Measuring device for bending form of endoscope

Abstract

The embodiment of the utility model discloses a device for measuring the bending form of an endoscope. The device comprises a base; the displacement measuring assembly is installed on the base and connected with a traction rope of the endoscope to measure the moving stroke of the traction rope; the pulling force measuring assembly is connected with a pulling rope of the endoscope so as to measure the pulling force applied to the guiding joint by the pulling rope; the bending radian measuring assembly is mounted on the base and is used for measuring the bending radian of the guide joint; and the clamping assembly is mounted on the base and is used for clamping the endoscope. The measuring device can directly measure key parameters such as the pulling force and the stretching length of the pulling rope and the bending angle of the guiding joint when the endoscope moves, real and accurate data can be provided for follow-up endoscope movement analogue simulation, and meanwhile the measuring device is simple in structure and convenient to operate. The device is suitable for measuring endoscopes with different external diameters and lengths.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of medical equipment, and in particular to a device for measuring the bending shape of an endoscope. Background Art

[0002] In the design and manufacture of modern medical devices, endoscopes are important tools for internal human body inspection and surgery, and their reliability and accuracy are crucial. In order to ensure that the endoscope can smoothly pass through the tortuous airway and reach the target location, the endoscope must have a certain degree of flexibility and strength. Among them, the traction rope and guide joint play a key role, which is responsible for helping doctors control the bending and steering of the endoscope so that the endoscope can accurately reach the target location.

[0003] At present, the detection system on the market usually uses the fusion algorithm to solve the bending angle according to the displacement information of the current endoscope, and obtains the bending shape of the front end of the endoscope; then simulates and establishes the bending posture model of the guide joint, and then displays it through the display device. When the doctor uses the endoscope for inspection or treatment, the display device can intuitively see the bending shape of the front end of the endoscope in the human body, which assists the doctor to complete the inspection or treatment operation with higher accuracy and stability.

[0004] It can be seen that the existing detection system needs to rely on multiple detection modules to detect the bending shape of the endoscope and use fusion algorithms to synthesize various types of data to solve the virtual bending angle, and establish various models to assist in generating the final bending posture model. This results in a high cost for the detection system, a complex calculation process, and the existence of multiple virtual data nested calculation processes, which may lead to error amplification problems. Utility Model Content

[0005] The embodiment of the present application provides an endoscope bending shape measuring device with a simple structure, a simple measurement method, and a wide range of applications.

[0006] The embodiment of the present application provides a device for measuring the bending shape of an endoscope, wherein the endoscope comprises a traction rope and a guide joint located at the distal end of the endoscope, wherein the traction rope is connected to and pulls the guide joint to change the bending degree of the guide joint; the measuring device comprises:

[0007] Base;

[0008] A displacement measuring assembly is mounted on the base and connected to the traction rope of the endoscope to measure the movement stroke of the traction rope;

[0009] A tension measurement assembly connected to the traction rope of the endoscope to measure the tension applied by the traction rope to the guide joint;

[0010] A bending curvature measuring assembly is mounted on the base and is used to measure the bending curvature of the guide joint;

[0011] The clamping assembly is installed on the base and clamps the endoscope.

[0012] It can be understood that the measuring device of the present application achieves the clamping and fixation of endoscopes of any specifications through the clamping assembly to facilitate the corresponding measurement, and then measures the moving stroke of the endoscope traction rope, the tension exerted on the traction rope under the corresponding moving stroke, and the bending curvature of the guide joint through the displacement measurement assembly, the tension measurement assembly, and the bending arc measurement assembly. The tension of the endoscope, the corresponding stretching length, and the bending angle are key parameter indicators for determining the movement of the endoscope. The present application directly and accurately measures the key parameters to provide initial and accurate data for subsequent simulation of the endoscope. The measuring device has a simple structure, and the measurement results can be determined without multiple data calculations, and the test is simple.

