Endoscope driving assembly

Abstract

An endoscope driving assembly for supporting and driving an endoscope device disposed on a slave device according to an embodiment, the endoscope driving assembly comprising: a connector supporting the endoscope device; and a mounting member to which the connecting member is mounted and which receives a signal from a master device to control the endoscope devices, the connecting member being replaceable to support a plurality of endoscope devices having different shapes.

Description

Technical Field

[0001] The present invention relates to an endoscope drive assembly. Background Art

[0002] Endoscopes are medical devices that enable direct observation of internal organs or the human body. They are inserted into organs to observe diseased organs that cannot be directly observed without surgery or autopsy. Endoscopes include bronchoscopes, esophagoscopes, gastroscopes, duodenoscopes, colonoscopes, cystoscopes, laparoscopes, or ureteroscopes.

[0003] In addition, since the specifications of endoscopic devices manufactured by different manufacturers are different, an endoscopic surgery system that mounts different endoscopic devices on a slave device is required. Summary of the invention

[0004] Technical solutions to the problem

[0005] According to an endoscope driving component of one embodiment, it is used to support and drive an endoscope device arranged on a slave device, and the endoscope driving component includes: a coupler, which supports the endoscope device; and a mount, which is used to mount the coupler and receives a signal from a master device to control the endoscope device. The coupler can be replaced to support multiple endoscope devices with different shapes.

[0006] According to one embodiment, the connector includes: a connector body that accommodates at least a portion of the endoscopic device; and a main hole that is formed through the connector body and accommodates a handle of the endoscopic device.

[0007] According to one embodiment, the mounting member includes: a mounting member body, which is fastened to the connecting member body; a rotor, which is arranged on the mounting member body and receives a signal from the main device to rotate in either direction; and a handle holder, which is connected to the rotor and rotates the handle of the endoscope device while being accommodated in the main hole of the connecting member.

[0008] According to an embodiment, the handle holder is replaceable.

[0009] According to an embodiment, the connector further includes a first detection target which is pressed by the endoscope device and moves in a direction toward the connector body when the connector body and the connector body are coupled.

[0010] According to an embodiment, the connector further comprises a second detection target which is arranged on a surface of the connector body facing the mounting body.

[0011] According to one embodiment, the mounting member further includes: a first sensor that detects a first detection target moving in a direction toward the mounting member body; and a second sensor that detects the second detection target when the connector body is fastened to the mounting member body.

[0012] According to an embodiment, the mounting member further includes: a vertical extension portion formed around the rotation axis of the rotor with the rotation axis as the center; and a plurality of guide grooves formed on an outer peripheral surface of the vertical extension portion at intervals from each other.

[0013] According to one embodiment, the connecting member further comprises a plurality of guide protrusions respectively accommodated in the plurality of guide grooves, and the connecting member is fastened to the mounting member by rotating in one direction with the rotation axis of the rotor as the center line when the guide protrusions are accommodated in the guide grooves.

[0014] According to an embodiment, the mounting member further includes a hook which is clamped on the connecting member when being fastened to the connecting member.

[0015] According to an embodiment, the hook includes: a hook body supported by the mounting member body; and a hook head protruding from the hook body toward the connecting member body.

[0016] According to an embodiment, the connector further comprises an elastic protrusion which is arranged on a surface of the connector body facing the hook, and when the connector body is stuck on the hook head, the elastic protrusion presses the hook body.

[0017] According to a method of using an endoscope drive component according to one embodiment, the endoscope drive component is used to support and drive an endoscope device arranged on a slave device, and the endoscope drive component includes: a connecting member, which supports the endoscope device; and a mounting member, which is used to mount the connecting member and receives a signal from a main device to control the endoscope device. The connecting member can be replaced to support multiple endoscope devices with different shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a diagram of an endoscopic surgery system according to an embodiment.

[0019] Figure 2 is a perspective view of a driving unit of a slave device according to an embodiment.

[0020] Figure 3 is a perspective view of an endoscopic device, connector, and mounting member manufactured by Boston Scientific according to one embodiment.

[0021] Figure 4 is a perspective view of a connector according to an embodiment.

[0022] Figure 5 is a perspective view of a connector for supporting an endoscope device manufactured by Karl Storz according to an embodiment.

[0023] Figure 6 is a perspective view of a connector supporting an endoscopic device manufactured by OTU Medical according to one embodiment. DETAILED DESCRIPTION

[0024] The description of the specific structure or function of the embodiment is only for example, and the embodiment can be implemented in different forms. The actual implementation is not limited to the specific embodiment disclosed, and the scope of this specification includes all changes within the technical ideas described by the embodiment, their equivalents and even their substitutes.

