endoscope holding device according to some embodiments of this specification; Figure 2 This is a schematic diagram of the clamping component according to some embodiments of this specification; Figure 3 This is a schematic diagram showing the connection between the clamping device and the endoscope handle according to some embodiments of this specification; Figure 4 This is a schematic diagram showing the connection between the clamp and the endoscope handle according to other embodiments of this specification; Figure 5 This is an exemplary cross-sectional view of the clamping opening along a second direction, according to some embodiments of this specification; Figure 6 This is an exemplary cross-sectional view of the clamping opening along a second direction, according to other embodiments of this specification; Figure 7 This is a partial structural schematic diagram of an endoscope holding device according to some embodiments of this specification; Figure 8 yes Figure 7 A schematic diagram of the cross-sectional structure of AA; Figure 9 This is an exemplary cross-sectional view of the clamping member opening along a first direction, according to some embodiments of this specification; Figure 10 This is a cross-sectional schematic diagram of the connection structure between the base and the clamping element according to some embodiments of this specification; Figure 11 This is a schematic diagram of the sliding connection between the base and the clamping element according to some embodiments of this specification; Figure 12 This is a structural schematic diagram of the first fastener and / or the second fastener shown in some embodiments of this specification; Figure 13 This is a schematic diagram of the clamping component according to other embodiments of this specification; Figure 14 This is a schematic diagram of the rotational connection between the base and the clamping element according to some embodiments of this specification; Figure 15 This is a schematic diagram of the connection structure between the positioning arm and the end arm according to some embodiments of this specification; Figure 16 This is a schematic diagram of the structure of an endoscope control system according to some embodiments of this specification. Detailed Implementation

[0023] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0024] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0025] As indicated in this specification, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0026] Figure 1 This is a schematic diagram of the endoscope holding device according to some embodiments of this specification. Figure 2 This is a schematic diagram of the clamping component according to some embodiments of this specification.

[0027] In some embodiments, such as Figure 1 As shown, the endoscope holding device 100 includes a support mechanism 110, a base 120, and a clamping component 130.

[0028] In some embodiments, such as Figure 1 The base 120 is located at the end of the support mechanism 110; the clamping member 130 is slidably and rotatably connected to the base 120. The clamping member 130 includes a limiting part and a clamping space for clamping the endoscope handle. Figure 2 As shown, the clamping space is formed by a through hole 132 on the clamping member 130, and the through hole 132 has an opening on its periphery. The limiting part is used to restrict the rotation of the endoscope handle 210 relative to the clamping member 130.

[0029] The support mechanism 110 is used to support and position the endoscope handle. For example, the support mechanism 110 can be a robotic arm. Alternatively, the support mechanism 110 can be a support column. The support mechanism 110 is fixed to the hospital bed.

[0030] The base 120 is used to mount the clamping member 130. In some embodiments, the base 120 is disposed at the end of the support mechanism 110. The base 120 can be part of the end effector of a robotic arm, for example, the base 120 is integrally formed with the end effector of the robotic arm. The base 120 can be fixedly connected to or detachably connected to the end effector of the robotic arm.

[0031] The clamp 130 is an assembly for holding an endoscope handle. The clamp 130 can slide and rotate relative to the base 120. In some embodiments, the endoscope handle is mounted within the clamping space of the clamp 130, and the endoscope handle can rotate or slide synchronously with the clamp 130. The shape and size of the clamping space match the shape and size of the endoscope handle.

[0032] The through hole 132 is a through hole located at the center of the clamping part 130.

[0033] In some embodiments, the clamping member 130 can be fitted onto the outside of the endoscope handle through the through hole 132 and the opening. The inner diameter of the through hole 132 is larger than the minimum outer diameter of the endoscope handle and smaller than the maximum outer diameter of the endoscope handle, thereby ensuring that the clamping member 130 can be installed on the endoscope handle and clamp it.

[0034] Figure 3 This is a schematic diagram showing the connection between the clamp and the endoscope handle according to some embodiments of this specification. Figure 4 This is a schematic diagram showing the connection of the clamp and endoscope handle according to other embodiments of this specification.

[0035] For example, such as Figure 3 As shown, when the clamping member 130 is ready to clamp, its opening is aligned with the narrower end of the endoscope handle, and the clamping member 130 is fitted onto the outside of the endoscope handle through the through hole 132. After the clamping member 130 is fitted onto the outside of the endoscope handle, it moves towards the wider end of the endoscope handle until the clamping member 130 engages with the endoscope handle. For example, as... Figure 4 As shown, when the clamping component is in place, the clamping component 130 engages with the endoscope handle.

