Balanced bending adjustment mechanism and endoscope

Abstract

The present invention discloses a balanced bending adjustment mechanism and an endoscope, which relate to the field of endoscopes. The balanced bending adjustment mechanism includes a mounting assembly, a rotating bending adjustment assembly, and a balancing assembly. When an external force is applied to the winding wheel to drive the operating wire to bend, the adapter member is suitable for sliding relative to the guide rod during the rotation stroke of the winding wheel, and the elastic element can be provided in the sliding stroke of the adapter member so that the connection force between the adapter member and the winding wheel balances the biasing force of the operating wire to reset and pull the winding wheel, so as to configure the rotating bending adjustment assembly in a static fixed state, so that when the bending control is implemented, the balanced bending adjustment mechanism can be balanced in any situation, and the operational distal end can autonomously maintain a balanced state in any posture. The balanced bending adjustment mechanism provided by the present invention is easy to operate and flexible to use; there is no need to perform additional locking or unlocking operation steps, which can reduce the difficulty of design, manufacturing and maintenance, promote a smoother and more efficient surgical process, and reduce the patient's pain and discomfort.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscopes, and in particular to a balancing bending adjustment mechanism and an endoscope. Background Art

[0002] As an advanced medical diagnostic tool, endoscopes are widely used in the medical field. Their high-definition camera systems and sophisticated navigation systems allow them to penetrate deep into various parts of the human body, providing intuitive and accurate observation of lesions. Whether in the respiratory, digestive, or urinary systems, endoscopes play a vital role.

[0003] In practical applications, the bending section of an endoscope's insertion body must possess both flexibility and stability. It must not only be able to bend precisely according to the user's needs but also maintain a specific curved position when needed, enabling the user to closely observe and treat lesions within the patient's body. To achieve this, two operating wires are connected to winding wheels located within the operating section and to the bending section. The rotation of the winding wheels pulls the bending section to bend, and when the winding wheels are stopped, the bending section remains in its current position.

[0004] Currently, endoscopes are usually equipped with a locking mechanism to lock the angle of the winding wheel. The locking mechanism can hinder the rotation of the winding wheel through friction to counteract the rebound force of the curved portion of the insert body, so that the curved portion of the insert body remains in a fixed state. However, the specific mechanical structure of the locking mechanism is relatively complex, which increases the difficulty of manufacturing and maintenance; and for users, using the locking mechanism means that additional locking or unlocking steps need to be performed, which not only increases the user's labor intensity, but also reduces surgical efficiency and increases the patient's pain. Based on the requirements of modern medical equipment for safety, reliability, convenience and ease of use, the current locking mechanism solution obviously cannot meet the needs.

[0005] Therefore, the development of a new technology that is simple, efficient, and can effectively maintain the stability of the curved portion of the insert has become an urgent need in the industry. Summary of the Invention

[0006] In order to solve the technical problems raised by the above background technology, the present invention provides a balanced bending adjustment mechanism, comprising:

[0007] mounting assembly, including guide rods;

[0008] The rotating bending adjustment assembly includes a winding wheel and an operating wire, wherein the proximal end of the operating wire is fixed to the winding wheel, and the winding wheel and the guide rod are arranged to avoid each other;

[0009] and a balancing assembly, the balancing assembly comprising a transfer member and an elastic element; the elastic element is sleeved on the guide rod, one end of the transfer member is rotatably connected to the winding wheel, the other end of the transfer member is slidably disposed on the outer periphery of the guide rod, and the connection end of the transfer member and the winding wheel is offset from the rotation axis of the winding wheel;

[0010] In which, under the action of external force, when the winding wheel drives the operating wire to bend, the adapter member is suitable for sliding relative to the guide rod during the rotation stroke of the winding wheel, and the elastic element is configured to: provide a connecting force between the adapter member and the winding wheel during the sliding stroke of the adapter member, so that the biasing force of the operating wire to reset and pull the winding wheel is balanced, so as to configure the rotating bending adjustment component in a static fixed state.

