Soft endoscope and auxiliary device and pushing method thereof

Abstract

The embodiment of the invention provides a soft endoscope and an auxiliary device and a pushing method thereof. The auxiliary device of the soft endoscope is applied to the soft endoscope, the soft endoscope comprises an endoscope body, the auxiliary device of the soft endoscope comprises a pushing assembly, the pushing assembly comprises two pushing structures which are oppositely arranged, an endoscope body mounting part is formed between the two pushing structures, and the endoscope body mounting part is used for clamping the endoscope body; the adjusting device is configured to adjust the distance between the two pushing structures so as to clamp or loosen the mirror body; and the driving assembly is configured to drive at least one of the two pushing structures to move, so that the two pushing structures drive the mirror body to move in the axial direction.

Description

Cross-references

[0001] This application claims priority to Chinese application No. 202311197759.9 filed on September 15, 2023, and priority to Chinese application No. 202410858532.2 filed on June 28, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present specification relates to the field of medical devices, and in particular to a flexible endoscope and its auxiliary device and pushing method. Background Art

[0003] When using a soft endoscope to treat diseases in the natural cavities of a living body or in lumens with openings in the natural cavities of a living body (such as the bile duct, pancreas, etc.), the user usually needs to use the auxiliary device of the soft endoscope to assist the user in controlling the movement and rotation of the endoscope. In clinical operations, sometimes the auxiliary device of the soft endoscope is poorly matched with the endoscope, resulting in problems such as low positioning accuracy of the endoscope.

[0004] Therefore, it is desirable to provide an auxiliary device for a soft endoscope that can adapt to endoscopes of different cross-sectional sizes and can achieve precise positioning of the endoscope. Summary of the invention

[0005] One or more embodiments of the present specification provide an auxiliary device of a flexible endoscope, which is applied to a flexible endoscope, wherein the flexible endoscope includes a scope body, and the auxiliary device of the flexible endoscope includes: a pushing assembly, including two pushing structures arranged opposite to each other, wherein a scope body mounting portion is formed between the two pushing structures, and the scope body mounting portion is used to clamp the scope body; an adjusting device, configured to adjust the distance between the two pushing structures to clamp or loosen the scope body; and a driving assembly, configured to drive at least one of the two pushing structures to move, so that the two pushing structures drive the scope body to move axially.

[0006] In some embodiments, the auxiliary device of the soft endoscope also includes a mounting plate; the adjustment device includes a fixed part and a sliding part, the fixed part is fixed to the mounting plate, at least one of the two pushing structures is arranged on the sliding part, and when the sliding part moves relative to the fixed part, the distance between the two pushing structures changes.

[0007] In some embodiments, the adjusting device further comprises a driving member, and the driving member is transmission-connected to the sliding portion.

[0008] In some embodiments, the driving member includes an adjusting motor and a transmission structure, the sliding part is connected to the output shaft of the adjusting motor through the transmission structure, and the adjusting motor is configured to drive the sliding part to move relative to the fixed part to change the distance between the two pushing structures.

[0009] In some embodiments, the adjusting device further comprises a driving member, and the driving member forms an intermittent cooperation with at least one of the two pushing structures.

[0010] In some embodiments, the driving member includes a push rod and a push rod driving member, the push rod driving member drives the push rod to move along a first direction, and the push rod is configured to push the distance between the two pushing structures to decrease, wherein the first direction is the relative setting direction of the two pushing structures.

[0011] In some embodiments, the fixed portion includes a guide rail, the sliding portion includes a sliding member, at least one of the two pushing structures slidably cooperates with the sliding member, and the guide rail is configured to guide the two pushing structures to move away from or approach each other.

[0012] In some embodiments, the adjustment device includes an elastic reset member, the position between the two pushing structures includes an initial position and a clamping position, and the elastic reset member is configured to drive at least one of the two pushing structures to move so that the two pushing structures are reset from the clamping position to the initial position.

[0013] In some embodiments, the auxiliary device of the soft endoscope further includes a force measuring unit configured to obtain the clamping force of the two pushing structures on the endoscope; the adjustment device adjusts the distance between the two pushing structures based on the clamping force obtained by the force measuring unit.

[0014] One or more embodiments of the present specification provide an auxiliary device of a flexible endoscope, which is applied to a flexible endoscope, wherein the flexible endoscope includes a scope body, and the auxiliary device of the flexible endoscope includes: a pushing assembly, including two pushing structures arranged opposite to each other, wherein a scope body mounting portion is formed between the two pushing structures, and the scope body mounting portion is used to clamp the scope body; a driving assembly, which is configured to drive the two pushing structures to move so as to drive the scope body to move axially; and a wheel sleeve, which is provided on at least one of the two pushing structures, and the wheel sleeve is detachably connected to the pushing structure.

[0015] In some embodiments, at least one of the wheel sleeve and the pushing structure includes a limiting portion, and the other includes a matching portion, and the limiting portion and the matching portion cooperate with each other to limit the relative rotation of the wheel sleeve and the pushing structure.

[0016] In some embodiments, the material of the wheel cover includes at least one of thermoplastic polyurethane elastomer rubber, silicone, and fluororubber.

[0017] One or more embodiments of the present specification provide a flexible endoscope, wherein the flexible endoscope includes the auxiliary device of the flexible endoscope as described in any of the above embodiments.

[0018] One or more embodiments of the present specification provide a soft endoscope pushing method, which is applied to an auxiliary device of the soft endoscope in any of the above-mentioned embodiments, and the method includes: obtaining a pushing instruction; in response to the pushing instruction instructing to push the scope forward or backward, obtaining a preset value of the clamping force of the pushing component clamping the scope; controlling the adjusting device to reduce the distance between the two pushing structures, and obtaining the current clamping force of the pushing component clamping the scope; in response to the current clamping force reaching the preset clamping force value, controlling the driving component to drive at least one of the two pushing structures to rotate, so as to push the scope.

[0019] In some embodiments, the pushing method also includes: obtaining the real-time clamping force of the pushing component clamping the scope body during the pushing process of the scope body; in response to the deviation between the real-time clamping force and the preset value of the clamping force being greater than a preset threshold, controlling the adjustment device to adjust the distance between the two pushing structures.

[0020] In some embodiments, the pushing method also includes: in response to the pushing instruction indicating to stop pushing the mirror body, controlling the driving component to stop driving at least one of the two pushing structures to rotate; controlling the adjusting device to increase the distance between the two pushing structures, and obtaining the current clamping force of the pushing component to clamp the mirror body until the current clamping force is reduced to a second clamping force preset value.

[0021] According to the schemes in some of the above embodiments, the auxiliary device of the soft endoscope includes an adjustment device, which can change the spacing between the two pushing structures to make the cross-sectional size of the mirror body mounting portion larger or smaller, so that the mirror body mounting portion can adapt to mirror bodies of different cross-sectional sizes, thereby improving the adaptability of the conveying device and the mirror body, and increasing the use range of the conveying device, saving costs. And the clamping force of the mirror body mounting portion on the mirror body can be controlled within a reasonable range through the adjustment device to avoid the mirror body slipping or damaging the mirror body surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0023] Figure 1is a schematic block diagram of the structure of an auxiliary device of a flexible endoscope according to some embodiments of this specification;

[0024] Figure 2 is a schematic diagram of the structure of an auxiliary device of a flexible endoscope according to some embodiments of this specification;

[0025] Figure 3 is a schematic diagram of the structure of the regulating device according to some embodiments of this specification;

[0026] Figure 4 is a schematic diagram of the structure of an auxiliary device of a flexible endoscope according to some embodiments of this specification;

[0027] Figure 5 is a schematic diagram of the internal structure of an auxiliary device of a flexible endoscope according to some embodiments of this specification;

[0028] Figure 6 is a front view of the internal structure of the auxiliary device of the soft endoscope shown in some embodiments of this specification;

[0029] Figure 7 is a schematic diagram of the position of the push rod pushing the second pushing structure according to some embodiments of this specification;

[0030] Figure 8 is a schematic diagram of the structure of an auxiliary device of a flexible endoscope according to some embodiments of this specification;

[0031] Fig. 9 is a flow chart of a method for pushing a mirror body according to some embodiments of this specification;

[0032] Fig.10 It is a schematic diagram of the structure of a soft endoscope according to some embodiments of the present specification.

