Endoscope handle and endoscope system

Abstract

The embodiment of the present application provides an endoscope handle and an endoscope system, the endoscope handle comprising: a shell; a sliding rail arranged in a containing cavity of the shell; two starting sliders arranged on the sliding rail, the starting sliders being provided with coupling portions, the coupling portions being used for driving a control bending wire of a consumable mechanism to perform a winding and unwinding movement; a driving wheel assembly arranged in the shell, the driving wheel assembly being provided with a traction wire, one end of the traction wire being connected to the starting slider, the other end of the traction wire being connected to the driving wheel, the traction wire being used for driving a starting slider sliding operation part to slide, the driving wheel assembly being connected to the starting slider sliding operation part, and the driving wheel assembly being used for driving the driving wheel assembly to rotate; wherein the sliding rail comprises two oppositely arranged rails, the first starting slider is arranged on the first rail, and the second starting slider is arranged on the second rail. In the technical scheme of the present application, the starting slider is arranged on the rails by arranging two opposite rails on the sliding rail, so that the structure of the endoscope handle can be simplified, the endoscope handle is convenient to dock with the consumable mechanism, and the user is also convenient to operate.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an endoscope handle and endoscope system. Background Technology

[0002] An endoscope is a device integrating an image sensor, optical lens, illumination source, and precision mechanical structure. Endoscopes can enter the body's cavities through the mouth or other orifices to observe internal tissues, perform biopsies, and conduct minimally invasive surgeries. Flexible endoscopes generally consist of a control unit and a flexible tube. The flexible tube includes a tip, a bending section, and an insertion section. The bending of the flexible tube is driven by the control unit. With the development of electromechanical technology, the use of motorized endoscopes is becoming increasingly widespread. Motorized endoscopes can be mounted on robotic platforms, replacing or assisting human work, and enabling precise, automated, and intelligent operation and control of endoscopes over extended periods.

[0003] However, in clinical practice, before the tip of the tubing reaches the distal target location of the body cavity, the operator sometimes needs to quickly manage the proximal part of the patient's cavity (such as clearing sputum), or even repeatedly enter and exit the cavity. In such cases, electrically driven endoscopes are inconvenient to use, while manually operated endoscopes are much more convenient. Manually driven endoscopes are typically complex in structure, inconvenient to interface with consumables systems, and difficult for the user to hold. Summary of the Invention

[0004] In view of the above problems, this application is made in order to provide an endoscope handle and endoscope system that solve the above problems.

[0005] This application provides an endoscope handle, including:

[0006] case;

[0007] The slide rail is located within the receiving cavity of the housing;

[0008] Two starting sliders are mounted on the slide rail. Each starting slider has a coupling part, which is used to drive the control wire of the consumable mechanism to perform retraction and extension movements.

[0009] A drive wheel assembly is disposed within the housing. The drive wheel assembly is equipped with a traction wire, one end of which is connected to the starting slider, and the other end is connected to the drive wheel, for driving the starting slider to slide.

[0010] An operating unit, connected to the drive wheel assembly, is used to drive the drive wheel assembly to rotate;

[0011] The slide rail includes two tracks arranged opposite each other, with the first starting slider disposed on the first track and the second starting slider disposed on the second track.

[0012] Optionally, the drive wheel assembly includes a first drive wheel and a second drive wheel;

[0013] The first drive wheel and the second drive wheel are respectively connected to different traction wires so that when the first drive wheel and the second drive wheel rotate, the different starting sliders can be driven to slide by the traction wires.

[0014] Optionally, the drive wheel assembly further includes a crank;

[0015] The crank is coaxially connected to the first drive wheel, the second drive wheel, and the operating part;

[0016] By operating the operating part in different directions, the first drive wheel or the second drive wheel can be driven to rotate via the crank.

[0017] Optionally, both the first drive wheel and the second drive wheel are provided with a first connecting part, and the crank is provided with a second connecting part;

[0018] When the crank rotates in different directions, the second connecting part connects to the first connecting part on the first drive wheel or the second drive wheel to drive the first drive wheel or the second drive wheel to rotate.

[0019] Optionally, the first connecting part is an arc-shaped slot, and the second connecting part is a protruding rod;

[0020] The arc-shaped slots on the first drive wheel and the second drive wheel extend in opposite directions.

[0021] Optionally, it may also include guide wheels;

[0022] The guide wheel has a groove, and the traction wire is located in the groove.

