Endoscope handle power assembly driven by double motors

Abstract

The invention discloses an endoscope handle power assembly driven by double motors, which comprises a fixed part, a first motor part, a second motor part and a support shaft, and is characterized in that the first motor part is configured to drive a second chain wheel in an endoscope handle; the second motor component is configured to drive a first chain wheel in the endoscope handle; a first chain wheel, a second chain wheel, a first motor component and a second motor component are sequentially arranged on the supporting shaft in a sleeving mode in the axial direction of the supporting shaft, and the supporting shaft is further configured to support the first motor component and the second motor component and enable the first motor component and the second motor component to be arranged in series in the axial direction. The fixing component is configured to fix the first motor component and the second motor component on the endoscope handle. The assembly is compact in structure, the steel wire rope is pulled through control of the motor, fatigue can be reduced, accuracy can be improved, the tail end lens can rotate by a specified angle, and user experience is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an endoscope handle power assembly driven by dual motors. Background Art

[0002] The handle of the endoscope is where the doctor operates the endoscope. The light-guiding hose connected to one end is used to introduce light, and the insertion hose connected to the other end is used to insert into the patient's body. The doctor turns the mechanical knob on the handle, turns the sprocket inside the handle, and pulls the wire rope connected to the sprocket, thereby controlling the rotation of the lens at the other end of the wire rope to observe the patient's body.

[0003] The traditional endoscope handle is unpowered and can only be pulled by turning the mechanical knob on the handle manually. Turning the knob manually for a long time will cause fatigue in the doctor's hands, and it is difficult to accurately control the pulling of the wire rope by manual rotation. The rotation angle of the end lens can only be sensed by hand experience, and it is difficult to accurately turn the end bend of the endoscope to the ideal angle, thus reducing the accuracy of the endoscope.

[0004] Therefore, there is an urgent need in this field to develop a dual-motor driven endoscope handle power assembly, which has a compact structure and pulls the wire rope through motor control, which can both reduce fatigue and improve accuracy, allowing the terminal lens to rotate to a specified angle, greatly improving the user experience and having important value and significance. Summary of the invention

[0005] The purpose of the present application is to provide a dual-motor driven endoscope handle power assembly, which has a compact structure and uses motor control to pull the wire rope, which can reduce fatigue and improve accuracy, allowing the terminal lens to rotate to a specified angle, greatly improving the user experience and having important value and significance.

[0006] The present application provides a dual-motor driven endoscope handle power assembly, comprising:

[0007] A fixing component, a first motor component, a second motor component and a support shaft

[0008] The first motor component is configured to drive a second sprocket in the endoscope handle;

[0009] The second motor component is configured to drive a first sprocket in the endoscope handle;

[0010] The first sprocket, the second sprocket, the first motor component and the second motor component are sequentially sleeved on the support shaft along the axial direction of the support shaft, the support shaft is also configured to support the first motor component and the second motor component so that the first motor component and the second motor component are arranged in series in the axial direction, and the fixing component is configured to fix the first motor component and the second motor component on the endoscope handle.

[0011] In another preferred example, the first motor component is disposed close to the endoscope handle, and the second motor component is disposed away from the endoscope handle.

[0012] In another preferred example, the fixing component includes a first fixing component, a second fixing component, and a third fixing component which are sequentially sleeved on the support shaft along the axial direction of the support shaft, the first fixing component is arranged between the second sprocket and the first motor component, the second fixing component is arranged between the first motor component and the second motor component, and the third fixing component is arranged at the distal end of the second motor component.

[0013] In another preferred example, the first motor component includes a first motor, the second motor component includes a second motor, the first motor includes a first motor distal fixed end and a first motor proximal output end, the second motor includes a second motor distal fixed end and a second motor proximal output end, the second fixing member is fixedly connected to the first motor distal fixed end, and the third fixing member is fixedly connected to the second motor distal fixed end.