[0025] The terms "first" or "second" may be used to describe different components, but are only used to distinguish one component from other components. For example, the first component may be named the second component, and similarly, the second component may also be named the first component.

[0026] When it is stated that one component is “connected to” another component, it may be directly connected to or in contact with the other component, or there may be another component between them.

[0027] In the absence of special instructions in the content, the singular forms "a", "an", and "the" are intended to include the plural forms as well. In this specification, the terms "including" or "having" are used to express the existence of the stated features, numbers, steps, operations, elements, and / or parts, but do not exclude the possibility of the existence or additional existence of one or more other features, numbers, steps, operations, elements, parts, and / or their combinations.

[0028] When a constituent element has a common function with a constituent element of a certain embodiment, the same name is used to describe it in other embodiments. The description of a certain embodiment can be applied to other embodiments without mentioning a counterexample, and the specific description of the repeated content can be omitted.

[0029] In the absence of other definitions, all terms, including technical or scientific terms used herein, have the ordinary meanings understood by ordinary technicians in the relevant field. Commonly used terms as defined in dictionaries should be understood as the meanings in the relevant technical content, and should not be interpreted as idealized or overly formalized meanings if not clearly defined in this specification.

[0030] In describing the examples with reference to the drawings, the same reference numerals are used for the same components, and repeated description is omitted.

[0031] Figure 1 is a diagram of an endoscopic surgery system according to an embodiment, Figure 2 is a perspective view of a driving unit of a slave device according to an embodiment.

[0032] Reference Figure 1 and Figure 2 According to an embodiment, a surgeon may use an endoscopic surgery system 1 to perform surgery. The endoscopic surgery system 1 may include a master device M and a slave device S.

[0033] The master device M can be controlled by the surgeon. For example, the master device M may include a screen and a controller. The surgeon can use the controller to control the slave device S connected to the master device M, and view the progress of the surgery in real time through the screen. The master device M and the slave device S can be connected by wire or wirelessly. The surgeon can directly input commands on the screen to control the slave device S. For example, the surgeon can input values ​​such as the height and rotation angle of the slave device S on the screen. At the same time, unlike what is shown in the drawings of this specification, the screen and controller of the master device M can be integrated.

[0034] The slave device S may receive signals from the master device M to perform the operations required for the surgery. The slave device S may include surgical tools inserted into the patient's body. For example, the slave device S may include an endoscopic device, a laser for crushing kidney stones, a basket for holding broken stones, etc. The slave device S may include a support portion 11, a drive portion 12, an endoscope drive assembly 13, an endoscope holder 14, a guide sheath 15, and an endoscope device 71.

[0035] The support portion 11 is movable relative to the ground. The support portion 11 may include a support base 111 to which at least one wheel is attached and a support body 112 connected to the support base 111. The support body 112 may move relative to the support base 111 by receiving a signal from the host device M. For example, the support body 112 may rotate around the support base 111 with the z-axis as the rotation axis, or translate along the x-axis and y-axis directions.

[0036] The driving part 12 is supported by the supporting part 11 and is movable relative to the supporting part 11. For example, the driving part 12 may receive a signal from the host device M to rotate around the supporting body 112 with the x-axis as the rotation axis, or translate along the z-axis direction.

[0037] The endoscope drive assembly 13 is connected to the rail 19 formed on the drive unit 12 and can slide along the length direction of the drive unit 12. The endoscope drive assembly 13 supports the endoscope device 71 and receives a signal from the main device M to control the endoscope device 71. For example, the endoscope drive assembly 13 can move the handle 712 of the endoscope device 71, and the handle 712 is used to control the bending direction of the endoscope 713 of the endoscope device 71. In a state where the endoscope device 71 is supported on the endoscope drive assembly 13, the relative movement of the endoscope device 71 relative to the endoscope drive assembly 13 is restricted. As a result, the error caused by the movement of the endoscope device 71 can be reduced, and the safety and accuracy of the operation can be improved.

[0038] The endoscope holder 14 can support the endoscope 713 of the endoscope device 71. When the endoscope drive assembly 13 slides or rotates relative to the drive unit 12, the endoscope holder 14 can prevent the endoscope 713 of the endoscope device 71 from buckling. For example, a plurality of endoscope holders 14 can be arranged spaced apart from each other along the length direction of the endoscope 713 of the endoscope device 71. For example, a plurality of endoscope holders 14 can slide in one direction in the length direction of the drive unit 12.

