A flexible endoscope assist device, method, and flexible endoscope assist system

Abstract

This specification provides a flexible endoscope auxiliary device, method, and system. The flexible endoscope auxiliary device is applied to a flexible endoscope, which includes an endoscope body. The device includes: a transport mechanism with an endoscope body mounting portion, configured to control movement of the endoscope body; a rotation mechanism configured to control rotation of the transport mechanism; and a connector for connecting the transport mechanism and the rotation mechanism, configured such that the rotation axis of the endoscope body mounting portion is collinear with the rotation axis of the rotation mechanism.

Description

[0001] Cross-referencing

[0002] 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

[0003] This specification relates to the field of endoscopy, and in particular to a flexible endoscopy auxiliary device, method, and flexible endoscopy auxiliary system. Background Technology

[0004] When using flexible endoscopes to treat diseases within the natural cavities of a biological body or within cavities with openings (such as the bile ducts and pancreas), users typically need to control the movement and rotation of the endoscope using the control handle. During this process, low control precision and unstable coordination of movement and rotation often occur, affecting the accurate positioning of the distal end of the endoscope.

[0005] Therefore, it is desirable to provide a flexible endoscope assist device that can help users control the distal end of the endoscope to achieve precise positioning. Summary of the Invention

[0006] One embodiment of this specification provides a flexible endoscope auxiliary device for use with a flexible endoscope, the flexible endoscope including an endoscope body; the flexible endoscope auxiliary device includes: a transport mechanism including an endoscope body mounting portion, the transport mechanism being configured to control the movement of the endoscope body; a rotating mechanism being configured to control the rotation of the transport mechanism; and a connector for connecting the transport mechanism and the rotating mechanism, the connector being configured such that the rotation axis of the endoscope body mounting portion is collinear with the rotation axis of the rotating mechanism.

[0007] In some embodiments, the rotating mechanism includes a rotor portion, one end of the connector is fixed to the rotor portion, and the other end is fixed to the conveying mechanism; the other end of the connector is configured to avoid the lens mounting portion.

[0008] In some embodiments, the connector includes a first segment, a second segment, and a third segment connected in sequence, the first segment and the third segment being arranged in parallel, the second segment being inclined between the first segment and the third segment, and the first segment and the third segment being parallel to the rotation axis of the rotating mechanism.

[0009] In some embodiments, the connector has a wiring channel; the wiring channel includes a hollow channel within the connector; and / or, the wiring channel includes a slot in the sidewall of the connector.

[0010] In some embodiments, the conveying mechanism includes a forward / backward motor and a first transmission member, the output end of the forward / backward motor being connected to the input side of the first transmission member, and the output side of the first transmission member constituting the mirror mounting portion.

[0011] In some embodiments, the first transmission member includes a driving wheel and a driven wheel, the output end of the forward and backward motor is connected to the driving wheel, the driven wheel is arranged adjacent to the driving wheel, and a channel for mounting the mirror body is formed between the driving wheel and the driven wheel, the channel constituting the mirror body mounting part.

[0012] In some embodiments, the rotating mechanism includes a rotary motor and a second transmission member, wherein the output end of the rotary motor is connected to the input side of the second transmission member, and the output side of the second transmission member is connected to the connecting member.

[0013] In some embodiments, the second transmission component includes a coupling that connects the output shaft of the rotary motor to the connecting component.

[0014] In some embodiments, the flexible endoscope includes a control handle, and the flexible endoscope auxiliary device further includes a control component connected to the control handle and signal-connected to the delivery mechanism and / or the rotation mechanism; the control component is configured to: acquire motion information of the control handle; determine control parameters of the delivery mechanism and / or the rotation mechanism based on the motion information; generate movement control commands and / or rotation control commands according to the control parameters; and send the control commands to the delivery mechanism and / or the rotation mechanism.

[0015] In some embodiments, determining control parameters for the conveying mechanism and / or the rotating mechanism based on the motion information includes: determining the rotational speed of the forward and backward motors of the conveying mechanism based on the distance the control handle moves in a preset direction; and determining the angle through which the rotating motor of the rotating mechanism rotates based on the angle through which the control handle rotates about a preset rotation axis.

[0016] In some embodiments, the control component includes a sensor, a processor, and a signal transmission circuit. The sensor is used to acquire motion information of the control handle, the processor is used to generate control commands 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 commands.

[0017] In some embodiments, the flexible endoscope auxiliary device includes a support component, the support component including a first mounting portion and a second mounting portion, the first mounting portion being used to mount the control component, the second mounting portion being used to mount the control handle, and the first mounting portion and the second mounting portion being fixedly connected.

[0018] In some embodiments, the first mounting portion is configured as a first clamp, the first clamp including an arc-shaped first half and a second half, the first half and the second half being detachably connected.

[0019] In some embodiments, the second mounting portion is configured as a second clamp, the second clamp being arc-shaped and including a mounting opening for allowing the control handle to enter the second clamp.

[0020] One embodiment of this specification provides a flexible endoscope auxiliary device for use with a flexible endoscope. The flexible endoscope includes an endoscope body and a control handle. The device comprises: a transport mechanism configured to control the movement of the endoscope body; a rotation mechanism configured to control the rotation of the transport mechanism; and an optical tracking module signal-connected to the transport mechanism and / or the rotation mechanism. The optical tracking module is configured to: acquire motion information of the control handle; determine control parameters of the transport mechanism and / or the rotation mechanism based on the motion information; generate movement control commands and / or rotation control commands according to the control parameters; and send the control commands to the transport mechanism and / or the rotation mechanism.

[0021] In some embodiments, the optical tracking module includes at least one optical marker and at least one motion capture device. The optical marker is used to be mounted on the control handle, and the motion capture device is used to collect trajectory information of the optical marker.

[0022] In some embodiments, the optical tracking module further includes a bracket, which includes multiple arms and multiple optical markers. The bracket is used to fix the optical markers to the control handle, and the multiple optical markers are respectively fixed to the ends of the multiple arms.

[0023] In some embodiments, the flexible endoscope assist device further includes an emergency device connected to the optical tracking module, the emergency device being configured to brake unintended movement of the control handle.

[0024] One embodiment of this 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 preceding embodiments.

[0025] One embodiment of this specification provides a flexible endoscope-assisted method, characterized in that it is applied to a flexible endoscope and a flexible endoscope-assisted operating device as described in any of the preceding embodiments, wherein the flexible endoscope includes a control handle; the method includes: acquiring motion information of the control handle; determining control parameters of a conveying mechanism and / or a rotating mechanism based on the motion information; generating a movement control command and / or a rotation control command according to the control parameters; sending the control commands to the conveying mechanism and / or the rotating mechanism, and controlling the operation of the conveying mechanism and / or the rotating mechanism.

[0026] In some embodiments, determining control parameters for the conveying mechanism and / or the rotating mechanism based on the motion information includes: determining the rotational speed of the forward and backward motors of the conveying mechanism based on the distance the control handle moves in a preset direction; and determining the angle through which the rotating motor of the rotating mechanism rotates based on the angle through which the control handle rotates about a preset rotation axis.

[0027] One embodiment of this specification provides a flexible endoscope-assisted method, characterized in that it is applied to a flexible endoscope and a flexible endoscope-assisted operating device as described in any of the preceding embodiments; the method includes: acquiring motion information of the control handle; determining control parameters of a conveying mechanism and a rotating mechanism based on the motion information; generating a movement control command and / or a rotation control command according to the control parameters; and sending the control commands to the conveying mechanism and / or the rotating mechanism.

[0028] Based on the structure of the flexible endoscope auxiliary device in some of the above embodiments, its beneficial effects include, but are not limited to: by setting up a conveying mechanism and a rotating mechanism to replace some of the user's manual operations, the user's operation is simplified and the efficiency of controlling the endoscope is improved. Compared with the scheme of transmission through gears or other meshing, by setting up a connector to directly connect the conveying mechanism and the rotating mechanism, the connection stability of the conveying mechanism and the rotating mechanism can be improved, enabling the rotating mechanism to accurately control the rotation of the conveying mechanism, and thus accurately control the rotation of the endoscope, improve the positioning accuracy of the distal end of the endoscope, and reduce the control difficulty of the endoscope. The connector directly connects the conveying mechanism and the rotating mechanism, and there is no energy loss during the transmission process. Furthermore, the connector is configured so that the rotation axis of the endoscope mounting part is collinear with the rotation axis of the rotating mechanism, realizing the coaxial rotation of the rotating mechanism and the endoscope. The connector can minimize the lever arm at the rotating end, thus reducing the power requirement 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 flexible endoscope auxiliary device. Attached Figure Description

[0029] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0030] Figure 1 This is a schematic diagram illustrating the interaction between a flexible endoscope auxiliary device and a flexible endoscope according to some embodiments of this specification;

[0031] Figure 2A This is a schematic diagram of the connection between the conveying mechanism and the rotating mechanism according to some embodiments shown in this specification. Figure 1 ;

[0032] Figure 2B This is a schematic diagram (2) showing the connection between the conveying mechanism and the rotating mechanism according to some embodiments of this specification;

[0033] Figure 2C This is a schematic diagram (3) showing the connection between the conveying mechanism and the rotating mechanism according to some embodiments of this specification;

[0034] Figure 3A This is a schematic diagram showing the connection between the conveying mechanism and the rotating mechanism according to some embodiments of this specification;

[0035] Figure 3B It is based on Figure 3A A partial sectional view along section AA of the conveying and rotating mechanisms shown in some embodiments;

[0036] Figure 4 These are simplified structural diagrams of the conveying mechanism shown in some embodiments of this specification;

[0037] Figure 5 This is a schematic diagram of the structure of the adjustment device shown in some embodiments of this specification;

[0038] Figure 6 These are schematic diagrams of the conveying mechanism shown in some embodiments of this specification;

[0039] Figure 7 These are schematic diagrams of the conveying mechanism shown in some embodiments of this specification;

[0040] Figure 8 This is a schematic diagram of a moving part according to some embodiments of this specification;

[0041] Figure 9 This is a schematic block diagram of a circuit for a flexible endoscope auxiliary device according to some embodiments of this specification;

[0042] Figure 10 This is a structural block diagram of the control component shown in some embodiments of this specification;

[0043] Figure 11A These are schematic diagrams of the support components shown in some embodiments of this specification;

[0044] Figure 11B This is a top view of the support component shown according to some embodiments of this specification;

[0045] Figure 12 This is a structural block diagram of a flexible endoscope auxiliary device according to some embodiments of this specification;

[0046] Figure 13 This is a schematic diagram of the structure of a flexible endoscope auxiliary device according to some embodiments of this specification;

[0047] Figure 14 This is a flowchart illustrating a flexible endoscope-assisted operation method according to some embodiments of this specification;

[0048] Figure 15 This is a flowchart illustrating a flexible endoscope-assisted operation method according to some embodiments of this specification.

