Soft endoscope auxiliary device and method and soft endoscope auxiliary system

Abstract

The embodiment of the invention provides a soft endoscope auxiliary device, a soft endoscope auxiliary method and a soft endoscope auxiliary system. The soft endoscope auxiliary device is applied to a soft endoscope. The soft endoscope comprises an endoscope body. The soft endoscope auxiliary device comprises a conveying mechanism which comprises an endoscope body mounting part and is configured to control an endoscope body to move; the rotating mechanism is configured to control the conveying mechanism to rotate; and the connecting piece is used for connecting the conveying mechanism and the rotating mechanism, and the connecting piece is configured to enable the rotating axis of the mirror body mounting part and the rotating axis of the rotating mechanism to be collinear.

Description

Cross-references

[0001] This application claims priority to Chinese application No. 202311197671.7 filed on September 15, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present invention relates to the field of endoscopes, and in particular to a soft endoscope auxiliary device, method and soft endoscope auxiliary system. Background Art

[0003] When using a soft endoscope to treat diseases within the natural cavity of a living body or in a lumen with an opening within the natural cavity of a living body (such as the bile duct, pancreas, etc.), the user usually needs to control the movement and rotation of the endoscope through the control handle of the soft endoscope. During the control process, low control accuracy and unstable movement and rotation coordination often occur, which affects the precise positioning of the distal end of the endoscope.

[0004] Therefore, it is desirable to provide a soft endoscope auxiliary device that can assist the user in controlling the distal end of the endoscope to achieve precise positioning. Summary of the invention

[0005] One of the embodiments of the present specification provides a soft endoscope auxiliary device, which is applied to a soft endoscope, wherein the soft endoscope includes a scope body; the soft endoscope auxiliary device includes: a conveying mechanism, including a scope body mounting portion, the conveying mechanism is configured to control the movement of the scope body; a rotating mechanism, configured to control the rotation of the conveying mechanism; a connecting member, used to connect the conveying mechanism and the rotating mechanism, the connecting member is configured to make the rotation axis of the scope body mounting portion and the rotation axis of the rotating mechanism colinear.

[0006] In some embodiments, the rotating mechanism includes a rotor portion, one end of the connecting member is fixed to the rotor portion, and the other end is fixed to the conveying mechanism; the other end of the connecting member is configured to avoid the mirror body mounting portion.

[0007] In some embodiments, the connecting member includes a first section, a second section, and a third section connected in sequence, the first section and the third section are arranged in parallel, the second section is inclined between the first section and the third section, and the first section and the third section are parallel to the rotation axis of the rotating mechanism.

[0008] In some embodiments, a wiring channel is provided in the connector; the wiring channel comprises a hollow channel provided in the connector; and / or the wiring channel comprises a groove provided in a side wall of the connector.

[0009] In some embodiments, the conveying mechanism includes an advance and retreat motor and a first transmission member, the output end of the advance and retreat motor is transmission-connected to the input side of the first transmission member, and the output side of the first transmission member constitutes the mirror body mounting portion.

[0010] In some embodiments, the first transmission member includes a driving wheel and a driven wheel, the output end of the advance and retract motor is drivingly connected to the driving wheel, the driven wheel is arranged adjacent to the driving wheel, and a channel for installing the mirror body is formed between the driving wheel and the driven wheel, and the channel constitutes the mirror body mounting portion.

[0011] In some embodiments, the rotating mechanism includes a rotating motor and a second transmission member, the output end of the rotating motor is in transmission connection with the input side of the second transmission member, and the output side of the second transmission member is connected to the connecting member.

[0012] In some embodiments, the second transmission member includes a coupling, which connects the output shaft of the rotating motor and the connecting member.

[0013] In some embodiments, the soft endoscope includes a control handle, and the soft endoscope auxiliary device also includes a control component, wherein the control component is connected to the control handle, and the control component is connected to the conveying mechanism and / or the rotating mechanism signal; the control component is configured to: collect motion information of the control handle; determine control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information; generate movement control instructions and / or rotation control instructions according to the control parameters; and send the control instructions to the conveying mechanism and / or the rotating mechanism.

[0014] In some embodiments, control parameters of the conveying mechanism and / or the rotating mechanism are determined based on the motion information, including: determining the rotation speed of the forward and backward motor of the conveying mechanism based on the movement distance of the control handle in a preset direction; determining the rotation angle of the rotating motor of the rotating mechanism based on the rotation angle of the control handle around a preset rotation axis.

[0015] In some embodiments, the control component includes a sensor, a processor and a signal transmission circuit, the sensor is used to collect motion information of the control handle, the processor is used to generate a control instruction based on the motion information, and the signal transmission circuit is configured to control the operation of the conveying mechanism and / or the rotating mechanism in response to the control instruction.

[0016] In some embodiments, the soft endoscope auxiliary device includes a supporting component, the supporting component includes a first mounting portion and a second mounting portion, the first mounting portion is used to mount the control component, the second mounting portion is used to mount the control handle, and the first mounting portion and the second mounting portion are fixedly connected.

[0017] In some embodiments, the first mounting portion is configured as a first clamp, the first clamp includes an arc-shaped first half and a second half, and the first half and the second half are detachably connected.

[0018] In some embodiments, the second mounting portion is configured as a second clamp, the second clamp is configured in an arc shape and includes an assembly opening, and the assembly opening is used to allow the control handle to enter the second clamp.

[0019] One of the embodiments of the present specification provides a soft endoscope auxiliary device, which is applied to a soft endoscope, wherein the soft endoscope includes a scope body and a control handle, and is characterized in that the soft endoscope auxiliary device includes: a conveying mechanism, configured to control the movement of the scope body; a rotating mechanism, configured to control the rotation of the conveying mechanism; an optical tracking module, which is connected to the conveying mechanism and / or the rotating mechanism signal, and the optical tracking module is configured to: obtain motion information of the control handle; determine control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information; generate movement control instructions and / or rotation control instructions according to the control parameters; and send the control instructions to the conveying mechanism and / or the rotating mechanism.

[0020] In some embodiments, the optical tracking module includes at least one optical identification point and at least one motion capturer, the optical identification point is used to be set on the control handle, and the motion capturer is used to collect trajectory information of the optical identification point.

[0021] In some embodiments, the optical tracking module further includes a bracket, the bracket includes a plurality of arms, there are a plurality of optical identification points, the bracket is used to be fixed on the control handle, and the plurality of optical identification points are respectively fixed at the ends of the plurality of arms.

[0022] In some embodiments, the soft endoscope assisting device further comprises an emergency device connected to the optical tracking module, wherein the emergency device is configured to brake an unexpected movement of the control handle.

[0023] One of the embodiments of the present specification provides a flexible endoscope system, characterized in that the flexible endoscope system includes a flexible endoscope and a flexible endoscope auxiliary device as described in any of the above embodiments.

[0024] One of the embodiments of the present specification provides a soft endoscope auxiliary method, characterized in that it is applied to a soft endoscope and a soft endoscope auxiliary operation device as described in any of the above embodiments, wherein the soft endoscope includes a control handle; the method includes: collecting motion information of the control handle; determining control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information; generating movement control instructions and / or rotation control instructions according to the control parameters; sending the control instructions to the conveying mechanism and / or the rotating mechanism, and controlling the operation of the conveying mechanism and / or the rotating mechanism.

[0025] In some embodiments, control parameters of the conveying mechanism and / or the rotating mechanism are determined based on the motion information, including: determining the rotation speed of the forward and backward motor of the conveying mechanism based on the movement distance of the control handle in a preset direction; determining the rotation angle of the rotating motor of the rotating mechanism based on the rotation angle of the control handle around a preset rotation axis.

[0026] One of the embodiments of the present specification provides a soft endoscope auxiliary method, characterized in that it is applied to a soft endoscope and a soft endoscope auxiliary operation device as described in any of the above embodiments; the method includes: obtaining motion information of the control handle; determining control parameters of the conveying mechanism and the rotating mechanism based on the motion information; generating movement control instructions and / or rotation control instructions according to the control parameters; and sending the control instructions to the conveying mechanism and / or the rotating mechanism.

[0027] According to the structure of the soft endoscope auxiliary device in some of the above embodiments, its beneficial effects include but are not limited to: by setting a conveying mechanism and a rotating mechanism to replace part of the user's manual operation, the user's operation is simplified and the efficiency of controlling the mirror body is improved. Compared with the scheme of meshing transmission through gears, by setting a connecting member to directly connect the conveying mechanism with the rotating mechanism, the connection stability of the conveying mechanism and the rotating mechanism can be improved, so that the rotating mechanism can accurately control the rotation of the conveying mechanism, and then accurately control the rotation of the mirror body, improve the positioning accuracy of the far end of the mirror body, and reduce the control difficulty of the mirror body. The connecting member directly connects the conveying mechanism with the rotating mechanism, and there is no energy loss during the transmission process. In addition, the connecting member is configured to make the rotation axis of the mirror body mounting part and the rotation axis of the rotating mechanism colinear, so as to realize the coaxial rotation of the rotating mechanism and the mirror body. The connecting member can minimize the force arm of the rotating end, so as to reduce the power demand of the rotating mechanism. For example, the rotating mechanism only needs to use a micro motor to meet the torque required for rotation, thereby reducing the cost of the soft endoscope auxiliary device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0029] Figure 1 is a schematic diagram of the cooperation between the soft endoscope auxiliary device and the soft endoscope according to some embodiments of this specification;

[0030] Figure 2A The schematic diagram of connecting the conveying mechanism and the rotating mechanism according to some embodiments of the present specification Figure 1 ;

[0031] Figure 2B is a second schematic diagram of a connecting member connecting a conveying mechanism and a rotating mechanism according to some embodiments of this specification;

[0032] Figure 2C is a third schematic diagram of a connecting member connecting a conveying mechanism and a rotating mechanism according to some embodiments of this specification;

[0033] Figure 3A is a schematic diagram of the connection between the conveying mechanism and the rotating mechanism according to some embodiments of this specification;

[0034] Figure 3B is based on Figure 3A A partial cross-sectional view of the conveying mechanism and the rotating mechanism along the section line AA shown in some embodiments;

[0035] Figure 4 is a schematic structural diagram of a conveying mechanism according to some embodiments of this specification;

[0036] Figure 5 is a schematic diagram of the structure of the regulating device according to some embodiments of this specification;

[0037] Figure 6 is a schematic diagram of the structure of a conveying mechanism according to some embodiments of this specification;

[0038] Figure 7 is a schematic diagram of the structure of a conveying mechanism according to some embodiments of this specification;

[0039] Figure 8 is a schematic diagram of a moving part according to some embodiments of the present specification;

[0040] Fig. 9 is a principle block diagram of a circuit of a soft endoscope auxiliary device according to some embodiments of this specification;

[0041] Fig.10 is a structural block diagram of a control component according to some embodiments of this specification;

[0042] Fig.11A is a schematic diagram of the structure of a support component according to some embodiments of this specification;

[0043] Fig. 11B is a top view of a support component according to some embodiments of the present specification;

[0044] Fig.12 is a structural block diagram of a soft endoscope auxiliary device according to some embodiments of this specification;

[0045] Fig.13 is a schematic diagram of the structure of a soft endoscope auxiliary device according to some embodiments of this specification;

[0046] Fig.14 is a flowchart of a soft endoscope-assisted operation method according to some embodiments of the present specification;

[0047] Fig.15 It is a flowchart of the soft endoscope-assisted operation method according to some embodiments of the present specification.