[0039] The guide sheath 15 is connected to the end of the driving part 12 and can be inserted into the patient's body during surgery. The endoscope 713 of the endoscope device 71 can pass through the guide sheath 15 to reach the surgical site of the patient.

[0040] The endoscope device 71 mounted on the endoscope driving assembly 13 may be an endoscope device that controls the bending of the endoscope 713 by the relative movement of the handle 712 relative to the body 711 of the endoscope device 71. For example, when the handle 712 of the endoscope device 71 is moved in one direction relative to the body 711 of the endoscope device 71, the endoscope 713 of the endoscope device 71 is bent to the left, and when the handle 712 is moved in the opposite direction to the one direction, the endoscope 713 of the endoscope device 71 is bent to the right.

[0041] Figure 3 is a stereoscopic view of an endoscope device, a connector, and a mounting member produced by Boston Scientific according to an embodiment, Figure 4 is a perspective view of a connector according to an embodiment.

[0042] Reference Figure 3 and Figure 4According to one embodiment, the endoscope drive assembly 13 may include a connector 131 and a mounting member 132. The connector 131 supports the endoscope device 71 and can fix a portion of a surgical drape (not shown) to the mounting member 132. Here, the surgical drape refers to a plastic that isolates the master device and the slave device from microorganisms and other contaminants in the endoscopic surgery system. After arranging one end of the surgical drape between the connector 131 and the mounting member 132, the connector 131 is mounted on the mounting member 132 so that a portion of the surgical drape is pressed by the connector 131 and the mounting member 132. With this arrangement, a portion of the surgical drape can be fixed to the endoscope drive assembly 13, while the endoscope drive assembly 13 can be completely covered by the rest of the surgical drape. For hygienic reasons, the connector 131 can be a disposable component that is replaced after the operation is completed.

[0043] The connector 131 may have a variety of shapes to accommodate endoscope devices 71 manufactured by different manufacturers such as Boston Scientific, Karl Storz, and OTU Medical. The specifications of the endoscope devices 71 manufactured by different manufacturers may be different. For example, the position of the handle 712 relative to the body 711 of the endoscope device 71, the direction in which the endoscope 713 extends from the body 711, etc. may be different. When using an endoscope drive assembly 13 having a predetermined shape, it is difficult to be compatible with endoscope devices 71 of different specifications. The operator can use different types of endoscope devices 71 by replacing the connector 131 having a different shape from the mounting member having a fixed shape. In the following, for the sake of convenience, the connector 131 that accommodates the endoscope device 71 manufactured by Boston Scientific will be described. The connector 131 may include a connector body 1311, a cover 1312, a main hole 1313, and a guide protrusion 1314.

[0044] The endoscope device 71 may be arranged in the connector body 1311. The connector body 1311 may include a groove recessed along the edge of the endoscope device 71 to accommodate the endoscope device 71. In a state where the endoscope device 71 is accommodated in the connector body 1311, the rotation of the endoscope device 71 relative to the connector body 1311 may be restricted.

[0045] One end of the cover 1312 is connected to the connector body 1311 in a hinged manner to prevent the endoscope device 71 from being separated from the connector body 1311. After the endoscope device 71 is accommodated in the connector body 1311, the other end of the cover 1312 can be fixed to the connector body 1311. In this state, the cover 1312 presses the endoscope device 71 to limit the relative movement of the cover 1312 with respect to the connector body 1311.

[0046] A main hole 1313 is formed through the connector body 1311. The handle 712 of the endoscope device 71 is accommodated in the main hole 1313. The main hole 1313 is formed around an axis. The main hole 1313 can be a space for the handle 712 to move relative to the main body 711 of the endoscope device 71. Since the main body 711 of the endoscope device 71 is fixed by the connector body 1311 and the cover 1312, the bending of the endoscope 713 of the endoscope device 71 can be controlled by moving the handle 712 relative to the main body 711.

[0047] The mounting member 132 may include a mounting member body 1321 , a rotor 1322 , a handle holder 1323 , a vertical extension 1324 , and a plurality of guide grooves 1325 .

[0048] The mount body 1321 may be connected to a track formed on the driving part. A rotor 1322 that rotates about an axis may be arranged on one surface of the mount body 1321. The rotor 1322 rotates clockwise and counterclockwise by receiving a signal from the host device.