[0023] Optionally, it may also include a guide plate;

[0024] The guide plate is located on one side of the end of the slide rail, and the guide plate has a guide hole. The traction wire passes through the guide hole and is connected to the drive wheel.

[0025] Optionally, the drive wheel is provided with a wheel cover, and the wheel cover is provided with a through hole. After the traction wire passes through the through hole, it is connected to the drive wheel along the tangential direction of the drive wheel.

[0026] Optionally, the first coupling portion on the first starting slider and the second coupling portion on the second starting slider extend in the same direction.

[0027] The second coupling part has a U-shaped structure, and the slide rail is disposed in the groove of the U-shaped structure of the second coupling part.

[0028] Optionally, the housing includes a gripping portion;

[0029] The grip is located on one side of the operating part, and the extension direction of the grip is in the same direction as the axis of the slide rail.

[0030] Optionally, it also includes a reset element;

[0031] One end of the reset component is connected to the starting slider, and the other end is connected to the slide rail or the housing, for providing restoring force to the starting slider.

[0032] Another embodiment of this application also provides an endoscope system, comprising:

[0033] The aforementioned endoscope handle;

[0034] The electric drive mechanism is equipped with an electric drive unit;

[0035] The consumable mechanism can be detachably connected to the endoscope handle and the electric drive mechanism respectively. The consumable mechanism is provided with a follower part, which can be connected to the coupling part and the electric drive part respectively to drive the control wire of the consumable mechanism to perform retraction and extension movements.

[0036] In the technical solution provided in this application embodiment, two opposing tracks are set on the slide rail, and the starting slider is set on the track. Different coupling parts on the two starting sliders are used to drive two sets of control bending wires on the consumable mechanism. This not only simplifies the structure of the endoscope handle, but also makes it convenient for users to install the endoscope handle on the electrically driven consumable mechanism, thereby realizing the switching between electric and manual drive modes of the consumable mechanism and meeting the needs of more usage scenarios. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A cross-sectional view of an interventional catheter provided in an embodiment of this application;

[0039] Figure 2 An exploded view of an endoscope handle provided in an embodiment of this application;

[0040] Figure 3 An internal perspective view of the first type of endoscope handle provided in the embodiments of this application;

[0041] Figure 4 A partial perspective view of the interior of a first type of endoscope handle provided in an embodiment of this application;

[0042] Figure 5 A partial perspective view of a slide rail and a starting slider provided in an embodiment of this application;

[0043] Figure 6 A perspective view of a drive wheel assembly provided in an embodiment of this application;

[0044] Figure 7 An internal perspective view of the second type of endoscope handle provided in the embodiments of this application;

[0045] Figure 8 A partial perspective view of the interior of a second type of endoscope handle provided in an embodiment of this application;

[0046] Figure 9 for Figure 8 A cross-sectional view along the AA direction;

[0047] Figure 10 An internal perspective view of the third type of endoscope handle provided in the embodiments of this application;

[0048] Figure 11 A partial perspective view of the interior of a third type of endoscope handle provided in an embodiment of this application;

[0049] Figure 12 for Figure 11 Cross-sectional view along the BB direction;

[0050] Figure 13 A front view of another drive wheel assembly provided in an embodiment of this application;

[0051] Figure 14 A top view of another drive wheel assembly provided in an embodiment of this application;

[0052] Figure 15 A perspective view of a first type of endoscope handle provided in an embodiment of this application;

[0053] Figure 16 A perspective view of the reverse side of a first type of endoscope handle provided in an embodiment of this application;

[0054] Figure 17 A front view of a first type of endoscope handle provided in an embodiment of this application;

[0055] Figure 18 A perspective view of a second type of endoscope handle provided in an embodiment of this application;

[0056] Figure 19 A perspective view of the reverse side of a second type of endoscope handle provided in an embodiment of this application;

[0057] Figure 20 A front view of a second type of endoscope handle provided in an embodiment of this application;

[0058] Figure 21 A perspective view of a third type of endoscope handle provided in an embodiment of this application;

[0059] Figure 22 A perspective view of the reverse side of a third type of endoscope handle provided in an embodiment of this application;

[0060] Figure 23 A front view of a third type of endoscope handle provided in an embodiment of this application;