[0036] Figure 5This is an exemplary cross-sectional view of the clamping opening along a second direction, according to some embodiments of this specification. Figure 6 This is an exemplary cross-sectional view of the clamping opening along a second direction, according to other embodiments of this specification. Figure 7 This is a partial structural schematic diagram of an endoscope holding device according to some embodiments of this specification. Figure 8 yes Figure 7 A schematic diagram of the cross-sectional structure of AA. Figure 9 This is an exemplary cross-sectional view of the clamping opening along a first direction, according to some embodiments of this specification.

[0037] In some embodiments, in a first direction, the outer dimension of the opening is larger than the inner dimension of the opening.

[0038] The first direction refers to the diameter direction of the through hole. For example, such as... Figures 2-9 As shown, the first direction is the X-axis direction. The outer dimension of the opening can be expressed as the distance between the opening end faces near the outer side of the clamping member in the first direction. The inner dimension of the opening can be expressed as the distance between the opening end faces near the inner side of the clamping member in the first direction. For example, as... Figure 8 As shown, the outer dimension of the opening is d1, the inner dimension of the opening is d2, and d1 is greater than d2.

[0039] In some embodiments, the opening may include multiple stepped structures. For example, such as... Figure 8 As shown, the opening includes two stepped structures. In some embodiments, the opening may also include three or four stepped structures, etc.

[0040] In some embodiments, such as Figure 9 As shown, the size of the opening gradually increases along the first direction.

[0041] In some embodiments, the inner dimension of the opening (e.g., d1) is smaller than the diameter of the through hole 132.

[0042] In some embodiments, in the second direction, the distance between the end faces on one side of the opening is greater than the distance between the end faces on the other side.

[0043] The second direction is the direction of the central axis of the through hole. For example, such as... Figures 2-6 As shown, the second direction is the Z-axis direction. The Y-axis is perpendicular to the plane containing the X-axis and Z-axis.

[0044] In some embodiments, such as Figure 6As shown, the distance between the end faces on one side of the opening is L1, and the distance between the end faces on the other side is L2, where L1 is greater than L2. The size of the opening in the first direction (such as the X-axis direction) can gradually increase. When the clamping device clamps the endoscope, the side with the larger distance between the end faces of the opening is closer to the endoscope handle and further away from the insertion part of the endoscope.

[0045] In some embodiments, the distance between the end faces on one side of the opening is equal to the distance between the end faces on the other side. For example, such as... Figure 5 As shown, the distance L1 between the end faces on one side of the opening is equal to the distance L2 between the end faces on the other side, and the size of the opening is uniform along the second direction (such as the Z-axis direction).

[0046] In some embodiments, the clamping member is initially positioned with its opening opposite to the base. The initial state refers to the state when the clamping member is not clamping. For example, such as... Figure 8 As shown, the opening is positioned opposite the base 120. During assembly and disassembly, the clamp can be moved to its initial position, facilitating the assembly and disassembly of the endoscope handle relative to the base.

[0047] Typically, the insertion part of the endoscope is smaller than the endoscope handle, and the diameter of the endoscope handle gradually increases along the first direction. By setting a larger outer dimension of the opening, it is easier to install and remove the endoscope, and it can also be used for guidance during the installation and removal process. By setting the distance between the opening end faces gradually to increase in the second direction, that is, the opening face is beveled, it can better match the shape of the endoscope handle, making it easier to install the endoscope handle onto the clamp.

[0048] The limiting portion can be configured in various shapes. For example, the limiting portion can be at least one of a protruding limiting block, an arc-shaped structure, a ring-shaped structure, or other shapes. The limiting portion can be disposed at at least one location on the clamping member. For example, the limiting portion can be disposed inside the clamping member and / or on both sides.

[0049] In some embodiments, such as Figures 2-9 As shown, the limiting part 131 includes a first limiting member 131-1 and / or a second limiting member 131-2. The first limiting member 131-1 is disposed inside the through hole 132, the diameter of which gradually increases or remains constant along the second direction, and the first limiting member matches the through hole. The second limiting member is disposed on both sides of the opening, and can cooperate with the protrusion 211 on the endoscope handle to limit the rotation of the endoscope handle 210 relative to the clamping member 130.

