Endoscope handle and drive device

Abstract

The present application relates to the field of medical equipment, and provides an endoscope handle and a driving device, wherein the driving device comprises: a motor module, the motor module having an extended motor shaft; a starting slider connected to the motor shaft, capable of being driven by the motor shaft and moving along a straight line, the starting slider being provided with a first coupling portion, the first coupling portion being coupled and contacted with an externally provided follower slider, so as to drive the bending control wire of the endoscope to retract and extend through the follower slider; a force sensor, provided on the motor module, for measuring the tension on the bending control wire and generating a stress signal; a controller, respectively connected in communication with the motor module and the force sensor, for adjusting the output of the motor module according to the stress signal fed back by the sensor. The present application improves the safety and controllability of the endoscope.

Description

Technical Field

[0001] The present application relates to the field of medical equipment, and in particular to an endoscope handle and a driving device. Background Art

[0002] An endoscope is a device that integrates an image sensor, an optical lens, an illumination source, and a precision mechanical structure. An endoscope can enter the human body through the mouth or other natural orifices and perform observation, biopsy, minimally invasive surgery, and other operations on the tissues inside the human body. The existing endoscope allows doctors to intuitively see the real-time images inside the human body, improving the convenience of diagnosis and treatment.

[0003] However, the endoscope in the prior art completely relies on manual operation and control by the doctor, and if the operation is improper, it is easy to puncture the delicate inner wall of the human body. Summary of the invention

[0004] In order to solve the above problems or at least partially solve the above technical problems, in one embodiment of the present application, a driving device for an endoscope handle is provided, comprising:

[0005] A motor module, the motor module having a protruding motor shaft;

[0006] The starting slider is connected to the motor shaft and can be driven by the motor shaft and move along a straight line. The starting slider is provided with a first coupling portion, and the first coupling portion is coupled and contacted with the externally provided follower slider, so as to drive the bending control wire of the endoscope to perform a retracting and extending movement through the follower slider;

[0007] A force sensor is arranged on the motor module, and is used to measure the tension on the bending control wire and generate a stress signal;

[0008] The controller is respectively connected to the motor module and the force sensor for adjusting the output of the motor module according to the stress signal fed back by the sensor.

[0009] Optionally, it also includes:

[0010] The housing, the motor module and the force sensor are all located in the housing, wherein the main part of the starting slider is located in the housing, and the first coupling part extends out from a hole reserved in the housing.

[0011] Optionally, the motor module includes a motor body and a motor bracket, and the motor body is connected to the housing through the motor bracket;

[0012] The force sensor is arranged on the motor bracket.

[0013] Optionally, the motor module includes a motor body, the motor body is directly fixed on the shell, and the force sensor is arranged at the connection portion between the motor body and the shell.

[0014] Optionally, it also includes:

[0015] A position sensor is arranged on the motor and is used to obtain information on the number of revolutions of the motor. The position sensor is in communication connection with the controller.

[0016] The in-position switch is connected to the controller for communication and is arranged on the moving path of the starting slider. When the in-position switch contacts the starting slider, it sends a stop signal to the controller.

[0017] Optionally, the motor module includes at least three motors, and the number of the starting sliders is the same as the number of the motors and they are arranged in a one-to-one correspondence.

[0018] Optionally, the motor module includes four motors, and the four motors correspond to four bending control wires one by one. The four bending control wires control the bending movement of the endoscope in four directions of a "cross" shape by means of retraction and extension movements.

[0019] Optionally, the driving device also includes: a rocker, which is communicatively connected to the controller and is used to control the retraction and extension of the bending control wire through four motors, wherein the direction in which the rocker is pushed corresponds to the bending direction of the endoscope.

[0020] Another embodiment of the present application provides an endoscope handle, comprising the aforementioned driving device, and further comprising:

[0021] The driven device is detachably mounted on the driving device, and the driven device comprises:

[0022] A follower slider is provided with a second coupling portion, and when the driven device is mounted on the driving device, the second coupling portion is coupled and contacted with the first coupling portion;

[0023] The bending control wire is connected to the follow-up slider to perform a retracting and extending movement under the drive of the follow-up slider.