[0049] The attached figures are labeled as follows: 100 is a flexible endoscope auxiliary device; 200 is a flexible endoscope; 210 is the endoscope 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 the endoscope body mounting part; 12 is a forward / backward motor; 120 is an adjusting device; 121 is a fixing part; 122 is a sliding part; 123 is a guide rail; 124 is a sliding component; 13 is a first transmission component; 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 adjusting motor; 16 is a first motor seat; 160 is a transmission structure; 161 is a gear; 162 is a rack; 170 is a reset component; 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 base; 1731 is the second connecting protrusion; 180 is the wheel sleeve; 181 is the limiting part; 182 is the mating part; 20 is the rotating mechanism; 21 is the rotary motor; 22 is the second transmission component; 221 is the coupling; 23 is the rotor part; 24 is the second motor base; 25 is the bearing housing; 30 is the connector; 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 support component; 51 is the first mounting part; 511 is the first clamp; 512 is the first half; 513 is the second half; 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 marker point; 62 is the motion capture device; 63 is the bracket; 70 is the emergency device; 80 is the robot arm. Detailed Implementation

[0050] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0051] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0052] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0053] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0054] Flexible endoscopes are medical devices that perform examinations, diagnoses, and treatments through the body's natural cavities. Flexible endoscopes include, but are not limited to, gastroscopes, colonoscopes, laryngoscopes, and bronchoscopes. In some embodiments, a flexible endoscope includes at least a scope for insertion into a natural body cavity, and its operation includes at least locating the cavity entrance, controlling the movement and rotation of the scope, the swinging of the distal end of the scope, and controlling the movement of surgical instruments at the distal end of the scope. Users approach lesions by controlling the movement and rotation of the scope; however, inaccurate positioning of the scope tip often occurs in practice. The applicant has found that the movement of the scope is achieved through a delivery mechanism, and the rotation is achieved through a rotation mechanism. These mechanisms are typically connected by gears and racks (e.g., bevel gears), and the coordination of these components is often unstable due to various factors, leading to instability in the coordination between the delivery and rotation mechanisms and low output torque. Therefore, users encounter problems such as low positioning accuracy of the scope tip and difficulty in control when moving and rotating the scope.

[0055] In view of this, some embodiments of this specification propose a flexible endoscope assist device configured to assist a user in controlling the movement of a flexible endoscope. In some embodiments, the flexible endoscope assist device includes a connector for connecting a transport mechanism and a rotating mechanism, providing a stable connection between the transport mechanism and the rotating mechanism. Furthermore, the connector is configured such that the rotation axis of the endoscope mounting portion is collinear with the rotation axis of the rotating mechanism, thereby improving the control accuracy of the endoscope's movement and rotation.

[0056] In some embodiments, the flexible endoscope auxiliary device can be mounted on a mobile trolley or a dedicated operating table. At least a portion of the flexible endoscope is connected to the auxiliary device, which at least partially controls some functions of the flexible endoscope, such as controlling its movement and rotation to reduce user intervention. In some embodiments, the distal portion of the flexible endoscope can extend to an examination bed, which is a platform for the human body to lie on. The distal end of the flexible endoscope is used to insert into the body's natural cavities to perform examinations, diagnoses, and treatments. It should be noted that in some embodiments of this specification, "proximal" and "distal" can refer to the endpoint, end face, end point, or portion near the end point with a certain length of the flexible endoscope. Correspondingly, "towards the proximal end" and "towards the distal end" refer to the direction towards the corresponding endpoint. For example, the end of a flexible endoscope that extends into the body is called the "distal end"; correspondingly, "towards the distal end" refers to the direction along the axis of the endoscope toward the end that extends into the body. The other end opposite the distal end of the flexible endoscope (end point, end face, end point, part near the end point and of a certain length, etc.) is called the "proximal end"; correspondingly, "towards the proximal end" refers to the direction along the axis of the endoscope away from the end that extends into the body. "Proximal end" and "distal end" can be understood as the end face, end point, part near the end point and of a certain length, etc. of the component.

[0057] Figure 1 This is a schematic diagram of the flexible endoscope auxiliary device 100 and the flexible endoscope 200 in cooperation according to some embodiments of this specification.

[0058] In some embodiments, the flexible endoscope 200 includes a scope 210, which can be inserted into the natural cavities of the human body to perform multiple tasks such as examination, diagnosis, and treatment. A flexible endoscope assist device 100 is applied to the flexible endoscope 200 to assist the user in controlling the movement of the flexible endoscope 200, thereby replacing manual assistance in the operation of the flexible endoscope 200.

[0059] In some embodiments, the flexible endoscope assist device 100 includes a transport mechanism 10 configured to control the movement of the endoscope body 210, such as forward or backward. It should be noted that in some embodiments of this specification, movement of the endoscope body 210 refers to movement of the endoscope body 210 along its central axis. The central axis of the endoscope body 210 refers to the geometric center line of the endoscope body 210 along its axial direction. In some embodiments, the endoscope body 210 may extend in a straight line or in a curved path. The axial direction of the endoscope body 210 refers to the direction of extension along the length of the endoscope body 210, including but not limited to a straight or curved direction. The central axis of the endoscope body 210 can be either a straight line or a curve.

[0060] In some embodiments, the conveying mechanism 10 includes a lens mounting portion 11 for mounting a lens 210. In some embodiments, the lens mounting portion 11 includes a channel through which the lens 210 passes, the lens 210 cooperating with the channel, the channel being configured to apply a frictional force to the lens 210, the frictional force driving the lens 210 forward or backward.

[0061] In some embodiments, the conveying mechanism 10 includes a forward / reverse motor 12 and a first transmission member 13 (not shown in the figure). The output end of the forward / reverse 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 forward / reverse motor 12 into linear motion, thereby realizing the forward or backward motion of the mirror body 210.

[0062] For more detailed information about the conveyor mechanism 10, please refer to [link / reference]. Figure 3A and Figure 3B The details and related descriptions will not be repeated here.

[0063] In some embodiments, the flexible endoscope auxiliary device 100 includes a rotating mechanism 20 configured to control the rotation of the delivery mechanism 10. When the endoscope body 210 is engaged with the endoscope mounting portion 11 of the delivery mechanism 10, the rotating mechanism 20 controls the delivery mechanism 10 to rotate, and the delivery mechanism 10 drives the endoscope body 210 to rotate. The rotation of the endoscope body 210 refers to the rotation of the outer surface of the endoscope body 210 about its central axis.

[0064] In some embodiments, the rotating mechanism 20 includes a rotary motor 21 and a second transmission member 22 (not shown in the figure). The output end of the rotary 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 rotary motor 21 drives the mirror body 210 to rotate through the second transmission member 22.

[0065] For more detailed information about the rotating mechanism 20, please refer to [link / reference]. Figure 3A and Figure 3B The details and related descriptions will not be repeated here.

[0066] In some embodiments, the flexible endoscope auxiliary device 100 includes a connector 30 for connecting the delivery 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 delivery mechanism 10. When the rotating mechanism 20 rotates, the connector 30 drives the delivery mechanism 10 to rotate, thereby causing the endoscope 210 mounted on the endoscope mounting portion 11 to rotate.

[0067] In some embodiments, the connector 30 is configured such that the rotation axis of the lens mounting portion 11 is collinear with the rotation axis of the rotating mechanism 20. Therefore, since the rotation axis of the rotating mechanism 20 is collinear with the rotation axis of the lens 210 within the lens mounting portion 11, the rotating mechanism 20 and the lens 210 can rotate coaxially. When the rotating mechanism 20 rotates, the lens 210 mounted on the lens mounting portion 11 rotates synchronously with the rotating mechanism 20.

[0068] In some embodiments, the connector 30 includes, but is not limited to, a connecting rod, a connecting pipe, a connecting plate, etc. In some embodiments, the connector 30 is an integrally formed structure to ensure the stability of the connection.

[0069] For more detailed information about connector 30, please refer to [link / reference]. Figures 2A to 2C The details and related descriptions will not be repeated here.

[0070] Based on the structure of the flexible endoscope auxiliary device 100 in some of the above embodiments, its beneficial effects include, but are not limited to: by setting up a conveying mechanism 10 and a rotating mechanism 20 to replace some of the user's manual operations, simplifying the user's operation and improving the efficiency of controlling the endoscope body 210. Compared with a scheme that uses gears or other meshing transmissions, by setting up a connector 30 to directly connect the conveying mechanism 10 and the rotating mechanism 20, the connection stability between the conveying mechanism 10 and the rotating mechanism 20 can be improved, enabling the rotating mechanism 20 to accurately control the rotation of the conveying mechanism 10, thereby accurately controlling the rotation of the endoscope body 210, improving the positioning accuracy of the distal end of the endoscope body 210, and reducing the control difficulty of the endoscope body 210. The connector 30 directly connects the conveying mechanism 10 and the rotating mechanism 20, resulting in no energy loss during transmission. Furthermore, the connector 30 is configured such that the rotation axis of the endoscope mounting portion 11 is collinear with the rotation axis of the rotating mechanism 20, enabling the rotating mechanism 20 and the endoscope 210 to rotate coaxially. The connector 30 can minimize the lever arm at the rotating end, thereby reducing the power requirement of the rotating mechanism 20. For example, the rotating mechanism 20 can meet the torque required for rotation using only a micro motor, thus reducing the cost of the flexible endoscope auxiliary device 100.

[0071] Figure 2AThis is a schematic diagram of the connection 30 connecting the conveying mechanism 10 and the rotating mechanism 20 according to some embodiments of this specification. Figure 1 . Figure 2B This is a schematic diagram 2 showing the connection of the connecting member 30 to the conveying mechanism 10 and the rotating mechanism 20 according to some embodiments of this specification. Figure 2C This is a schematic diagram (3) showing the connection of the connecting member 30 to the conveying mechanism 10 and the rotating mechanism 20 according to some embodiments of this specification.

[0072] like Figure 2A As shown, in some embodiments, the rotating mechanism 20 includes a rotor portion 23 (e.g., the output shaft of a rotary motor 21), with one end of the connector 30 fixed to the rotor portion 23 and the other end fixed to the conveying mechanism 10. When the rotor portion 23 rotates, the connector 30 drives the conveying mechanism 10 to rotate synchronously. In some embodiments, the connector 30 serves as a member for transmitting torque from the rotating mechanism 20 to the conveying mechanism 10, and the lever arm of the connector 30 is configured to enable the conveying mechanism 10 to obtain a larger torque. The lever arm of the connector 30 refers to the shortest distance from the connection point between the connector 30 and the conveying mechanism 10 to the axis of rotation of the conveying mechanism 10.