[0061] Figure 24 This is a front view of an internal component of an endoscope handle and a portion of an interventional catheter, provided as an embodiment of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. The term "comprising" as used throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain error range. Furthermore, in the embodiments of this application, "multiple" refers to two or more. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0063] Endoscopic interventional catheters are mostly of a double-bend structure, meaning that the orientation of the catheter tip needs to be controlled during use via control wires. Typically, interventional catheters are controlled by four control wires; pulling or releasing these wires allows the catheter tip to bend or straighten. For details, see [link to documentation]. Figure 1As can be seen from the cross-sectional view of the interventional catheter, the hollow catheter contains four control wires. By simultaneously pulling the two control wires A and B, the tip of the catheter can be bent in the X direction. When the two control wires C and D are pulled simultaneously, the tip of the catheter can be bent in the Y direction. After the pulling force is released, the tip of the catheter will return to its straight position. By controlling different groups of control wires (the two control wires A and B form one group, and the two control wires C and D form another group) with the endoscope handle and coordinating with the rotation of the interventional catheter, bending can be achieved in any direction within the plane of the interventional catheter's cross-section.

[0064] Due to the nature of medical devices, a complete endoscope system typically consists of a control handle and a consumables mechanism, with the interventional catheter usually housed in the consumables mechanism. The control handle is a reusable device, while the consumables mechanism is a single-use device. After each medical procedure, the control handle can be retrieved, and a new consumables mechanism can be used to connect with the control handle for the next procedure, effectively saving on medical costs and reducing the medical burden on patients.

[0065] The consumables mechanism of the endoscope system can interface with both manual and electric control handles. This allows the endoscope system to be mounted on a robotic platform, thereby replacing or assisting doctors in some tasks and enabling precise, automated, and intelligent operation and control of the endoscope system over extended periods. However, in clinical use, before the tip of the interventional catheter reaches the target location at the distal end of the body cavity, it is sometimes necessary to quickly process the proximal part of the body cavity, or even repeatedly enter and exit the body cavity. In such cases, it is more convenient for doctors to operate with a manually driven endoscope. Endoscopes with only electric drive functionality cannot meet the needs; a separate manually driven endoscope is required during the procedure.

[0066] Figure 2 An exploded view of an endoscope handle provided in an embodiment of this application. Figure 3 This is a perspective view of the interior of the first type of endoscope handle provided in the embodiments of this application. Figure 4 A partial perspective view of the interior of a first type of endoscope handle provided in an embodiment of this application. See also... Figure 2 , Figure 3 and Figure 4In one embodiment of this application, an endoscope handle is provided, comprising: a housing 1, a slide rail 2, two starting sliders 3, a drive wheel assembly 4, and an operating part 5. The slide rail 2 is disposed within the accommodating cavity of the housing 1. The starting sliders 3 are disposed on the slide rail 2 and have a coupling part for driving the control wire of a consumable mechanism (not shown) to perform retraction and extension movements. The drive wheel assembly 4 is disposed within the housing 1 and has a traction wire 6. One end of the traction wire 6 is connected to the starting sliders 3, and the other end is connected to the drive wheel assembly 4, for driving the starting sliders 3 to slide. The operating part 5 is connected to the drive wheel assembly 4 and is used to drive the drive wheel assembly 4 to rotate. The slide rail 2 comprises two opposing tracks, with a first starting slider 31 disposed on the first track and a second starting slider 32 disposed on the second track. Specifically, the slide rail 2 is arranged in the track along the length direction of the housing 1. Different starting sliders 3 can slide on the track individually. The coupling part on different starting sliders 3 (first starting slider 31 or second starting slider 32) can drive different sets of control bending wires on the consumable mechanism to be wound and released.

[0067] After the user grips the housing 1, they can rotate the operating part 5 in different directions with their thumb, causing the drive wheel assembly 4 connected to the operating part 5 to rotate accordingly. During the rotation of the drive wheel assembly 4, the traction wire 6 connected to the drive wheel assembly 4 pulls the starting slider 3 to slide on the slide rail 2. At this time, the coupling part on the starting slider 3 can drive different sets of control wires to retract or extend.

[0068] In one specific embodiment, the slide rail 2 can be a single rail with two parallel tracks. For example, the upper surface of the slide rail 2 has one track, and the lower surface of the slide rail 2 has another track. Alternatively, two slide rails 2 can be stacked in parallel and connected to form a single slide rail 2 with two tracks by fasteners.

[0069] The control wire at the starting end of the interventional catheter 10 is equipped with a follower (located on the consumables mechanism). When the consumables mechanism is connected to the endoscope handle, the coupling part is connected to the follower. As the starting slider 3 slides, the coupling part drives the follower to move together, thereby pulling the control wire, and the tip of the interventional catheter 10 can be bent.