[0033] The reference numerals are: 10 is an auxiliary device of the soft endoscope; 120 is an adjustment device; 121 is a fixing part; 122 is a sliding part; 123 is a guide rail; 124 is a sliding member; 125 is a push rod; 126 is a push rod driving member; 11 is a mirror body mounting part; 12 is an advance and retreat motor; 13 is a push assembly; 130 is a push structure; 131 is a driving wheel; 132 is a driven wheel; 133 is a first clamping wheel; 134 is a second clamping wheel; 135 is an annular groove; 136 is a first push structure; 137 is a second push structure; 1371 is a sliding inner shell; 14 is an outer shell ; 110 is a mounting plate; 111 is a first side surface; 112 is a second side surface; 150 is an adjusting motor; 160 is a transmission structure; 161 is a gear; 162 is a rack; 170 is an elastic reset member; 171 is a spring; 172 is a first mounting seat; 1721 is a fixing block; 1722 is a first connecting protrusion; 173 is a second mounting seat; 1731 is a second connecting protrusion; 180 is a wheel sleeve; 181 is a limiting portion; 182 is a matching portion; 20 is an endoscope device; 200 is a mirror body; 220 is a handle; 30 is a robotic arm device; 1000 is a soft endoscope. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0035] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0036] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0037] A flexible endoscope refers to a medical device that completes inspection, diagnosis and treatment through the natural cavity of the human body. Soft endoscopes include but are not limited to gastroscopes, colonoscopes, laryngoscopes, bronchoscopes, etc. In some embodiments, the soft endoscope includes at least a mirror body for inserting into the natural cavity of the human body, and the operation of the soft endoscope includes at least locating the entrance of the cavity, controlling the movement, rotation, and swing of the far end of the mirror body, and controlling the movement of surgical instruments at the far end of the mirror body. In some embodiments, the user controls the movement and rotation of the mirror body through the auxiliary device of the soft endoscope to approach the lesion, but in actual operation, the mirror body and the auxiliary device of the soft endoscope often do not match or the front end of the mirror body is not accurately positioned. In this regard, the applicant found that the movement of the mirror body is performed by the auxiliary device of the soft endoscope. Due to factors such as assembly errors, different models of the mirror body, or looseness of the auxiliary device of the soft endoscope, the auxiliary device of the soft endoscope and the mirror body are poorly matched, resulting in insufficient conveying force of the auxiliary device of the soft endoscope to convey the mirror body, resulting in low positioning accuracy of the mirror body.

[0038] In view of this, some embodiments of the present specification provide an auxiliary device for a flexible endoscope, which is configured to assist a user in controlling the axial movement of the body of the flexible endoscope. In some embodiments, the auxiliary device for the flexible endoscope includes an adjustment device, which can adjust the radial size of the body mounting portion relative to the body, so that the body mounting portion can adapt to bodies of different diameters, and the body mounting portion can always maintain contact and cooperation with the body, provide a stable driving force for the body, and improve the positioning accuracy of the body.

[0039] In the application scenarios of some embodiments, the auxiliary device of the soft endoscope can be arranged on a mobile cart or a special operating table, and at least part of the body of the soft endoscope is connected to the auxiliary device of the soft endoscope, and the auxiliary device of the soft endoscope assists the user in controlling the axial movement of the body to reduce the user's operation. In some embodiments, the distal end of the body of the soft endoscope can extend onto the examination bed, which refers to a platform for the human body to lie on, and the distal end of the body is used to extend into the natural cavity of the human body to complete inspection, diagnosis and treatment operations. It should be noted that the "proximal end" and "distal end" involved in some embodiments of this specification can represent the end point, end face, end, part close to the end and having a certain length of the soft endoscope, etc. Accordingly, "towards the proximal end" and "towards the distal end" refer to the direction toward the corresponding end point. For example, the end of the soft endoscope that extends into the human body is the "distal end"; accordingly, "towards the distal end" refers to the direction along the axis of the mirror body, toward the end that extends into the human body; the other end opposite to the distal end of the soft endoscope (end point, end face, end, part close to the end and having a certain length, etc.) is the "proximal end"; accordingly, "towards the proximal end" refers to the direction along the axis of the mirror body, away from the end that extends into the human body. "Proximal end" and "distal end" can be understood as the end face, end, part close to the end and having a certain length, etc. of a component.

[0040] Figure 1 It is a schematic block diagram of the structure of the auxiliary device 10 of the flexible endoscope shown in some embodiments of the present specification.

[0041] Some embodiments of the present specification provide a flexible endoscope auxiliary device 10, which is applied to a flexible endoscope. The flexible endoscope includes a body ( Figure 1 (not shown). In some embodiments, the scope can be used to be inserted into a natural cavity of the human body and perform multiple tasks such as inspection, diagnosis and treatment. In some embodiments, the scope is positioned to a target position (such as a wound surface of human tissue, a diseased tissue, etc.) by moving or rotating, wherein the movement of the scope refers to the movement of the scope along its central axis. In some embodiments, the scope can extend in a straight line or in a curved line, and the axial direction of the scope refers to the extension direction along the central axis of the scope, including but not limited to the straight line direction or the curved line direction.

[0042] In some embodiments, the auxiliary device 10 of the flexible endoscope includes a pushing component 13 , an adjusting device 120 and a driving component 15 .

[0043] In some embodiments, the pushing assembly 13 includes two pushing structures 130 arranged opposite to each other, and a mirror body mounting portion 11 is formed between the two pushing structures 130, and the mirror body mounting portion 11 is used to clamp the mirror body. The opposite arrangement means that the rotation axes of the two pushing structures 130 are arranged in parallel or substantially parallel (such as the angle is within 5°), and the two pushing structures 130 are located on the same mounting surface, so that their edges can clamp the mirror body.

[0044] In some embodiments, the adjustment device 120 is configured to adjust the distance between the two pushing structures 130 to clamp or loosen the mirror body. The distance between the two pushing structures 130 includes but is not limited to: the shortest distance between the rotation axes of the two pushing structures 130, or the shortest distance between the outer contours of the two pushing structures 130, etc.

[0045] The driving assembly 15 is configured to drive at least one of the two pushing structures 120 to move, so that the two pushing structures 120 drive the mirror body to move axially. The movement of the two pushing structures 120 can be rotation around their own rotation axis. In some embodiments, when the driving assembly 15 drives the first pushing structure to rotate around its own axis, the second pushing structure rotates with the first pushing structure, thereby achieving synchronous movement of the two pushing structures. Similarly, when the driving assembly 15 drives the second pushing structure to move, the second pushing structure can also drive the first pushing structure to move, thereby achieving synchronous movement of the two pushing structures. In some other embodiments, the driving assembly 15 can also drive the first pushing assembly and the second pushing assembly at the same time, so that the two pushing structures move synchronously.

[0046] Through the features in the above embodiments, the auxiliary device 10 of the soft endoscope includes an adjustment device 120, which can change the spacing between the two pushing structures 130, so that the cross-sectional size of the mirror body mounting portion 11 becomes larger or smaller, and the mirror body mounting portion 11 can adapt to mirror bodies with different cross-sectional sizes, thereby improving the adaptability of the conveying device and the mirror body, and increasing the use range of the conveying device, saving costs. And through the adjustment device 120, the clamping force of the mirror body mounting portion 11 on the mirror body can be controlled within a reasonable range to avoid the mirror body slipping or damaging the mirror body surface.

[0047] The following will illustrate the auxiliary device of the flexible endoscope, the technical solution of the flexible endoscope and its auxiliary device through multiple embodiments of this specification, aiming to improve the positioning accuracy of the scope through some improvement measures. First of all, it should be noted that various combinations and replacements can be made between the different embodiments of this specification. For example, although some embodiments in this specification may only describe specific technical features, these features can be flexibly applied to other embodiments, or combined with features in other embodiments to obtain better results. Unless it is clearly stated that they cannot be replaced or combined, the different embodiments of the present invention and their features can refer to and quote each other to form new embodiments.

[0048] First, this specification will introduce in detail some exemplary implementations of the auxiliary device of the soft endoscope provided in Example 1.

[0049] Figure 2 It is a schematic diagram of the structure of the auxiliary device 10 of the flexible endoscope shown in some embodiments of the present specification.

