An externally driven electric-assisted endoscope operating part structure and endoscope

Abstract

The present invention discloses an externally driven electric power-assisted endoscope operating part structure and an endoscope, belonging to the technical field of endoscopes, wherein the endoscope comprises an operating part structure, the operating part structure comprises an operating handle provided with a hand wheel and a mirror body tube wire pulling mechanism, the mirror body tube wire pulling mechanism comprises an intermediate shaft and a driving wheel, a force sensor is arranged between the hand wheel and the driving wheel; a roller is also included, and a power-assisted mechanism is also included, the power-assisted mechanism comprises a driving module provided with a driving motor, the driving module is arranged outside the operating handle and connected to the operating handle through a hose, the driving motor is connected to the roller through a cable of a steel wire rope, the hose serves as an outer sleeve of the cable; and a first measuring module and a second measuring module are also included. This scheme can effectively reduce the influence of the power-assisted structure on the volume and weight of the operating handle, and at the same time has the characteristic of ensuring the power-assisted accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscopes, and in particular to an externally driven electric-assisted endoscope operating part structure and an endoscope. Background Art

[0002] An endoscope usually includes a tubular body with a lens at one end. It is used to enter the body through natural channels or incisions to observe the internal features of the human body. Common endoscopes in clinical practice are classified into hard endoscopes and soft endoscopes. Compared with hard endoscopes, soft endoscopes are characterized by a bendable body, which allows the lens part to be controlled to change direction and inserted into some observation positions that hard endoscopes cannot reach.

[0003] In the existing technology, electronic endoscopes refer more to endoscopes that use CCD technology, while soft endoscopes emphasize their softness and operability. Although the two are not completely equivalent concepts, from the perspective of electronic endoscopes with flexible mirror tube structural characteristics, electronic endoscopes can be regarded as a type of soft endoscope. Electronic endoscopes are widely used in the medical field. When used specifically, the rotation torque of the electronic endoscope's operating handle increases with the increase of the angle / body tube bending. When doctors frequently operate the handle for a long time, large fluctuations and continuous resistance will increase the fatigue of the operation and affect the accuracy and efficiency of endoscopic surgery.

[0004] To address this problem, electric power-assisted endoscopes have emerged in the prior art, such as the technical solutions provided by patent documents such as patent application numbers CN201910320154.1, CN202411176671.3, and CN202310752955.1. Common electric power-assisted endoscope-related power-assisting mechanisms and force coupling mechanisms are generally integrated on the operating handle. The common form of the force coupling mechanism is a planetary gear mechanism. Due to the requirements for power-assisting performance, the built-in power-assisting drive motor and planetary gear mechanism in the operating handle will greatly increase the volume and weight of the operating handle, which has an impact on the miniaturization and lightweight design of the operating handle.

[0005] Endoscopes are medical instruments widely used in the medical field. Further optimization of endoscopes will undoubtedly promote the development of the medical industry. Summary of the invention

[0006] In order to further optimize the endoscope mentioned above, the present invention provides an externally driven electric power-assisted endoscope operating part structure and an endoscope. This solution provides an external power-assisted structure solution, which can effectively reduce the impact of the power-assisted structure on the volume and weight of the operating handle, and at the same time has the characteristic of ensuring the power-assisted accuracy.

[0007] In view of the above problems, the present invention provides an externally driven electric power-assisted endoscope operating part structure and an endoscope to solve the problems through the following technical points: an externally driven electric power-assisted endoscope operating part structure, comprising an operating handle provided with a hand wheel and a scope tube wire pulling mechanism, the scope tube wire pulling mechanism comprising an intermediate shaft and a driving wheel mounted on the intermediate shaft, the hand wheel is used to drive the driving wheel to rotate, the driving wheel pulls the scope tube wire by rotating, a force sensor is provided on the transmission chain between the hand wheel and the driving wheel, the force sensor is used to detect the magnitude and direction of the torque provided by the hand wheel to the driving wheel;

[0008] It also includes a roller coaxial with the driving wheel and fixed relative to the driving wheel, and a power-assisting mechanism for driving the roller to rotate, the power-assisting mechanism includes a driving module on which a driving motor is arranged, the driving module is arranged outside the operating handle and connected to the operating handle through a hose, the driving motor is connected to the roller through a cable that is a steel wire rope, and the hose serves as an outer sleeve of the cable;

[0009] Also included is a first measuring module for detecting the bending degree of the hose;

[0010] A second measuring module for detecting the rotation angle of the driving wheel is also included.

[0011] When the above scheme is used in a specific application, the intermediate shaft can rotate synchronously with the driving wheel, or the intermediate shaft can be set as a fixed shaft on the operating handle, that is, the driving wheel rotates relative to the intermediate shaft when working, and the driving wheel is coupled with the roller to pull the steel wire of the mirror body tube. When different sources of force act on the coupling module on the steel wire, the above different sources of force include the force from the hand wheel and the force from the driving module. The way in which the driving wheel pulls the steel wire can be any way in the prior art, such as a tooth transmission method, a chain transmission method, a belt transmission method, etc. The driving wheel is used to change the bending angle of the endoscope body by pulling the steel wire of the mirror body tube. According to the bending direction required in the specific application, the steel wire of the mirror body tube can be one group, or two groups or more groups (a single group is responsible for one bending direction). It is easy to understand that since each group of steel wires needs to be pulled and adjusted, in order to make each group of steel wires have an electric power pulling mode, it is preferred that each group of steel wires is equipped with a hand wheel and a driving module. Of course, those skilled in the art can also flexibly configure according to actual needs.

[0012] The working principle of this solution when in use is as follows: when it is necessary to rotate the driving wheel to pull the steel wire of the endoscope body tube, the user forces the driving wheel to rotate by turning the handwheel according to the usual operating habits of using the endoscope. At this time, the magnitude and direction of the torque provided by the handwheel to the driving wheel are obtained through the force sensor, and then the power-assisting mechanism controls the rotation of the driving motor by obtaining the magnitude and direction of the torque, so that the driving motor drives the roller to rotate through the cable. Since the roller and the driving wheel are relatively fixed, at this time, the handwheel and the power-assisting mechanism provide driving force for the driving wheel at the same time, that is, force coupling is realized, so that manual force and the driving motor act together on the driving wheel, and the electric power-assisting function is realized when operating the bending angle of the endoscope body.

[0013] At the same time, the present invention is configured such that the driving module is connected to the operating handle through a hose, so that the driving module that is traditionally integrated with the operating handle is configured to be external to the operating handle, and the connection structure between the driving module and the operating handle includes a hose and a cable that is a steel wire, so the connection established between the driving module and the operating handle is a flexible connection. Under such an operating portion structural configuration, on the one hand, for the operator, the above flexible connection method will prevent the weight of the driving module from being directly loaded on the operating handle, so that when the endoscope needs to be used for a long time, compared with the implementation method in which the driving module is built into the operating handle, the configuration The drive module is externally driven, and the connection method of the drive module and the operating handle is flexibly connected. Since the weight of the operating handle is reduced when using the operating handle, the present solution can effectively reduce the requirements for the user's hand strength and endurance when holding the operating handle, which is beneficial to the user's flexibility and anti-fatigue ability in performing endoscopic operations. On the other hand, since the operating handle no longer has structures such as a drive motor, and at the same time, in order to achieve the purpose of force coupling, the coupling module no longer uses a planetary gear mechanism that is relatively larger in volume than a roller. Therefore, the present solution is beneficial to the volume design of the control operating handle, thereby achieving the purpose of making it convenient for the user to hold the operating handle.

