A quick-change flexible endoscope actuator and delivery device

Abstract

This invention discloses a quick-change flexible endoscope actuator and transport device. The actuator includes a housing and a clamping and transporting mechanism disposed inside the housing. The clamping and transporting mechanism includes multiple rotating mechanisms arranged circumferentially, forming a transport channel for the flexible endoscope to pass through. Each rotating mechanism is equipped with a clamping action mechanism, which reduces the space of the transport channel formed by the rotating mechanisms to clamp or release the flexible endoscope. During operation, the rotating mechanisms move the clamped flexible endoscope back and forth. This actuator effectively prevents slippage, achieves continuous transport, and is compact, small in size, and lightweight. It is easy and quick to install and replace, adaptable to flexible endoscopes of various diameters, and protects the flexible endoscope during use, preventing damage due to excessive clamping force.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a quickly replaceable flexible endoscope actuator. The invention also relates to a flexible endoscope delivery device incorporating the aforementioned flexible endoscope actuator. Background Technology

[0002] The digestive tract, respiratory tract, and other natural cavities are common sites for human diseases. Since the lesions are located inside the body's natural cavities, they need to be examined or treated surgically using flexible endoscopy.

[0003] Traditional flexible endoscopy examinations or surgeries require the use of both hands to hold the endoscope, operate knobs, and manually transport the endoscope to complete the procedure. Some examinations or surgeries need to be performed under the guidance of radiographic images, requiring medical staff to wear heavy lead protective clothing and manually operate the flexible endoscope for extended periods. This has a significant impact on the quality of medical staff's diagnosis and treatment, physical strength, and health, especially for experienced older or female medical staff, who may even be forced to give up endoscopy work.

[0004] With the development of robot-assisted technology, doctors can adjust the delivery length and posture of flexible endoscopes by adjusting the handle switches and buttons, which can greatly reduce doctors' physical strength and manual operation fatigue, reduce the operation requirements of surgery, reduce radiation to medical staff, and improve the interaction between medical staff and imaging.

[0005] However, existing flexible endoscope delivery devices have problems such as insufficient rotation flexibility, easy slippage, and inability to deliver continuously during operation. Moreover, they are complex in structure, large in size, and not very convenient to install and replace, and they do not solve the problem of contamination. Summary of the Invention

[0006] The purpose of this invention is to provide a quick-change flexible endoscope actuator to solve the above-mentioned technical problems.

[0007] Another object of the present invention is to provide a delivery device equipped with the aforementioned flexible endoscope actuator.

[0008] To achieve the above objectives, the present invention provides a quick-change flexible endoscope actuator, comprising a housing and a clamping and conveying mechanism disposed inside the housing. The clamping and conveying mechanism includes a plurality of rotating operating mechanisms arranged in a circumferential direction, forming a conveying channel through which the flexible endoscope passes. The housing has through holes at both ends corresponding to the conveying channel. The rotating operating mechanism is provided with a clamping action mechanism, which is used to reduce the space of the conveying channel formed by the rotating operating mechanism by performing a clamping action, thereby clamping or releasing the flexible endoscope. When the rotating operating mechanism is running, it drives the clamped flexible endoscope to move back and forth.

[0009] Optionally, all of the plurality of rotating operating mechanisms are tracked mechanisms, or all of the plurality of rotating operating mechanisms are roller mechanisms, or a portion of the plurality of rotating operating mechanisms are tracked mechanisms and another portion are roller mechanisms.

[0010] Optionally, the plurality of rotating operating mechanisms include an active rotating operating mechanism and a driven rotating operating mechanism, and the clamping action mechanism is disposed on the driven rotating operating mechanism to drive the driven rotating operating mechanism to approach or move away from the active rotating operating mechanism.

[0011] Optionally, there are two active rotating operating mechanisms, which are located above the conveying channel and arranged symmetrically on the left and right, and are arranged in an inverted "V" shape on the cross-section of the conveying channel.

[0012] Optionally, the driven rotary operating mechanism is located below the conveying channel and installed on the carrier. The carrier is provided with a guide rail, and the driven rotary operating mechanism can move up and down along the guide rail to approach or move away from the active rotary operating mechanism.

[0013] Optionally, both the active rotating mechanism and the driven rotating mechanism are tracked mechanisms; or both the active rotating mechanism and the driven rotating mechanism are roller mechanisms; or the active rotating mechanism is a tracked mechanism and the driven rotating mechanism is a roller mechanism; or the active rotating mechanism is a roller mechanism and the driven rotating mechanism is a tracked mechanism.