[0070] Only by individually driving a set of control wires can the tip of the interventional catheter 10 bend. Therefore, when the operating part 5 rotates in different directions, the drive wheel assembly 4 must individually drive different starting sliders 3 to slide. See also Figure 2 , Figure 4 , Figure 6 , Figure 8 and Figure 14In one embodiment provided in this application, the drive wheel assembly 4 includes a first drive wheel 41 and a second drive wheel 42. The first drive wheel 41 and the second drive wheel 42 are respectively connected to different traction wires so that when the first drive wheel 41 and the second drive wheel 42 rotate, different starting sliders 3 can be driven to slide by the traction wires. Specifically, during the rotation of the drive wheel, the traction wire 6 will be wound around the drive wheel, thereby pulling the starting slider 3 at the other end of the traction wire.

[0071] For example, in one specific embodiment, the operating unit 5 has a central position. When the operating unit 5 rotates clockwise from the central position by a certain angle, the operating unit 5 drives the first drive wheel 41 to rotate clockwise, and the first traction wire on the first drive wheel 41 pulls the first starting slider 31 to slide. When the operating unit 5 rotates counterclockwise from the central position by a certain angle, the operating unit 5 drives the second drive wheel 42 to rotate counterclockwise, and the second traction wire on the second drive wheel 42 pulls the second starting slider 32 to slide.

[0072] In the technical solution provided in this application, the operating unit 5 and the drive wheel can rotate synchronously or differentially. For example, when the operating unit 5 and the drive wheel are directly coaxially connected, the operating unit 5 and the drive wheel rotate synchronously. Differential rotation between the operating unit 5 and the drive wheel can be achieved by providing a differential between the drive wheel and the operating unit 5.

[0073] The sliding distance of the starting slider 3 can be determined by the rotation angle of the operating part 5. When the rotation angle of the operating part 5 is larger, the sliding distance of the starting slider 3 is also longer, and the bending angle of the tip of the interventional catheter 10 will also be larger.

[0074] The following section provides a detailed explanation of the relationship between the rotation angle of the operating section 5 and the bending angle of the tip of the interventional catheter 10 using specific formulas.

[0075] See also Figure 24 F represents the magnitude of the handle's driving force.

[0076] Fr represents the axial resistance experienced by the starting slider 3. This value is usually related to the structure of the endoscopic interventional catheter 10 and is an inherent value.

[0077] r represents the radius of drive wheel assembly 4. When pushing up or pulling down drive wheel assembly 4, the radius of drive wheel assembly 4 can take different values.

[0078] R represents the length of the operating section 5.

[0079] L1 represents the rotational stroke of drive wheel assembly 4 at the upward thrust angle, L1 = S1 = βrπ / 180

[0080] L2 represents the rotational stroke of drive wheel assembly 4 at the downward angle, L1 = S2 = αrπ / 180

[0081] α represents the angle of the lower lever of the operating section 5.

[0082] β represents the angle at which the operating part 5 is pushed upward.

[0083] θ represents the upward control bend angle at the tip of interventional catheter 10.

[0084] γ represents the downward control angle of the tip of interventional catheter 10.

[0085] S1 represents the downward bend of the tip of interventional catheter 10 ( Figure 1 The stroke of the first starting slider 31 in the Y direction (in the middle) is the length of the stroke.

[0086] S2 represents the upward bend at the tip of interventional catheter 10 ( Figure 1 The stroke of the second starting slider 32 is measured in the X direction.

[0087] Since the maximum angle of a single upward and downward push of the human thumb should not exceed 75°, that is...

[0088] α≤75°, β≤75°

[0089] The bending angles θ and γ at the tip of the interventional catheter 10 are functions of the strokes S1 and S2 of the starting slider 3 when the tip of the interventional catheter 10 bends, and can be expressed as empirical formulas:

[0090]

[0091]

[0092] The function f reflects the construction of the endoscopic interventional catheter 10, and is usually related to factors such as diameter, material, and structure. Preferably, 210° ≥ θ ≥ 90°, and 210° ≥ γ ≥ 90°. After determining θ and γ, S1 and S2 can be obtained from the above empirical formulas, or they can be obtained through actual measurement.

[0093] The operating part 5 is usually driven by the left thumb. The driving force of the operating part 5 should not be too large, preferably F<20N.

[0094] Neglecting pulley friction, for the thumb to drive operating part 5, the following conditions must be met:

[0095]

[0096] Fr is typically related to the structure of the endoscopic interventional catheter 10 and is an inherent value. When a reduction in F is required, it can be achieved by increasing the length R of the operating section 5 and decreasing the radius r of the drive wheel assembly 4.