[0024] Optionally, it also includes:

[0025] The guide rail is arranged parallel to the moving direction of the starting slider, and the follower slider is arranged on the guide rail.

[0026] Optionally, the first coupling portion extends toward the direction of the driven device, and the second coupling portion extends toward the direction of the driving device. When the driven device is installed on the driving device, the projections of the first coupling portion and the second coupling portion on a plane perpendicular to the movement direction of the follower slider at least partially overlap.

[0027] Optionally, when there are multiple follow-up sliders, the projections of the connecting lines of the parts of adjacent follow-up sliders connected to the bending control wires on the plane perpendicular to the bending control wires form a regular polygon.

[0028] Compared with the prior art, the embodiment of the present application can monitor the force exerted on the bending wire of the catheter head of the endoscope when it is bent by setting a force sensor, thereby preventing the endoscope from causing damage to the wall of the human cavity and improving the safety and comfort of the endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the prior art descriptions. Obviously, the drawings described below are only used to illustrate some implementation methods of the present application. For ordinary technicians in this field, without paying creative work, they can also obtain other technical features, connection relationships and even method steps not mentioned in the drawings based on these drawings.

[0030] Figure 1 is a three-dimensional schematic diagram of a driving device for an endoscope handle according to an embodiment of the present application;

[0031] Figure 2 is a three-dimensional schematic diagram of a driving device and a driven device for an endoscope handle when coupled according to an embodiment of the present application;

[0032] Figure 3 is a schematic diagram of a setting scheme of a force sensor for a driving device of an endoscope handle according to an embodiment of the present application;

[0033] Figure 4 is a schematic diagram of another arrangement scheme of a force sensor for a driving device of an endoscope handle according to an embodiment of the present application;

[0034] Figure 5 is a schematic diagram of another arrangement scheme of a force sensor for a driving device of an endoscope handle according to an embodiment of the present application;

[0035] Figure 6 It is a module block diagram of the endoscope handle of the embodiment of the present application when working;

[0036] Figure 7 It is a schematic diagram of the combined relationship between the driving device and the driven device for the endoscope handle according to the embodiment of the present application;

[0037] Figure 8 is a three-dimensional schematic diagram of a driven device according to an embodiment of the present application;

[0038] Fig. 9 It is a front view schematic diagram of a driving device and a driven device for an endoscope handle when coupled according to an embodiment of the present application;

[0039] Fig.10It is a schematic diagram of another follower slider used when the driving device and the driven device of the endoscope handle are coupled in the embodiment of the present application;

[0040] Fig.11 This is a schematic diagram of another follower slider used when coupling the driving device and the driven device of the endoscope handle according to the embodiment of the present application.

[0041] Description of Reference Numerals

[0042] 1. Driving device; 11. Motor module; 111. Motor shaft; 112. Motor bracket; 12. Housing; 13. Starting slider; 131. First coupling part; 14. Position sensor; 15. Force sensor; 16. In-position switch; 2. Follower device; 21. Follow-up slider; 211. Second coupling part; 22. Bending wire; 23. Guide rail. DETAILED DESCRIPTION

[0043] 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 should fall within the scope of protection of this application.

[0044] The applicant has found that in the prior art, endoscopes usually act entirely based on the manual operation of the doctor. The action of the endoscope lacks force feedback, and the visual feedback displayed on the screen is two-dimensional. Therefore, when the doctor lacks experience, it is easy to cause the sharp front end of the endoscope to scratch or puncture the inner wall of the human body due to excessive penetration.

[0045] In view of this, the present application provides a novel endoscope handle and drive device.

[0046] Implementation Method 1

[0047] A first embodiment of the present application provides a driving device for an endoscope handle and an endoscope handle based on the driving device.

[0048] Among them, see Figure 1 , Figure 2 As shown, a driving device 1 for an endoscope handle comprises:

[0049] The motor module 11 has a protruding motor shaft 111 .