[0073] In some embodiments, the connector 30 can be configured to avoid the mirror body 210, that is, one end of the connector 30 is fixed to the rotor part 23 of the rotating mechanism 20, and the other end is fixed to other parts of the conveying mechanism 10, avoiding the mirror body mounting part 11, so as to leave space for the mirror body 210 to move and rotate, and avoid motion interference.

[0074] In some embodiments, the connector 30 is configured as a polygonal, straight, curved, or plate-like shape, and this specification does not limit the configuration of the connector 30.

[0075] like Figure 2A As shown, in some embodiments, the connector 30 has a polygonal configuration. Specifically, the connector 30 has a polygonal configuration comprising at least two integrally formed segments. For example, the connector 30 includes a first segment, a second segment, and a third segment connected sequentially, with the first and third segments arranged in parallel and the second segment inclined between the first and third segments. In some embodiments, the first and third segments are parallel to the rotation axis of the rotating mechanism 20 to reduce torque loss between the rotating mechanism 20 and the conveying mechanism 10. In other embodiments, the connector 30 includes other numbers of segments, such as two segments, four segments, or five segments.

[0076] like Figure 2B As shown, in some embodiments, the connector 30 has a linear configuration, which is simple in structure and has low processing cost.

[0077] like Figure 2CAs shown, in some embodiments, the connector 30 is configured in a curved shape. For example, the connector 30 may be configured as a wavy curved structure. Another example is that the connector 30 may be configured as a spiral structure. Yet another example is that the connector 30 may be configured as an arc shape.

[0078] In some embodiments, the connector 30 is configured as a plate, which can enhance the stability of the connection between the conveying mechanism 10 and the rotating mechanism 20.

[0079] In some embodiments, the connector 30 is provided with a wiring channel 31 for accommodating wires, signal lines, and other wire harnesses. In some embodiments, the wiring channel 31 extends axially along the connector 30 and penetrates at least a portion of the connector 30. In some embodiments, the wiring channel 31 extends from one end of the connector 30 to the other end, allowing the wire harness to enter the conveying mechanism from the rotating device via the wiring channel 31. The wiring channel 31 protects the wire harness and prevents tangling between wires or between the wire harness and other components during rotation.

[0080] In some embodiments, the connector 30 includes a hollow tube, which is lightweight and can reduce torque loss from the rotary motor 21. In some embodiments, the hollow channel of the hollow tube forms a wiring channel 31.

[0081] In some embodiments, the connector 30 includes a solid rod, which can increase the strength and enhance the durability of the connector 30. In some embodiments, an opening inside the solid rod forms a wiring channel 31, or a slot in the side wall of the solid rod forms a wiring channel 31.

[0082] 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. Aluminum alloy is lightweight, which can reduce energy loss to the rotary motor 21. Aluminum alloy is also strong, which can ensure the durability of the connector 30.

[0083] Figure 3A This is a schematic diagram showing the connection between the conveying mechanism 10 and the rotating mechanism 20 according to some embodiments of this specification. Figure 3B It is based on Figure 3A Partial cross-sectional view of the conveying mechanism 10 and the rotating mechanism 20 along section AA in some embodiments shown.

[0084] like Figure 3A and Figure 3BAs shown, in some embodiments, the conveying mechanism 10 includes a forward / reverse motor 12 and a first transmission member 13, with the output end of the forward / reverse motor 12 being drive-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 forward / reverse motor 12 into linear motion, thereby realizing the forward or backward movement of the mirror body 210. In some embodiments, the first transmission member 13 includes, but is not limited to, gear trains, friction transmission systems, belt drives, chain drives, threaded drives, etc.

[0085] In some embodiments, the output side of the first transmission member 13 constitutes the mirror mounting portion 11. When the forward / reverse motor 12 rotates, the output side of the first transmission member 13 engages with the mirror body 210 and applies a driving force to the mirror body 210 to move it forward or backward. The engagement between the output side of the first transmission member 13 and the mirror body 210 includes, but is not limited to, gear engagement, frictional contact, and thread engagement.

[0086] In some embodiments, the conveying mechanism 10 further includes a first motor base 16, on which the forward / reverse motor 12 and the first transmission member 13 are both disposed. In some embodiments, the first motor base 16 is plate-shaped, with the forward / reverse motor 12 and the first transmission member 13 located on opposite sides of the plate-shaped first motor base 16. That is, the first motor base 16 separates the forward / reverse motor 12 and the first transmission member 13, preventing their movements from interfering with each other and reducing the failure rate.

[0087] In some embodiments, the first transmission member 13 includes a driving wheel 131 and a driven wheel 132. The output end of the forward / reverse motor 12 is connected to the driving wheel 131. The driven wheel 132 is disposed adjacent to the driving wheel 131. A channel for mounting the mirror body 210 is formed between the driving wheel 131 and the driven wheel 132. This channel constitutes the mirror body mounting part 11. The mirror body mounting 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.

[0088] 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°. 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 frictional forces in the same direction to the outer surface of the mirror body 210, causing the mirror body 210 to move. The conveying mechanism 10 achieves the movement of the mirror body 210 through the forward / backward motor 12 and the first transmission member 13. The overall structure is simple and easy to operate. Furthermore, 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.

[0089] In some embodiments, the side edges of the driving wheel 131 and the driven wheel 132 are formed with annular grooves 135 that mate with the outer surface of the mirror body 210. The mirror body 210 is relatively slidably embedded in the annular grooves 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 rubber wheels and the mirror body 210, while also reducing wear on the mirror body 210. In some embodiments, the forward and backward motor 12 includes, but is not limited to, a micro motor. Micro motors have high torque, light weight, and small size, which is beneficial for simplifying the size of the conveying mechanism 10.

[0090] In some embodiments, the conveying mechanism 10 includes a housing 14 configured to enclose the forward / reverse motor 12, the first motor mount 16, and the first transmission member 13 for dustproof and protective purposes. In some embodiments, the first transmission member 13 is disposed on the outside of the housing 14 to facilitate the mounting of the mirror body 210. In some embodiments, the first motor mount 16 is integrally formed with the housing 14.

[0091] 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.

[0092] Figure 4 This is a structural schematic diagram of the conveying mechanism 10 shown in some embodiments of this specification.

[0093] In some embodiments, a transport mechanism 10 for a flexible endoscope is provided, which is applied to a flexible endoscope. The transport mechanism 10 includes a mounting plate 110, an adjustment device 120, two clamping wheels 130, and a forward / backward motor 12.

[0094] In some embodiments, the conveying mechanism 10 includes a mounting plate 110. The mounting plate 110 is used to mount and support two clamping wheels 130, a forward / backward motor 12, and an adjusting device 120. In some embodiments, the two clamping wheels 130, the forward / backward 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 forward / backward motor 12, and the adjusting device 120 are 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, with the two clamping wheels 130 located on the first side 111 and the forward / backward motor 12 and the adjusting device 120 located on the second side 112, to avoid interference between the movements of the various components. In some embodiments, the conveying mechanism 10 includes a housing 14, one side of which forms the aforementioned mounting plate 110.

[0095] In some embodiments, the conveying mechanism 10 includes two clamping wheels 130, with a lens mounting portion 11 formed between the two clamping wheels 130 for clamping the lens body. In some embodiments, the radial gap between the two clamping wheels 130 forms the lens mounting portion 11 for clamping the lens body. After the lens body is clamped in the lens mounting portion 11, the lens body can move in a direction perpendicular to the radial direction of the two clamping wheels 130. In some embodiments, the lens mounting portion 11 has a shape adapted to the outer surface of the lens body.

[0096] In some embodiments, the conveying mechanism 10 includes a forward / backward motor 12, disposed on a mounting plate 110, configured to drive two clamping wheels 130 to rotate around their respective centers. In some embodiments, one of the clamping wheels 130 is a driving wheel 131, and the other is a driven wheel 132. The output end of the forward / backward motor 12 is connected to the driving wheel 131, and the driven wheel 132 is disposed adjacent to the driving wheel 131, forming a mirror mounting portion 11 between the driving wheel 131 and the driven wheel 132. When the forward / backward motor 12 rotates, it drives the driving wheel 131 to rotate, generating friction between the driving wheel 131 and the mirror body, causing the mirror body to move. The movement of the mirror body generates 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 respectively apply frictional forces in the same direction to the outer surface of the mirror body, which causes the mirror body to move.

[0097] In some embodiments, the conveying mechanism 10 includes an adjusting device 120, which includes a fixing part 121 and a sliding part 122. The fixing part 121 is fixed to the mounting plate 110, and the sliding part 122 is connected to at least one of the two clamping wheels 130. When the sliding part 122 moves relative to the fixing part 121, the distance between the centers of the two clamping wheels 130 changes. In some embodiments, if the distance between the centers of the two clamping wheels 130 increases, the cross-sectional dimension of the lens mounting part 11 increases. In some embodiments, if the distance between the centers of the two clamping wheels 130 decreases, the cross-sectional dimension of the lens mounting part 11 decreases. The "cross-sectional dimension of the lens mounting part 11" refers to the area of ​​the cross-section of the lens mounting part 11 that is coplanar with the rotation axes of the two clamping wheels. In some embodiments, the sliding part 122 is connected to one of the two clamping wheels 130, and the sliding part 122 causes the position of one clamping wheel 130 to change, thereby changing the relative position of the two clamping wheels 130. In some embodiments, the sliding part 122 is connected to two clamping wheels 130. The sliding part 122 includes two independent parts (e.g., two sliders 124), one part drives one clamping wheel 130 to change position, and the other part drives the other clamping wheel 130 to change position, so that the relative position of the two clamping wheels 130 changes.

[0098] According to the solutions in some of the above embodiments, the conveying mechanism 10 includes an adjusting device 120. The adjusting device 120 can change the distance between the centers of the two clamping wheels 130, thereby increasing or decreasing the cross-sectional size of the mirror mounting part 11. This allows the mirror mounting part 11 to adapt to mirrors with different cross-sectional sizes, improving the compatibility between the conveying device and the mirror, increasing the application range of the conveying device, and saving costs. After the mirror mounting part 11 clamps the mirror, the adjusting device 120 can adjust the distance between the centers of the two clamping wheels 130, changing the preload force between the two clamping wheels 130 and the mirror, ensuring a tight fit between the mirror and the clamping wheels 130, preventing accidental slippage of the mirror, and ensuring the accuracy of the forward and backward motor 12 when driving the mirror movement.

[0099] Figure 5 This is a schematic diagram of the structure of the adjustment device 120 shown in some embodiments of this specification. Figure 6 This is a structural schematic diagram of the conveying mechanism 10 shown in some embodiments of this specification.

