Tensile conjugate locking device for endoscope serpentine arm

Abstract

The present invention discloses a tension conjugate locking device applied to an endoscope serpentine arm, which is composed of an interlocking front cover (1), an interlocking rear cover (2), a handle (3), a right spring (4), a right slider (5), a left spring (6), and a left slider (7). The connection with the connector of the endoscope serpentine arm is achieved by connecting a control line to the right slider (5) and the left slider (7). The tension conjugate locking device of the present invention can provide pure mechanical power for the endoscope serpentine arm, and the power is determined by the operator according to the actual complex confined space environment. Compared with the segmented control method of the traditional motor, it has higher passability and operational flexibility. The tension conjugate locking device of the present invention fully utilizes the freedom of the operator's arm to provide tension and locking of the moving state for complex confined space operations.

Description

Technical Field

[0001] The present invention relates to a mechanical device for locking tension applied to operations in narrow and complex spaces, and more particularly to a tension conjugate locking device applied to a serpentine arm of an endoscope. Background Art

[0002] An endoscope is a lighted tube that can be passed through the mouth into the stomach or other natural orifices into the body. Endoscopes are very useful to doctors because they allow them to see lesions that X-rays cannot. For example, an endoscope can help doctors visualize ulcers or tumors in the stomach and determine the best treatment plan. In order to advance the colonoscope (or the endoscope snake) through the colon, the colon wall, ligaments, and peritoneum must be stretched, creating tension in the colon wall that resists further wall deformation. This resistance forces the colonoscope to bend and follow the curve of the colon, which can make insertion difficult and painful. Advancing the endoscope snake with just a pushing motion can cause it to form loops, making further advancement difficult.

[0003] In the medical field, tool platforms designed for complex, confined spaces possess high maneuverability and flexibility. However, operating within confined and complex spaces requires motor-driven motion control of the endoscope's serpentine arm, resulting in poor maneuverability and operational flexibility, making endoscope operation more challenging for doctors. Summary of the Invention

[0004] In order to improve the technical problems of poor passability and flexibility caused by motor drive, the present invention designs a tension conjugate locking device for the serpentine arm of an endoscope. The tension conjugate locking device can provide pure mechanical power to the serpentine arm of the endoscope, and the amount of power is determined by the operator according to the actual complex confined space environment. Compared with the segmented control method of traditional motors, it has higher passability and operational flexibility. The tension conjugate locking device of the present invention fully utilizes the freedom of the operator's arm to provide tension and locking of the travel state for complex confined space operations.

[0005] The tension conjugate locking device of the present invention adopts a linear drive, and the output force required for the displacement movement process of the endoscope serpentine arm can be observed very intuitively. It can use the variable stiffness of the head and body of the endoscope serpentine arm to fix a nonlinear path to the working area in a three-dimensional space in a soft and hard alternating manner. The output force provided by the tension conjugate locking device makes the working pipeline formed by the endoscope serpentine arm have high passability in complex confined spaces. The present invention uses a self-decoupling orthogonal layout to design an interlocking device for the endoscope serpentine arm that can realize flexible and rapid switching between the inner and outer tube tensioning and limp movement modes. In response to the inevitable slight changes in the length of the same set of control cables, a segmented force control error compensation mechanism with a "negative stroke" is designed. The limited stroke of this mechanism can provide a certain flexibility for the controlled head of the endoscope serpentine arm, thereby enhancing the safety of the movement of the endoscope serpentine arm.

[0006] The present invention discloses a tension conjugate locking device for an endoscope serpentine arm, comprising an interlocking front cover (1), an interlocking rear cover (2), a handle (3), a right spring (4), a right slider (5), a left spring (6), and a left slider (7). The device is connected to a connector of the endoscope serpentine arm by connecting a control line to the right slider (5) and the left slider (7).

[0007] The handle (3) is provided with a fan-shaped body (3A), a cylindrical section (3B), and a gripping section (3C). The upper end of the handle (3) is the fan-shaped body (3A), one side of the fan-shaped body (3A) is a right end interface (3A1) for hanging the upper end of the right spring (4), and the other side of the fan-shaped body (3A) is a left end interface (3A2) for hanging the upper end of the left spring (6).

[0008] A bearing hole (3B1) is provided on the cylindrical section (3B) of the handle (3), a deep groove ball bearing is placed in the bearing hole (3B1), and the deep groove ball bearing is sleeved on the connecting shaft (8). The handle (3) is installed on the inner panel of the interlocking rear cover (2) through the connecting shaft (8).

[0009] The gripping section (3C) of the handle (3) is used for gripping by an operator.

[0010] The lower end of the right spring (4) is hooked on the E crossbar (5D) of the right slider (5), and the slide rails on both sides of the right slider (5) move on the slide rails on the inner panel of the interlocking rear cover (2).

[0011] The lower end of the left spring (6) is hooked on the G crossbar (7D) of the left slider (7), and the slide rails on both sides of the left slider (7) move on the slide rails on the inner panel of the interlocking rear cover (2).

[0012] The gripping section (3C) of the handle (3) is used for gripping by a doctor's hand during endoscopic surgery. After grasping the gripping section (3C), the doctor's hand twists the gripping section (3C) to the left or right, so that the handle (3) rotates to the left around the connecting shaft (8) to complete the left-hand twisting operation, or rotates to the right to complete the right-hand twisting operation. When the doctor's hand grasps the gripping section (3C) and performs a left-hand twisting operation → a return operation → a right-hand twisting operation → a return operation, the movement of the serpentine arm of the endoscope is controlled.

[0013] The tension conjugate locking device of the present invention expands one end of the serpentine soft body (13) while the other end remains in its original shape during the working process of the left-hand twisting and right-hand twisting combination.