[0011] Optionally, the transition member includes a connecting rod and a sliding member, the extension direction of the connecting rod is arranged parallel to the rotation plane of the winding wheel, one end of the connecting rod is rotationally connected to the winding wheel, and the other end of the connecting rod is rotationally connected to the sliding member, the sliding member is slidingly sleeved on the guide rod, the first connecting end of the elastic element is fixed to the sliding member, and the second connecting end of the elastic element is connected to the mounting assembly; the first axis of rotation between the connecting rod and the winding wheel is offset from the second axis of rotation of the winding wheel itself.

[0012] Optionally, the elastic element is compressed and connected between the sliding member and the mounting assembly, and the elastic element is configured with a biasing force to be expanded; or

[0013] The elastic element is tension-connected between the sliding member and the mounting assembly, and the elastic element is configured with a biasing force to be contracted.

[0014] Optionally, the balancing component further includes:

[0015] A first connecting shaft is connected to a side of the winding wheel close to the guide rod, and an end of the connecting rod away from the sliding member is rotatably connected to the first connecting shaft; and / or

[0016] The second connecting shaft is connected to a side of the sliding member close to the winding wheel, and one end of the connecting rod close to the sliding member is rotatably connected to the second connecting shaft.

[0017] Optionally, the transfer component includes a transfer block and a moving part, the transfer block is fixedly arranged on the lateral end face of the winding wheel close to the guide rod, the transfer block and the center of the winding wheel are eccentrically spaced, the moving part includes a guide part and a moving part that are fixedly connected, the transfer block is slidably arranged in the limiting track of the guide part, the moving part is slidably sleeved on the guide rod, the first connecting end of the elastic element and the moving part are fixedly arranged, and the second connecting end of the elastic element is connected to the mounting assembly.

[0018] Optionally, the elastic element is tightly connected between the moving member and the mounting assembly, and the elastic element is configured with a biasing force to be expanded; or

[0019] The elastic element is tension-connected between the moving member and the mounting assembly, and the elastic element is configured with a biasing force to be contracted.

[0020] Optionally, a connecting portion is provided on the moving member, the mounting assembly includes a mounting rod, the first connecting end of the elastic element is fixedly connected to the connecting portion, and the second connecting end of the elastic element is connected to the mounting rod.

[0021] Optionally, the mounting assembly further includes a mounting seat, the mounting seat being suitable for connecting with the external device housing, and the guide rod being fixedly connected to the mounting seat.

[0022] Optionally, a support portion is provided on the mounting seat, and the support portion is extended on a side of the mounting seat facing the winding wheel, and one end of the guide rod away from the sliding member is fixed to the support portion.

[0023] Optionally, the mounting assembly further includes a first sleeve and a second sleeve, either sleeve being fixedly mounted on the mounting seat, the first sleeve and the second sleeve being respectively arranged in the entry and exit directions of the operating wire adjusted by the balancing bending mechanism, and the operating wire being suitable for being slidably mounted in either sleeve.

[0024] Optionally, the rotation and bending adjustment assembly further includes a knob and an adjusting member, the knob is transmission-connected to the winding wheel, and the adjusting member is connected to the periphery of the knob.

[0025] Optionally, the balancing and bending adjustment mechanism further includes a snake-bone structure, one end of the operating wire is fixedly connected to the winding wheel, and the other end of the operating wire is fixedly connected to the distal end of the snake-bone structure.

[0026] Optionally, the snake-bone structure includes a first body, a second body, and several joint units that are arranged between the first body and the second body and are connected in series and rotationally. The distal end of the operating wire passes through the first body and the joint unit to be connected to the second body; the first body and any of the joint units are respectively configured with through holes suitable for the operating wire to slide through.

[0027] An endoscope comprises the above-mentioned balancing and bending adjustment mechanism, and the endoscope is one of an electronic endoscope, an ultrasonic endoscope, or an ultrasonic bronchoscope.

[0028] The technical solution provided by the present invention has the following advantages:

[0029] The balancing and bending mechanism provided by the present invention includes a mounting assembly, a rotating bending assembly, and a balancing assembly. The mounting assembly includes a guide rod, the rotating bending assembly includes a winding wheel and an operating wire, and the balancing assembly includes a connecting member and an elastic element.