[0050] In some embodiments, the first limiting member 131-1 may be an anti-slip component. For example, the first limiting member 131-1 may be a rubber ring that provides frictional resistance to limit the rotation of the clamping member 130 relative to the endoscope handle 210. In some embodiments, the first limiting member 131-1 may also be other components with anti-slip functions.

[0051] In some embodiments, the second limiting members 131-2 on both sides of the opening are respectively disposed facing the side of the opening. For example, Figure 4 As shown, the clamping member 130 is engaged with the protrusion 211 of the endoscope handle 210 by the second limiting member 131-2, thereby restricting the rotation of the clamping member 130 relative to the endoscope handle 210.

[0052] In some embodiments, the second limiting member 131-2 is located inside the opening, and the distance between the two second limiting members 131-2 is less than the width of the opening.

[0053] In some embodiments, the protruding portion is a forceps orifice. The forceps orifice has a channel for the insertion of medical instruments (such as forceps, scissors, samplers, etc.). The user can manipulate the instruments through the forceps orifice on the endoscope.

[0054] The first limiting element can limit the clamping component through friction. The second limiting element cooperates with the clamping groove on the endoscope handle for limiting, thereby making full use of the existing structure for limiting and enhancing the stability of the endoscope handle being clamped by the clamping component.

[0055] In some embodiments, the diameter of the through hole increases from one end to the other along the second direction, and the first limiting member matches the through hole.

[0056] For example, if the first limiting member 131-1 is a rubber ring, then the size of the rubber ring matches the size of the through hole 132, and the diameter of the rubber ring is along the second direction (e.g., Figure 2 The Z-axis direction (in the model) increases from one end to the other.

[0057] The specific arrangement of the through hole and the first limiting member is similar to the arrangement of the opening in the second direction; please refer to the relevant explanation above for details.

[0058] The combination of the support mechanism, base, and clamping device provides stable support and positioning for the endoscope handle. The sliding and rotating connection between the clamping device and the base allows for angle adjustment of the endoscope handle within a certain range, enhancing surgical flexibility and operability. An opening in the through-hole of the clamping device facilitates easy assembly and disassembly, while the first limiting part restricts relative rotation of the endoscope handle, ensuring its stability within the clamping device, preventing accidental rotation during surgery, and improving surgical safety.

[0059] Figure 10 This is a cross-sectional schematic diagram of the connection structure between the base and the clamping component according to some embodiments of this specification.

[0060] In some embodiments, such as Figures 7-10 As shown, the base 120 includes a first fixing member 121 and a second fixing member 122. The first fixing member 121 and the second fixing member 122 are arranged opposite to each other and have a clamping gap. The clamping member 130 is disposed in the clamping gap.

[0061] The first fixing member 121 and the second fixing member 122 are used to fix and support the clamping member 130. In some embodiments, the first fixing member 121 and the second fixing member 122 are detachably connected to the base 120. The detachable connection can be made in various ways, for example, by means of screws. In some embodiments, the first fixing member 121 and the second fixing member 122 can be an integral structure with the base 120.

[0062] In some embodiments, such as Figure 7 As shown, the base 120 also includes a motor mounting bracket 125. The motor mounting bracket 125 is used to fix the first motor 142.

[0063] The first and second fasteners ensure that the clamping element is stably mounted on the base, while also facilitating subsequent maintenance and replacement.

[0064] Figure 11 This is a schematic diagram of the sliding connection between the base and the clamping element according to some embodiments of this specification. Figure 12 This is a structural schematic diagram of the first fastener and / or the second fastener according to some embodiments of this specification.

[0065] In some embodiments, the clamping member 130 is provided with an annular sliding portion 133, and the first fixing member 121 and / or the second fixing member 122 are provided with a sliding mating portion 123 that matches the sliding portion 133.

[0066] The clamping member 130 can slide within the sliding mating part 123 via the sliding part 133, achieving a sliding connection with the base. For example, as shown... Figures 2-12 As shown, the sliding portion 133 can be a protruding slide bar on the clamping member 130. Slide bars are provided on both sides of the clamping member 130. The sliding mating portion 123 can be a sliding groove on the first fixing member 121 and / or the second fixing member 122 that mates with the slide bar. For example, as... Figure 7 and Figure 8 As shown, the sliding mating part 123 is an arc-shaped groove, and the clamping part 130 can slide back and forth in the arc-shaped groove through the slide bar of the sliding part 133.

