master operator

Abstract

The application discloses a master operating hand, which comprises a supporting frame, a control device, a feeding mechanism and a control mechanism. The supporting frame extends along a first direction. The control device is configured to control the movement of an endoscope in a natural cavity of a human body. The feeding mechanism is installed on the supporting frame and is configured to move in a second direction perpendicular to the first direction by driving the feeding mechanism, so that the control device controls the movement of the endoscope along the second mapping direction. The control mechanism is installed on the end of the feeding mechanism away from the supporting frame and comprises a first control mechanism, a second control mechanism and a third control mechanism. The first control mechanism rotates around a first rotation axis, the second control mechanism rotates around a second rotation axis, and the third control mechanism rotates around a third rotation axis. The first rotation axis, the second rotation axis and the third rotation axis are perpendicular to each other and intersect with each other, so that the control device controls the movement of the endoscope in the natural cavity of the human body. The operator is free from the limitations of the use scene and position when using the endoscope.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a master operator suitable for controlling the movement of an endoscope in the natural cavities of the human body. Background Technology

[0002] In recent years, minimally invasive surgery has undergone a tremendous leap from multi-port surgery to single-port surgery, and then to surgery through natural orifices.

[0003] Existing endoscopes include an insertion section, an operating handle, and a control device. The insertion section is cable-like, with a camera unit installed at its end. The insertion section is used to insert into the body through natural body cavities. The operating handle is located at the end of the insertion section furthest from the camera unit. The control device collects the movement information of the operating handle to control the movement of the endoscope within the body cavity. During endoscopic examinations or minimally invasive surgeries in a supine position, because the patient lies supine on the operating table, the operator must adjust their posture according to the scenario to ensure the insertion section reaches the body cavity. This results in limited operating space, restricted operation, and the need to maintain a specific posture for extended periods, leading to significant physical strain and poor comfort during use. Summary of the Invention

[0004] To address the existing technical problems, this invention provides a master operator. By operating the feeding mechanism and the operating mechanism, the operator controls the control mechanism to move the endoscope within the body's natural cavities, thus overcoming the limitations of the usage scenario and location when using an endoscope and improving the comfort of operation.

[0005] This invention provides a master operator suitable for controlling the movement of an endoscope within natural body cavities, comprising:

[0006] The support frame extends in the first direction;

[0007] The control device is configured to control the movement of the endoscope within the body's natural cavities;

[0008] The feeding mechanism, mounted on the support frame, is configured to move the endoscope along the second mapping direction by driving the feeding mechanism to move in a second direction perpendicular to the first direction;

[0009] A control mechanism, installed at the end of the feed mechanism away from the support frame, and includes:

[0010] A first control mechanism is configured to drive the first control mechanism to rotate about a first axis extending along a first direction, such that the control device controls the endoscope to rotate about a first mapping axis extending along a first mapping direction.

[0011] The second control mechanism is configured to rotate about a second axis extending along a second direction by driving the second control mechanism to rotate, such that the control device controls the endoscope to rotate about a second mapping axis extending along a second mapping direction perpendicular to the first mapping direction; and

[0012] The third control mechanism is configured to drive the third control mechanism to rotate about a third axis extending in a third direction perpendicular to the first and second directions, such that the control device controls the endoscope to rotate about a third mapping axis extending in a third mapping direction perpendicular to the first and second mapping directions.

[0013] According to embodiments of this disclosure, the feeding mechanism includes:

[0014] A linkage mechanism, wherein a first end of the linkage mechanism is mounted on the support frame, and a second end of the linkage mechanism extends along the second direction;

[0015] The first detection mechanism is adapted to detect the movement distance of the second end of the linkage mechanism relative to the first end in the second direction, and the control device controls the movement of the endoscope along the second mapping direction based on the movement distance;

[0016] Preferably, the linkage mechanism includes:

[0017] The first mounting part is mounted on the support frame;

[0018] The first and second connecting rods are rotatably mounted to the first mounting portion via two pivots, respectively;

[0019] The second mounting part is rotatably mounted on the end of the first connecting rod and the second connecting rod away from the first mounting part;

[0020] Both the first main connecting rod and the second main connecting rod are rotatably mounted on the second mounting part;

[0021] The third mounting part is rotatably mounted on the end of the first main connecting rod and the second main connecting rod away from the second mounting part;

[0022] Preferably, the first testing institution includes:

[0023] A first linkage gear is mounted on the pivot of the second driven link to rotate with the second driven link; and

[0024] A first angle sensor engages with the first linkage gear to detect the movement distance of the third mounting portion relative to the first mounting portion in the second direction based on the rotation angle of the first linkage gear.

[0025] Preferably, the feeding mechanism further includes a first braking mechanism, which is mounted on the first mounting portion and meshes with the first linkage gear, and is adapted to prevent the second follower rod from rotating relative to the first mounting portion.

[0026] According to an embodiment of this disclosure, the linkage mechanism further includes a constraint component mounted on the second mounting portion, which is adapted to restrict the first main link and the second main link from rotating in opposite directions with the first secondary link and the second secondary link relative to the second mounting portion at the same angular velocity, so that the third mounting portion reciprocates relative to the first mounting portion along the second direction.

[0027] Preferably, the constraint component includes:

[0028] A connecting shaft is rotatably mounted on the second mounting portion and extends along the first direction. The connecting shaft is fixed relative to one end of the first main connecting rod and rotates relative to the first slave connecting rod.

[0029] The drive gear is mounted on the connecting shaft and fixed relative to the connecting shaft; and

[0030] The driven gear is rotatably mounted on the second mounting part and meshes with the driving gear. The driven gear is fixed relative to the second connecting rod.

[0031] According to embodiments of this disclosure, the first control mechanism includes:

[0032] The mounting bracket is installed at the end of the feeding mechanism away from the support frame;

[0033] The first connecting portion is rotatably connected to the mounting frame via a first rotating shaft extending along the first direction;

[0034] The second detection mechanism is adapted to detect the first rotation angle of the first connecting part about the first rotation axis, and the control device controls the endoscope to rotate about the first mapping axis extending in the first mapping direction based on the first rotation angle.