[0048] The accompanying drawings are marked as follows: 100 is a soft endoscope auxiliary device; 200 is a soft endoscope; 210 is a mirror body; 220 is a control handle; 10 is a conveying mechanism; 110 is a mounting plate; 111 is a first side surface; 112 is a second side surface; 11 is a mirror body mounting portion; 12 is an advance and retreat motor; 120 is an adjustment device; 121 is a fixing portion; 122 is a sliding portion; 123 is a guide rail; 124 is a sliding member; 13 is a first transmission member; 131 is a driving wheel; 132 is a driven wheel; 130 is a clamping wheel; 133 is a first clamping wheel; 134 is a second clamping wheel; 14 is a housing; 15 is a connecting seat; 150 is an adjustment motor; 16 is a first motor seat; 160 is a transmission structure; 161 is a gear; 162 is a rack; 170 is a reset member; 171 is a spring; 172 is a first mounting seat; 1721 is a fixing block; 17 22 is the first connecting protrusion; 173 is the second mounting seat; 1731 is the second connecting protrusion; 180 is the wheel sleeve; 181 is the limiting part; 182 is the matching part; 20 is the rotating mechanism; 21 is the rotating motor; 22 is the second transmission member; 221 is the coupling; 23 is the rotor part; 24 is the second motor seat; 25 is the bearing seat; 30 is the connecting member; 31 is the wiring channel; 40 is the control component; 41 is the sensor; 42 is the processor; 43 is the signal transmission circuit; 50 is the supporting component; 51 is the first mounting part; 511 is the first clamp; 512 is the first half body; 513 is the second half body; 52 is the second mounting part; 521 is the second clamp; 522 is the assembly opening; 60 is the optical tracking module; 61 is the optical identification point; 62 is the motion capture device; 63 is the bracket; 70 is the emergency device; 80 is the robot arm. DETAILED DESCRIPTION

[0049] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0050] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0051] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0052] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0053] A soft endoscope refers to a medical device that completes inspection, diagnosis and treatment through the natural cavity of the human body. Soft endoscopes include but are not limited to gastroscopes, colonoscopes, laryngoscopes, bronchoscopes, etc. In some embodiments, the soft endoscope includes at least a mirror body for inserting into the natural cavity of the human body, and the operation of the soft endoscope includes at least locating the entrance of the cavity, controlling the movement, rotation and swing of the mirror body at the far end, and controlling the movement of surgical instruments at the far end of the mirror body. The user approaches the lesion by controlling the movement and rotation of the mirror body, and the phenomenon of inaccurate positioning of the front end of the mirror body often occurs in actual operation. In this regard, the applicant found that the movement of the mirror body is performed by a conveying mechanism, and the rotation of the mirror body is performed by a rotating mechanism. The conveying mechanism and the rotating mechanism are usually matched by transmission parts such as gear racks (such as bevel gears). These transmission parts often cause unstable matching due to various factors, which in turn causes unstable matching of the conveying mechanism and the rotating mechanism, and small output torque. Therefore, when controlling the movement and rotation of the mirror body, the user will find problems such as low positioning accuracy and great control difficulty at the front end of the mirror body.

[0054] In view of this, some embodiments of the present specification provide a soft endoscope auxiliary device, which is configured to assist a user in controlling the movement of a soft endoscope. In some embodiments, the soft endoscope auxiliary device includes a connector, which is used to connect a conveying mechanism and a rotating mechanism to provide a stable connection between the conveying mechanism and the rotating mechanism, and the connector is configured to make the rotation axis of the mirror body mounting portion colinear with the rotation axis of the rotating mechanism to improve the control accuracy of the movement and rotation of the mirror body.

[0055] In the application scenarios of some embodiments, the soft endoscope auxiliary device can be set on a mobile cart or a special operating table, at least part of the soft endoscope is connected to the soft endoscope auxiliary device, and the soft endoscope auxiliary device at least partially controls some functions of the soft endoscope, such as the soft endoscope auxiliary device controls the movement and rotation of the soft endoscope to reduce user operations. In some embodiments, the distal end of the soft endoscope can extend onto the examination bed, which refers to a platform for the human body to lie on, and the distal end of the soft endoscope is used to extend into the natural cavity of the human body to complete inspection, diagnosis and treatment operations. It should be noted that the "proximal end" and "distal end" involved in some embodiments of this specification can represent the end point, end face, end, part close to the end and having a certain length of the soft endoscope, etc. Correspondingly, "towards the proximal end" and "towards the distal end" refer to the direction toward the corresponding end point. For example, the end of the soft endoscope that extends into the human body is the "distal end"; accordingly, "towards the distal end" refers to the direction along the axis of the mirror body, toward the end that extends into the human body; the other end opposite to the distal end of the soft endoscope (end point, end face, end, part close to the end and having a certain length, etc.) is the "proximal end"; accordingly, "towards the proximal end" refers to the direction along the axis of the mirror body, away from the end that extends into the human body. "Proximal end" and "distal end" can be understood as the end face, end, part close to the end and having a certain length, etc. of a component.

[0056] Figure 1 It is a schematic diagram of the cooperation between the soft endoscope auxiliary device 100 and the soft endoscope 200 according to some embodiments of this specification.

[0057] In some embodiments, the soft endoscope 200 includes a body 210, which can be inserted into a natural cavity of the human body and perform multiple tasks such as inspection, diagnosis and treatment. The soft endoscope auxiliary device 100 is applied to the soft endoscope 200, and can assist the user to control the movement of the soft endoscope 200, thereby replacing manual assistance to the operation of the soft endoscope 200.

[0058] In some embodiments, the soft endoscope auxiliary device 100 includes a conveying mechanism 10, which is configured to control the movement of the mirror body 210, such as forward or backward. It should be noted that in some embodiments of the present specification, the movement of the mirror body 210 refers to the movement of the mirror body 210 along its central axis. Among them, the central axis of the mirror body 210 refers to the geometric center line of the axial direction of the mirror body 210. In some embodiments, the mirror body 210 can extend along a straight line or along a curved line. The axial direction of the mirror body 210 refers to the extension direction along the length of the mirror body 210, including but not limited to a straight line direction or a curved line direction. The central axis of the mirror body 210 can be a straight line or a curved line.

[0059] In some embodiments, the conveying mechanism 10 includes a mirror body mounting portion 11, and the mirror body mounting portion 11 is used to mount the mirror body 210. In some embodiments, the mirror body mounting portion 11 includes a channel for the mirror body 210 to pass through, and the mirror body 210 cooperates with the channel, and the channel is configured to apply friction to the mirror body 210, and the friction drives the mirror body 210 to move forward or backward.

[0060] In some embodiments, the conveying mechanism 10 includes an advance / retract motor 12 and a first transmission member 13 (not shown in the figure), the output end of the advance / retract motor 12 is connected to the input side of the first transmission member 13, and the output side of the first transmission member 13 is used to cooperate with the mirror body 210. The first transmission member 13 is configured to convert the rotational motion of the advance / retract motor 12 into a linear motion, thereby realizing the forward or backward motion of the mirror body 210.

[0061] For more details about the conveying mechanism 10, see Figure 3A and Figure 3B And the related descriptions are not repeated here in this manual.

[0062] In some embodiments, the soft endoscope auxiliary device 100 includes a rotating mechanism 20, which is configured to control the rotation of the conveying mechanism 10. When the mirror body 210 is matched with the mirror body mounting portion 11 of the conveying mechanism 10, the rotating mechanism 20 controls the conveying mechanism 10 to rotate, and the conveying mechanism 10 drives the mirror body 210 to rotate. The rotation of the mirror body 210 refers to the rotation of the outer surface of the mirror body 210 around the central axis direction.

[0063] In some embodiments, the rotating mechanism 20 includes a rotating motor 21 and a second transmission member 22 (not shown in the figure), the output end of the rotating motor 21 is connected to the input side of the second transmission member 22, and the output side of the second transmission member 22 is connected to the mirror body 210. The rotating motor 21 drives the mirror body 210 to rotate through the second transmission member 22.

[0064] For more details about the rotating mechanism 20, please refer to Figure 3A and Figure 3B And the related descriptions are not repeated here in this manual.

[0065] In some embodiments, the soft endoscope auxiliary device 100 includes a connector 30, which is used to connect the conveying mechanism 10 and the rotating mechanism 20. In some embodiments, one end of the connector 30 is connected to the rotating mechanism 20, and the other end of the connector 30 is connected to the conveying mechanism 10. When the rotating mechanism 20 rotates, the connector 30 drives the conveying mechanism 10 to rotate, thereby rotating the mirror body 210 mounted on the mirror body mounting portion 11.

[0066] In some embodiments, the connecting member 30 is configured so that the rotation axis of the mirror body mounting portion 11 is collinear with the rotation axis of the rotating mechanism 20. Therefore, the rotation axis of the rotating mechanism 20 is collinear with the rotation axis of the mirror body 210 in the mirror body mounting portion 11, and the rotating mechanism 20 and the mirror body 210 can achieve coaxial rotation. When the rotating mechanism 20 rotates, the mirror body 210 mounted on the mirror body mounting portion 11 and the rotating mechanism 20 keep rotating synchronously.

[0067] In some embodiments, the connector 30 includes but is not limited to a connector rod, a connector pipe, a connector plate, etc. In some embodiments, the connector 30 is an integrally formed structure to ensure the stability of the connection.

[0068] For more details about the connector 30, see FIG. 2A to FIG. 2C And the related descriptions are not repeated here in this manual.

[0069] According to the structure of the soft endoscope auxiliary device 100 in some of the above embodiments, its beneficial effects include but are not limited to: by providing the conveying mechanism 10 and the rotating mechanism 20, part of the manual operation of the user is replaced, the user's operation is simplified, and the efficiency of controlling the mirror body 210 is improved. Compared with the scheme of meshing transmission through gears, etc., by providing the connecting member 30 to directly connect the conveying mechanism 10 and the rotating mechanism 20, the connection stability of the conveying mechanism 10 and the rotating mechanism 20 can be improved, so that the rotating mechanism 20 can accurately control the rotation of the conveying mechanism 10, and then accurately control the rotation of the mirror body 210, improve the positioning accuracy of the distal end of the mirror body 210, and reduce the control difficulty of the mirror body 210. The connector 30 directly connects the conveying mechanism 10 with the rotating mechanism 20, and there is no energy loss in the transmission process. In addition, the connector 30 is configured so that the rotation axis of the scope mounting portion 11 is colinear with the rotation axis of the rotating mechanism 20, thereby realizing the coaxial rotation of the rotating mechanism 20 and the scope 210. The connector 30 can minimize the force arm of the rotating end, thereby reducing the power demand for the rotating mechanism 20. For example, the rotating mechanism 20 only needs to use a micro motor to meet the torque required for rotation, thereby reducing the cost of the soft endoscope auxiliary device 100.

[0070] Figure 2ASchematic diagram of connecting the conveying mechanism 10 and the rotating mechanism 20 by the connecting member 30 shown in some embodiments of this specification Figure 1 . Figure 2B Schematic diagram 2 of the connection between the conveying mechanism 10 and the rotating mechanism 20 by the connecting member 30 shown in some embodiments of the present specification. Figure 2C Schematic diagram 3 is a diagram showing the connection between the conveying mechanism 10 and the rotating mechanism 20 by the connecting member 30 shown in some embodiments of the present specification.

[0071] like Figure 2A As shown, in some embodiments, the rotating mechanism 20 includes a rotor portion 23 (e.g., the output shaft of the rotating motor 21), one end of the connecting member 30 is fixed to the rotor portion 23, and the other end is fixed to the conveying mechanism 10. When the rotor portion 23 rotates, the connecting member 30 drives the conveying mechanism 10 to rotate synchronously. In some embodiments, the connecting member 30 is used as a component for transmitting torque from the rotating mechanism 20 to the conveying mechanism 10, and the lever arm of the connecting member 30 is configured to enable the conveying mechanism 10 to obtain a larger torque. Among them, the lever arm of the connecting member 30 refers to the shortest distance from the connection between the connecting member 30 and the conveying mechanism 10 to the rotation axis of the conveying mechanism 10.

[0072] In some embodiments, the configuration of the connecting member 30 can be designed to avoid the mirror body 210, that is, one end of the connecting member 30 is fixed to the rotor part 23 of the rotating mechanism 20, and the other end is fixed to other components of the conveying mechanism 10 avoiding the mirror body mounting part 11, leaving space for the mirror body 210 to move and rotate, thereby avoiding motion interference.

[0073] In some embodiments, the configuration of the connector 30 is a zigzag shape, a straight line shape, a curve shape, a plate shape, etc. This specification does not limit the configuration of the connector 30.

[0074] like Figure 2A As shown, in some embodiments, the configuration of the connector 30 is a broken line type. Specifically, the configuration of the connector 30 is a broken line type including at least two sections integrally formed. For example, the connector 30 includes a first section, a second section, and a third section connected in sequence, the first section and the third section are arranged in parallel, and the second section is inclined between the first section and the third section. In some embodiments, the first section and the third section are parallel to the rotation axis of the rotating mechanism 20 to reduce the torque loss between the rotating mechanism 20 and the conveying mechanism 10. In other embodiments, the connector 30 includes other numbers of sections, such as two sections, four sections, or five sections.