[0014] In the technical solution of the present invention, the left and right displacements are interchanged, and the linear displacement components (composed of a spring and a slider) are respectively hung on the two ends of the fan-shaped body (3A) of the handle (3), and the linear displacement components are moved up and down in the slide groove of the front and rear cover combination to control the output force acting on the serpentine arm. Since the serpentine arm is an actuating part of the medical endoscope device, its volume is small and the output force is difficult to control. The use of multiple wires connected to the slider can achieve a slow and small force output, thereby improving the displacement accuracy of the conjugate locking device. During operation, the doctor grasps the gripping section (3C) and completes the precise forward movement of the serpentine arm under the surgical planning path. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an external structural diagram of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope.

[0016] Figure 1A This is a structural diagram from another external perspective of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope.

[0017] Figure 1B This is an exploded view of the internal structure of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope.

[0018] Figure 1C This is an assembly structure diagram of the handle, left and right springs, and a slider in the tension conjugate locking device of the serpentine arm of an endoscope applied to the present invention.

[0019] Figure 1D This is a structural diagram of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope without the front cover assembled.

[0020] Figure 1E It is a cross-sectional structural diagram of the tension conjugate locking device of the present invention applied to the serpentine arm of an endoscope.

[0021] Figure 2 It is a structural diagram of the interlocking back cover of the present invention.

[0022] Figure 2A This is a structural diagram of the interlocking back cover of the present invention from another perspective.

[0023] Figure 3 It is a structural diagram of a handle of the present invention.

[0024] Figure 3A This is a structural diagram of the handle of the present invention from another perspective.

[0025] Figure 3B It is a structural diagram of the left side of the handle of the present invention.

[0026] Figure 3C It is a structural diagram of the right side of the handle of the present invention.

[0027] Figure 4 It is a structural diagram of the interlocking front cover of the present invention.

[0028] Figure 4A This is a structural diagram of the interlocking front cover of the present invention from another perspective.

[0029] Figure 4B It is a cross-sectional view of the interlocking front cover and the interlocking rear cover of the present invention after being combined.

[0030] Figure 4C It is another cross-sectional view of the interlocking front cover and the interlocking rear cover of the present invention after being combined.

[0031] Figure 5 It is a structural diagram of the right slider of the present invention.

[0032] Figure 5A It is a cross-sectional structural diagram of the right slider of the present invention.

[0033] Figure 5B It is a front structural diagram of the right slider of the present invention.

[0034] Figure 5C This is a structural diagram of the right slider from another perspective of the front view of the present invention.

[0035] Figure 5D It is a rear view structural diagram of the right slider of the present invention.

[0036] Figure 5E This is a structural diagram of the rear view of the right slider of the present invention from another perspective.

[0037] Figure 6 It is a structural diagram of the left slider of the present invention.

[0038] Figure 6A It is a cross-sectional structural diagram of the left slider of the present invention.

[0039] Figure 6B It is a front structural diagram of the left slider of the present invention.

[0040] Figure 6CThis is a structural diagram of the left slider from another perspective of the front view of the present invention.

[0041] Figure 6D It is a rear view structural diagram of the left slider of the present invention.

[0042] Figure 6E This is a structural diagram of the rear view of the left slider of the present invention from another perspective.

[0043] Figure 7 This is a diagram of the left-twisting working state of the tension conjugate locking device of the present invention.

[0044] Figure 8 This is a diagram of the right-hand torsion working state of the tension conjugate locking device of the present invention.

[0045] 1. Interlocking front cover 1A. Front cover outer panel 1A 1. AA groove

[0046] 1A2.AC countersunk cavity 1A3.AC through hole 1A4.AC threaded hole

[0047] 1B. Left connection end of front cover 1B 1. AA countersunk cavity 1B2. AA threaded hole

[0048] 1C. Right connection end of front cover 1C 1. AB countersunk cavity 1C2. AB threaded hole

[0049] 1D. Upper arc of front cover 1E. Observation window 1F. Inner panel of front cover

[0050] 1F 1. Front cover boss 1F2. AB groove 1F3. AC groove

[0051] 100A.A semi-circular channel 100B.B semi-circular channel 100C.C semi-circular channel

[0052] 100D.D semicircular channel 100E. curved channel 2. interlocking back cover

[0053] 2A. Back cover outer panel 2A 1. BA groove 2A 3. BC through hole

[0054] 2A4.BC threaded hole 2B. Left connection end of rear cover 2B 1.BA countersunk cavity

[0055] 2B2.BA threaded hole 2C.Rear cover right connection end 2C 1.BB countersunk cavity

[0056] 2C2. BB threaded hole 2D. Arc on the back cover 2E. Observation window

[0057] 2F. Back cover inner panel 2F 1. Back cover boss 2F 2. BB groove

[0058] 2F3.BC groove 2G. upper fixing boss 2G 1.BA through hole

[0059] 2H. Lower fixing boss 2H 1. BA through hole 3. Handle

[0060] 3A. Sector 3A 1. CA weight reduction hole 3B. Cylindrical segment

[0061] 3C. Grip section 3C 1. CB weight reduction hole 3D. Left spring connector

[0062] 3D 1. Left end crossbar 3E. Right spring connector 3E 1. Right end crossbar