[0013] In a feasible solution, the displacement measurement assembly includes: a displacement seat, mounted on the base; a connecting platform, connected to the traction rope, used to pull the traction rope and measure the travel of the traction rope; a driving module, respectively connected to the displacement seat and the connecting platform, used to drive the connecting platform to move relative to the displacement seat to pull the traction rope; a length measuring member, arranged on the displacement seat, used to measure the displacement of the connecting platform relative to the displacement seat, and the displacement of the displacement seat is equal to the travel of the traction rope. The driving module drives the connecting platform to move and then pulls the traction rope to achieve a change in the travel of the traction rope, and further measures the movement travel of the traction rope by changing the relative position of the connecting platform and the displacement seat. In this way, the displacement of the traction rope (i.e., the stretched length of the traction rope) can be directly and clearly determined without further calculation.

[0014] In a feasible solution, the driving module includes: a first transmission member, which is arranged on the displacement seat; a second transmission member, which is connected to the connecting platform and is in transmission connection with the second transmission member, so as to drive the connecting platform to move relative to the displacement seat and pull the traction rope; a driving handle, which is connected to the first transmission member or the second transmission member, so as to drive the first transmission member and the second transmission member to move relative to each other. It can be understood that the relative movement of the displacement seat of the connecting platform can be achieved by driving the first transmission member and the second transmission member to move relative to each other through the driving handle, thereby pulling the traction rope. The driving structure is simple, and there is no other transmission structure between the traction rope and the connecting platform, so as to avoid irrelevant resistance affecting the measurement results.

[0015] In a feasible solution, the first transmission member is a gear, the second transmission member is a rack, the rack and the gear are meshed for transmission; the driving handle is arranged on the displacement seat and connected to the gear to drive the gear transmission. The meshing transmission of the gear and rack effectively simplifies the transmission structure and reduces the generation of errors.

[0016] In a feasible solution, the tension measurement assembly includes: a rope pull seat, connected to the traction rope to pull the traction rope; a tension sensor, installed on the connecting platform and connected to the rope pull seat; and a force gauge, electrically connected or signal-connected to the tension sensor, for receiving the measurement signal of the tension sensor and converting it to obtain the tension value of the traction rope. The traction rope is fixed by the rope pull seat to avoid the influence of the traction rope being separated from the connecting platform during the pulling process. The tension sensor is arranged between the connecting platform and the traction rope, and can directly measure the tension of the traction rope, effectively avoiding the error caused by the intermediate transmission parts. The signal of the tension sensor is further received by the force gauge and analyzed to obtain the tension value of the traction rope.

[0017] In a feasible solution, the bending curvature measuring assembly includes: a measuring platform for carrying the guide joint at the distal end of the endoscope, the guide joint being placed flat on the measuring platform; and a curvature measuring piece, which is laid flat on the measuring platform and is used to measure the curvature of the guide joint. The curvature of the guide joint can be directly measured by the mechanical measurement method of the curvature measuring piece, avoiding the indirect calculation of the curvature by fusion algorithms and other indirect means, thereby ensuring the measurement accuracy.

[0018] In a feasible solution, the clamping assembly includes:

[0019] The clamping module comprises a supporting seat and a clamping member, wherein the supporting seat is mounted on the base and used to support the endoscope, and the clamping member is slidably arranged on the supporting seat and has a limiting groove;

[0020] The fixing part is arranged on the supporting seat, and the fixing part is provided with a supporting groove, and the endoscope is installed in the supporting groove. The fixing part and the clamping part are arranged relative to each other, so that the limiting groove and the supporting groove enclose and clamp the circumferential side wall of the endoscope, and the clamping part moves toward the fixing part to clamp the endoscope or moves away from the fixing part to loosen the endoscope. The fixing part and the clamping part enclose and clamp the circumferential side wall of the endoscope to ensure the stable clamping of the endoscope and prevent the displacement of the endoscope during the pulling process of the traction rope, which leads to measurement errors. At the same time, the clamping by enclosing can be applied to the clamping of endoscopes with any outer diameter specifications, and has a wide range of applications.

[0021] In a feasible solution, a slide groove is provided on the supporting seat, and the clamping member is arranged in the slide groove and can slide along the slide groove to approach or move away from the fixing member;

[0022] The clamping module also includes an elastic member and a clamping member. The clamping member is provided with an avoidance hole that runs through the clamping member in a vertical direction. The avoidance hole is extended along the moving direction of the clamping member. One end of the clamping member is provided with the avoidance hole and is fixedly connected to the supporting seat. The elastic member is arranged between the clamping member and the clamping member. The clamping member is installed by the clamping member to prevent the clamping member from being separated from the supporting seat during use. Furthermore, the elastic member cooperates with the clamping member so that the elastic member always presses the clamping member downward, so that the clamping member has a certain pressure to press down the endoscope, thereby preventing the endoscope and the clamping member from shifting.