[0035] Preferably, the second testing institution includes:

[0036] The second linkage gear is mounted on the first rotating shaft to rotate with the first rotating shaft;

[0037] The second angle sensor meshes with the second linkage gear to detect the first rotation angle of the first connecting part about the first rotation axis based on the rotation angle of the second linkage gear;

[0038] Preferably, the first control mechanism further includes a second braking mechanism, mounted on the mounting bracket to prevent the first connecting portion from rotating relative to the mounting bracket.

[0039] According to embodiments of this disclosure, the second control mechanism includes:

[0040] The second connecting part is rotatably connected to the first connecting part via a second rotating shaft extending along the second direction;

[0041] The third detection mechanism is suitable for detecting the second rotation angle of the second connecting part about the second rotation axis, and the control device controls the endoscope to rotate about the second mapping axis extending in the second mapping direction based on the second rotation angle.

[0042] Preferably, the third testing institution includes:

[0043] The third linkage gear is mounted on the second rotating shaft to rotate with the second rotating shaft;

[0044] A third angle sensor meshes with the third linkage gear to detect the second rotation angle of the second connecting part around the second rotation axis based on the rotation angle of the third linkage gear.

[0045] Preferably, the second control mechanism further includes a third braking mechanism, which is installed on the first connecting part and meshes with the third linkage gear, and is adapted to prevent the second connecting part from rotating relative to the first connecting part.

[0046] According to embodiments of this disclosure, the third control mechanism includes:

[0047] The handheld part is rotatably connected to the second connecting part via a third rotation axis extending along the third direction;

[0048] The fourth detection mechanism is suitable for detecting the third rotation angle of the handheld part about the third rotation axis, and the control device controls the endoscope to rotate about the third mapping axis extending from the third mapping direction based on the third rotation angle;

[0049] Preferably, the fourth testing institution includes:

[0050] The fourth linkage gear is mounted on the third rotating shaft to rotate with the third rotating shaft;

[0051] A fourth angle sensor meshes with the fourth linkage gear to detect the third rotation angle of the handheld part about the third rotation axis based on the rotation angle of the fourth linkage gear.

[0052] Preferably, the third control mechanism further includes a fourth braking mechanism, which is installed on the second connecting part and meshes with the fourth linkage gear, and is adapted to prevent the hand-held part from rotating relative to the second connecting part.

[0053] According to an embodiment of this disclosure, the second braking mechanism includes:

[0054] A brake is slidably mounted on the mounting bracket;

[0055] A transmission wire, wound between the brake and the first rotating shaft, is adapted to stop rotation under the control of the brake, thereby preventing the first connecting portion from rotating relative to the mounting bracket; and

[0056] A drive assembly, mounted on the mounting bracket, is adapted to drive the brake to move toward or away from the first rotation axis.

[0057] According to embodiments of this disclosure, the driving component includes:

[0058] A sliding frame is slidably mounted on the mounting frame along the second direction, the sliding frame is inclined at two end faces along the second direction, and the brake is mounted on the sliding frame;

[0059] Two sliding blocks are respectively fitted and abutted against the two inclined end faces of the sliding frame, and are slidably mounted on the mounting frame; and

[0060] Two lead screws pass through the two sliding blocks respectively and are threadedly connected to the sliding blocks. Driven by the rotation of the lead screws, the two sliders slide along the lead screws, and the two end faces of the sliders and the sliding frame, which are inclined, slide relative to each other, thereby driving the sliding frame to slide in the second direction.

[0061] According to embodiments of this disclosure, the mounting bracket is provided with operating components, including:

[0062] Two driven wheels are rotatably mounted on the mounting bracket and coaxially connected to the two lead screws respectively;

[0063] Operating wheels, rotatably mounted to the mounting bracket; and

[0064] A conveyor belt is wound around the operating wheel and the two driven wheels to drive the two driven wheels to rotate under the rotational drive of the operating wheel.

[0065] According to embodiments of this disclosure, the support frame is further provided with an adjustment assembly, which includes:

[0066] A slide rail is mounted on the support frame and extends along the first direction;

[0067] A sleeve, slidably mounted on the slide rail, and the feed mechanism mounted on the sleeve; and

[0068] A locking element, installed on the sleeve, is adapted to prevent the sleeve from sliding relative to the slide rail.

[0069] According to the master operator provided by the present invention, during use, the operator operates the feeding mechanism and the control mechanism. When operating the feeding mechanism, the operator can move the feeding mechanism along the second direction, so that the control device can control the endoscope to move along the second mapping direction. When operating the control mechanism, the operator can drive the first control mechanism to rotate around the first axis extending along the first direction, drive the second control mechanism to rotate around the second axis extending along the second direction, and drive the third control mechanism to rotate around the third axis extending along the third direction. This allows the control device to control the endoscope to rotate around the first mapping axis, the second mapping axis, and the third mapping axis, thereby achieving the purpose of controlling the master operator to indirectly control the movement of the endoscope in the body's natural cavities. The operator is freed from the limitations of the usage scenario and position when using the endoscope, and the operator does not have to maintain a specific posture for a long time, improving the convenience of using the endoscope and enhancing the comfort of operation. Attached Figure Description

[0070] Figure 1 This is a perspective view of a first embodiment of the main operator according to an embodiment of the present invention;

[0071] Figure 2 This is a partial view of the main operator's highlighted slide rail according to an embodiment of the present invention;

[0072] Figure 3 This is a partial view of the main operator's sleeve, as shown in an embodiment of the present invention.

