A method for determining the outer contours of an endoscope operating part, an endoscope, and a driving wheel

Abstract

The present application discloses a method for determining the outer contours of an endoscope operating unit, an endoscope, and a drive wheel. The endoscope operating unit includes a drive wheel assembly, which includes two drive wheels that are fixedly connected and can rotate synchronously around a rotating shaft. The outer contours of the two drive wheels are respectively wrapped with drive wires for connecting to the head end of the endoscope. The distance from the outer contour of at least one drive wheel to the center of rotation gradually decreases from the initial angle to the target angle. During use, as the rotation angle of the drive wheel increases, the tension of the drive wire gradually increases, and the force arm of the drive wire on the drive wheel gradually decreases. Therefore, the torque required for the drive wheel to rotate is maintained at a low level, thereby reducing the force required for the doctor to operate the drive wheel and improving the doctor's comfort in operation.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more specifically, to a method for determining the outer contours of an endoscope operating portion, an endoscope, and a driving wheel. Background Art

[0002] The operating unit of a medical endoscope controls the upward, downward, left, and right bending movements of the endoscope's tip. Doctors hold the operating unit to control the movement of the endoscope to perform digestive tract examinations and surgeries. Doctors perform numerous surgeries daily, and the comfort of the operating unit directly impacts the user experience and indirectly influences surgical outcomes.

[0003] During the use of medical endoscopes currently on the market, the user controls the handwheel to rotate the driving wheel. The rotation of the driving wheel tightens the driving wire wrapped around the driving wheel, thereby controlling the bending of the head end. The center of the handwheel and the center of the driving wheel are coaxial, and both can rotate around this axis. The outer contour of the driving wheel or the envelope of the outer contour is a circle. The radius of the driving wheel is set to ρ, the tension on the driving wire is F, and the torque required to smoothly rotate the handwheel is M. Then M = ρ * F. As the rotation angle of the driving wheel increases, the bending angle of the head end gradually increases, and the tension F on the driving wire gradually increases. Since the radius ρ of the driving wheel is a constant value, the torque M required to rotate the handwheel will gradually increase. Therefore, when the handwheel rotates, as the bending angle of the head end increases, the required torque will gradually increase, and the doctor's fingers will easily feel tired after long-term operation.

[0004] In summary, how to reduce the fatigue of doctors when performing endoscopic surgery is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide an endoscope operating unit that requires less control force when controlling the rotation of the drive wheel, thereby greatly reducing the force required by the doctor to operate the endoscope, ensuring uniformity of force during rotation, and improving the doctor's comfort in operation. Another purpose of this application is to provide an endoscope including the above-mentioned endoscope operating unit. Another purpose of this application is to provide a method for determining the outer contour of the drive wheel.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] An endoscope operating part includes a drive wheel assembly, which includes two drive wheels that are fixedly connected and can rotate synchronously around a rotating shaft. The outer contours of the two drive wheels are respectively wrapped with drive lines for connecting to the head end of the endoscope. The distance from the outer contour of at least one of the drive wheels to the rotation center gradually decreases in the direction from the initial angle to the target angle.

[0008] Optionally, the distance from the outer contour of each driving wheel to the rotation center gradually decreases along the direction from the initial angle to the target angle.

[0009] Optionally, the initial angle is 0°, the target angle includes 180° and -180°, and the outer contours of the two driving wheels are respectively axisymmetric figures.

[0010] Optionally, in the axial projection along the rotation center, the outer contours of the two driving wheels are centrally symmetrically distributed about the rotation center.

[0011] Optionally, the endoscope operating part further includes two fixed pulleys, the two driving wires respectively wound around the two driving wheels are located between the two fixed pulleys, and the distance between the two fixed pulleys is less than or equal to the shortest diameter of the overlapping part of the two driving wheels.

[0012] Optionally, there are two driving wheel assemblies, one driving wheel assembly controls the head end to bend up and down, and the other driving wheel assembly controls the head end to bend left and right.