[0030] The balanced bending mechanism of this structure is suitable for sliding relative to the guide rod during the rotation stroke of the winding wheel when the winding wheel drives the operating wire to bend under the action of external force. The elastic element can be provided in the sliding stroke of the adapter member so that the connection force between the adapter member and the winding wheel balances the biasing force of the operating wire to reset and pull the winding wheel, so as to configure the rotating bending assembly in a static fixed state. Therefore, when implementing bending control, the balanced bending mechanism can be balanced in any situation, and the operational distal end can maintain a balanced state autonomously in any posture; it is easy to operate and flexible to use; it can avoid fatigue caused by the user having to maintain the bending angle of the bending part of the insertion body for a long time, and there is no need to perform additional locking or unlocking operations, which is conducive to reducing the difficulty of design, manufacturing and maintenance, promoting a smoother and more efficient surgical process, and reducing the patient's pain and discomfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 A schematic structural diagram of the balanced bending adjustment mechanism provided by the present invention;

[0033] Figure 2 A side view of the balanced bending adjustment mechanism provided by the present invention;

[0034] Figure 3 A structural schematic diagram of one of the bending implementation methods of the balanced bending adjustment mechanism provided by the present invention;

[0035] Figure 4 This is a structural schematic diagram of the second embodiment of the balanced bending adjustment mechanism provided by the present invention;

[0036] Figure 5 A schematic diagram of the structure of the snake bone structure in the endoscope provided by the present invention;

[0037] Figure 6 A schematic structural diagram of another embodiment of the balanced bending adjustment mechanism provided by the present invention;

[0038] Figure 7 A schematic structural diagram of another embodiment of the balanced bending adjustment mechanism provided by the present invention in the bending adjustment state;

[0039] Description of reference numerals:

[0040] 11-mounting seat; 111-support portion; 12-guide rod; 13-first sleeve; 14-second sleeve; 15-mounting rod;

[0041] 21 - winding wheel; 22 - operating wire; 23 - knob; 24 - adjusting member; 25 - first position-limiting connecting member; 26 - second position-limiting connecting member;

[0042] 31 - connecting rod; 32 - sliding member; 33 - elastic element; 34 - first connecting shaft; 35 - second connecting shaft; 36 - adapter block; 37 - moving member; 371 - guide portion; 372 - moving portion; 373 - connecting portion;

[0043] 4-snake-bone structure; 41-first body; 42-second body; 43-joint unit. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0047] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0048] Example 1

[0049] This embodiment provides a balanced bending mechanism. Figures 1 to 7 The invention comprises a mounting assembly, a rotating bending adjustment assembly and a balancing assembly. The rotating bending adjustment assembly is used to adjust the bending posture of the bending part.

[0050] See also Figure 1 The mounting assembly includes a mounting seat 11 and a guide rod 12 . The mounting seat 11 is suitable for connecting with the external housing, and the guide rod 12 is fixedly connected to the mounting seat 11 .

[0051] See also Figure 1 and Figure 2 The rotating bending adjustment component includes a winding wheel 21 and an operating wire 22. The proximal end of the operating wire 22 is fixed on the winding wheel 21, and the winding wheel 21 and the guide rod 12 are set to avoid each other; the balancing component includes a transfer component and an elastic element 33; the elastic element 33 is sleeved on the guide rod 12, one end of the transfer component is rotatably connected to the winding wheel 21, and the other end of the transfer component is slidably arranged on the outer periphery of the guide rod 12, and the connection end of the transfer component and the winding wheel 21 is offset from the rotation axis of the winding wheel 21.

[0052] In some embodiments, see Figure 5 The balancing and bending mechanism also includes a snake-bone structure 4, which is suitable for serving as a bending portion at the distal end of the endoscope. One end of the operating wire 22 is fixedly connected to the winding wheel 21, and the other end of the operating wire 22 is fixedly connected to the distal end of the snake-bone structure 4.

[0053] In a specific embodiment, see Figure 5The snake-bone structure 4 includes a first body 41, a second body 42, and a plurality of joint units 43 that are connected in series and rotated between the first body 41 and the second body 42. The first body 41 is suitable for connecting the distal end of an external tube, and the second body 42 is suitable for connecting the lens of an endoscope and other equipment. The distal end of the operating wire 22 passes through the first body 41 and the joint unit 43 to be connected to the second body 42. The first body 41 and any joint unit 43 are respectively provided with through holes suitable for the operating wire 22 to slide through.