[0073] Figure 4 This is a partial view highlighting the feed mechanism of the main operator according to an embodiment of the present invention;

[0074] Figure 5 This is a partially enlarged schematic diagram of the prominent display constraint component of the main operator according to an embodiment of the present invention;

[0075] Figure 6 This is a partial view of the prominent control mechanism of the main operator according to an embodiment of the present invention;

[0076] Figure 7 This is a partial view highlighting the second detection mechanism of the main operator according to an embodiment of the present invention;

[0077] Figure 8 This is a partial view of the prominent display driving component and the operation component of the main operator according to an embodiment of the present invention;

[0078] Figure 9 This is a partial view highlighting the fourth braking mechanism of the main operator according to an embodiment of the present invention; and

[0079] Figure 10 This is a schematic diagram of the mapping control between the main operator and the endoscope according to an embodiment of the present invention.

[0080] Figure Labels

[0081] 1. Support frame;

[0082] 2. Feeding mechanism;

[0083] 21. Linkage mechanism; 211. First driven link; 212. Second driven link; 213. First main link; 214. Second main link; 215. First mounting part; 2151. Limiting block; 216. Second mounting part; 217. Third mounting part; 218. Pivot; 219. Constraint assembly; 2191. Connecting shaft; 2192. Driving gear; 2193. Driven gear;

[0084] 22. First detection mechanism; 221. First linkage gear; 222. First angle sensor;

[0085] 23. First braking mechanism;

[0086] 3. Control mechanism;

[0087] 31. First control mechanism; 311. Mounting bracket; 3111. Fixing plate; 3112. Sliding plate; 312. First connecting part; 3121. First rotating shaft; 313. Second detection mechanism; 3131. Second linkage gear; 3132. Second angle sensor;

[0088] 32. Second control mechanism; 321. Second connecting part; 3211. Second rotating shaft; 322. Third detection mechanism; 3221. Third linkage gear; 3222. Third angle sensor; 323. Third braking mechanism;

[0089] 33. Third control mechanism; 331. Handheld part; 3311. Third rotating shaft; 332. Fourth detection mechanism; 3321. Fourth linkage gear; 3322. Fourth angle sensor; 333. Fourth braking mechanism;

[0090] 4. Second braking mechanism;

[0091] 41. Brake;

[0092] 42. Transmission wire;

[0093] 43. Drive assembly; 431. Sliding bracket; 432. Sliding block; 433. Lead screw;

[0094] 5. Operating components;

[0095] 51. Driven wheel;

[0096] 52. Control wheel;

[0097] 53. Conveyor belt;

[0098] 6. Adjustment components;

[0099] 61. Slide rail; 611. Thrust ring;

[0100] 62. Sleeve;

[0101] 63. Locking components;

[0102] 7. Push-top assembly;

[0103] 8. Endoscope. Detailed Implementation

[0104] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0105] The present invention is described herein with respect to structural embodiments and methods. It should be understood that this is not intended to limit the invention to the specific disclosed embodiments; the invention can be practiced using other features, elements, methods, and embodiments. Similar elements in different embodiments are typically designated with similar numbers.

[0106] Existing endoscopes consist of an insertion section and an operating handle. The insertion section is cable-like, with a camera unit installed at its end. The insertion section is used to insert into the body through natural cavities. The operating handle is located at the end of the insertion section furthest from the camera unit. When using endoscopes for supine examinations or minimally invasive surgeries, such as gynecological, uterine, or urological procedures, the patient must lie supine on the operating table, and the surgeon must sit to one side. The operator must adjust their own posture according to the patient to insert the insertion section into the body's natural cavity. This results in limited operating space, restricted operation, and the need to maintain a specific posture for extended periods, leading to significant physical strain and poor comfort during use.

[0107] Figure 1 This is a perspective view of a first embodiment of the main operator according to an embodiment of the present invention; Figure 2 This is a partial view of the main operator's highlighted slide rail according to an embodiment of the present invention; Figure 3 This is a partial view of the main operator's sleeve, as shown in an embodiment of the present invention.

[0108] This invention provides a master operator suitable for controlling the movement of an endoscope in a human body's natural cavities, comprising a support frame 1, a control device, a feeding mechanism 2, and a control mechanism 3. The support frame 1 extends in a first direction, which is vertical. The control device is configured to control the movement of the endoscope 8 in the human body's natural cavities. The feeding mechanism 2 is mounted on the support frame 1 and is configured to move in a second direction perpendicular to the first direction, thereby enabling the control device to control the endoscope 8 to move along the second mapping direction. The control mechanism 3 is mounted at the end of the feeding mechanism 2 away from the support frame 1 and includes a first control mechanism 31, a second control mechanism 32, and a third control mechanism 33. The first control mechanism 31 is configured to rotate about a first axis extending along a first direction, thereby causing the control device to control the endoscope 8 to rotate about a first mapping axis extending along a first mapping direction; the second control mechanism 32 is configured to rotate about a second axis extending along a second direction, thereby causing the control device to control the endoscope 8 to rotate about a second mapping axis extending along a second mapping direction perpendicular to the first mapping direction; the third control mechanism 33 is configured to rotate about a third axis extending along a third direction perpendicular to the first and second directions, thereby causing the control device to control the endoscope 8 to rotate about a third mapping axis extending along a third mapping direction perpendicular to the first and second mapping directions.

[0109] According to the main operator in the above embodiments, refer to Figure 1 During use, the operator operates the feeding mechanism 2 and the control mechanism 3. When operating the feeding mechanism 2, the operator can move the feeding mechanism 2 along the second direction, so that the control device can control the endoscope 8 to move along the second mapping direction. When operating the control mechanism 3, the operator can drive the first control mechanism 31 to rotate around the first axis extending along the first direction, drive the second control mechanism 32 to rotate around the second axis extending along the second direction, and drive the third control mechanism 33 to rotate around the third axis extending along the third direction. This allows the control device to control the endoscope 8 to rotate around the first mapping axis, the second mapping axis, and the third mapping axis, thus achieving the purpose of controlling the main operator to indirectly control the movement of the endoscope 8 in the body's natural cavities. The operator is freed from the limitations of the usage scenario and position when using the endoscope 8. The operator does not have to maintain a specific posture for a long time, which improves the convenience of using the endoscope and enhances the comfort of operation.