[0014] At the same time, the present scheme is also configured to include a first measuring module and a second measuring module, aiming to achieve the following purposes: in order to reduce the interference caused by the driving module pulling the operating handle through the cable and the hose, the hose and the cable are preferably softer. Under such a concept, since the hose is used as the outer sleeve of the cable, if the position of the driving module in space is fixed, when the operating handle is moved, the hose may have different degrees of bending. Under different degrees of bending of the hose, the hose has different pulling resistance to the pulled cable, and for the torque size of the cable pulling roller, the resistance will cause the driving motor to have different output torque losses. When the bending degree of the current hose is obtained in real time through the first measuring module, the result obtained by the first measuring module can be used for the current hose state. Feedback compensation is performed on the torque output by the driving motor working under the condition of the hose. For example, when the bending angle of the hose increases, the friction force of the hose on the cable increases. At this time, according to the obtained result, the torque of the driving motor pulling the cable is increased to stabilize the torque applied by the cable to the roller. Conversely, when the bending angle of the hose becomes smaller, the torque of the driving motor pulling the cable is reduced. For the adjustment of the mirror body angle, the operating part structure can be operated in the handwheel constant torque mode (turn the handwheel at any mirror body angle to maintain the torque required for the current rotation speed unchanged) or in the handwheel proportional torque mode (the power assist mechanism compensates the torque required for the rotation of the driving wheel in proportion), so that the torque finally applied by the driving motor to the roller is more stable, the handwheel operation feeling and the handwheel control accuracy are optimized, so as to achieve the purpose of improving the control accuracy of the mirror body bending angle.

[0015] The second measurement module is intended to solve the following problem: the rotation angle of the driving wheel is related to the bending angle of the mirror body. For the steel wire that pulls the mirror body to bend the mirror body, the bending angle of the mirror body is positively correlated with the friction resistance of the mirror body to the steel wire. In order to enable the mirror body to produce a bending deformation with a stable angle as required under the action of the steel wire, the measurement result of the second measurement module is also used to feedback control the output torque of the driving motor and to feedback compensate for the output torque of the driving motor working in the current state of the mirror body. For example, when the bending angle of the mirror body increases, the friction force of the mirror body to the steel wire increases. At this time, according to the acquisition result of the second measurement module, Increase the torque of the driving motor pulling the cable so that the torque of the cable acting on the roller becomes larger. In this case, for the tension applied by the driving wheel to the steel wire, the increased torque is used to offset the consumption of the mirror body bending on the steel wire pulling the mirror body head end. Conversely, when the mirror body bending angle becomes smaller, reduce the torque of the driving motor pulling the cable to avoid or reduce the influence of the mirror body bending on the steel wire pulling the mirror body head end. Similarly, for the handwheel constant torque mode or the handwheel proportional torque mode, the measurement result of the second measurement module makes the torque of the driving motor finally applied to the front end of the mirror body more stable, thereby achieving the purpose of improving the control accuracy of the mirror body bending angle.

[0016] For those skilled in the art, it is a prior art that a hand wheel acts on a steel wire through a driving wheel to pull the head end of the mirror body. The power-assisting mechanism provided in this solution does not require creative labor to be set up as a roller that is coaxial with the driving wheel and relatively fixed. At the same time, the connection relationship between the roller and the driving wheel is only a specific embodiment that solves the transmission needs and has a smaller internal space requirement for the operating handle. If it is only from the perspective of force coupling, setting the roller and the driving wheel to be connected through an intermediate transmission member should also be considered as a technical solution equivalent to this solution, for example, roller and driving wheel tooth transmission, chain transmission, synchronous belt transmission, etc.

[0017] In a specific embodiment, in order to reduce the number of parts in the operating handle, the first measuring module is arranged in the driving module, specifically: the driving module includes a housing, a base is fixed on the housing, the driving motor and the first measuring module are both mounted on the base, a guide sleeve for docking with a hose is arranged on the base, the cable extends to the hose through the guide sleeve, and the second measuring module is built into the operating handle. At the same time, it is easy to understand that the bending of the steel wire of the mirror body tube, the rotation of the driving wheel, and the rotation of the roller are synchronous, so when the direct detection object of the second measuring module is the roller and the steel wire, it should also be understood that the second measuring module is used to detect the rotation angle of the driving wheel.

[0018] As a further technical solution of the externally driven electric power-assisted endoscope operating unit structure:

[0019] As a specific implementation form of the first measurement module, it is set as follows: the first measurement module includes a mounting base fixed on the driving module, a displacement sensor and a pulley are fixed on the mounting base, and also includes a lasso, the displacement sensor includes a slider supported on the driving module by a reset spring, one end of the lasso is fixed on the operating handle, and the other end of the lasso is fixedly connected to the slider after passing through the pulley, the hose serves as the outer sleeve of the lasso, and the displacement sensor is used to measure the position of the slider on the sliding track. The principle of the first measurement module obtaining the bending degree of the hose in this solution is: the lasso is pulled between the operating handle and the driving module through the internal space of the hose, and when the hose is bent, the lateral force provided by the bending of the hose to the lasso pulls the slider so that the slider changes its position on its sliding track, and the displacement sensor obtains the bending degree of the hose by detecting the position of the slider. More specifically, it can be configured to have a sliding rod fixed to a mounting seat, the sliding block is slidably connected to the sliding rod to constrain the sliding trajectory, the reset spring is a coil spring sleeved on the sliding rod, and the structure on the driving module for providing support for the reset spring can be a base, a housing of a displacement sensor, a mounting seat, a housing of a driving module, etc. The function of the pulley is to limit the extension path or form of the lasso, for example, the lasso between the pulley and the sliding block extends along the length direction of the sliding rod, preferably, the lasso includes a second lasso and a first lasso, the second lasso is connected in series with the first lasso, and the deformation resistance of the second lasso is greater than that of the first lasso, so that: the lasso built into the hose is the second lasso, and the lasso bypassing the pulley is the first lasso, in this way, the relatively large deformation resistance of the second lasso is utilized to ensure the sensitivity of the end position of the second lasso affected by the bending degree of the hose, and the better flexibility of the first lasso is utilized to reduce the influence of the lasso on the bending of the hose. As an equivalent solution, the slider and the slide rod can also be fixedly connected, and the slide rod and the slider slide synchronously when the lasso is pulled, and the position of the slider on the sliding track is obtained by measuring the position of the slide rod. In a specific embodiment, the above first measurement module is specifically installed as follows: the displacement sensor is fixed to the base of the driving module through a mounting seat, one end of the first lasso is fixedly connected to the slider on the slide rod, the first lasso is fixedly connected to one end of the second lasso after passing around the pulley, a flexible sleeve is set on the outside of the second lasso and extends through the tube hole of the hose, and the other end of the second lasso is fixed to the housing of the operating handle, and the first lasso and the second lasso are both installed to be in a tensioned state.

[0020] As a specific implementation form of the drive module, a gear is connected to the rotor of the drive motor, and a toothed plate meshing with the gear teeth is provided on each of a pair of opposite sides of the gear;

[0021] The connection between the driving motor and the roller through the cable is as follows: there are two cables, one end of which is fixedly connected to one of the tooth plates, and one end of the other cable is fixedly connected to the other tooth plate. Each cable is provided with an independent cable groove on the roller, and the other end of each cable is wound in the corresponding cable groove. In this solution, the driving motor is used to drive the gear to rotate. According to the rotation direction of the gear, the two tooth plates move toward or away from each other, so that the two tooth plates synchronously pull the different ends of a group of cables. For the specific connection method between the cable and the roller, it is intended to provide a technical solution with a simple structure, which can avoid the cable slipping, and the cable can drive the roller to rotate at a larger angle. Specifically, the above two cables form a group of traction cables for bending the mirror body in a specific direction. According to the movement form of the two tooth plates, when one of the cables is further pulled out of the cable groove under the action of the tooth plate, the cable drives the roller to rotate. The roller rotates and the other tooth plate acts. , another cable is further wound in the cable groove of the roller, and the driving wheel is driven to rotate during the rotation of the roller, so as to achieve the purpose of pulling the mirror body tube wire in a specific way. In order to prevent the cable from slipping on the roller, this structural method only needs to ensure that there are multiple turns of cable in the cable groove or the end of the cable is fixed on the roller. Compared with the use of a single cable, the middle section of the cable is fixed on the wheel surface of the roller, and the two ends are respectively connected to different tooth plates. In the above structure, there is no situation where the cable cannot further pull the roller to rotate after the roller rotates to a certain angle. Therefore, this structural form can enable the roller to rotate multiple times. At the same time, this solution also has the characteristics of simple structure. Preferably, in order to ensure the movement accuracy of the tooth plate, the tooth plate is connected to the base through a slide rail assembly, and the above slide rail assembly is used to guide the movement of the tooth plate. Furthermore, a limit switch is provided at each end of the tooth plate, and the limit switch serves as a contact switch. When the limit switch contacts the end of the tooth plate, a stop rotation signal is provided to the drive motor. The slide rail assembly includes a bar rail fixed on the base and a sliding block fixed on the tooth plate, and the sliding block and the bar rail are slidably matched through a sliding groove.