[0013] Optionally, the endoscope operating part further includes two hand wheels, and the two hand wheels are connected to the two driving wheel assemblies in a one-to-one correspondence.

[0014] Optionally, the shape of the outer contour is a trajectory curve of a preset function; wherein, the preset function is ρ=M / f1(β), M is the preset torque, β is the rotation angle, f1(β) is the corresponding relationship between the tension F of the driving line and the rotation angle, and the tension F of the driving line is positively correlated with the rotation angle.

[0015] An endoscope comprises a head end and any one of the above-mentioned endoscope operating parts.

[0016] A method for determining the outer contour of a driving wheel, comprising:

[0017] Obtain the corresponding relationship between the tension and rotation angle of the driving line;

[0018] determining a preset torque for the drive wheels;

[0019] Determining a preset function based on the corresponding relationship and the preset torque; wherein the preset function satisfies ρ=M / f1(β), ρ is the radius of the outer contour of the driving wheel, M is the preset torque, β is the rotation angle, and f1(β) is the corresponding relationship;

[0020] The shape of the trajectory curve of the preset function is determined as the shape of the outer contour of the driving wheel.

[0021] Through the above solution, the beneficial effects of the endoscope operating unit provided by this application are:

[0022] The endoscope operating part provided in the present application includes two drive wheels that are fixedly connected and can rotate synchronously around the same rotating axis. The outer contours of the two drive wheels are respectively wrapped with drive lines. In the process of the two drive wheels rotating from an initial angle to a target angle, the radius of the outer contour of at least one drive wheel decreases as the rotation angle increases.

[0023] During use, as the rotation angle of the driving wheel increases, the bending angle of the head end of the endoscope gradually increases, and the tension of the driving wire gradually increases. Since the radius of the outer contour of the driving wheel decreases with the increase of the rotation angle, the force arm of the driving wire on the driving wheel gradually decreases, thereby maintaining the torque required for the driving wheel to rotate at a low level, greatly reducing the force required for the doctor to operate the driving wheel, ensuring the uniformity of force during rotation, and improving the comfort of the doctor's operation.

[0024] In addition, it should be understood that the endoscope provided in the present application includes the above-mentioned endoscope operating part, and therefore, the endoscope provided in the present application also has the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0026] Figure 1 A schematic structural diagram of an endoscope provided in an embodiment of the present application;

[0027] Figure 2 is the corresponding relationship between the tension of the driving line and the outer contour radius of the driving wheel;

[0028] Figure 3 A schematic diagram of an outer contour provided in an embodiment of the present application;

[0029] Figure 4 A schematic structural diagram of a drive wheel assembly provided in an embodiment of the present application;

[0030] Figure 5 A schematic diagram of the structure of the driving wheel, hand wheel, driving wire, and fixed pulley in the operating part of an endoscope provided in an embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of the endoscope operating part when the hand wheel is rotated in the upward direction to a rotation angle of 0°;

[0032] Figure 7 This is a schematic diagram of the endoscope operating portion being rotated upward to a rotation angle of 90°;

[0033] Figure 8 This is a schematic diagram of the endoscope operating portion being rotated upward to a rotation angle of 180°;

[0034] Figure 9 This is a schematic diagram of the endoscope operating portion being rotated in the downward direction to a rotation angle of 0°;

[0035] Figure 10 This is a schematic diagram of the endoscope operating portion being rotated downward to a rotation angle of -90°;

[0036] Figure 11 This is a schematic diagram of the endoscope operating portion being rotated downward to a rotation angle of -180°;

[0037] Figure 12 Flowchart of a method for determining the outer contour of a driving wheel.

[0038] In the above figure, in order to conveniently distinguish the two driving wheels, the first driving wheel is represented by a solid line and the second driving wheel is represented by a dotted line; in order to conveniently distinguish the two driving lines, the first driving line is represented by a solid line and the second driving line is represented by a dotted line. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] The endoscope operating part provided in the present application may include: a driving wheel assembly, a driving wire and a hand wheel.