[0075] like Figure 2B As shown, in some embodiments, the connector 30 is linear in configuration, with a simple structure and low processing cost.

[0076] like Figure 2CAs shown, in some embodiments, the configuration of the connector 30 is a curved structure. For example, the configuration of the connector 30 is a wavy curved structure. For another example, the configuration of the connector 30 is a spiral structure. For another example, the configuration of the connector 30 is an arc structure.

[0077] In some embodiments, the connector 30 is plate-shaped, which can enhance the stability of the connection between the conveying mechanism 10 and the rotating mechanism 20 .

[0078] In some embodiments, a wiring channel 31 is provided in the connector 30, and the wiring channel 31 is used to accommodate wiring harnesses such as electric wires and signal wires. In some embodiments, the wiring channel 31 extends along the axial direction of the connector 30, and the wiring channel 31 penetrates at least a portion of the connector 30. In some embodiments, the wiring channel 31 penetrates from one end of the connector 30 to the other end of the connector 30, so that the wiring harness can enter the conveying mechanism from the rotating device through the wiring channel 31. The wiring channel 31 can protect the wiring harness and prevent the wiring harnesses from being entangled with each other or other components from being entangled with the wiring harness during the rotation process.

[0079] In some embodiments, the connector 30 comprises a hollow tube, which is lightweight and can reduce the torque loss output by the rotating motor 21. In some embodiments, the hollow channel of the hollow tube constitutes a wiring channel 31.

[0080] In some embodiments, the connector 30 includes a solid rod, which can improve the strength and durability of the connector 30. In some embodiments, the wiring channel 31 is formed by openings inside the solid rod, or by grooves on the sidewalls of the solid rod.

[0081] In some embodiments, the material of the connector 30 includes but is not limited to metal, composite material, resin, etc. For example, the connector 30 is made of aluminum alloy, which is light in weight and can reduce the energy loss of the rotating motor 21 , and has high strength and can ensure the durability of the connector 30 .

[0082] Figure 3A It is a schematic diagram of the connection between the conveying mechanism 10 and the rotating mechanism 20 shown in some embodiments of this specification. Figure 3B is based on Figure 3A Partial cross-sectional view of the conveying mechanism 10 and the rotating mechanism 20 along the section line AA shown in some embodiments.

[0083] like Figure 3A and Figure 3BAs shown, in some embodiments, the conveying mechanism 10 includes an advance and retreat motor 12 and a first transmission member 13, and the output end of the advance and retreat motor 12 is transmission-connected to the input side of the first transmission member 13. It should be noted that the transmission connection in the embodiments of this specification can be a direct connection or an indirect connection through other transmission components. The first transmission member 13 is configured to convert the rotational motion of the advance and retreat motor 12 into a linear motion, thereby realizing the forward or backward motion of the mirror body 210. In some embodiments, the first transmission member 13 includes but is not limited to a gear system, a friction transmission system, a belt drive, a chain drive, a threaded drive, etc.

[0084] In some embodiments, the output side of the first transmission member 13 constitutes the mirror body mounting portion 11. When the advance / retract motor 12 rotates, the output side of the first transmission member 13 cooperates with the mirror body 210 and applies a driving force to the mirror body 210 to advance or retreat. The ways in which the output side of the first transmission member 13 cooperates with the mirror body 210 include but are not limited to gear meshing, friction contact, thread meshing, etc.

[0085] In some embodiments, the conveying mechanism 10 further includes a first motor seat 16, and the advance and retreat motor 12 and the first transmission member 13 are both disposed on the first motor seat 16. In some embodiments, the first motor seat 16 is plate-shaped, and the advance and retreat motor 12 and the first transmission member 13 are respectively located on both sides of the plate-shaped first motor seat 16, that is, the first motor seat 16 separates the advance and retreat motor 12 and the first transmission member 13 to avoid mutual interference between the movements of the two, thereby reducing the failure rate.

[0086] In some embodiments, the first transmission member 13 includes a driving wheel 131 and a driven wheel 132, the output end of the forward and backward motor 12 is connected to the driving wheel 131, the driven wheel 132 is arranged adjacent to the driving wheel 131, and a channel for installing the mirror body 210 is formed between the driving wheel 131 and the driven wheel 132, and the channel constitutes the mirror body installation part 11. The mirror body installation part 11 can clamp the mirror body 210 in the channel, and the mirror body 210 can move relative to the side wall of the channel.

[0087] In some embodiments, the rotation axis of the driving wheel 131 is parallel or substantially parallel to the rotation axis of the driven wheel 132. Substantially parallel means that the angle between the rotation axis of the driving wheel 131 and the rotation axis of the driven wheel 132 is between 0 and 5 degrees. In some embodiments, the mirror body 210 is sandwiched between the driving wheel 131 and the driven wheel 132 and contacts the outer surface of the mirror body 210. When the driving wheel 131 rotates, the driving wheel 131 and the driven wheel 132 respectively apply friction forces in the same direction to the outer surface of the mirror body 210, and the friction force causes the mirror body 210 to move. The conveying mechanism 10 realizes the movement of the mirror body 210 through the forward and backward motor 12 and the first transmission member 13. The overall structure is simple and easy to operate. In addition, by setting the driven wheel 132 and the driving wheel 131 to clamp the mirror body 210, the movement of the mirror body 210 is more stable.

[0088] In some embodiments, the side edges of the driving wheel 131 and the driven wheel 132 are formed with an annular groove 135 that matches the outer surface of the mirror body 210. The mirror body 210 can be relatively slidably embedded in the annular groove 135, which can improve the stability of the movement of the mirror body 210 and prevent the mirror body 210 from tilting relative to the driving wheel 131 and the driven wheel 132. In some embodiments, the driving wheel 131 and the driven wheel 132 can be rubber wheels, which can increase the friction between the mirror body 210 and reduce the wear on the mirror body 210. In some embodiments, the forward and backward motor 12 includes but is not limited to a micro motor, which has a large torque, light weight, and small size, which is conducive to simplifying the size of the conveying mechanism 10.

[0089] In some embodiments, the conveying mechanism 10 includes a housing 14, which is configured to encapsulate the advance and retreat motor 12, the first motor seat 16 and the first transmission member 13 to provide dustproof and protective functions. In some embodiments, the first transmission member 13 is disposed on the outside of the housing 14 to facilitate the installation of the mirror body 210. In some embodiments, the first motor seat 16 is integrally formed with the housing 14.

[0090] In some embodiments, the connector 30 is fixedly connected to the housing 14 of the conveying mechanism 10. In some embodiments, the conveying mechanism 10 further includes a connecting seat 15, which is fixed to the housing 14, and the other end of the connector 30 is fixedly connected to the connecting seat 15.

[0091] Figure 4 It is a schematic diagram of the structure of the conveying mechanism 10 shown in some embodiments of this specification.

[0092] In some embodiments, a flexible endoscope conveying mechanism 10 is provided, which is applied to the flexible endoscope. The conveying mechanism 10 includes a mounting plate 110 , an adjusting device 120 , two clamping wheels 130 and an advance / retract motor 12 .

[0093] In some embodiments, the conveying mechanism 10 includes a mounting plate 110. The mounting plate 110 is used to mount and carry two clamping wheels 130, an advance and retreat motor 12, and an adjusting device 120. In some embodiments, the two clamping wheels 130, the advance and retreat motor 12, and the adjusting device 120 are located on the same side of the mounting plate 110. In some embodiments, the two clamping wheels 130, the advance and retreat motor 12, and the adjusting device 120 are respectively located on different sides of the mounting plate 110, for example, the mounting plate 110 includes a first side 111 and a second side 112, the two clamping wheels 130 are located on the first side 111 of the mounting plate 110, and the advance and retreat motor 12 and the adjusting device 120 are located on the second side 112 of the mounting plate 110, so as to avoid mutual interference between the movements of the various components. In some embodiments, the conveying mechanism 10 includes a housing 14, one of the sides of which constitutes the above-mentioned mounting plate 110.

[0094] In some embodiments, the conveying mechanism 10 includes two clamping wheels 130, and a mirror body mounting portion 11 is formed between the two clamping wheels 130, and the mirror body mounting portion 11 is used to clamp the mirror body. In some embodiments, the gap between the two clamping wheels 130 along the radial direction of the two clamping wheels 130 constitutes the mirror body mounting portion 11 for clamping the mirror body. After the mirror body is clamped by the mirror body mounting portion 11, the mirror body can move in a direction perpendicular to the radial direction of the two clamping wheels 130. In some embodiments, the mirror body mounting portion 11 has a shape that is adapted to the outer surface of the mirror body.

[0095] In some embodiments, the conveying mechanism 10 includes an advance / retract motor 12, which is disposed on the mounting plate 110 and is configured to drive two clamping wheels 130 to rotate around their wheel centers. In some embodiments, one of the two clamping wheels 130 is a driving wheel 131, and the other is a driven wheel 132. The output end of the advance / retract motor 12 is in transmission connection with the driving wheel 131, and the driven wheel 132 is disposed adjacent to the driving wheel 131. A mirror body mounting portion 11 for mounting the mirror body is formed between the driving wheel 131 and the driven wheel 132. When the advance / retract motor 12 rotates, the driving wheel 131 is driven to rotate, and friction is generated between the driving wheel 131 and the mirror body, causing the mirror body to move. The movement of the mirror body causes friction between the mirror body and the driven wheel 132, further driving the mirror body to move. In other words, the driving wheel 131 and the driven wheel 132 apply friction in the same direction to the outer surface of the mirror body, respectively, and the friction causes the mirror body to move.

[0096] In some embodiments, the conveying mechanism 10 includes an adjusting device 120, and the adjusting device 120 includes a fixing portion 121 and a sliding portion 122. The fixing portion 121 is fixed to the mounting plate 110, and the sliding portion 122 is connected to at least one of the two clamping wheels 130. When the sliding portion 122 moves relative to the fixing portion 121, the distance between the wheel centers of the two clamping wheels 130 changes. In some embodiments, when the distance between the wheel centers of the two clamping wheels 130 increases, the cross-sectional size of the mirror body mounting portion 11 increases. In some embodiments, when the distance between the wheel centers of the two clamping wheels 130 decreases, the cross-sectional size of the mirror body mounting portion 11 decreases. Among them, the "cross-sectional size of the mirror body mounting portion 11" refers to the area of ​​the cross section of the mirror body mounting portion 11 coplanar with the rotation axis of the two clamping wheels. In some embodiments, the sliding portion 122 is connected to one of the two clamping wheels 130, and the sliding portion 122 drives the position of one clamping wheel 130 to change, so that the relative position of the two clamping wheels 130 changes. In some embodiments, the sliding portion 122 is connected to two clamping wheels 130, and the sliding portion 122 includes two independent parts (for example, two sliding members 124), one of which drives the position of one clamping wheel 130 to change, and the other part drives the position of the other clamping wheel 130 to change, so that the relative positions of the two clamping wheels 130 change.

[0097] According to the schemes in some of the above embodiments, the conveying mechanism 10 includes an adjusting device 120, which can change the distance between the wheel centers of the two clamping wheels 130, so that the cross-sectional size of the mirror body mounting portion 11 becomes larger or smaller, and the mirror body mounting portion 11 can adapt to mirror bodies of different cross-sectional sizes, thereby improving the adaptability of the conveying device and the mirror body, and increasing the use range of the conveying device, thereby saving costs. After the mirror body mounting portion 11 clamps the mirror body, the distance between the wheel centers of the two clamping wheels 130 is adjusted by the adjusting device 120, which can change the preload force of the two clamping wheels 130 and the mirror body, so that the mirror body and the clamping wheel 130 fit tightly, preventing the mirror body from accidentally slipping, and ensuring the accuracy of the forward and backward motor 12 when driving the mirror body to move.

[0098] Figure 5 It is a schematic diagram of the structure of the adjustment device 120 shown in some embodiments of this specification. Figure 6 It is a schematic diagram of the structure of the conveying mechanism 10 shown in some embodiments of this specification.