[0022] For the cable stretched between the roller and the tooth plate, as a technical solution for conveniently adjusting the preload force on the cable, each cable is connected to the tooth plate through a preload module configured therefor, and the preload module is used to adjust the tension of the cable between the tooth plate and the roller. In this solution, the tension of the cable between each tooth plate and the roller is adjusted by the preload module, which not only solves the problem of tension adaptation of two cables connected to the same roller, but also makes the forward and reverse rotation of the roller have high control accuracy. At the same time, by adapting a suitable preload force, under the condition of ensuring the control accuracy, the life of the cable can be effectively guaranteed, and the friction pair formed by the gear and the tooth plate can have a suitable wear speed, etc. At the same time, by adapting a suitable preload force, when the hose is bent, the bending angle of the hose and the torque loss of the hose on the cable can have a stable positive correlation, which is beneficial to the precise control of the torque output by the drive motor under the feedback of the detection result of the first measurement module. In specific applications, in addition to adopting the solution including the adjusting nut and the solution of the fixing seat provided below, those skilled in the art may also adopt a pre-tightening module such as a tensioning wheel.

[0023] As a specific implementation of the pre-tightening module, the pre-tightening module includes a module seat fixed on the driving module, the module seat is provided with an internal threaded hole, a slide seat is slidably fitted in the internal threaded hole, the slide seat is elastically supported on the bottom of the internal threaded hole through an elastic support member, and also includes an adjusting nut threadedly connected to the internal threaded hole and located at the side of the slide seat opening, and the slide seat is clamped between the adjusting nut and the elastic support member;

[0024] The adjusting nut, the sliding seat and the elastic support member are all provided with through holes, and the cable passes through the internal threaded hole through the through holes;

[0025] It also includes a flexible tube with one end fixedly connected to the slide and the other end fixed to the operating handle or the driving module. The flexible tube serves as the outer sleeve of the cable, and the cable is slidably fitted in the flexible tube. In this solution, the module seat can be fixed on the base or the housing of the driving module. One end of the flexible tube is fixedly connected to the slide, and the other end can be fixed on the base, the housing, or the guide sleeve. When the adjusting nut is rotated, the slide slides in the internal threaded hole. At this time, the slide pulls one end of the flexible tube to move, while the position of the other end of the flexible tube on the driving module is fixed. When the end of the flexible tube moves, the flexible tube is bent or deformed or the degree of deformation changes. At this time, the lateral force provided by the inner wall of the flexible tube to the cable changes the shape of the cable in the flexible tube, thereby achieving the purpose of tensioning or relaxing the cable as needed. Compared with the method of directly pulling the end of the cable to control the tension state of the cable, this solution has a higher adjustable cable tensioning accuracy, which is used to achieve precise adjustment of the cable tensioning force. It is easy to understand that the module seat is used as a connection structure for connecting the pre-tightening module with the driving module and as a bearing structure for the internal threaded hole. The elastic support is used to provide thrust for the slide seat to keep the slide seat moving with the end of the adjusting nut. The elastic support can be a spiral spring. In the direction from the front end to the rear end of the internal threaded hole, the cable passes through the corresponding through hole, passes through the adjusting nut, the slide seat and the elastic support in sequence, and is connected to the tooth plate through the cable joint after being led out from the bottom of the internal threaded hole. During the use of this scheme, when the tooth plate provides tension for the cable to pull the roller to rotate, the force of the cable on the flexible tube is transmitted to the slide seat, and the slide seat moves toward the tooth plate side and further compresses the elastic support. When the tooth plate rotates in the opposite direction under the action of the drive motor, the elastic support releases energy and pushes the slide seat to move toward the side where the adjusting nut is located. This process can reduce the friction resistance caused by the flexible tube to the cable movement, thereby achieving the purpose of reducing the torque when the drive motor rotates in the opposite direction, reducing the torque fluctuation during the operation of the drive motor, and ensuring the working stability and reliability of this structure.

[0026] As a specific implementation method, the internal threaded hole is a component of the step channel formed on the module seat, and the elastic support member is supported on the step surface of the step channel; the flexible tube passes through the hose and one end is fixed to the shell of the operating handle, and the other end is fixedly connected to the slide. In this solution, the flexible tube serves as the sleeve of the cable. When the cable is deformed under pulling, the inner wall of the cable is in contact with it. For multiple cables in the hose, each cable is equipped with the flexible tube, which can not only avoid entanglement between the cables, but also avoid the sudden change of resistance when the steel wire cables are pulled due to mutual hooking, so that the torque loss on the cable when the cable is deformed with the hose changes linearly, so as to improve the smoothness of the bending angle adjustment of the endoscope body and improve the accuracy of the torque output by the electric assist. If only the problem of mutual influence of cables in the hose is considered, the hose can be configured to have multiple independent channels, each channel accommodating a cable. For the above lasso, since the lasso is also a content in the hose, a solution of equipping the lasso with a channel or a solution of equipping the lasso with a sleeve can also be adopted, such as: each cable is slidably matched in a flexible tube to form a cable sleeve structure, and the lasso is slidably matched in a flexible sleeve to form a lasso sleeve structure, so as to avoid mutual influence between the cables and lassoes, which are both steel wires and located in the hose.

[0027] The above provides a solution for fine-tuning the tension of the cable using a pre-tensioning module. In order to improve the assembly efficiency of the structure, the pre-tensioning module further includes a fixing seat. One end of the cable used to connect the tooth plate is fixed on the fixing seat. The fixing seat forms a bolt connection relationship with the tooth plate through a strip hole. The length direction of the strip hole satisfies that when the fixing seat slides along the strip hole, the tension of the cable stretched between the tooth plate and the roller changes. The above scheme is used to achieve coarse adjustment of the cable tension. It is a technical solution for adjusting the tension by directly pulling the end of the cable through the fixing seat. Specifically, the end of the cable is fixed on the fixing seat. When the bolt of the fixing seat in the strip hole is loosened, the cable slides along the strip hole through the fixing seat, that is, the cable is further tensioned or released. After coarse adjustment to the appropriate tension, the bolt is locked, and the coarse adjustment of the cable tension is completed. Preferably, the strip hole is arranged on the extension structure at the end of the rack, and the length direction of the strip hole is parallel to the length direction of the rack. At the same time, the rack, the extension structure and the module seat are arranged in sequence in the length direction of the rack, and the axis of the adjusting nut passes through the center line of the strip hole.

[0028] As described above, the flexible tube is used to adjust the tension of a single cable. Considering the size of the flexible tube, the inner diameter of the flexible tube is slightly larger than the outer diameter of the cable. To avoid the flexible tube from being wrinkled locally during further bending, which may affect the tension adjustment accuracy of the cable, the preferred implementation is that the flexible tube is a coil spring-shaped spring tube. In specific applications, the cable can pass through the center hole of the spring tube.

[0029] As a specific implementation method of the operating handle, a rotating sleeve that can rotate around the intermediate shaft is arranged on the outer side of the intermediate shaft, and a bottom plate that cooperates with the rotating sleeve gap is arranged on the outer side of the rotating sleeve, and a block that is in a positive relationship is fixed on the bottom plate. The force sensor includes a protrusion and a measuring element. The protrusion is fixed on the side of the rotating sleeve and is located in the gap between the block blocks. A measuring element is arranged in the gap between the protrusion and any block. The measuring element is used to measure the size of the positive pressure between the protrusion and the block. The handwheel is fixed on the bottom plate. In the specific application of this solution, the handwheel drives the driving wheel to rotate through the rotating sleeve. Specifically, when the handwheel is rotated, the handwheel drives the base plate to rotate around the rotating sleeve. At this time, the stopper acts on the protrusion to drive the rotating sleeve to rotate. The rotating sleeve can be set to be fixed and coaxial with the driving wheel. According to the rotation direction of the handwheel, the stopper provides thrust for a specific side of the protrusion. The force sensor obtains the rotation direction of the handwheel and the specific thrust size according to the thrust measurement results of the measuring elements on different sides of the protrusion. The size of the torque provided to the driving wheel can be obtained according to the thrust. This solution is a technical solution in which the intermediate shaft is used as the fixed shaft and the rotating sleeve is used as the transmission shaft. For an operating handle generally having two handwheels to drive the mirror body to bend in different directions respectively, the rotating sleeves configured for different mirror body bending directions can be set to be mutually overlapped, so that the two handwheels are installed on the same intermediate shaft in a centralized manner, so as to achieve the purpose of reducing the size and weight of the operating handle. The roller and the driving wheel on the intermediate shaft can be configured as an installation cavity surrounded by an upper cover and a lower cover on the operating handle, a coupling module including the roller and the driving wheel is installed in the installation cavity, the intermediate shaft, the roller and the driving wheel are coaxial, and the cable of the driving module is introduced into the installation cavity from the side of the roller and wound in the cable groove of the roller. More specifically, if the driving wheel is a sprocket, one of the sprockets is used as a first sprocket for controlling the left and right bending of the mirror body, and the other sprocket is used as a second sprocket for controlling the upper and lower bending of the mirror body, the roller configuration includes a first roller and a second roller, the first roller and the second roller are respectively fixed to the first sprocket and the second sprocket, and each sprocket is meshed with a chain for pulling the steel wire.