[0110] In one exemplary embodiment, reference is made to Figure 2 and 3The support frame 1 extends in a first direction, i.e., the support frame 1 is vertically arranged. An adjustment assembly 6 is provided on the support frame 1, which includes a slide rail 61, a sleeve 62, and a locking element 63. The slide rail 61 is mounted on the top of the support frame 1 and is vertically arranged; the sleeve 62 is fitted onto the top of the support frame 1 and is vertically slidably mounted on the slide rail 61; the feed mechanism 2 is mounted on the sleeve 62; the locking element 63 is mounted on the sleeve 62 and is used to prevent the sleeve 62 from sliding relative to the slide rail 61.

[0111] Specifically, at least one slide rail 61 is provided; in this embodiment, four slide rails 61 are provided, which surround the top of the support frame 1 and are spaced apart to improve the balance of the support frame 1. A sleeve 62 is fitted onto the support frame 1, and an adapter block is installed on each sleeve 62 opposite to the slide rail 61. The adapter block slides and engages with the slide rail 61 to guide the vertical movement of the sleeve 62. A locking element 63 is installed on the adapter block; the locking element 63 is a clamp or locking screw, etc., and is used to prevent the sleeve 62 from sliding relative to the slide rail 61. It positions the sleeve 62 and the feeding mechanism 2 and control mechanism 3 installed on the sleeve 62 in the vertical direction, thereby adjusting the height of the sleeve 62. This is suitable for minimally invasive surgery on different patients, improving its applicability.

[0112] In one exemplary embodiment, reference is made to Figure 2 Thrust rings 611 are installed at both ends of the slide rail 61 to prevent the sleeve 62 from slipping off the slide rail 61 and to improve the safety when adjusting the height of the sleeve 62.

[0113] In one exemplary embodiment, reference is made to Figure 2 The mounting bracket 311 is equipped with a push-up assembly 7, which can extend and retract vertically. The push-up assembly 7 is a metal spring or a gravity-balanced gas spring, etc. The push-up assembly 7 contacts the sleeve 62 and is used to lift the sleeve 62 upward. When the operator moves the sleeve 62 upward, the weight of the sleeve 62 is relatively large. The push-up assembly 7 can lift the sleeve 62 upward, sharing the force exerted by the operator when moving the sleeve 62, thus improving the ease of use.

[0114] In one exemplary embodiment, the bottom of the support frame 1 is equipped with casters, which facilitates the operator to move the position of the main operator as needed.

[0115] Figure 4 This is a partial view highlighting the feed mechanism of the main operator according to an embodiment of the present invention;

[0116] Figure 5 This is a partially enlarged schematic diagram of the prominent constraint component of the master operator according to an embodiment of the present invention.

[0117] In one exemplary embodiment, reference is made to Figure 4The feeding mechanism 2 includes a linkage mechanism 21 and a first detection mechanism 22. The first end of the linkage mechanism 21 is mounted on the sleeve 62, and the second end of the linkage mechanism 21 extends along a second direction. The first detection mechanism 22 is adapted to detect the movement distance of the second end of the linkage mechanism 21 relative to the first end in the second direction. The control device controls the movement of the endoscope 8 along the second mapping direction based on the movement distance.

[0118] In one exemplary embodiment, reference is made to Figure 4 The linkage mechanism 21 includes a first slave link 211, a second slave link 212, a first main link 213, a second main link 214, a first mounting portion 215, a second mounting portion 216, and a third mounting portion 217. The first mounting portion 215 is mounted on the sleeve 62; the first slave link 211 and the second slave link 212 are rotatably mounted on the first mounting portion 215 via two pivots 218, both of which are vertically arranged; the second mounting portion 216 is rotatably mounted on the end of the first slave link 211 and the second slave link 212 away from the first mounting portion 215 about an axis in a first direction; the first main link 213 and the second main link 214 are both rotatably mounted on the second mounting portion 216 about an axis in a first direction; the third mounting portion 217 is rotatably mounted on the end of the first main link 213 and the second main link 214 away from the second mounting portion 216 about an axis in a first direction.

[0119] In one exemplary embodiment, reference is made to Figure 4 A limit block 2151 is installed on the first mounting part 215, which is suitable for restricting the first connecting rod 211 and the second connecting rod 212 from rotating on one side in the second direction toward or away from the first mounting part 215.

[0120] In one exemplary embodiment, reference is made to Figure 5 The linkage mechanism 21 also includes a constraint component 219, which is mounted on the second mounting portion 216 and is adapted to restrict the first main link 213 and the second main link 214 from rotating in opposite directions with the first secondary link 211 and the second secondary link 212 relative to the second mounting portion 216 at the same angular velocity, so that the third mounting portion 217 reciprocates relative to the first mounting portion 215 along the second direction.

[0121] Specifically, refer to Figure 5The constraint assembly 219 includes a connecting shaft 2191, a driving gear 2192, and a driven gear 2193. The connecting shaft 2191 is rotatably mounted on the second mounting portion 216 about an axis in a first direction and extends along the first direction. One end of the connecting shaft 2191 is fixed relative to the first main connecting rod 213, and the connecting shaft 2191 rotates relative to the first driven connecting rod 211. The driving gear 2192 is mounted on the connecting shaft 2191 and is fixed relative to the connecting shaft 2191. The driven gear 2193 is rotatably mounted on the second mounting portion 216 and meshes with the driving gear 2192. The driven gear 2193 is fixed relative to the second driven connecting rod 212.

[0122] According to the above embodiment, when the main operator pushes the third mounting part 217 towards the sleeve 62, the first main connecting rod 213 and the second main connecting rod 214 rotate towards the first slave connecting rod 211 and the second slave connecting rod 212. At the same time, the connecting shaft 2191 and the driving gear 2192 rotate with the rotation of the first main connecting rod 213, thereby the driven gear 2193 rotates with the rotation of the driving gear 2192, which in turn drives the second slave connecting rod 212 and the first slave connecting rod 211 towards the first main connecting rod. 213 and the second main link 214 rotate in the same direction. The constraint assembly 219 restricts the first main link 213 and the second main link 214 from rotating in opposite directions relative to the first slave link 211 and the second slave link 212 with the same angular velocity. The third mounting part 217 moves toward the first mounting part 215 and decreases the distance between the third mounting part 217 and the first mounting part 215. Conversely, it increases the distance between the third mounting part 217 and the first mounting part 215.