[0100] like Figures 3A to 5As shown, in some embodiments, the fixing part 121 includes a guide rail 123, which is parallel or substantially parallel to the line connecting the centers of the two clamping wheels 130. Substantially parallel means that the angle between the line connecting the center of the guide rail 123 and the center of the two clamping wheels 130 is within ±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 the guide rail 123. In some embodiments, the fixing part 121 includes at least one guide rail 123 arranged parallel to each other; for example, the number of guide rails 123 includes, but is not limited to, one, two, three, etc.

[0101] In some embodiments, the sliding portion 122 includes a slider 124, which slidably engages with the guide rail 123. In some embodiments, the slider 124 includes a groove, which slidably engages with the guide rail 123, allowing the slider 124 to slide relative to the guide rail 123. By providing the guide rail 123 and the slider 124, the direction of movement of the sliding portion 122 can be restricted, causing the two clamping wheels 130 to move away from or closer to each other in the direction of the line connecting their centers, thus preventing misalignment of the two clamping wheels 130.

[0102] In some embodiments, the sliding portion 122 includes a slider 124, and one of the two clamping wheels 130 is disposed on the slider 124. In some embodiments, the sliding portion 122 includes two sliders 124, and one of the two clamping wheels 130 is disposed on one slider 124, and the other clamping wheel 130 is disposed on the other slider 124.

[0103] 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 part 122 about an axis passing through the wheel center, and the second clamping wheel 134 is connected to the output shaft of the forward and backward motor 12.

[0104] In some embodiments, a rotating shaft is provided on the slider 124, and the first clamping wheel 133 is rotatably connected to the rotating shaft. When the forward and backward motor 12 drives the second clamping wheel 134 to rotate, it drives the first clamping wheel 133 to rotate, thereby causing the first clamping wheel 133 and the second clamping wheel 134 to drive the mirror body to move.

[0105] In some embodiments, the second clamping wheel 134 is connected to the forward / reverse motor 12 via a key. In some embodiments, the second clamping wheel 134 is connected to the forward / reverse motor 12 via a coupling.

[0106] In some embodiments, the fixing part 121 includes an adjusting motor 150 and a transmission structure 160, and the sliding part 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.

[0107] 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 forward / backward motor 12, which is fixed to the mounting plate 110. The adjusting motor 150 is configured to drive the sliding member 124 to slide relative to the guide rail 123, thereby causing the wheel center of the first clamping wheel 133 to move away from or towards the wheel center of the second clamping wheel 134.

[0108] 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 disposed on the first sliding member 124, and the second clamping wheel 134 is connected to the forward / backward motor 12, which is disposed on the second sliding member. The adjusting motor 150 is configured to drive the first sliding member 124 and the second sliding member to slide relative to the guide rail 123 through the transmission structure 160, thereby causing the wheel centers of the first clamping wheel 133 and the second clamping wheel 134 to move away from or towards each other.

[0109] In some embodiments, the transmission structure 160 includes a meshing gear 161 and a rack 162. The gear 161 is fixed to the output shaft of the regulating motor 150, and the rack 162 is fixed to the sliding portion 122. In some embodiments, the gear 161 is fixedly connected to the output shaft of the regulating motor 150 via a key or coupling, and the rack 162 is fixedly connected to the sliding element 124 of the sliding portion 122. In some embodiments, the extending direction of the rack 162 is parallel or substantially parallel to the extending direction of the guide rail 123. In some embodiments, when the regulating motor 150 rotates, it drives the gear 161 to rotate, the gear 161 drives the rack 162 to move linearly, and the rack 162 drives the sliding element 124 to slide relative to the guide rail 123. The engagement of the gear 161 and the rack 162 makes the transmission torque more stable.

[0110] 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 slider 124 on the guide rail 123 when it is not under force, and the clamping position refers to the position where the lens mounting portion 11 of the two clamping wheels 130 engages with the lens body.

[0111] In some embodiments, the adjusting device 120 further includes a reset member 170, configured to drive at least one of the two clamping wheels 130 to move, thereby resetting the two clamping wheels 130 from a clamping position to an initial position. In some embodiments, the reset member 170 drives one of the two clamping wheels 130 to move, thereby resetting both clamping wheels 130 from a clamping position to an initial position. In some embodiments, the reset member 170 drives both clamping wheels 130 to move, thereby resetting both clamping wheels 130 from a clamping position to an initial position.

[0112] In some embodiments, the reset member 170 includes a spring 171, a first mounting base 172, and a second mounting base 173. The first mounting base 172 is fixed to the mounting plate 110, and the second mounting base 173 is fixed to the sliding portion 122. One end of the spring 171 is connected to the first mounting base 172, and the other end is connected to the second mounting base 173. In some embodiments, the first mounting base 172 includes a fixing block 1721 and a first connecting protrusion 1722 disposed on the fixing block 1721. The fixing block 1721 is fixed to the mounting plate 110, and the first connecting protrusion 1722 is fixedly engaged with one end of the spring 171. In some embodiments, the second mounting base 173 includes a second connecting protrusion 1731, which is fixedly engaged with the other end of the spring 171. In some embodiments, the arrangement of the first connecting protrusion 1722 and the second connecting protrusion 1731 is such that the extension direction of the spring 171 is parallel to the extension direction of the guide rail 123.

[0113] In some embodiments, the reset member 170 includes at least two sets, with the extension and retraction directions of the springs 171 in each set of reset members 170 arranged in parallel. Providing multiple sets of reset members 170 can provide a greater reset driving force for the clamping wheel 130.

[0114] In some embodiments, when the adjusting motor 150 causes the 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 extends to its 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 centers of the two clamping wheels 130 to move closer together, the spring 171 is stretched. When the adjusting motor 150 stops, the spring 171 shortens to its 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 to automatically return the two clamping wheels 130 to their initial positions, the adjustment motor 150 does not need to be involved, thus saving energy consumption of the conveying mechanism 10.

[0115] Figure 7 This is a structural schematic diagram of the conveying mechanism 10 shown in some embodiments of this specification.

[0116] Some embodiments of this specification also provide a transport mechanism 10 for use with a flexible endoscope. The transport mechanism 10 includes two clamping wheels 130, a forward / backward motor 12, and wheel sleeves 180. A scope mounting portion 11 is formed between the two clamping wheels 130, which is used to clamp the scope body; the forward / backward motor 12 is configured to drive the two clamping wheels 130 to rotate about their respective wheel centers. Further embodiments of the two clamping wheels 130 and the forward / backward motor 12 can be found in [reference needed]. Figures 4 to 6 And its related descriptions.

[0117] In some embodiments, a sleeve 180 is disposed on at least one of the two clamping wheels 130, and the 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 sleeve 180, while the other clamping wheel 130 is not provided with one. In some embodiments, each of the two clamping wheels 130 is provided with a sleeve 180. In some embodiments, the sleeve 180 is fitted onto the outer rim of the clamping wheel 130 and detachably engages with the clamping wheel 130.

[0118] According to the conveying mechanism 10 in some of the above embodiments, the wheel sleeve 180 of the conveying mechanism 10 is detachably connected to the clamping wheel 130. When the conveying mechanism 10 is used with mirrors of different cross-sectional sizes, by disassembling the wheel sleeve 180 and replacing it with a wheel sleeve 180 of different thickness, the mirror mounting part 11 between the two clamping wheels 130 is made to match the cross-sectional size of the mirror, thereby improving the compatibility between the conveying device and the mirror, increasing the application range of the conveying device, and saving costs.

[0119] In some embodiments, the wheel sleeve 180 is a disposable consumable. In some embodiments, the wheel sleeve 180 is a washable and sterilizable component. Since the wheel sleeve 180 is in direct contact with the endoscope, and the endoscope, as an instrument inserted into the body's natural cavities, requires a high level of sterility, the wheel sleeve 180 is detachably connected to the clamping wheel 130. After use, the wheel sleeve 180 can be directly disassembled for medical waste disposal or recycled for cleaning and sterilization, and the delivery device can be replaced with a new wheel sleeve 180 for use in the next surgery. This ensures the hygiene of the endoscope and avoids cross-infection during surgery.

[0120] 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 mating portion 182. The limiting portion 181 and the mating portion 182 cooperate with each other to restrict the relative rotation of the wheel sleeve 180 and the clamping wheel 130. After the wheel sleeve 180 of the two clamping wheels 130 is engaged with the mirror body, a frictional force is generated at the contact position with the mirror body along the tangential direction of the clamping wheel 130. By providing the limiting portion 181 and the mating 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 restricted, so that the output torque of the advance motor 12 is fully transmitted to the mirror body, thereby improving the stability and accuracy of the advance motor 12 in controlling the movement of the mirror body.

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

[0122] In some embodiments, the inner edge of the wheel sleeve 180 has a radially protruding protrusion, which is configured as a limiting portion 181, and the outer edge of the clamping wheel 130 has a groove that mates with the protrusion, which is configured as a mating portion 182.

[0123] In some embodiments, the outer edge of the wheel sleeve 180 is formed with a radially recessed groove, which is configured as a limiting part 181. The mating part 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 engaged in the groove of the wheel sleeve 180.

[0124] In some embodiments, the material of the sleeve 180 includes, but is not limited to, at least one of thermoplastic polyurethane elastomer rubber, silicone, fluororubber, and polycarbonate-based polyurethane. These materials give the sleeve 180 a certain degree of elasticity, allowing it to maintain a tight fit with the clamping wheel 130 after being mounted on it, through elastic force. Furthermore, the elasticity of the sleeve 180 increases the friction between it and the lens body, while also reducing wear on the lens body.

[0125] In some embodiments, the rotating mechanism 20 includes a rotary motor 21 and a second transmission member 22. The output end of the rotary 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 rotary motor 21 drives the mirror body 210 to rotate via the second transmission member 22.

[0126] In some embodiments, the rotating mechanism 20 further includes a second motor mount 24. The rotating motor 21 and the second transmission member 22 are both mounted on the second motor mount 24.

[0127] In some embodiments, the second transmission component 22 includes a coupling 221, which connects the output shaft of the rotary motor 21 to the connector 30. The output shaft of the rotary motor 21 transmits torque to the connector 30 through the coupling 221.

[0128] In some embodiments, the rotating mechanism 20 further includes a bearing and a bearing housing 25, the bearing housing 25 being fixedly connected to the second motor housing 24, the bearing being disposed within the bearing housing 25, and at least a portion of the coupling 221 and / or the connecting member 30 being disposed within the bearing, the bearing being used to provide support force to the connecting member 30 to ensure the rotational stability of the connecting member 30.

[0129] Figure 8 This is a schematic diagram of a moving part according to some embodiments of this specification.