[0067] In some embodiments, the sliding portion 133 and the sliding mating portion 123 can also be other sliding matching structures. For example, the sliding portion 133 can be a groove, and the sliding mating portion 123 can be a slider. As another example, the sliding portion 133 and the sliding mating portion 123 can be a roller and a slide rail that matches the roller.

[0068] The sliding part and sliding mating part allow the clamping component to slide on the base, thereby increasing the adjustment freedom of the endoscope handle and further improving its adjustment accuracy. Simultaneously, the sliding part and sliding mating part serve as guides and limiters, preventing the endoscope handle clamping disc from swinging after the endoscope handle is installed.

[0069] Figure 13 This is a structural schematic diagram of the clamping component according to other embodiments of this specification.

[0070] In some embodiments, such as Figure 13 As shown, the clamping component includes a third limiting member 134, which limits the sliding range of the sliding part 133 relative to the sliding mating part 123.

[0071] The third limiting member 134 is disposed on both sides of the opening of the clamping member, and the third limiting member 134 on both sides is connected to both ends of the sliding part 133 respectively. The third limiting member 134 can be a block-shaped component protruding from the surface of the clamping member 130.

[0072] When the sliding part 133 rotates relative to the sliding mating part 123 to the positions on both sides of the opening, the sliding mating part 123 abuts against the third limiting member 134, thereby restricting the sliding part 133 from continuing to slide relative to the sliding mating part 123, and further restricting the sliding range of the clamping member 130 relative to the base 120.

[0073] The third limiting member 134 can prevent the sliding mating part 123 on the base 120 from sliding to the opening position of the clamping member 130, thereby keeping the opening open and facilitating the clamping member to hold the endoscope handle.

[0074] In some embodiments, such as Figure 1 As shown, the endoscope holding device 100 also includes a first reading mechanism 140. The first reading mechanism 140 is configured to acquire first information, which represents a first rotation angle of the clamp relative to the base.

[0075] The first information refers to the information directly read by the first reading mechanism 140. The first rotation angle refers to the rotation angle of the clamping member 130 relative to the base 120. In some embodiments, the first rotation angle can be determined based on the first information.

[0076] The first reading mechanism 140 can read relevant information about the rotation of the clamping part, thereby enabling the monitoring and control of the rotation angle of the clamping part.

[0077] In some embodiments, such as Figure 7 and Figure 8 As shown, the first reading mechanism 140 includes a transmission disk 141, a first motor 142, and a first encoder (not shown in the figure). The transmission disk is disposed in the clamping gap, and the transmission disk 141 is connected to the output shaft of the clamping member 130 and the first motor 142 respectively. The first encoder is used to read the first information.

[0078] The drive disc 141 is used to transmit rotational power to the clamping member 130, causing the clamping member 130 to rotate relative to the base 120. For example, Figure 7 and Figure 8 As shown, the transmission disc 141 has a circular structure.

[0079] The first motor 142 is a power source that provides rotational power to the clamping member 130. The first motor 142 can drive the transmission disk 141 to rotate, thereby causing the clamping member 130 to rotate. The transmission disk 141 and the clamping member 130 can be connected by various transmission methods, such as through a transmission rope or gears, as detailed in [reference needed]. Figure 8 Related explanations.

[0080] The first encoder is installed at a preset position in the first reading mechanism 140, for example, inside the first motor 142 or between the first motor 142 and the transmission disk 141.

[0081] The first encoder can be an incremental encoder or an absolute encoder, etc. The first encoder can use the detected rotation angle of the output shaft of the first motor 142, or the rotation angle of the transmission disk 141, as first information. The first rotation angle can be calculated through a preset correspondence between the first information and the first rotation angle. This preset correspondence can be obtained based on experience or experimental measurements. For example, the first rotation angle is positively correlated with the rotation angle of the output shaft of the first motor 142 and negatively correlated with the transmission ratio between the first motor 142 and the transmission disk 141.

[0082] The transmission disc, motor, and first encoder enable precise reading and control of the rotation angle of the clamped part. Positioning the transmission disc within the clamping gap provides support and fixation.

[0083] In some embodiments, such as Figure 7 As shown, the first fixing member 121 is disposed on one side of the second fixing member 122, the first motor 142 is disposed on the other side of the second fixing member 122, and the output shaft of the first motor 142 passes through the second fixing member 122 and is connected to the transmission disk 141 for transmission.