[0050] like Figure 2 As shown, the first embodiment of the present specification provides an auxiliary device 10 for a flexible endoscope, which is applied to a flexible endoscope. The auxiliary device 10 for a flexible endoscope includes a mounting plate 110 , an adjustment device 120 , a pushing structure 130 and an advance / retract motor 12 .

[0051] In some embodiments, the auxiliary device 10 of the flexible endoscope includes a mounting plate 110. The mounting plate 110 is used to install and carry two pushing structures 130, an advance and retreat motor 12, and an adjusting device 120. In some embodiments, the two pushing structures 130, the advance and retreat motor 12, and the adjusting device 120 are located on the same side of the mounting plate 110. In some embodiments, the two pushing structures 130, the advance and retreat motor 12, and the adjusting device 120 are respectively located on different sides of the mounting plate 110, for example, the mounting plate 110 includes a first side 111 and a second side 112, the two pushing structures 130 are located on the first side 111 of the mounting plate 110, and the advance and retreat motor 12 and the adjusting device 120 are located on the second side 112 of the mounting plate 110, so as to avoid mutual interference between the movements of the various components. In some embodiments, the auxiliary device 10 of the flexible endoscope includes a housing 14, one of the sides of which constitutes the above-mentioned mounting plate 110.

[0052] In some embodiments, the pushing assembly 13 includes two pushing structures 130, for example, the two pushing structures 130 are two clamping wheels. In some embodiments, a mirror body mounting portion 11 is formed between the two pushing structures 130, and the mirror body mounting portion 11 is used to clamp the mirror body. In some embodiments, the radial gap between the two pushing structures 130 along the two pushing structures 130 forms a mirror body mounting portion 11 for clamping the mirror body. After the mirror body is clamped in the mirror body mounting portion 11, the mirror body can move in a direction perpendicular to the radial direction of the two pushing structures 130, that is, the mirror body moves forward and backward along its own axial direction. In some embodiments, the mirror body mounting portion 11 has a shape that is adapted to the outer surface of the mirror body.

[0053] In some embodiments, the driving assembly 15 includes an advance / retract motor 12, which is disposed on the mounting plate 110 and is configured to drive two push structures 130 to rotate around their wheel centers. In some embodiments, one of the two push structures 130 is a driving wheel 131, and the other is a driven wheel 132. The output end of the advance / retract motor 12 is connected to the driving wheel 131 in a transmission manner, and the driven wheel 132 is disposed adjacent to the driving wheel 131. A mirror body mounting portion 11 for mounting the mirror body is formed between the driving wheel 131 and the driven wheel 132. When the advance / retract motor 12 rotates, the driving wheel 131 is driven to rotate, and friction is generated between the driving wheel 131 and the mirror body, causing the mirror body to move. The movement of the mirror body causes friction between the mirror body and the driven wheel 132, further driving the mirror body to move. In other words, the driving wheel 131 and the driven wheel 132 apply friction in the same direction to the outer surface of the mirror body, respectively, and the friction causes the mirror body to move.

[0054] In some embodiments, the auxiliary device 10 of the soft endoscope includes an adjustment device 120, and the adjustment device 120 includes a fixed portion 121 and a sliding portion 122. The fixed portion 121 is fixed to the mounting plate 110, and the sliding portion 122 is connected to at least one of the two pushing structures 130. When the sliding portion 122 moves relative to the fixed portion 121, the distance between the wheel centers of the two pushing structures 130 changes. In some embodiments, when the distance between the wheel centers of the two pushing structures 130 increases, the cross-sectional size of the mirror body mounting portion 11 increases. In some embodiments, when the distance between the wheel centers of the two pushing structures 130 decreases, the cross-sectional size of the mirror body mounting portion 11 decreases. Among them, the "cross-sectional size of the mirror body mounting portion 11" refers to the area of ​​the cross section of the mirror body mounting portion 11 coplanar with the rotation axis of the two pushing structures. In some embodiments, the sliding portion 122 is connected to one of the two pushing structures 130, and the sliding portion 122 drives the position of one pushing structure 130 to change, so that the relative position of the two pushing structures 130 changes. In some embodiments, the sliding portion 122 is connected to two pushing structures 130, and the sliding portion 122 includes two independent parts (for example, two sliding members 124), one of which drives the position of one pushing structure 130 to change, and the other part drives the position of the other pushing structure 130 to change, so that the relative positions of the two pushing structures 130 change.

[0055] According to the schemes in some of the above-mentioned embodiments, the auxiliary device 10 of the soft endoscope includes an adjustment device 120, which can change the spacing between the wheel centers of the two pushing structures 130, so that the cross-sectional size of the mirror body mounting portion 11 becomes larger or smaller, and the mirror body mounting portion 11 can adapt to mirror bodies with different cross-sectional sizes, thereby improving the adaptability of the conveying device and the mirror body, and increasing the use range of the conveying device, thereby saving costs. After the mirror body mounting portion 11 clamps the mirror body, the spacing between the wheel centers of the two pushing structures 130 is adjusted by the adjustment device 120, which can change the pre-tightening force of the two pushing structures 130 and the mirror body, so that the mirror body and the pushing structure 130 fit tightly, preventing the mirror body from accidentally slipping, and ensuring the accuracy of the advance and retreat motor 12 when driving the mirror body to move.

[0056] Figure 3 It is a schematic diagram of the structure of the adjustment device 120 shown in some embodiments of this specification. Figure 4 It is a schematic diagram of the structure of the auxiliary device 10 of the flexible endoscope shown in some embodiments of the present specification.

[0057] like Figures 2 to 4As shown, in some embodiments, the fixing portion 121 includes a guide rail 123, and the guide rail 123 is parallel or substantially parallel to the line connecting the wheel centers of the two pushing structures 130, wherein substantially parallel means that the angle between the guide rail 123 and the line connecting the wheel centers of the two pushing structures 130 is within the range of ±5°. In some embodiments, the guide rail 123 is fixed to the mounting plate 110 by fasteners such as bolts. In some embodiments, the protrusion integrally formed with the mounting plate 110 is configured as the guide rail 123. In some embodiments, the fixing portion 121 includes at least one guide rail 123 arranged parallel to each other, for example, the number of the guide rails 123 includes but is not limited to one, two, three, etc.

[0058] In some embodiments, the sliding portion 122 includes a sliding member 124, and the sliding member 124 is slidably matched with the guide rail 123. In some embodiments, the sliding member 124 includes a groove, and the groove is slidably matched with the guide rail 123, so that the sliding member 124 can slide relative to the guide rail 123. By providing the guide rail 123 and the sliding member 124, the direction of movement of the sliding portion 122 can be limited, so that the two pushing structures 130 are moved away from or close to each other in the direction of the wheel center connection line, and the two pushing structures 130 are prevented from being misaligned.

[0059] In some embodiments, the sliding portion 122 includes a sliding member 124, and one of the two pushing structures 130 is disposed on the sliding member 124. In some embodiments, the sliding portion 122 includes two sliding members 124, and one of the two pushing structures 130 is disposed on one of the sliding members 124, and the other pushing structure 130 is disposed on the other sliding member 124.

[0060] In some embodiments, the two pushing structures 130 include a first clamping wheel 133 and a second clamping wheel 134 . The first clamping wheel 133 is rotatably disposed on the sliding portion 122 around an axis passing through the wheel center, and the second clamping wheel 134 is connected to the output shaft of the advance and retreat motor 12 .

[0061] In some embodiments, a rotating shaft is provided on the sliding member 124, and the first clamping wheel 133 is rotatably connected to the rotating shaft. When the advance and retract motor 12 drives the second clamping wheel 134 to rotate, it drives the first clamping wheel 133 to rotate, so that the first clamping wheel 133 and the second clamping wheel 134 drive the mirror body to move.

[0062] In some embodiments, the second clamping wheel 134 is connected to the advance / retract motor 12 via a key. In some embodiments, the second clamping wheel 134 is connected to the advance / retract motor 12 via a coupling.

[0063] In some embodiments, the adjustment device 120 further includes a driving member, which is transmission-connected to the sliding portion 122. Transmission connection refers to a connection mode in which the driving member can transmit its own motion to the sliding portion 122 to move the sliding portion 122. By connecting the driving member to the sliding portion 122, the adjustment accuracy of the adjustment device can be improved, thereby more accurately controlling the clamping force on the mirror body.