[0130] In some embodiments, the flexible endoscope assist device 100 includes a moving component, which includes the aforementioned conveying mechanism 10 and rotating mechanism 20. In some embodiments, the moving component further includes a multi-degree-of-freedom robotic arm 80 that controls the movement and / or rotation of the endoscope body 210, with both the rotating mechanism 20 and the conveying mechanism 10 disposed on the robotic arm 80. In some embodiments, the moving component further includes a fixed support 63, with both the rotating mechanism 20 and the conveying mechanism 10 disposed on the fixed support 63.

[0131] Figure 9 This is a schematic block diagram of the circuit of the flexible endoscope auxiliary device 100 according to some embodiments of this specification.

[0132] In some embodiments, the flexible endoscope 200 includes a control handle 220, which may be a handle for a user to manually operate the endoscope body 210. In some embodiments, the control handle 220 controls the movement or rotation of the endoscope body 210 through its own movement. In some embodiments, the control handle 220 includes at least one dial or knob for controlling the bending of the distal end of the endoscope body 210, that is, controlling the swing of the distal end of the endoscope body 210 relative to its original axis, so that the distal end of the endoscope body 210 can approach and face the lesion location.

[0133] In some embodiments, the flexible endoscope assist device 100 includes a control component 40. The control component 40 is used to acquire motion information of the control handle 220, and then control the endoscope body 210 to move or rotate based on the motion information via the delivery mechanism 10 and / or the rotation mechanism 20.

[0134] In some embodiments, the control unit 40 is configured to acquire motion information of the control handle 220. This motion information includes, but is not limited to, motion trajectory information, angle rotation information, motion direction information, motion speed information, and motion acceleration information.

[0135] In some embodiments, the control unit 40 is configured to determine control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on motion information. These control parameters include, but are not limited to, the output speed, output angle, output direction, and output power of the conveying mechanism 10 and / or the rotating mechanism 20.

[0136] In some embodiments, a mapping relationship exists 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, a mapping relationship exists 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, when the user moves the control handle 220 in a preset direction, the control unit 40 determines the output speed of the forward / backward motor 12 of the conveying mechanism 10 and / or the rotating mechanism 20 according to the mapping relationship, and the forward / backward motor 12 controls the mirror body 210 to move forward or backward. As another example, a mapping relationship exists 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, when the user rotates the control handle 220, the control unit 40 determines the output angle of the rotation motor 21 of the conveying mechanism 10 and / or the rotating mechanism 20 according to the mapping relationship, and the rotation motor 21 controls the mirror body 210 to rotate. In other embodiments, the movement direction information of the control handle 220 is mapped to the output direction of the conveying mechanism 10 and / or the rotating mechanism 20, or the speed information and motion acceleration information of the control handle 220 are mapped to the output power of the conveying mechanism 10 and / or the rotating mechanism 20. This specification does not limit this aspect.

[0137] In some embodiments, the control unit 40 is configured to generate movement control commands and / or rotation control commands based on control parameters. The control commands are determined based on the mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotation mechanism 20.

[0138] In some embodiments, the control unit 40 is configured to send control commands to the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the control unit 40 can send control commands to the conveying mechanism 10 and / or the rotating mechanism 20 wirelessly or via wired means, and the conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control commands, thereby controlling the mirror body 210 to move forward, backward, and rotate.

[0139] In some embodiments, the control component 40 is connected to the control handle 220 to facilitate the acquisition of motion information from the control handle 220. In some embodiments, the control component 40 and the control handle 220 are detachably connected. For example, the control component 40 is connected to the control handle 220 via a support sleeve, snap-fit, threaded component, etc., allowing the control component 40 to adapt to various models of lens bodies 210 or control handles 220, improving utilization and reducing usage costs. In some embodiments, the control component 40 and the control handle 220 are fixedly connected without detachment. For example, the control component 40 is connected to the control handle 220 via welding, adhesive, etc., improving the connection stability between the control component 40 and the control handle 220.

[0140] In some embodiments, the control unit 40 is signal-connected to the conveying mechanism 10 and / or the rotating mechanism 20, facilitating the control of the mirror body 210 to move or rotate based on motion information via the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the control unit 40 establishes signal communication with the conveying mechanism 10 and / or the rotating mechanism 20 via a wireless or wired connection to enable data exchange between the control unit 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.

[0141] In some embodiments, the control component 40 includes, but is not limited to, a touch device or an attitude sensor 41. The control component 40 integrates a chip or processor 42, which can not only collect 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 (e.g., 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. The control device generates the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20.

[0142] Figure 10 This is a structural block diagram of the control component 40 shown in some embodiments of this specification.

[0143] In some embodiments, the control unit 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 commands 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 commands.

[0144] According to the structure of the flexible endoscope assist 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 delivery mechanism 10 and / or the rotation mechanism 20. The delivery mechanism 10 and / or the rotation mechanism 20 control the movement or rotation of the endoscope body 210 based on the control parameters. Users can control the flexible endoscope 200 by operating the control handle 220, allowing users (especially medical personnel) to maximize their trained operating skills and complete operations more safely and effectively. It also reduces user fatigue caused by holding the endoscope for extended periods. In other words, with the help of the flexible endoscope assist device 100, users can free up the hand that was originally needed to hold the endoscope body and operate other medical instruments of the flexible endoscope 200 with both hands, thereby completing surgeries faster and more efficiently. Furthermore, it can significantly reduce the user's workload and improve their concentration while ensuring surgical safety, thus further enhancing surgical safety. In some embodiments, the flexible endoscope assist device 100 can replace some of the user's hand operations, simplifying the user's hand movements and eliminating the need for an assistant, thereby reducing labor and communication costs and improving operational efficiency.

[0145] In some embodiments, a mapping relationship exists 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 forward / reverse motor 12. The control unit 40 is configured to acquire the motion information of the control handle 220 and determine the control parameters of the forward / reverse motor 12, including but not limited to motor speed, motor rotation direction, motor power, and motor current.

[0146] In some embodiments, the mapping relationship described above includes the relationship between the moving distance of the control handle 220 in a preset direction and the rotational speed of the forward / backward motor 12. The preset direction refers to any direction that is a straight line relative to the initial position of the control handle 220; in other words, the direction in which the movement 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 of the mirror body 210; or, the preset direction can be 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 rotational direction of the motor. For example, when the control handle 220 is set to move towards the distal end of the mirror body 210 in a direction parallel to the central axis of the mirror body 210, the forward / backward motor 12 rotates forward, and the mirror body 210 moves forward axially; 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 forward / backward motor 12 rotates in reverse, and the mirror body 210 moves backward axially.

[0147] In some embodiments, the control unit 40 is configured to determine the rotational speed of the forward / backward motor 12 of the conveying mechanism 10 based on the movement distance of the control handle 220 in a 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 unit 40 collects the motion information of the control handle 220, which includes, but is not limited to, the trajectory shape of the control handle 220 (e.g., straight line, near-straight line, curve, etc.) and the movement distance. When the control unit 40 determines that the control handle 220 moves in a straight line or near-straight line in the preset direction, it matches the movement distance of the control handle 220 with the rotational speed of the forward / backward motor 12 based on a mapping relationship, thereby controlling the movement of the mirror body 210.

[0148] In some embodiments, the mapping relationship between the movement distance of the control handle 220 in a preset direction and the rotational speed of the forward / reverse motor 12 includes at least a reverse gear, a stop gear, and a forward gear. The reverse gear, stop gear, and forward gear are explained below using an example where the movement distance of the control handle 220 in the preset direction ranges from -90mm to 130mm.

[0149] The reverse gear includes the following: when the control handle 220 moves a distance X in a preset direction of [-90, 0], the rotational speed of the forward / reverse motor 12 is: V = ((X-40)×2.78×K×2πr×i) / 360. Where K is the gear coefficient, and r is the shortest distance between the rotation axis of the forward / reverse motor 12 and the central axis of the mirror body 210; in other words, r is the shortest distance between the center of the drive wheel 131 and the central axis of the mirror body 210 (see...). Figure 3A ), where i is the reduction ratio of the forward / reverse motor 12. At this time, the forward / reverse motor 12 controls the mirror body 210 to move backward along the axial direction.

[0150] The stop position includes: when the control handle 220 moves a distance X in a preset direction of [0, 40], the rotational speed of the forward / reverse motor 12 is V = 0. At this time, the forward / reverse motor 12 does not rotate, and the mirror body 210 remains stationary.

[0151] The forward gear includes: when the control handle 220 moves a distance X in a preset direction of [40, 130], the rotational speed of the forward / reverse motor 12 is: V = (X × 2.78 × K × 2πr × i) / 360. Where K is the gear coefficient, and r is the shortest distance between the rotation axis of the forward / reverse motor 12 and the central axis of the mirror body 210; in other words, r is the shortest distance between the center of the drive wheel 131 and the central axis of the mirror body 210 (see...). Figure 3A ), where i is the reduction ratio of the forward / reverse motor 12. At this time, the forward / reverse motor 12 controls the mirror body 210 to move forward along the axial direction.

[0152] In some embodiments, the shortest distance r between the rotation axis of the forward / reverse motor 12 and the central axis of the mirror body 210 is 22 mm, the reduction ratio i of the forward / reverse motor 12 is 1 / 10, and the gear coefficient K = 1, 2, 3…26. Therefore, in the reverse gear, the rotational speed V of the forward / reverse motor 12 is [-13.86 Kmm / s, -3.86 Kmm / s]; in the stop gear, the rotational speed V = 0; and in the forward gear, the rotational speed V of the forward / reverse motor 12 is [4.26 Kmm / s, 13.86 Kmm / s]. In some embodiments, the maximum rotational speed of the forward / 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 mirror body 210's movement.

[0153] In some embodiments, a mapping relationship exists 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 rotary motor 21. The control unit 40 is configured to acquire the motion information of the control handle 220 and determine the control parameters of the rotary motor 21, including but not limited to motor speed, motor rotation direction, motor power, and motor current.

[0154] In some embodiments, the mapping relationship includes the relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21. The rotation angle is defined as the angle by which the control handle 220 rotates around a preset axis. The preset axis includes, but is not limited to, the central axis of the control handle 220's own structure, a perpendicular line passing through the control handle 220 along the direction of gravity, etc. In some embodiments, when the user operates the control handle 220 to rotate around the preset axis, the control component 40 acquires the rotation angle of the control handle 220 and matches it 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, when the control handle 220 rotates clockwise around the preset axis, the rotary motor 21 rotates clockwise, thereby controlling the conveying mechanism 10 to rotate clockwise; conversely, when the control handle 220 rotates counterclockwise around the preset axis, the rotary motor 21 rotates counterclockwise, thereby controlling the conveying mechanism 10 to rotate counterclockwise.