[0030] Furthermore, with regard to the structural design of the operating handle, for the steel wire used to pull the scope body, the operating handle is configured to include a substrate, a first guide frame for constraining the position of the steel wire on the operating handle is provided on the substrate, and a second guide frame for constraining the position of the cable on the operating handle is provided on the substrate.

[0031] As an operating part structure equipped with two groups of steel wires, four cables are built into the hose, two of which are connected to the first roller, and the other two cables are connected to the second roller, that is, the cables are wound in pairs in the cable groove. For the first measuring module implementation scheme provided above, the lasso also passes through the space inside the hose and extends from the drive module to the operating handle.

[0032] As a specific application, it also includes a control module, which collects monitoring results from the force sensor, the first measurement module and the second measurement module, and controls the magnitude of the torque output by the drive motor according to the monitoring results. For example, under the triggering of the collection results of the force sensor, the drive motor is triggered to rotate in the direction of assisting the hand wheel, and according to the detection results of the bending degree of the hose and the bending degree of the scope, according to the mode setting, electric assistance is provided for the bending operation of the endoscope scope.

[0033] As a specific implementation of the second measurement module, the second measurement module is a magnetic ring encoder fixed on the driving wheel or roller. More specifically, the magnetic ring encoder includes a magnetic ring part and a sensor part. The magnetic ring is coaxially fixed on the driving wheel or roller. The position of the sensor part on the operating handle is fixed. The sensor part monitors the corresponding rotation angle by measuring the change of the magnetic field. This solution is a second measurement module implementation solution with high angle detection accuracy, small volume and weight. For the driving wheel or roller used to control the bending of the mirror body in different directions, it is set that the magnetic ring encoder includes a first magnetic ring encoder and a second magnetic ring encoder, which are respectively used to provide rotation angle detection for the driving wheel or roller serving the bending in different directions;

[0034] As a solution for providing a drive motor output indication and control feedback for the drive motor through the detection result of the tension on the cable, a tension sensor for measuring the tension provided by the drive motor to the cable is also included. In the specific implementation, in order to optimize the weight and volume of the operating handle, the tension sensor is arranged on the drive module. Further, in order to simplify the connection structure formed by the cable and the rack, the tension sensor is used as an intermediate connection piece between the extension structure and the rack, that is, the extension structure is an independent part relative to the rack and serves as a cable joint at the end of the cable.

[0035] The present solution also relates to an endoscope including the electric-assisted endoscope operating unit structure. It is easy to understand that the operating unit structure used on the endoscope is the electric-assisted endoscope operating unit structure as described in any one of the above, and the endoscope is an endoscope including the electric-assisted endoscope operating unit structure.

[0036] The present invention has the following beneficial effects:

[0037] This solution can realize the joint action of manual labor and the driving motor on the driving wheel, thereby realizing the electric power assist function when operating the bending angle of the endoscope body.

[0038] This solution can effectively reduce the requirements for the user's hand strength and endurance when holding the operating handle by setting the drive module externally and connecting it to the operating handle through a hose, which is beneficial to the user's flexibility and anti-fatigue ability in performing endoscopic operations; since the operating handle no longer has structures such as a drive motor, and at the same time, in order to achieve the purpose of force coupling, the coupling module no longer uses a planetary gear mechanism that is relatively large in volume compared to the roller, so this solution is beneficial to the volume design of the control operating handle, thereby achieving the purpose of making it convenient for the user to hold the operating handle.

[0039] This solution is configured to include a first measuring module and a second measuring module, so that the torque ultimately applied by the driving motor to the roller can be more stable, the handwheel operation feel and the handwheel control accuracy can be optimized, thereby achieving the purpose of improving the control accuracy of the mirror body bending angle; the torque ultimately applied by the driving motor to the front end of the mirror body can be more stable, thereby achieving the purpose of improving the control accuracy of the mirror body bending angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a structural schematic diagram of a specific embodiment of the externally driven electric-assisted endoscope operating unit structure described in this solution;

[0041] Figure 2 A three-dimensional schematic diagram of the internal structure of a driving module in a specific embodiment of the structure of the externally driven electric-assisted endoscope operating unit described in this solution, which is a schematic diagram of a partial structure of the internal structure;

[0042] Figure 3 A two-dimensional schematic diagram of the internal structure of a driving module in a specific embodiment of the structure of the externally driven electric-assisted endoscope operating unit described in this solution, which is a schematic diagram of a partial structure of the internal structure;

[0043] Figure 4This is a structural schematic diagram of the working principle of the first measuring module in a specific embodiment of the structure of the externally driven electric-assisted endoscope operating unit of the present solution, wherein the arrow indicates the movement direction of the first lasso being pulled or the state change process of the second lasso, the state of the return spring shown by the dotted line is its original state, and the state of the second lasso shown by the dotted line is its state after the state change;

[0044] Figure 5 This is a schematic diagram of a three-dimensional structure of a first measurement module structure in a specific embodiment of the externally driven electric-assisted endoscope operating unit structure described in this solution;

[0045] Figure 6 This is a structural schematic diagram of a pre-tightening module structure in a specific embodiment of the externally driven electric-assisted endoscope operating unit structure described in this solution;

[0046] Figure 7 This is a structural schematic diagram of an operating handle structure in a specific embodiment of the externally driven electrically assisted endoscope operating unit structure described in this solution;

[0047] Figure 8 This is a structural cross-sectional view of the operating handle structure in a specific embodiment of the externally driven electric-assisted endoscope operating unit structure described in this solution;

[0048] Fig. 9 This is a structural schematic diagram of the transmission relationship between the hand wheel and the drive wheel on the operating handle structure in a specific embodiment of the externally driven electrically assisted endoscope operating part structure described in this solution.

[0049] The reference numerals in the figure are respectively: 1. driving module, 101. base, 102. driving motor, 103. pre-tightening module, 10301. flexible tube, 10302. adjusting nut, 10303. sliding seat, 10304. elastic support, 10305. internal threaded hole, 10306. module seat, 10307. fixing seat, 104. first measuring module, 10401. displacement sensor, 10402. pulley, 10403. first lasso, 10404. mounting seat, 10405. second lasso, 105. guide sleeve, 106. cable, 107. cable joint, 108. tension sensor, 109. slide rail assembly, 110. gear, 111. tooth plate, 112. limit switch, 2. hose, 3. Operating handle, 301, substrate, 302, first guide frame, 303, coupling module, 30301, first hand wheel, 30302, first force sensor, 30303, first bottom plate, 30304, first baffle, 30305, second hand wheel, 30306, second force sensor, 30307, ​​second bottom plate, 30308, second baffle, 30309, first magnetic ring encoder, 30310, first roller, 30311, upper cover, 30312, first sprocket, 30313, second sprocket, 30314, second roller, 30315, second magnetic ring encoder, 30316, lower cover, 30317, intermediate shaft, 30318, chain, 30319, block, 304, second guide frame. DETAILED DESCRIPTION

[0050] The present invention is further described in detail below in conjunction with embodiments, but the present invention is not limited to the following embodiments:

[0051] Embodiment 1:

[0052] like Figures 1 to 9 As shown, an externally driven electric power-assisted endoscope operating part structure includes an operating handle 3 provided with a hand wheel and a scope tube wire pulling mechanism, the scope tube wire pulling mechanism includes an intermediate shaft 30317 and a driving wheel installed on the intermediate shaft 30317, the hand wheel is used to drive the driving wheel to rotate, the driving wheel pulls the scope tube wire by rotating, a force sensor is provided on the transmission chain between the hand wheel and the driving wheel, the force sensor is used to detect the magnitude and direction of the torque provided by the hand wheel to the driving wheel;

[0053] It also includes a roller coaxial with the driving wheel and fixed relative to the driving wheel, and a power-assisting mechanism for driving the roller to rotate, the power-assisting mechanism includes a driving module 1 on which a driving motor 102 is arranged, the driving module 1 is arranged outside the operating handle 3 and connected to the operating handle 3 through a hose 2, the driving motor 102 is connected to the roller through a cable 106 which is a steel wire rope, and the hose 2 serves as an outer sleeve of the cable 106;

[0054] It also includes a first measuring module 104 for detecting the bending degree of the hose 2;

[0055] A second measuring module for detecting the rotation angle of the driving wheel is also included.