[0049] The handle holder 1323 is connected to the rotor 1322 and can be connected to the handle 712 of the endoscope device 71. For example, the handle holder 1323 can be connected to the edge of the rotor 1322 in an articulated manner. The handle 712 of the endoscope device 71 can be positioned between a pair of pressing surfaces of the handle holder 1323. The pair of opposing pressing surfaces can press one side and the other side of the handle 712 of the endoscope device 71, respectively. For example, when the rotor 1322 rotates clockwise, any one of the pair of pressing surfaces presses one side of the handle 712 of the endoscope device 71, and at this time, the handle 712 of the endoscope device 71 can rotate clockwise. On the contrary, when the rotor 1322 rotates counterclockwise, the other of the pair of pressing surfaces presses the other side of the handle 712 of the endoscope device 71, and at this time, the handle 712 of the endoscope device 71 can rotate counterclockwise.

[0050] In one embodiment, the handle holder 1323 may be replaceable. For example, the handle 712 of the endoscope device 71 manufactured by different manufacturers may have different widths. When the handle holder 1323 in a stationary state rotates in either direction due to the gap between the pair of pressing surfaces of the handle holder 1323 and the handle 712 of the endoscope device 71, a delay occurs when the handle holder 1323 presses the handle 712 of the endoscope device 71. By using the handle holders 1323 respectively fixed to the handles 712 of different widths, the error caused by the delay can be reduced, and the maintenance cost of the endoscope drive assembly 13 can be reduced.

[0051] The vertical extension 1324 protrudes from the mounting body 1321 and may be formed around the rotation axis along the rotation axis of the rotor 1322. For example, the vertical extension 1324 is formed along the edge of the rotor 1322 to prevent foreign matter from penetrating into the gap between the mounting body 1321 and the rotor 1322. A plurality of guide grooves 1325 may be formed on the outer circumferential surface of the vertical extension 1324.

[0052] A plurality of guide grooves 1325 may be formed to be spaced apart from each other with the rotation axis of the rotor 1322 as the center. Each guide groove 1325 may be formed around the rotation axis of the rotor 1322. According to this structure, after the guide protrusion 1314 of the connection member 131 is inserted into the guide groove 1325, the connection member 131 is rotated in the direction in which the guide groove 1325 is formed to fix the connection member 131 to the mounting member 132. In a state where the connection member 131 is mounted on the mounting member 132, the connection member 131 is restricted from moving up and down relative to the mounting member 132.

[0053] It should be noted that, although three guide protrusions 1314 and three guide grooves 1325 are respectively shown in the drawings of this specification, the number of the guide protrusions 1314 and the guide grooves 1325 is not limited thereto.

[0054] When the connecting member 131 is mounted on the mounting member 132 , the rotation of the connecting member 131 relative to the mounting member 132 may be restricted by the hook 1326 and the elastic protrusion 1316 .

[0055] The hook 1326 may include a hook body 1326a supported by the mounting member body 1321 and a hook head 1326b protruding from the hook body 1326a. In a state where the connector 131 is mounted on the mounting member 132, the hook head 1326b is accommodated in the hook accommodation groove 1315 and is stuck in the connector body 1311, wherein the hook accommodation groove 1315 is formed on the connector body 1311 facing the hook body 1326a. When the connector body 1311 attempts to rotate in a direction away from the hook head 1326b of the hook accommodation groove 1315, the connector body 1311 is stuck in the hook head 1326b so that the rotation of the connector body 1311 is restricted.

[0056] The elastic protrusion 1316 protrudes from the connector body 1311, and is compressed when pressed, and returns to the original position based on the elastic restoring force when not pressed. When the hook head 1326b is stuck on the connector body 1311, the elastic protrusion 1316 may be in a state of pressing the hook body 1326a. When the connector body 1311 attempts to rotate in the direction of the hook receiving groove 1315 close to the hook head 1326b, the restoring force of the elastic protrusion 1316 will limit the rotation of the connector body 1311. The hook head 1326b can remain stuck on the connector body 1311. This state can also be called a "completely fastened state".

[0057] The connecting member 131 may further include at least one of a first detection target 1317 and a second detection target 1318. The operator may confirm whether the endoscope device 71 is supported by the connecting member 131 through the first detection target 1317. The operator may confirm whether the connecting member 131 is fixed to the mounting member 132 through the second detection target 1318.