[0041] The driving wheel assembly is used to control the bending of the head end 8 of the endoscope. The same endoscope operating part can be equipped with only one driving wheel assembly to control the up and down bending or left and right bending of the head end 8. Considering that during the actual operation, the head end 8 may need to be bent in four directions: up, down, left and right. Therefore, it is preferred that the same endoscope operating part is equipped with two driving wheel assemblies, one driving wheel assembly controls the up and down bending of the head end 8, and the other driving wheel assembly controls the left and right bending of the head end 8. Since the principles of controlling the up and down bending movement of the head end 8 and controlling the left and right bending movement of the head end 8 are the same, this application mainly describes the situation of controlling the up and down bending movement of the head end 8.

[0042] A driving wheel assembly includes two driving wheels, which are a first driving wheel 1 and a second driving wheel 2. The first driving wheel 1 is fixedly connected to the second driving wheel 2, and the two can rotate synchronously around the same rotating shaft.

[0043] Each drive wheel has an outer contour for winding a corresponding drive wire. It should be noted that the outer contour of the first drive wheel 1 and the outer contour of the second drive wheel 2 can be the same or different. If the radius ρ of the outer contour of only one of the first drive wheel 1 and the second drive wheel 2 gradually decreases along the preset direction, then in actual use, during the rotation of the drive wheel assembly, it can only achieve the effect of saving effort in one direction: the upward direction (counterclockwise direction) or the downward direction (clockwise direction). Therefore, it is preferred that the radius ρ of the outer contour of the first drive wheel 1 gradually decreases along the preset direction, and the radius ρ of the second drive wheel 2 gradually decreases along the preset direction. In this case, the drive wheel assembly can achieve the effect of saving effort when rotating in both the upward and downward directions.

[0044] For an outer contour whose radius ρ gradually decreases along a preset direction, the shape of the outer contour is non-circular, and the axis of rotation and the plane where the outer contour is located intersect at the rotation center O. The shape of the outer contour can be considered as a motion trajectory formed after an imaginary point rotates 360° around the rotation center O. The distance from the imaginary point to the rotation center O is the radius ρ of the outer contour, and the curvature of the arc formed after the imaginary point moves a certain distance clockwise or counterclockwise from the initial position is the rotation angle β. The radius ρ and the rotation angle β have a corresponding relationship.

[0045] In the sentence "the radius ρ of the outer contour gradually decreases along the preset direction" mentioned above, the preset direction refers to the direction from the initial angle to the target angle; the initial angle is 0°; the target angle is the maximum rotation angle that can be reached by the driving wheel around the rotation axis, and the target angle is positive and negative. If the target angle is positive, the preset direction is the upward direction; if the target angle is negative, the preset direction is the downward direction.

[0046] It should be noted that for different models of endoscope operating parts, the maximum rotation angles that the drive wheel can achieve in the upward and downward directions are different. For example, the drive wheel of some endoscopes can rotate 180° in the upward direction and 180° in the downward direction. In this case, the target angles include 180° and -180°, and the outer contour is an axially symmetrical figure, and the axis of symmetry is the line connecting the imaginary point when the rotation angle β is equal to 0° and the rotation center O. For another example, the drive wheel of some endoscopes can rotate 210° in the upward direction and 90° in the downward direction. In this case, the target angles include 210° and -90°. For another example, the drive wheel of some endoscopes can rotate 100° in the upward direction and 100° in the downward direction. In this case, the target angles include 100° and -100°.

[0047] Optionally, in one embodiment, in the axial projection along the rotating shaft, the outer contours of the two driving wheels are centrally symmetrically distributed about the rotation center O. Specifically, in this case, the first driving wheel 1 and the second driving wheel 2 have two symmetry axes, and the two symmetry axes are vertically distributed.