[0056] When the above scheme is used in a specific application, the intermediate shaft 30317 can rotate synchronously with the driving wheel, or the intermediate shaft 30317 can be set as a fixed shaft on the operating handle 3, that is, the driving wheel rotates relative to the intermediate shaft 30317 during operation. When the driving wheel is coupled with the roller to pull the steel wire of the mirror body tube, different sources of force act on the coupling module 303 on the steel wire. The above different sources of force include the force from the hand wheel and the force from the driving module 1. The driving wheel can pull the steel wire in any way in the prior art, such as a tooth transmission method, a chain transmission method, a belt transmission method, etc. The driving wheel is used to change the bending angle of the endoscope body by pulling the steel wire of the mirror body tube. According to the bending direction required in the specific application, the steel wire of the mirror body tube can be one group, or two groups or more groups (a single group is responsible for one bending direction). It is easy to understand that since each group of steel wires needs to be pulled and adjusted, in order to make each group of steel wires have an electric power pulling mode, it is preferred that each group of steel wires is equipped with a hand wheel and a driving module 1.

[0057] The working principle of this solution when in use is as follows: when it is necessary to rotate the driving wheel to pull the steel wire of the endoscope body tube, the user turns the handwheel to force the driving wheel to rotate according to the usual operating habits of using the endoscope. At this time, the magnitude and direction of the torque provided by the handwheel to the driving wheel are obtained through the force sensor, and then the power-assisting mechanism controls the rotation of the driving motor 102 by obtaining the magnitude and direction of the torque, so that the driving motor 102 drives the roller to rotate through the cable 106. Since the roller and the driving wheel are relatively fixed, at this time, the handwheel and the power-assisting mechanism provide driving force for the driving wheel at the same time, that is, force coupling is realized, so that manual force and the driving motor 102 act together on the driving wheel, and the electric power-assisting function is realized when operating the bending angle of the endoscope body.

[0058] At the same time, the present solution is configured such that the driving module 1 is connected to the operating handle 3 through the hose 2. In this way, the driving module 1 which is traditionally integrated with the operating handle 3 is configured to be external to the operating handle 3. At the same time, the connection structure between the driving module 1 and the operating handle 3 includes the hose 2 and the cable 106 which is a steel wire. Therefore, the connection established between the driving module 1 and the operating handle 3 is a flexible connection. Under such an operating portion structural configuration, on the one hand, for the operator, the above flexible connection method will not directly load the weight of the driving module 1 on the operating handle 3. In this way, when the endoscope needs to be used for a long time, compared with the implementation method in which the driving module 1 is built into the operating handle 3, the endoscope is configured The drive module 1 is configured as an externally driven type, and the connection method of the drive module 1 and the operating handle 3 is flexibly connected. Since the hand weight when using the operating handle 3 is reduced, this solution can effectively reduce the requirements for the user's hand strength and endurance when holding the operating handle, which is beneficial to the user's flexibility and anti-fatigue ability in performing endoscopic operations. On the other hand, since the operating handle 3 no longer has structures such as the drive motor 102, and at the same time, in order to achieve the purpose of force coupling, the coupling module 303 no longer uses a planetary gear 110 mechanism that is relatively larger in volume than the roller, so this solution is beneficial to the volume design of the control operating handle 3, thereby achieving the purpose of making it convenient for the user to hold the operating handle 3.

[0059] At the same time, the present solution is also configured to include a first measuring module 104 and a second measuring module, aiming to achieve the following purposes: in order to reduce the interference caused by the driving module 1 pulling the operating handle 3 through the cable 106 and the hose 2, the hose 2 and the cable 106 are preferably both softer. Under such a concept, since the hose 2 serves as the outer sleeve of the cable 106, if the position of the driving module 1 in space is fixed, when the operating handle 3 is moved, the hose 2 may have different degrees of bending. Under different degrees of bending of the hose, the hose 2 has different pulling resistance to the pulled cable 106, and for the torque size of the cable 106 pulling the roller, the resistance will cause the driving motor 102 to have different output torque losses. When the bending degree of the current hose 2 is obtained in real time through the first measuring module 104, the acquisition result of the first measuring module 104 can be used to obtain the current bending degree of the hose 2. The torque output by the drive motor 102 working in the lower hose 2 state is feedback compensated. For example, when the bending angle of the hose 2 increases, the friction force of the hose 2 on the cable 106 increases. At this time, according to the obtained result, the torque of the drive motor 102 pulling the cable 106 is increased to stabilize the torque applied by the cable 106 to the roller. Conversely, when the bending angle of the hose 2 becomes smaller, the torque of the drive motor 102 pulling the cable 106 is reduced. For the adjustment of the mirror body angle, the operating part structure can be in the handwheel constant torque mode (turn the handwheel at any mirror body angle to maintain the torque required for the current rotation speed unchanged) or the handwheel proportional torque mode (the power assist mechanism proportionally compensates the torque required for the rotation of the drive wheel), so that the torque finally applied by the drive motor 102 to the roller is more stable, the handwheel operation feeling and the handwheel control accuracy are optimized, thereby achieving the purpose of improving the control accuracy of the mirror body bending angle.

[0060] The second measurement module is set up to solve the following problem: the rotation angle of the driving wheel is related to the bending angle of the mirror body. For the steel wire that pulls the mirror body to make the mirror body bend, the bending angle of the mirror body is positively correlated with the friction resistance of the mirror body to the steel wire. In order to enable the mirror body to produce a bending deformation with a stable angle as required under the action of the steel wire, the measurement result of the second measurement module is also used to feedback control the output torque of the driving motor 102, and to feedback compensate for the output torque of the driving motor 102 working in the current mirror body state. For example, when the bending angle of the mirror body increases, the friction force of the mirror body on the steel wire increases. At this time, according to the acquisition result of the second measurement module, the driving motor is increased. 102 pulls the torque of the cable 106 so that the torque of the cable 106 acting on the roller becomes larger. In this case, for the tension applied to the steel wire by the driving wheel, the increased torque is used to offset the consumption of the mirror body bending on the steel wire pulling the mirror body head end. Conversely, when the mirror body bending angle becomes smaller, the torque of the driving motor 102 pulling the cable 106 is reduced to avoid or reduce the influence of the mirror body bending on the steel wire pulling the mirror body head end. Similarly, for the handwheel constant torque mode or the handwheel proportional torque mode, the measurement result of the second measurement module makes the torque of the driving motor 102 finally applied to the front end of the mirror body more stable, thereby achieving the purpose of improving the control accuracy of the mirror body bending angle.

[0061] For those skilled in the art, it is a prior art that a hand wheel acts on a steel wire through a driving wheel to pull the head end of the mirror body. The power-assisting mechanism provided in this solution does not require creative labor to be set up as a roller that is coaxial with the driving wheel and relatively fixed. At the same time, the connection relationship between the roller and the driving wheel is only a specific embodiment that solves the transmission needs and has a smaller internal space requirement for the operating handle 3. If it is only from the perspective of force coupling, setting the roller and the driving wheel to be connected through an intermediate transmission member should also be considered as a technical solution equivalent to this solution, for example, roller and driving wheel tooth transmission, chain transmission, synchronous belt transmission, etc.