[0123] In one exemplary embodiment, reference is made to Figure 4 The first detection mechanism 22 includes a first linkage gear 221 and a first angle sensor 222. The first linkage gear 221 is mounted on a pivot 218 of the second driven link 212 to rotate with the second driven link 212; the first angle sensor 222 meshes with the first linkage gear 221 to detect the movement distance of the third mounting part 217 relative to the first mounting part 215 in a second direction based on the rotation angle of the first linkage gear 221.

[0124] In one exemplary embodiment, reference is made to Figure 4 The feed mechanism 2 also includes a first braking mechanism 23, which is an electromagnetic brake 41, installed on the first mounting part 215 and meshing with the first linkage gear 221, and is used to prevent the second connecting rod 212 from rotating relative to the first mounting part 215.

[0125] In one exemplary embodiment, the control device includes a host computer and a main control unit, adapted to receive rotation angle information of the first linkage gear 221 transmitted from the first angle sensor 222, so as to obtain the movement distance of the third mounting part 217 relative to the first mounting part 215 in a second direction and control the movement distance of the endoscope 8 in the human body natural cavity along the second mapping direction.

[0126] According to the main operator of the above embodiment, as the first main link 213 and the second main link 214 rotate toward or away from the first secondary link 211 and the second secondary link 212, the distance between the third mounting part 217 and the first mounting part 215 increases or decreases. The first linkage gear 221 rotates with the second secondary link 212. At the same time, the first angle sensor 222 meshes with the first linkage gear 221 and rotates. The first angle sensor 222 obtains the rotation angle of the first linkage gear 221 and detects the moving distance of the third mounting part 217 relative to the first mounting part 215 in the second direction, so that the control device controls the moving distance of the endoscope 8 along the second mapping direction according to the moving distance.

[0127] When the third mounting part 217 moves to the desired position, the first braking mechanism 23 prevents the second connecting rod 212 from rotating relative to the first mounting part 215, thereby positioning the feed mechanism 2, maintaining the position of the feed mechanism 2, and relieving the operator of the need to maintain the state of the feed mechanism 2.

[0128] Figure 6 This is a partial view of the prominent control mechanism of the main operator according to an embodiment of the present invention; Figure 7 This is a partial view highlighting the second detection mechanism of the main operator according to an embodiment of the present invention; Figure 8 This is a partial view of the prominent display driving component and the operation component of the main operator according to an embodiment of the present invention; Figure 9 This is a partial view highlighting the fourth braking mechanism of the main operator according to an embodiment of the present invention.

[0129] In one exemplary embodiment, reference is made to Figure 6 The first control mechanism 31 includes a mounting bracket 311, a first connecting portion 312, and a second detection mechanism 313. The mounting bracket 311 is mounted on the end of the feeding mechanism 2 away from the sleeve 62; the first connecting portion 312 is rotatably connected to the mounting bracket 311 via a first rotating shaft 3121 extending in a first direction; the second detection mechanism 313 is adapted to detect a first rotation angle of the first connecting portion 312 about the first rotating shaft 3121, and the control device controls the endoscope 8 to rotate about a first mapping axis extending in a first mapping direction based on the first rotation angle.

[0130] Specifically, refer to Figure 6 and 7The second detection mechanism 313 includes a second linkage gear 3131 and a second angle sensor 3132. The second linkage gear 3131 is mounted on the first rotating shaft 3121 to rotate with the first rotating shaft 3121; the second angle sensor 3132 meshes with the second linkage gear 3131 to detect the first rotation angle of the first connecting part 312 around the first rotating shaft 3121 based on the rotation angle of the second linkage gear 3131.

[0131] According to the main operator of the above embodiment, when the operator drives the first connecting part 312 to rotate around the first rotating shaft 3121, the second linkage gear 3131 rotates with the first rotating shaft 3121. The second angle sensor 3132 meshes with the second linkage gear 3131 and rotates, thereby detecting the first rotation angle of the first connecting part 312 around the first rotating shaft 3121 based on the rotation angle of the second linkage gear 3131, and then causing the control device to control the endoscope 8 to rotate around the first mapping axis extending in the first mapping direction based on the first rotation angle.

[0132] In one exemplary embodiment, reference is made to Figure 6 The first control mechanism 31 further includes a second braking mechanism 4, mounted on the mounting bracket 311, adapted to prevent the first connecting portion 312 from rotating relative to the mounting bracket 311. The second braking mechanism 4 includes a brake 41, a transmission wire 42, and a drive assembly 43. The brake 41 is slidably mounted on the mounting bracket 311 and is an electromagnetic brake 41; the transmission wire 42 is wound between the brake 41 and the first rotating shaft 3121, adapted to stop rotation under the control of the brake 41 to prevent the first connecting portion 312 from rotating relative to the mounting bracket 311; the drive assembly 43 is mounted on the mounting bracket 311 and adapted to drive the brake 41 to move toward or away from the first rotating shaft 3121.

[0133] According to the main operator of the above embodiment, when the second braking mechanism 4 is used, the brake 41 prevents the transmission wire 42 from rotating, and the drive assembly 43 moves the brake 41 away from the first rotating shaft 3121, thereby increasing the distance between the brake 41 and the first rotating shaft 3121, tensioning the transmission wire 42, and thus preventing the first rotating shaft 3121 from rotating relative to the mounting bracket 311, thereby positioning the first connecting part 312 and freeing the operator from maintaining the position of the first connecting part 312.