[0063] 4. Right spring 5. Right slider assembly 5A. Right slider seat

[0064] 5A 1.EA guide post 5A2.EB guide post 5A3.EA countersunk cavity

[0065] 5A31.EB through hole 5A32.EC through hole 5A4.EA through hole

[0066] 5A5.EB countersunk cavity 5A51.ED through hole 5A52.EE through hole

[0067] 5B.EA support arm 5C.EB support arm 5D.E cross column

[0068] 5E.E screw 5E1.E nut 5E2.EA deep groove ball bearing

[0069] 5E3.EB deep groove ball bearing 6.Left spring 7.Left slider assembly

[0070] 7A. Left slider seat 7A 1. GA guide post 7A2. GB guide post

[0071] 7A3.GA countersunk cavity 7A31.GB through hole 7A32.GC through hole

[0072] 7A4.GA through hole 7A5.GB countersunk cavity 7A51.GD through hole

[0073] 7A52.GE through hole 7B.GA support arm 7C.GB support arm

[0074] 7D.G Horizontal column 7E.G Screw 7E 1.G Nut

[0075] 7E2.GA deep groove ball bearings 7E3.GB deep groove ball bearings 8. Connecting shaft

[0076] 8A.HA deep groove ball bearing 8B.HB deep groove ball bearing 8C.H nut

[0077] 9A.A screw 9B.B screw 9C.C screw

[0078] 10A.A nut 10B.B nut 10C.C nut

[0079] 11. First connector 12. Second connector 13. Snake-shaped software

[0080] 14. The first set of control lines 15. The second set of control lines DETAILED DESCRIPTION

[0081] The present invention will be further described in detail below with reference to the accompanying drawings. The figures shown are merely exemplary embodiments of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention.

[0082] See also Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1D 、 Figure 1E As shown, the present invention is a tensile conjugate locking device designed for an endoscope serpentine arm, which consists of an interlocking front cover 1, an interlocking rear cover 2, a handle 3, a right spring 4, a right slider assembly 5, a left spring 6, a left slider assembly 7, a connecting shaft 8 and screws and nuts for fixing.

[0083] The right spring 4 and the right slider assembly 5 form a right end linear displacement assembly.

[0084] The left spring 6 and the left slider assembly 7 form a left end linear displacement assembly.

[0085] The present invention Figure 1B and Figure 1D As shown, a second set of control cables 15 and a second connector 12 are connected between the serpentine software 13 and the right slider assembly 5. One end of the second set of control cables 15 is connected to the bottom of the right slider assembly 5, and the other end of the second set of control cables 15 passes through the second connector 12 before connecting to the serpentine software 13. A first set of control cables 14 and a first connector 11 are connected between the serpentine software 13 and the left slider assembly 7. One end of the first set of control cables 14 is connected to the bottom of the left slider assembly 7, and the other end of the first set of control cables 14 passes through the first connector 11 before connecting to the serpentine software 13.

[0086] In the present invention, multiple serpentine soft bodies 13 constitute the endoscope serpentine arm. In order to realize the control connection between the tension conjugate locking device of the present invention and the endoscope serpentine arm, a control line is connected between the endoscope serpentine arm and the right slider 5 and the left slider 7 through a connector.

[0087] The tension conjugate locking device designed in the present invention is used to lock and maintain the position of the serpentine arm of the endoscope in the working state, and is a position change achieved by a purely mechanical structure.

[0088] Interlocking front cover 1

[0089] See also Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1E 、 Figure 4 、 Figure 4A As shown, the interlocking front cover 1 is a one-piece structural component. It consists of an outer front cover panel 1A and an inner front cover panel 1F. An upper curved front cover body 1D is located above the interlocking front cover 1, while a left and right front cover connecting end 1B and 1C are located below the interlocking front cover 1. An observation window 1E is located below the upper curved front cover body 1D. Observation window 1E is used to observe the left-hand or right-hand rotation of the handle 3 and the return status of the left and right springs.

[0090] The front cover outer panel 1A of the interlocking front cover 1 ( Figure 4 An AA groove 1A1 is provided on the upper end of the AA groove 1A1, an AC countersunk cavity 1A2 is provided in the AC countersunk cavity 1A2, an AC through hole 1A3 is provided in the AC through hole 1A3, and an AC threaded hole 1A4 is provided below the AC through hole 1A3.

[0091] The AA groove 1A1 is used to place the handle 3 in the initial state. Figure 1B shown.

[0092] An HB deep groove ball bearing 8B is placed in the AC countersunk cavity 1A2, and the AC through hole 1A3 is used for the connecting shaft 8 to pass through.

[0093] The AC threaded hole 1A4 is used for one end of the C screw 9C to pass through.

[0094] An AA countersunk cavity 1B1 is provided on the left connecting end 1B of the interlocking front cover 1, and an AA threaded hole 1B2 is provided at the center of the AA countersunk cavity 1B1. The AA threaded hole 1B2 is used for the A screw 9A to pass through.

[0095] An AB countersunk cavity 1C1 is provided on the right connecting end 1C of the interlocking front cover 1, and an AB threaded hole 1C2 is provided at the center of the AB countersunk cavity 1C1. The AB threaded hole 1C2 is used for the B screw 9B to pass through.

[0096] Interlocking front cover 1 front cover inner panel 1F ( Figure 4A A front cover boss 1F1 is provided on the front cover, and an AB groove 1F2 and an AC groove 1F3 are respectively formed on both sides of the rear cover boss 1F1.

[0097] Interlocking back cover 2

[0098] See also Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1E 、 Figure 2 、 Figure 2A As shown, the interlocking rear cover 2 is a one-piece structural component. It consists of an outer rear cover panel 2A and an inner rear cover panel 2F. An upper curved rear cover 2D is located above the interlocking rear cover 2, while a left and right rear cover connection ends 2B and 2C are located below the interlocking rear cover 2. An observation window 2E is located below the upper curved rear cover 2D. This window is used to observe the displacement of the handle 3 during left or right rotation and to monitor the return status of the left and right springs.

[0099] The rear cover outer panel 2A of the interlocking rear cover 2 ( Figure 2A A BA groove 2A1 is provided on the upper end of the BA groove 2A1, a BC through hole 2A3 is provided, and a BC threaded hole 2A4 is provided below the BC through hole 2A3.