[0064] In some embodiments, the fixed portion 121 includes an adjusting motor 150 and a transmission structure 160, and the sliding portion 122 is connected to the output shaft of the adjusting motor 150 through the transmission structure 160. The adjusting motor 150 is configured to drive at least one of the two pushing structures 130 to move, so that the wheel centers of the two pushing structures 130 move away from or closer to each other.

[0065] In some embodiments, the sliding portion 122 includes a sliding member 124, and the pushing structure 130 includes a first clamping wheel 133 and a second clamping wheel 134. The first clamping wheel 133 is disposed on the sliding member 124, and the second clamping wheel 134 is connected to the advance and retreat motor 12, and the advance and retreat motor 12 is fixed to the mounting plate 110. The adjustment motor 150 is configured to drive the sliding member 124 to slide relative to the guide rail 123, thereby driving the wheel center of the first clamping wheel 133 to move away from or approach the wheel center of the second clamping wheel 134.

[0066] 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 pushing structure 130 includes a first clamping wheel 133 and a second clamping wheel 134, the first clamping wheel 133 is arranged on the first sliding member 124, and the second clamping wheel 134 is connected to the advance and retreat motor 12, and the advance and retreat motor 12 is arranged on the second sliding member. The adjustment motor 150 is configured to drive the first sliding member 124 and the second sliding member to slide relative to the guide rail 123 respectively through the transmission structure 160, thereby driving the wheel center of the first clamping wheel 133 and the wheel center of the second clamping wheel 134 to move away from or approach each other.

[0067] In some embodiments, the transmission structure 160 includes a gear 161 and a rack 162 that mesh with each other, the gear 161 is fixed to the output shaft of the adjustment motor 150, and the rack 162 is fixed to the sliding part 122. In some embodiments, the gear 161 is fixedly connected to the output shaft of the adjustment motor 150 through a key or a coupling, and the rack 162 is fixedly connected to the sliding member 124 of the sliding part 122. In some embodiments, the extension direction of the rack 162 is parallel or substantially parallel to the extension direction of the guide rail 123. In some embodiments, when the adjustment motor 150 rotates, the gear 161 is driven to rotate, the gear 161 drives the rack 162 to move linearly, and the rack 162 drives the sliding member 124 to slide relative to the guide rail 123. The transmission torque is more stable through the cooperation of the gear 161 and the rack 162.

[0068] In some embodiments, the position between the two pushing structures 130 includes an initial position and a clamping position. The initial position refers to the position of the sliding member 124 on the guide rail 123 when no force is applied, and the clamping position refers to the position where the mirror body mounting portion 11 of the two pushing structures 130 cooperates with the mirror body.

[0069] In some embodiments, the adjustment device 120 further includes an elastic reset member 170, which is configured to drive at least one of the two pushing structures 130 to move, so that the two pushing structures 130 are reset from the clamping position to the initial position. In some embodiments, the elastic reset member 170 drives one of the two pushing structures 130 to move, so that the two pushing structures 130 are reset from the clamping position to the initial position. In some embodiments, the elastic reset member 170 drives the two pushing structures 130 to move, so that the two pushing structures 130 are reset from the clamping position to the initial position.

[0070] In some embodiments, the elastic return member 170 includes a spring 171, a first mounting seat 172, and a second mounting seat 173. The first mounting seat 172 is fixed to the mounting plate 110, and the second mounting seat 173 is fixed to the sliding portion 122. One end of the spring 171 is connected to the first mounting seat 172, and the other end is connected to the second mounting seat 173. In some embodiments, the first mounting seat 172 includes a fixing block 1721 and a first connecting protrusion 1722 provided on the fixing block 1721. The fixing block 1721 is fixed to the mounting plate 110, and the first connecting protrusion 1722 is fixedly matched with one end of the spring 171. In some embodiments, the second mounting seat 173 includes a second connecting protrusion 1731, and the second connecting protrusion 1731 is fixedly matched with the other end of the spring 171. In some embodiments, the arrangement positions of the first connecting protrusion 1722 and the second connecting protrusion 1731 make the extension direction of the spring 171 parallel to the extension direction of the guide rail 123.

[0071] In some embodiments, the elastic reset member 170 includes at least two groups, and the expansion and contraction directions of the springs 171 of each group of elastic reset members 170 are arranged in parallel. Providing multiple groups of elastic reset members 170 can provide a greater reset driving force for the push structure 130 wheel.

[0072] In some embodiments, when the adjusting motor 150 causes the wheel centers of the two pushing structures 130 to move away from each other, the spring 171 is compressed. When the adjusting motor 150 stops, the spring 171 stretches to a natural state under the action of the elastic restoring force, and the two pushing structures 130 are reset to their initial positions. When the adjusting motor 150 causes the wheel centers of the two pushing structures 130 to move closer to each other, the spring 171 is stretched. When the adjusting motor 150 stops, the spring 171 shortens to a natural state under the action of the elastic restoring force, and the two pushing structures 130 are reset to their initial positions. By setting the spring 171, the two pushing structures 130 are automatically reset to their initial positions without the involvement of the adjusting motor 150, which further saves energy consumption of the auxiliary device 10 of the soft endoscope.

[0073] In some embodiments, the adjustment device 120 further includes a force measuring unit (not shown in the figure), which is configured to obtain the clamping force of the first clamping wheel 133 and the second clamping wheel 134 on the mirror body 200. In some embodiments, the force measuring unit includes a sensor and / or a processor, wherein the sensor is disposed on the output shaft of the adjustment motor 150 and is configured to measure the torque of the output shaft, and / or the processor is connected to the adjustment motor 150 signal (such as by wireless, wired or circuit or other electrical connection methods), and is configured to obtain the output torque of the adjustment motor 150. When the second clamping wheel 134 contacts the mirror body, the driving force of the gear 161 on the rack 162 can be calculated based on the detected output torque of the adjustment motor 150, combined with pre-stored gear parameters, transmission efficiency and other parameters, and the clamping force of the second clamping wheel 134 on the mirror body is equal to the driving force, wherein the driving force of the gear 161 on the rack 162 is along the tangent direction of the gear 161 or along the movement direction of the rack 162. In some embodiments, the regulating motor 150 can adjust or maintain the running state based on the clamping force obtained by the force measuring unit to increase, reduce or maintain the distance between the first clamping wheel 133 and the second clamping wheel 134. In some embodiments, the clamping force monitored by the force measuring unit is controlled within a suitable range, so that the first clamping wheel 133 and the second clamping wheel 134 can clamp the mirror body 200 and complete the pushing of the mirror body 200, while avoiding excessive clamping force and damage to the mirror body 200. In some embodiments, the clamping force ranges from 2N to 20N, for example, 4N to 18N, 6N to 15N, 8N to 12N or 10N to 11N, etc.

[0074] Hereinafter, this specification will introduce in detail some exemplary embodiments of the auxiliary device of the flexible endoscope provided in Example 2. The auxiliary device of the flexible endoscope of Example 2 differs from the auxiliary device of the flexible endoscope of Example 1 mainly in the adjustment device and its related structures.

[0075] Figure 5 It is a schematic diagram of the internal structure of the auxiliary device of the soft endoscope shown in some embodiments of this specification. Figure 6 It is a front view of the internal structure of the auxiliary device of the soft endoscope shown in some embodiments of the present specification.

[0076] Embodiment 2 of the present specification provides another auxiliary device 10 for a flexible endoscope, which is applied to a flexible endoscope. The auxiliary device of the flexible endoscope includes an adjustment device 120, a push structure 130, and an advance and retreat motor 12. In some embodiments, the push structure 130 includes a first push structure 136 and a second push structure 137. The push structure 130 may be similar to the driving wheel 131 and the driven wheel 132 in Embodiment 1, or may be other types of push structures capable of controlling the advance and retreat of the mirror body 200, which is not limited in the present specification. The advance and retreat motor 12 is directly or indirectly connected to one of the push structures 130, and is used to drive the push structure 130 to move, and to make the other push structure 130 move accordingly, thereby controlling the mirror body 200 to move forward and backward along its own axis.