[0054] As an exemplary embodiment, see Figure 1 The transition component includes a connecting rod 31 and a sliding member 32. The extension direction of the connecting rod 31 is arranged parallel to the rotation plane of the winding wheel 21. One end of the connecting rod 31 is rotationally connected to the winding wheel 21, and the other end of the connecting rod 31 is rotationally connected to the sliding member 32. The sliding member 32 is slidingly sleeved on the guide rod 12. The first connecting end of the elastic element 33 is fixed to the sliding member 32, and the second connecting end of the elastic element 33 is connected to the mounting assembly. The first axis L1 of rotation between the connecting rod 31 and the winding wheel 21 is offset from the second axis L2 of rotation of the winding wheel 21 itself. The elastic element 33 is tightly connected between the sliding member 32 and the mounting assembly, and the elastic element 33 is configured with a biasing force to be expanded.

[0055] The balanced bending mechanism of this structure is used to control the specific bending. Figure 3 For example, the winding wheel 21 drives the operating wire 22 in a clockwise direction, and the operating wire 22 drives the distal bending portion to bend. At the same time, the winding wheel 21 drives one end of the connecting rod 31 to move clockwise upward, and the other end of the connecting rod 31 acts on the sliding member 32 to move downward and press the elastic element 33. The biasing force of the elastic element 33 to be expanded causes the sliding member 32 to move upward, thereby balancing the force of the operating wire 22 returning to its original position and pulling the winding wheel 21 to be transferred to the connecting rod 31 and the sliding member 32, so that the rotating bending adjustment assembly reaches a stationary state. Among them, the winding wheel 21, the connecting rod 31, the sliding member 32, and the guide rod 12 are constructed as a mechanism with one degree of freedom; the winding wheel 21 itself is subjected to the restoring force of the operating wire 22, and is balanced by the elastic element 33 acting on the sliding member 32.

[0056] See also Figure 1 The mounting base 11 is provided with a support portion 111, which extends on the side of the mounting base 11 facing the winding wheel 21. The end of the guide rod 12, which is away from the sliding member 32, is fixed to the support portion 111. The support portion 111 can extend in a direction parallel to the axis of the winding wheel 21, and the guide rod 12 is arranged perpendicular to the extension direction of the support portion 111. The elastic element 33 is tightly connected between the sliding member 32 and the support portion 111.

[0057] As a variation, an elastic element 33 is tensioned and connected between the sliding member 32 and the mounting assembly. The elastic element 33 is configured with a biasing force to be retracted. The first connecting end of the elastic element 33 is fixedly connected to the upper end of the sliding member 32. This biasing force of the elastic element 33 to be retracted causes the sliding member 32 to move upward in the same manner, thereby overcoming the force applied by the return of the operating wire 22. A connecting structure may be provided on the mounting base 11 to correspond to the second connecting end of the elastic element 33 and place the elastic element 33 in a tensioned, retracted state.

[0058] For the elastic force F of the elastic element s , taking two operating wires 22 as an example, see Figure 5 , which satisfies the following formula:

[0059] F s θ=F t

[0060]

[0061]

[0062] Right now:

[0063]

[0064] Wherein, θ: the angle through which the winding wheel 21 rotates from the initial angular position;

[0065] F t : tension of the first operating wire 22 or the second operating wire 22;

[0066] ρ: radius of curvature of the neutral surface of the curved part;

[0067] l: length of the bending part;

[0068] EI z : Bending stiffness of the bending part;

[0069] a: distance between the first operating wire 22 or the second operating wire 22 and the neutral plane of the bending portion;

[0070] R: distance between the first axis L1 and the second axis L2;

[0071] The curvature radius ρ of the neutral plane of the bending portion is set to the real-time radius when the bending portion is bent. In a specific embodiment, the length l of the bending portion can be set to 40 mm, and the distance a from the operating wire 22 to the neutral plane of the bending portion is set to 2.5 mm.

[0072] The biasing force of elastic element 33 is set to a constant, independent of the angle of rotation of winding wheel 21 from its initial angular position. Using the coefficients and formulas determined above, the maximum required elastic force of elastic element 33 can be calculated. This allows for the selection of an appropriate elastic element 33 to achieve precise adjustment of the balanced bending mechanism and maintain the current bending state until the next bending adjustment.