[0023] In a feasible solution, the clamping modules are arranged in multiple numbers and arranged in a straight line in the same direction, and the fixing member is fixed across the multiple supporting seats. The clamping modules are arranged at intervals, so that multiple parts of the endoscope can be clamped, and the clamping stability is improved. The clamping modules are arranged at intervals, and the volume is small, so that the measuring device is lighter, easier to use and reduces the cost.

[0024] In a feasible solution, a positioning groove is provided on the supporting seat, and the fixing member is installed in the positioning groove. The fixing member can be quickly positioned through the positioning groove, and the assembly is simple and fast.

[0025] Based on the above scheme, it can be known that the measuring device adopted in the present application realizes the clamping and fixation of endoscopes of any specifications through the clamping component to facilitate the corresponding measurement, and then measures the moving stroke of the endoscope traction rope, the tension exerted on the traction rope under the corresponding moving stroke, and the bending curvature of the guide joint through the displacement measurement component, the tension measurement component, and the bending arc measurement component. The tension of the endoscope, the corresponding stretching length, and the bending angle are key parameter indicators for determining the movement of the endoscope. The present application directly and accurately measures the key parameters to provide initial and accurate data for the subsequent simulation of the endoscope morphology. The measurement results can be determined without multiple data calculations, the test is simple, and the measuring device has a simple structure and low equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0027] Figure 1 The overall structure of the measuring device in one embodiment of the present application is schematically shown;

[0028] Figure 2 for Figure 1 A front view of the measuring device;

[0029] Figure 3 for Figure 1 A top view of the measuring device;

[0030] Figure 4 is a cross-sectional view of a measuring device in one embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the structure of a displacement measurement component and a tension measurement component in one embodiment of the present application;

[0032] Figure 6 Schematic diagram of the structure of a clamping assembly in one embodiment of the present application.

[0033] Numbers in the figure:

[0034] 100. Measuring device; 1. Base; 11. Support foot; 12. Support plate; 2. Displacement measuring assembly; 21. Displacement seat; 22. Connecting platform; 23. Driving module; 231. Driving handle; 24. Length measuring piece; 25. Guide groove; 26. Guide piece; 3. Tension measuring assembly; 31. Rope seat; 311. Fixing plate; 312. Fastener; 32. Tension sensor; 33. Dynamometer; 34. Fixing box; 4. Bending arc measuring assembly; 41. Measuring table; 5. Clamping assembly; 51. Clamping module; 511. Support seat; 5111. Positioning groove; 512. Clamping piece; 513. Limiting groove; 514. Limiting block; 515. Pressing piece; 516. Elastic piece; 517. Avoidance hole; 518. Operating area; 52. Fixing piece; 521. Supporting groove; 200. Endoscope; 201. Traction rope; 202. Guide joint. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0038] In order to improve the stability and high precision of endoscope operation, the existing technology simulates the bending shape of the endoscope to guide the operation of the endoscope.

[0039] The applicant found that the existing detection system measures the bending morphology data of the endoscope through multiple automated modules, and requires a fusion algorithm to synthesize various types of data to solve the virtual bending angle, and establish various models to assist in generating the final bending posture model. This results in the detection system being costly, the calculation process being complex, and there being multiple virtual data nested calculation processes, which may lead to error amplification.

[0040] It can be seen that there is currently a lack of a measuring device 100 that can directly measure key parameter indicators of the bending shape of an endoscope, such as the tension, stretching length and bending angle of the endoscope.

[0041] In one embodiment of the present application, the measurement of a bronchoscope is taken as an example. Of course, in other embodiments, it is also applicable to the measurement of other types of endoscopes, such as a gastroscope, a colonoscope, a choledochoscope, etc.