[0099] like Figures 3A to 5As shown, in some embodiments, the fixing portion 121 includes a guide rail 123, and the guide rail 123 is parallel or substantially parallel to the line connecting the wheel centers of the two clamping wheels 130, wherein substantially parallel means that the angle between the guide rail 123 and the line connecting the wheel centers of the two clamping wheels 130 is within the range of ±5°. In some embodiments, the guide rail 123 is fixed to the mounting plate 110 by fasteners such as bolts. In some embodiments, the protrusion integrally formed with the mounting plate 110 is configured as the guide rail 123. In some embodiments, the fixing portion 121 includes at least one guide rail 123 arranged parallel to each other, for example, the number of the guide rails 123 includes but is not limited to one, two, three, etc.

[0100] In some embodiments, the sliding portion 122 includes a sliding member 124, and the sliding member 124 is slidably matched with the guide rail 123. In some embodiments, the sliding member 124 includes a groove, and the groove is slidably matched with the guide rail 123, so that the sliding member 124 can slide relative to the guide rail 123. By providing the guide rail 123 and the sliding member 124, the direction of movement of the sliding portion 122 can be limited, so that the two clamping wheels 130 are moved away from or close to each other in the direction of the wheel center connection line, and the two clamping wheels 130 are prevented from being misaligned.

[0101] In some embodiments, the sliding portion 122 includes a sliding member 124, and one of the two clamping wheels 130 is disposed on the sliding member 124. In some embodiments, the sliding portion 122 includes two sliding members 124, and one of the two clamping wheels 130 is disposed on one of the sliding members 124, and the other clamping wheel 130 is disposed on the other sliding member 124.

[0102] In some embodiments, the two clamping wheels 130 include a first clamping wheel 133 and a second clamping wheel 134 . The first clamping wheel 133 is rotatably disposed on the sliding portion 122 around an axis passing through the wheel center, and the second clamping wheel 134 is connected to the output shaft of the advance and retreat motor 12 .

[0103] In some embodiments, a rotating shaft is provided on the sliding member 124, and the first clamping wheel 133 is rotatably connected to the rotating shaft. When the advance and retract motor 12 drives the second clamping wheel 134 to rotate, it drives the first clamping wheel 133 to rotate, so that the first clamping wheel 133 and the second clamping wheel 134 drive the mirror body to move.

[0104] In some embodiments, the second clamping wheel 134 is connected to the advance / retract motor 12 via a key. In some embodiments, the second clamping wheel 134 is connected to the advance / retract motor 12 via a coupling.

[0105] In some embodiments, the fixed portion 121 includes an adjusting motor 150 and a transmission structure 160, and the sliding portion 122 is connected to the output shaft of the adjusting motor 150 through the transmission structure 160. The adjusting motor 150 is configured to drive at least one of the two clamping wheels 130 to move so that the wheel centers of the two clamping wheels 130 move away from or closer to each other.

[0106] In some embodiments, the sliding portion 122 includes a sliding member 124, and the clamping wheel 130 includes a first clamping wheel 133 and a second clamping wheel 134. The first clamping wheel 133 is disposed on the sliding member 124, and the second clamping wheel 134 is connected to the advance and retreat motor 12, and the advance and retreat motor 12 is fixed to the mounting plate 110. The adjustment motor 150 is configured to drive the sliding member 124 to slide relative to the guide rail 123, thereby driving the wheel center of the first clamping wheel 133 to move away from or approach the wheel center of the second clamping wheel 134.

[0107] In some embodiments, the sliding portion 122 includes a first sliding member 124 and a second sliding member (not shown in the figure), and the clamping wheel 130 includes a first clamping wheel 133 and a second clamping wheel 134, the first clamping wheel 133 is arranged on the first sliding member 124, and the second clamping wheel 134 is connected to the advance and retreat motor 12, and the advance and retreat motor 12 is arranged on the second sliding member. The adjustment motor 150 is configured to drive the first sliding member 124 and the second sliding member to slide relative to the guide rail 123 respectively through the transmission structure 160, thereby driving the wheel center of the first clamping wheel 133 and the wheel center of the second clamping wheel 134 to move away from or approach each other.

[0108] In some embodiments, the transmission structure 160 includes a gear 161 and a rack 162 that mesh with each other, the gear 161 is fixed to the output shaft of the adjustment motor 150, and the rack 162 is fixed to the sliding part 122. In some embodiments, the gear 161 is fixedly connected to the output shaft of the adjustment motor 150 through a key or a coupling, and the rack 162 is fixedly connected to the sliding member 124 of the sliding part 122. In some embodiments, the extension direction of the rack 162 is parallel or substantially parallel to the extension direction of the guide rail 123. In some embodiments, when the adjustment motor 150 rotates, the gear 161 is driven to rotate, the gear 161 drives the rack 162 to move linearly, and the rack 162 drives the sliding member 124 to slide relative to the guide rail 123. The transmission torque is more stable through the cooperation of the gear 161 and the rack 162.

[0109] In some embodiments, the position between the two clamping wheels 130 includes an initial position and a clamping position. The initial position refers to the position of the sliding member 124 on the guide rail 123 when no force is applied, and the clamping position refers to the position where the mirror body mounting portion 11 of the two clamping wheels 130 cooperates with the mirror body.

[0110] In some embodiments, the adjustment device 120 further includes a reset member 170, which is configured to drive at least one of the two clamping wheels 130 to move, so that the two clamping wheels 130 are reset from the clamping position to the initial position. In some embodiments, the reset member 170 drives one of the two clamping wheels 130 to move, so that the two clamping wheels 130 are reset from the clamping position to the initial position. In some embodiments, the reset member 170 drives the two clamping wheels 130 to move, so that the two clamping wheels 130 are reset from the clamping position to the initial position.

[0111] In some embodiments, the reset member 170 includes a spring 171, a first mounting seat 172, and a second mounting seat 173. The first mounting seat 172 is fixed to the mounting plate 110, and the second mounting seat 173 is fixed to the sliding portion 122. One end of the spring 171 is connected to the first mounting seat 172, and the other end is connected to the second mounting seat 173. In some embodiments, the first mounting seat 172 includes a fixing block 1721 and a first connecting protrusion 1722 provided on the fixing block 1721. The fixing block 1721 is fixed to the mounting plate 110, and the first connecting protrusion 1722 is fixedly matched with one end of the spring 171. In some embodiments, the second mounting seat 173 includes a second connecting protrusion 1731, and the second connecting protrusion 1731 is fixedly matched with the other end of the spring 171. In some embodiments, the arrangement positions of the first connecting protrusion 1722 and the second connecting protrusion 1731 make the extension direction of the spring 171 parallel to the extension direction of the guide rail 123.

[0112] In some embodiments, the reset member 170 includes at least two groups, and the expansion and contraction directions of the springs 171 of each group of reset members 170 are arranged in parallel. Providing multiple groups of reset members 170 can provide a greater reset driving force for the clamping wheel 130.

[0113] In some embodiments, when the adjusting motor 150 causes the wheel centers of the two clamping wheels 130 to move away from each other, the spring 171 is compressed. When the adjusting motor 150 stops, the spring 171 stretches to a natural state under the action of the elastic restoring force, and the two clamping wheels 130 return to their initial positions. When the adjusting motor 150 causes the wheel centers of the two clamping wheels 130 to move closer to each other, the spring 171 is stretched. When the adjusting motor 150 stops, the spring 171 shortens to a natural state under the action of the elastic restoring force, and the two clamping wheels 130 return to their initial positions. By setting the spring 171, the two clamping wheels 130 are automatically reset to their initial positions without the involvement of the adjusting motor 150, which saves more energy consumption of the conveying mechanism 10.

[0114] Figure 7 It is a schematic diagram of the structure of the conveying mechanism 10 shown in some embodiments of this specification.

[0115] Some embodiments of the present specification also provide a conveying mechanism 10, which is applied to a flexible endoscope. The conveying mechanism 10 includes two clamping wheels 130, an advance and retreat motor 12, and a wheel sleeve 180. A mirror body mounting portion 11 is formed between the two clamping wheels 130, and the mirror body mounting portion 11 is used to clamp the mirror body; the advance and retreat motor 12 is configured to drive the two clamping wheels 130 to rotate around their wheel centers respectively. More embodiments of the two clamping wheels 130 and the advance and retreat motor 12 can be found in Figures 4 to 6 and its related description.

[0116] In some embodiments, the wheel sleeve 180 is provided on at least one of the two clamping wheels 130, and the wheel sleeve 180 is detachably connected to the clamping wheel 130. In some embodiments, one of the two clamping wheels 130 is provided with a detachable wheel sleeve 180, and the other clamping wheel 130 is not provided with a wheel sleeve 180. In some embodiments, the two clamping wheels 130 are respectively provided with wheel sleeves 180. In some embodiments, the wheel sleeve 180 is sleeved on the outer rim of the clamping wheel 130 and detachably cooperates with the clamping wheel 130.

[0117] According to the conveying mechanism 10 in some of the above-mentioned embodiments, the wheel sleeve 180 of the conveying mechanism 10 is detachably connected to the clamping wheel 130. When the conveying mechanism 10 cooperates with a mirror body with different cross-sectional sizes, the mirror body mounting portion 11 between the two clamping wheels 130 is matched with the cross-sectional size of the mirror body by removing the wheel sleeve 180 and replacing it with a wheel sleeve 180 of different thicknesses, thereby improving the compatibility of the conveying device and the mirror body, increasing the use range of the conveying device, and saving costs.

[0118] In some embodiments, the wheel cover 180 is a disposable consumable. In some embodiments, the wheel cover 180 is a component that can be cleaned and disinfected. Since the wheel cover 180 is in direct contact with the mirror body, the mirror body, as an instrument that extends into the natural cavity of the human body, has a high requirement for sterility. Therefore, the wheel cover 180 is detachably connected to the clamping wheel 130. After use, the wheel cover 180 can be directly disassembled as medical waste or recycled for cleaning and disinfection, and the conveying device replaces the new wheel cover 180 for the next operation. In this way, the hygiene of the mirror body can be ensured and cross infection during surgery can be avoided.

[0119] In some embodiments, at least one of the wheel sleeve 180 and the clamping wheel 130 includes a limiting portion 181, and the other includes a matching portion 182. The limiting portion 181 and the matching portion 182 cooperate with each other to limit the relative rotation of the wheel sleeve 180 and the clamping wheel 130. After the wheel sleeves 180 of the two clamping wheels 130 cooperate with the mirror body, the position in contact with the mirror body generates a friction force along the tangential direction of the clamping wheel 130. By providing the limiting portion 181 and the matching portion 182 between the wheel sleeve 180 and the clamping wheel 130, the relative rotation between the wheel sleeve 180 and the clamping wheel 130 is limited, so that the output torque of the advance and retreat motor 12 is fully transmitted to the mirror body, thereby improving the stability and accuracy of the advance and retreat motor 12 in controlling the movement of the mirror body.

[0120] In some embodiments, a radially protruding protrusion is formed on the outer edge of the clamping wheel 130 , and the protrusion is configured as a limiting portion 181 . A slot that cooperates with the protrusion is formed on the inner edge of the wheel sleeve 180 , and the slot is configured as a matching portion 182 .

[0121] In some embodiments, the inner edge of the wheel sleeve 180 is formed with a radially protruding protrusion, which is configured as a limiting portion 181 , and the outer edge of the clamping wheel 130 is formed with a slot that cooperates with the protrusion, which is configured as a matching portion 182 .

[0122] In some embodiments, a radially concave groove is formed on the outer edge of the wheel sleeve 180, and the groove is configured as a limiting portion 181. The mating portion 182 of the clamping wheel 130 includes an L-shaped structure, one end of which is fixed to the clamping wheel 130, and the other end is clamped in the groove of the wheel sleeve 180.

[0123] In some embodiments, the material of the wheel cover 180 includes but is not limited to at least one of thermoplastic polyurethane elastomer rubber, silicone rubber, fluororubber, polycarbonate-based polyurethane, etc. These materials make the wheel cover 180 have a certain elasticity, so that the wheel cover 180 can be closely fitted with the clamping wheel 130 through elastic force after being installed on the clamping wheel 130. In addition, the wheel cover 180 has a certain elasticity, which can increase the friction between the mirror body and reduce the wear on the mirror body.

[0124] In some embodiments, the rotating mechanism 20 includes a rotating motor 21 and a second transmission member 22, wherein the output end of the rotating motor 21 is connected to the input side of the second transmission member 22, and the output side of the second transmission member 22 is connected to the mirror body 210. The rotating motor 21 drives the mirror body 210 to rotate through the second transmission member 22.