[0134] In one exemplary embodiment, reference is made to Figure 8The mounting bracket 311 is equipped with a fixed plate 3111 and a sliding plate 3112. The fixed plate 3111 has a groove along the second direction, and the sliding plate 3112 is slidably installed in the groove along the second direction. The mounting bracket 311 is provided with a receiving groove below the fixed plate 3111, and the drive assembly 43 is located in the receiving groove. The drive assembly 43 includes a sliding frame 431, two sliding blocks 432, and two lead screws 433. The sliding frame 431 is mounted on the sliding plate 3112, so that the sliding frame 431 slides along the second direction with the sliding plate 3112. The two end faces of the sliding frame 431 are inclined along the second direction. The brake 41 is mounted on the sliding frame 431. The two sliding blocks 432 respectively abut against the two inclined end faces of the sliding frame 431 and are slidably mounted on the mounting frame 311. The two lead screws 433 extend along the third direction, pass through the two sliding blocks 432 respectively, and are threadedly connected to the sliding blocks 432. Under the rotation drive of the lead screws 433, the two sliders slide along the lead screws 433, and the sliders slide relative to the two inclined end faces of the sliding frame 431, thereby driving the sliding frame 431 to slide along the second direction.

[0135] In one exemplary embodiment, reference is made to Figure 8 An operating component 5 is provided on the mounting frame 311. The operating component 5 includes two driven wheels 51, an operating wheel 52, and a conveyor belt 53. The two driven wheels 51 are rotatably mounted on the mounting frame 311 and are coaxially connected to two lead screws 433 respectively. The operating wheel 52 is rotatably mounted on the mounting frame 311. The conveyor belt 53 is wound around the operating wheel 52 and the two driven wheels 51 so as to drive the two driven wheels 51 to rotate under the rotation drive of the operating wheel 52.

[0136] According to the main operator of the above embodiment, when the brake 41 moves toward or away from the first rotation direction, the operator rotates the operating wheel 52, thereby driving the conveyor belt 53 and the two driven wheels 51 to rotate, which in turn drives the two lead screws 433 to rotate. The two sliding blocks 432 move along the lead screws 433 in the third direction under the drive of the two lead screws 433. The two sliding blocks 432 slide relative to the two end faces of the sliding frame 431 that are inclined, and drive the sliding frame 431 to move in the second direction. The brake 41 and the sliding plate 3112 move with the sliding frame 431, thus achieving the purpose of moving the brake 41 toward or away from the first rotation direction.

[0137] In one exemplary embodiment, reference is made to Figure 6The second control mechanism 32 includes a second connecting part 321 and a third detection mechanism 322. The second connecting part 321 is rotatably connected to the first connecting part 312 via a second rotating shaft 3211 extending along a second direction, and the second rotating shaft 3211 is perpendicular to the first rotating shaft 3121. The third detection mechanism 322 is adapted to detect the second rotation angle of the second connecting part 321 about the second rotating shaft 3211, and the control device controls the endoscope 8 to rotate about the second mapping axis extending in the second mapping direction based on the second rotation angle.

[0138] Specifically, refer to Figure 6 The third detection mechanism 322 includes a third linkage gear 3221 and a third angle sensor 3222. The third linkage gear 3221 is mounted on the second rotating shaft 3211 to rotate with the second rotating shaft 3211; the third angle sensor 3222 meshes with the third linkage gear 3221 to detect the second rotation angle of the second connecting part 321 around the second rotating shaft 3211 based on the rotation angle of the third linkage gear 3221.

[0139] According to the main operator in the above embodiment, the operator controls the second connecting part 321 to rotate around the second rotating shaft 3211. The third linkage gear 3221 rotates with the second rotating shaft 3211. The third angle sensor 3222 meshes with the third linkage gear 3221 and rotates. Based on the rotation angle of the third linkage gear 3221, the second rotation angle of the second connecting part 321 around the second rotating shaft 3211 is detected, so that the control device controls the endoscope 8 to rotate around the second mapping axis extending in the second mapping direction based on the second rotation angle.

[0140] In one exemplary embodiment, reference is made to Figure 6 The second control mechanism 32 also includes a third braking mechanism 323. The third brake 41 is an electromagnetic brake 41, which is installed on the first connecting part 312 and meshes with the third linkage gear 3221, and is suitable for preventing the second connecting part 321 from rotating relative to the first connecting part 312.

[0141] According to the master operator in the above embodiment, when the first connecting part 312 is rotated to the desired position, the third braking mechanism 323 locks the third linkage gear 3221, thereby freeing the operator from maintaining the state of the first connecting part 312.

[0142] In one exemplary embodiment, reference is made to Figure 6The third control mechanism 33 includes a handheld part 331 and a fourth detection mechanism 332. The handheld part 331 is rotatably connected to the second connecting part 321 via a third rotation axis 3311 extending along a third direction. The third rotation axis 3311 is perpendicular to both the first rotation axis 3121 and the second rotation axis 3211. In this embodiment, the first rotation axis 3121, the second rotation axis 3211, and the third rotation axis 3311 intersect. The fourth detection mechanism 332 is adapted to detect the third rotation angle of the handheld part 331 around the third rotation axis 3311. The control device controls the endoscope 8 to rotate around the third mapping axis extending in the third mapping direction based on the third rotation angle.

[0143] Specifically, refer to Figure 6 The fourth detection mechanism 332 includes a fourth linkage gear 3321 and a fourth angle sensor 3322. The fourth linkage gear 3321 is mounted on the third rotation shaft 3311 to rotate with the third rotation shaft 3311; the fourth angle sensor 3322 meshes with the fourth linkage gear 3321 to detect the third rotation angle of the handheld part 331 around the third rotation shaft 3311 based on the rotation angle of the fourth linkage gear 3321.

[0144] According to the main operator of the above embodiment, when the operator controls the handheld part 331 to rotate around the third rotation axis 3311, the fourth linkage gear 3321 rotates with the third rotation axis 3311, and the fourth angle sensor 3322 meshes with the fourth linkage gear 3321 and rotates, so as to detect the third rotation angle of the handheld part 331 around the third rotation axis 3311 based on the rotation angle of the fourth linkage gear 3321, so that the control device controls the endoscope 8 to rotate around the third mapping axis extending in the third mapping direction based on the third rotation angle.