[0042] Figure 1 The endoscope bending shape measuring device 100 in the first embodiment of the present application is as follows: Figure 1As shown, the endoscope bending shape measuring device 100 includes a base 1, a clamping assembly 5, a displacement measuring assembly 2, a tension measuring assembly 3 and a bending curvature measuring assembly 4, wherein the base 1 serves as a bearing platform for bearing and installing the clamping assembly 5, the displacement measuring assembly 2, the tension measuring assembly 3 and the bending curvature measuring assembly 4, the displacement measuring assembly 2 is connected to the traction rope 201 of the endoscope 200 to measure the movement stroke of the traction rope 201, the tension measuring assembly 3 is connected to the traction rope 201 of the endoscope 200 to measure the tension applied by the traction rope 201 to the guide joint 202, the bending curvature measuring assembly 4 is used to measure the bending curvature of the guide joint 202, and the clamping assembly 5 is used to clamp the endoscope 200.

[0043] It is not difficult to find from the above content that the measuring device 100 provided in the present application is capable of directly measuring the tension exerted on the traction rope 201 and its own stretching length as well as the bending curvature of the guide joint 202 when the endoscope 200 moves, and through computer-aided design (CAD) and finite element analysis (FEA) and other technical means to test and verify the influence of the wire rope tension and stretching length on the turning angle of the bronchoscope, determine their mutual relationship, and use this as the data basis to simulate the endoscope 200.

[0044] It can be understood that the measuring device 100 of the present application realizes the clamping and fixation of an endoscope 200 of any specification through the clamping component 5 to facilitate the corresponding measurement, and then measures the moving stroke of the traction rope 201 of the endoscope 200, the tension exerted on the traction rope 201 under the corresponding moving stroke, and the bending curvature of the guide joint 202 through the displacement measurement component 2, the tension measurement component 3 and the bending curvature measurement component 4 respectively. The tension, corresponding stretching length and bending angle of the endoscope 200 are key parameter indicators for determining the movement of the endoscope 200. The present application directly and accurately measures the key parameters to provide initial and accurate data for the subsequent simulation of the endoscope 200. The measuring device 100 has a simple structure, and the measurement results can be determined without multiple data calculations, and the test is simple.

[0045] like Figure 1 and Figure 4 As shown, the base 1 includes a support plate 12 and support feet 11 , and a plurality of support feet 11 are arranged at the bottom of the support plate 12 .

[0046] In one embodiment, the support plate 12 is configured as a profile plate, and the profile has the characteristics of being lightweight and high-strength, so that the weight of the measuring device 100 can be reduced while ensuring the bearing strength, thereby achieving lightweighting of the device.

[0047] like Figure 1 and Figure 5As shown, the displacement measuring assembly 2 includes a displacement seat 21, a connecting platform 22, a driving module 23 and a length measuring piece 24. The displacement seat 21 is fixedly mounted on the base 1. The connecting platform 22 is connected to the traction rope 201, and is used to pull the traction rope 201 and measure the moving stroke of the traction rope 201. The driving module 23 is respectively connected to the displacement seat 21 and the connecting platform 22, and is used to drive the connecting platform 22 to move relative to the displacement seat 21 to pull the traction rope 201. The length measuring piece 24 is arranged on the displacement seat 21, and is used to measure the displacement of the connecting platform 22 relative to the displacement seat 21. The displacement of the displacement seat 21 is equal to the moving stroke of the traction rope 201, that is, the stretched length of the traction rope 201. The driving module 23 drives the connecting platform 22 to move and then pulls the traction rope 201, so as to realize the change of the stroke of the traction rope 201. The movement stroke of the traction rope 201 is further measured by the change of the relative position of the connecting platform 22 and the displacement seat 21. In this way, the displacement of the traction rope 201 (i.e., the stretched length of the traction rope 201) can be directly and clearly determined without further calculation.

[0048] Optionally, in one embodiment, the length measuring member 24 can be configured as a length measuring ruler or a scale paper pasted on the displacement seat 21 or a scale mark etched on the displacement seat 21 .

[0049] Correspondingly, a zero position mark is provided on the connecting platform 22 . In the preparation stage of measurement, the zero position mark of the connecting platform 22 needs to be aligned with the zero position of the length measuring member 24 on the displacement seat 21 .