[0050] The starting slider 13 is connected to the motor shaft 111 and can be driven by the motor shaft 111 and move along a straight line. The starting slider 13 is provided with a first coupling portion 131, and the first coupling portion 131 is coupled and contacted with the externally provided follower slider 21, so as to drive the bending control wire 22 of the endoscope to perform the retracting and extending movement through the follower slider 21. The retracting and extending movement mentioned in the present application refers to the movement of tightening or loosening the bending control wire 22, and this movement, combined with the multi-section structure of the endoscope, can allow the endoscope to bend in a predetermined direction.

[0051] Specifically, the starting slider 13 and the motor shaft 111 can be connected to each other through indirect or direct transmission. Figure 1 and Figure 2 In the case shown in Figure 1, the starting slider 13 can be directly mounted on the motor shaft 111. When the starting slider 13 is provided with a thread, a screw structure can be formed with the motor shaft 111, so that the motor shaft 111 drives the starting slider 13 to move in a straight line. In other words, through the screw structure, the rotational motion of the motor shaft 111 is converted into the linear motion of the starting slider 13. It can be understood that in the art, other transmission methods that can convert rotational motion into linear motion, such as a worm gear structure, a gear rack structure, etc., when applied between the starting slider 13 and the motor shaft 111, can also basically achieve the technical purpose of the present application.

[0052] The drive device 1 may further include: a housing 12. The housing 12 may be used to protect and support the internal structure of the drive device 1. The motor module 11 and the force sensor 15 are both located in the housing 12, wherein the main part of the starting slider 13 is located in the housing 12, and when the housing 12 completely wraps the starting slider 13 therein, the first coupling portion 131 may extend from a hole reserved in the housing 12 to ensure coupling contact with the external structure.

[0053] The first coupling portion 131 is coupled with the external follow-up slider 21 for the purpose of the follow-up slider 21 driving the bending control wire 22 of the endoscope to retract and extend, so the coupling between the two can be achieved in a variety of ways. Figure 1 and Figure 2 In addition to the contact method shown in the figure, the first coupling part 131 can also be connected to the externally arranged follower slider 21. It is particularly worth mentioning that the follower slider 21 is only moved by the starting slider 13, so it does not belong to the "driving device 1" of the endoscope handle, but belongs to the "driven device 2" of the endoscope handle.

[0054] See also Figure 2As shown, the present application additionally provides a force sensor 15. It is arranged on the motor module 11, and can monitor the force exerted on the bending control wire 22 when the catheter head of the endoscope is bent, and generate a stress signal. Specifically, the force exerted on the bending control wire 22 will be transmitted in sequence through the follower slider 2, the starting slider 13, and the motor bracket 112, and finally cause the deformation of the sensing component of the force sensor 15. By measuring this deformation, the force exerted on the bending control wire 22 can be obtained. The drive device 1 also has a controller, which is respectively communicated with the motor module 11 and the force sensor 15, and is used to adjust the output of the motor module 11 according to the stress signal fed back by the sensor. Among them, the controller, as an electronic component, can be integrated at any position in the housing 12, or can be discretely arranged outside the housing 12 for remote control. Therefore, the position of the controller is not limited in the present application, and is not illustrated in the accompanying drawings.

[0055] It is worth mentioning that the drive device 1 may also be provided with an in-position switch 16, which is connected to the controller in communication and is provided on the motion path of the starting slider 13. When the in-position switch 16 contacts the starting slider 13, it sends a stop signal to the controller, indicating that the starting slider 13 has moved to the end of the stroke. Accordingly, the controller may stop the rotation of the motor after receiving the stop signal, thereby preventing the motor from being overloaded and damaged.

[0056] In the implementation of the present application, the force sensor 15 can be arranged in a variety of ways. For example:

[0057] Alternatively, see Figure 3 , Figure 4 As shown, the motor module 11 includes a motor body and a motor bracket 112 , and the motor body is mounted on the upper motor bracket 112 ; the motor bracket 112 is connected to the housing 12 via a force sensor 15 .