[0014] Optionally, the clamping mechanism is a scissor mechanism; the scissor mechanism includes a scissor linkage assembly, a pulley, a winding shaft, and a wire rope. The scissor linkage assembly is mounted on a linkage fixing seat, with one end connected to the driven rotary operating mechanism and the other end connected to the wire rope. The linkage fixing seat is provided with a spring that drives the scissor linkage assembly to shorten. One end of the wire rope is connected to the scissor linkage assembly, and the other end is wound around the winding shaft via the pulley. When the winding shaft rotates, the wire rope pulls the scissor linkage assembly to extend.

[0015] Optionally, the clamping mechanism is a cam mechanism; the cam mechanism includes a camshaft, a camshaft support, and a driven roller; the camshaft is mounted on the camshaft support, the driven roller is mounted below the driven rotary operating mechanism, and the cam on the camshaft is in a driving engagement with the driven roller.

[0016] Optionally, the clamping mechanism is a lead screw bevel gear mechanism; the lead screw bevel gear mechanism includes a bevel gear shaft, a first bevel gear, a second bevel gear, a lead screw, a lead screw slider, and a connecting block; the connecting block is fixed to the driven rotary operating mechanism, the lead screw slider is connected to the connecting block through a tongue-and-groove joint structure, the lead screw is vertically mounted on a lead screw fixing seat, the lead screw slider is mounted on the lead screw, the first bevel gear is fixed to the lead screw, the second bevel gear is mounted on the bevel gear shaft, and the first bevel gear and the second bevel gear mesh with each other.

[0017] Optionally, the clamping mechanism is a lead screw and slider mechanism; the lead screw and slider mechanism includes a lead screw shaft, a lead screw, a lead screw slider and a connecting block; the connecting block is fixed to the driven rotary running mechanism, and the bottom of the connecting block is provided with a wedge-shaped guide groove; the top of the lead screw slider is provided with a wedge-shaped slide table, the lead screw slider is mounted on the lead screw, and the lead screw is mounted on the lead screw fixing seat.

[0018] Optionally, the clamping mechanism is a lead screw linkage mechanism; the lead screw linkage mechanism includes a lead screw, a lead screw slider, a first connecting rod, a second connecting rod, and a connecting block; the connecting block is fixed to the driven rotary operating mechanism, the lead screw is mounted on a lead screw fixing seat, the lead screw slider is mounted on the lead screw, two sets of first connecting rods and second connecting rods are respectively located on both sides of the connecting block, the first connecting rod and the second connecting rod intersect in an "X" shape and are hinged to each other, one end of the first connecting rod is connected to the connecting block and the other end is connected to the lead screw fixing seat, one end of the second connecting rod is connected to the connecting block and the other end is connected to the lead screw slider.

[0019] Optionally, the clamping mechanism is an airbag clamping mechanism; the airbag clamping mechanism includes an air pump, an annular airbag, and an air pipe, the annular airbag being fitted onto the track of the track mechanism and / or the roller of the roller mechanism, and the air pump being connected to each of the annular airbags through the air pipe.

[0020] To achieve the other objective mentioned above, the present invention provides a flexible endoscope delivery device, comprising a main body and an actuator disposed inside or at the front end of the main body, wherein the actuator is a flexible endoscope actuator as described in any of the above claims; the main body is provided with an execution drive mechanism, a rotating body, and a rotation drive mechanism; the flexible endoscope actuator is detachably mounted on the rotating body; the execution drive mechanism includes a clamping drive mechanism and a delivery drive mechanism, the clamping drive mechanism being convectively connected to the clamping action mechanism to drive the driven rotating operating mechanism to approach or move away from the active rotating operating mechanism, thereby clamping or releasing the flexible endoscope; the delivery drive mechanism being convectively connected to the active rotating operating mechanism to deliver the clamped flexible endoscope forward or backward; the rotation drive mechanism being convectively connected to the rotating body to drive the rotating body and the flexible endoscope actuator to rotate, thereby causing the flexible endoscope to rotate.

[0021] To achieve the aforementioned other objective, the present invention provides another flexible endoscope delivery device, comprising a main body and an actuator disposed inside or at the front end of the main body, wherein the actuator is the flexible endoscope actuator described in the last item above; the main body is provided with an execution drive mechanism, a rotating body, and a rotation drive mechanism; the flexible endoscope actuator is detachably mounted on the rotating body; the execution drive mechanism includes a delivery drive mechanism, which is convexly connected to the rotation drive mechanism to deliver the clamped flexible endoscope forward or backward; the rotation drive mechanism is convexly connected to the rotating body to drive the rotating body and the flexible endoscope actuator to rotate, thereby causing the flexible endoscope to rotate.

[0022] The quick-change flexible endoscope actuator provided by this invention has the function of clamping and transporting flexible endoscopes. When clamping, it can obtain appropriate friction force, thereby effectively preventing the flexible endoscope from slipping during transport and realizing continuous transport. It can be used for flexible endoscopes of various sizes and can prevent damage to the flexible endoscope due to excessive clamping force. It is not only compact in structure, small in size and light in weight, but also convenient and quick to install and replace.