[0050] In one embodiment, if Figure 5 As shown, the driving module 23 includes a first transmission member (not shown in the figure), a second transmission member (not shown in the figure) and a driving handle 231. The first transmission member is arranged on the displacement seat 21 and connected to the displacement seat 21. The second transmission member is fixedly connected to the connecting platform 22 and is in driving connection with the first transmission member, so that when the second transmission member moves, it drives the connecting platform 22 to move relative to the displacement seat 21 and pulls the traction rope 201. The driving handle 231 is connected to the first transmission member or the second transmission member to drive the first transmission member and the second transmission member to move relative to each other. It can be understood that the relative movement of the displacement seat 21 of the connecting platform 22 can be achieved by driving the first transmission member and the second transmission member to move relative to each other through the driving handle 231, thereby pulling the traction rope 201. The driving structure is simple, and there is no other transmission structure between the traction rope 201 and the connecting platform 22, so as to avoid irrelevant resistance affecting the measurement results.

[0051] In one embodiment, the first transmission member is configured as a gear, and the second transmission member is configured as a rack, and the rack is meshed with the gear for transmission; the driving handle 231 is disposed on the displacement seat 21 and connected to the gear, and is used to drive the gear transmission. Through the meshing transmission of the gear rack, the transmission structure is effectively simplified and the generation of errors is reduced. In other embodiments, the transmission method of the first transmission member and the second transmission member is not limited to the gear rack transmission described above, and may also be, for example, a screw slider transmission, a gear transmission, or a conveyor belt transmission.

[0052] Optionally, a guide groove 25 is provided on the displacement seat 21, and a guide member 26 corresponding to the guide groove 25 is provided on the connecting platform 22. When assembled, the guide member 26 is limited in the guide groove 25. When the connecting platform 22 and the displacement seat 21 move relative to each other, the guide member 26 can slide along the guide groove 25. Through the guiding cooperation between the guide groove 25 and the guide member 26, it is ensured that the connecting platform 22 can be displaced along a straight line, thereby avoiding displacement measurement errors caused by the movement of the connecting platform 22. In other embodiments, the guide groove 25 may be provided on the connecting platform 22, and a guide member 26 cooperating with the guide groove 25 may be provided on the corresponding displacement seat 21.

[0053] like Figure 1 and Figure 6 As shown, the tension measurement component 3 includes a rope pull seat 31, a tension sensor 32 and a force gauge 33. The rope pull seat 31 is fixedly mounted on the connecting platform 22, and the rope pull seat 31 is connected to the traction rope 201 to fix the end of the traction rope and to pull the traction rope. The traction rope 201 is fixed by the rope pull seat 31 to prevent the traction rope 201 from being separated from the connecting platform 22 during the pulling process. The tension sensor 32 is mounted on the connecting platform 22 and connected to the rope pull seat 31, and is used to sense the tension exerted on the rope pull seat 31, that is, to sense the tension exerted on the traction rope 201, and to generate a corresponding tension signal, such as a voltage signal. The force gauge 33 is electrically connected or signal-connected to the tension sensor 32, and is used to receive the measurement signal of the tension sensor 32 and convert it into the tension value exerted on the traction rope. Among them, the tension sensor 32 is arranged between the connecting platform 22 and the traction rope 201, which can directly measure the tension exerted on the traction rope 201, effectively avoiding the error caused by the intermediate transmission parts, and further receiving the signal of the tension sensor 32 through the force gauge 33 and analyzing it to obtain the tension value exerted on the traction rope 201.

[0054] The pull rope seat 31 includes a fixing plate 311 and a fastener 312. The fixing plate 311 fixes the traction rope 201 by winding, and the fastener 312 tightens and fixes the fixing plate 311 and the end of the traction rope 201. The fastener 312 is a fastening structure such as a nut or a bolt.

[0055] It should be noted that the fixed plate 311 of the pull rope seat 31 and the plane of the fixing part 52 supporting the endoscope 200 are at the same height, ensuring that the place where the fixed plate 311 fixes the traction rope 201 is at the same height as the axial center line of the traction rope 201, so that there is no component force when the traction rope 201 is pulled. At the same time, the pull rope seat 31 is preferably set to a cylindrical or disc shape, and the outer circular section of the fixed plate 311 is located on the center line of the endoscope 200.