[0084] Figure 14 This is a schematic diagram of the rotational connection between the base and the clamping element according to some embodiments of this specification.

[0085] In some embodiments, such as Figure 8 and Figure 14 As shown, the endoscope holding device 100 also includes a transmission rope 150, with both ends of the transmission rope 150 fixed on the clamping member and the transmission rope 150 wound around the transmission disc.

[0086] The transmission rope 150 can be used to transmit rotary motion. The clamping member 130 can be rotatably connected to the base 120 via the transmission rope 150.

[0087] In some embodiments, such as Figure 13 As shown, the clamping component includes a third fixing member 135. The third fixing member 135 is located on the side of the opening. The third fixing member 135 is used to fix the transmission rope 150.

[0088] In some embodiments, such as Figure 13 As shown, the clamping member 130 includes a rope groove 136. The rope groove 136 is used to accommodate the transmission rope 150 and restrict the position of the transmission rope 150 so that the transmission rope 150 is not easily slipped off the clamping member 130.

[0089] In some embodiments, such as Figure 8 and Figure 14 As shown, the endoscope holding device 100 also includes a slider 151. The transmission rope 150 can slide on the slider 151. The slider 151 can be a pulley with a groove on its outer periphery, and the transmission rope 150 can slide within the groove. The slider 151 is disposed between the clamping member 130 and the transmission disk 141, and the slider 151 can further limit the sliding position of the transmission rope. The cooperation of the slider 151, the clamping member 130, and the transmission disk 141 can achieve stable transmission of the transmission rope 150.

[0090] The transmission rope enables power transfer between the clamping component and the transmission disc, simplifying the transmission structure and improving its flexibility and reliability. Furthermore, the transmission rope is easy to adjust and replace later.

[0091] In some embodiments, the first fastener 121 and / or the second fastener 122 include an operation window 124, at least a portion of the transmission disc 141 is exposed from the operation window, and the transmission rope 150 is at least partially wound around the exposed portion of the transmission disc 141.

[0092] The operation window 124 is a window opened inside the first fixing member 121 and / or the second fixing member 122.

[0093] The operation window facilitates the winding of the transmission rope and the disassembly and assembly of the transmission disc, improving the usability and maintainability of the entire endoscope holding device.

[0094] In some embodiments, such as Figure 1 As shown, the support mechanism 110 includes a positioning arm 111 and an end arm 112. The end arm 112 is rotatably connected to the end of the positioning arm 111, and the rotation axis of the end arm 112 is perpendicular to the axis of the end arm 112.

[0095] The positioning arm 111 is used to position the end arm 112. The positioning arm 111 may include one or more articulated arms. In some embodiments, the positioning arm 111 includes multiple articulated arms that are rotatably connected to each other, and the rotation amplitude and rotation direction of the multiple articulated arms may be the same or different.

[0096] In some embodiments, the positioning arm 111 includes at least one articulated link and at least one rotary joint. The rotation direction and rotation amplitude of the at least one rotary joint may be the same or different. For example, Figure 1 As shown, the positioning arm 111 includes a rotary joint 111-1, a rotary joint 111-2, a rotary joint 111-3, a rotary joint 111-4, and a joint link 111-5, which connects the rotary joint 111-3 and the rotary joint 111-4.

[0097] In some embodiments, the positioning arm 111 has a hollow structure, thereby facilitating the wiring of the endoscope holding assembly.

[0098] In some embodiments, the positioning arm 111 is directly fixed to the hospital bed.

[0099] In some embodiments, such as Figure 1 As shown, the support mechanism 110 includes a moving carriage 113, and the positioning arm 111 is fixedly connected to the moving carriage 113. The moving carriage 113 can move the entire endoscope holding device to the vicinity of the bed.

[0100] The end arm 112 is a structure located at the end of the positioning arm 111. In some embodiments, the end arm 112 can be connected to the positioning arm via a rotary joint.

[0101] In some embodiments, the base 120 is fixedly connected to the end arm 112, and the rotation of the end arm 112 can drive the clamping member 130 connected to the base 120 to rotate, thereby driving the endoscope handle to rotate.

[0102] For example, such as Figure 1 As shown, the rotation axis of the end arm 112 is perpendicular to the axis D1-D1 of the end arm.

[0103] In some embodiments, such as Figure 1As shown, the support mechanism 110 also includes a lifting column 114. The lifting column 114 is used to adjust the height of the endoscope holding device. The lifting column can adjust the height of the endoscope holding device according to the doctor's height.