[0155] In some embodiments, after acquiring the rotation angle of the control handle 220, the control component 40 preprocesses the rotation angle data to obtain processed data. In some embodiments, preprocessing includes, but is not limited to, data cleaning, data integration, data transformation, and data reduction to clean up outliers, correct erroneous data, or fill in missing data. In some embodiments, the control component 40 sets the range of the processed rotation angle data of the control handle 220 to 0–180°. In other embodiments, the control component 40 sets the range of the processed rotation angle data of the control handle 220 to 0–150°, 0–120°, 0–90°, etc.

[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 an absolute angular correspondence, that is, the rotation angle of the rotary motor 21 is consistent with the rotation angle of the control handle 220. For example, if 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.

[0157] 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 angular correspondence, that is, the rotation angle of the rotary motor 21 and the rotation angle of the control handle 220 are functionally related. For example, if the control handle 220 rotates 90°, the control component 40 controls the rotary motor 21 to rotate 45°, causing the mirror body 210 to rotate 45° around the central axis.

[0158] In some embodiments, the control unit 40 is configured to adjust the rotational speed of the rotary motor 21. For example, the rotational speed of the rotary motor 21 can be set to 5° / s to 90° / s to avoid the rotational speed of the rotary motor 21 being too high and affecting the accuracy of the rotation angle. In some embodiments, the rotational speed of the rotary motor 21 can be adjusted by setting a reducer, a constant torque frequency converter, or other devices. Alternatively, the rotational speed of the rotary motor 21 can be adjusted by changing the input power and / or input current of the rotary motor 21.

[0159] In some embodiments, the flexible endoscope assist device 100 includes a control switch configured to activate and deactivate control to prevent accidental misoperation and improve surgical safety. In some embodiments, the control switch includes, but is not limited to, buttons, levers, foot pedals, etc., and is communicatively connected to the control component 40.

[0160] Figure 11A This is a structural schematic diagram of the support member 50 shown in some embodiments of this specification. Figure 11B This is a top view of the support member 50 shown according to some embodiments of this specification.

[0161] like Figure 11A and Figure 11B As shown, in some embodiments, the flexible endoscope assist device 100 includes a support member 50 for fixing and supporting the control member 40 and the control handle 220.

[0162] In some embodiments, the support member 50 includes a first mounting portion 51 and a second mounting portion 52. The first mounting portion 51 is used to mount the control member 40, and the second mounting portion 52 is used to mount the control handle 220. The first mounting portion 51 and the second mounting portion 52 are fixedly connected. Connecting the control member 40 and the control handle 220 through the first mounting portion 51 and the second mounting portion 52 ensures that the control member 40 and the control handle 220 move in tandem, which helps to improve the accuracy of the control member 40 in acquiring the motion information of the control handle 220.

[0163] In some embodiments, the control component 40 is non-removably mounted within the first mounting portion 51, improving the stability of the control component 40. In some embodiments, the control component 40 is detachably mounted within the first mounting portion 51, facilitating the replacement of different control components 40 and saving costs.

[0164] In some embodiments, the control handle 220 is non-removably mounted within the second mounting portion 52, improving the stability of the control handle 220. In some embodiments, the control handle 220 is detachably mounted within the second mounting portion 52, facilitating the replacement of different control handles 220 and saving costs.

[0165] In some embodiments, the first mounting part 51 is configured as a first clamp 511, and the control component 40 is engaged in the first clamp 511.

[0166] In some embodiments, the first clamp 511 includes an arc-shaped first half 512 and a second half 513, which are detachably connected to facilitate the installation of the control component 40. In some embodiments, the two sides of the first half 512 and the second half 513 are connected by means of snaps, threads, or the like. In some embodiments, one side of the first half 512 and the second half 513 is hinged, and the other side is connected by means of snaps, threads, or the like.

[0167] In some embodiments, the second mounting part 52 is configured as a second clamp 521, and the control handle 220 is disposed inside the second clamp 521.

[0168] In some embodiments, the second clamp 521 is arc-shaped and includes a mounting opening 522 for allowing the control handle 220 to enter the second clamp 521. In some embodiments, the opening spacing of the mounting opening 522 is elastic, and at least a portion of the structure at the mounting opening 522 is elastic. During assembly, the control handle 220 presses against the mounting opening 522, causing the mounting opening 522 to expand due to elastic deformation, allowing the control handle 220 to enter the second clamp 521 from the mounting opening 522. Then, the mounting opening 522 returns to its original shape and limits the control handle 220.

[0169] In some embodiments, a channel adapted to the shape of the control handle 220 is formed in the second clamp 521. The shape of the channel includes, but is not limited to, a straight cylinder or a frustum, so that the channel fits more tightly with the control handle 220.

[0170] Figure 12 This is a structural block diagram of a flexible endoscope auxiliary device 100 according to some embodiments of this specification.

[0171] In other embodiments of this specification, a flexible endoscope auxiliary device 100 is provided, applied to a flexible endoscope 200. The flexible endoscope 200 includes a scope body 210, which can be inserted into the natural cavities of the human body to perform multiple tasks such as examination, diagnosis, and treatment. The flexible endoscope 200 also includes a control handle 220, which can be a handle for the user to manually operate the scope body 210. The flexible endoscope auxiliary device 100, applied to the flexible endoscope 200, can assist the user in controlling the movement of the flexible endoscope 200, thereby replacing manual assistance in the operation of the flexible endoscope 200.

[0172] In some embodiments, the flexible endoscope assist device 100 includes a delivery mechanism 10 configured to control movement of the endoscope body 210. In some embodiments, the flexible endoscope assist device 100 includes a rotation mechanism 20 configured to control rotation of the delivery mechanism 10. More detailed information about the delivery mechanism 10 and the rotation mechanism 20 can be found in [link to relevant documentation]. Figures 1 to 11B The details and related descriptions will not be repeated here.

[0173] In some embodiments, the flexible endoscope auxiliary device 100 further includes an optical tracking module 60, which is signal-connected to the delivery mechanism 10 and / or the rotation mechanism 20. In some embodiments, the optical tracking module 60 may be based on computer vision principles, whereby an image acquisition device monitors and tracks feature points at the distal end of the endoscope 210 from different angles, thereby capturing the motion information of the control handle 220 and determining the operating parameters of the delivery mechanism 10 and / or the rotation mechanism 20 based on the motion information of the control handle 220.

[0174] Figure 13 This is a structural schematic diagram of a flexible endoscope auxiliary device 100 according to some embodiments of this specification.

[0175] like Figure 13 As shown, in some embodiments, the optical tracking module 60 includes at least one optical marker 61, which is disposed on the control handle 220 to mark the positional features of the control handle 220. In some embodiments, the optical marker 61 includes, but is not limited to, a light-emitting component or a reflective component, such as an LED light or a reflective coating.

[0176] In some embodiments, the optical tracking module 60 further includes a bracket 63, which includes multiple arms and multiple optical markers 61. The bracket 63 is used to fix the control handle 220, and the multiple optical markers 61 are respectively fixed to the ends of the multiple arms. The multiple optical markers 61 can more accurately reflect the movement state of the control handle 220 without affecting the grip of the control handle 220.

[0177] In some embodiments, the optical tracking module 60 includes at least one motion capture device 62, which is used to acquire trajectory information of the optical marker 61. In some embodiments, the motion capture device 62 includes, but is not limited to, a camera, video camera, scanner, etc. In some embodiments, the motion capture device 62 is mounted on a workbench to avoid affecting the movement of the control handle 220. In some embodiments, multiple motion capture devices 62 can be set up to capture the movement of the optical marker 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 marker 61, thereby improving the accuracy of the movement information of the control handle 220.

[0178] 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 markers 61 acquired by the motion capture device 62, including but not limited to data cleaning, data calculation, data storage, data conversion, and data output of the motion information.

[0179] In some embodiments, the optical tracking module 60 includes a signal transmission device (not shown). In some embodiments, the signal transmission device is signal-connected to both the motion capture device 62 and the data processing platform to establish communication between the motion capture device 62 and the data processing platform. In some embodiments, the signal transmission device is also signal-connected to both the conveying mechanism 10 and the rotating mechanism 20 to establish communication between the data processing platform and the conveying mechanism 10, and between the data processing platform and the rotating mechanism 20.

[0180] In some embodiments, the optical tracking module 60 is configured to acquire motion information of the control handle 220.

[0181] 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, and motion acceleration information.

[0182] In some embodiments, the optical tracking module 60 captures the motion trajectory of the optical marker 61 of the control handle 220 via the motion capture device 62, and determines the motion information of the control handle 220 based on the motion trajectory of the optical marker 61. In some embodiments, the optical tracking module 60 determines the motion trajectory of the optical marker 61 based on the temporal trajectory of the optical marker 61. For example, if the motion capture device 62 acquires an image of the optical marker 61 every 0.1 seconds, the position information of the optical marker 61 at the current moment is compared with the position information of the optical marker 61 at the previous moment, and the position information of the optical marker 61 at multiple moments is analyzed to obtain the motion trajectory of the optical marker 61.

[0183] In some embodiments, the optical tracking module 60 cooperates with the control handle 220 to jointly control the movement of the lens body 210. For example, the optical tracking module 60 analyzes the movement information of the control handle 220 and further infers the user's intention to move the control handle 220. For instance, if the optical tracking module 60 obtains that the control handle 220 is moving forward, it can infer that the user needs the lens body 210 to move forward.

[0184] In some embodiments, the optical tracking module 60 is configured to determine control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on motion information from 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, and output power of the conveying mechanism 10 and / or the rotating mechanism 20.

[0185] In some embodiments, the optical tracking module 60 determines control parameters such as motor speed, motor power, and motor current 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 rotary motor 21 based on the rotation angle of the mirror body 210.

[0186] In some embodiments, the optical tracking module 60 is configured to generate control commands for the conveying mechanism 10 and / or the rotating mechanism 20 based on control parameters. The control commands are determined based on 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. More information on this mapping relationship can be found in [link to relevant documentation]. Figures 1 to 11B The mapping relationships shown in some embodiments will not be repeated in this specification.

[0187] In some embodiments, the optical tracking module 60 is configured to send control commands to the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the optical tracking module 60 can send control commands to the conveying mechanism 10 and / or the rotating mechanism 20 wirelessly or via a wired connection, and the conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control commands, thereby controlling the lens body 210 to move forward, backward, and rotate.

[0188] By controlling the operation of the conveying mechanism 10 and / or the rotating mechanism 20 through the optical tracking module 60 in some embodiments, the error problem caused by manual control can be solved, and the control accuracy of the conveying mechanism 10 and / or the rotating mechanism 20 can be improved.

[0189] In some embodiments, the flexible endoscope assist device 100 further includes an emergency device 70 connected to the optical tracking module 60. The emergency device 70 is configured to brake any unintended movement of the control handle 220 to prevent accidents. Unintended movement of the control handle 220 includes, but is not limited to, movement speed exceeding a speed threshold range, movement distance exceeding a distance threshold range, excessive deviation of the movement direction from a predetermined direction, or instantaneous displacement caused by an accidental collision.