[0077] like Figure 5 As shown, the adjusting device 120 is an adjusting part for adjusting the working parameters of the two pushing structures. In some embodiments, the adjusting device 120 is configured to adjust the spacing between the first pushing structure 136 and the second pushing structure 137. In other words, the adjusting device 120 is configured to adjust the cross-sectional size of the mirror body mounting portion 11 to clamp or loosen the mirror body 200 located between the first pushing structure 136 and the second pushing structure 137. The spacing here refers to the distance from the first pushing structure 136 to the second pushing structure 137 in a direction perpendicular to the axial direction. In some embodiments, the adjusting device 120 can adjust the spacing between the first pushing structure 136 and the second pushing structure 137 according to the radial size (e.g., diameter) of the mirror body 200 to clamp mirror bodies 200 of different sizes.

[0078] In some embodiments, the adjustment device 120 also includes a force measuring unit, which can obtain the clamping force of the first pushing structure 136 and the second pushing structure 137 on the mirror body 200. The adjustment device 120 can adjust the distance between the first pushing structure 136 and the second pushing structure 137 or maintain the operating state (for example, maintaining the distance between the first pushing structure 136 and the second pushing structure 137) based on the clamping force obtained by the force measuring unit, so that the pushing component can adapt to mirror bodies 200 of different sizes and apply appropriate clamping forces to mirror bodies 200 of different sizes. For example, the side force unit presets a preset range of the clamping force, and determines whether the clamping force is within the preset range by obtaining the clamping force of the first pushing structure 136 and the second pushing structure 137 on the mirror body 200. If the obtained clamping force is less than the preset range, the distance between the first pushing structure 136 and the second pushing structure 137 is reduced to increase the clamping force. If the obtained clamping force is greater than the preset range, the distance between the first pushing structure 136 and the second pushing structure 137 is increased to reduce the clamping force. If the obtained clamping force is within the preset range, the distance between the first pushing structure 136 and the second pushing structure 137 is maintained.

[0079] In some embodiments, the second pushing structure 137 is slidably connected to the mounting plate 110, and the mounting plate 110 may be one of the side surfaces of the housing 14. The adjusting device 120 may make the second pushing structure 137 slide relative to the mounting plate 110 to adjust the spacing between the second pushing structure 137 and the first pushing structure 136. In some embodiments, the adjusting device 120 includes a fixed portion and a sliding portion, the fixed portion is fixed to the mounting plate 110, at least one of the two pushing structures 130 is disposed on the sliding portion, and when the sliding portion moves relative to the fixed portion, the spacing between the two pushing structures 130 changes. In some embodiments, the fixed portion and the sliding portion may be the guide rail slot structure described below, in which the portion fixed to the mounting plate 110 is called the fixed portion, and the portion capable of sliding relative to the mounting plate 110 is called the sliding portion.

[0080] In some embodiments, the adjusting device 120 further includes a driving member, and the driving member forms an intermittent fit with at least one of the two pushing structures 130. The intermittent fit may be that the contact or action between the driving member and the pushing structure 130 is not continuous, but occurs according to a predetermined condition (such as a position condition). By directly matching the driving member with the pushing structure 130, the transmission efficiency between the driving member and the pushing structure 130 can be improved, thereby reducing energy loss.

[0081] In some embodiments, in combination Figure 5 and Figure 6As shown, the driving member includes a push rod 125 and a push rod driving member 126. The push rod driving member 126 provides driving force for the adjusting device 120, drives the push rod 125 to move along the first direction (i.e., the length direction), and the push rod 125 pushes the second pushing structure 137 to approach the first pushing structure 136 to reduce the distance between the second pushing structure 137 and the first pushing structure 136. In some embodiments, the push rod driving member 126 includes various types of motors, cylinders, oil cylinders, etc., to provide power for the linear motion of the push rod 125. In some embodiments, the second pushing structure 137 includes a sliding inner shell 1371, and the second rotating shaft included in the second pushing structure 137 is rotatably connected to the sliding inner shell 1371. For example, the second rotating shaft is connected to the sliding inner shell 1371 through a bearing. The sliding inner shell 1371 is provided with a push rod channel 1372. The push rod 125 moves in the first direction and can extend into the push rod channel 1372 along the length direction and abut against the push rod channel 1372, thereby pushing the second pushing structure 137 to move in the first direction. In some embodiments, a through hole (not shown in the figure) is provided on the outer shell 14 of the auxiliary device 10 of the soft endoscope at a position corresponding to the push rod 125. The push rod 125 can extend from the through hole and move toward the second pushing structure 137. In some embodiments, in order to improve the stability of the push rod 125 pushing the second pushing structure 137, the adjustment device 120 includes two or more push rods 125, and accordingly, the number of the push rod channel 1372 and the through hole also corresponds to two or more.

[0082] In some embodiments, the adjustment device 120 further includes a guide rail slot structure (not shown in the figure), the guide rail slot structure is arranged along the first direction, the second push structure 137 slides with the guide rail slot structure, and the second push structure 137 slides relative to the guide rail slot structure along the first direction. The setting of the guide rail slot structure is conducive to maintaining the stability of the movement of the second push structure 137. In some embodiments, the guide rail slot structure is arranged between the second push device 137 and the mounting plate 110. In some embodiments, the guide rail slot structure includes a guide rail arranged along the first direction, and the bottom of the sliding inner shell 1371 included in the second push structure 137 is provided with a sliding member (such as a groove), and the guide rail cooperates with the sliding member to make the second push structure 137 slide with the guide rail slot structure. Among them, the positions of the guide rail and the sliding member can be interchanged. In some other embodiments, the sliding inner shell 1371 can also be called a sliding part.

[0083] In some embodiments, the adjusting device 120 further includes an elastic reset member (not shown in the figure), which is arranged between the outer shell 14 and the second pushing structure 137. When the push rod 125 pushes the second pushing structure 137 close to the first pushing structure 136, the elastic reset member provides the second pushing structure 137 with an elastic force to move away from the first pushing structure 136. In some embodiments, the elastic reset member (such as a spring, a tension spring, etc.) is arranged along the first direction. For example, the elastic reset member can be connected between the outer shell 14 and the sliding inner shell 1371. Under the action of the push rod 125, the second pushing structure 137 moves close to the first pushing structure 136. At this time, the elastic reset member is stretched. After the pushing is completed, the push rod 125 is driven by the push rod driving member 126 to move away from the second pushing structure 137. At this time, the elastic reset member provides the second pushing structure 137 with an elastic force to move away from the first pushing structure 136, so that the second pushing structure 137 is automatically reset to wait for the next pushing work.

[0084] Figure 7 It is a schematic diagram of the position of the push rod pushing the second pushing structure 137 according to some embodiments of this specification.

[0085] like Figure 7 As shown, under the driving control of the push rod driving member 126, the push rod 125 can be controlled to be in different positions, thereby adapting to mirror bodies 200 of different sizes. Figure 7 In the first position shown in a, the push rod 125 has not yet contacted the sliding inner shell 1371, and under the action of the elastic reset member, the distance between the second pushing structure 137 and the first pushing structure 136 is at the maximum. Figure 7 In the second position shown in b, the push rod 125 just contacts the sliding inner shell 1371. At this time, the distance between the second pushing structure 137 and the first pushing structure 136 can adapt to the maximum size of the mirror body 200. Figure 7 In the third position shown in c, the push rod 125 reaches the maximum stroke, and the distance between the second pushing structure 137 and the first pushing structure 136 can adapt to the smallest size of the scope 200. By adjusting the position of the push rod 125 between the second position and the third position, the auxiliary device 100 of the soft endoscope can adapt to any size of the scope 200 between the minimum size and the maximum size.