[0023] The flexible endoscope transport device provided by this invention can clamp and transport the flexible endoscope through an actuator, and rotate the flexible endoscope through a rotating body and a rotation drive mechanism. During operation, the flexible endoscope can be transported alone, rotated alone, or rotated while being transported, thereby enabling more flexible operation of the flexible endoscope and the execution of more precise actions.

[0024] Moreover, the actuator adopts a modular design and can be detachably installed on the rotating body through a quick-connect mechanism. It can be installed and disassembled independently, and can be quickly removed after the operation and replaced with a new actuator for use. This greatly reduces the preparation time before the operation and can effectively avoid cross-contamination. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a quick-change flexible endoscope actuator provided in an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 A schematic diagram of the scissor mechanism shown in the figure;

[0027] Figure 3 yes Figure 2 A schematic diagram of the scissor link assembly shown in the figure;

[0028] Figure 4 This is a schematic diagram of a cam mechanism for clamping action;

[0029] Figure 5 This is a schematic diagram of a screw and bevel gear mechanism for clamping action;

[0030] Figure 6 This is a schematic diagram of a screw-slider mechanism for clamping action.

[0031] Figure 7 This is a schematic diagram of a screw-linkage mechanism for clamping action;

[0032] Figure 8 yes Figure 7 The lead screw linkage mechanism shown is viewed from another perspective via an isometric view.

[0033] Figure 9 This is a schematic diagram of the first and second track mechanisms equipped with transmission components.

[0034] Figure 10 This is a schematic diagram of a structure in which both the active and driven rotary operating mechanisms are roller mechanisms.

[0035] Figure 11 This is a schematic diagram of a clamping mechanism for an airbag clamping mechanism;

[0036] Figure 12 This is a schematic diagram of the structure of a flexible endoscope delivery device provided in an embodiment of the present invention;

[0037] Figure 13 yes Figure 12 A schematic diagram of the internal structure of the flexible endoscope delivery device shown.

[0038] Figure 14 yes Figure 13 Top view of the flexible endoscope delivery device shown.

[0039] In the picture:

[0040] 10. Shell

[0041] 110. First track mechanism; 120. Second track mechanism; 130. Third track mechanism; 131. Track guide rail; 131

[0042] 200. Scissor lift mechanism; 210. Scissor lift linkage assembly; 211. Pulley; 212. Winding shaft; 213. Wire rope; 214. First hinge pin; 215. Second hinge pin; 216. Linkage fixing seat; 218. Tension spring.

[0043] 300. Cam mechanism; 310. Camshaft; 320. Camshaft support; 330. Driven roller; 340. Roller mounting bracket; 350. Cam.

[0044] 400. Lead screw and bevel gear mechanism; 410. Bevel gear shaft; 420. First bevel gear; 430. Second bevel gear; 440. Lead screw; 450. Lead screw slider; 460. Connecting block.

[0045] 500. Lead screw and slider mechanism; 510. Lead screw shaft; 520. Lead screw; 530. Lead screw and slider; 531. Wedge-shaped slide table; 540. Connecting block; 541. Wedge-shaped guide groove; 550. Lead screw fixing seat.

[0046] 600. Lead screw linkage mechanism; 610. Lead screw; 620. Lead screw slider; 630. First link; 640. Second link; 650. Connecting block; 660. Lead screw fixing seat.

[0047] 710. First bevel gear; 720. Second bevel gear; 730. Third bevel gear; 740. Fourth bevel gear.

[0048] 810. First roller mechanism 820. Second roller mechanism 830. Third roller mechanism

[0049] 840. Air pump; 850. Circular airbag; 860. Air tube

[0050] 910. Main housing; 920. Actuator; 9311. Clamping motor; 9312. Clamping drive shaft; 9321. Conveyor motor; 9322. Conveyor drive shaft; 933. First transmission component; 934. Second transmission component; 940. Turntable; 950. Rotary drive mechanism; 951. Rotary motor; 952. First gear; 953. Second gear.

[0051] 100. Rotary support mechanism Detailed Implementation

[0052] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] In this document, terms such as "upper," "lower," "inner," and "outer" are established based on the positional relationships shown in the accompanying drawings. Depending on the drawings, the corresponding positional relationships may also change. Therefore, they should not be interpreted as an absolute limitation on the scope of protection. Moreover, relational terms such as "first" and "second" are only used to distinguish one component from another that has the same name, and do not necessarily require or imply any such actual relationship or order between these components.

[0054] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of a quick-change flexible endoscope actuator provided in an embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of the scissor mechanism shown in the figure; Figure 3 yes Figure 2 The diagram shows the structure of the scissor link assembly.