[0014] In another preferred example, the first motor component also includes a first input gear and a first reducer component, the first input gear is arranged at the proximal output end of the first motor and transmits the torque of the first motor to the first reducer component, and the first reducer component reduces the received torque and outputs it to drive the second sprocket to rotate.

[0015] In another preferred example, the first reducer component includes a first internal gear, a first planetary gear and a first internal gear frame, the first internal gear is meshedly connected with the first planetary gear, the first planetary gear is connected to the first internal gear frame bearing, when the first motor rotates, the first internal gear is stationary, the rotation of the first input gear drives the rotation of the first planetary gear, the rotation of the first planetary gear drives the first internal gear frame to rotate, so that the first internal gear frame drives the second sprocket to rotate.

[0016] In another preferred example, the second motor component also includes a second input gear and a second reducer component. The second input gear is arranged at the proximal output end of the second motor and transmits the torque of the second motor to the second reducer component. The second reducer component reduces the received torque and outputs it to drive the first sprocket to rotate.

[0017] In another preferred example, the second reducer component includes a second internal gear, a second planetary gear and a second internal gear frame, the second internal gear is meshedly connected with the second planetary gear, the second planetary gear is connected to the second internal gear frame bearing, when the second motor rotates, the second internal gear remains stationary, the rotation of the second input gear drives the rotation of the second planetary gear, the rotation of the second planetary gear drives the second internal gear frame to rotate, so that the second internal gear frame drives the first sprocket to rotate.

[0018] In another preferred embodiment, the input gear is a sun gear, which drives the planetary gears to rotate, and the outer periphery of the planetary gears is an internal gear meshing with the sun gears.

[0019] In another preferred example, the inner diameter of the first internal gear frame is larger than the inner diameter of the second gear frame, and the inner diameter of the second gear frame is larger than the inner diameter of the support shaft.

[0020] In another preferred example, the second gear carrier passes through the first motor component.

[0021] In another preferred example, the second gear frame passes through the second fixing member, the first motor, the first input gear, the first input gear bearing, the first internal gear, the first planetary gear, the first internal gear frame, the first fixing member, and the second sprocket in sequence, and then the second gear frame drives the first sprocket.

[0022] In another preferred example, the fixing component also includes a fourth fixing member, one side of the first fixing member is fixedly connected to the first internal gear, the other side of the first fixing member is fixedly connected to the endoscope handle, the second fixing member is also fixedly connected to the second internal gear, the fourth fixing member passes through the first fixing member, the second fixing member and the third fixing member and the fourth fixing member is fixedly connected to the first fixing member.

[0023] In another preferred example, the fourth fixing member is a rod-shaped object. Preferably, the fourth fixing member is 2 or more fixing rods.

[0024] In another preferred example, the fourth fixing member is fixedly connected to the endoscope handle.

[0025] In another preferred example, the support shaft passes through the first sprocket, the second sprocket, the first motor component, the second motor component, and the fixing component.

[0026] In another preferred example, the endoscope handle power assembly is a cylindrical endoscope handle power assembly.

[0027] In another preferred embodiment, the maximum axial length of the cylindrical endoscope handle power assembly is 4-8 cm, and the diameter is 3-5 cm. Preferably, the maximum axial length of the cylindrical endoscope handle power assembly is 5-6 cm, and the assembly has a compact structure and occupies little space.

[0028] In another preferred example, the first motor component further includes a first input gear bearing, and the second motor component further includes a second input gear bearing.

[0029] In another preferred embodiment, the first fixing member is a sprocket sleeve with a circular outer circumference, and two fixing parts with holes are arranged on the outer side of the circumference, and the fixing parts with holes are penetrated by the fourth fixing member.

[0030] In another preferred embodiment, a circular surface of the first fixing member fits with the endoscope handle.

[0031] The present application also provides an endoscope handle assembly, comprising the above-mentioned dual-motor driven endoscope handle power assembly.