[0062] In a specific embodiment, in order to reduce the number of parts in the operating handle 3, the first measuring module 104 is arranged in the driving module 1, specifically: the driving module 1 includes a housing, a base 101 is fixed on the housing, the driving motor 102 and the first measuring module 104 are both installed on the base 101, a guide sleeve 105 for docking with the hose 2 is arranged on the base 101, the cable 106 extends to the hose 2 through the guide sleeve 105, and the second measuring module is built in the operating handle 3. At the same time, it is easy to understand that the bending of the steel wire of the mirror body tube, the rotation of the driving wheel, and the rotation of the roller are synchronous, so when the direct detection object of the second measuring module is the roller and the steel wire, it should also be understood that the second measuring module is used to detect the rotation angle of the driving wheel.

[0063] Embodiment 2:

[0064] This embodiment is further refined on the basis of embodiment 1:

[0065] As a specific implementation form of the first measurement module 104, it is set as follows: the first measurement module 104 includes a mounting seat 10404 fixed on the driving module 1, a displacement sensor 10401 and a pulley 10402 are fixed on the mounting seat 10404, and also includes a lasso, the displacement sensor 10401 includes a slider supported on the driving module 1 by a reset spring, one end of the lasso is fixed on the operating handle 3, and the other end of the lasso is fixedly connected to the slider after passing through the pulley 10402, the hose 2 is used as the outer sleeve of the lasso, and the displacement sensor 10401 is used to measure the position of the slider on the sliding track. In this solution, the principle of the first measurement module 104 obtaining the bending degree of the hose 2 is that the lasso is pulled between the operating handle 3 and the driving module 1 through the internal space of the hose 2, when the hose 2 is bent, the lateral force provided by the hose 2 to the lasso pulls the slider so that the slider changes its position on its sliding track, and the displacement sensor 10401 obtains the bending degree of the hose 2 by detecting the position of the slider. More specifically, it can be configured to have a sliding rod fixed to the mounting seat 10404, the slider is slidably connected to the sliding rod, the reset spring is a coil spring sleeved on the sliding rod, and the structure on the driving module 1 for providing support for the reset spring can be the base 101, the housing of the displacement sensor 10401, the mounting seat 10404, the housing of the driving module 1, etc. The function of the pulley 10402 is to limit the extension path or shape of the lasso. For example, the lasso between the pulley 10402 and the slider extends along the length direction of the sliding rod. Preferably, the lasso includes a second lasso 10405 and a first lasso 10403, the second lasso 10405 is connected in series with the first lasso 10403, and the deformation resistance of the second lasso 10405 is greater than that of the first lasso 10403, so that: the lasso built into the hose 2 is the second lasso 10405, and the lasso bypassing the pulley 10402 is the first lasso 10403. In this way, the relatively large deformation resistance of the second lasso 10405 is utilized to ensure the sensitivity of the end position of the second lasso 10405 to the bending degree of the hose 2, and the better flexibility of the first lasso 10403 is utilized to reduce the influence of the lasso on the bending of the hose 2. In a specific embodiment, the above first measuring module 104 is specifically installed as follows: the displacement sensor 10401 is fixed on the base 101 of the driving module 1 through the mounting base 10404, one end of the first lasso 10403 is fixedly connected to the slider on the sliding rod, the first lasso 10403 is fixedly connected to one end of the second lasso 10405 after passing around the pulley 10402, the other end of the second lasso 10405 is fixed on the shell of the operating handle 3, and the first lasso 10403 and the second lasso 10405 are both installed to be in a tensioned state.

[0066] Embodiment 3:

[0067] This embodiment is further refined on the basis of embodiment 1:

[0068] As a specific implementation form of the driving module 1, a gear 110 is connected to the rotor of the driving motor 102, and a tooth plate 111 meshing with the teeth of the gear 110 is provided on each of a pair of opposite sides of the gear 110;

[0069] The driving motor 102 is connected to the roller via the cable 106 as follows: there are two cables 106, one end of one cable 106 is fixedly connected to one of the tooth plates 111, and one end of the other cable 106 is fixedly connected to the other tooth plate 111, and each cable 106 is provided with an independent cable groove on the roller, and the other end of each cable 106 is wound in the corresponding cable groove. In this solution, the driving motor 102 is used to drive the gear 110 to rotate. According to the rotation direction of the gear 110, the two tooth plates 111 move toward or away from each other, so that the two tooth plates 111 synchronously pull different ends of a group of cables 106; the specific connection method between the cables 106 and the roller is intended to provide a technical solution with a simple structure, which can avoid the slipping of the cables 106 and at the same time the cables 106 can drive the roller to rotate at a larger angle. Specifically, the above two cables 106 form a group of bending traction cables for the mirror body in a specific direction. According to the movement form of the two tooth plates 111, when one of the cables 106 is further pulled out of the cable groove under the action of the tooth plate 111, the cable 106 drives The roller rotates, and under the action of the rotation of the roller and another toothed plate 111, another cable 106 is further wound in the cable groove of the roller. The rotation of the roller drives the driving wheel to rotate, thereby achieving the purpose of pulling the mirror body tube wire in a specific way. To prevent the cable 106 from slipping on the roller, such a structural method only needs to ensure that there are multiple turns of cable 106 in the cable groove or the end of the cable 106 is fixed on the roller. Compared with the middle section of the cable 106 fixed on the wheel surface of the roller, the above structure does not have the situation that the cable 106 cannot further pull the roller to rotate after the roller rotates to a certain angle. Therefore, such a structural form allows the roller to rotate multiple times. At the same time, this solution also has the characteristics of simple structure. Preferably, in order to ensure the movement accuracy of the tooth plate 111, the tooth plate 111 is connected to the base 101 via a slide rail assembly 109, and the above slide rail assembly 109 is used to guide the movement of the tooth plate 111. Furthermore, a limit switch 112 is provided at each end of the tooth plate 111, and the limit switch 112 serves as a contact switch. When the limit switch 112 contacts the end of the tooth plate 111, a stop rotation signal is provided to the drive motor 102. The slide rail assembly 109 includes a bar rail fixed on the base 101 and a sliding block fixed on the tooth plate 111, and the sliding block and the bar rail are slidably matched through a sliding groove.

[0070] Embodiment 4:

[0071] This embodiment is further refined on the basis of Embodiment 3:

[0072] For the cable 106 tensioned between the roller and the tooth plate 111, as a technical solution for conveniently adjusting the pre-tightening force on the cable 106, each cable 106 is connected to the tooth plate 111 through a pre-tightening module 103 configured therefor, and the pre-tightening module 103 is used to adjust the tension of the cable 106 between the tooth plate 111 and the roller. In this solution, the tension of the cable 106 between each tooth plate 111 and the roller is adjusted by the pre-tightening module 103, which not only solves the problem of tension adaptation of the two cables 106 connected to the same roller, but also makes the forward and reverse rotation of the roller have high control accuracy. At the same time, by adapting a suitable pre-tightening force, the life of the cable 106 can be effectively guaranteed while ensuring the control accuracy, and the friction pair formed by the gear 110 and the tooth plate 111 can have a suitable wear rate. At the same time, by adapting a suitable pre-tightening force, when the hose 2 is bent, the bending angle of the hose 2 and the torque loss of the hose 2 to the cable 106 can have a stable positive correlation, which is beneficial to the precise control of the torque output by the drive motor 102 under the feedback of the detection result of the first measurement module 104. In specific applications, in addition to the scheme including the adjusting nut 10302 and the scheme of the fixing seat 10307 provided below, those skilled in the art can also adopt a pre-tightening module 103 such as a tensioning wheel.