[0055] In one specific embodiment, the quick-change flexible endoscope actuator provided by the present invention mainly consists of a housing 10 and three track mechanisms arranged in a circumferential direction, with a transport channel for the flexible endoscope to pass through formed between the track surfaces of the three track mechanisms.

[0056] Specifically, the three track mechanisms are a first track mechanism 110, a second track mechanism 120, and a third track mechanism 130. The first track mechanism 110 and the second track mechanism 120 are driving tracks, and the third track mechanism 130 is a driven track. The first track mechanism 110 and the second track mechanism 120 are located above the conveying channel and are symmetrically arranged on the left and right. The track surfaces of the two are in an inverted "V" shape on the cross-section of the conveying channel. The third track mechanism 130 is located below the conveying channel.

[0057] The first track mechanism 110 and the second track mechanism 120 are mounted via their track shafts, and the third track mechanism 130 is mounted on the track guide rail 131 via the track guide rail shaft. The third track mechanism 130 can move along the direction defined by the track guide rail 131 towards or away from the first track mechanism 110 and the second track mechanism 120, thereby realizing the function of clamping or releasing the flexible endoscope.

[0058] The third track mechanism 130 is provided with a clamping mechanism. In this embodiment, the clamping mechanism is a scissor mechanism 200, which includes a scissor link assembly 210, a pulley 211, a winding shaft 212, and a wire rope 213. The scissor link assembly 210 is mounted on the link fixing seat 216 through a first hinge shaft 214. Its upper end is connected to the third track mechanism 130, and its lower end is connected to the wire rope 213 through a second hinge shaft 215. The link fixing seat 216 is provided with a tension spring 218 that drives the scissor link assembly 210 to shorten. One end of the wire rope 213 is connected to the link of the scissor link assembly 210, and the other end is wound around the pulley and the winding shaft.

[0059] Specifically, the scissor link assembly 210 mainly consists of a first link, a second link, a third link, and a fourth link. The first link and the second link are hinged together by a first hinge pin 214, forming an intersecting "X" shape. One end of the first link and the second link is fixed to the cover plate of the third track mechanism 130, and the other end is hinged to the third link and the fourth link respectively. The first hinge pin 214 is installed on the link fixing seat 216 through a shaft hole. The lower ends of the third link and the fourth link are hinged together by a second hinge pin 215, forming a "V" shape. The second hinge pin 215 is connected to the link fixing seat 216 by a tension spring 218. One end of the wire rope 213 is tied to the second hinge pin 215.

[0060] During operation, the wire rope 213 is wound or unwound in the groove of the winding shaft by the rotation of the winding shaft 212. When the winding shaft 212 rotates forward, the wire rope 213 starts to pull down the second hinge shaft 215 through the pulley 211, and the upper ends of the first and second connecting rods start to move upward, driving the third track mechanism 130 to move upward. At this time, the tension spring 218 is in a stretched state. When the winding shaft 212 reverses, the tension of the wire rope 213 gradually decreases until it disappears. At this time, the third track mechanism 130 returns to its initial position by the rebound force of the tension spring 218.

[0061] Please refer to Figure 4 , Figure 4 This is a schematic diagram of a cam mechanism for clamping action.

[0062] In another embodiment, the clamping mechanism is a cam mechanism 300, which mainly consists of a camshaft 310, a camshaft support 320, a driven roller 330, and a roller mounting bracket 340. The camshaft 310 is mounted on the camshaft support 320, and the driven roller 330 is mounted below the third track mechanism 130 through the roller mounting bracket 340. The cam 350 on the camshaft 310 is in transmission cooperation with the driven roller 330. When the camshaft 310 rotates, the third track mechanism 130 can be driven to move up and down reciprocally through the cooperation of the cam 350 and the driven roller 330, thereby realizing the clamping and loosening of the flexible endoscope.

[0063] The parts that are the same as those in the first embodiment are given the same reference numerals, and the same text descriptions are omitted.

[0064] Please refer to Figure 5 , Figure 5 This is a schematic diagram of a screw and bevel gear mechanism for clamping action.

[0065] In another embodiment, the clamping mechanism is a lead screw bevel gear mechanism 400, which mainly consists of a bevel gear shaft 410, a first bevel gear 420, a second bevel gear 430, a lead screw 440, a lead screw slider 450, and a connecting block 460. The connecting block 460 is fixed to the third track mechanism 130. The lead screw slider 450 is connected to the connecting block 460 through a tongue-and-groove joint structure. The lead screw 440 is vertically mounted on a lead screw fixing seat. The lead screw slider 450 is mounted on the lead screw 440 and can rotate on the lead screw 440. The first bevel gear 420 is fixed to the lead screw 440, and the second bevel gear 430 is mounted on the bevel gear shaft 410. The first bevel gear 420 and the second bevel gear 430 mesh with each other.