[0190] In some embodiments, the optical tracking module 60 is also configured to monitor unintended movements of the control handle 220. When unintended movements of the control handle 220 are detected, the optical tracking module 60 directly controls the emergency device 70 to activate. In some embodiments, when the emergency device 70 is activated, the optical tracking module 60 controls the conveying mechanism 10 and / or the rotating mechanism 20 to decelerate or stop abruptly, thereby braking the unintended movements of the control handle 220.

[0191] 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 the emergency device 70 needs to be activated. If so, the emergency device 70 is activated manually. In some embodiments, the emergency device 70 includes a foot pedal 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 handbrake configured to activate the emergency device 70 when at least a portion of the handbrake is rotated, pressed, or moved.

[0192] In some embodiments, the flexible endoscope 200 system includes a flexible endoscope 200 and a flexible endoscope auxiliary device 100 as described in any of the preceding embodiments. The flexible endoscope 200 includes a control handle 220 and an endoscope body 210, the control handle 220 being used to control the movement and rotation of the endoscope body 210.

[0193] Some embodiments of this specification also provide an auxiliary method for a flexible endoscope 200, applied to a flexible endoscope 200 and an auxiliary operating device for a flexible endoscope 200 as described in any of the above embodiments, wherein the flexible endoscope 200 includes a control handle 220.

[0194] Figure 14 This is a flowchart illustrating the operation method of a flexible endoscope 200 according to some embodiments of this specification.

[0195] like Figure 14 As shown, the steps of the flexible endoscope 200-assisted operation method 1400 include:

[0196] Step 1410: Collect motion information of the control handle 220.

[0197] In some embodiments, the control component 40 acquires motion information of the control handle 220. This motion information includes, but is not limited to, motion trajectory information, angle rotation information, motion direction information, motion speed information, and motion acceleration information.

[0198] Step 1420: Determine the control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on the motion information;

[0199] In some embodiments, the control unit 40 determines control parameters for the conveying mechanism 10 and / or the rotating mechanism 20 based on motion information. These control parameters include, but are not limited to, the output speed, output angle, output direction, and output power of the conveying mechanism 10 and / or the rotating mechanism 20.

[0200] 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.

[0201] Step 1430: Generate movement control commands and / or rotation control commands based on the control parameters;

[0202] In some embodiments, the control unit 40 is configured to generate movement control commands and / or rotation control commands based on control parameters. The control commands are determined based on the mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotation mechanism 20.

[0203] In some embodiments, a mapping relationship exists 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 forward / reverse motor 12. The control unit 40 is configured to acquire the motion information of the control handle 220 and determine the control parameters of the forward / reverse motor 12, including but not limited to motor speed, motor rotation direction, motor power, and motor current.

[0204] In some embodiments, the mapping relationship described above includes the relationship between the moving distance of the control handle 220 in a preset direction and the rotational speed of the forward / reverse motor 12. The preset direction refers to any direction that forms a straight line relative to the initial position of the control handle 220; in other words, the direction in which the movement trajectory of the control handle 220 is a straight line can be defined as the preset direction. For example, the preset direction may be parallel to the moving direction of the lens body 210; or, the preset direction may be perpendicular to the moving direction of the lens body 210; or, the preset direction may be parallel to the user's forward / backward direction; or, the preset direction may be parallel to the user's left / right direction; or, the preset direction may be parallel to the user's up / down direction. In some embodiments, when the control handle 220 moves in the preset direction, the forward / reverse motor 12 rotates forward, and the lens body 210 moves forward axially; conversely, when the control handle 220 moves in the opposite direction to the preset direction, the forward / reverse motor 12 rotates in reverse, and the lens body 210 moves backward axially.

[0205] In some embodiments, the control unit 40 is configured to determine the rotational speed of the forward / backward motor 12 of the conveying mechanism 10 based on the movement distance of the control handle 220 in a 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 unit 40 collects the motion information of the control handle 220, which includes, but is not limited to, the trajectory shape of the control handle 220 (e.g., straight line, near-straight line, curve, etc.) and the movement distance. When the control unit 40 determines that the control handle 220 moves in a straight line or near-straight line in the preset direction, it matches the movement distance of the control handle 220 with the rotational speed of the forward / backward motor 12 based on a mapping relationship, thereby controlling the movement of the mirror body 210.

[0206] In some embodiments, the mapping relationship between the movement distance of the control handle 220 in a preset direction and the rotational speed of the forward / reverse motor 12 includes at least a reverse gear, a stop gear, and a forward gear. The reverse gear, stop gear, and forward gear are explained below using an example where the movement distance of the control handle 220 in the preset direction ranges from -90mm to 130mm.

[0207] The reverse gear includes the following: when the control handle 220 moves a distance X in a preset direction of [-90, 0], the rotational speed of the forward / reverse motor 12 is: V = (((X-40)×2.78×K×2πr×i)) / 360. Where K is the gear coefficient, r is the distance between the rotation axis of the forward / reverse motor 12 and the mirror body 210, and i is the reduction ratio of the forward / reverse motor 12. At this time, the forward / reverse motor 12 controls the mirror body 210 to move backward axially.

[0208] The stop position includes: when the control handle 220 moves a distance X in a preset direction of [0, 40], the rotational speed of the forward / reverse motor 12 is V = 0. At this time, the forward / reverse motor 12 does not rotate, and the mirror body 210 remains stationary.

[0209] The forward gear includes the following: when the control handle 220 moves a distance X in a preset direction of [40, 130], the rotational speed of the forward / reverse motor 12 is: V = ((X × 2.78 × K × 2πr × i)) / 360. Where K is the gear coefficient, r is the distance between the rotation axis of the forward / reverse motor 12 and the mirror body 210, and i is the reduction ratio of the forward / reverse motor 12. At this time, the forward / reverse motor 12 controls the mirror body 210 to move forward axially.

[0210] In some embodiments, the distance r between the rotation axis of the forward / reverse motor 12 and the mirror body 210 is 22 mm, the reduction ratio i of the forward / reverse motor 12 is 1 / 10, and the gear coefficient K = 1, 2, 3…26. Therefore, in the reverse gear, the rotational speed V of the forward / reverse motor 12 is [-13.86 Kmm / s, -3.86 Kmm / s]; in the stop gear, the rotational speed V = 0; and in the forward gear, the rotational speed V of the forward / reverse motor 12 is [4.26 Kmm / s, 13.86 Kmm / s]. In some embodiments, the maximum rotational speed of the forward / 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 mirror body 210's movement.

[0211] In some embodiments, a mapping relationship exists 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 rotary motor 21. The control unit 40 is configured to acquire the motion information of the control handle 220 and determine the control parameters of the rotary motor 21, including but not limited to motor speed, motor rotation direction, motor power, and motor current.

[0212] In some embodiments, the mapping relationship includes the relationship between the rotation angle of the control handle 220 and the rotation angle of the rotary motor 21. The rotation angle is defined as the angle by which the control handle 220 rotates around a preset axis. The preset axis includes, but is not limited to, the central axis of the control handle 220's own structure, a perpendicular line passing through the control handle 220 along the direction of gravity, etc. In some embodiments, when the user operates the control handle 220 to rotate around the preset axis, the control component 40 acquires the rotation angle of the control handle 220 and matches it 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, when the control handle 220 rotates clockwise around the preset axis, the rotary motor 21 rotates clockwise, thereby controlling the conveying mechanism 10 to rotate clockwise; conversely, when the control handle 220 rotates counterclockwise around the preset axis, the rotary motor 21 rotates counterclockwise, thereby controlling the conveying mechanism 10 to rotate counterclockwise.

[0213] In some embodiments, after acquiring the rotation angle of the control handle 220, the control component 40 preprocesses the rotation angle data to obtain processed data. In some embodiments, preprocessing includes, but is not limited to, data cleaning, data integration, data transformation, and data reduction to clean up outliers, correct erroneous data, or fill in missing data. In some embodiments, the control component 40 sets the range of the processed rotation angle data of the control handle 220 to 0–180°. In other embodiments, the control component 40 sets the range of the processed rotation angle data of the control handle 220 to 0–150°, 0–120°, 0–90°, etc.

[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 an absolute angular correspondence, that is, the rotation angle of the rotary motor 21 is consistent with the rotation angle of the control handle 220. For example, if 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.

[0215] 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 angular correspondence, that is, the rotation angle of the rotary motor 21 and the rotation angle of the control handle 220 are functionally related. For example, if the control handle 220 rotates 90°, the control component 40 controls the rotary motor 21 to rotate 45°, causing the mirror body 210 to rotate 45° around the central axis.

[0216] In some embodiments, the control unit 40 is configured to adjust the rotational speed of the rotary motor 21. For example, the rotational speed of the rotary motor 21 can be set to 5° / s to 90° / s to avoid the rotational speed of the rotary motor 21 being too high and affecting the accuracy of the rotation angle. In some embodiments, the rotational speed of the rotary motor 21 can be adjusted by setting a reducer, a constant torque frequency converter, or other devices. Alternatively, the rotational speed of the rotary motor 21 can be adjusted by changing the input power and input current of the rotary motor 21.

[0217] Step 1440: Send control commands to the conveying mechanism 10 and / or the rotating mechanism 20, and control the operation of the conveying mechanism 10 and / or the rotating mechanism 20.

[0218] In some embodiments, the control unit 40 is configured to send control commands to the conveying mechanism 10 and / or the rotating mechanism 20. In some embodiments, the control unit 40 can send control commands to the conveying mechanism 10 and / or the rotating mechanism 20 wirelessly or via wired means, and the conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control commands, thereby controlling the mirror body 210 to move forward, backward, and rotate.

[0219] Through steps 1010 to 1040, the control unit 40 acquires 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 endoscope body 210 based on the control parameters. Users can control the flexible endoscope 200 by operating the control handle 220, allowing users (especially medical personnel) to maximize their trained manipulation skills, complete operations more safely and effectively, and reduce user fatigue caused by prolonged endoscope use. In some embodiments, the flexible endoscope auxiliary device 100 can replace some of the user's hand operations, simplifying the user's hand movements and eliminating the need for an assistant, thus reducing labor and communication costs and improving operational efficiency.

[0220] Figure 15 This is a flowchart illustrating the operation method of a flexible endoscope 200 according to some embodiments of this specification.

[0221] Some embodiments of this specification also provide an auxiliary method for a flexible endoscope 200, applied to a flexible endoscope 200 and an auxiliary operating device for a flexible endoscope 200 as described in any of the above embodiments, wherein the flexible endoscope 200 includes a control handle 220.