[0058] The first detection target 1317 may penetrate the connector body 1311 in the direction in which the endoscope device 71 is accommodated in the connector 131. The upper portion of the first detection target 1317 is located on a side of the connector body 1311 on which the endoscope device 71 is provided, and the lower portion of the first detection target 1317 is located on a side opposite to the side of the connector body 1311 on which the endoscope device 71 is provided. For example, the upper portion of the first detection target 1317 may include an elastic material, and the lower portion of the first detection target 1317 may include metal.

[0059] When the endoscope device 71 is not accommodated in the connector 131, the upper portion of the first detection target 1317 may be in a state of protruding from the connector body 1311. When the endoscope device 71 is accommodated in the connector 131 in a state where the connector 131 is fixed to the mounting member 132, the upper portion of the first detection target 1317 is pressed by the endoscope device 71, and the lower portion of the first detection target 1317 moves toward the mounting member 132. The first sensor 1327 formed on the mounting member body 1321 may detect that the metal at the lower portion of the first detection target 1317 is within a preset distance and generate a signal. For example, the first sensor 1327 may be arranged inside the mounting member body 1321. At the same time, when the first detection target 1317 is no longer pressed by the endoscope device 71, the first detection target 1317 may return to the original position based on the restoring force.

[0060] The second detection target 1318 can be arranged on the side of the connector body 1311 facing the mounting member 132. For example, the second detection target can be metal. When the connector 131 is guided by the guide groove 1325 of the mounting member 132 and connected to the vertical extension 1324, and the hook head 1326b of the mounting member 132 is stuck in the fully tightened state of the connector body 1311, the second detection target 1318 overlaps with the second sensor 1328 formed on the mounting member body 1321, based on the direction in which the endoscope device 71 is accommodated in the connector 131. The second sensor 1328 can detect that the second detection target 1318 is within a preset distance and generate a signal. For example, the second sensor 1328 can be arranged inside the mounting member body 1321.

[0061] On the other hand, when both the first detection target 1317 and the second detection target 1318 are made of metal, the surgeon can appropriately set the detection range of the first sensor 1327 or the second sensor 1328 to prevent the first sensor 1327 from identifying the second detection target 1318 or the second sensor 1328 from identifying the first detection target 1317.

[0062] Figure 5 is a perspective view of a connector supporting an endoscope device produced by Karl Storz according to an embodiment, Figure 6 is a perspective view of a connector supporting an endoscopic device manufactured by OTU Medical according to one embodiment.

[0063] Reference Figure 5 and Figure 6 According to one embodiment, the connector 231 for supporting the endoscope device 81 manufactured by Karl Storz and the connector 331 for supporting the endoscope device 71 manufactured by OTU Medical may be designed in different shapes.

[0064] In addition to endoscopic devices (e.g. Figure 3 Endoscopic device 71, Figure 5 The endoscope device 81 and Figure 6 In addition to the shape of the endoscope device 91, the connector (e.g. Figure 3 Connecting piece 131, Figure 5 The connecting piece 231 and Figure 6For example, the position and depth of the groove in the connector body can be designed differently according to the shape of the body of the endoscope device 71, 81, 91. For example, the position and width of the main hole of the connector body can be designed differently according to the length of the handle protruding from the body and the range of motion of the handle.

[0065] The initial position of the handle relative to the main body in the unbent state of the endoscope may be different. In this case, the handle holder can be moved to the initial position of the handle by rotating the rotor of the mounting member in advance and then the handle holder can be fixed to the handle. The length of the main body of the endoscope devices 71, 81, 91 manufactured by different manufacturers may be different. When the endoscope devices 71, 81, 91 are supported in the state of the drive assembly, the distance between the endoscope main body and the first endoscope holder of each endoscope device 71, 81, 91 is different, wherein the first endoscope holder refers to the endoscope holder closest to the main body among the multiple endoscope holders.

[0066] As the angle between the direction in which the endoscope of the endoscope device 71, 81, 91 enters the first endoscope holder and the direction in which the plurality of endoscope holders are arranged in a row increases, the bending of the endoscope may increase. When the endoscope extending from the main body of the endoscope device 71, 81, 91 passes through the plurality of endoscope holders in a straight line without bending, the bending of the endoscope can be reduced. When the endoscope is bent, it is difficult for the endoscope to reach the affected part of the patient, and an error may occur between the user's operation and the movement of the endoscope.