[0032] It should be understood that within the scope of the present invention, the above-mentioned technical features of the present invention and the technical features specifically described below (such as embodiments) can be combined with each other to form a new or preferred technical solution. Due to space limitations, they will not be described one by one here.

[0033] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. It should be understood that the drawings described below are only some implementation examples of the present invention, and ordinary technicians in this field can also obtain other implementation examples based on these drawings without paying creative work.

[0035] Figure 1 is a schematic diagram of an endoscope handle including an endoscope handle power assembly with dual motor drives according to an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of a dual-motor driven endoscope handle power assembly according to an embodiment of the present application;

[0037] Figure 3 is a structural exploded diagram of a dual-motor driven endoscope handle power assembly according to an embodiment of the present application;

[0038] Figure 4 is a schematic diagram of the motor arrangement of a dual-motor driven endoscope handle power assembly according to an embodiment of the present application;

[0039] Figure 5 It is a schematic diagram of the torque transmission of the dual-motor driven endoscope handle power assembly according to an embodiment of the present application, showing a first deceleration component and a second deceleration component.

[0040] In each of the accompanying drawings, the symbols are as follows:

[0041] 100-Dual motor driven endoscope handle power assembly

[0042] 11-First sprocket

[0043] 12-Second sprocket

[0044] 200-First motor component

[0045] 21-First internal gear rack

[0046] 22-First planetary gear

[0047] 23-First internal gear

[0048] 24-First input gear bearing

[0049] 25-First input gear

[0050] 26-First Motor

[0051] 261-First motor distal end fixed end

[0052] 262-First motor near-end output terminal

[0053] 300- Second motor component

[0054] 31-Second internal gear rack

[0055] 32-Second planetary gear

[0056] 33-Second internal gear

[0057] 34-2nd input gear bearing

[0058] 35- Second input gear

[0059] 36- Second motor

[0060] 361-Second motor remote fixed end

[0061] 362-Second motor near-end output terminal

[0062] 41-First fixing member

[0063] 42-Second fixing member

[0064] 43-Third fixing piece

[0065] 44-Fourth fixing piece

[0066] 500-Support shaft

[0067] 61-Control buttons

[0068] 62-Light guide hose interface

[0069] 63-Insert hose interface

[0070] 64-Handle Grip DETAILED DESCRIPTION

[0071] Through extensive and in-depth research, the inventors have disclosed for the first time a dual-motor driven endoscope handle power assembly, which drives two sprockets to rotate respectively through two motor components, and then transmits torque through the sprockets to pull the wire, without the need to manually turn the knob to pull the sprocket, thereby reducing user fatigue; and by arranging the two motor components side by side (arranged in series front and back, and connected in series on a support shaft), the entire assembly structure is compact, easy to install, and convenient for the operator to use; in addition, by means of the various fixings arranged in the motor components, the two motors are very stably fixed on the endoscope handle, which further makes the entire power assembly structure very compact, small, and beautiful.

[0072] the term

[0073] As used herein, “proximal end” refers to the end closer to the endoscope handle, and “distal end” refers to the end farther from the endoscope handle;

[0074] As used herein, when operating with the endoscope handle in hand, along the axial direction of the power assembly, "front" and "rear" are only used to distinguish the relative positions of the two motor components, where "front" refers to the direction close to the endoscope handle and "rear" refers to the direction away from the endoscope handle;

[0075] As used herein, various components or parts described as "first" may be used interchangeably with corresponding components or parts described as "front";

[0076] As used herein, various components or parts described as "second" may be used interchangeably with corresponding components or parts described as "after";

[0077] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0078] In the present invention, all directional indications (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0079] Main advantages of this application:

[0080] (a) Compared with the traditional endoscope handle, which requires manual rotation of a mechanical knob to pull the steel wire rope on the sprocket, the dual-motor-driven endoscope handle power assembly of the present application can replace manual pulling of the steel wire rope in the handle through a motor-driven power mechanism, which can save more effort, reduce fatigue, and has important practical significance;