[0222] like Figure 15 As shown, the steps of the flexible endoscope 200-assisted operation method 1500 include:

[0223] Step 1510: Obtain motion information of control handle 220.

[0224] In some embodiments, the optical tracking module 60 is configured to acquire 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.

[0225] In some embodiments, the optical tracking module 60 captures the motion trajectory of the optical marker 61 on the control handle 220 via the motion capture device 62, and determines the motion information of the control handle 220 based on the motion trajectory of the optical marker 61. In some embodiments, the optical tracking module 60 determines the motion trajectory of the optical marker 61 based on its temporal trajectory. For example, if the motion capture device 62 acquires an image of the optical marker 61 every 0.1 seconds, the position information of the optical marker 61 at the current moment is compared with the position information of the optical marker 61 at the previous moment, and the position information of the optical marker 61 at multiple moments is analyzed to obtain the motion trajectory of the optical marker 61.

[0226] In some embodiments, the optical tracking module 60 cooperates with the control handle 220 to jointly control the movement of the lens body 210. For example, the optical tracking module 60 analyzes the movement information of the control handle 220 and further infers the user's intention to move the control handle 220. For instance, if the optical tracking module 60 obtains that the control handle 220 is moving forward, it can infer that the user needs the lens body 210 to move forward.

[0227] Step 1520: Determine the control parameters of the conveying mechanism 10 and the rotating mechanism 20 based on the motion information.

[0228] In some embodiments, the optical tracking module 60 is configured to determine control parameters of the conveying mechanism 10 and / or the rotating mechanism 20 based on motion information from the control handle 220. These control parameters include, but are not limited to, the output speed, output angle, output direction, and output power of the conveying mechanism 10 and / or the rotating mechanism 20.

[0229] In some embodiments, the optical tracking module 60 determines control parameters such as motor speed, motor power, and motor current 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 rotary motor 21 based on the rotation angle of the mirror body 210.

[0230] Step 1530: Generate movement control commands and / or rotation control commands based on the control parameters.

[0231] In some embodiments, the optical tracking module 60 is configured to generate movement control commands and / or rotation control commands based on control parameters. The control commands are determined based on a mapping relationship between the motion information of the control handle 220 and the control parameters of the conveying mechanism 10 and / or the rotation mechanism 20. More information on this mapping relationship can be found in [link to relevant documentation]. Figures 1 to 11B The mapping relationships shown in some embodiments will not be repeated in this specification.

[0232] Step 1540: Send the control command to the conveying mechanism and / or the rotating mechanism.

[0233] In some embodiments, the optical tracking module 60 can send control commands to the conveying mechanism 10 and / or the rotating mechanism 20 wirelessly or via wired means. The conveying mechanism 10 and / or the rotating mechanism 20 operate in response to the control commands, thereby controlling the lens body 210 to move forward, backward and rotate.

[0234] The beneficial effects that the embodiments of this application may bring include, but are not limited to:

[0235] (1) By setting up a conveying mechanism and a rotating mechanism to replace some of the user's manual operations, the user's operation is simplified and the efficiency of controlling the mirror is improved.

[0236] (2) Compared with the scheme of transmission by meshing gears, the connection between the conveying mechanism and the rotating mechanism can be improved by setting a connecting piece to directly connect the conveying mechanism and the rotating mechanism, so that the rotating mechanism can accurately control the rotation of the conveying mechanism, thereby accurately controlling the rotation of the mirror body, improving the positioning accuracy of the far end of the mirror body, and reducing the control difficulty of the mirror body.

[0237] (3) The connector directly connects the conveying mechanism and the rotating mechanism. There is no energy loss during the transmission process. Furthermore, the connector is configured such that the rotation axis of the endoscope mounting part is collinear with the rotation axis of the rotating mechanism, so that the rotating mechanism and the endoscope rotate coaxially. The connector can minimize the lever arm of the rotating end, thus reducing the power requirement 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.

[0238] (4) The connector has a wiring channel that can protect the wire harness and prevent the wire harness from getting tangled or other parts from getting tangled with the wire harness during rotation.

[0239] (5) The control unit acquires the motion information of the control handle and determines the control parameters of the conveying mechanism and / or rotating mechanism. The conveying mechanism and / or rotating mechanism control the movement or rotation of the endoscope based on the control parameters. Users can control the flexible endoscope by operating the control handle, allowing users (especially medical personnel) to maximize their trained operating skills and complete operations more safely and effectively. It also reduces user fatigue caused by holding the endoscope for a long time. In some embodiments, the flexible endoscope auxiliary device can replace some of the user's hand operations, simplifying the user's hand movements and eliminating the need for an assistant, thus reducing labor and communication costs and improving operational efficiency.

[0240] (6) The control component and the control handle are connected by the first mounting part and the second mounting part of the support component to ensure that the control component and the control handle move together, which is beneficial to improving the accuracy of the control component in collecting the motion information of the control handle.

[0241] (7) By adjusting the parameters of the conveying mechanism and / or rotating mechanism through the optical tracking module, the control accuracy of the conveying mechanism and / or rotating mechanism can be improved.

[0242] (8) Use emergency devices to brake the unexpected movement of the mirror body to avoid accidents.

[0243] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0244] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, 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 and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0245] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0246] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates 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 be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0247] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A flexible endoscope auxiliary device, characterized in that, Applied to a flexible endoscope, the flexible endoscope comprising a body; the flexible endoscope auxiliary device comprising: A conveying mechanism, including a mirror mounting section, is configured to control the movement of the mirror body; A rotating mechanism is configured to control the rotation of the conveying mechanism; A connector is provided, with its two ends connected to the conveying mechanism and the rotating mechanism, respectively. The connector is configured such that the rotation axis of the lens mounting portion is collinear with the rotation axis of the rotating mechanism. The connector includes a first section and a third section, both of which are parallel to the rotation axis of the rotating mechanism. The first section and the third section are connected by other sections.

2. The flexible endoscope auxiliary device as described in claim 1, characterized in that, The rotating mechanism includes a rotor section, and one end of the connecting member is fixed to the rotor section, while the other end is fixed to the conveying mechanism. The other end of the connector is configured to avoid the lens mounting portion.

3. The flexible endoscope auxiliary device as described in claim 1, characterized in that, The connector includes a second section, which is inclinedly disposed between the first section and the third section; The connector is provided with a wiring channel; the wiring channel includes a hollow channel provided within the connector; and / or, the wiring channel includes a slot provided on the side wall of the connector.

4. The flexible endoscope auxiliary device as described in claim 1, characterized in that, The conveying mechanism includes an advance / retractor motor and a first transmission component. The output end of the advance / retractor motor is connected to the input side of the first transmission component, and the output side of the first transmission component constitutes the mirror mounting part. The first transmission component includes a driving wheel and a driven wheel. The output end of the forward and backward motor is connected to 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. The channel constitutes the mirror body mounting part. The rotating mechanism includes a rotary motor and a second transmission component. The output end of the rotary motor is connected to the input side of the second transmission component, and the output side of the second transmission component is connected to the connecting component. The second transmission component includes a coupling that connects the output shaft of the rotary motor to the connecting component.

5. The flexible endoscope auxiliary device as described in claim 1, characterized in that, The flexible endoscope includes a control handle, and the flexible endoscope auxiliary device further includes a control component. The control component is connected to the control handle and is signal-connected to the delivery mechanism and / or the rotation mechanism. The control unit is configured to: Collect motion information from the control handle; Based on the motion information, the control parameters of the conveying mechanism and / or the rotating mechanism are determined; Generate movement control commands and / or rotation control commands based on the control parameters; Send the control commands to the conveying mechanism and / or the rotating mechanism.

6. The flexible endoscope auxiliary device as described in claim 5, characterized in that, Determining control parameters for the conveying mechanism and / or the rotating mechanism based on the motion information includes: The rotational speed of the forward and backward motors of the conveying mechanism is determined based on the distance the control handle moves in a preset direction. The angle through which the rotary motor of the rotating mechanism rotates is determined based on the angle through which the control handle rotates around the preset rotation axis.

7. The flexible endoscope auxiliary device as described in claim 5, characterized in that, The flexible endoscope auxiliary device includes a support component, which includes a first mounting part and a second mounting part. The first mounting part is used to mount the control component, and the second mounting part is used to mount the control handle. The first mounting part and the second mounting part are fixedly connected.

8. The flexible endoscope auxiliary device as described in claim 7, characterized in that, The first mounting part is constructed as a first clamp, which includes an arc-shaped first half and a second half, and the first half and the second half are detachably connected. The second mounting part is constructed as a second clamp, which is arc-shaped and includes an assembly opening for allowing the control handle to enter the second clamp.

9. The flexible endoscope auxiliary device as described in claim 1, characterized in that, The flexible endoscope includes a body and a control handle, and the flexible endoscope auxiliary device includes: An optical tracking module, signal-connected to the conveying mechanism and / or the rotating mechanism, is configured as follows: Obtain the motion information of the control handle; Based on the motion information, the control parameters of the conveying mechanism and / or the rotating mechanism are determined; Generate movement control commands and / or rotation control commands based on the control parameters; Send the control commands to the conveying mechanism and / or the rotating mechanism.

10. The flexible endoscope auxiliary device as described in claim 9, characterized in that, The optical tracking module includes at least one optical marker and at least one motion capture device. The optical marker is used to be set on the control handle, and the motion capture device is used to collect the trajectory information of the optical marker.

11. The flexible endoscope auxiliary device as described in claim 10, characterized in that, The optical tracking module also includes a bracket, which includes multiple arms and multiple optical markers. The bracket is used to fix the control handle, and the multiple optical markers are respectively fixed to the ends of the multiple arms.

12. The flexible endoscope auxiliary device as described in claim 9, characterized in that, The flexible endoscope auxiliary device also includes an emergency device connected to the optical tracking module, which is configured to brake any unintended movement of the control handle.

13. A flexible endoscope-assisted method, characterized in that, A method applicable to a flexible endoscope and a flexible endoscope auxiliary operating device as described in any one of claims 1-12, wherein the flexible endoscope includes a control handle; the method comprises: Collect motion information from the control handle; The control parameters of the conveying mechanism and / or rotating mechanism are determined based on the motion information; Generate movement control commands and / or rotation control commands based on the control parameters; Send the control commands to the conveying mechanism and / or the rotating mechanism, and control the operation of the conveying mechanism and / or the rotating mechanism.

14. The flexible endoscope-assisted method as described in claim 13, characterized in that, Determining control parameters for the conveying mechanism and / or the rotating mechanism based on the motion information includes: The rotational speed of the forward and backward motors of the conveying mechanism is determined based on the distance the control handle moves in a preset direction. The angle through which the rotary motor of the rotating mechanism rotates is determined based on the angle through which the control handle rotates around the preset rotation axis.

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