[0058] in, Figure 3 The connection line of the motor bracket 112, the force sensor 15, and the housing 12 is parallel to the movement direction of the starting slider 13. Figure 4 The connection line among the motor bracket 112 , the force sensor 15 , and the housing 12 is perpendicular to the movement direction of the starting slider 13 .

[0059] Or, alternatively, see Figure 5 As shown, the motor module 11 may also only include a motor body, and the motor body is directly connected to the housing 12 via the force sensor 15 .

[0060] exist Figure 5 In the embodiment, the connection line between the motor bracket 112, the force sensor 15 and the housing 12 is parallel to the movement direction of the starting slider 13. Similarly, it can also be set to a vertical shape.

[0061] Since the force is mutual, when the endoscope touches the human body, a part of the force will inevitably be fed back to the bending control wire 22, and finally act on the motor module 11. The force sensor 15 can detect the deformation amount and transmit the corresponding deformation amount signal to the controller. Based on the above principle, the motor module 11 is connected to the housing 12 through the force sensor 15, and the controller can accurately obtain the feedback force information, so as to correct and adjust the output of the motor module 11 accordingly. For example, when it is detected that the movement of the endoscope is obstructed, it can be determined that the endoscope has touched the internal surface of the human body. At this time, the endoscope can be retreated to a safe distance through feedback and compensation operations.

[0062] It is worth mentioning that when the connection line of the motor bracket 112, the force sensor 15, and the housing 12 is parallel to the movement direction of the starting slider 13, the feedback to the force sensor 15 is positive thrust or positive tension. When the connection line of the motor bracket 112, the force sensor 15, and the housing 12 is perpendicular to the movement direction of the starting slider 13, the feedback to the force sensor 15 is stress in the shear direction.

[0063] Further optionally, the driving device 1 may further include: a position sensor 14, which is arranged on the motor and is used to obtain information about the number of revolutions of the motor, and the position sensor 14 is in communication with the controller. The position sensor 14 may be a grating sensor, and after the number of revolutions information obtained by the position sensor 14 is provided to the controller, the controller may accurately calculate the current specific position of the starting slider 13 based on the information, thereby providing an auxiliary reference for the compensation movement of the starting slider 13.

[0064] The motor module 11 may include at least two motors. Preferably, it may include three or more motors, for example, Figure 1 , Figure 2 As shown, it can include four motors. When two motors are provided, the lens end of the endoscope can move freely in one degree of freedom, which realizes the "I"-shaped movement of the endoscope.

[0065] When more than three motors are provided, the four motors correspond to the three bending control wires 22 one by one, and the bending movement of the endoscope in the three directions of the "human" shape can be controlled respectively by means of the retracting and extending movement. When two adjacent bending control wires 22 are retracted and extended at the same time, the oblique movement of the endoscope can be controlled. In other words, through the combination of the retracting and extending movement of each bending control wire 22, the 360° arbitrary movement of the lens end of the endoscope can be realized, and the inclination angle of the endoscope can also be controlled by controlling the retracting and extending degree of the two bending control wires 22, which is very convenient.

[0066] In the case of four motors, the four motors correspond to the four bending control wires 22 one by one. The four bending control wires 22 can respectively control the bending movement of the endoscope in the four directions of the "cross" shape by means of the retraction and extension movement. Similarly, when two adjacent bending control wires 22 are retracted and extended at the same time, the oblique movement of the endoscope can be controlled. In other words, through the combination of the retraction and extension movement of each bending control wire 22, any 360° movement of the lens end of the endoscope can also be achieved, and the inclination angle of the endoscope can also be controlled by controlling the retraction and extension degree of the two bending control wires 22, and the movement precision is higher than that in the case of three motors.

[0067] In the present application, the number of the starting sliders 13 and the number of the motors are the same and are arranged one-to-one. Other structures including the bending control wire 22, the follower slider 21, the force sensor 15, the in-position switch 16 and the position sensor 14 can also be arranged one-to-one. In other words, the controller can perform motion control and feedback compensation for each motor individually.