[0097] The length R of the operating part 5 is constrained by the thumb and needs to be easy for the user to operate, so R is usually ≤ 35mm.

[0098] The radius r of the drive wheel assembly 4 is constrained by the bending angles θ and γ at the tip of the endoscopic interventional catheter 10, and should not be too small. According to the above formula, by setting the length R of the operating part 5 and the radius r of the drive wheel assembly 4, the relationship between the rotation angle of the operating part 5 and the bending angle of the tip of the interventional catheter 10 can be adjusted.

[0099] See Figure 2 , Figure 6 , Figure 8 , Figure 13 and Figure 14 In one embodiment provided in this application, the drive wheel assembly 4 further includes a crank 7, which is coaxially connected to the first drive wheel 41, the second drive wheel 42, and the operating part 5. Operating the operating part 5 in different directions allows the crank 7 to drive either the first or second drive wheel to rotate. Specifically, when the operating part 5 rotates clockwise from its center position, the crank 7 rotates with the operating part 5, transmitting torque to one of the drive wheels. When the operating part 5 rotates clockwise from its center position, the crank 7 rotates with the operating part 5, transmitting torque to the other drive wheel. There can be one or more cranks 7. For example... Figure 4 and Figure 6 As shown, the two drive wheels are arranged coaxially side by side, and a crank 7 is provided on the outward-facing side of each drive wheel. For example... Figure 8 As shown, a crank 7 is provided between two drive wheels arranged coaxially side by side.

[0100] Furthermore, in conjunction with see Figure 9 The first drive wheel 41 and the second drive wheel 42 are each provided with a first connecting portion 71, and the crank 7 is provided with a second connecting portion 72. When the crank 7 rotates in different directions, the second connecting portion 72 connects to the first connecting portion 71 on the first drive wheel 41 or the second drive wheel 42 respectively, so as to drive the first drive wheel 41 or the second drive wheel 42 to rotate. Specifically, when the crank 7 is in the neutral position, the second connecting portion 72 is disconnected from the first connecting portion 71. When the crank 7 rotates clockwise from the neutral position, the second connecting portion 72 connects to the first connecting portion 71 of the first drive wheel 41 and transmits the transmission torque to the first drive wheel 41. When the crank 7 rotates counterclockwise from the neutral position, the second connecting portion 72 connects to the first connecting portion 71 of the second drive wheel 42 and transmits the transmission torque to the second drive wheel 42. When the crank 7 drives one of the drive wheels to rotate, the second connecting portion 72 is always disconnected from the first connecting portion 71 of the other drive wheel, thereby ensuring that the crank 7 can only drive one of the drive wheels to rotate when it rotates.

[0101] Further, see Figure 2 , Figure 9 and Figure 13In one embodiment provided in this application, the first connecting part 71 is an arc-shaped slot, the second connecting part 72 is a protruding rod, and the grooves on the first drive wheel 41 and the second drive wheel 42 extend in opposite directions. Specifically, the arc-shaped slot is provided through the side of the drive wheel, and the center of the arc-shaped groove coincides with the center of the drive wheel. The protruding rod is provided on the crank, or a longer protruding rod passes through the arc-shaped slot on the two drive wheels, and the two ends of the protruding rod are respectively connected to different cranks 7.

[0102] In addition to being an arc-shaped slot, the first connecting portion 71 can also be an arc-shaped groove or a limiting protrusion. For example, when the first connecting portion 71 is a limiting protrusion, the second connecting portion 72 is located between the limiting protrusions on two different drive wheels. When the second connecting portion 72 rotates clockwise, it can abut against the limiting protrusion on the first drive wheel 41 and transmit driving force. When the second connecting portion 72 rotates counterclockwise, it can abut against the limiting protrusion on the second drive wheel 42 and transmit driving force.