[0100] The BC through hole 2A3 is used for the connecting shaft 8 to pass through. The end of the connecting shaft 8 after passing through the BC through hole 2A3 is threadedly connected with an H nut 8C ( Figure 1B shown).

[0101] The BC threaded hole 2A4 is used for the C screw 9C to pass through. One end of the C screw 9C passes through the BC threaded hole 2A4 on the interlocking back cover 2 and the AC threaded hole 1A4 on the interlocking front cover 1 in sequence, and then is connected to the C nut 10C. The C nut 10C is located in the AA groove 1A1 of the interlocking front cover 1. Figure 4 、 Figure 1B 、 Figure 1D shown.

[0102] A BA countersunk cavity 2B1 is provided on the left connecting end 2B of the interlocking rear cover 2, and a BA threaded hole 2B2 is provided at the center of the BA countersunk cavity 2B1. The BA threaded hole 2B2 is used for the A screw 9A to pass through.

[0103] A BB countersunk cavity 2C1 is provided on the right connecting end 2C of the interlocking rear cover 2, and a BB threaded hole 2C2 is provided at the center of the BB countersunk cavity 2C1. The BB threaded hole 2C2 is used for the B screw 9B to pass through.

[0104] Back cover inner panel 2F of interlocking back cover 2 ( Figure 2 As shown in FIG, a rear cover boss 2F1 is provided on the rear cover boss 2F1, and a BB groove 2F2 and a BC groove 2F3 are respectively formed on both sides of the rear cover boss 2F1.

[0105] In the present invention, after the interlocking front cover 1 and the interlocking rear cover 2 are assembled, a channel (such as Figure 4C This is because the required structural volume of the medical device is relatively small; on the other hand, the required interlocking device output force is not as large as the motor output force; thirdly, the doctor's experience is needed to obtain multi-angle information of the lesion point during endoscopic surgery, so the operating output force of the interlocking device is more appropriate than the motor output force.

[0106] Controller 3

[0107] See also Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1E 、 Figure 3 、 Figure 3A 、 Figure 3B 、 Figure 3C As shown, the handle 3 is an injection molded structural component. The upper, middle and lower parts of the handle 3 are respectively a sector 3A, a cylindrical section 3B and a grip section 3C. In order to reduce the overall weight of the handle 3, a CB weight reduction hole 3C1 is provided inside the grip section 3C (as shown in FIG. Figure 3A shown).

[0108] The fan-shaped body 3A of the handle 3 is used for the arc channel 100E (such as Figure 1E 、 Figure 4B The arc-shaped channel 100E is a channel formed on the upper part after the interlocking front cover 1 and the interlocking rear cover 2 are assembled. In order to reduce the overall weight of the handle 3, a CA weight-reducing hole 3A1 is provided inside the sector 3A (as shown). Figure 1E shown).

[0109] The left end of the sector 3A is the left spring connector 3D. A left end transverse column 3D1 is provided in the opening of the left spring connector 3D. The left end transverse column 3D1 is used to connect one end of the left spring 6.

[0110] The right end of the sector 3A is the right spring connector 3E. A right end transverse column 3E1 is provided in the opening of the right spring connector 3E. The right end transverse column 3E1 is used to connect one end of the right spring 4.

[0111] The cylindrical section 3B of the handle 3 is provided with a C countersunk cavity 3B1 and a C through hole 3B2. An HA deep groove ball bearing 8A is placed in the C countersunk cavity 3B1. One end of the connecting shaft 8 sequentially passes through the HA deep groove ball bearing 8A, the C through hole 3B2 of the handle 3, the HB deep groove ball bearing 8B, the AC through hole 1A3 of the interlocking front cover 1, and the BC through hole 2A3 of the interlocking rear cover 2, and is then connected to the H nut 8C.

[0112] The gripping section 3C of the handle 3 is used for holding by the doctor during endoscopic surgery. After the doctor's hand grasps the gripping section 3C, it twists the gripping section 3C to the left or right, so that the handle 3 rotates to the left around the connecting shaft 8 to complete the left-hand twisting operation (e.g. Figure 7 As shown), or rotate rightward to complete the right-hand twisting work (as shown Figure 8 As shown in FIG. 3 , the doctor grasps the grip section 3C and performs a left-twist operation, a right-twist operation, and a right-twist operation to control the movement of the endoscope's serpentine arm.

[0113] Right spring 4

[0114] See also Figure 1B 、 Figure 1C 、 Figure 7 、 Figure 8 As shown, the upper end of the right spring 4 is connected to the right end cross column 3E1 of the right spring connector 3E of the handle 3; the lower end of the right spring 4 is connected to the E cross column 5D of the right slider assembly 5.

[0115] Left spring 6

[0116] See also Figure 1B 、 Figure 1C 、 Figure 7 、 Figure 8 As shown, the upper end of the left spring 6 is connected to the left end transverse column 3D1 of the left spring connector 3D of the handle 3; the lower end of the left spring 6 is connected to the G transverse column 7D of the left slider assembly 7.

[0117] In the present invention, the left spring 6 and the right spring 4 are connected in series at both ends of the segment 3A. When the segment 3A slides in one direction, the spring at one end tightens and the spring at the other end relaxes. When the tension-conjugate locking device is in its initial state, the serpentine body 13 is provided with a certain preload by the stretched spring.

[0118] Right slider component 5

[0119] See also Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 5 、 Figure 5A 、 Figure 5B 、 Figure 5C 、 Figure 5D 、 Figure 5E As shown, the upper end of the right slider assembly 5 is the EA arm 5B and the EB arm 5C, and between the EA arm 5B and the EB arm 5C is the E cross column 5D, which is used to movably connect the lower end of the right spring 4, and the upper end of the right spring 4 is movably connected to the right spring connector 3E (as shown in FIG. Figure 1CThe lower end of the right slider assembly 5 is the right slider seat 5A.