[0067] In order to reduce the bending of the endoscope of the endoscopic device 71, 81, 91, the angle at which each endoscopic device 71, 81, 91 is accommodated in the drive assembly may be different. In other words, when the endoscopic device 71, 81, 91 is accommodated in the connector 131, 231, 331 and the connector 131, 231, 331 is in a completely fastened state with the mounting member, the angle formed by the length direction of the endoscopic device 71, 81, 91 and the length direction of the drive unit may be different. For example, by designing the position of the guide protrusion formed on the connector body differently, the angle formed by the length direction of the endoscopic device 71, 81, 91 and the length direction of the drive unit can be adjusted.

[0068] At the same time, a modeling program can be used to determine the arrangement of the endoscope devices 71, 81, 91 that minimizes the bending of the endoscope. For example, the shape of each endoscope device 71, 81, 91 can be modeled to calculate the length of the main body, the angle at which the endoscope protrudes from the main body, and the distance between the main body and the first endoscope holder, thereby determining the optimal arrangement position of the endoscope devices 71, 81, 91 that minimizes the bending.

[0069] Although the present disclosure includes specific examples, it will be apparent to those skilled in the art that various changes in form and detail may be made in these examples without departing from the spirit and scope of the claims and their equivalents. Appropriate results may be obtained if the described techniques are performed in a different order, and / or if components in the described systems, architectures, devices, or circuits are combined in a different manner, and / or replaced or substituted by other components or their equivalents.

[0070] Accordingly, other implementations are within the scope of the following claims.

Claims

1. An endoscope drive assembly for supporting and driving an endoscope device arranged on a slave device, characterized in that: The endoscope drive assembly comprises: a connecting member that supports the endoscopic device; and A mounting member for mounting the connecting member and receiving a signal from a main device to control the endoscope device, The connector is interchangeable to support multiple endoscopic devices having different shapes.

2. The endoscope drive assembly according to claim 1, characterized in that: The connecting piece comprises: a connector body that receives at least a portion of the endoscopic device; A main hole is formed through the connector body and receives a handle of the endoscopic device.

3. The endoscope drive assembly according to claim 2, characterized in that: The mounting member comprises: a mounting member body fastened to the connecting member body; a rotor disposed on the mount body and receiving a signal from the master device to rotate in either direction; and A handle holder is connected to the rotor and rotates the handle of the endoscope device in a state of being accommodated in the main hole of the connection member.

4. The endoscope drive assembly according to claim 3, characterized in that: The handle holder is replaceable.

5. The endoscope drive assembly according to claim 3, characterized in that: The connector further includes a first detection target that is pressed by the endoscope device and moves in a direction toward the connector body when the connector body and the connector body are coupled.

6. The endoscope drive assembly according to claim 5, characterized in that: The connecting member further includes a second detection target disposed on a surface of the connecting member body facing the mounting member body.

7. The endoscope drive assembly according to claim 6, characterized in that: The mounting member further comprises: a first sensor that detects a first detection target moving in a direction toward the mount body; and A second sensor detects the second detection target in a state where the connector body is fastened to the mount body.

8. The endoscope drive assembly according to claim 3, characterized in that: The mounting member further comprises: a vertically extending portion formed around the rotation axis of the rotor with the rotation axis as the center; and A plurality of guide grooves are formed on the outer peripheral surface of the vertically extending portion at intervals from each other.

9. The endoscope drive assembly according to claim 8, characterized in that: The connecting member further comprises a plurality of guide protrusions, which are respectively accommodated in the plurality of guide grooves. The connecting member is fastened to the mounting member by rotating in one direction with the rotation axis of the rotor as a center line in a state where the guide protrusion is accommodated in the guide groove.

10. The endoscope drive assembly according to claim 9, characterized in that: The mounting member further includes a hook which is clamped on the connecting member when the mounting member is fastened to the connecting member.

11. The endoscope drive assembly according to claim 10, characterized in that: The hook comprises: a hook body supported by the mount body; and A hook head is formed to protrude from the hook body toward the connector body.

12. The endoscope drive assembly according to claim 11, characterized in that: The connector further comprises an elastic protrusion which is arranged on a surface of the connector body facing the hook. When the connector body is stuck on the hook head, the elastic protrusion presses the hook body.

13. A method for using an endoscope drive assembly, the endoscope drive assembly being used to support and drive an endoscope device arranged on a slave device, characterized in that: The endoscope drive assembly comprises: a connecting member that supports the endoscopic device; and A mounting member for mounting the connecting member and receiving a signal from a main device to control the endoscope device, The connector is interchangeable to support multiple endoscopic devices having different shapes.

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