[0068] Based on the above solution, optionally, the driving device 1 may further include: a rocker, which is in communication connection with the controller, and is used to control the retraction and extension of the bending control wire 22 through four motors, wherein the direction in which the rocker is pushed corresponds to the bending direction of the endoscope. It is worth mentioning that since the remote sensing device can be fixedly installed at any position of the housing, or connected to the controller through a wired or wireless solution, the specific installation structure of the remote sensing device is not illustrated in the attached drawings.

[0069] The movement of the endoscope is controlled by a joystick, which has a what-you-see-is-what-you-get operation logic, reduces the difficulty of controlling the endoscope, and allows doctors to focus more on medical operations.

[0070] Based on the above structure, see Figure 6 As shown, the embodiment of the present application further provides an operation step of the driving device 1 as follows:

[0071] 1. Relying on the image feedback from the head end of the endoscope, the user can issue control commands to the controller through the joystick, so that the controller drives different motors to move in the human body cavity.

[0072] 2. At the same time, the pressure sensors 15 corresponding to each motor continuously feed back stress signals to the controller, and the controller can perform feedback compensation on the motor drive according to these chip signals.

[0073] 3. In addition, the position sensor 14 , the in-position switch 16 and other mechanisms can also further assist the motor in correcting the position of the starting slider 13 .

[0074] In summary, compared with the prior art, the embodiment of the present application can effectively prevent the endoscope from causing damage to the human body due to excessive penetration by providing the force sensor 15, thereby improving the safety and comfort of the endoscope.

[0075] Implementation Method 2

[0076] The inventor of the present application found that due to cost constraints, most endoscopes in the prior art are reusable. Therefore, after each patient is used, the endoscope needs to be thoroughly disinfected and cleaned. The cleaning process is cumbersome and has a negative impact on the efficiency of diagnosis and treatment.

[0077] In view of this, the second embodiment of the present application provides an endoscope handle, see Figure 7 As shown, it is not only provided with the driving device 1 mentioned in the first embodiment, but also includes:

[0078] The driven device 2 is detachably mounted on the driving device 1, see Figure 8 As shown, the driven device 2 may include: a follower slider 21, on which a second coupling portion 211 is provided. When the driven device 2 is mounted on the driving device 1, the second coupling portion 211 is coupled and contacted with the first coupling portion 131;

[0079] The bending control wire 22 is connected to the follow-up slider 21 so as to be retracted and extended under the drive of the follow-up slider 21 .

[0080] In addition, some other parts closely related to entering the human body cavity, including suction pipes, spray pipes, clamp pipes, etc., can also be set on the driven device 2. By setting the driven device 2 to be detachable, the driven device 2 can be discarded and replaced with a new one after each use of the endoscope, so that the consumables that contact the patient's body can be used once, which improves convenience and prevents the risk of cross infection, thereby improving safety.

[0081] In addition to the above structures, see Fig. 9 As shown, the driven device 2 may further include a guide rail 23, which is arranged parallel to the movement direction of the starting slider 13, and the follower slider 21 is arranged on the guide rail 23. With the help of the guide rail 23, the movement trajectory of the follower slider 21 can be accurately controlled to improve the operation stability of the equipment.

[0082] The present application does not impose any specific limitation on the coupling relationship between the first coupling portion 131 and the second coupling portion 211 , as long as the starting slider 13 can sufficiently drive the following slider 21 to move within a travel range that meets the requirements.

[0083] That is, optionally, see Fig. 9As shown, the first coupling portion 131 can extend toward the direction of the driven device 2, and the second coupling portion 211 can extend toward the direction of the driving device 1. When the driven device 2 is installed on the driving device 1, the projections of the first coupling portion 131 and the second coupling portion 211 on a plane perpendicular to the movement direction of the follower slider 21 at least partially overlap.