[0145] In one exemplary embodiment, reference is made to Figure 9 The third control mechanism 33 also includes a fourth braking mechanism 333, which is installed on the second connecting part 321 and meshes with the fourth linkage gear 3321, and is adapted to prevent the hand-held part 331 from rotating relative to the second connecting part 321.

[0146] According to the main operator in the above embodiment, when the hand-held part 331 is rotated to the desired position, the fourth braking mechanism 333 locks the fourth linkage gear 3321, thereby freeing the operator from maintaining the state of the hand-held part 331.

[0147] In one exemplary embodiment, reference is made to Figure 6The handheld part 331 is equipped with buttons, which are electrically connected to the brakes 41 of the first braking mechanism 23, the second braking mechanism 4, the third braking mechanism 323, and the fourth braking mechanism 333, and are used to control opening and closing. When the operator controls the main operating hand to the desired position, the button is triggered. The button simultaneously controls the brakes 41 of the first braking mechanism 23, the second braking mechanism 4, the third braking mechanism 323, and the fourth braking mechanism 333, thus positioning the main operating hand. In this embodiment, during operation, the operator presses the button while holding the handheld part 331. The brakes 41 of the first braking mechanism 23, the third braking mechanism 4, the third braking mechanism 323, and the fourth braking mechanism 333 rotate as the position of the feed mechanism 2 and the control mechanism 3 is adjusted. When the desired position is reached, the operator releases the button and controls the brakes 41 of the first braking mechanism 23, the second braking mechanism 4, the third braking mechanism 323, and the fourth braking mechanism 333 to lock, thereby positioning the main operating hand.

[0148] Figure 10 This is a schematic diagram of the mapping control between the main operator and the endoscope according to an embodiment of the present invention.

[0149] refer to Figure 10 According to the main operator provided by the present invention, during use, the operator operates the feeding mechanism 2 and the control mechanism 3, and the control device collects the movement information of the feeding mechanism 2 and the control mechanism 3 along the second direction and the rotation angle information around the first rotation axis 3121, the second rotation axis 3211 and the third rotation axis 3311 respectively, so as to control the movement of the endoscope 8 in the human body's natural cavity. When operating the feed mechanism 2, it can be moved along the second direction, so that the control device can control the endoscope 8 to move along the second mapping direction. When operating the control mechanism 3, it can drive the first control mechanism 31 to rotate around the first axis extending along the first direction, drive the second control mechanism 32 to rotate around the second axis extending along the second direction, and drive the third control mechanism 33 to rotate around the third axis extending along the third direction. This allows the control device to control the endoscope 8 to rotate around the first mapping axis, the second mapping axis, and the third mapping axis, thereby achieving the purpose of controlling the main operator to indirectly control the movement of the endoscope 8 in the human body's natural cavities. The operator is freed from the limitations of the usage scenario and position when using the endoscope 8. The operator does not have to maintain a specific posture for a long time, which improves the convenience of using the endoscope and enhances the comfort of operation.

[0150] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A master operator for controlling the movement of an endoscope within a natural human body cavity, characterized in that, include: Support frame (1) extends in the first direction; The control device is configured to control the movement of the endoscope (8) in the body's natural cavities; The feeding mechanism (2) includes a linkage mechanism (21), the first end of which is mounted on a support frame (1) and configured to move the feeding mechanism (2) in a second direction perpendicular to the first direction, such that the control device controls the endoscope (8) to move along a second mapping direction. The second end of the linkage mechanism (21) extends along the second direction. The linkage mechanism (21) includes: The first mounting part (215) is mounted on the support frame (1); The first connecting rod (211) and the second connecting rod (212) are rotatably mounted to the first mounting part (215) via two pivots (218); The second mounting part (216) is rotatably mounted on the end of the first connecting rod (211) and the second connecting rod (212) away from the first mounting part (215); Both the first main connecting rod (213) and the second main connecting rod (214) are rotatably mounted on the second mounting part (216); The third mounting part (217) is rotatably mounted on the end of the first main connecting rod (213) and the second main connecting rod (214) away from the second mounting part (216); A constraint assembly (219) is adapted to restrict the first main link (213) and the second main link (214) from rotating in opposite directions with the first secondary link (211) and the second secondary link (212) relative to the second mounting portion (216) at the same angular velocity, such that the third mounting portion (217) reciprocates relative to the first mounting portion (215) along the second direction, and includes: A connecting shaft (2191) is rotatably mounted on the second mounting part (216) and extends along the first direction. The connecting shaft (2191) is fixed relative to one end of the first main connecting rod (213), and the connecting shaft (2191) rotates relative to the first secondary connecting rod (211). A drive gear (2192) is mounted on the connecting shaft (2191) and fixed relative to the connecting shaft (2191); and The driven gear (2193) is rotatably mounted on the second mounting part (216) and meshes with the driving gear (2192). The driven gear (2193) is fixed relative to the second connecting rod (212). The control mechanism (3) is installed at the end of the feed mechanism (2) away from the support frame (1) and includes: The first control mechanism (31) is configured to drive the first control mechanism (31) to rotate about a first axis extending along a first direction, such that the control device controls the endoscope (8) to rotate about a first mapping axis extending along a first mapping direction. The second control mechanism (32) is configured to rotate about a second axis extending along a second direction by driving the second control mechanism (32) to rotate, such that the control device controls the endoscope (8) to rotate about a second mapping axis extending along a second mapping direction perpendicular to the first mapping direction; and The third control mechanism (33) is configured to drive the third control mechanism (33) to rotate about a third axis extending in a third direction perpendicular to the first and second directions, so that the control device controls the endoscope (8) to rotate about a third mapping axis extending in a third mapping direction perpendicular to the first and second mapping directions.