[0066] During operation, the rotation of the bevel gear shaft 410 drives the rotation of the second bevel gear 430, which in turn drives the rotation of the first bevel gear 420 and the lead screw 440. The lead screw 440 rotates, while the lead screw slider 450 is connected to the connecting block 460 and cannot rotate. Therefore, the lead screw slider 450 can only move upward, thereby pushing the connecting block 460 to move upward. The connecting block 460 is fixed on the third track mechanism 130, thereby driving the third track mechanism 130 to move upward, thus clamping the flexible endoscope. Conversely, the flexible endoscope can be loosened by moving downward.

[0067] The parts that are the same as those in the above embodiments are given the same reference numerals, and the same text descriptions are omitted.

[0068] Please refer to Figure 6 , Figure 6 This is a schematic diagram of a screw-slider mechanism for clamping action.

[0069] In another embodiment, the clamping mechanism is a lead screw and slider mechanism 500, which mainly consists of a lead screw shaft 510, a lead screw 520, a lead screw slider 530, and a connecting block 540. The connecting block 540 is fixed to the third track mechanism 130. The bottom of the connecting block 540 is provided with a wedge-shaped guide groove 541. The top of the lead screw slider 530 is provided with a wedge-shaped slide table 531. The lead screw slider 530 is mounted on the lead screw 520, and the lead screw 520 is mounted on the lead screw fixing seat 550.

[0070] During operation, the lead screw 520 rotates, while the wedge-shaped slide 531 at the upper end of the lead screw slider 530 is in the wedge-shaped guide groove 541 at the bottom end of the connecting block 540. At this time, the lead screw slider 530 cannot rotate and can only move forward. Through its wedge-shaped slide 531, it pushes the connecting block 540 to move upward, thereby causing the third track mechanism 130 to move upward, thus achieving the clamping of the flexible endoscope. Conversely, it can loosen the flexible endoscope.

[0071] The parts that are the same as those in the above embodiments are given the same reference numerals, and the same text descriptions are omitted.

[0072] Please refer to Figure 7 , Figure 8 , Figure 7 This is a schematic diagram of a screw-linkage mechanism for clamping action; please refer to it. Figure 8 , Figure 8 yes Figure 7 The lead screw linkage mechanism shown is viewed from another perspective via an isometric view.

[0073] In another embodiment, the clamping mechanism is a lead screw linkage mechanism 600, which mainly consists of a lead screw 610, a lead screw slider 620, a first connecting rod 630, a second connecting rod 640, and a connecting block 650.

[0074] The connecting block 650 is fixed to the third track mechanism 130, the lead screw 610 is installed on the lead screw fixing seat 660, the lead screw slider 620 is installed on the lead screw 610, and two sets of first connecting rods 630 and second connecting rods 640 are located on both sides of the connecting block 650 respectively. The first connecting rod 630 and the second connecting rod 640 cross to form an "X" shape and are hinged to each other. One end of the first connecting rod 630 is connected to the connecting block 650, and the other end is connected to the lead screw fixing seat 660. One end of the second connecting rod 640 is connected to the connecting block 650, and the other end is connected to the lead screw slider 620.

[0075] During operation, the rotation of the lead screw 610 drives the lead screw slider 620 to move forward, thereby causing the connecting block 650 to move upward through the connecting rod. The connecting block 650 is fixed on the third track mechanism 130, thereby driving the third track mechanism 130 to move upward, thus achieving the clamping of the flexible endoscope. Conversely, the flexible endoscope can be loosened.

[0076] The parts that are the same as those in the above embodiments are given the same reference numerals, and the same text descriptions are omitted.

[0077] Please refer to Figure 9 , Figure 9 This is a schematic diagram of the first and second track mechanisms equipped with transmission components.

[0078] The first track mechanism 110 and the second track mechanism 120 can be driven by a motor through a transmission assembly. The conveyor motor is connected to the transmission assembly, and the transmission assembly is connected to the track mechanism. The rotation of the output shaft of the conveyor motor is converted into the rotation of the track of the track mechanism through the transmission assembly. The flexible endoscope is transported through the rotation of the track of the track mechanism.

[0079] Specifically, the transmission assembly mainly consists of a first bevel gear 710, a second bevel gear 720, a third bevel gear 730, and a fourth bevel gear 740. The shaft of the first bevel gear 710 is arranged in the front-to-back direction. The second bevel gear 720 and the third bevel gear 730 are coaxially superimposed coupled gears, which are installed on the track shaft of the first track mechanism 110. The fourth bevel gear 740 is installed on the track shaft of the second track mechanism 120. The first bevel gear 710 meshes with the second bevel gear 720 for transmission, and the third bevel gear 730 meshes with the fourth bevel gear 740 for transmission.