[0073] In another exemplary embodiment, see Figure 6 and Figure 7 The adapter component includes an adapter block 36 and a moving part 37. The adapter block 36 is fixedly arranged on the lateral end surface of the winding wheel 21 near the guide rod 12. The adapter block 36 and the center of the winding wheel 21 are eccentrically spaced. The moving part 37 includes a guide portion 371 and a moving portion 372 that are fixedly connected. The adapter block 36 is slidably arranged in the limiting track of the guide portion 371, and the moving portion 372 is slidably sleeved on the guide rod 12. The first connecting end of the elastic element 33 and the moving part 37 are fixedly arranged, and the second connecting end of the elastic element 33 is connected to the mounting assembly; the elastic element 33 is stretched and connected between the moving part 37 and the mounting assembly, and the elastic element 33 is configured with a biasing force to be retracted.

[0074] The balanced bending mechanism of this structure is used to control the specific bending. Figure 7 For example, the winding wheel 21 drives the operating wire 22 in a clockwise direction, and the operating wire 22 drives the bending portion at the distal end to bend. At the same time, the winding wheel 21 drives the adapter block 36 to move clockwise upward. While the adapter block 36 slides on the upper limit track of the guide portion 371, it can drive the movable member to move upward to act on the elastic element 33. The biasing force of the elastic element 33 to be retracted is used to act on the sliding member 32 to move upward, thereby balancing the force of the operating wire 22 resetting and pulling the winding wheel 21 to be transferred to the adapter block 36 and the movable member 37, so that the rotating bending adjustment assembly reaches a static and fixed state. Among them, the winding wheel 21, the adapter block 36, the movable member 37, and the guide rod 12 are constructed as a mechanism with one degree of freedom; the winding wheel 21 itself is balanced by the restoring force of the operating wire 22 acting on the movable member 37 through the elastic element 33.

[0075] See also Figure 6 and Figure 7 A connecting portion 373 is provided on the movable part, the mounting assembly includes a mounting rod 15, the first connecting end of the elastic element 33 is fixedly connected to the connecting portion 373, the second connecting end of the elastic element 33 is connected to the mounting rod 15, and the elastic element 33 is stretched and connected between the connecting portion 373 and the mounting rod 15.

[0076] The limiting track on the guide part 371 is configured to conform to the outer wall of the adapter block 36. In a specific embodiment, the adapter block 36 is configured as a sliding wheel, and the width of the limiting track is the same as the outer diameter of the sliding wheel to promote structural transmission stability and improve the balance ability in the bending adjustment stage.

[0077] As a variation, an elastic element 33 is tightly connected between the movable member 37 and the mounting assembly, and the elastic element 33 is configured with a biasing force to expand. The first connecting end of the elastic element 33 is fixedly connected to the lower end of the movable member 37, so that the biasing force of the elastic element 33 to expand acts on the movable member 37 to move upward, thereby overcoming the force applied by the resetting of the operating wire 22. The mounting base 11 may be provided with a connecting structure to correspond to the second connecting end of the elastic element 33, thereby maintaining the elastic element 33 in a compressed, ready-to-expand state.

[0078] In a specific embodiment, the elastic element 33 can be a compression spring, or a tension spring, a constant force spring, a gas spring, or other element that can provide a biasing force to the sliding member 32. The elastic element 33 can be a constant force spring. Of course, the elastic element 33 can also be another type of energy storage element, such as a magnet, to achieve the same effect through magnetic attraction.

[0079] In some embodiments, the winding wheel 21 is provided with a fixing structure for fixing the operating wire 22. The operating wire 22 can be a single wire, the middle section of which is fixed to the fixing structure by welding, bonding, fastener locking, or other methods. Alternatively, the operating wires 22 can be two wires, the proximal ends of which are respectively fixed to the fixing structure. The fixing structure positions the operating wire 22 on the winding wheel 21 to ensure the bending accuracy of the operating wire 22 during movement.

[0080] As a further embodiment, the balancing assembly further includes a first connecting shaft 34 , which is connected to a side of the winding wheel 21 close to the guide rod 12 , and an end of the connecting rod 31 away from the sliding member 32 is rotatably connected to the first connecting shaft 34 .