[0073] Embodiment 5:

[0074] This embodiment is further refined on the basis of Embodiment 4:

[0075] As a specific implementation of the pre-tightening module 103, the pre-tightening module 103 includes a module seat 10306 fixed on the driving module 1, the module seat 10306 is provided with an internal threaded hole 10305, a slide seat 10303 is slidably matched in the internal threaded hole 10305, the slide seat 10303 is elastically supported on the bottom of the internal threaded hole 10305 through an elastic support member 10304, and also includes an adjusting nut 10302 threadedly connected to the internal threaded hole 10305 and located at the orifice side of the slide seat 10303, and the slide seat 10303 is clamped between the adjusting nut 10302 and the elastic support member 10304;

[0076] The adjusting nut 10302, the sliding seat 10303, and the elastic support member 10304 are all provided with through holes, and the cable 106 passes through the internal threaded hole 10305 through the through holes;

[0077] It also includes a flexible tube 10301 with one end fixedly connected to the slide 10303 and the other end fixed to the operating handle 3 or the driving module 1. The flexible tube 10301 serves as an outer sleeve of the cable 106, and the cable 106 slides in the flexible tube 10301. In this solution, the module seat 10306 can be fixed on the base 101 or on the shell of the driving module 1. One end of the flexible tube 10301 is fixedly connected to the slide 10303, and the other end can be fixed on the base 101, the shell, or the guide sleeve 105. When the adjusting nut 10302 is rotated, the slide 10303 slides in the internal threaded hole 10305. At this time, the slide 10303 pulls one end of the flexible tube 10301 to move, and the other end of the flexible tube 10301 is in the driving module 1. The position on the flexible tube 10301 is fixed. When the end of the flexible tube 10301 moves, the flexible tube 10301 bends and deforms. At this time, the lateral force provided by the inner wall of the flexible tube 10301 to the cable 106 changes the shape of the cable 106 in the flexible tube 10301, thereby achieving the purpose of tensioning the cable 106 or relaxing the cable 106 as needed. Compared with the method of directly pulling the end of the cable 106 to control the tensioning state of the cable 106, the tensioning force of the cable 106 can be adjusted with higher accuracy, which is used to achieve precise adjustment of the tensioning force of the cable 106. It is easy to understand that the module seat 10306 serves as a connecting structure connecting the pre-tightening module 103 and the driving module 1, and as a bearing structure of the internal threaded hole 10305. The elastic support member 10304 is used to provide thrust for the slide 10303 to keep the slide 10303 having the characteristic of moving with the end of the adjusting nut 10302. The elastic support member 10304 can adopt a coil spring. In the direction from the front end to the rear end of the internal threaded hole 10305, the cable 106 passes through the corresponding through hole, passes through the adjusting nut 10302, the slide 10303 and the elastic support member 10304 in turn, and after being led out from the bottom of the internal threaded hole 10305, it is connected to the tooth plate 111 through the cable joint 107.

[0078] Embodiment 6:

[0079] This embodiment is further refined on the basis of Embodiment 4 or 5:

[0080] The above provides a solution for fine-tuning the tension of the cable 106 using the pre-tensioning module 103. In order to improve the assembly efficiency of the structure, the pre-tensioning module 103 further includes a fixed seat 10307. One end of the cable 106 used to connect the tooth plate 111 is fixed on the fixed seat 10307. The fixed seat 10307 forms a bolt connection relationship with the tooth plate 111 through a strip hole. The length direction of the strip hole satisfies: when the fixed seat 10307 slides along the strip hole, the tension of the cable 106 stretched between the tooth plate 111 and the roller changes. The above scheme is used to achieve the coarse adjustment of the tension of the cable 106. It is a technical scheme for adjusting the tension by directly pulling the end of the cable 106 through the fixed seat 10307. Specifically, the end of the cable 106 is fixed on the fixed seat 10307. After loosening the bolt of the fixed seat 10307 that cooperates with the strip hole, the fixed seat 10307 slides along the strip hole, that is, further tensioning or releasing the cable 106. After coarse adjustment to a suitable tension, the bolt is locked, and the coarse adjustment of the tension of the cable 106 is completed. Preferably, the strip hole is arranged on the extension structure at the end of the rack, and the length direction of the strip hole is parallel to the length direction of the rack. At the same time, the rack, the extension structure and the module seat 10306 are arranged in sequence in the length direction of the rack, and the axis of the adjustment nut 10302 passes through the center line of the strip hole.

[0081] Embodiment 7:

[0082] This embodiment is further refined on the basis of Embodiment 5:

[0083] As described above, the flexible tube 10301 is used to adjust the tension of a single cable 106. Considering the size of the flexible tube 10301, the inner diameter of the flexible tube 10301 is slightly larger than the outer diameter of the cable 106. To avoid the flexible tube 10301 from being further bent due to local wrinkles, which may affect the tension adjustment accuracy of the cable 106, the preferred implementation is that the flexible tube 10301 is a coil spring-shaped spring tube. In specific applications, the cable 106 can pass through the center hole of the spring tube.

[0084] Embodiment 8:

[0085] This embodiment is further refined on the basis of embodiment 1:

[0086] As a specific implementation of the operating handle 3, a rotating sleeve that can rotate around the intermediate shaft 30317 is arranged on the outer side of the intermediate shaft 30317, and a bottom plate that cooperates with the rotating sleeve gap is arranged on the outer side of the rotating sleeve, and a block 30319 that is in a positive relationship is fixed on the bottom plate. The force sensor includes a protrusion and a measuring element. The protrusion is fixed on the side of the rotating sleeve and is located in the gap between the block 30319. A measuring element is arranged in the gap between the protrusion and any block 30319. The measuring element is used to measure the size of the positive pressure between the protrusion and the block 30319, and the handwheel is fixed on the bottom plate. In the specific application of this solution, the handwheel drives the driving wheel to rotate through the rotating sleeve. Specifically, when the handwheel is rotated, the handwheel drives the base plate to rotate around the rotating sleeve. At this time, the stopper 30319 acts on the protrusion to drive the rotating sleeve to rotate. The rotating sleeve can be set to be fixed and coaxial with the driving wheel. According to the rotation direction of the handwheel, the stopper 30319 provides thrust for a specific side of the protrusion. The force sensor obtains the rotation direction of the handwheel and the specific thrust size according to the thrust measurement results of the measuring elements on different sides of the protrusion. The size of the torque provided to the driving wheel can be obtained based on the thrust. This solution is a technical solution in which the intermediate shaft 30317 is used as the fixed shaft and the rotating sleeve is used as the transmission shaft. For the operating handle 3 generally having two handwheels to drive the mirror body to bend in different directions respectively, the rotating sleeves configured for different mirror body bending directions can be set to be mutually overlapped, so that the two handwheels are concentratedly installed on the same intermediate shaft 30317, so as to achieve the purpose of reducing the size and weight of the operating handle 3. For the roller and the driving wheel on the intermediate shaft 30317, it can be set that the operating handle 3 has an installation cavity surrounded by the upper cover shell 30311 and the lower cover shell 30316, and the coupling module 303 including the roller and the driving wheel is installed in the installation cavity. The intermediate shaft 30317, the roller and the driving wheel are coaxial, and the cable 106 of the driving module 1 is introduced into the installation cavity from the side of the roller and wound in the cable groove of the roller. More specifically, as described above, the driving wheel is a sprocket, one of the sprockets serves as a first sprocket 30312 for controlling the left and right bending of the mirror body, and the other sprocket serves as a second sprocket 30313 for controlling the up and down bending of the mirror body, and the roller configuration includes a first roller 30310 and a second roller 30314, the first roller 30310 and the second roller 30314 are respectively fixed to the first sprocket 30312 and the second sprocket, and each sprocket is meshed with a chain 30318 for pulling a steel wire.

[0087] Furthermore, with regard to the structural design of the operating handle 3, for the steel wire used to pull the scope body, it is configured that the operating handle 3 includes a substrate 301, on which a first guide frame 302 is provided for constraining the position of the steel wire on the operating handle 3, and on which a second guide frame 304 is provided for constraining the position of the cable 106 on the operating handle 3.

[0088] As an operating part structure equipped with two groups of steel wires, four cables 106 are built into the hose 2, two of which are connected to the first roller 30310, and the other two cables 106 are connected to the second roller 30314, that is, the cables 106 are wound in pairs in the cable groove. For the implementation scheme of the first measuring module 104 provided above, the lasso also passes through the space inside the hose 2 and extends from the driving module 1 to the operating handle 3.