[0125] In some embodiments, the rotating mechanism 20 further includes a second motor base 24 . The rotating motor 21 and the second transmission member 22 are both disposed on the second motor base 24 .

[0126] In some embodiments, the second transmission member 22 includes a coupling 221 , which connects the output shaft of the rotary motor 21 and the connecting member 30 , and the output shaft of the rotary motor 21 transmits the torque to the connecting member 30 through the coupling 221 .

[0127] In some embodiments, the rotating mechanism 20 also includes a bearing and a bearing seat 25, the bearing seat 25 is fixedly connected to the second motor seat 24, the bearing is arranged in the bearing seat 25, the coupling 221 and / or at least a portion of the connecting member 30 is arranged in the bearing, and the bearing is used to provide support force to the connecting member 30 to ensure the rotational stability of the connecting member 30.

[0128] Figure 8 is a schematic diagram of moving parts according to some embodiments of the present specification.

[0129] In some embodiments, the soft endoscope auxiliary device 100 includes a moving part, and the moving part includes the above-mentioned conveying mechanism 10 and rotating mechanism 20. In some embodiments, the moving part also includes a multi-degree-of-freedom robot arm 80 that controls the movement and / or rotation of the mirror body 210, and the rotating mechanism 20 and the conveying mechanism 10 are both arranged on the robot arm 80. In some embodiments, the moving part also includes a fixed bracket 63, and the rotating mechanism 20 and the conveying mechanism 10 are both arranged on the fixed bracket 63.

[0130] Fig. 9 It is a principle block diagram of the circuit of the soft endoscope auxiliary device 100 shown in some embodiments of this specification.

[0131] In some embodiments, the soft endoscope 200 includes a control handle 220, which may be a handle for a user to manually operate the mirror body 210. In some embodiments, the control handle 220 controls the movement or rotation of the mirror body 210 by its own motion. In some embodiments, the control handle 220 includes at least one dial or knob, which is used to control the bending of the distal end of the mirror body 210, that is, to control the swing of the distal end of the mirror body 210 relative to its original axis, so as to facilitate the distal end of the mirror body 210 to approach and face the lesion.

[0132] In some embodiments, the soft endoscope auxiliary device 100 includes a control component 40. The control component 40 is used to collect motion information of the control handle 220, and then control the scope 210 to move or rotate based on the motion information by means of the conveying mechanism 10 and / or the rotating mechanism 20.

[0133] In some embodiments, the control component 40 is configured to collect motion information of the control handle 220. The motion information of the control handle 220 includes but is not limited to motion trajectory information, angle rotation information, motion direction information, motion speed information, motion acceleration information, etc.

[0134] In some embodiments, the control component 40 is configured to determine control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information. The control parameters include but are not limited to the output speed, output angle, output direction, output power, etc. of the conveying mechanism 10 and / or the rotating mechanism 20.

[0135] In some embodiments, there is a mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20, and the conveying mechanism 10 and / or the rotating mechanism 20 are configured to control the movement and / or rotation of the mirror body 210 according to the control parameters. For example, there is a mapping relationship between the movement trajectory of the control handle 220 and the output speed of the conveying mechanism 10 and / or the rotating mechanism 20. Specifically, the user moves the control handle 220 in a preset direction, and the control component 40 determines the output speed of the forward and backward motor 12 of the conveying mechanism 10 and / or the rotating mechanism 20 according to the mapping relationship, and the forward and backward motor 12 controls the mirror body 210 to move forward or backward. For another example, there is a mapping relationship between the rotation angle of the control handle 220 and the output angle of the conveying mechanism 10 and / or the rotating mechanism 20. Specifically, the user rotates the control handle 220, and the control component 40 determines the output angle of the rotating motor 21 of the conveying mechanism 10 and / or the rotating mechanism 20 according to the mapping relationship, and the rotating motor 21 controls the mirror body 210 to rotate. In other embodiments, there is a mapping relationship between the movement direction information of the control handle 220 and the output direction of the conveying mechanism 10 and / or the rotating mechanism 20, or there is a mapping relationship between the speed information and the movement acceleration information of the control handle 220 and the output power of the conveying mechanism 10 and / or the rotating mechanism 20, and the embodiments of this specification are not limited to this.

[0136] In some embodiments, the control component 40 is configured to generate a movement control instruction and / or a rotation control instruction according to the control parameters, wherein the control instruction is determined according to a mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 .

[0137] In some embodiments, the control component 40 is configured to send control instructions to the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the control component 40 can send control instructions to the conveying mechanism 10 and / or the rotating mechanism 20 in a wireless or wired manner, and the conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control instructions, thereby controlling the mirror body 210 to move forward, backward, and rotate.

[0138] In some embodiments, the control component 40 is connected to the control handle 220 to facilitate the collection of motion information of the control handle 220. In some embodiments, the control component 40 is detachably connected to the control handle 220. For example, the control component 40 is connected to the control handle 220 by means of a support sleeve, a buckle, a screw, etc., so that the control component 40 can adapt to various models of the mirror body 210 or the control handle 220, improve the utilization rate and reduce the cost of use. In some embodiments, the control component 40 is fixedly connected to the control handle 220 in an undetachable manner. For example, the control component 40 is connected to the control handle 220 by means of welding, an adhesive, etc., to improve the connection stability of the control component 40 and the control handle 220.

[0139] In some embodiments, the control component 40 is connected to the conveying mechanism 10 and / or the rotating mechanism 20 by signal, so as to control the movement or rotation of the mirror body 210 by means of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information. In some embodiments, the control component 40 establishes signal communication with the conveying mechanism 10 and / or the rotating mechanism 20 by wireless connection or wired connection to realize data exchange between the control component 40 and the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the wired connection includes but is not limited to metal cables, optical cables, or hybrid cables of metal and optics. In some embodiments, the wireless connection includes but is not limited to radio communication, free space optical communication, acoustic communication, and electromagnetic induction.

[0140] In some embodiments, the control component 40 includes but is not limited to a touch device or a posture sensor 41, etc. The control component 40 itself is integrated with a chip or a processor 42, which can not only collect the motion information of the control handle 220, but also determine the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the control component 40 includes a sensor 41 (such as a strain gauge, a gyroscope, etc.) and a control device, the sensor 41 is used to sense the motion information of the control handle 220, and then send the sensed motion information to the control device, and the control device generates the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20.

[0141] Fig.10 It is a structural block diagram of the control component 40 shown in some embodiments of this specification.

[0142] In some embodiments, the control component 40 includes a sensor 41, a processor 42 and a signal transmission circuit 43. The sensor 41 is used to collect motion information of the control handle 220, the processor 42 is used to generate control instructions based on the motion information, and the signal transmission circuit 43 is configured to control the operation of the conveying mechanism 10 and / or the rotating mechanism 20 in response to the control instructions.

[0143] According to the structure of the soft endoscope auxiliary device 100 in some embodiments, the control component 40 collects the motion information of the control handle 220 and determines the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20. The conveying mechanism 10 and / or the rotating mechanism 20 control the mirror body 210 to move or rotate based on the control parameters. The user can control the soft endoscope 200 by operating the control handle 220, which can maximize the training of the user (especially medical staff, etc.) in the manipulation technology, and complete the operation more safely and effectively, and also reduce the fatigue of the user caused by holding the mirror for a long time. In other words, with the help of the soft endoscope auxiliary device 100, the user can free the hand that originally needs to hold the mirror body, and operate other medical instruments of the soft endoscope 200 with both hands, so as to complete the operation more quickly and efficiently, and can greatly reduce the labor intensity of the user and improve the user's concentration on the premise of ensuring the safety of the operation, which is more conducive to ensuring the safety of the operation. The soft endoscope auxiliary device 100 in some embodiments can replace part of the user's hand operations, simplifying the user's hand movements and eliminating the need for assistant assistance, thereby reducing labor costs and communication costs and helping to improve operational efficiency.

[0144] In some embodiments, there is a mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10. Further, the mapping relationship reflects the relationship between the motion information of the control handle 220 and the control parameters of the advance and retreat motor 12. The control component 40 is configured to collect the motion information of the control handle 220 and determine the control parameters of the advance and retreat motor 12, and the control parameters include but are not limited to the motor speed, the motor rotation direction, the motor power, the motor current, etc.

[0145] In some embodiments, the mapping relationship includes the relationship between the moving distance of the control handle 220 in a preset direction and the rotation speed of the advance and retreat motor 12. The preset direction refers to any direction that is straight relative to the initial position of the control handle 220 as the origin. In other words, the direction in which the moving trajectory of the control handle 220 is a straight line can be defined as the preset direction. For example, the preset direction can be parallel to the central axis direction of the mirror body 210; or, the preset direction can be a direction perpendicular to the central axis of the mirror body 210. In some embodiments, the mapping relationship also includes the relationship between the preset direction of the control handle 220 and the rotation direction of the motor. For example, when the control handle 220 is set to move toward the distal end of the mirror body 210 in a direction parallel to the central axis of the mirror body 210, the advance and retreat motor 12 rotates forward, and the mirror body 210 moves forward in the axial direction; conversely, when the control handle 220 moves away from the distal end of the mirror body 210 in a direction parallel to the central axis of the mirror body 210, the advance and retreat motor 12 rotates reversely, and the mirror body 210 moves backward in the axial direction.

[0146] In some embodiments, the control component 40 is configured to determine the speed of the advance / retract motor 12 of the conveying mechanism 10 based on the moving distance of the control handle 220 in the preset direction. In some embodiments, with the initial position of the control handle 220 as the origin, the user operates the control handle 220 to move, and the control component 40 collects the motion information of the control handle 220, which includes but is not limited to the trajectory shape (e.g., straight line, close to a straight line, curve, etc.) and the moving distance of the control handle 220. When the control component 40 determines that the control handle 220 moves in a straight line or close to a straight line in the preset direction, the moving distance of the control handle 220 is matched with the speed of the advance / retract motor 12 based on the mapping relationship, thereby controlling the movement of the mirror body 210.

[0147] In some embodiments, the mapping relationship between the moving distance of the control handle 220 in the preset direction and the speed of the forward and backward motor 12 includes at least a reverse gear, a stop gear, and a forward gear. The following takes the moving distance range of the control handle 220 in the preset direction as -90mm to 130mm as an example to respectively explain the reverse gear, the stop gear, and the forward gear.

[0148] The backward gear position includes: when the moving distance X of the control handle 220 in the preset direction is [-90, 0], the speed of the forward and backward motor 12 is: V = ((X-40) × 2.78 × K × 2πr × i) / 360. Among them, K is the gear position coefficient, r is the shortest distance between the rotation axis of the forward and backward motor 12 and the central axis of the mirror body 210, in other words, r is the shortest distance between the wheel center of the driving wheel 131 and the central axis of the mirror body 210 (see Figure 3A ), i is the reduction ratio of the advance / retract motor 12. At this time, the advance / retract motor 12 controls the mirror body 210 to retreat along the axial direction.

[0149] The stop position includes: when the moving distance X of the control handle 220 in the preset direction is [0, 40], the speed of the advance / retract motor 12 is: V = 0. At this time, the advance / retract motor 12 does not rotate, and the mirror body 210 remains stationary.

[0150] The forward gear includes: when the moving distance X of the control handle 220 in the preset direction is [40, 130], the speed of the forward and backward motor 12 is: V = (X × 2.78 × K × 2πr × i) / 360. Among them, K is the gear coefficient, r is the shortest distance between the rotation axis of the forward and backward motor 12 and the central axis of the mirror body 210, in other words, r is the shortest distance between the wheel center of the driving wheel 131 and the central axis of the mirror body 210 (see Figure 3A ), i is the reduction ratio of the advance / retract motor 12. At this time, the advance / retract motor 12 controls the mirror body 210 to advance along the axial direction.

[0151] In some embodiments, the shortest distance r between the rotation axis of the advance / reverse motor 12 and the central axis of the mirror body 210 is 22 mm, the reduction ratio i of the advance / reverse motor 12 is 1 / 10, and the gear coefficient K=1, 2, 3…26. Then, in the reverse gear, the rotation speed V∈[-13.86Kmm / s, -3.86Kmm / s] of the advance / reverse motor 12; in the stop gear, the rotation speed V=0 of the advance / reverse motor 12; in the forward gear, the rotation speed V∈[4.26Kmm / s, 13.86Kmm / s]. In some embodiments, the maximum rotation speed of the advance / reverse motor 12 is set to 138 mm / s to prevent the mirror body 210 from moving too fast and to ensure the stability of the movement of the mirror body 210.