[0086] In some embodiments, the adjustment device 120 further includes a force measuring unit (not shown in the figure), which is configured to obtain the clamping force of the first pushing structure 136 and the second pushing structure 137 on the mirror body 200. In some embodiments, the force measuring unit includes a sensor, and the pushing end of the push rod 125 close to the second pushing structure 137 is fixedly connected to the force sensor. Under the control of the push rod driving member 126, the push rod 125 drives the second pushing structure 137 to move slowly. When the second pushing structure 137 contacts the mirror body 200, the force between the push rod 125 and the second pushing structure 137 detected by the force sensor at this time is equivalent to the clamping force of the second pushing structure 137 on the mirror body 200, which is equivalent to that the force sensor can detect the clamping force of the second pushing structure 137 on the mirror body 200. In some embodiments, the push rod driving member 126 can adjust or maintain the operating state based on the clamping force obtained by the force measuring unit to increase, reduce or maintain the distance between the first pushing structure 136 and the second pushing structure 137. In some embodiments, the clamping force monitored by the control force sensor is within a suitable range, so that the first pushing structure 136 and the second pushing structure 137 can clamp the mirror body 200 and push the mirror body 200, while avoiding excessive clamping force and damage to the mirror body 200. In some embodiments, the clamping force ranges from 2N to 20N, for example, 4N to 18N, 6N to 15N, 8N to 12N, or 10N to 11N.

[0087] Hereinafter, this specification will introduce in detail some exemplary embodiments of the auxiliary device of the flexible endoscope provided in Example 3. The difference between the auxiliary device of the flexible endoscope of Example 3 and the auxiliary device of the flexible endoscope of Example 1 mainly lies in the adjustment device and its related structures, and the remaining structures can refer to the corresponding features in Example 1.

[0088] Figure 8 It is a schematic diagram of the structure of the auxiliary device 10 of the flexible endoscope shown in some embodiments of the present specification.

[0089] Some embodiments of the present specification also provide an auxiliary device 10 for a flexible endoscope, and the auxiliary device 10 for a flexible endoscope is applied to a flexible endoscope. The auxiliary device 10 for a flexible endoscope includes two pushing structures 130, an advance / retract motor 12, and a wheel sleeve 180. In some embodiments, the two pushing structures 130 include a first clamping wheel and a second clamping wheel, and a mirror body mounting portion 11 is formed between the two clamping wheels, and the mirror body mounting portion 11 is used to clamp the mirror body; the advance / retract motor 12 is configured to drive the two pushing structures 130 to rotate around their wheel centers respectively. More embodiments of the two pushing structures 130 and the advance / retract motor 12 can be found in Figures 2 to 4 and its related description.

[0090] In some embodiments, the wheel sleeve 180 is provided on at least one of the two pushing structures 130, and the wheel sleeve 180 is detachably connected to the pushing structure 130. In some embodiments, one of the two pushing structures 130 is provided with a detachable wheel sleeve 180, and the other pushing structure 130 is not provided. In some embodiments, the two pushing structures 130 are respectively provided with wheel sleeves 180. In some embodiments, the wheel sleeve 180 is sleeved on the outer rim of the pushing structure 130 and detachably cooperates with the pushing structure 130. Here, the wheel sleeve 180 has a similar function to the adjusting device 120 in Example 1, and can be used as a variant implementation of the adjusting device 120.

[0091] According to the auxiliary device 10 of the soft endoscope in some of the above-mentioned embodiments, the wheel sleeve 180 of the auxiliary device 10 of the soft endoscope is detachably connected to the pushing structure 130. When the auxiliary device 10 of the soft endoscope is matched with a scope having different cross-sectional sizes, the scope mounting portion 11 between the two pushing structures 130 is matched with the cross-sectional size of the scope by removing the wheel sleeve 180 and replacing the wheel sleeve 180 with a different thickness, thereby improving the compatibility of the conveying device and the scope, increasing the use range of the conveying device, and saving costs.

[0092] In some embodiments, the wheel cover 180 is a disposable consumable. In some embodiments, the wheel cover 180 is a component that can be cleaned and disinfected. Since the wheel cover 180 is in direct contact with the mirror body, the mirror body, as an instrument that extends into the natural cavity of the human body, has high sterility requirements. Therefore, the wheel cover 180 is detachably connected to the pushing structure 130. After use, the wheel cover 180 can be directly disassembled as medical waste or recycled for cleaning and disinfection, and the conveying device replaces a new wheel cover 180 for the next operation. In this way, the hygiene of the mirror body can be ensured and cross infection during surgery can be avoided.

[0093] In some embodiments, at least one of the wheel sleeve 180 and the pushing structure 130 includes a limiting portion 181, and the other includes a matching portion 182. The limiting portion 181 and the matching portion 182 cooperate with each other to limit the relative rotation of the wheel sleeve 180 and the pushing structure 130. After the wheel sleeves 180 and the mirror body of the two pushing structures 130 cooperate, the position in contact with the mirror body generates a friction force tangential to the pushing structure 130. By setting the limiting portion 181 and the matching portion 182 between the wheel sleeve 180 and the pushing structure 130, the relative rotation between the wheel sleeve 180 and the pushing structure 130 is limited, so that the output torque of the advance and retreat motor 12 is fully transmitted to the mirror body, thereby improving the stability and accuracy of the advance and retreat motor 12 in controlling the movement of the mirror body.

[0094] In some embodiments, a radially protruding protrusion is formed on the outer edge of the pushing structure 130 , and the protrusion is configured as a limiting portion 181 . A slot that cooperates with the protrusion is formed on the inner edge of the wheel sleeve 180 , and the slot is configured as a matching portion 182 .

[0095] In some embodiments, the inner edge of the wheel sleeve 180 is formed with a radially protruding protrusion, which is configured as a limiting portion 181 , and the outer edge of the pushing structure 130 is formed with a slot that cooperates with the protrusion, which is configured as a matching portion 182 .

[0096] In some embodiments, a radially concave groove is formed on the outer edge of the wheel sleeve 180, and the groove is configured as a limiting portion 181. The mating portion 182 of the pushing structure 130 includes an L-shaped structure, one end of which is fixed to the pushing structure 130, and the other end is clamped in the groove of the wheel sleeve 180.

[0097] In some embodiments, the material of the wheel cover 180 includes but is not limited to at least one of thermoplastic polyurethane elastomer rubber, silicone rubber, fluororubber, polycarbonate-based polyurethane, etc. These materials make the wheel cover 180 have a certain elasticity, so that the wheel cover 180 can be closely fitted with the pushing structure 130 through elastic force after being installed on the pushing structure 130. In addition, the wheel cover 180 has a certain elasticity, which can increase the friction between the wheel cover 180 and the mirror body, and also reduce the wear on the mirror body.

[0098] In some embodiments, the side edge of the wheel sleeve 180 is formed with an annular groove 135 that cooperates with the outer surface of the mirror body. The mirror body can be relatively slidably embedded in the annular groove 135, which can improve the stability of the mirror body movement and prevent the mirror body from tilting relative to the two pushing structures 130.

[0099] In some embodiments, the auxiliary device 10 of the soft endoscope further includes a force measuring unit (not shown in the figure), which is configured to obtain the clamping force of the first clamping wheel 133 and the second clamping wheel 134 on the mirror body 200. In some embodiments, the force measuring unit includes a sensor, wherein the sensor is disposed between the wheel sleeve 180 and the second clamping wheel 134 (and / or the first clamping wheel 133). In other words, a circumferentially arranged sensor is disposed between the inner wall of the wheel sleeve 180 and the outer rim of the second clamping wheel 134 (and / or the first clamping wheel 133), and the sensor is configured to detect the radial extrusion force between the wheel sleeve and the second clamping wheel 134 (and / or the first clamping wheel 133), and the clamping force of the second clamping wheel 134 on the mirror body is equal to the radial extrusion force. In some embodiments, based on the clamping force obtained by the force measuring unit, the compatibility between the wheel cover 180 and the mirror body is determined. If the clamping force is within the preset value range, the wheel cover 180 continues to be used. If the clamping force is less than the preset value, a wheel cover 180 with a thicker thickness is replaced. If the clamping force is greater than the preset value, a wheel cover 180 with a thinner thickness is replaced. Controlling the clamping force monitored by the force measuring unit within a suitable range can enable the first clamping wheel 133 and the second clamping wheel 134 to clamp the mirror body 200 and complete the pushing of the mirror body 200, while avoiding excessive clamping force and damage to the mirror body 200.

[0100] Embodiment 4 of this specification provides a scope pushing method. Hereinafter, this specification will introduce in detail some exemplary implementations of the scope pushing method provided in Embodiment 4.

[0101] Fig. 9 It is a flow chart of the method of mirror pushing according to some embodiments of this specification.