[0081] As a further embodiment, see Figure 2 The balancing assembly further includes a second connecting shaft 35 , which is connected to a side of the sliding member 32 close to the winding wheel 21 , and an end of the connecting rod 31 close to the sliding member 32 is rotatably connected to the second connecting shaft 35 .

[0082] In some embodiments, the winding wheel 21 is provided with a first position-limiting connector 25 for securing the first coupling shaft 34, thereby radially and axially limiting the first coupling shaft 34. The outer ring of the first position-limiting connector 25 is connected to the winding wheel 21, and the inner ring is connected to the first coupling shaft 34. Of course, a second position-limiting connector 26 can be provided on the sliding member 32 to radially and axially limit the second coupling shaft 35. The outer ring of the second position-limiting connector 26 is connected to the sliding member 32, and the inner ring is connected to the second coupling shaft 35.

[0083] In some embodiments, see Figure 1The rotating bending adjustment assembly also includes a knob 23 and an adjusting member 24. The knob 23 is transmission-connected to the winding wheel 21, and the adjusting member 24 is connected to the outer periphery of the knob 23. The user applies force to operate the adjusting member 24, which drives the knob 23 and the winding wheel 21 to rotate synchronously, thereby using the winding wheel 21 to drive the operating wire 22 to implement bending control.

[0084] In some embodiments, see Figure 1 The mounting assembly further includes a first sleeve 13 and a second sleeve 14, either of which is fixedly mounted on the mounting base 11. The first sleeve 13 and the second sleeve 14 are respectively arranged in the inlet and outlet directions of the balancing bending mechanism adjusting operating wire 22, and the operating wire 22 is adapted to be slidably mounted in either sleeve. Specifically, two operating wires 22 are provided, and the two operating wires 22 are respectively fixedly mounted on the winding wheel 21, wherein the first operating wire 22 is slidably mounted in the first sleeve 13, and the second operating wire 22 is slidably mounted in the second sleeve 14; when the winding wheel 21 rotates, it can pull the first operating wire 22 to move relative to the first sleeve 13 or pull the second operating wire 22 to move relative to the second sleeve 14, so as to achieve the purpose of bending control.

[0085] The balanced bending mechanism provided in this embodiment is shown in FIG. Figure 1 When the winding wheel 21 is at the initial angle position, the curved portion can be in a natural straight line state; see Figure 3 When the winding wheel 21 rotates from the initial position to the first direction, the first operating wire 22 can move relative to the first sleeve 13, thereby providing a pulling force to bend the bending portion in the second direction; see Figure 4 When the winding wheel 21 rotates from the initial position to the third direction, the second operating wire 22 can move relative to the second sleeve 14, thereby providing a pulling force to bend the bending portion in the fourth direction. Figure 3 and Figure 4 Left side, Figure 5 The operation wire 22 shown on the upper side, the second operation wire 22 is Figure 3 and Figure 4 Right side, Figure 5 The operation line 22 shown on the lower side has a first direction of Figure 3 The direction of the adjustment member 24 is shown as clockwise, and the second direction is Figure 5 The distal end of the snake bone structure 4 is shown in a counterclockwise upward direction, and the third direction is Figure 4 The fourth direction is the counterclockwise direction of the adjustment member 24. Figure 5 The distal end of the snake structure 4 is shown in a clockwise downward direction.

[0086] When the winding wheel 21 rotates from the initial position to the first direction or the second direction, the bending portion bends correspondingly to the third direction or the fourth direction. The restoring force generated by the self-reset of the bending portion applies a biasing force to the sliding member 32 through the elastic element 33, so that the biasing force can act on the winding wheel 21 to rotate in the first direction or the second direction, and then balance the restoring force of the bending portion, so that the knob 23, the winding wheel 21 and the bending portion are balanced at any position, so that the bending portion can maintain its current shape without the help of external force.