[0048] Optionally, based on any of the above embodiments, the shape of the outer contour is a trajectory curve of a preset function; wherein the preset function is ρ = f2(β) = M / f1(β), where M is the preset torque, and f1(β) is the corresponding relationship between the tension F of the drive line and the rotation angle β, and the tension F of the drive line and the rotation angle β are positively correlated. A detailed description of this embodiment is provided in the determination method section below and will not be repeated here.

[0049] There are two drive wires: a first drive wire 3 and a second drive wire 4. The first drive wire 3 is wound clockwise around the outer contour of the first drive wheel 1, and its end is connected to the endoscope's tip 8. The second drive wire 4 is wound counterclockwise around the outer contour of the second drive wheel 2, and its end is connected to the endoscope's tip 8. When the two drive wheels rotate synchronously, one drive wire is wound up, while the other drive wire is unwound. The wound-up drive wire will tighten the tip 8 and control its bending.

[0050] Optionally, in one embodiment, in order to facilitate the control of the rotation of the driving wheel, the endoscope operating portion is generally provided with a handwheel 7, and the handwheel 7 is fixedly connected to the driving wheel assembly. Specifically, for an endoscope operating portion having two driving wheel assemblies, there are also two handwheels 7, which are a first handwheel and a second handwheel, respectively. The first handwheel is coaxially fixedly connected to one driving wheel assembly, and the second handwheel is coaxially fixedly connected to the other driving wheel assembly.

[0051] Optionally, in one embodiment, the endoscope operating part further includes two fixed pulleys, the two fixed pulleys being a first fixed pulley 5 and a second fixed pulley 6, the first driving line 3 and the second driving line 4 being located between the first fixed pulley 5 and the second fixed pulley 6, and the distance between the two fixed pulleys being less than or equal to the shortest diameter of the overlapping part of the first driving wheel 1 and the second driving wheel 2.

[0052] In order to facilitate understanding of the labor-saving effect achieved by the endoscope operating portion in the present application, the following is a detailed description of the case where the driving wheel is at different rotation angles β:

[0053] Figures 5 to 12 This is a state diagram of a hand wheel 7 controlling the up and down bending movement of the head end 8.

[0054] like Figure 5 As shown, the diameter of the shortest part where the first driving wheel 1 and the second driving wheel 2 overlap is a (for a driving wheel assembly of this structure, a=2*ρ min), the longest overlapping diameter of the first drive wheel 1 and the second drive wheel 2 is d, the longest diameter of the drive wheel assembly is b, the distance between the farthest end of the handwheel 7 and the rotation center O is f, the vertical axis k passes through the rotation center O, the first fixed pulley 5 and the second fixed pulley 6 are symmetrical about the axis k and the spacing is less than or equal to a, which is selected as a here. The vertical distance between the rotation center O and the first fixed pulley 5 and the second fixed pulley 6 is c. The geometric center of the handwheel 7 is at the rotation center O. Figure 3 and Figure 4 The driving wheel shaft shown passes through the rotation center O. One end of the first driving wire 3 is fixed to the first driving wheel 1 and the other end is connected to the head end 8. One end of the second driving wire 4 is fixed to the second driving wheel 2 and the other end is connected to the head end 8.

[0055] Figures 6 to 8 These are schematic diagrams of 0°, 90°, and 180° when the hand wheel 7 is rotated in the upward direction, respectively.

[0056] Figure 6 When the middle handwheel 7 is in its initial position and the second drive line 4 is parallel to the axis k, its tangent point with the second drive wheel 2 is P1. When the second drive line 4 passes around the second fixed pulley 6, this is the actual state of the second drive line 4'. The tangent point between the second drive line 4' and the second drive wheel 2 is P2, which is slightly lower than P1. At this point, the moment arm is equal to the radius ρ, which is slightly less than b / 2. The rotation angle β = 0°. F = f1(β) can be measured experimentally, and ρ = f2(β) = M / f1(β) can be calculated.