[0102] The scope pushing method 900 is applied to the auxiliary device 10 of the soft endoscope described in any of the above embodiments, and is used to push the scope to a specified position. In some embodiments, the auxiliary device 10 of the soft endoscope includes a controller, and the controller is electrically connected or communicatively connected to the driver and the push rod driving member. The scope pushing method 900 can be executed by the controller. In some embodiments, Fig. 9 As shown, the mirror pushing method 900 includes the following steps.

[0103] Step 910: Get push instructions.

[0104] In some embodiments, the push instruction includes a start instruction or a stop instruction. In some embodiments, the push instruction includes a push direction. Specifically, the push direction includes pushing forward (toward the far end) or backward (toward the near end). In some embodiments, the push instruction can be manually input by an operator.

[0105] Step 920: In response to the push instruction instructing to push the mirror body forward or backward, a preset value of the clamping force of the push component clamping the mirror body is obtained.

[0106] In some embodiments, according to the pushing direction indicated by the pushing instruction, a control instruction is sent to the driver included in the driving assembly to control the motor included in the driver to rotate forward or reverse, so as to control the rotation direction of the first pushing structure, so that the mirror body can move forward or backward in response to the pushing direction indicated by the pushing instruction. In some embodiments, a preset clamping force preset value of the preset pushing assembly to clamp the mirror body is obtained. In some embodiments, the clamping force preset value can be pre-stored in a memory included in the auxiliary device of the soft endoscope, and the clamping force preset value can be determined within the clamping force range, and the clamping force range can be 2N-20N. In some embodiments, the clamping force range can be determined based on experiments. When the clamping force is within the clamping force range, it can ensure that the first pushing structure and the second pushing structure clamp the mirror body, so that the friction between the first pushing structure and the mirror body is sufficient to make the mirror body move with the rotation of the first pushing structure.

[0107] Step 930: Control the adjusting device to reduce the distance between the two pushing structures, and obtain the current clamping force of the pushing assembly clamping the mirror body.

[0108] In some embodiments, the controller can start the push rod driving member, control the push rod to approach the second pushing structure, and reduce the distance between the first pushing structure and the second pushing structure. Alternatively, the controller can start the adjusting motor, control the gear to drive the rack to move in the direction of the first clamping wheel, and reduce the distance between the first clamping wheel and the second clamping wheel (or the first pushing structure and the second pushing structure). In some embodiments, the clamping force data detected by the force measuring unit (such as a force sensor) is obtained. In some embodiments, the clamping force data can be obtained in real time, and the clamping force data is obtained simultaneously with the reduction of the distance between the first pushing structure and the second pushing structure. In some embodiments, the push rod driving member (or the adjusting motor) keeps running, so that the distance between the first pushing structure and the second pushing structure is reduced until the clamping force data detected by the force measuring unit reaches the preset value of the clamping force.

[0109] Step 940: In response to the current clamping force reaching a preset clamping force value, control the driving assembly to drive at least one of the two pushing structures to rotate so as to push the mirror body.

[0110] In some embodiments, when the clamping force detected by the force measuring unit reaches a preset clamping force value, the control driving component starts to move according to the control instruction, driving the mirror body to move forward / backward.

[0111] The mirror pushing method 900 also includes the following contents.

[0112] In some embodiments, a steering instruction is obtained during the pushing process of the mirror body or after the pushing is completed. In some embodiments, the steering instruction includes a start instruction or a stop instruction. In some embodiments, the pushing instruction can be manually input by an operator. The operator controls the start and stop time of the rotating part according to actual needs, that is, the rotation angle of the rotating part is controlled by the change of direction. In some embodiments, the steering instruction includes a rotation direction. Specifically, the rotation direction includes counterclockwise rotation or clockwise rotation. In some embodiments, the steering instruction includes a rotation angle (for example, 30°, 50°, etc.). In some embodiments, in response to the steering instruction, the rotating part is instructed to drive the mirror body to rotate a certain angle around the axis.

[0113] In some embodiments, during the pushing process of the mirror body, the control adjustment device maintains the spacing between the first pushing structure and the second pushing structure. For example, stopping the operation of the push rod drive (or the adjustment motor) can maintain the spacing between the first pushing structure and the second pushing structure. In some embodiments, during the pushing process of the mirror body, the real-time clamping force of the push assembly clamping the mirror body is obtained. Real-time monitoring of the clamping force of the push assembly on the mirror body can avoid abnormal clamping force due to abnormal operation, or when the outer diameter of the mirror body changes unevenly, it can avoid excessive or too small clamping force on the mirror body. In some embodiments, in response to the deviation between the real-time clamping force and the preset value of the clamping force being greater than a preset threshold, the control adjustment device adjusts the spacing between the first pushing structure and the second pushing structure. In some embodiments, a preset threshold value of the deviation between the real-time clamping force and the preset value of the clamping force is obtained. In some embodiments, the preset threshold value can be pre-stored in a memory included in the auxiliary device of the soft endoscope. When the difference between the real-time clamping force and the preset clamping force value is greater than the preset threshold, the control adjustment device increases the spacing between the first push structure and the second push structure to adapt to the mirror body segment with a larger outer diameter, expand the clamping distance, and avoid damaging the mirror body skin; when the real-time clamping force is less than the preset clamping force value and the difference is greater than the preset threshold, the control adjustment device reduces the spacing between the first push structure and the second push structure to avoid the real-time clamping force being too small, causing push failure. Real-time detection of the clamping force and real-time adjustment of the spacing between the first push structure and the second push structure can keep the clamping force of the push assembly on the mirror body stable and achieve stable transportation.

[0114] In some embodiments, when the mirror body is in place, the operator can input a stop command. In some embodiments, in response to the push command indicating to stop pushing the mirror body, the drive assembly stops running. In some embodiments, the drive assembly is controlled to stop driving the first push structure and / or the second push structure to rotate. For example, the driver is controlled to stop running, the first push structure loses the driving force and stops rotating, and the second push structure stops rotating accordingly. In some embodiments, the control adjustment device increases the spacing between the first push structure and the second push structure. Specifically, the push rod driving member is controlled to move the push rod away from the second push structure to increase the spacing between the first push structure and the second push structure; or, the control adjustment motor is controlled to move the rack away from the first clamping wheel to increase the spacing between the first clamping wheel and the second clamping wheel. In some embodiments, in the process of increasing the spacing between the first push structure and the second push structure, the current clamping force of the push assembly clamping the mirror body is obtained until the current clamping force is reduced to the second clamping force preset value. In some embodiments, the second clamping force preset value can be 0. When the current clamping force is reduced to 0, the push assembly has no clamping force on the mirror body, and the adjustment device can stop running.

[0115] Some embodiments of the present specification further provide a flexible endoscope, which includes the auxiliary device 10 of the flexible endoscope as described in any of the above embodiments.

[0116] Fig.10 It is a schematic diagram of the structure of a flexible endoscope 1000 according to some embodiments of the present specification.

[0117] like Fig.10 As shown, the flexible endoscope 1000 includes the auxiliary device 10 of the flexible endoscope described in the various embodiments above, and also includes an endoscope device 20, a robot arm device 30 and a push control component.

[0118] The endoscope device 20 includes a mirror body 200 and a handle 220. In some embodiments, the mirror body 200 is an insertion part that can be inserted into the patient's body to obtain a lesion image or perform a diagnosis and treatment operation on the lesion area. The auxiliary device 10 of the soft endoscope clamps the mirror body 200 to complete the pushing of the mirror body 200. In some embodiments, the mirror body 200 is connected to the handle 220, and the handle 220 is an operating part for the operator to operate and control the operation of the endoscope device 200. For example, the operator controls the head of the mirror body 200 to extend into the patient's body to obtain a lesion image by operating the buttons set on the handle 220. For another example, the operator controls the bending, expansion, etc. of the part of the mirror body 200 extending into the patient's body by operating the buttons set on the handle 220.

[0119] The push control assembly is used to operate the auxiliary device 10 of the soft endoscope. In some embodiments, the push control assembly is arranged on the handle 220 and connected to the handle 220, so that the operator can operate the handle 220 and the push control assembly with one hand. In some embodiments, the push control assembly is detachably connected to the handle 220. In some embodiments, the operator can send instructions (such as push instructions, control instructions, stop instructions, etc.) to the auxiliary device 10 of the soft endoscope through the push control assembly, so that the auxiliary device 10 of the soft endoscope responds to the instructions and performs actions such as clamping or releasing the mirror body 200, pushing the mirror body 200 forward or backward. In some embodiments, the push control assembly includes an operating member, such as a button, a rocker, etc., and the operator sends instructions to the auxiliary device 10 of the soft endoscope by controlling the operating member, such as pressing different buttons, or pulling the rocker, etc.