[0056] like Figure 1 As shown, the tension measurement assembly 3 further includes a fixing box 34 , which is fixedly mounted on the base 1 , and the dynamometer 33 is fixedly mounted in the fixing box 34 .

[0057] like Figure 1 and Figure 3 As shown, the bending curvature measuring assembly 4 includes a measuring platform 41 and a curvature measuring piece. The measuring platform 41 has a plane for carrying the guide joint 202 at the distal end of the endoscope 200, so that the guide joint 202 can be placed flat on the measuring platform 41. The curvature measuring piece (not shown) is laid flat on the measuring platform 41 to measure the bending curvature of the guide joint 202. The current bending curvature of the guide joint 202 can be directly measured by the mechanical measurement method of the curvature measuring piece, avoiding the indirect calculation of the bending curvature by fusion algorithms and other indirect means, thereby ensuring the measurement accuracy.

[0058] In one embodiment, the radian measuring piece is configured as radian measuring paper and is pasted on the measuring platform 41, or the radian measuring piece is a radian measuring scale mark etched on the bearing plane of the measuring platform 41. Such a configuration has a simple structure and can intuitively and accurately measure the actual radian of the guide joint without going through an algorithm calculation process.

[0059] like Figure 3 , 4 and Figure 6As shown, the clamping assembly 5 includes a clamping module 51 and a fixing member 52, wherein the clamping module 51 includes a supporting seat 511 and a clamping member 512, the supporting seat 511 is installed on the base 1 for supporting the endoscope 200, the clamping member 512 is slidably arranged on the supporting seat 511 and has a limiting groove 513, the fixing member 52 is arranged on the supporting seat 511, and a supporting groove 521 is arranged on the fixing member 52, the endoscope 200 is installed in the supporting groove 521, and the fixing member 52 is arranged relative to the clamping member 512 so that the endoscope 200 can be mounted on the supporting seat 511. The limiting groove 513 and the supporting groove 521 enclose and clamp the circumferential side wall of the endoscope 200, and the clamping member 512 moves toward the fixing member 52 to clamp the endoscope 200 or moves away from the fixing member 52 to loosen the endoscope 200. The fixing member 52 and the clamping member 512 enclose and clamp the circumferential side wall of the endoscope 200 to ensure that the endoscope 200 is stably clamped and prevent the endoscope 200 from shifting during the pulling process of the traction rope 201, resulting in measurement errors. At the same time, the clamping by enclosing can be suitable for clamping endoscopes 200 of any outer diameter specifications, and has a wide range of applications.

[0060] like Figure 6 As shown, an operation area 518 is provided on the support seat 511, and the operation area 518 corresponds to the hand-held part of the clamping member 512, and a hand operation space is reserved for the operator to push and pull the clamping member 512. In one embodiment, the operation area 518 is set as an L-shaped groove, which is provided on the top surface and the circumferential side surface of the support seat 511 and corresponds to the clamping member 512. In other embodiments, the operation area 518 can also be set as an operation space of other shapes.

[0061] Optional, such as Figure 6 As shown, a slide groove is provided on the supporting seat 511, and the clamping member 512 is arranged in the slide groove and can slide along the slide groove to approach or move away from the fixing member 52, and the slide groove plays a guiding and limiting role to prevent the clamping member 512 from swinging or deflecting when sliding, resulting in unstable clamping of the endoscope 200.

[0062] In the examples, please refer to Figure 6 The clamping module 51 also includes a limit block 514, and the two limit blocks 514 are extended along the sliding direction of the clamping member 512, and the two limit blocks 514 are relatively spaced apart, thereby forming the slide groove. Of course, in other embodiments, an inwardly concave slide groove can be directly opened on the supporting seat 511, or a protrusion can be formed integrally to form the slide groove.

[0063] Please continue reading Figure 6The clamping module 51 further includes an elastic member 516 and a pressing member 515. The clamping member 512 is provided with an avoidance hole 517 penetrating the vertical direction of the clamping member 512. The avoidance hole 517 is extended along the moving direction of the clamping member 512. One end of the pressing member 515 is provided with the avoidance hole 517 and is fixedly connected to the supporting seat 511. The elastic member 516 is arranged between the pressing member 515 and the clamping member 512. The installation of the clamping member 512 is achieved through the pressing member 515 to prevent the clamping member 512 from being separated from the supporting seat 511 during use. Further, the elastic member 516 cooperates with the pressing member 515, and the elastic member 516 always presses the clamping member 512 downward, so that the clamping member 512 has a certain pressure to press down the endoscope 200, thereby preventing the endoscope 200 and the clamping member 512 from shifting.