[0081] (b) The dual-motor driven endoscope handle power assembly of the present application can more accurately realize the rotation of the end lens by driving the sprocket in the motor-driven handle;

[0082] (c) The dual-motor driven endoscope handle assembly of the present application has two motors arranged side by side (arranged in series front and back), making the entire assembly compact, easy to install, and convenient for operators to use;

[0083] (d) The two motors of the dual-motor driven endoscope handle power assembly of the present application are each equipped with a reducer to increase the torque. The reducer is a planetary reducer with an internal gear fixed and a planetary frame rotating. The two motors transmit the torque to the reducer through the input gear, and then the gear frame of the reducer outputs the torque. The rear gear frame is connected to the front sprocket to drive the front sprocket to rotate, and the front gear frame is connected to the rear sprocket to drive the rear sprocket to rotate, so that the reducer is flat and compact, and thus the power assembly has high transmission efficiency, high transmission accuracy, low noise, compact structure, and small space occupation;

[0084] (e) The dual-motor driven endoscope handle power assembly of the present application enables the two motors to be very stably fixed on the endoscope handle through the various fixing parts arranged in the motor components, and further makes the entire power assembly structure very compact, small and beautiful.

[0085] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0086] Dual-motor driven endoscope handle power assembly

[0087] See also Figure 1-3 The dual-motor driven endoscope handle power assembly 100 of the present application includes a fixing component, a first motor component 200, a second motor component 300 and a support shaft 500.

[0088] The first motor component 200 is configured to drive the second sprocket 12 in the endoscope handle;

[0089] The second motor part 300 is configured to drive the first sprocket 11 in the endoscope handle;

[0090] Along the axial direction of the support shaft 500, the first sprocket 11, the second sprocket 12, the first motor component 200 and the second motor component 300 are sequentially sleeved on the support shaft 500, and the support shaft 500 is also configured to support the first motor component 200 and the second motor component 300 and arrange the first motor component 200 and the second motor component 300 in series in the axial direction, and the fixing component is configured to fix the first motor component 200 and the second motor component 300 on the endoscope handle. In one embodiment, the first motor component 200 is arranged close to the endoscope handle, and the second motor component 300 is arranged away from the endoscope handle.

[0091] In one embodiment, the support shaft 500 passes through the first sprocket 11 , the second sprocket 12 , the first motor component 200 , the second motor component 300 , and the fixing component.

[0092] In one embodiment, the support shaft 500 passes through the center of each of the first sprocket 11 , the second sprocket 12 , the first motor component 200 , the second motor component 300 , and the fixing component.

[0093] In one embodiment, the endoscope handle assembly of the present application arranges two motors in series front and back, and the motor is a centrally controlled torque motor, which is divided into two parts: a fixed end and an output end rotation, wherein the output end faces the sprocket. The output shaft rear gear frame of the rear motor passes through the center of the front motor and the output shaft rear gear frame of the rear motor, the inner diameter of the output shaft front gear frame of the front motor is larger than the outer diameter of the output shaft rear gear frame of the rear motor, the rear motor is supported on the support shaft through a bearing, and the front motor is supported on the output shaft rear gear frame of the rear motor through a bearing.

[0094] In one embodiment, the two motors of the endoscope handle assembly of the present application are each equipped with a reducer to increase the torque, and the reducer is a planetary reducer with an internal gear fixed and a planetary frame rotating. The two motors transmit the torque to the reducer through the input gear, and then the gear frame of the reducer outputs the torque, the rear gear frame is connected to the front sprocket to drive the front sprocket to rotate, and the front gear frame is connected to the rear sprocket to drive the rear sprocket to rotate.

[0095] First motor component

[0096] The first motor component 200 includes a first motor 26, a first input gear 25 and a first reducer component. The first motor 26 includes a first motor distal fixed end 261 and a first motor proximal output end 262. The first motor distal fixed end 261 is fixedly connected to the second fixing member 42. The first input gear 25 is arranged at the first motor proximal output end 262 and is configured to transmit the torque of the first motor 26 to the first reducer component. The first reducer component reduces the received torque and outputs it to drive the second sprocket 12 to rotate.