[0080] When the first bevel gear 710 rotates, it can simultaneously drive the third bevel gear 730 and the fourth bevel gear 740 to rotate, thereby driving the first track mechanism 110 and the second track mechanism 120 to operate, thus realizing the transport of the flexible endoscope.

[0081] Of course, there can be three or more track mechanisms; there is no limit to the number. At the same time, the shaft angle of the bevel gear can be 90°, 60°, or other degrees; there is no limit to the shaft angle.

[0082] Please refer to Figure 10 , Figure 10 This is a schematic diagram of a structure where both the active and passive rotating mechanisms are roller mechanisms.

[0083] In another embodiment, the first track mechanism 110, the second track mechanism 120, and the third track mechanism 130 can be replaced by the first roller mechanism 810, the second roller mechanism 820, and the third roller mechanism 830. That is, both the active rotating running mechanism and the driven rotating running mechanism can be roller mechanisms, and their arrangement is generally the same as that of the track mechanism. Please refer to the above.

[0084] During operation, the conveyor motor is connected to the transmission assembly, which in turn is connected to the roller mechanism. The rotation of the output shaft of the conveyor motor is converted into the rotation of the rollers in the roller mechanism through the transmission assembly. The flexible endoscope is then transported through the rotation of the rollers in the roller mechanism.

[0085] It is understood that in other embodiments, the track mechanism and the roller mechanism can also be used together, for example, the active rotating mechanism is a track mechanism and the driven rotating mechanism is a roller mechanism; or, the active rotating mechanism is a roller mechanism and the driven rotating mechanism is a track mechanism, and so on.

[0086] Please refer to Figure 11 , Figure 11 This is a schematic diagram of a clamping mechanism that is an airbag clamping mechanism.

[0087] In another embodiment, the clamping mechanism is an airbag clamping mechanism, which mainly consists of an air pump 840, an annular airbag 850, and an air pipe 860. The annular airbag 850 is mounted on the track of the track mechanism or on the roller of the roller mechanism. A conveying channel is formed between multiple annular airbags 850. The air pump 840 is connected to each annular airbag 850 through the air pipe 860.

[0088] During operation, the flexible endoscope passes through the delivery channel formed by multiple annular airbags 850. The air pump 840 inflates the annular airbags 850 through the air tube 860. The annular airbags 850 expand, reducing the space in the delivery channel and thus clamping the flexible endoscope. Conversely, the flexible endoscope can be loosened by deflating the airbags.

[0089] If an airbag clamping mechanism is used to clamp the flexible endoscope, the track mechanism or roller mechanism can be fixed, movable, or a combination of both; there are no restrictions here.

[0090] Please refer to Figure 12 , Figure 13 , Figure 14 , Figure 12 This is a schematic diagram of the structure of a flexible endoscope delivery device provided in an embodiment of the present invention; Figure 13 yes Figure 12 A schematic diagram of the internal structure of the flexible endoscope delivery device shown. Figure 14 yes Figure 13 Top view of the flexible endoscope delivery device shown.

[0091] The flexible endoscope delivery device provided in this embodiment is suitable for operating a flexible endoscope during surgery to complete interventional examinations and diagnoses of natural body cavities. It mainly consists of a main body housing 910, an actuator 920, an actuator drive mechanism, a turntable 940, and a rotary drive mechanism 950. The turntable 940 is a rotating body. The actuator drive mechanism 920 is mounted on the turntable 940. The actuator 920 is detachably mounted on the front side of the turntable 940 via a quick-connect mechanism. The actuator 920 is the flexible endoscope actuator described above. The actuator drive mechanism on the turntable 940 is connected to the clamping and delivery mechanism to drive the clamping and delivery mechanism to clamp the flexible endoscope and move the flexible endoscope after clamping, thereby delivering the flexible endoscope forward or backward. The rotary drive mechanism 950 is connected to the turntable 940 to drive the turntable 940 and the actuator 920 on the turntable to rotate together, thereby rotating the flexible endoscope.

[0092] The actuator is divided into a clamping actuator and a conveying actuator, both of which are mounted on the turntable 940.

[0093] The conveying drive mechanism mainly consists of a conveying motor 9321 and a conveying drive shaft 9322. The conveying drive shaft 9322 is rotatably mounted on the front side of the turntable 940 via bearings. The conveying motor 9321 and the conveying drive shaft 9322 are parallel and extend along the axial direction. The rotating shaft of the conveying motor 9321 and the conveying drive shaft 9322 are connected by a first transmission component 933 located on the rear side of the turntable 940. The first transmission component 933 can be a synchronous belt and a synchronous pulley.