2. The main operator according to claim 1, characterized in that, The feeding mechanism (2) includes: a first detection mechanism (22), adapted to detect the movement distance of the second end of the linkage mechanism (21) relative to the first end in the second direction, and the control device controls the endoscope (8) to move along the second mapping direction based on the movement distance; The first testing institution (22) includes: A first linkage gear (221) is mounted on the pivot (218) of the second driven link (212) to rotate with the second driven link (212); and A first angle sensor (222) meshes with the first linkage gear (221) to detect the movement distance of the third mounting part (217) relative to the first mounting part (215) in the second direction based on the rotation angle of the first linkage gear (221); The feeding mechanism (2) further includes a first braking mechanism (23), which is mounted on the first mounting part (215) and meshes with the first linkage gear (221), and is adapted to prevent the second connecting rod (212) from rotating relative to the first mounting part (215).

3. The main operator according to claim 2, characterized in that, The first control mechanism (31) includes: Mounting bracket (311) is installed at the end of the feeding mechanism (2) away from the support frame (1); The first connecting part (312) is rotatably connected to the mounting bracket (311) via a first rotating shaft (3121) extending along the first direction; The second detection mechanism (313) is adapted to detect the first rotation angle of the first connecting part (312) around the first rotation axis (3121), and the control device controls the endoscope (8) to rotate around the first mapping axis extending in the first mapping direction based on the first rotation angle. The second testing institution (313) includes: The second linkage gear (3131) is mounted on the first rotating shaft (3121) to rotate with the first rotating shaft (3121); The second angle sensor (3132) meshes with the second linkage gear (3131) to detect the first rotation angle of the first connecting part (312) around the first rotation axis (3121) based on the rotation angle of the second linkage gear (3131); The first control mechanism (31) further includes a second braking mechanism (4), which is mounted on the mounting bracket (311) and is adapted to prevent the first connecting part (312) from rotating relative to the mounting bracket (311).

4. The main operator according to claim 3, characterized in that, The second control mechanism (32) includes: The second connecting part (321) is rotatably connected to the first connecting part (312) via a second rotating shaft (3211) extending along the second direction; The third detection mechanism (322) is adapted to detect the second rotation angle of the second connecting part (321) about the second rotation axis (3211), and the control device controls the endoscope (8) to rotate about the second mapping axis extending in the second mapping direction based on the second rotation angle; The third testing organization (322) includes: The third linkage gear (3221) is mounted on the second rotating shaft (3211) to rotate with the second rotating shaft (3211); A third angle sensor (3222) meshes with the third linkage gear (3221) to detect the second rotation angle of the second connecting part (321) around the second rotation axis (3211) based on the rotation angle of the third linkage gear (3221); The second control mechanism (32) further includes a third braking mechanism (323), which is installed on the first connecting part (312) and meshes with the third linkage gear (3221), and is adapted to prevent the second connecting part (321) from rotating relative to the first connecting part (312).

5. The master operator according to claim 4, characterized in that, The third control mechanism (33) includes: The hand-held part (331) is rotatably connected to the second connecting part (321) via a third rotation axis (3311) extending along the third direction; The fourth detection mechanism (332) is adapted to detect the third rotation angle of the handheld part (331) around the third rotation axis (3311), and the control device controls the endoscope (8) to rotate around the third mapping axis extending in the third mapping direction based on the third rotation angle; The fourth testing institution (332) includes: The fourth linkage gear (3321) is mounted on the third rotating shaft (3311) to rotate with the third rotating shaft (3311); A fourth angle sensor (3322) meshes with the fourth linkage gear (3321) to detect the third rotation angle of the handpiece (331) about the third rotation axis (3311) based on the rotation angle of the fourth linkage gear (3321); The third control mechanism (33) further includes a fourth braking mechanism (333), which is installed on the second connecting part (321) and meshes with the fourth linkage gear (3321), and is adapted to prevent the hand-held part (331) from rotating relative to the second connecting part (321).

6. The master operator according to claim 3, characterized in that, The second braking mechanism (4) includes: The brake (41) is slidably mounted on the mounting bracket (311); A transmission wire (42), wound between the brake (41) and the first rotating shaft (3121), is adapted to stop rotation under the control of the brake (41) to prevent the first connecting part (312) from rotating relative to the mounting bracket (311); and A drive assembly (43), mounted on the mounting bracket (311), is adapted to drive the brake (41) to move toward or away from the first rotation axis (3121).

7. The master operator according to claim 6, characterized in that, The driving component (43) includes: A sliding frame (431) is slidably mounted on the mounting frame (311) along the second direction. The sliding frame (431) is inclined at two end faces along the second direction. The brake (41) is mounted on the sliding frame (431). Two sliding blocks (432) respectively abut against the two inclined end faces of the sliding frame (431) and are slidably mounted on the mounting frame (311); and Two lead screws (433) pass through the two sliding blocks (432) respectively and are threadedly connected to the sliding blocks (432). Driven by the rotation of the lead screws (433), the two sliders slide along the lead screws (433), and the sliders slide relative to the two end faces of the sliding frame (431) which are inclined to each other, thereby driving the sliding frame (431) to slide in the second direction.

8. The master operator according to claim 7, characterized in that, The mounting bracket (311) is provided with an operating component (5), which includes: Two driven wheels (51) are rotatably mounted on the mounting bracket (311) and coaxially connected to the two lead screws (433) respectively; An operating wheel (52) is rotatably mounted on the mounting bracket (311); and A conveyor belt (53) is wound around the operating wheel (52) and the two driven wheels (51) to drive the two driven wheels (51) to rotate under the rotation drive of the operating wheel (52).

9. The master operator according to claim 1, characterized in that, The support frame (1) is also provided with an adjustment component (6), which includes: A slide rail (61) is mounted on the support frame (1) and extends along the first direction; A sleeve (62) is slidably mounted on the slide rail (61), and the feed mechanism (2) is mounted on the sleeve (62); and A locking element (63), installed on the sleeve (62), is adapted to prevent the sleeve (62) from sliding relative to the slide rail (61).

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