[0120] The robotic arm device 30 is used to fix the auxiliary device 10 of the flexible endoscope and adjust the spatial position of the auxiliary device 10 of the flexible endoscope, so that the operator can arrange the auxiliary device 10 of the flexible endoscope according to personal operating habits and make the auxiliary device 10 of the flexible endoscope be in a suitable position, so as to facilitate the endoscope to enter the human cavity smoothly.

[0121] The beneficial effects that may be brought about by the embodiments of the present application include but are not limited to:

[0122] (1) The auxiliary device of the soft endoscope includes an adjustment device, which can change the distance between the wheel centers of the two pushing structures, so that the cross-sectional size of the mirror body mounting part becomes larger or smaller. The mirror body mounting part can adapt to mirror bodies with different cross-sectional sizes, thereby improving the adaptability of the conveying device and the mirror body, increasing the use range of the conveying device, and saving costs.

[0123] (2) After the mirror body mounting part clamps the mirror body, the spacing between the wheel centers of the two pushing structures is adjusted through the adjustment device, which can change the preload force of the two pushing structures and the mirror body, so that the mirror body and the pushing structure fit tightly, preventing the mirror body from accidentally slipping, and ensuring the accuracy of the forward and backward motor when driving the mirror body to move.

[0124] (3) By providing the guide rail and the sliding member, the direction of movement of the sliding part can be limited, so that the two pushing structures move away from or close to each other on the wheel center connection line, thereby preventing the two pushing structures from being misaligned.

[0125] (4) By setting a spring, the two pushing structures are automatically reset to the initial position without adjusting the motor, thereby saving energy consumption of the auxiliary device of the soft endoscope.

[0126] (5) The wheel sleeve of the auxiliary device of the soft endoscope is detachably connected to the pushing structure. When the auxiliary device of the soft endoscope cooperates with a scope having different cross-sectional sizes, the scope mounting portion between the two pushing structures can be matched with the cross-sectional size of the scope by removing the wheel sleeve and replacing it with a wheel sleeve of different thickness, thereby improving the compatibility of the conveying device and the scope, increasing the use range of the conveying device, and saving costs.

[0127] (6) The wheel cover is detachably connected to the push structure. After use, the wheel cover can be directly disassembled and treated as medical waste or recycled for cleaning and disinfection, and the conveying device is replaced with a new wheel cover for the next operation. In this way, the hygiene of the scope can be ensured and cross infection can be avoided during surgery.

[0128] (7) By setting a limit part and a matching part between the wheel sleeve and the pushing structure, the relative rotation between the wheel sleeve and the pushing structure is limited, so that the output torque of the advance and retract motor is fully transmitted to the mirror body, thereby improving the stability and accuracy of the advance and retract motor in controlling the movement of the mirror body.

[0129] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other beneficial effects that may be obtained.

[0130] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0131] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0132] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0133] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0134] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. An auxiliary device for a flexible endoscope, the flexible endoscope comprising a body, characterized in that: The auxiliary device of the soft endoscope comprises: A pushing assembly, comprising two pushing structures arranged opposite to each other, wherein a mirror body mounting portion is formed between the two pushing structures, and the mirror body mounting portion is used to clamp the mirror body; An adjusting device, configured to adjust the distance between the two pushing structures to clamp or loosen the mirror body; The driving assembly is configured to drive at least one of the two pushing structures to move, so that the two pushing structures drive the mirror body to move axially.

2. The auxiliary device for flexible endoscope according to claim 1, characterized in that: The auxiliary device of the flexible endoscope also includes a mounting plate; The adjusting device comprises a fixed part and a sliding part, wherein the fixed part is fixed to the mounting plate, at least one of the two pushing structures is arranged on the sliding part, and when the sliding part moves relative to the fixed part, the distance between the two pushing structures changes.

3. The auxiliary device for flexible endoscope according to claim 2, characterized in that: The adjusting device further comprises a driving member, which is transmission-connected to the sliding part; The driving member includes an adjusting motor and a transmission structure, the sliding part is connected to the output shaft of the adjusting motor through the transmission structure, and the adjusting motor is configured to drive the sliding part to move relative to the fixed part to change the distance between the two pushing structures.

4. The auxiliary device for flexible endoscope according to claim 2, characterized in that: The adjusting device further comprises a driving member, wherein the driving member forms an intermittent cooperation with at least one of the two pushing structures; The driving member includes a push rod and a push rod driving member, wherein the push rod driving member drives the push rod to move along a first direction, and the push rod is configured to push the distance between the two pushing structures to decrease, wherein the first direction is a relative setting direction of the two pushing structures.

5. The auxiliary device for flexible endoscope according to claim 2, characterized in that: The fixed part includes a guide rail, the sliding part includes a sliding member, at least one of the two pushing structures is slidably matched with the sliding member, and the guide rail is configured to guide the two pushing structures to move away from or approach each other.

6. The auxiliary device for flexible endoscope according to claim 1, characterized in that: The adjusting device includes an elastic reset member, the position between the two pushing structures includes an initial position and a clamping position, and the elastic reset member is configured to drive at least one of the two pushing structures to move so that the two pushing structures are reset from the clamping position to the initial position.

7. The auxiliary device for flexible endoscope according to claim 1, characterized in that: The auxiliary device of the flexible endoscope further comprises a force measuring unit configured to obtain the clamping force of the two pushing structures on the endoscope; The adjusting device adjusts the distance between the two pushing structures based on the clamping force acquired by the force measuring unit.

8. An auxiliary device for a flexible endoscope, applied to a flexible endoscope, the flexible endoscope comprising a body, characterized in that: The auxiliary device of the soft endoscope comprises: A pushing assembly, comprising two pushing structures arranged opposite to each other, wherein a mirror body mounting portion is formed between the two pushing structures, and the mirror body mounting portion is used to clamp the mirror body; A driving assembly configured to drive the two pushing structures to move, so as to drive the mirror body to move axially; and The wheel sleeve is arranged on at least one of the two pushing structures, and the wheel sleeve is detachably connected to the pushing structure.

9. The auxiliary device for flexible endoscope according to claim 8, characterized in that: At least one of the wheel sleeve and the pushing structure includes a limiting portion, and the other includes a matching portion, and the limiting portion and the matching portion cooperate with each other to limit the mutual rotation of the wheel sleeve and the pushing structure.

10. The auxiliary device for flexible endoscope according to claim 8, characterized in that: The material of the wheel cover includes at least one of thermoplastic polyurethane elastomer rubber, silicone rubber and fluororubber.

11. A flexible endoscope, characterized in that: The flexible endoscope includes the auxiliary device of the flexible endoscope according to any one of claims 1 to 10.

12. A method for pushing a flexible endoscope, characterized in that: The auxiliary device for the flexible endoscope according to any one of claims 1 to 10, wherein the pushing method comprises: Get push instructions; In response to the pushing instruction indicating pushing the scope forward or backward, obtaining a preset clamping force preset value of the pushing component clamping the scope; Controlling the adjusting device to reduce the distance between the two pushing structures, and obtaining the current clamping force of the pushing component clamping the mirror body; In response to the current clamping force reaching the preset clamping force value, the driving assembly is controlled to drive at least one of the two pushing structures to rotate so as to push the mirror body.

13. The push method according to claim 12, characterized in that: The push method also includes: Acquire the real-time clamping force of the pushing component clamping the scope during the pushing process of the scope; In response to a deviation between the real-time clamping force and the preset clamping force value being greater than a preset threshold, the adjusting device is controlled to adjust the distance between the two pushing structures.

14. The push method according to claim 13, characterized in that: The push method also includes: In response to the pushing instruction indicating to stop pushing the mirror body, controlling the driving component to stop driving at least one of the two pushing structures to rotate; The adjusting device is controlled to increase the distance between the two pushing structures, and the current clamping force of the pushing assembly clamping the mirror body is obtained until the current clamping force is reduced to a second clamping force preset value.

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