[0103] See Figure 2 , Figure 3 and Figure 4 To ensure that the stretching direction of the traction wire 6 is approximately parallel to the length direction of the slide rail 2, in one embodiment provided in this application, the endoscope handle also includes a guide wheel 8. The guide wheel 8 has grooves, and the traction wire 6 is disposed in the grooves. Specifically, the guide wheel 8 is disposed on the extension line of the length direction of the slide rail 2, and the guide wheel 8 has at least two grooves, with different traction wires 6 disposed in different grooves. In a specific embodiment, when the traction wire 6 is pulled, the guide wheel 8 can be either rotating or non-rotating. For example, when the guide wheel 8 is non-rotating, the grooves on the guide wheel 8 are relatively smooth, or the grooves are coated with grease, and when the traction wire 6 is pulled, the traction wire 6 can slide in the grooves. As another example, when the guide wheel 8 is rotating, the guide wheel 8 includes two independently rotatable wheel bodies, the two wheel bodies are coaxially connected, and each wheel body has a groove. As the traction wire 6 is pulled, the wheel bodies can rotate accordingly. By setting the guide wheel 8, the stretching direction of the traction wire 6 can be made approximately parallel to the length direction of the slide rail 2, making the starting slide rail 2 easier to pull. Furthermore, with the guide wheel set, the drive wheel assembly 4 can be placed in other locations on the housing 1, instead of necessarily along the extension line of the slide rail 2. This improves the rationality of the drive wheel assembly 4's arrangement, and the endoscope handle can be made more compact.

[0104] See Figure 2 , Figure 8 , Figure 9 , Figure 11 and Figure 12 In one embodiment provided in this application, the endoscope handle further includes a guide plate 12, which is disposed on one side of the end of the slide rail, and the guide plate 12 is provided with a guide hole 121. Figure 9 As shown, the traction wire 6 passes through the guide hole 121 and connects to the drive wheel. Specifically, the guide plate 12 is located between the drive wheel assembly 4 and the slide rail 2. The traction wire 6 passes through the guide plate 12 and connects to the starting slider 3 on both the drive wheel assembly 4 and the slide rail 2. The guide plate 12 has at least two guide holes 121, the diameter of which is slightly larger than the diameter of the traction wire 6. The guide holes 121 pass through the guide plate 12 at a certain angle. This ensures that the traction wire 6 on the drive wheel assembly 4 side coincides with a tangential line of the drive wheel, and the traction wire 6 on the slide rail 2 side is approximately parallel to the length direction of the slide rail 2.

[0105] See Figure 10 , Figure 11 and Figure 12 In one embodiment provided in this application, in addition to guiding the traction wire 6 through the guide wheel 8 and guide plate 12, a wheel cover 9 can be provided outside the drive wheel. The wheel cover 9 has a through hole 91. After the traction wire 6 passes through the through hole 91, it is connected to the drive wheel along the tangential direction of the drive wheel. The wheel cover 9 can be a semi-arc cover plate or a hollow annular cover plate. The drive wheel assembly 4 is housed in the wheel cover 9. The wheel cover 9 has a through hole 91 on the side near the slide rail 2. The diameter of the through hole 91 is slightly larger than the diameter of the traction wire 6. The axis of the through hole 91 forms a certain angle with the longitudinal axis of the slide rail 2, and the axis of the through hole 91 roughly coincides with a tangential direction of the drive wheel.

[0106] In one specific embodiment, see Figure 12 In addition to using the wheel cover 9 alone to guide the traction wire 6, the wheel cover 9 and the guide plate 12 are also provided simultaneously, thus providing better guidance for the traction wire 6. Specifically, after the guide plate 12 provides the first guidance for the traction wire 6, the wheel cover 9 can provide the second guidance for the traction wire 6. This makes the angle of the traction wire 6 more in line with the usage requirements, that is, the traction wire 6 on the side closer to the slide rail 2 is approximately parallel to the length direction of the slide rail 2, and the traction wire 6 on the side closer to the drive wheel assembly 4 is tangent to the drive wheel.

[0107] Because the endoscope handle is located on one side of the consumables mechanism when it mates with it, a coupling mechanism is needed to ensure that the first coupling part 311 and the second coupling part 321 can smoothly transmit the driving force to the consumables mechanism. (See also...) Figure 2 , Figure 3 , Figure 5 , Figure 8 and Figure 12In one embodiment provided in this application, the ends of the first coupling portion 311 on the first starting slider 31 and the second coupling portion 321 on the second starting slider 32 extend in the same direction, extending outward from the housing 1. When the consumable mechanism is docked with the endoscope handle, portions of the first coupling portion 311 and the second coupling portion 321 will extend into the consumable mechanism. In a specific embodiment, the second coupling portion 321 has a U-shaped structure, and the slide rail 2 is disposed in the groove of the U-shaped structure of the second coupling portion 321. The first coupling portion 311 is located between the U-shaped second coupling portions 321, and the outward extension distance of the second coupling portion 321 is greater than the outward extension distance of the second coupling portion 321. In addition, the second coupling portion 321 has a structure that is thicker at the bottom and thinner at the top.