[0120] An EA guide post 5A1 is provided on the outside of one side of the right slider seat 5A. The EA guide post 5A1 is located in the C semicircular channel 100C (eg Figure 4C The sliding in the C semi-circular channel 100C is the third channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled; the other side of the right slider seat 5A is provided with an EB guide post 5A2, and the EB guide post 5A2 is in the D semi-circular channel 100D (as shown). Figure 4C As shown), the sliding in the D semicircular arc channel 100D is the fourth channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled.

[0121] The right slider seat 5A is provided with an EA through hole 5A4 for the E screw 5E to pass through.

[0122] An EA countersunk cavity 5A3 is provided on the front panel of the right slider seat 5A, and an EA through-hole 5A4 is located at the center of the EA countersunk cavity 5A3. An EB through-hole 5A31 and an EC through-hole 5A32 are provided on both sides of the side walls of the EA countersunk cavity 5A3. The EB through-hole 5A31 is used for one end of the wire A of the second group of control lines 15 to pass through, and the EC through-hole 5A32 is used for one end of the wire B of the second group of control lines 15 to pass through. An EA deep groove ball bearing 5E2 is placed in the EA countersunk cavity 5A3.

[0123] An EB countersunk cavity 5A5 is provided on the rear panel of the right slider seat 5A, and the EB through-hole 5A5 is located in the center of the EA countersunk cavity 5A3. ED through-holes 5A51 and EE through-holes 5A52 are provided on both sides of the side walls of the EB countersunk cavity 5A5. The ED through-hole 5A51 is used for one end of the wire C of the second group of control lines 15 to pass through, and the EE through-hole 5A52 is used for one end of the wire D of the second group of control lines 15 to pass through. An EB deep groove ball bearing 5E3 is placed in the EB countersunk cavity 5A5.

[0124] One end of the E screw 5E passes through the EB deep groove ball bearing 5E3, the EA through hole 5A4, and the EA deep groove ball bearing 5E2 in sequence, and then is connected to the E nut 5E1.

[0125] Left slider component 7

[0126] See also Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 6 、 Figure 6A 、 Figure 6B 、 Figure 6C 、 Figure 6D 、 Figure 6EAs shown, the upper end of the left slider assembly 7 is the GA arm 7B and the GB arm 7C, and between the GA arm 7B and the GB arm 7C is the G cross column 7D, the G cross column 7D is used to movably hook the lower end of the left spring 6, and the upper end of the left spring 6 is movably hooked on the left spring connector 3D (as shown in FIG. Figure 1C The lower end of the left slider assembly 7 is the left slider seat 7A.

[0127] A GA guide post 7A1 is provided on the outside of one side of the left slider seat 7A. The GA guide post 7A1 is located in the A semicircular arc channel 100A (eg Figure 4C The sliding in the A semi-circular channel 100A is the first channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled; the other side of the left slider seat 7A is provided with a GB guide post 7A2, and the GB guide post 7A2 is in the B semi-circular channel 100B (as shown). Figure 4C As shown), the sliding in the B semicircular arc channel 100B is the second channel formed after the interlocking front cover 1 and the interlocking rear cover 2 are assembled.

[0128] A GA through hole 7A4 is provided on the left slider seat 7A, and the GA through hole 7A4 is used for the G screw 7E to pass through.

[0129] A GA countersunk cavity 7A3 is provided on the front panel of the left slider seat 7A, with a GA through-hole 7A4 located at its center. GB through-holes 7A31 and GC through-holes 7A32 are provided on the sidewalls of the GA countersunk cavity 7A3. GB through-hole 7A31 is used to pass one end of wire A of the first set of control lines 14, while GC through-hole 7A32 is used to pass one end of wire B of the first set of control lines 14. A GA deep groove ball bearing 7E2 is placed in the GA countersunk cavity 7A3.

[0130] A GB countersunk cavity 7A5 is provided on the rear panel of the left slider seat 7A, with GB through-hole 7A5 located in the center of GA countersunk cavity 7A3. GD through-hole 7A51 and GE through-hole 7A52 are provided on the sidewalls of GB countersunk cavity 7A5. GD through-hole 7A51 is used to pass one end of wire C of the first group of control lines 14, while GE through-hole 7A52 is used to pass one end of wire D of the first group of control lines 14. A GB deep groove ball bearing 7E3 is placed in GB countersunk cavity 7A5.

[0131] One end of the G screw 7E passes through the GB deep groove ball bearing 7E3, the GA through hole 7A4, and the GA deep groove ball bearing 7E2 in sequence, and then is sleeved onto the G nut 7E1.

[0132] Connecting shaft 8

[0133] See also Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1E As shown, the connecting shaft 8 is sleeved with an HA deep groove ball bearing 8A, an HB deep groove ball bearing 8B and an H nut 8C.

[0134] HA deep groove ball bearing 8A is installed in the C countersunk cavity 3B1 of the handle 3 (as Figure 3 shown).

[0135] HB deep groove ball bearing 8B is installed in AC countersunk cavity 1A2 of interlocking front cover 1 (such as Figure 4 shown).

[0136] like Figure 1E As shown, one end of the connecting shaft 8 passes through the HA deep groove ball bearing 8A, the C through hole 3B2 of the handle 3, the HB deep groove ball bearing 8B, the AC through hole 1A3 of the interlocking front cover 1, and the BC through hole 2A3 of the interlocking rear cover 2 in sequence and is then connected to the H nut 8C.