[0104] In some embodiments, the lifting column 114 can be mounted on the mobile vehicle 113 or a hospital bed. One end of the positioning arm 111 is rotatably connected to the lifting column 114, and the other end is rotatably connected to the end arm 112.

[0105] By setting up the positioning arm and the end arm, the position of the endoscope handle can be further adjusted, providing doctors with more surgical control space.

[0106] Figure 15 This is a schematic diagram of the connection structure between the positioning arm and the end arm according to some embodiments of this specification.

[0107] In some embodiments, such as Figure 15 As shown, a force compensation device 160 is disposed at the connection between the end arm 112 and the positioning arm 11, and the force compensation device 160 is configured to provide a compensating force to the end arm 112.

[0108] The force compensation device 160 can be configured as a motor, etc.

[0109] The compensating force is the torque applied by the force compensation device 160 to the end arm 112 and its connected components. The compensating force is related to the total weight of the end arm 112 and its rotation angle. The total weight of the end arm 112 includes the sum of the weights of the end arm 112 and its connected components (such as the base 120, clamping member 130, first reading structure 140, and endoscope handle 210). The rotation angle of the end arm is the rotation angle of the end arm 112 relative to the positioning arm 111. For example, as... Figure 15 As shown, the rotation angle of the end arm is θ. In some embodiments, the compensating force can be calculated using formula (1). Formula (1) is shown below: (1) Where M represents the compensating force, F represents the total weight of the end arm 112, and L represents the distance from the force compensation device 160 to the endoscope handle.

[0110] By setting the force compensation device 160, gravity compensation can be provided for the end arm 112 and its connecting components, ensuring that the position of the end arm of the endoscope holding assembly remains unchanged during the operation, thereby ensuring the safety of the operation.

[0111] In some embodiments, the endoscope holding device further includes a second reading mechanism (not shown in the figure). The second reading mechanism is disposed at the connection between the distal arm 112 and the positioning arm 111. The second reading mechanism is configured to acquire second information, including the rotation angle of the distal arm. The second reading mechanism includes a second encoder, which can acquire the rotation angle of the distal arm. The second encoder is similar to the first encoder; see details below. Figures 7-8 Related explanations.

[0112] The second reading mechanism enables precise reading and control of the rotation angle of the end arm.

[0113] It should be noted that the above description of the endoscope holding device and its components is for ease of description only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principle of the device, may arbitrarily combine the various components without departing from this principle.

[0114] Figure 16 This is a schematic diagram of the structure of an endoscope control system according to some embodiments of this specification.

[0115] In some embodiments, such as Figure 16 As shown, the endoscope control system 200 includes an endoscope 20, an endoscope holding device 100, and a pushing device 230. The endoscope 20 includes an endoscope handle 210 and an insertion portion 220. The pushing device 230 is configured to control the rotation of the insertion portion 220 based on first information. The endoscope holding device is used to hold the endoscope handle.

[0116] An endoscope 20 is a medical device used for observation and diagnosis during surgery. For example, an endoscope 20 can be a gastroscope, colonoscope, bronchoscope, cystoscope, laparoscope, or arthroscope.

[0117] The endoscope handle 210 is used to operate and control the movement and function of the endoscope. The endoscope insertion section 220 is used for insertion into the patient for observation and diagnosis.

[0118] For example, such as Figure 16 As shown, during surgery, the endoscope holding device 100 is brought near the patient, and then the pushing device 230 is used to insert the insertion part 220 into the target location within the patient's body. The target location can be the lesion or a location near the lesion. During surgery, the surgeon can control the endoscope handle 210 to rotate or translate by controlling the endoscope holding device 100. The endoscope holding device 100 acquires information about the rotation or translation (such as first and second information) and controls the insertion part to rotate or translate via the pushing device, thus facilitating the surgeon's observation of the target location through the endoscope.

[0119] For details regarding the endoscope holder 100 and the endoscope handle 210, please refer to [link to documentation]. Figures 1-12 .

[0120] In some embodiments, the endoscope holding device further includes a second reading mechanism configured to acquire second information, the second information including the rotation angle of the distal arm, and the pushing device is further configured to push the insertion portion based on the second information. See below for further details. Figures 1-15 Related explanations.