[0097] Along the axial direction of the support shaft 500, from far to near, the first reducer component includes a first input gear bearing 24, a first internal gear 23, a first planetary gear 22 and a first internal gear frame 21. The first internal gear 23 is meshed and connected with the first planetary gear 22. The first planetary gear 22 is connected to the first internal gear frame 21 bearing. When the first motor 26 rotates, the first internal gear 23 remains stationary. The rotation of the first input gear 25 drives the rotation of the first planetary gear 22. The rotation of the first planetary gear 22 drives the first internal gear frame 21 to rotate, so that the first internal gear frame 21 drives the second sprocket 12 to rotate.

[0098] In one embodiment, the first input gear 25 is a sun gear, which drives the first planetary gear 22 to rotate. The outer periphery of the first planetary gear 22 is a first internal gear 23 meshing therewith.

[0099] Second motor part

[0100] The second motor component 300 includes a second motor 36, a second input gear 35, and a second reducer component. The second motor 36 includes a second motor distal fixed end 361 and a second motor proximal output end 362. The second motor distal fixed end 361 is fixedly connected to the third fixing member 43. The second input gear 35 is arranged at the second motor proximal output end 362 and transmits the torque of the second motor 36 to the second reducer component. The second reducer component reduces the received torque and outputs it, thereby driving the first sprocket 12 to rotate.

[0101] Along the axial direction of the support shaft 500, from far to near, the second reducer component includes a second internal gear 33, a second planetary gear 32 and a second internal gear frame 31, the second internal gear 33 is meshedly connected with the second planetary gear 32, the second planetary gear 32 is bearing-connected with the second internal gear frame 31, when the second motor 36 rotates, the second internal gear 33 is stationary, the rotation of the second input gear 35 drives the rotation of the second planetary gear 32, the rotation of the second planetary gear 32 drives the second internal gear frame 31 to rotate, so that the second internal gear frame 31 drives the first sprocket 11 to rotate.

[0102] In one embodiment, the second input gear 35 is a sun gear, which drives the first planetary gear 32 to rotate. The outer periphery of the first planetary gear 32 is a first internal gear 33 meshing therewith.

[0103] In one embodiment, the inner diameter of the first inner gear frame 21 is greater than the inner diameter of the second gear frame 31 , and the inner diameter of the second gear frame 31 is greater than the inner diameter of the support shaft 500 .

[0104] In one embodiment, the second gear frame 31 passes through the second fixing member 42, the first motor 26, the first input gear 25, the first input gear bearing 24, the first internal gear 23, the first planetary gear 22, the first internal gear frame 21, the first fixing member 41, and the second sprocket 12 in sequence, and then the second gear frame 31 drives the first sprocket 11.

[0105] Fixed parts

[0106] See also Figure 3 The fixing parts include a first fixing part 41, a second fixing part 42, a third fixing part 43 and a fourth fixing part 44. Through the cooperation of the above fixing parts, the power assembly of the present application is very stably arranged on the endoscope handle, wherein

[0107] The first fixing member 41, the second fixing member 42, and the third fixing member 43 are sequentially sleeved on the support shaft 500 along the axial direction of the support shaft 500, the first fixing member 41 is arranged between the second sprocket 12 and the first motor component 20, the second fixing member 42 is arranged between the first motor component 200 and the second motor component 300, and the third fixing member 43 is arranged at the distal end of the second motor component 300.