[0152] In some embodiments, there is a mapping relationship between the motion information of the control handle 220 and the control parameters of the rotating mechanism 20. Further, the mapping relationship reflects the relationship between the motion information of the control handle 220 and the control parameters of the rotating motor 21. The control component 40 is configured to collect the motion information of the control handle 220 and determine the control parameters of the rotating motor 21, and the control parameters include but are not limited to the motor speed, the motor rotation direction, the motor power, the motor current, etc.

[0153] In some embodiments, the above mapping relationship includes the relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21. The angle at which the control handle 220 rotates around the preset axis is determined as the rotation angle. The preset axis includes but is not limited to the central axis of the control handle 220 structure, the vertical line along the gravity direction passing through the control handle 220, etc. In some embodiments, the user operates the control handle 220 to rotate around the preset axis, the control component 40 collects the rotation angle of the control handle 220, and matches the rotation angle of the control handle 220 with the rotation angle of the rotary motor 21 based on the mapping relationship, thereby controlling the rotation of the mirror body 210. In some embodiments, the control handle 220 rotates forward around the preset axis, and the rotary motor 21 rotates forward, thereby controlling the conveying mechanism 10 to rotate forward; conversely, the control handle 220 rotates reversely around the preset axis, and the rotary motor 21 rotates reversely, thereby controlling the conveying mechanism 10 to reverse.

[0154] In some embodiments, after the control component 40 collects the rotation angle of the control handle 220, the rotation angle data is preprocessed to obtain processed data. In some embodiments, preprocessing includes but is not limited to data cleaning, data integration, data transformation and data reduction, etc., to clean up abnormal values ​​in the data, correct erroneous data or fill in missing data. In some embodiments, the control component 40 sets the data range of the rotation angle of the control handle 220 after processing to 0 to 180°. In other embodiments, the control component 40 sets the data range of the rotation angle of the control handle 220 after processing to 0 to 150°, 0 to 120°, 0 to 90°, etc.

[0155] In some embodiments, the mapping relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21 is an absolute angle correspondence relationship, that is, the rotation angle of the rotary motor 21 is consistent with the rotation angle of the control handle 220. For example, when the control handle 220 rotates 90°, the control component 40 controls the rotary motor 21 to rotate 90°, so that the mirror body 210 rotates 90° around the central axis.

[0156] In some embodiments, the mapping relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21 is a relative angle correspondence relationship, that is, the rotation angle of the rotary motor 21 is in a functional relationship with the rotation angle of the control handle 220. For example, when the control handle 220 rotates 90°, the control component 40 controls the rotary motor 21 to rotate 45°, so that the mirror body 210 rotates 45° around the central axis.

[0157] In some embodiments, the control component 40 is configured to adjust the speed of the rotating motor 21. For example, the speed of the rotating motor 21 can be set to 5° / s to 90° / s to prevent the rotating motor 21 from having too high a speed and affecting the accuracy of the rotation angle. In some embodiments, the speed of the rotating motor 21 can be adjusted by setting a reducer, a constant torque inverter, or the like, or the speed of the rotating motor 21 can be adjusted by changing the input power and / or input current of the rotating motor 21.

[0158] In some embodiments, the soft endoscope auxiliary device 100 includes a control switch, which is configured to start and stop the control to avoid accidental misoperation and improve surgical safety. In some embodiments, the control switch includes but is not limited to a button, a lever, a foot pedal, etc., and the control switch is communicatively connected to the control component 40.

[0159] Fig.11A It is a schematic diagram of the structure of the support component 50 shown in some embodiments of the present specification. Fig. 11B is a top view of a support component 50 according to some embodiments of the present specification.

[0160] like Fig.11A and Fig. 11B As shown, in some embodiments, the flexible endoscope auxiliary device 100 includes a supporting component 50 , and the supporting component 50 is used to fix and support the control component 40 and the control handle 220 .

[0161] In some embodiments, the support component 50 includes a first mounting portion 51 and a second mounting portion 52, wherein the first mounting portion 51 is used to mount the control component 40, and the second mounting portion 52 is used to mount the control handle 220, and the first mounting portion 51 and the second mounting portion 52 are fixedly connected. The control component 40 and the control handle 220 are connected by the first mounting portion 51 and the second mounting portion 52 to ensure that the control component 40 and the control handle 220 move in coordination, which is conducive to improving the accuracy of the control component 40 in collecting the motion information of the control handle 220.

[0162] In some embodiments, the control component 40 is non-detachably mounted in the first mounting portion 51 to improve the stability of the control component 40. In some embodiments, the control component 40 is detachably mounted in the first mounting portion 51 to facilitate replacement of different control components 40 and save costs.

[0163] In some embodiments, the control handle 220 is non-detachably mounted in the second mounting portion 52 to improve the stability of the control handle 220. In some embodiments, the control handle 220 is detachably mounted in the second mounting portion 52 to facilitate replacement of different control handles 220 and save costs.

[0164] In some embodiments, the first mounting portion 51 is configured as a first clamp 511 , and the control component 40 is clamped in the first clamp 511 .

[0165] In some embodiments, the first clamp 511 includes an arc-shaped first half body 512 and a second half body 513, and the first half body 512 and the second half body 513 are detachably connected to facilitate the installation of the control component 40. In some embodiments, both sides of the first half body 512 and the second half body 513 are connected by buckles, screws, etc. In some embodiments, one side of the first half body 512 and the second half body 513 are hinged, and the other side is connected by buckles, screws, etc.

[0166] In some embodiments, the second mounting portion 52 is configured as a second clamp 521 , and the control handle 220 is disposed in the second clamp 521 .

[0167] In some embodiments, the second clamp 521 is configured in an arc shape and includes an assembly opening 522, and the assembly opening 522 is used to allow the control handle 220 to enter the second clamp 521. In some embodiments, the opening spacing of the assembly opening 522 and at least a portion of the structure at the assembly opening 522 are elastic. During assembly, the control handle 220 squeezes the assembly opening 522, and the assembly opening 522 expands due to elastic deformation, and the control handle 220 enters the second clamp 521 from the assembly opening 522, and then the assembly opening 522 returns to its original shape and forms a limit for the control handle 220.

[0168] In some embodiments, a channel matching the shape of the control handle 220 is formed in the second clamp 521 , and the shape of the channel includes but is not limited to a straight cylinder, a truncated cone, etc., so that the channel and the control handle 220 fit more closely.

[0169] Fig.12 It is a structural block diagram of a soft endoscope auxiliary device 100 according to some embodiments of the present specification.

[0170] In other embodiments of the present specification, a soft endoscope auxiliary device 100 is also provided, which is applied to a soft endoscope 200. The soft endoscope 200 includes a mirror body 210, which can be used to insert into a natural cavity of a human body and perform multiple tasks such as inspection, diagnosis and treatment. The soft endoscope 200 also includes a control handle 220, which can be a handle for a user to manually operate the mirror body 210. The soft endoscope auxiliary device 100 is applied to the soft endoscope 200, and can assist the user to control the movement of the soft endoscope 200, thereby replacing manual assistance to the operation of the soft endoscope 200.

[0171] In some embodiments, the soft endoscope auxiliary device 100 includes a conveying mechanism 10, which is configured to control the movement of the mirror body 210. In some embodiments, the soft endoscope auxiliary device 100 includes a rotating mechanism 20, which is configured to control the rotation of the conveying mechanism 10. For more details about the conveying mechanism 10 and the rotating mechanism 20, see Figures 1 to 11B And the related descriptions are not repeated here in this manual.

[0172] In some embodiments, the soft endoscope auxiliary device 100 further includes an optical tracking module 60, which is connected to the conveying mechanism 10 and / or the rotating mechanism 20 by signal. In some embodiments, the optical tracking module 60 can be based on the principle of computer vision, and the image acquisition device monitors and tracks the feature points at the far end of the mirror body 210 from different angles, thereby capturing the motion information of the control handle 220, and determining the operating parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information of the control handle 220.

[0173] Fig.13 It is a schematic diagram of the structure of a soft endoscope auxiliary device 100 according to some embodiments of the present specification.

[0174] like Fig.13 As shown, in some embodiments, the optical tracking module 60 includes at least one optical identification point 61, which is used to be set on the control handle 220 to mark the position characteristics of the control handle 220. In some embodiments, the optical identification point 61 includes but is not limited to a light-emitting component or a reflective component, such as an LED light or a reflective coating.

[0175] In some embodiments, the optical tracking module 60 further includes a bracket 63, the bracket 63 includes a plurality of arms, and there are a plurality of optical identification points 61. The bracket 63 is used to be fixed on the control handle 220, and the plurality of optical identification points 61 are respectively fixed at the ends of the plurality of arms. The plurality of optical identification points 61 can more accurately reflect the state of movement of the control handle 220, and will not affect the grip of the control handle 220.

[0176] In some embodiments, the optical tracking module 60 includes at least one motion capture device 62, and the motion capture device 62 is used to collect the trajectory information of the optical marking point 61. In some embodiments, the motion capture device 62 includes but is not limited to a camera, a video camera, a scanner, etc. In some embodiments, the motion capture device 62 is set on a workbench to prevent the motion capture device 62 from affecting the movement of the control handle 220. In some embodiments, multiple motion capture devices 62 can be set to capture the movement of the optical marking point 61 from different positions and angles. The optical tracking module 60 processes the capture results of multiple motion capture devices 62 to obtain the effective movement of the optical marking point 61, thereby improving the accuracy of the movement information of the control handle 220.

[0177] In some embodiments, the optical tracking module 60 includes a data processing platform (not shown in the figure), which is configured to process the motion information of the optical identification point 61 obtained by the motion capture device 62, including but not limited to data cleaning, data calculation, data storage, data conversion, data output, etc. of the motion information.

[0178] In some embodiments, the optical tracking module 60 includes a signal transmission device (not shown). In some embodiments, the signal transmission device is connected to the motion capture device 62 and the data processing platform by signals, respectively, to establish communication between the motion capture device 62 and the data processing platform. In some embodiments, the signal transmission device is also connected to the conveying mechanism 10 and the rotating mechanism 20 by signals, to establish communication between the data processing platform and the conveying mechanism 10, and to establish communication between the data processing platform and the rotating mechanism 20.

[0179] In some embodiments, the optical tracking module 60 is configured to obtain motion information of the control handle 220 .

[0180] In some embodiments, the motion information of the control handle 220 includes, but is not limited to, motion trajectory information, angle rotation information, motion direction information, motion speed information, motion acceleration information, etc.

[0181] In some embodiments, the optical tracking module 60 captures the motion trajectory of the optical mark point 61 of the control handle 220 through the motion capture device 62, and determines the motion information of the control handle 220 based on the motion trajectory of the optical mark point 61. In some embodiments, the optical tracking module 60 determines the motion trajectory of the optical mark point 61 based on the time sequence trajectory of the optical mark point 61. For example, the motion capture device 62 captures an image of the optical mark point 61 every 0.1 seconds, and then compares the position information of the optical mark point 61 at the current moment with the position information of the optical mark point 61 at the previous moment, and analyzes the position information of the optical mark point 61 at multiple moments to obtain the motion trajectory of the optical mark point 61.

[0182] In some embodiments, the optical tracking module 60 cooperates with the control handle 220 to jointly control the movement of the mirror body 210. For example, the optical tracking module 60 analyzes the movement information of the control handle 220 and further infers the user's movement intention of operating the control handle 220. For example, if the optical tracking module 60 obtains that the control handle 220 continues to move forward, it can be inferred that the user needs the mirror body 210 to move forward.

[0183] In some embodiments, the optical tracking module 60 is configured to determine the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information of the control handle 220. In some embodiments, the control parameters of the conveying mechanism 10 and the rotating mechanism 20 include but are not limited to the output speed, output angle, output direction, output power, etc. of the conveying mechanism 10 and / or the rotating mechanism 20.

[0184] In some embodiments, the optical tracking module 60 determines the motor speed, motor power, motor current and other control parameters of the forward and backward motor 12 of the conveying mechanism 10 based on the moving distance or moving speed of the control handle 220. In some embodiments, the optical tracking module 60 determines the rotation angle of the rotating motor 21 based on the rotation angle of the mirror body 210.