[0121] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0122] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "some embodiments" refers to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that "some embodiments" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0123] Furthermore, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods described herein. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only. For example, while the system components described above can be implemented by hardware devices, they can also be implemented solely by software solutions, such as installing the described system on existing servers or mobile devices.

[0124] Similarly, it should be noted that, in order to simplify the description disclosed in this specification and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. In fact, the embodiments have fewer features than all the features of the single embodiment disclosed above.

[0125] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0126] For each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, and documents, referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with this specification, as well as documents that limit the broadest scope of this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0127] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. An endoscope holding device, characterized in that, include: Supporting institutions; A base, which is disposed at the end of the support mechanism; The clamping component is slidably and rotatably connected to the base. The clamping component includes a limiting part and a clamping space for clamping the endoscope handle. The clamping space is formed by a through hole on the clamping component. The through hole has an opening on its periphery. The limiting part is used to restrict the rotation of the endoscope handle relative to the clamping component.

2. The apparatus as claimed in claim 1, characterized in that, In a first direction, the outer dimension of the opening is larger than the inner dimension of the opening, and the first direction is the diameter direction of the through hole.

3. The apparatus as described in claim 1, characterized in that, In the second direction, the distance between the end faces on one side of the opening is greater than the distance between the end faces on the other side, and the second direction is the direction of the central axis of the through hole.

4. The apparatus as claimed in claim 1, characterized in that, In the second direction, the distance between the end faces on one side of the opening is equal to the distance between the end faces on the other side.

5. The apparatus as described in claim 3 or 4, characterized in that, The limiting part includes a first limiting member and / or a second limiting member. The first limiting member is disposed inside the through hole, and the second limiting member is disposed on both sides of the opening. The second limiting member can cooperate with the protruding part on the endoscope handle to restrict the rotation of the endoscope handle relative to the clamping member.

6. The apparatus as claimed in claim 5, characterized in that, The diameter of the through hole increases from one end to the other along the second direction, and the first limiting member matches the through hole.

7. The apparatus as claimed in claim 1, characterized in that, The base includes a first fixing member and a second fixing member, which are arranged opposite to each other and have a clamping gap, and the clamping member is disposed in the clamping gap.

8. The apparatus as claimed in claim 7, characterized in that, The clamping member is provided with an annular sliding portion, and the first fixing member and / or the second fixing member are provided with a sliding mating portion that matches the sliding portion.

9. The apparatus as claimed in claim 8, characterized in that, The clamping component includes a third limiting member, which restricts the sliding range of the sliding part relative to the sliding mating part.

10. The apparatus as claimed in claim 1, characterized in that, It also includes a first reading mechanism configured to acquire first information, the first information representing a first rotation angle of the clamp relative to the base.

11. The apparatus as claimed in claim 10, characterized in that, The first reading mechanism includes a transmission disk, a first motor, and a first encoder. The transmission disk is disposed in the clamping gap and is connected to the clamping member and the output shaft of the first motor respectively. The first encoder is used to read the first information.

12. The apparatus as claimed in claim 11, characterized in that, The first fixing member is disposed on one side of the second fixing member, the first motor is disposed on the other side of the second fixing member, and the output shaft of the first motor passes through the second fixing member and is connected to the transmission disk.

13. The apparatus as claimed in claim 11, characterized in that, It also includes a transmission rope, the two ends of which are fixed to the clamping parts, and the transmission rope is wound around the transmission disc.

14. The apparatus as claimed in claim 1, characterized in that, The support mechanism includes a positioning arm and an end arm. The end arm is rotatably connected to the end of the positioning arm, and the rotation axis of the end arm is perpendicular to the axis of the end arm.

15. The apparatus as claimed in claim 14, characterized in that, It also includes a force compensation device disposed at the connection between the end arm and the positioning arm, the force compensation device being configured to provide a compensating force to the end arm.

16. The apparatus as claimed in claim 14, characterized in that, It also includes a second reading mechanism, which is disposed at the connection between the end arm and the positioning arm. The second reading mechanism is configured to acquire second information, which includes the rotation angle of the end arm.

17. An endoscope control system, characterized in that, include: An endoscope, including an endoscope handle and an insertion part; An endoscope holding device as claimed in any one of claims 1 to 16; The pushing device is configured to control the rotation of the insertion part based on the first information.

18. The system as claimed in claim 17, characterized in that, The endoscope holding device also includes a second reading mechanism configured to acquire second information, the second information including the rotation angle of the end arm, and the pushing device is further configured to push the insertion part based on the second information.

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