[0137] Left-hand working state

[0138] See also Figure 1B 、 Figure 7 The leftward movement of the handle results in a leftward twisting operation. When a worker grasps the gripping section 3C of the handle 3 and twists it forcefully to the left, the cylindrical section 3B of the handle 3 moves relative to the connecting shaft 8. This causes the sector 3A of the handle 3 to twist to the left, simultaneously stretching the left spring 6 and causing the left slider 7 to slide upward. This, in turn, drives the left linear displacement assembly upward while the right linear displacement assembly remains in position. As the left linear displacement assembly moves upward, the first set of control lines 14 transmits a signal causing the serpentine 13 to take a forward step to the left of the forward direction.

[0139] Right-hand working state

[0140] See also Figure 1B 、 Figure 8 The handle is shown in a rightward-twisting operating state caused by rightward movement. When a worker grasps grip section 3C of handle 3 and twists it forcefully to the right, cylindrical section 3B of handle 3 moves relative to connecting shaft 8. This causes rightward twisting of sector 3A of handle 3, stretching right spring 4 and sliding right slider 5 upward, thereby driving the right-end linear displacement assembly upward while the left-end linear displacement assembly remains in position. As the right-end linear displacement assembly moves upward, the second set of control lines 15 transmits a signal causing the serpentine 13 to take a step forward to the right of the forward direction.

[0141] The tension conjugate locking device designed by the present invention for the serpentine arm of an endoscope expands one end of the serpentine soft body 13 while the other end remains in its original shape during the working process of the left-hand twisting and the right-hand twisting combination.

[0142] Motion logic for assisted endoscopic surgery

[0143] In the field of endoscopy, the serpentine body 13 typically includes an outer tube forming a working channel, an inner tube forming an auxiliary path channel, an interlocking device that switches the rigidity of the inner and outer tubes, and a controller that controls the outer tube's front end, which can control the head. During endoscopic surgery, the tension-conjugate locking device of the present invention can lock the working state during endoscopic surgery. The tension-conjugate locking device of the present invention utilizes a linear drive, leveraging the variable rigidity of the head and body of the serpentine body 13 to secure a nonlinear path to the operating area in three-dimensional space by alternating between rigidity and softness.

[0144] During operation, the inner and outer tubes must coordinate their movements through alternating stiffness variations (rigid or limp). Initially, in state one, the inner tube is in a strong stiffness state, while the outer tube is relaxed. At this point, the inner tube's shape is fixed, and the outer tube can move forward along its shape. Once a controllable head emerges, the controller controls the shape of the newly grown head. This shape is maintained, and the stiffness of the inner and outer tubes are swapped. The outer tube now extends a new path compared to the shape in state one, referred to as state two. In state two, the relaxed inner tube can move forward along the path formed by the strong outer tube until its path overlaps with that of the outer tube, referred to as state three. The stiffness of the inner and outer tubes is then swapped again, resulting in state four, the new state one. Compared to state one, both the inner and outer tubes are extended forward a certain distance in this new state, and the shape of this section is controlled by the controller. Repeating this control process creates a controlled curve in three-dimensional space.

[0145] After reaching the work area using the combined inner and outer tubes, the outer tube is secured and the inner tube is withdrawn in limp mode. This creates a working pipeline leading to the work area. Because one of the inner and outer tubes maintains a strong rigidity at all times, the resulting controlled curve pipeline possesses a certain degree of rigidity. This rigid pipeline, capable of forming nearly arbitrary curves, serves as a practical work platform. Using it as a rigid foundation, it can be combined with existing flexible tools (such as cameras, endoscopes, manipulators, and cables) to accomplish a wider range of tasks.