[0108] The first fixing member 41 is configured such that one side is fixedly connected to the first internal gear 23 of the first motor component 200, and the other side of the first fixing member 41 is fixedly connected to the endoscope handle;

[0109] The second fixing member 42 is fixedly connected to the distal fixing end (261) of the first motor, and the second fixing member is also fixedly connected to the second internal gear 33 of the second motor component 300;

[0110] The third fixing member 43 is fixedly connected to the distal fixing end 361 of the second motor;

[0111] The fourth fixing member 44 passes through the first fixing member 41, the second fixing member 43 and the third fixing member 43 and is fixedly connected to the first fixing member 41; in one embodiment, the fourth fixing member is fixedly connected to the endoscope handle by a screw. In one embodiment, the fourth fixing member 44 is a rod-shaped object, and preferably, the fourth fixing member 44 is two or more fixing rods.

[0112] In one embodiment, the first fixing member 41 is a sprocket sleeve with a circular outer circumference, and two fixing portions with holes are provided on the outer side of the circumference, and the fourth fixing member 44 is penetrated through the fixing portions with holes.

[0113] In one embodiment, a circular surface of the first fixing member 41 fits with the endoscope handle.

[0114] In one embodiment, the second fixing member 42 and the third fixing member 43 have the same structure, and both the second fixing member 42 and the third fixing member 43 are provided with a fixing portion with a hole for the fourth fixing member to pass through.

[0115] Endoscope handle assembly

[0116] The invention comprises the above-mentioned dual-motor driven endoscope handle power assembly 100.

[0117] To make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that these are only some examples that the present invention may take for the reader, but are not intended to limit the scope of the present invention.

[0118] Example

[0119] The present embodiment provides a power assembly 100 of an endoscope handle. Compared with a traditional endoscope handle which requires manual rotation of a mechanical knob to pull a steel wire rope on a sprocket, the power assembly 100 of the endoscope handle of the present application uses motor power instead of manual rotation of the sprocket. By controlling the motor, the rotation of the terminal lens can be achieved more labor-saving and accurately.

[0120] Figure 1 A schematic diagram of an endoscope handle including an endoscope handle power assembly 100 with dual motor drive according to an embodiment of the present application is shown; Figure 1Also shown are the control button 61 of the endoscope handle (used to issue instructions to the motor of the power assembly 100 to control the rotation angle of the endoscope end), the light guide hose interface 62 (used to input light of a specific frequency output by the endoscope light source assembly), the insertion hose interface 63, the handle grip 64, and the dual-motor driven endoscope handle power assembly 100 of the present application. In this embodiment, the dual-motor driven endoscope handle power assembly 100 is located at the original mechanical knob position of the endoscope handle, and the original sprocket drive wire rope structure is not changed, and the original manual knob drive sprocket is replaced by the motor assembly drive. In this embodiment, the sprocket sleeve 41 (first fixing member 41) and the fixing rod 44 (fourth fixing member 44) of the dual-motor driven endoscope handle power assembly are fixed to the handle by screws, one end of the support shaft 500 is fixed inside the handle, and the rear sprocket 12 (i.e., the second sprocket 12) and the front sprocket 11 (i.e., the first sprocket 11) are respectively bound to the wire rope in the handle. When in use, the control button ( Figure 1 It is a schematic diagram, the actual position and quantity are set according to the requirements) to control the motor to drive the sprocket, which can specify the pulling distance of the wire rope and improve the accuracy of the rotation angle of the terminal lens.

[0121] like Figure 2 As shown, the dual-motor driven endoscope handle assembly includes a first sprocket 11, a second sprocket 12; a (front motor) first motor component 200, a (rear motor) second motor component 300, and a fixing rod 44 (fourth fixing member). The motors are arranged front and back, and the front motor proximal output end 262 and the rear motor proximal output end 362 of the first motor component 200 drive the rear sprocket 12 and the front sprocket 11 respectively. The front motor distal fixed end 261 and the rear motor distal fixed end 361 of the first motor component 200 are fixed by the fixing rod 44 and the sprocket sleeve 41 (first fixing member 41), and the sprocket sleeve 41 is fixed on the endoscope handle.