[0057] Figure 7 When the middle handwheel 7 is rotated 90° counterclockwise and the second drive line 4 is parallel to the axis k, its tangent point with the second drive wheel 2 is P1. When the second drive line 4 passes around the second fixed pulley 6, this is the actual state of the second drive line 4'. The tangent point between the second drive line 4' and the second drive wheel 2 is P2, which is slightly lower than P1. At this point, the moment arm is equal to the radius ρ, which is slightly less than d / 2. The rotation angle β = 90°. F = f1(β) can be measured experimentally, and ρ = f2(β) = M / f1(β) can be calculated.

[0058] Figure 8When the middle handwheel 7 is rotated 180° counterclockwise and the second drive line 4 is parallel to the axis k, its point of tangency with the second drive wheel 2 is P1. When the second drive line 4 passes around the second fixed pulley 6, this is the actual state of the second drive line 4'. The point of tangency between the second drive line 4' and the second drive wheel 2 is P2, which coincides with P1. At this point, the moment arm is equal to the radius ρ, with ρ = a / 2, and the rotation angle β = 180°. F = f1(β) can be measured experimentally, and ρ = f2(β) = M / f1(β) can be calculated. (If the distance between the first fixed pulley 5 and the second fixed pulley 6 is less than a, the moment arm is slightly less than a / 2 in this case.)

[0059] Figures 9 to 11 These are schematic diagrams of 0°, -90°, and -180° when the hand wheel 7 is rotated in the downward direction, respectively.

[0060] Figure 9 When the middle handwheel 7 is in its initial position and the first drive line 3 is parallel to the axis k, its tangent point with the first drive wheel 1 is P3. When the first drive line 3 passes around the first fixed pulley 5, this is the actual state of the first drive line 3'. The tangent point between the first drive line 3' and the first drive wheel 1 is P4, which is slightly lower than P3. At this point, the moment arm is equal to the radius ρ, which is slightly less than b / 2. The rotation angle β = 0°. F = f1(β) can be measured experimentally, and ρ = f2(β) = M / f1(β) can be calculated.

[0061] Figure 10 When the middle handwheel 7 is rotated 90° clockwise and the first drive line 3 is parallel to the axis k, its tangent point with the first drive wheel 1 is P3. When the first drive line 3 passes around the first fixed pulley 5, this is the actual state of the first drive line 3'. The tangent point of the first drive line 3' with the first drive wheel 1 is P4, which is slightly lower than P3. At this point, the moment arm is equal to the radius ρ, which is slightly less than d / 2. The rotation angle β is -90°. F = f1(β), which can be measured experimentally, can be calculated as ρ = f2(β) = M / f1(β).

[0062] Figure 11 When the middle handwheel 7 is rotated 180° clockwise and the first drive line 3 is parallel to the axis k, its tangent point with the first drive wheel 1 is P3. When the first drive line 3 passes around the first fixed pulley 5, this is the actual state of the first drive line 3'. The tangent point of the first drive line 3' with the first drive wheel 1 is P4, and P3 and P4 coincide. At this point, the moment arm is equal to the radius ρ, with ρ = a / 2, and the rotation angle β = -180°. F = f1(β) can be measured experimentally, and ρ = f2(β) = M / f1(β) can be calculated. (If the distance between the first fixed pulley 5 and the second fixed pulley 6 is less than a, the moment arm is equal to the radius ρ, and the radius ρ is slightly less than a / 2.)

[0063] In summary, between 0° and 180°, and between 0° and -180°, the value of F = f1(β) can always be measured for any rotation angle β. Furthermore, according to ρ = f2(β) = M / f1(β), the corresponding radius ρ can be derived, thus obtaining the corresponding shape of the drive wheel outer profile. Furthermore, as the rotation angle β gradually changes from 0° to 180°, f1(β) gradually increases, causing the radius ρ to gradually decrease, and the lever arm to gradually decrease. As the rotation angle β gradually changes from 0° to -180°, f1(β) also gradually increases, causing the radius ρ to gradually decrease, and the lever arm to gradually decrease.