[0094] Similarly, the clamping drive mechanism mainly consists of a clamping motor 9311 and a clamping drive shaft 9312. The clamping drive shaft 9312 is rotatably mounted on the front side of the turntable 940 via bearings. The clamping motor 9311 and the clamping drive shaft 9312 are parallel and extend in the axial direction. The output shaft of the clamping motor 9311 and the clamping drive shaft 9312 are connected by a second transmission component 934 located on the rear side of the turntable 940. The second transmission component 934 can be a synchronous belt and a synchronous pulley.

[0095] This structure effectively reduces the axial length of the actuator 920 because the conveyor motor 9321, clamping motor 9311, conveyor drive shaft 9322, and clamping drive shaft 9312 are all located on the front side of the turntable 940, rather than on the rear side of the turntable 940.

[0096] Furthermore, the conveying motor 9321 and the clamping motor 9311 are located on the lower left and lower right sides of the actuator 920, respectively. The housing 10 of the actuator 920 has symmetrical arc-shaped recessed portions on the lower left and lower right sides to accommodate the conveying motor 9321 and the clamping motor 9311. This layout allows for a more rational and compact product structure, resulting in a smaller product size.

[0097] Of course, in other embodiments, the transmission between the conveying motor 9321 and the conveying drive shaft 9322, and between the clamping motor 9311 and the clamping drive shaft 9312, can also be achieved by means of gears or the like.

[0098] The rotary motor 951 of the rotary drive mechanism 950 is mounted inside the main housing 910 via a bracket, and the rotary motor 951 is connected to the turntable 940 via a rotary transmission mechanism.

[0099] Specifically, the rotary transmission mechanism is mainly composed of a first gear 952 and a second gear 953. The first gear 952 is coaxially arranged with the turntable 940 and is connected to the turntable 940 through an axial connecting column. The output shaft of the rotary motor 951 is driven by the meshing of the second gear 953 and the first gear 952. Both the turntable 940 and the first gear 952 have through holes in the middle for the flexible endoscope to pass through.

[0100] To ensure rotational stability, a rotational support mechanism 100 is provided on the rear side of the first gear 952. This rotational support mechanism 100 can be a ring guide rail slider mechanism or a bearing mechanism, which is not limited here.

[0101] If adopted Figure 11 The clamping and conveying mechanism shown is an airbag clamping mechanism, which can clamp flexible endoscopes even when the driven track mechanism or driven roller mechanism does not move. Therefore, the clamping drive mechanism can be omitted.

[0102] In the above embodiments, a force sensing mechanism can also be added to the clamping and conveying mechanism. This force sensing mechanism can consist of a force sensor and a force sensor mounting bracket. The force sensor is fixed to the clamping and conveying mechanism through the force sensor mounting bracket. By detecting the clamping force through the force sensor, information can be provided to the doctor in real time, making it easier for the doctor to make a judgment.

[0103] The foregoing has provided a detailed description of the quick-change flexible endoscope actuator and flexible endoscope delivery device provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention, and the descriptions of the embodiments above are merely for the purpose of helping to understand the core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from the principles of this invention, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A quick-change flexible endoscopic actuator, characterized in that, The device includes a housing and a clamping and conveying mechanism disposed inside the housing. The clamping and conveying mechanism includes multiple rotating operating mechanisms arranged in a circumferential direction, forming a conveying channel for a flexible endoscope to pass through. The housing has through holes at both ends corresponding to the conveying channel. The rotating operating mechanism is equipped with a clamping action mechanism, which is used to reduce the space of the conveying channel formed by the rotating operating mechanism by performing a clamping action, thereby clamping or releasing the flexible endoscope. When the rotating operating mechanism is running, it can drive the clamped flexible endoscope to move back and forth. All of the aforementioned rotating operating mechanisms are tracked mechanisms, or all of the aforementioned rotating operating mechanisms are roller mechanisms, or a portion of the aforementioned rotating operating mechanisms are tracked mechanisms and another portion are roller mechanisms; The plurality of rotating operating mechanisms include an active rotating operating mechanism and a driven rotating operating mechanism. The clamping mechanism is disposed on the driven rotating operating mechanism to drive the driven rotating operating mechanism to approach or move away from the active rotating operating mechanism. The number of active rotating operating mechanisms is two. The two active rotating operating mechanisms are located above the conveying channel and are symmetrically arranged on the left and right sides. The two are arranged in an inverted "V" shape on the cross-section of the conveying channel. The driven rotary operating mechanism is located below the conveying channel and installed on the carrier. The carrier is provided with a guide rail, and the driven rotary operating mechanism can move up and down along the guide rail to approach or move away from the active rotary operating mechanism.