[0122] like Figure 3 and Figure 4As shown, in the present embodiment, the dual-motor driven endoscope handle dynamic assembly is subdivided into a support shaft 500, a rear sprocket 12, a front sprocket 11, a sprocket sleeve 41, a front gear frame 21, a front planetary gear 22, a front internal gear 23, a front input gear bearing 24, a front input gear 25, a front motor 26, a front motor distal fixed end 261, a front motor proximal output end 262, a front flange support shaft 42 (a second fixing member 42), a rear gear frame 31, a rear planetary gear 32, a rear internal gear 33, a rear input gear bearing 34, a rear input gear 35, a rear motor 36, a rear motor distal fixed end 361, a rear motor proximal output end 362, a rear flange support shaft (a third fixing member 43), and a 44 fixing rod (a fourth fixing member). The support shaft 500 is the main load-bearing part in the assembly. It is in the shape of a slender round rod. It carries the front gear frame 21, the rear gear frame 31, the front motor 26, and the rear motor 36 through bearings. The end is fixed in the endoscope handle by screws, and the end is fixed to the rear flange support shaft (third fixing member 43) by screws. The front motor 26 and the rear motor 36 output torque through the front input gear 25 and the rear input gear 35 respectively, and the input gear is fixed to the motor output end by screws. The input gear, the planetary gear and the internal gear form a planetary reducer to reduce the motor speed and increase the output torque. The front internal gear 23 is fixed to the sprocket sleeve 41 by screws, and the sprocket sleeve 41 is fixed to the endoscope handle. The rear internal gear 33 is fixed to the front flange support shaft 42 (second fixing member 42) by screws, and the front flange support shaft is fixed to the front motor distal fixed end 261 by screws. The front input gear bearing 24 is placed between the front input gear 25 and the sprocket sleeve 41 , and the rear input gear bearing 34 is placed between the rear input gear 35 and the front flange support shaft 42 .

[0123] like Figure 4 As shown, the two motors are arranged front and back, the rear motor 36 is divided into a rear motor distal fixed end 361 and a rear motor proximal output end 362, the front motor 26 is divided into a front motor distal fixed end 261 and a front motor proximal output end 262, the rear flange support shaft 43 (third fixing member 43) is fixed to the rear motor distal fixed end 361 by screws, the front flange support shaft 42 (second fixing member 42) is fixed to the front motor distal fixed end 261 by screws, and the 4 fixing rods pass through the holes on the rear flange support shaft 43 (third fixing member 43) and the front flange support shaft (second fixing member 42) to prevent the rear motor distal fixed end 361 and the front motor distal fixed end 261 from rotating. The front motor proximal output end 262 and the rear motor proximal output end 362 are the output ends of the motors, which respectively drive the front input gear 25 and the rear input gear 35 to output torque.

[0124] like Figure 5As shown, the rear planetary gear 32 is placed on the rear gear frame 31 through a bearing, and the front planetary gear 22 is placed on the front inner gear frame 21 through a bearing, and the planetary gear rotates to drive the gear frame to output torque. The front end of the rear gear frame 31 is inserted into the front end of the front gear frame 21 and connected to the front sprocket 11, and the front gear frame 21 is connected to the rear sprocket 12.

[0125] All documents mentioned in this application are considered to be included in the disclosure of this application as a whole, so that they can be used as the basis for modification when necessary. In addition, it should be understood that after reading the above disclosure of this application, those skilled in the art can make various changes or modifications to this application, and these equivalent forms also fall within the scope of protection claimed in this application.

Claims

1. A dual-motor driven endoscope handle power assembly, characterized in that: include: A fixing component, a first motor component (200), a second motor component (300) and a support shaft (500) wherein The first motor component (200) is configured to drive a second sprocket (12) in the endoscope handle; The second motor component (300) is configured to drive a first sprocket (11) in the endoscope handle; Along the axial direction of the support shaft (500), the first sprocket (11), the second sprocket (12), the first motor component (200) and the second motor component (300) are sequentially mounted on the support shaft (500); the support shaft (500) is also configured to support the first motor component (200) and the second motor component (300) so that the first motor component (200) and the second motor component (300) are arranged in series in the axial direction; and the fixing component is configured to fix the first motor component (200) and the second motor component (300) on the endoscope handle.