[0185] In some embodiments, the optical tracking module 60 is configured to generate a control instruction for the conveying mechanism 10 and / or the rotating mechanism 20 according to the control parameters. The control instruction is determined according to the mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20. For more information about the mapping relationship, see Figures 1 to 11B The mapping relationships in some of the embodiments shown will not be described in detail in this specification.

[0186] In some embodiments, the optical tracking module 60 is configured to send control instructions to the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the optical tracking module 60 can send control instructions to the conveying mechanism 10 and / or the rotating mechanism 20 in a wireless or wired manner, and the conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control instructions, thereby controlling the mirror body 210 to move forward, backward, and rotate.

[0187] By controlling the operation of the conveying mechanism 10 and / or the rotating mechanism 20 through the optical tracking module 60 in some embodiments, it is possible to solve the error problem caused by manual control and improve the control accuracy of the conveying mechanism 10 and / or the rotating mechanism 20.

[0188] In some embodiments, the soft endoscope auxiliary device 100 further includes an emergency device 70, which is connected to the optical tracking module 60 and is configured to brake the unexpected movement of the control handle 220 to avoid accidents. Unexpected movement of the control handle 220 includes but is not limited to a movement speed exceeding a speed threshold range, a movement distance exceeding a distance threshold range, or a movement direction that deviates too much from a predetermined direction, instantaneous displacement caused by an unexpected collision, etc.

[0189] In some embodiments, the optical tracking module 60 is further configured to monitor the unexpected movement of the control handle 220. When the unexpected movement of the control handle 220 is detected, the optical tracking module 60 directly controls the emergency device 70 to start. In some embodiments, when the emergency device 70 is started, the optical tracking module 60 controls the conveying mechanism 10 and / or the rotating mechanism 20 to slow down or stop suddenly, thereby braking the unexpected movement of the control handle 220.

[0190] In some embodiments, the emergency device 70 can also be activated manually. In some embodiments, when the optical tracking module 60 detects unexpected movement of the control handle 220, the optical tracking module 60 issues an alarm, and the user further determines whether to activate the emergency device 70. If necessary, the emergency device 70 is activated manually. In some embodiments, the emergency device 70 includes a foot pedal, which is configured to be connected to the optical tracking module 60 and configured to activate the emergency device 70 when pressure is applied. In some embodiments, the emergency device 70 includes a hand brake, which is configured to activate the emergency device 70 when at least part of the hand brake is rotated, pressed or moved.

[0191] In some embodiments, the flexible endoscope 200 system includes a flexible endoscope 200 and a flexible endoscope auxiliary device 100 as in any of the above embodiments. The flexible endoscope 200 includes a control handle 220 and a mirror body 210, and the control handle 220 is used to control the movement and rotation of the mirror body 210.

[0192] Some embodiments of the present specification also provide a flexible endoscope 200 assisting method, which is applied to the flexible endoscope 200 and the flexible endoscope 200 assisting operation device as in any of the above embodiments, wherein the flexible endoscope 200 includes a control handle 220 .

[0193] Fig.14 It is a flowchart of the auxiliary operation method of the soft endoscope 200 according to some embodiments of the present specification.

[0194] like Fig.14 As shown, the process steps of the flexible endoscope 200 auxiliary operation method 1400 include:

[0195] Step 1410 , collecting motion information of the control handle 220 .

[0196] In some embodiments, the control component 40 collects motion information of the control handle 220. The motion information of the control handle 220 includes but is not limited to motion track information, angle rotation information, motion direction information, motion speed information, motion acceleration information, and the like.

[0197] Step 1420, determining control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information;

[0198] In some embodiments, the control component 40 determines control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information. The control parameters include but are not limited to the output speed, output angle, output direction, output power, etc. of the conveying mechanism 10 and / or the rotating mechanism 20.

[0199] In some embodiments, there is a mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20, and the conveying mechanism 10 and / or the rotating mechanism 20 are configured to control the movement and / or rotation of the mirror body 210 according to the control parameters.

[0200] Step 1430, generating a movement control instruction and / or a rotation control instruction according to the control parameter;

[0201] In some embodiments, the control component 40 is configured to generate a movement control instruction and / or a rotation control instruction according to the control parameters, wherein the control instruction is determined according to a mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 .

[0202] In some embodiments, there is a mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10. Further, the mapping relationship reflects the relationship between the motion information of the control handle 220 and the control parameters of the advance and retreat motor 12. The control component 40 is configured to collect the motion information of the control handle 220 and determine the control parameters of the advance and retreat motor 12, and the control parameters include but are not limited to the motor speed, the motor rotation direction, the motor power, the motor current, etc.

[0203] In some embodiments, the above mapping relationship includes the relationship between the moving distance of the control handle 220 in the preset direction and the speed of the advance and retreat motor 12. The preset direction refers to any direction that is straight relative to the initial position of the control handle 220 as the origin. In other words, the direction in which the moving trajectory of the control handle 220 is a straight line can be defined as the preset direction. For example, the preset direction can be parallel to the moving direction of the mirror body 210; or, the preset direction can be perpendicular to the moving direction of the mirror body 210; or, the preset direction can be parallel to the front and back direction of the user; or, the preset direction can be parallel to the left and right direction of the user; or, the preset direction can be parallel to the up and down direction of the user. In some embodiments, the control handle 220 moves in the preset direction, the advance and retreat motor 12 rotates forward, and the mirror body 210 moves forward along the axial direction; conversely, the control handle 220 moves in the direction opposite to the preset direction, the advance and retreat motor 12 rotates reversely, and the mirror body 210 moves backward along the axial direction.

[0204] In some embodiments, the control component 40 is configured to determine the speed of the advance / retract motor 12 of the conveying mechanism 10 based on the moving distance of the control handle 220 in the preset direction. In some embodiments, with the initial position of the control handle 220 as the origin, the user operates the control handle 220 to move, and the control component 40 collects the motion information of the control handle 220, which includes but is not limited to the trajectory shape (e.g., straight line, close to a straight line, curve, etc.) and the moving distance of the control handle 220. When the control component 40 determines that the control handle 220 moves in a straight line or close to a straight line in the preset direction, the moving distance of the control handle 220 is matched with the speed of the advance / retract motor 12 based on the mapping relationship, thereby controlling the movement of the mirror body 210.

[0205] In some embodiments, the mapping relationship between the moving distance of the control handle 220 in the preset direction and the speed of the forward and backward motor 12 includes at least a reverse gear, a stop gear, and a forward gear. The following takes the moving distance range of the control handle 220 in the preset direction as -90mm to 130mm as an example to respectively explain the reverse gear, the stop gear, and the forward gear.

[0206] The backward gear includes: when the moving distance X of the control handle 220 in the preset direction is [-90, 0], the speed of the forward and backward motor 12 is: V = (((X-40) × 2.78 × K × 2πr × i)) / 360. Among them, K is the gear coefficient, r is the distance between the rotation axis of the forward and backward motor 12 and the mirror body 210, and i is the reduction ratio of the forward and backward motor 12. At this time, the forward and backward motor 12 controls the mirror body 210 to retreat along the axial direction.

[0207] The stop position includes: when the moving distance X of the control handle 220 in the preset direction is [0, 40], the speed of the advance / retract motor 12 is: V = 0. At this time, the advance / retract motor 12 does not rotate, and the mirror body 210 remains stationary.

[0208] The forward gear includes: when the moving distance X of the control handle 220 in the preset direction is [40, 130], the speed of the forward and backward motor 12 is: V = ((X × 2.78 × K × 2πr × i)) / 360. Among them, K is the gear coefficient, r is the distance between the rotation axis of the forward and backward motor 12 and the mirror body 210, and i is the reduction ratio of the forward and backward motor 12. At this time, the forward and backward motor 12 controls the mirror body 210 to move forward along the axial direction.

[0209] In some embodiments, the distance r between the rotation axis of the advance / reverse motor 12 and the mirror body 210 is 22 mm, the reduction ratio i of the advance / reverse motor 12 is 1 / 10, and the gear coefficient K=1, 2, 3…26. Then, in the reverse gear, the rotation speed V∈[-13.86Kmm / s, -3.86Kmm / s] of the advance / reverse motor 12; in the stop gear, the rotation speed V=0 of the advance / reverse motor 12; in the forward gear, the rotation speed V∈[4.26Kmm / s, 13.86Kmm / s]. In some embodiments, the maximum rotation speed of the advance / reverse motor 12 is set to 138 mm / s to prevent the mirror body 210 from moving too fast and to ensure the stability of the movement of the mirror body 210.

[0210] In some embodiments, there is a mapping relationship between the motion information of the control handle 220 and the control parameters of the rotating mechanism 20. Further, the mapping relationship reflects the relationship between the motion information of the control handle 220 and the control parameters of the rotating motor 21. The control component 40 is configured to collect the motion information of the control handle 220 and determine the control parameters of the rotating motor 21, and the control parameters include but are not limited to the motor speed, the motor rotation direction, the motor power, the motor current, etc.

[0211] In some embodiments, the above mapping relationship includes the relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21. The angle at which the control handle 220 rotates around the preset axis is determined as the rotation angle. The preset axis includes but is not limited to the central axis of the control handle 220 structure, the vertical line along the gravity direction passing through the control handle 220, etc. In some embodiments, the user operates the control handle 220 to rotate around the preset axis, the control component 40 collects the rotation angle of the control handle 220, and matches the rotation angle of the control handle 220 with the rotation angle of the rotary motor 21 based on the mapping relationship, thereby controlling the rotation of the mirror body 210. In some embodiments, the control handle 220 rotates forward around the preset axis, and the rotary motor 21 rotates forward, thereby controlling the conveying mechanism 10 to rotate forward; conversely, the control handle 220 rotates reversely around the preset axis, and the rotary motor 21 rotates reversely, thereby controlling the conveying mechanism 10 to reverse.

[0212] In some embodiments, after the control component 40 collects the rotation angle of the control handle 220, the rotation angle data is preprocessed to obtain processed data. In some embodiments, preprocessing includes but is not limited to data cleaning, data integration, data transformation and data reduction, etc., to clean up abnormal values ​​in the data, correct erroneous data or fill in missing data. In some embodiments, the control component 40 sets the data range of the rotation angle of the control handle 220 after processing to 0 to 180°. In other embodiments, the control component 40 sets the data range of the rotation angle of the control handle 220 after processing to 0 to 150°, 0 to 120°, 0 to 90°, etc.

[0213] In some embodiments, the mapping relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21 is an absolute angle correspondence relationship, that is, the rotation angle of the rotary motor 21 is consistent with the rotation angle of the control handle 220. For example, when the control handle 220 rotates 90°, the control component 40 controls the rotary motor 21 to rotate 90°, so that the mirror body 210 rotates 90° around the central axis.

[0214] In some embodiments, the mapping relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21 is a relative angle correspondence relationship, that is, the rotation angle of the rotary motor 21 is in a functional relationship with the rotation angle of the control handle 220. For example, when the control handle 220 rotates 90°, the control component 40 controls the rotary motor 21 to rotate 45°, so that the mirror body 210 rotates 45° around the central axis.

[0215] In some embodiments, the control component 40 is configured to adjust the speed of the rotating motor 21. For example, the speed of the rotating motor 21 can be set to 5° / s to 90° / s to prevent the rotating motor 21 from having too high a speed and affecting the accuracy of the rotation angle. In some embodiments, the speed of the rotating motor 21 can be adjusted by setting a reducer, a constant torque inverter, or the like, or the speed of the rotating motor 21 can be adjusted by changing the input power and input current of the rotating motor 21.

[0216] Step 1440 , sending a control instruction to the conveying mechanism 10 and / or the rotating mechanism 20 , and controlling the conveying mechanism 10 and / or the rotating mechanism 20 to operate.

[0217] In some embodiments, the control component 40 is configured to send control instructions to the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the control component 40 can send control instructions to the conveying mechanism 10 and / or the rotating mechanism 20 in a wireless or wired manner, and the conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control instructions, thereby controlling the mirror body 210 to move forward, backward, and rotate.