[0084] The overlapping projections can ensure that the first coupling part 131 can touch and push the second coupling part 211 to move during the movement. This overlapping projection can be implemented in many ways. For example, the first coupling part 131 and the second coupling part 211 can be coupled and connected. For example, a slot can be provided on the first coupling part 131, and the second coupling part 211 is inserted into the slot of the first coupling part 131. For another example, the two can also be connected by means of snap connection, screw connection, etc.

[0085] Furthermore, the coupling between the sliders can also be non-connected, and the force is transmitted only by contact pushing. For example, the first coupling part 131 is located near the distal end, and the second coupling part 211 is located near the proximal end. When the rocker is pushed, the controller controls the motor to rotate to drive the starting slider 13 to move along a straight line. At this time, the second coupling part 211 pushes the first coupling part 131 to move, so that the control bending wire 22 is tightened. On the contrary, when the rocker is relaxed, the controller controls the motor to rotate in the opposite direction and drives the starting slider 13 to return to its original position. At this time, the first coupling part 131 and the second coupling part 211 are not in contact, and the control bending wire 22 can rebound by itself and restore the endoscope to a balanced position.

[0086] This structure is simpler than a connection structure, and when the device is restored to a balanced position by self-rebound, damage caused by excessive reverse motion can be prevented.

[0087] Also, see Fig. 9 , Fig.10 and Fig.11 When there are multiple follow-up sliders 21, the projection of the connecting line of the parts of the adjacent follow-up sliders 21 connected to the bending control wires 22 on the plane perpendicular to the bending control wires 22 forms a regular polygon. In the figure, since there are four bending control wires 22, a regular quadrilateral is formed, such as Fig.10 The square S in .

[0088] Compared with arranging them in a straight line, arranging the parts connected to the bending control wires 22 in a surrounding manner can make the forces on each bending control wire 22 more uniform and improve reliability. It is worth mentioning that in order to achieve this surrounding arrangement, various shapes of follow-up sliders 21 can be used. Fig. 9 In the embodiment, two follower sliders 21 wrap the other two follower sliders; or as Fig.10As shown, the follow-up sliders are arranged in two rows in the height direction; or as Fig.11 As shown, the parts connected to the bending control wire 22 are arranged at different positions of different follow-up sliders. The above arrangement can achieve the purpose of making the bending control wire 22 evenly stressed.

[0089] It should be understood that the terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two, but does not exclude the inclusion of at least one.

[0090] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three kinds of relationships. For example, the first component and / or the second component can represent: the first component exists alone, the first component and the second component exist at the same time, and the second component exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0091] It should be understood that, although the terms first, second, third, etc. may be used to describe certain components in the embodiments of the present application, these components should not be limited to these terms. These terms are only used to distinguish the components from each other. For example, without departing from the scope of the embodiments of the present application, the first so-and-so component may also be referred to as the second so-and-so component, and similarly, the second so-and-so component may also be referred to as the first so-and-so component.

[0092] Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to monitoring." Similarly, depending on the context, the phrases "if it is determined" or "if monitoring (stated condition or event)" may be interpreted as "when determining" or "in response to determining" or "when monitoring (stated condition or event)" or "in response to monitoring (stated condition or event)."

[0093] In the embodiments of the present application, "substantially equal to", "substantially perpendicular to", "substantially symmetrical", etc. means that the macroscopic size or relative position relationship between the two features is very close to the relationship mentioned. However, those skilled in the art know that due to objective factors such as errors and tolerances, the position relationship of objects is difficult to be constrained exactly at a small scale or even at a microscopic angle. Therefore, even if there is a slight error in the size and position relationship between the two, it will not have a significant impact on the realization of the technical effect of the present application.

[0094] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0095] In each of the above-mentioned embodiments, although the above-mentioned methods are illustrated and described as a series of actions for simplicity of explanation, a person skilled in the art should understand and appreciate that these methods are not limited by the order of the actions, because according to one or more embodiments, some actions may occur in a different order and / or concurrently with other actions from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art.