2. The endoscope handle power assembly according to claim 1, characterized in that: The fixing component comprises a first fixing component (41), a second fixing component (42), and a third fixing component (43) which are sequentially sleeved on the support shaft (500) along the axial direction of the support shaft (500), the first fixing component (41) being arranged between the second sprocket (12) and the first motor component (200), the second fixing component (42) being arranged between the first motor component (200) and the second motor component (300), and the third fixing component (43) being arranged at the distal end of the second motor component (300).

3. The endoscope handle power assembly according to claim 2, characterized in that: The first motor component (200) includes a first motor (26), the second motor component (300) includes a second motor (36), the first motor (26) includes a first motor distal fixing end (261) and a first motor proximal output end (262), the second motor (36) includes a second motor distal fixing end (361) and a second motor proximal output end (362), the second fixing member (42) is fixedly connected to the first motor distal fixing end (261), and the third fixing member (43) is fixedly connected to the second motor distal fixing end (361).

4. The endoscope handle power assembly according to claim 5, characterized in that: The first motor component (200) further includes a first input gear (25) and a first reducer component. The first input gear (25) is arranged at the proximal output end (262) of the first motor and transmits the torque of the first motor (26) to the first reducer component. The first reducer component reduces the received torque and outputs it, thereby driving the second sprocket (12) to rotate.

5. The endoscope handle power assembly according to claim 4, characterized in that: The first reducer component comprises a first internal gear (23), a first planetary gear (22) and a first internal gear frame (21); the first internal gear (23) is meshingly connected with the first planetary gear (22); the first planetary gear (22) is bearing-connected with the first internal gear frame (21); when the first motor (26) rotates, the first internal gear (23) remains stationary; the rotation of the first input gear (25) drives the rotation of the first planetary gear (22); the rotation of the first planetary gear (22) drives the rotation of the first internal gear frame (21), so that the first internal gear frame (21) drives the second sprocket (12) to rotate.

6. The endoscope handle power assembly according to claim 5, characterized in that: The second motor component (300) further comprises a second input gear (35) and a second reducer component. The second input gear (35) is arranged at the proximal output end (362) of the second motor and transmits the torque of the second motor (36) to the second reducer component. The second reducer component reduces the received torque and outputs it, thereby driving the first sprocket (12) to rotate.

7. The endoscope handle power assembly according to claim 6, characterized in that: The second reducer component comprises a second internal gear (33), a second planetary gear (32) and a second internal gear frame (31); the second internal gear (33) is meshedly connected with the second planetary gear (32); the second planetary gear (32) is bearing-connected with the second internal gear frame (31); when the second motor (36) rotates, the second internal gear (33) remains stationary; the rotation of the second input gear (35) drives the rotation of the second planetary gear (32); the rotation of the second planetary gear (32) drives the second internal gear frame (31) to rotate, so that the second internal gear frame (31) drives the first sprocket (11) to rotate.

8. The endoscope handle power assembly according to claim 7, characterized in that: The inner diameter of the first internal gear frame (21) is greater than the inner diameter of the second gear frame (31), and the inner diameter of the second gear frame (31) is greater than the inner diameter of the support shaft (500).

9. The endoscope handle power assembly according to claim 8, characterized in that: The fixing component also includes a fourth fixing member (44), one side of the first fixing member (41) is fixedly connected to the first internal gear (23), the other side of the first fixing member (41) is fixedly connected to the endoscope handle, the second fixing member (42) is also fixedly connected to the second internal gear (33), the fourth fixing member (44) passes through the first fixing member (41), the second fixing member (43) and the third fixing member (43), and the fourth fixing member (44) is fixedly connected to the first fixing member (41).

10. An endoscope handle assembly, characterized in that: A dual-motor driven endoscope handle power assembly comprising any one of claims 1-9.

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