[0064] Figure 1 This is a schematic diagram of the structure of the endoscope body. The dotted lines on the left and right sides of the head end 8 in the figure represent the shape of the head end 8 after bending. The other ends of the first drive line 3′ and the second drive line 4′ are respectively connected to the direction of the head end 8 (or connected to the cable connected to the head end 8). Turning the handwheel 7 can achieve control of the upward or downward bending of the head end 8.

[0065] The control principle of another hand wheel 7 controlling the left and right bending of the head end 8 through the second driving wheel assembly is the same as the above method and will not be described separately in this article.

[0066] It can be seen from the above embodiments that the beneficial effect of the endoscope operating part provided by the present application is that: during use, as the rotation angle β of the driving wheel increases, the bending angle of the head end 8 of the endoscope gradually increases, and the tension F of the driving wire gradually increases. Since the radius ρ of the outer contour of the driving wheel decreases with the increase of the rotation angle β, the force arm of the driving wire on the driving wheel gradually decreases, thereby maintaining the torque required for the rotation of the driving wheel at a low level, greatly reducing the force required for the doctor to operate the driving wheel, ensuring the uniformity of the force during rotation, and improving the comfort of the doctor's operation.

[0067] The present application also provides an endoscope comprising a tip 8 and any of the above-described endoscope operating units. The endoscope reduces the control force required by the physician to control the rotation of the drive wheel, thereby improving the physician's comfort during endoscopic surgery. The structures of the other components of the endoscope are described in detail in the prior art and will not be further elaborated herein.

[0068] Please refer to Figure 12 The present application also provides a method for determining the outer contour of a driving wheel, wherein the driving wheel specifically refers to a driving wheel of an endoscope operating part. The determination method can be applied to any of the driving wheels of the endoscope operating part described above, and the determination method comprises the following steps:

[0069] Step S1: Obtain the corresponding relationship between the tension F of the driving line and the rotation angle β.

[0070] Specifically, as the bending angle of the head end 8 increases, the tension F of the driving wire will gradually increase. The corresponding relationship between the tension F of the driving wire and the rotation angle β of the driving wheel can be obtained through experiments, and F=f1(β) can be obtained.

[0071] When conducting experiments, the corresponding relationship between the tension F of the driving line and the rotation angle β of the driving wheel can be determined through the following process: an angle plate is placed at the head end 8 of the endoscope, and a dynamometer is set on the driving line. In the process of pulling the driving line, the readings of the dynamometer and the angle plate are read multiple times. The multiple readings are aligned in a two-dimensional coordinate system and fitted into a curve to determine the corresponding relationship between the tension F of the driving line and the rotation angle β of the driving wheel.

[0072] Step S2: Determine the preset torque M of the drive wheel. Specifically, the preset torque M is a fixed value selected by the designer based on actual conditions. The preset torque M represents the torque required to control the rotation of the drive wheel. Step S2 and step S1 are not preceded by one another.

[0073] Step S3: determining a preset function according to the corresponding relationship and the preset torque M; wherein the preset function satisfies ρ=M / f1(β).

[0074] Specifically, since M = ρ * F, in order to ensure that the preset torque M is constant, Figure 2 As shown, the radius ρ and the tension F are inversely proportional. Therefore, the radius ρ is reduced as the rotation angle β increases. The radius ρ is also a function of the rotation angle β, so ρ = f2(β), f1(β)*f2(β) = M, and ρ = f2(β) = M / f1(β).

[0075] Step S4: Determine the shape of the trajectory curve of the preset function as the shape of the outer contour of the driving wheel.

[0076] The contour of the driving wheel can be obtained according to the trajectory curve of the preset function. Since the upward and downward bending is controlled by the same driving wheel component (or the left and right bending is also controlled by the same driving wheel component), the driving wheel component can be set to Figure 4 The shape shown. That is, the driving wheel assembly includes a first driving wheel 1 and a second driving wheel 2, which are fixedly connected, and the rotation axes of the two coincide with each other. The position of the rotation center O is set at Figure 3 The first driving wheel 1 and the second driving wheel 2 may be provided with grooves on their sides for accommodating driving wires therewith.