[0064] The elastic member 516 is a spring, which is sleeved on the pressing member 515, and one end of the spring abuts against the upper surface of the clamping member 512, and the other end abuts against the top of the pressing member 515.

[0065] In one possible solution, Figure 1 As shown, the clamping modules 51 are arranged in multiple numbers, and the clamping modules 51 are arranged in a straight line and spaced apart in the same direction, and the fixing member 52 is fixed across the multiple supporting seats 511. The clamping modules 51 are arranged at intervals, so that multiple parts of the endoscope 200 are clamped, and the clamping stability is improved. The clamping modules 51 are arranged at intervals, and can be set to a smaller volume under the premise of ensuring the clamping stability, so that the measuring device 100 is more lightweight, easy to use and reduces the cost.

[0066] Optionally, the supporting seat 511 of the clamping module 51 is detachably mounted on the base 1 by means of fastening members such as screws or nuts, so as to adjust the position of the clamping module 51 according to the length of the endoscope 200, thereby adapting to the measurement of endoscopes 200 of various length specifications.

[0067] In a feasible solution, a positioning groove 5111 is provided on the supporting seat 511, and the fixing member 52 is installed in the positioning groove 5111. The fixing member 52 can be quickly positioned through the positioning groove 5111, and the assembly is simple and quick.

[0068] like Figures 1 to 6 As shown, the measuring process of the measuring device 100 is briefly described by taking the measuring device 100 in the illustrated embodiment as an example:

[0069] Before measurement, mark the relationship between the traction rope 201 and the bending direction of the guide joint 202 of the endoscope 200 to determine the bending direction to be tested;

[0070] Next, the position of the connecting platform 22 is adjusted by driving the handle 231 so that the zero position mark on the connecting platform 22 is aligned with the zero position on the displacement platform;

[0071] Turn on the tension sensor 32, and pull the clamping members 512 on the multiple clamping modules 51 away from the fixing member 52, then put the endoscope 200 into the supporting groove 521 on the fixing member 52, and the endoscope 200 abuts against the groove wall of the supporting groove 521, then adjust the position of the endoscope 200 so that the guide joint part of the front end of the endoscope 200 is flat on the measuring table 41, and the center line of the endoscope 200 coincides with the starting point of the arc measuring member; finally, push the clamping members 512 in sequence so that the clamping members 512 and the fixing member 52 surround and clamp the endoscope;

[0072] Take out the traction rope 201 of the endoscope 200, and wrap at least one of them around the traction rope seat 31 and fix it. At this time, the tension value of the traction rope 201 is required to be 0;

[0073] The measurement process is as follows: the driving handle 231 is rotated to make the connecting platform 22 pull the traction rope 201, and the guide joint 202 at the front end of the endoscope 200 performs a directional adjustment action, that is, the guide joint performs a bending movement. At this time, the corresponding tension value can be read by the dynamometer 33, and the displacement of the connecting platform 22 can be read by the scales on the displacement platform and the connecting platform 22. At the same time, the bending curvature of the guide joint can be read by the curvature measurement sticker or scale mark on the measuring platform 41. The driving handle 231 is continuously rotated. During this process, the numerical value can be read multiple times until the guide joint reaches the bending limit, and all the bending curvature, tensile displacement and tension data of the guide joint in a certain direction from the initial state to the limit state can be obtained;

[0074] By changing the bending direction and performing multiple tests, the data of the endoscope 200 in different directions can be measured, providing a true and accurate data basis for subsequent mechanical analysis and data modeling to simulate the motion state of the endoscope 200.

[0075] In the present application, unless otherwise clearly specified and limited, a first feature being “on” or “under” a second feature may mean that the first feature is in direct contact with the second feature, or the first feature is in indirect contact with the second feature via an intermediate medium.