[0089] Furthermore, as an operating part structure equipped with two groups of steel wires, it is set that the handwheel includes a first handwheel 30301 and a second handwheel 30305, the force sensor includes a first force sensor 30302 and a second force sensor 30306, the base plate includes a first base plate 30303 and a second base plate 30307, ​​and the baffle includes a first baffle 30304 and a second baffle 30308, wherein the first handwheel 30301, the first force sensor 30302, the first base plate 30303, and the first baffle 30304 form a transmission chain between one of the handwheels and one of the groups of steel wires, and the second handwheel 30305, the second force sensor 30306, the second base plate 30307, ​​and the second baffle 30308 form a transmission chain between the other handwheel and the other group of steel wires, and each transmission chain is configured with a separate rotating sleeve.

[0090] As a specific application, it also includes a control module, which collects monitoring results from the force sensor, the first measurement module 104 and the second measurement module, and controls the magnitude of the torque output by the drive motor 102 according to the monitoring results. For example, under the triggering of the force sensor collection results, the drive motor 102 is triggered to rotate in the direction of assisting the hand wheel, and according to the bending degree detection results of the hose 2 and the bending degree detection results of the scope, according to the mode setting, the endoscope scope bending operation is provided with electric assistance.

[0091] Embodiment 9:

[0092] This embodiment is further refined on the basis of embodiment 1:

[0093] As a specific implementation of the second measurement module, the second measurement module is a magnetic ring encoder fixed on the driving wheel or roller. More specifically, the magnetic ring encoder includes a magnetic ring part and a sensor part. The magnetic ring is coaxially fixed on the driving wheel or roller. The position of the sensor part on the operating handle 3 is fixed. The sensor part monitors the corresponding rotation angle by measuring the change of the magnetic field. This solution is a second measurement module implementation solution with high angle detection accuracy, small volume and weight. For the driving wheel or roller used to control the bending of the mirror body in different directions, it is set that the magnetic ring encoder includes a first magnetic ring encoder 30309 and a second magnetic ring encoder 30315, which are respectively used to provide rotation angle detection for the driving wheel or roller serving the bending in different directions;

[0094] As a solution for providing output indication of the drive motor 102 and control feedback for the drive motor 102 through the detection result of the tension on the cable 106, a tension sensor 108 for measuring the tension provided by the drive motor 102 to the cable 106 is also included. In the specific implementation, in order to optimize the weight and volume of the operating handle 3, the tension sensor 108 is arranged on the driving module 1. Further, in order to simplify the connection structure formed by the cable 106 and the rack, the tension sensor 108 serves as an intermediate connecting piece between the extension structure and the rack, that is, the extension structure serves as an independent part relative to the rack and serves as a cable joint 107 at the end of the cable 106.

[0095] Embodiment 10:

[0096] This embodiment provides an endoscope including the electric-assisted endoscope operating unit structure on the basis of Embodiment 1. It is easy to understand that the operating unit structure used on the endoscope is the electric-assisted endoscope operating unit structure as described in any one of the above, and the endoscope is an endoscope including the electric-assisted endoscope operating unit structure.

[0097] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, other embodiments obtained without departing from the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. An externally driven electric power-assisted endoscope operating part structure, comprising an operating handle (3) provided with a hand wheel and a scope tube wire pulling mechanism, the scope tube wire pulling mechanism comprising an intermediate shaft (30317) and a driving wheel mounted on the intermediate shaft (30317), the hand wheel being used to drive the driving wheel to rotate, and the driving wheel pulling the scope tube wire by rotating, characterized in that: A force sensor is provided on the transmission chain between the hand wheel and the driving wheel, and the force sensor is used to detect the magnitude and direction of the torque provided by the hand wheel to the driving wheel; It also includes a roller coaxial with the driving wheel and fixed relative to the driving wheel, and a power-assisting mechanism for driving the roller to rotate, the power-assisting mechanism including a driving module (1) on which a driving motor (102) is arranged, the driving module (1) is arranged outside the operating handle (3) and is connected to the operating handle (3) through a hose (2), the driving motor (102) is connected to the roller through a cable (106) which is a steel wire rope, and the hose (2) serves as an outer sleeve of the cable (106); It also includes a first measuring module (104) for detecting the bending degree of the hose (2); Also included is a second measuring module for detecting the rotation angle of the driving wheel; The first measuring module (104) comprises a mounting seat (10404) fixed on the driving module (1), a displacement sensor (10401) and a pulley (10402) being fixed on the mounting seat (10404), and also comprises a lasso, the displacement sensor (10401) comprising a slider supported on the driving module (1) by a return spring, one end of the lasso being fixed on the operating handle (3), the other end of the lasso being fixedly connected to the slider after passing through the pulley (10402), the hose (2) serving as an outer sleeve of the lasso, and the displacement sensor (10401) being used to measure the position of the slider on the sliding track.

2. The externally driven electrically assisted endoscope operating unit structure according to claim 1, characterized in that: A gear (110) is connected to the rotor of the driving motor (102), and a toothed plate (111) meshing with teeth of the gear (110) is provided on each of a pair of opposite sides of the gear (110); The driving motor (102) is connected to the roller via the cable (106) in the following manner: there are two cables (106), one end of one cable (106) is fixedly connected to one of the tooth plates (111), and one end of the other cable (106) is fixedly connected to the other tooth plate (111), each cable (106) is provided with an independent cable groove on the roller, and the other end of each cable (106) is wound in the corresponding cable groove.

3. The externally driven electrically assisted endoscope operating unit structure according to claim 2, characterized in that: Each cable (106) is connected to the tooth plate (111) via a pre-tightening module (103) configured therefor, and the pre-tightening module (103) is used to adjust the tension of the cable (106) between the tooth plate (111) and the roller.

4. The externally driven electrically assisted endoscope operating unit structure according to claim 3, characterized in that: The preload module (103) comprises a module seat (10306) fixed on the drive module (1), the module seat (10306) being provided with an internal threaded hole (10305), a slide seat (10303) being slidably fitted in the internal threaded hole (10305), the slide seat (10303) being elastically supported on the bottom of the internal threaded hole (10305) by an elastic support member (10304), and further comprising an adjustment nut (10302) threadedly connected to the internal threaded hole (10305) and located on the orifice side of the slide seat (10303), the slide seat (10303) being clamped between the adjustment nut (10302) and the elastic support member (10304); The adjusting nut (10302), the sliding seat (10303), and the elastic support member (10304) all have through holes, and the cable (106) passes through the internal threaded hole (10305) via the through holes; It also includes a flexible tube (10301) having one end fixedly connected to the slide seat (10303) and the other end fixed to the operating handle (3) or the drive module (1), wherein the flexible tube (10301) serves as an outer sleeve of the cable (106), and the cable (106) is slidably fitted in the flexible tube (10301).

5. The externally driven electrically assisted endoscope operating unit structure according to claim 3 or 4, characterized in that: The pre-tensioning module (103) further comprises a fixing seat (10307), one end of a cable (106) used for connecting the tooth plate (111) is fixed on the fixing seat (10307), and the fixing seat (10307) forms a bolt connection relationship with the tooth plate (111) via a strip hole, and the length direction of the strip hole satisfies that: when the fixing seat (10307) slides along the strip hole, the tensioning force of the cable (106) stretched between the tooth plate (111) and the roller changes.

6. The externally driven electrically assisted endoscope operating unit structure according to claim 4, characterized in that: The flexible tube (10301) is a spring tube in the shape of a spiral spring.

7. The externally driven electrically assisted endoscope operating unit structure according to claim 1, characterized in that: The outer side of the intermediate shaft (30317) is provided with a rotating sleeve that can rotate around the intermediate shaft (30317), the outer side of the rotating sleeve is provided with a bottom plate that matches the rotating sleeve in a clearance, and the bottom plate is fixed with a stopper (30319) in a positive relationship, the force sensor comprises a protrusion and a measuring element, the protrusion is fixed on the side of the rotating sleeve and is located in the gap between the stoppers (30319), and the gap between the protrusion and any stopper (30319) is provided with a measuring element, and the measuring element is used to measure the size of the positive pressure between the protrusion and the stopper (30319), and the handwheel is fixed on the bottom plate.

8. The externally driven electrically assisted endoscope operating unit structure according to claim 1, characterized in that: The second measuring module is a magnetic ring encoder fixed on the driving wheel or the roller; It also includes a tension sensor (108) for measuring the tension provided by the drive motor (102) to the cable (106).

9. An endoscope comprising the electrically assisted endoscope operating portion structure according to any one of claims 1 to 8.

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