[0218] Through the above steps 1010 to 1040, the control component 40 collects the motion information of the control handle 220 and determines the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20. The conveying mechanism 10 and / or the rotating mechanism 20 control the movement or rotation of the mirror body 210 based on the control parameters. The user can control the soft endoscope 200 by operating the control handle 220, which can maximize the training of the user (especially medical staff, etc.) in the manipulation technology, complete the operation more safely and effectively, and also reduce the fatigue of the user caused by holding the mirror for a long time. The soft endoscope auxiliary device 100 in some embodiments can replace part of the user's hand operation, simplify the user's hand movements, and does not require the assistance of an assistant, which reduces the labor cost and communication cost, and is conducive to improving the operation efficiency.

[0219] Fig.15 It is a flowchart of the auxiliary operation method of the soft endoscope 200 according to some embodiments of the present specification.

[0220] Some embodiments of the present specification also provide a flexible endoscope 200 assisting method, which is applied to the flexible endoscope 200 and the flexible endoscope 200 assisting operation device as in any of the above embodiments, wherein the flexible endoscope 200 includes a control handle 220 .

[0221] like Fig.15 As shown, the process steps of the flexible endoscope 200 auxiliary operation method 1500 include:

[0222] Step 1510 , obtaining motion information of the control handle 220 .

[0223] In some embodiments, the optical tracking module 60 is configured to obtain motion information of the control handle 220. In some embodiments, the motion information of the control handle 220 includes but is not limited to motion trajectory information, angle rotation information, motion direction information, motion speed information, motion acceleration information, etc.

[0224] In some embodiments, the optical tracking module 60 captures the motion trajectory of the optical mark point 61 on the control handle 220 through the motion capture device 62, and determines the motion information of the control handle 220 based on the motion trajectory of the optical mark point 61. In some embodiments, the optical tracking module 60 determines the motion trajectory of the optical mark point 61 based on the time sequence trajectory of the optical mark point 61. For example, the motion capture device 62 captures an image of the optical mark point 61 every 0.1 seconds, and then compares the position information of the optical mark point 61 at the current moment with the position information of the optical mark point 61 at the previous moment, and analyzes the position information of the optical mark point 61 at multiple moments to obtain the motion trajectory of the optical mark point 61.

[0225] In some embodiments, the optical tracking module 60 cooperates with the control handle 220 to jointly control the movement of the mirror body 210. For example, the optical tracking module 60 analyzes the movement information of the control handle 220 and further infers the user's movement intention of operating the control handle 220. For example, if the optical tracking module 60 obtains that the control handle 220 continues to move forward, it can be inferred that the user needs the mirror body 210 to move forward.

[0226] Step 1520 , determining control parameters of the conveying mechanism 10 and the rotating mechanism 20 based on the motion information.

[0227] In some embodiments, the optical tracking module 60 is configured to determine the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information of the control handle 220. The control parameters include but are not limited to the output speed, output angle, output direction, output power, etc. of the conveying mechanism 10 and / or the rotating mechanism 20.

[0228] In some embodiments, the optical tracking module 60 determines the motor speed, motor power, motor current and other control parameters of the forward and backward motor 12 of the conveying mechanism 10 based on the moving distance or moving speed of the control handle 220. In some embodiments, the optical tracking module 60 determines the rotation angle of the rotating motor 21 based on the rotation angle of the mirror body 210.

[0229] Step 1530: Generate a movement control instruction and / or a rotation control instruction according to the control parameters.

[0230] In some embodiments, the optical tracking module 60 is configured to generate a movement control instruction and / or a rotation control instruction according to the control parameters. The control instruction is determined according to the mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20. For more information about the mapping relationship, please refer to Figures 1 to 11B The mapping relationships in some of the embodiments shown will not be described in detail in this specification.

[0231] Step 1540: Send the control instruction to the conveying mechanism and / or the rotating mechanism.

[0232] In some embodiments, the optical tracking module 60 can send control instructions to the conveying mechanism 10 and / or the rotating mechanism 20 wirelessly or by wire, and the conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control instructions, thereby controlling the mirror body 210 to move forward, backward, and rotate.

[0233] The beneficial effects that may be brought about by the embodiments of the present application include but are not limited to:

[0234] (1) By providing a conveying mechanism and a rotating mechanism to replace part of the user's manual operation, the user's operation is simplified and the efficiency of controlling the mirror body is improved.

[0235] (2) Compared with the scheme of meshing transmission through gears, etc., directly connecting the conveying mechanism and the rotating mechanism by setting a connecting piece can improve the connection stability between the conveying mechanism and the rotating mechanism, so that the rotating mechanism can accurately control the rotation of the conveying mechanism, and then accurately control the rotation of the mirror body, thereby improving the positioning accuracy of the far end of the mirror body and reducing the control difficulty of the mirror body.

[0236] (3) The connecting member directly connects the conveying mechanism with the rotating mechanism, and there is no energy loss in the transmission process. In addition, the connecting member is configured so that the rotation axis of the mirror mounting portion is colinear with the rotation axis of the rotating mechanism, thereby realizing coaxial rotation of the rotating mechanism and the mirror body. The connecting member can minimize the force arm of the rotating end, thereby reducing the power demand for the rotating mechanism. For example, the rotating mechanism only needs to use a micro motor to meet the torque required for rotation, thereby reducing the cost of the soft endoscope auxiliary device.

[0237] (4) A wiring channel is provided in the connector, which can protect the wiring harness and prevent the wiring harness from being entangled with each other or with other components during rotation.

[0238] (5) The control component collects the motion information of the control handle and determines the control parameters of the conveying mechanism and / or the rotating mechanism. The conveying mechanism and / or the rotating mechanism controls the movement or rotation of the mirror body based on the control parameters. The user can control the soft endoscope by operating the control handle, which can maximize the user's (especially medical staff, etc.) trained control skills and complete the operation more safely and effectively. At the same time, it can also reduce the user's fatigue caused by holding the mirror for a long time. The soft endoscope auxiliary device in some embodiments can replace part of the user's hand operation, simplify the user's hand movements, and does not require the assistance of an assistant, reducing labor costs and communication costs, which is conducive to improving operational efficiency.

[0239] (6) The control component and the control handle are connected via the first mounting portion and the second mounting portion of the support component to ensure coordinated movement of the control component and the control handle, which is beneficial to improving the accuracy of the control component in collecting movement information of the control handle.

[0240] (7) By adjusting the parameters of the conveying mechanism and / or the rotating mechanism through the optical tracking module, the control accuracy of the conveying mechanism and / or the rotating mechanism can be improved.

[0241] (8) Emergency devices are used to brake unexpected movement of the mirror to avoid accidents.

[0242] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other beneficial effects that may be obtained.

[0243] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0244] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0245] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0246] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A soft endoscope auxiliary device, characterized in that: Applicable to a soft endoscope, the soft endoscope comprises a mirror body; the soft endoscope auxiliary device comprises: A conveying mechanism, comprising a mirror body mounting portion, wherein the conveying mechanism is configured to control the movement of the mirror body; A rotating mechanism, configured to control the conveying mechanism to rotate; A connecting member is used to connect the conveying mechanism and the rotating mechanism, and the connecting member is configured so that the rotation axis of the mirror body mounting portion is colinear with the rotation axis of the rotating mechanism.

2. The soft endoscope auxiliary device according to claim 1, characterized in that: The rotating mechanism includes a rotor part, one end of the connecting member is fixed to the rotor part, and the other end is fixed to the conveying mechanism; The other end of the connecting member is configured to avoid the mirror body mounting portion.

3. The soft endoscope auxiliary device according to claim 1, characterized in that: The connecting member comprises a first section, a second section and a third section which are connected in sequence, the first section and the third section are arranged in parallel, the second section is arranged obliquely between the first section and the third section, and the first section and the third section are parallel to the rotation axis of the rotating mechanism; The connector is provided with a wiring channel; the wiring channel comprises a hollow channel arranged in the connector; and / or the wiring channel comprises a groove arranged on a side wall of the connector.

4. The soft endoscope auxiliary device according to claim 1, characterized in that: The conveying mechanism comprises an advance / retract motor and a first transmission member, the output end of the advance / retract motor is in transmission connection with the input side of the first transmission member, and the output side of the first transmission member constitutes the mirror body mounting portion; The first transmission member includes a driving wheel and a driven wheel, the output end of the forward and backward motor is in driving connection with the driving wheel, the driven wheel is arranged adjacent to the driving wheel, a channel for mounting the mirror body is formed between the driving wheel and the driven wheel, and the channel constitutes the mirror body mounting portion; The rotating mechanism comprises a rotating motor and a second transmission member, wherein the output end of the rotating motor is in transmission connection with the input side of the second transmission member, and the output side of the second transmission member is connected to the connecting member; The second transmission member includes a coupling, and the coupling connects the output shaft of the rotating motor and the connecting member.

5. The soft endoscope auxiliary device according to claim 1, characterized in that: The flexible endoscope includes a control handle, and the flexible endoscope auxiliary device also includes a control component, the control component is connected to the control handle, and the control component is connected to the conveying mechanism and / or the rotating mechanism signal; The control component is configured to: Collecting motion information of the control handle; Determining control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information; generating a movement control instruction and / or a rotation control instruction according to the control parameter; The control instruction is sent to the conveying mechanism and / or the rotating mechanism.

6. The soft endoscope auxiliary device according to claim 5, characterized in that: Determining control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information includes: Determining the rotation speed of the forward and backward motor of the conveying mechanism based on the movement distance of the control handle in the preset direction; Based on the angle through which the control handle rotates around the preset rotation axis, the angle through which the rotation motor of the rotation mechanism rotates is determined.

7. The soft endoscope auxiliary device according to claim 5, characterized in that: The soft endoscope auxiliary device includes a supporting component, and the supporting component includes a first mounting portion and a second mounting portion. The first mounting portion is used to mount the control component, and the second mounting portion is used to mount the control handle. The first mounting portion and the second mounting portion are fixedly connected.

8. The soft endoscope auxiliary device according to claim 7, characterized in that: The first mounting portion is configured as a first clamp, the first clamp comprising an arc-shaped first half body and a second half body, the first half body and the second half body being detachably connected; The second mounting portion is configured as a second clamp, the second clamp is configured in an arc shape and comprises an assembly opening, and the assembly opening is used to allow the control handle to enter the second clamp.

9. A flexible endoscope auxiliary device, applied to a flexible endoscope, the flexible endoscope comprising a body and a control handle, characterized in that: The soft endoscope auxiliary device comprises: A conveying mechanism, configured to control the movement of the mirror body; A rotating mechanism, configured to control the conveying mechanism to rotate; An optical tracking module is connected to the conveying mechanism and / or the rotating mechanism signal, and the optical tracking module is configured as follows: Acquiring motion information of the control handle; Determining control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information; generating a movement control instruction and / or a rotation control instruction according to the control parameter; The control instruction is sent to the conveying mechanism and / or the rotating mechanism.

10. The soft endoscope auxiliary device according to claim 9, characterized in that: The optical tracking module includes at least one optical marking point and at least one motion capturer, wherein the optical marking point is used to be set on the control handle, and the motion capturer is used to collect trajectory information of the optical marking point.

11. The soft endoscope auxiliary device according to claim 10, characterized in that: The optical tracking module also includes a bracket, which includes a plurality of arms. There are a plurality of optical identification points. The bracket is used to be fixed on the control handle, and the plurality of optical identification points are respectively fixed at the ends of the plurality of arms.

12. The soft endoscope auxiliary device according to claim 9, characterized in that: The soft endoscope auxiliary device further comprises an emergency device connected to the optical tracking module, wherein the emergency device is configured to brake an unexpected movement of the control handle.

13. A soft endoscope-assisted method, characterized in that: Applicable to a flexible endoscope and a flexible endoscope auxiliary operation device as claimed in any one of claims 1 to 12, wherein the flexible endoscope comprises a control handle; the method comprises: Collecting motion information of the control handle; Determining control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information; generating a movement control instruction and / or a rotation control instruction according to the control parameter; The control instruction is sent to the conveying mechanism and / or the rotating mechanism to control the operation of the conveying mechanism and / or the rotating mechanism.

14. The soft endoscope-assisted method according to claim 13, characterized in that: Determining control parameters of the conveying mechanism and / or the rotating mechanism based on the motion information includes: Determining the rotation speed of the forward and backward motor of the conveying mechanism based on the movement distance of the control handle in the preset direction; Based on the angle through which the control handle rotates around the preset rotation axis, the angle through which the rotation motor of the rotation mechanism rotates is determined.

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