2. The quick-change flexible endoscope actuator according to claim 1, characterized in that, The clamping mechanism is a scissor mechanism; the scissor mechanism includes a scissor linkage assembly, a pulley, a winding shaft, and a steel wire rope. The scissor linkage assembly is mounted on a linkage fixing seat, with one end connected to the driven rotary operating mechanism and the other end connected to the steel wire rope. The linkage fixing seat is equipped with a spring that drives the scissor linkage assembly to shorten. One end of the steel wire rope is connected to the scissor linkage assembly, and the other end is wound around the winding shaft via the pulley. When the winding shaft rotates, the steel wire rope pulls the scissor linkage assembly to extend.

3. The quick-change flexible endoscope actuator according to claim 1, characterized in that, The clamping mechanism is a cam mechanism; the cam mechanism includes a camshaft, a camshaft support, and a driven roller; the camshaft is mounted on the camshaft support, the driven roller is mounted below the driven rotary mechanism, and the cam on the camshaft is in drive engagement with the driven roller.

4. The quick-change flexible endoscope actuator according to claim 1, characterized in that, The clamping mechanism is a lead screw bevel gear mechanism; the lead screw bevel gear mechanism includes a bevel gear shaft, a first bevel gear, a second bevel gear, a lead screw, a lead screw slider, and a connecting block; the connecting block is fixed to the driven rotary operating mechanism, the lead screw slider is connected to the connecting block through a concave-convex insertion structure, the lead screw is vertically mounted on a lead screw fixing seat, the lead screw slider is mounted on the lead screw, the first bevel gear is fixed to the lead screw, the second bevel gear is mounted on the bevel gear shaft, and the first bevel gear and the second bevel gear mesh with each other.

5. The quick-change flexible endoscope actuator according to claim 1, characterized in that, The clamping mechanism is a lead screw and slider mechanism; the lead screw and slider mechanism includes a lead screw shaft, a lead screw, a lead screw slider and a connecting block; the connecting block is fixed to the driven rotary running mechanism, and the bottom of the connecting block is provided with a wedge-shaped guide groove; the top of the lead screw slider is provided with a wedge-shaped slide table, the lead screw slider is mounted on the lead screw, and the lead screw is mounted on the lead screw fixing seat.

6. The quick-change flexible endoscope actuator according to claim 1, characterized in that, The clamping mechanism is a lead screw linkage mechanism; the lead screw linkage mechanism includes a lead screw, a lead screw slider, a first connecting rod, a second connecting rod, and a connecting block; the connecting block is fixed to the driven rotary operating mechanism, the lead screw is mounted on a lead screw fixing seat, the lead screw slider is mounted on the lead screw, two sets of first and second connecting rods are respectively located on both sides of the connecting block, the first and second connecting rods intersect in an "X" shape and are hinged to each other, one end of the first connecting rod is connected to the connecting block and the other end is connected to the lead screw fixing seat, one end of the second connecting rod is connected to the connecting block and the other end is connected to the lead screw slider.

7. The quick-change flexible endoscope actuator according to claim 1, characterized in that, The clamping mechanism is an airbag clamping mechanism; the airbag clamping mechanism includes an air pump, an annular airbag, and an air pipe. The annular airbag is fitted onto the track of the track mechanism and / or the roller of the roller mechanism. The air pump is connected to each of the annular airbags through the air pipe.

8. A flexible endoscope delivery device, characterized in that, The device includes a main body and an actuator located inside or at the front end of the main body. The actuator is a quick-change flexible endoscope actuator as described in any one of claims 1 to 6. The main body is provided with an execution drive mechanism, a rotating body, and a rotation drive mechanism. The flexible endoscope actuator is detachably mounted on the rotating body. The execution drive mechanism includes a clamping drive mechanism and a conveying drive mechanism. The clamping drive mechanism is driven to the clamping action mechanism to drive the driven rotating operating mechanism to approach or move away from the active rotating operating mechanism, thereby clamping or releasing the flexible endoscope. The conveying drive mechanism is driven to the active rotating operating mechanism to convey the clamped flexible endoscope forward or backward. The rotation drive mechanism is driven to the rotating body to drive the rotating body and the flexible endoscope actuator to rotate, thereby rotating the flexible endoscope.

9. A flexible endoscope delivery device, characterized in that, The device includes a main body and an actuator located inside or at the front end of the main body. The actuator is the quick-change flexible endoscope actuator as described in claim 7. The main body is provided with an execution drive mechanism, a rotating body, and a rotation drive mechanism. The flexible endoscope actuator is detachably mounted on the rotating body. The execution drive mechanism includes a transport drive mechanism, which is connected to the rotation drive mechanism to transport the clamped flexible endoscope forward or backward. The rotation drive mechanism is connected to the rotating body to drive the rotating body and the flexible endoscope actuator to rotate, thereby rotating the flexible endoscope.

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