[0087] The two preset extreme positions for the bending adjustment can be achieved by providing a limiting structure. In one specific embodiment, two limiting blocks can be provided on the mounting base to limit the winding wheel. The two limiting blocks correspond to the extreme positions of the winding wheel when rotating clockwise and counterclockwise, respectively, and thus correspond to the two extreme positions of the operating wire bending adjustment. In another embodiment, two limiting blocks can be provided on the mounting base or the external housing to limit the knob, thereby achieving the same effect of limiting the two extreme positions of the bending adjustment. Of course, the sliding stroke of the sliding member can also be limited.

[0088] The balanced bending adjustment mechanism provided in this embodiment is suitable for sliding relative to the guide rod 12 during the rotation stroke of the winding wheel 21 when the winding wheel 21 drives the operating wire 22 to bend under the action of external force. The elastic element 33 is configured to: provide a connection force between the adapter component and the winding wheel 21 during the sliding stroke of the adapter component to balance the biasing force of the operating wire 22 to reset and pull the winding wheel 21, so as to configure the rotating bending adjustment component in a static fixed state, so that when implementing bending control, the balanced bending adjustment mechanism can be balanced in any situation, and the operational distal end can autonomously maintain a balanced state in any posture; it is easy to operate and flexible to use; it can avoid fatigue caused by the user having to maintain the bending angle of the bending part of the insert for a long time, and there is no need to perform additional locking or unlocking operations, which is conducive to reducing the difficulty of design, manufacturing and maintenance, promoting a smoother and more efficient surgical process, and reducing the patient's pain and discomfort.

[0089] Example 2

[0090] This embodiment provides an endoscope, including the balance and bending adjustment mechanism of embodiment 1. The balance and bending adjustment mechanism can be applied to electronic endoscopes, ultrasonic endoscopes, or ultrasonic bronchoscopes to achieve flexible balance adjustment of the insertion portion of the scope. The balance and bending adjustment mechanism of the present invention has a relatively simple mechanical structure, which reduces the difficulty of manufacturing and maintenance. For users, there is no need to perform additional locking or unlocking steps, and there is no need to equip a complex locking mechanism, which reduces the difficulty of design, manufacturing, and maintenance, reduces the volume and weight of the endoscope operation, and is more flexible to use. It is beneficial to save the user's physical strength, make the surgical process smoother and more efficient, and reduce the patient's pain and discomfort.

[0091] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A balanced bending mechanism, characterized in that: include: A mounting assembly including a guide rod (12); The rotating bending adjustment component comprises a winding wheel (21) and an operating wire (22), wherein the proximal end of the operating wire (22) is fixed on the winding wheel (21), and the winding wheel (21) and the guide rod (12) are arranged to avoid each other; and a balancing assembly, the balancing assembly comprising a transfer member and an elastic element (33); the elastic element (33) is sleeved on the guide rod (12); one end of the transfer member is rotationally connected to the winding wheel (21); the other end of the transfer member is slidingly arranged on the outer periphery of the guide rod (12); the connection end of the transfer member and the winding wheel (21) is spaced and offset from the rotation axis of the winding wheel (21); Wherein, when the winding wheel (21) drives the operating wire (22) to bend under the action of an external force, the transfer member is suitable for sliding relative to the guide rod (12) during the rotation stroke of the winding wheel (21), and the elastic element (33) is configured to: provide a connection force between the transfer member and the winding wheel (21) during the sliding stroke of the transfer member, so that the biasing force of the operating wire (22) to reset and pull the winding wheel (21) is balanced, so as to configure the rotating bending adjustment component in a static fixed state.

2. The balanced bending mechanism according to claim 1, characterized in that: The transfer member includes a connecting rod (31) and a sliding member (32), the extension direction of the connecting rod (31) is arranged parallel to the rotation plane of the winding wheel (21), one end of the connecting rod (31) is rotationally connected to the winding wheel (21), and the other end of the connecting rod (31) is rotationally connected to the sliding member (32), and the sliding member (32) is slidingly sleeved on the guide rod (12), the first connecting end of the elastic element (33) is fixedly arranged with the sliding member (32), and the second connecting end of the elastic element (33) is connected to the mounting assembly; the first axis of rotation between the connecting rod (31) and the winding wheel (21) is spaced apart and offset from the second axis of rotation of the winding wheel (21) itself.