[0096] Those skilled in the art will appreciate that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips cited throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or optical particles, or any combination thereof.

[0097] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, units, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, boxes, modules, units, circuits, and steps are described generally in the form of their functionality above. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician can implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present application.

[0098] Finally, it should be noted that those skilled in the art can understand that in order to enable readers to better understand the present application, the embodiments of the present application provide many technical details. However, even without these technical details and various changes and modifications based on the above-mentioned embodiments, the technical solutions claimed for protection by the claims of the present application can be basically realized. Therefore, in practical applications, various changes can be made to the above-mentioned embodiments in form and detail without departing from the spirit and scope of the present application.

Claims

1. A driving device for an endoscope handle, characterized in that: include: A motor module, wherein the motor module has a protruding motor shaft; A starting slider is connected to the motor shaft and can be driven by the motor shaft to move along a straight line. A first coupling portion is provided on the starting slider, and the first coupling portion is coupled and contacted with an externally provided follower slider, so as to drive the bending control wire of the endoscope to retract and extend through the follower slider; A force sensor, arranged on the motor module, for measuring the tension exerted on the bending control wire and generating a stress signal; A controller, which is in communication with the motor module and the force sensor, and is used to adjust the output of the motor module according to the stress signal fed back by the sensor; A position sensor is arranged on the motor and is used to obtain information about the number of revolutions of the motor, and the position sensor is communicatively connected with the controller; An in-position switch, which is in communication with the controller and is disposed on the motion path of the start slider, and when the in-position switch contacts the start slider, sends a stop signal to the controller; The motor module and the force sensor are both located in the housing, wherein the main part of the starting slider is located in the housing, and the first coupling portion extends from a hole reserved in the housing.

2. The driving device for an endoscope handle according to claim 1, characterized in that: The motor module comprises a motor body and a motor bracket, and the motor body is connected to the housing through the motor bracket; The force sensor is arranged on the motor bracket.

3. The driving device for an endoscope handle according to claim 1, characterized in that: The motor module includes a motor body, which is directly fixed on the shell, and the force sensor is arranged at the connection portion between the motor body and the shell.

4. The driving device for an endoscope handle according to any one of claims 1 to 3, characterized in that: The motor module includes at least three motors, and the starting sliders are the same in number as the motors and are arranged in a one-to-one correspondence.

5. The driving device for an endoscope handle according to claim 4, characterized in that: The motor module includes four motors, and the four motors correspond to four bending control wires one by one. The four bending control wires control the bending movement of the endoscope in four directions of a "cross" shape by means of retraction and extension movements.

6. The driving device for an endoscope handle according to claim 5, characterized in that: The driving device also includes: a rocker, which is communicatively connected to the controller and is used to control the retraction and extension of the bending control wire through the four motors, wherein the direction in which the rocker is pushed corresponds to the bending direction of the endoscope.

7. An endoscope handle, characterized in that: A drive device comprising any one of claims 1 to 6, Also includes: A driven device is detachably mounted on the driving device, and the driven device comprises: A follower slider, wherein a second coupling portion is provided on the follower slider, and when the driven device is mounted on the driving device, the second coupling portion is coupled and contacted with the first coupling portion; The bending control wire is connected to the follow-up slider to perform a retracting and extending movement driven by the follow-up slider.

8. The endoscope handle according to claim 7, characterized in that: Also includes: The guide rail is arranged parallel to the moving direction of the starting slider, and the follower slider is arranged on the guide rail.

9. The endoscope handle according to claim 7, characterized in that: The first coupling portion extends toward the direction of the driven device, and the second coupling portion extends toward the direction of the driving device. When the driven device is installed on the driving device, the projections of the first coupling portion and the second coupling portion on a plane perpendicular to the movement direction of the follower slider at least partially overlap.

10. The endoscope handle according to claim 7, characterized in that: When there are multiple follow-up sliders, the projections of the connecting lines of the parts of the adjacent follow-up sliders connected to the bending control wires on the plane perpendicular to the bending control wires form a regular polygon.

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