Claims

1. A tension conjugate locking device for an endoscope serpentine arm, wherein the tension conjugate locking device is connected to a connector of the endoscope serpentine arm via a control line; characterized in that: The tension conjugate locking device is composed of an interlocking front cover (1), an interlocking rear cover (2), a handle (3), a right spring (4), a right slider (5), a left spring (6), and a left slider (7); Wherein, the right spring (4) and the right slider assembly (5) form a right end linear displacement assembly; Wherein, the left spring (6) and the left slider assembly (7) form a left end linear displacement assembly; The interlocking front cover (1) is an integrally formed structural member; the interlocking front cover (1) is divided into a front cover outer panel (1A) and a front cover inner panel (1F); a front cover upper arc body (1D) is provided above the interlocking front cover (1), and a front cover left connecting end (1B) and a front cover right connecting end (1C) are provided below the interlocking front cover (1); an observation window (1E) is provided below the front cover upper arc body (1D); the observation window (1E) is used to observe the displacement of the handle (3) when it is rotated to the left or right, and to observe the reset status of the left and right springs on the other hand; An AA groove (1A1) is provided on the front cover outer panel (1A) of the interlocking front cover (1), and the AA groove (1A1) is used to place the handle (3) in the initial state; an AC countersunk cavity (1A2) is provided at the upper end of the AA groove (1A1), and an HB deep groove ball bearing (8B) is placed in the AC countersunk cavity (1A2); an AC through hole (1A3) is provided in the AC countersunk cavity (1A2), and the AC through hole (1A3) is used for the connecting shaft (8) to pass through; an AC threaded hole (1A4) is provided below the AC through hole (1A3), and the AC threaded hole (1A4) is used for one end of a C screw (9C) to pass through; An AA countersunk cavity (1B1) is provided on the left connecting end (1B) of the front cover of the interlocking front cover (1), and an AA threaded hole (1B2) is provided at the center of the AA countersunk cavity (1B1); the AA threaded hole (1B2) is used for the A screw (9A) to pass through; An AB countersunk cavity (1C 1) is provided on the right connecting end (1C) of the front cover of the interlocking front cover (1), and an AB threaded hole (1C2) is provided at the center of the AB countersunk cavity (1C 1); the AB threaded hole (1C2) is used for the B screw (9B) to pass through; A front cover convex column (1F1) is provided on the front cover inner panel (1F) of the interlocking front cover (1), and an AB groove (1F2) and an AC groove (1F3) are respectively provided on both sides of the rear cover convex column (1F1); The interlocking rear cover (2) is an integrally formed structural member; the interlocking rear cover (2) is divided into a rear cover outer panel (2A) and a rear cover inner panel (2F); a rear cover upper arc (2D) is provided above the interlocking rear cover (2), and a rear cover left connecting end (2B) and a rear cover right connecting end (2C) are provided below the interlocking rear cover (2); an observation window (2E) is provided below the rear cover upper arc (2D); the observation window (2E) is used to observe the displacement of the handle (3) when it is rotated left or right, and to observe the reset status of the left and right springs on the other hand; A BA groove (2A1) is provided on the rear cover outer panel (2A) of the interlocking rear cover (2), a BC through hole (2A3) is provided at the upper end of the BA groove (2A1), and a BC threaded hole (2A4) is provided below the BC through hole (2A3); The BC through hole (2A3) is used for the connecting shaft (8) to pass through; the end of the connecting shaft (8) after passing through the BC through hole (2A3) is threadedly connected with an H nut (8C); The BC threaded hole (2A4) is used for the C screw (9C) to pass through; one end of the C screw (9C) passes through the BC threaded hole (2A4) on the interlocking rear cover (2) and the AC threaded hole (1A4) on the interlocking front cover (1) in sequence, and then is connected to the C nut (10C), and the C nut (10C) is located in the AA groove (1A1) of the interlocking front cover (1); A BA countersunk cavity (2B1) is provided on the left connecting end (2B) of the interlocking rear cover (2), and a BA threaded hole (2B2) is provided at the center of the BA countersunk cavity (2B1); the BA threaded hole (2B2) is used for the A screw (9A) to pass through; A BB countersunk cavity (2C 1) is provided on the right connecting end (2C) of the interlocking rear cover (2), and a BB threaded hole (2C2) is provided at the center of the BB countersunk cavity (2C 1); the BB threaded hole (2C2) is used for the B screw (9B) to pass through; A rear cover boss (2F1) is provided on the rear cover inner panel (2F) of the interlocking rear cover (2), and a BB groove (2F2) and a BC groove (2F3) are respectively formed on both sides of the rear cover boss (2F1); The upper, middle and lower parts of the handle (3) are respectively a fan-shaped body (3A), a cylindrical section (3B) and a grip section (3C); The fan-shaped body (3A) of the handle (3) is used to slide in the arc-shaped channel (100E), and the arc-shaped channel (100E) is a channel formed on the upper part after the interlocking front cover (1) and the interlocking rear cover (2) are assembled; the left end of the fan-shaped body (3A) is a left spring connector (3D), and a left end cross column (3D 1) is provided in the opening of the left spring connector (3D), and the left end cross column (3D 1) is used to connect one end of the left spring (6); the right end of the fan-shaped body (3A) is a right spring connector (3E), and a right end cross column (3E 1) is provided in the opening of the right spring connector (3E), and the right end cross column (3E 1) is used to connect one end of the right spring (4); The cylindrical section (3B) of the handle (3) is provided with a C countersunk cavity (3B1) and a C through hole (3B2), an HA deep groove ball bearing (8A) is placed in the C countersunk cavity (3B1), and one end of the connecting shaft (8) passes through the HA deep groove ball bearing (8A), the C through hole (3B2) of the handle (3), the HB deep groove ball bearing (8B), the AC through hole (1A3) of the interlocking front cover (1), and the BC through hole (2A3) of the interlocking rear cover (2) in sequence, and is then connected to the H nut (8C); The upper end of the right spring (4) is connected to the right end cross column (3E1) of the right spring connector (3E) of the handle (3); the lower end of the right spring (4) is connected to the E cross column (5D) of the right slider assembly (5); The upper end of the left spring (6) is connected to the left end cross column (3D 1) of the left spring connector (3D) of the handle (3); the lower end of the left spring (6) is connected to the G cross column (7D) of the left slider assembly (7); The upper end of the right slider assembly (5) is an EA support arm (5B) and an EB support arm (5C), and between the EA support arm (5B) and the EB support arm (5C) is an E cross column (5D). The E cross column (5D) is used to movably connect the lower end of the right spring (4), and the upper end of the right spring (4) is movably connected to the right spring connector (3E); the lower end of the right slider assembly (5) is a right slider seat (5A); An EA guide post (5A1) is provided on the outside of one side of the right slider seat (5A), and the EA guide post (5A1) slides in the C semi-circular arc channel (100C). The sliding in the C semi-circular arc channel (100C) is the third channel formed after the interlocking front cover (1) and the interlocking rear cover (2) are assembled; an EB guide post (5A2) is provided on the outside of the other side of the right slider seat (5A), and the EB guide post (5A2) slides in the D semi-circular arc channel (100D). The sliding in the D semi-circular arc channel (100D) is the fourth channel formed after the interlocking front cover (1) and the interlocking rear cover (2) are assembled; The right slider seat (5A) is provided with an EA through hole (5A4), and the EA through hole (5A4) is used for the E screw (5E) to pass through; An EA countersunk cavity (5A3) is provided on the front panel of the right slider seat (5A), and an EA through hole (5A4) is located at the center of the EA countersunk cavity (5A3). An EB through hole (5A31) and an EC through hole (5A32) are provided on both sides of the side wall of the EA countersunk cavity (5A3). The EB through hole (5A31) is used for passing one end of the wire A of the second group of control wires (15), and the EC through hole (5A32) is used for passing one end of the wire B of the second group of control wires (15). An EA deep groove ball bearing (5E2) is placed in the EA countersunk cavity (5A3). An EB countersunk cavity (5A5) is provided on the rear panel of the right slider seat (5A), and the EB through-hole (5A5) is located at the center of the EA countersunk cavity (5A3). An ED through-hole (5A51) and an EE through-hole (5A52) are provided on both sides of the side wall of the EB countersunk cavity (5A5). The ED through-hole (5A51) is used for one end of the wire C of the second group of control wires (15) to pass through, and the EE through-hole (5A52) is used for one end of the wire D of the second group of control wires (15) to pass through. An EB deep groove ball bearing (5E3) is placed in the EB countersunk cavity (5A5); One end of the E screw (5E) passes through the EB deep groove ball bearing (5E3), the EA through hole (5A4), and the EA deep groove ball bearing (5E2) in sequence, and then is fitted onto the E nut (5E1). The upper end of the left slider assembly (7) is a GA support arm (7B) and a GB support arm (7C), and a G cross column (7D) is located between the GA support arm (7B) and the GB support arm (7C). The G cross column (7D) is used to movably connect the lower end of the left spring (6), and the upper end of the left spring (6) is movably connected to the left spring connector (3D); the lower end of the left slider assembly (7) is a left slider seat (7A); A GA guide post (7A1) is provided on the outside of one side of the left slider seat (7A), and the GA guide post (7A1) slides in the A semi-circular arc channel (100A), and the sliding in the A semi-circular arc channel (100A) is the first channel formed after the interlocking front cover (1) and the interlocking rear cover (2) are assembled; a GB guide post (7A2) is provided on the outside of the other side of the left slider seat (7A), and the GB guide post (7A2) slides in the B semi-circular arc channel (100B), and the sliding in the B semi-circular arc channel (100B) is the second channel formed after the interlocking front cover (1) and the interlocking rear cover (2) are assembled; A GA through hole (7A4) is provided on the left slider seat (7A), and the GA through hole (7A4) is used for the G screw (7E) to pass through; A GA countersunk cavity (7A3) is provided on the front panel of the left slider seat (7A), and a GA through hole (7A4) is located at the center of the GA countersunk cavity (7A3). A GB through hole (7A31) and a GC through hole (7A32) are provided on both sides of the side wall of the GA countersunk cavity (7A3). The GB through hole (7A31) is used for one end of the wire A of the first group of control lines (14) to pass through, and the GC through hole (7A32) is used for one end of the wire B of the first group of control lines (14) to pass through. A GA deep groove ball bearing (7E2) is placed in the GA countersunk cavity (7A3); a GA deep groove ball bearing (7E2) is placed in the GA countersunk cavity (7A3); A GB countersunk cavity (7A5) is provided on the rear panel of the left slider seat (7A), and the GB through hole (7A5) is located at the center of the GA countersunk cavity (7A3). A GD through hole (7A51) and a GE through hole (7A52) are provided on both sides of the side wall of the GB countersunk cavity (7A5). The GD through hole (7A51) is used for one end of the wire C of the first group of control lines (14) to pass through, and the GE through hole (7A52) is used for one end of the wire D of the first group of control lines (14) to pass through. A GB deep groove ball bearing (7E3) is placed in the GB countersunk cavity (7A5); a GB deep groove ball bearing (7E3) is placed in the GB countersunk cavity (7A5); One end of the G screw (7E) passes through the GB deep groove ball bearing (7E3), the GA through hole (7A4), and the GA deep groove ball bearing (7E2) in sequence, and then is connected to the G nut (7E1); The connecting shaft (8) is sleeved with an HA deep groove ball bearing (8A), an HB deep groove ball bearing (8B) and an H nut (8C); The HA deep groove ball bearing (8A) is installed in the C countersunk cavity (3B 1) of the handle (3); The HB deep groove ball bearing (8B) is installed in the AC countersunk cavity (1A2) of the interlocking front cover (1); One end of the connecting shaft (8) passes through the HA deep groove ball bearing (8A), the C through hole (3B2) of the handle (3), the HB deep groove ball bearing (8B), the AC through hole (1A3) of the interlocking front cover (1), and the BC through hole (2A3) of the interlocking rear cover (2) in sequence, and is then connected to the H nut (8C).