3. The balanced bending mechanism according to claim 2, characterized in that: The elastic element (33) is tightly connected between the sliding member (32) and the mounting assembly, and the elastic element (33) is configured with a biasing force to be expanded; or The elastic element (33) is tension-connected between the sliding member (32) and the mounting assembly, and the elastic element (33) is configured with a biasing force to be contracted.

4. The balanced bending mechanism according to claim 3, characterized in that: The balancing assembly further comprises: A first connecting shaft (34) is connected to a side of the winding wheel (21) close to the guide rod (12), and an end of the connecting rod (31) away from the sliding member (32) is rotatably connected to the first connecting shaft (34); and / or The second connecting shaft (35) is connected to a side of the sliding member (32) close to the winding wheel (21), and one end of the connecting rod (31) close to the sliding member (32) is rotatably connected to the second connecting shaft (35).

5. The balanced bending mechanism according to claim 1, characterized in that: The transfer member comprises a transfer block (36) and a moving member (37); the transfer block (36) is fixedly arranged on the lateral end surface of the winding wheel (21) close to the guide rod (12); the transfer block (36) and the winding wheel (21) are eccentrically spaced apart; the moving member (37) comprises a guide portion (371) and a moving portion (372) that are fixedly connected; the transfer block (36) is slidably arranged in a limiting track of the guide portion (371); the moving portion (372) is slidably sleeved on the guide rod (12); the first connecting end of the elastic element (33) and the moving member (37) are fixedly arranged; and the second connecting end of the elastic element (33) is connected to the mounting assembly.

6. The balanced bending mechanism according to claim 5, characterized in that: The elastic element (33) is tightly connected between the moving member (37) and the mounting assembly, and the elastic element (33) is configured with a biasing force to be expanded; or The elastic element (33) is tension-connected between the moving member (37) and the mounting assembly, and the elastic element (33) is configured with a biasing force to be contracted.

7. The balanced bending mechanism according to claim 6, characterized in that: The movable member is provided with a connecting portion (373), the mounting assembly includes a mounting rod (15), a first connecting end of the elastic element (33) and the connecting portion (373) are fixedly connected, and a second connecting end of the elastic element (33) and the mounting rod (15) are connected.

8. The balanced bending mechanism according to any one of claims 1 to 7, characterized in that: The mounting assembly further comprises a mounting seat (11), wherein the mounting seat (11) is suitable for connecting with an external device housing, and the guide rod (12) is fixedly connected to the mounting seat (11).

9. The balanced bending mechanism according to claim 8, characterized in that: A support portion (111) is provided on the mounting seat (11), and the support portion (111) is extended and arranged on a side of the mounting seat (11) facing the winding wheel (21), and the guide rod (12) and the support portion (111) are fixedly arranged.

10. The balanced bending mechanism according to claim 8, characterized in that: The mounting assembly further comprises a first sleeve (13) and a second sleeve (14), either sleeve being fixedly arranged on the mounting seat (11), the first sleeve (13) and the second sleeve (14) being respectively arranged in the in-and-out direction of the balancing bending mechanism for adjusting the operating wire (22), and the operating wire (22) being adapted to be slidably arranged in either sleeve.

11. The balanced bending mechanism according to any one of claims 1 to 7, characterized in that: The rotating bending adjustment assembly further comprises a knob (23) and an adjusting member (24); the knob (23) is transmission-connected to the winding wheel (21); and the adjusting member (24) is connected to the outer periphery of the knob (23).

12. The balanced bending mechanism according to any one of claims 1 to 7, characterized in that: The balancing bending mechanism further comprises a snake-bone structure (4), one end of the operating wire (22) is fixedly connected to the winding wheel (21), and the other end of the operating wire (22) is fixedly connected to the distal end of the snake-bone structure (4).

13. The balanced bending mechanism according to claim 12, characterized in that: The snake-bone structure (4) includes a first body (41), a second body (42), and a plurality of joint units (43) arranged between the first body (41) and the second body (42) and connected in series rotation. The distal end of the operating wire (22) passes through the first body (41) and the joint unit (43) to be connected to the second body (42); the first body (41) and any of the joint units (43) are respectively provided with a through hole suitable for the operating wire (22) to slide through.

14. An endoscope, characterized in that: It comprises the balancing and bending adjustment mechanism described in any one of claims 1-13.

Images