[0108] For better grip and control, see [link / reference] Figures 15 to 23 In one embodiment provided in this application, the housing 1 includes a grip portion 11, which is located on one side of the operating portion 5, and the extending direction of the grip portion 11 is in the same direction as the axis of the slide rail 2. See, for example, Figure 15 The endoscope handle housing 1 has a U-shaped structure. The user grips the handle 11 and then controls the operating part 5 in different directions by pushing down or up with the thumb. For example... Figure 18 The endoscope handle housing 1 is stacked, with the grip 11 and the housing 15 containing the drive wheel assembly 4 located on one side of the main body of housing 1. The user can grip the grip 11 and then pull down or push up the operating part 5 with their thumb. For example... Figure 21 The main body of the housing 1 has a gripping part 11, and the housing 15 with the drive wheel assembly 4 receiving cavity is located on one side of the main body of the housing 1. The operating part 5 is located on the side of the housing 15 with the drive wheel assembly 4 receiving cavity. Similarly, the user can grip the gripping part 11 and then pull down or push up the operating part 5 with his thumb.

[0109] During use, the tip of the interventional catheter 10 typically needs to be able to straighten after bending. To provide sufficient restoring force, in one embodiment provided in this application, the endoscope handle further includes a reset element (not shown in the figure). One end of the reset element is connected to the starting slider 3, and the other end is connected to the slide rail 2 or the housing 1, for providing restoring force to the starting slider 3. The reset element includes, but is not limited to, springs, elastic cords, and elastic blocks.

[0110] In one embodiment of this application, an endoscope system is also provided, including: the aforementioned endoscope handle, electric drive mechanism, and consumable mechanism. The electric drive mechanism is provided with an electric drive unit. The consumable mechanism is detachably connected to both the endoscope handle and the electric drive mechanism. The consumable mechanism is provided with a follower unit, which is connected to both the coupling unit and the electric drive unit to drive the control wire of the consumable mechanism to retract and extend. The electric drive mechanism can be a robotic arm or an electric endoscope surgical handle.

[0111] During clinical use, the endoscope handle or electric drive mechanism can be selectively connected to the consumables unit to achieve manual or electric operation of the endoscope. For example, before the tip of the interventional catheter 10 reaches the target location at the distal end of the body cavity, sometimes it is necessary to quickly treat the proximal part of the body cavity, or even repeatedly enter and exit the body cavity. In this case, the endoscope handle can be connected to the consumables unit, allowing the user to manually operate the endoscope to quickly treat the proximal part of the body cavity. After treatment, the endoscope handle is separated from the consumables unit, and then the consumables unit is connected to the electric drive mechanism. Subsequently, the electric drive mechanism will control the interventional catheter 10 to reach the target location at the distal end of the body cavity.

[0112] In one embodiment of this application, an operating method for an endoscope system is also provided. This operating method is applicable to the aforementioned endoscope system and includes the following steps:

[0113] S101 connects the endoscope handle to the consumables mechanism.

[0114] S102, using the endoscope handle to control the interventional catheter of the consumables mechanism to enter the proximal position of the human cavity.

[0115] S103, after completing the proximal position operation task by controlling the consumable mechanism through the endoscope handle.

[0116] S104, detach the endoscope handle and connect the electric drive mechanism to the consumables mechanism.

[0117] S105 uses an electric drive mechanism to push the interventional catheter to the distal target position of the human body cavity.

[0118] In the above steps, to facilitate the connection between the endoscope handle or electric drive mechanism and the consumables mechanism, the endoscope handle and electric drive mechanism are provided with a first locking part 101, and the consumables mechanism is provided with a second locking part. The first locking part 101 and the second locking part can be engaged with each other. The first locking part 101 on the endoscope handle is located on the opposite side of the grip part 11, so that when the endoscope handle is connected to the consumables mechanism, the consumables mechanism will not hinder the user's comfortable grip on the grip part 11.

[0119] The main function of the endoscope handle is to provide pulling force for the control wires on the consumables mechanism. The follower part on the consumables mechanism can also adopt a design similar to the starting slider 3. That is, when the endoscope handle is docked with the consumables mechanism, the first coupling part 311 and the second coupling part 321 are connected to the first and second follower parts on the consumables mechanism, respectively. When the first coupling part 311 and the second coupling part 321 slide, the first and second follower parts will slide together, thereby driving the retraction and extension of the control wires. In addition, the follower part can be directly connected to the end of different sets of control wires. During the sliding process, the first coupling part 311 and the second coupling part 321 directly pull the first and second follower parts, and simultaneously drive the retraction and extension of the control wires.