[0076] Moreover, the first feature being “above”, “above”, and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being “below”, “below”, and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An endoscope bending shape measuring device, characterized in that: The endoscope comprises a traction rope and a guide joint at the distal end of the endoscope, wherein the traction rope is connected to pull the guide joint to change the bending degree of the guide joint; the measuring device comprises: Base; A displacement measuring assembly is mounted on the base and connected to the traction rope of the endoscope to measure the movement stroke of the traction rope; A tension measurement assembly connected to the traction rope of the endoscope to measure the tension applied by the traction rope to the guide joint; A bending curvature measuring assembly is mounted on the base and is used to measure the bending curvature of the guide joint; The clamping assembly is installed on the base and clamps the endoscope.

2. The endoscope bending form measuring device according to claim 1, characterized in that: The displacement measurement assembly comprises: A displacement seat, mounted on the base; A connecting platform, connected to the traction rope, used to pull the traction rope and measure the travel of the traction rope; A driving module, connected to the displacement seat and the connecting platform respectively, and used for driving the connecting platform to move relative to the displacement seat to pull the traction rope; A length measuring member is arranged on the displacement seat and is used to measure the displacement of the connecting platform relative to the displacement seat, and the displacement of the displacement seat is equal to the moving stroke of the traction rope.

3. The endoscope bending form measuring device according to claim 2, characterized in that: The driving module comprises: A first transmission member, disposed on the displacement seat; A second transmission member is connected to the connecting platform and is in transmission connection with the first transmission member to drive the connecting platform to move relative to the displacement seat to pull the traction rope; A driving handle is connected to the first transmission member or the second transmission member to drive the first transmission member and the second transmission member to move relative to each other.

4. The endoscope bending form measuring device according to claim 3, characterized in that: The first transmission member is configured as a gear, the second transmission member is configured as a rack, and the rack is meshed with the gear for transmission; the driving handle is disposed on the displacement seat and connected to the gear for driving the gear transmission.

5. The endoscope bending form measuring device according to claim 2, characterized in that: The tension measurement assembly comprises: A pulling rope seat, connected to the pulling rope to pull the pulling rope; A tension sensor, mounted on the connecting platform and connected to the rope pull seat; The force gauge is electrically connected or signal-connected to the tension sensor, and is used to receive the measurement signal of the tension sensor and convert it to obtain the tension value of the traction rope.

6. The endoscope bending form measuring device according to claim 5, characterized in that: The bending arc measurement component comprises: A measuring platform, used for supporting the guide joint at the distal end of the endoscope, wherein the guide joint is placed flat on the measuring platform; The curvature measuring piece is flatly arranged on the measuring platform and is used to measure the bending curvature of the guide joint.

7. The endoscope bending form measuring device according to any one of claims 1 to 6, characterized in that: The clamping assembly comprises: The clamping module comprises a supporting seat and a clamping member, wherein the supporting seat is mounted on the base and used to support the endoscope, and the clamping member is slidably arranged on the supporting seat and has a limiting groove; A fixing member is arranged on the supporting seat, and a supporting groove is arranged on the fixing member. The endoscope is installed in the supporting groove. The fixing member and the clamping member are arranged opposite to each other so that the limiting groove and the supporting groove surround and clamp the circumferential side wall of the endoscope. The clamping member moves toward the fixing member to clamp the endoscope or moves away from the fixing member to release the endoscope.

8. The endoscope bending form measuring device according to claim 7, characterized in that: The support seat is provided with a slide groove, and the clamping member is arranged in the slide groove and can slide along the slide groove to approach or move away from the fixing member; The clamping module also includes an elastic member and a clamping member. The clamping member is provided with an avoidance hole which penetrates the clamping member in a vertical direction. The avoidance hole is extended along the moving direction of the clamping member. One end of the clamping member is provided with the avoidance hole and is fixedly connected to the supporting seat. The elastic member is arranged between the clamping member and the clamping member.

9. The device for measuring the bending shape of an endoscope according to claim 7, characterized in that: A plurality of the clamping modules are provided, and the plurality of the clamping modules are linearly spaced and arranged in the same direction, and the fixing member is fixed across the plurality of the supporting seats.

10. The endoscope bending form measuring device according to claim 7, characterized in that: The supporting seat is provided with a positioning groove, and the fixing member is installed in the positioning groove.

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