[0077] It should be noted that, for the case where the target angle includes 180° and -180°, the trajectory curve of radius ρ is as follows: Figure 3As shown, the radius ρ gradually decreases as the rotation angle β moves from 0° (the starting position) to 180° or -180°. Furthermore, during the experiment, since the bending of the head end 8 in the upward and downward directions is substantially symmetrical, both upward and downward bending can be tested, and the resulting trajectory curve of the preset function is the shape of the complete outer contour. Alternatively, the bending of the head end in only one direction can be tested, and the trajectory curve of the preset function is determined to be half of the complete curve, which can then be symmetrically folded to obtain the complete outer contour.

[0078] The beneficial effect of applying the method for determining the outer contour of the driving wheel provided in this application is that the shape of the outer contour obtained by this determination method can make the control force required by the doctor when operating the handwheel 7 constant, especially when the bending angle of the head end 8 is large, the required control force is the same as the control force required when starting to rotate at the initial angle.

[0079] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referenced to each other.

[0080] The above is a detailed introduction to the method for determining the outer contours of the endoscope operating part, endoscope, and driving wheel provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An endoscope operating unit, characterized in that: The device comprises a drive wheel assembly, wherein the drive wheel assembly includes two drive wheels fixedly connected and capable of synchronously rotating about a rotation axis, wherein a drive line for connecting to the tip of an endoscope is wound around the outer contours of the two drive wheels, and wherein the distance from the outer contour of at least one of the drive wheels to the rotation center gradually decreases from the initial angle to the target angle; The distance from the outer contour of each driving wheel to the rotation center gradually decreases along the direction from the initial angle to the target angle; The initial angle is 0°, and the target angle includes 180° and -180°; the two driving wheels are respectively a first driving wheel and a second driving wheel, and the outer contours of the first driving wheel and the second driving wheel are respectively axisymmetric figures; In a projection along the axial direction of the rotating shaft, the outer contour of the first driving wheel and the outer contour of the second driving wheel are centrally symmetrically distributed about the rotation center; The endoscope operating part further includes two fixed pulleys, the two driving wires respectively wound around the two driving wheels are located between the two fixed pulleys, and the distance between the two fixed pulleys is less than or equal to the shortest diameter of the overlapping portion of the two driving wheels; The two fixed pulleys are respectively a first fixed pulley and a second fixed pulley, an axis passes through the rotation center, and the first fixed pulley and the second fixed pulley are symmetrical about the axis.

2. The endoscope operating unit according to claim 1, wherein: There are two driving wheel assemblies, one driving wheel assembly controls the head end to bend up and down, and the other driving wheel assembly controls the head end to bend left and right.

3. The endoscope operating unit according to claim 2, wherein: The endoscope operating part also includes two hand wheels, and the two hand wheels are connected to the two driving wheel assemblies in a one-to-one correspondence.

4. The endoscope operating unit according to any one of claims 1 to 3, characterized in that: The shape of the outer contour is a trajectory curve of a preset function; wherein the preset function is , M is the preset torque, β is the rotation angle, f1(β) is the corresponding relationship between the tension of the driving line and the rotation angle, and the tension of the driving line is positively correlated with the rotation angle.

5. An endoscope, characterized in that: The endoscope comprises a tip and the endoscope operating portion according to any one of claims 1 to 4.

6. A method for determining the outer contour of a driving wheel, characterized in that: Applied to the endoscope operating portion according to any one of claims 1 to 4, the method for determining the outer contour of the driving wheel comprises: Obtain the corresponding relationship between the tension and rotation angle of the driving line; determining a preset torque for the drive wheels; Determining a preset function based on the corresponding relationship and the preset torque; wherein the preset function satisfies ρ=M / f1(β), ρ is the radius of the outer contour of the driving wheel, M is the preset torque, β is the rotation angle, and f1(β) is the corresponding relationship; The shape of the trajectory curve of the preset function is determined as the shape of the outer contour of the driving wheel.

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