[0120] In summary, the technical solution provided in this application embodiment, by setting two opposing tracks on the slide rail, with the starting sliders located on the tracks, and different coupling parts on the two starting sliders respectively used to drive two sets of control wires on the consumable mechanism, not only simplifies the structure of the endoscope handle but also facilitates the user's installation of the endoscope handle onto the electrically driven consumable mechanism, thereby enabling the switching between electric and manual drive modes of the consumable mechanism and meeting the needs of more usage scenarios. Furthermore, the operating part is located on one side of the grip, which not only facilitates the user's grip on the endoscope handle but also allows the user to easily pull down or push up the operating part.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An endoscope handle, characterized in that, include: case; The slide rail is located within the receiving cavity of the housing; Two starting sliders are mounted on the slide rail. Each starting slider has a coupling part, which includes a first coupling part and a second coupling part. The coupling part is connected to the follower part of the consumable mechanism and is used to drive the control wire of the consumable mechanism to perform retraction and extension movements. A drive wheel assembly is disposed within the housing. The drive wheel assembly is provided with a traction wire. One end of the traction wire is connected to the starting slider, and the other end is connected to the drive wheel assembly, for driving the starting slider to slide. An operating unit, connected to the drive wheel assembly, is used to drive the drive wheel assembly to rotate; The slide rail has a first track on its upper surface and a second track on its lower surface. A first starting slider is disposed on the first track and a second starting slider is disposed on the second track. The first coupling portion on the first starting slider and the second coupling portion on the second starting slider extend in the same direction. The second coupling part has a U-shaped structure, and the slide rail is disposed in the groove of the U-shaped structure of the second coupling part; The endoscope handle is detachably connected to the electrically driven consumables mechanism.

2. The endoscope handle according to claim 1, characterized in that, The drive wheel assembly includes a first drive wheel and a second drive wheel; The first drive wheel and the second drive wheel are respectively connected to different traction wires so that when the first drive wheel and the second drive wheel rotate, the different starting sliders can be driven to slide by the traction wires.

3. The endoscope handle according to claim 2, characterized in that, The drive wheel assembly also includes a crank; The crank is coaxially connected to the first drive wheel, the second drive wheel, and the operating part; By operating the operating part in different directions, the first drive wheel or the second drive wheel can be driven to rotate via the crank.

4. The endoscope handle according to claim 3, characterized in that, Both the first drive wheel and the second drive wheel are provided with a first connecting part, and the crank is provided with a second connecting part; When the crank rotates in different directions, the second connecting part connects to the first connecting part on the first drive wheel or the second drive wheel to drive the first drive wheel or the second drive wheel to rotate.

5. The endoscope handle according to claim 4, characterized in that, The first connecting part is an arc-shaped slot, and the second connecting part is a protruding rod; The arc-shaped slots on the first drive wheel and the second drive wheel extend in opposite directions.

6. The endoscope handle according to any one of claims 1 to 5, characterized in that, It also includes guide wheels; The guide wheel has a groove, and the traction wire is located in the groove.

7. The endoscope handle according to any one of claims 1 to 5, characterized in that, It also includes guide plates; The guide plate is located on one side of the end of the slide rail, and the guide plate has a guide hole. The traction wire passes through the guide hole and is connected to the drive wheel.

8. The endoscope handle according to claim 7, characterized in that, The drive wheel is provided with a wheel cover, and the wheel cover has a through hole. The traction wire passes through the through hole and is connected to the drive wheel along the tangential direction of the drive wheel.

9. The endoscope handle according to claim 1, characterized in that, The housing includes a gripping part; The grip is located on one side of the operating part, and the extension direction of the grip is in the same direction as the axis of the slide rail.

10. The endoscope handle according to claim 1, characterized in that, It also includes a reset component; One end of the reset component is connected to the starting slider, and the other end is connected to the slide rail or the housing, for providing restoring force to the starting slider.

11. An endoscope system, characterized in that, include: The endoscope handle as described in any one of claims 1 to 10 above; The electric drive mechanism is equipped with an electric drive unit; The consumable mechanism can be detachably connected to the endoscope handle and the electric drive mechanism respectively. The consumable mechanism is provided with a follower part, which can be connected to the coupling part and the electric drive part respectively to drive the control wire of the consumable mechanism to perform retraction and extension movements.

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