2. The tension conjugate locking device for an endoscope serpentine arm according to claim 1, characterized in that: The gripping section (3C) of the handle (3) is used for gripping by a doctor's hand during endoscopic surgery. After grasping the gripping section (3C), the doctor's hand twists the gripping section (3C) to the left or right, so that the handle (3) rotates to the left around the connecting shaft (8) to complete the left-hand twisting operation, or rotates to the right to complete the right-hand twisting operation. When the doctor's hand grasps the gripping section (3C) and performs a left-hand twisting operation → a return operation → a right-hand twisting operation → a return operation, the movement of the serpentine arm of the endoscope is controlled.

3. The tension conjugate locking device for an endoscope serpentine arm according to claim 1, characterized in that: The left spring (6) and the right spring (4) are distributed in series at both ends of the fan-shaped body (3A); when the fan-shaped body (3A) slides in one direction, the spring at one end is tightened and the spring at the other end is relaxed.

4. The tension conjugate locking device for an endoscope serpentine arm according to claim 1, characterized in that: When the tension conjugate locking device is in the initial state, the snake-shaped soft body (13) is provided with a certain pre-tightening force by the stretched spring.

5. The tension conjugate locking device for an endoscope serpentine arm according to claim 1, characterized in that: The tension conjugate locking device is used to provide locking and position retention for the serpentine arm of the endoscope in the working state.

6. The tension conjugate locking device for an endoscope serpentine arm according to claim 1, characterized in that: During the working process of the left-hand twisting and right-hand twisting combination, the tension conjugate locking device expands one end of the snake-shaped soft body (13) while the other end remains in its original shape.

Images