A cable assembly used in endoscope and endoscope

Abstract

The present invention discloses a cable assembly and an endoscope used in an endoscope, belonging to the technical field of endoscopes, wherein the cable assembly comprises a cable and a flexible tube sleeved on the cable, and also comprises a pre-tightening module, wherein the pre-tightening module comprises a module seat, wherein the module seat is provided with an internal threaded hole, wherein a sliding seat is slidably fitted in the internal threaded hole, wherein the sliding seat is elastically supported on the bottom of the internal threaded hole through an elastic support member, and further comprises an adjusting nut, wherein the sliding seat is clamped between the adjusting nut and the elastic support member; wherein the adjusting nut, the sliding seat, and the elastic support member are all provided with through holes; wherein one end of the flexible tube is fixedly connected to the sliding seat, wherein the flexible tube serves as an outer sleeve of the cable, wherein the cable is slidably fitted in the flexible tube, and wherein the endoscope comprises the cable assembly. This scheme can not only realize the adjustment of the tension of the cable, but also make the torque required in the process of pulling the cable more stable, which is beneficial to ensuring the working stability and reliability of the endoscope.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscopes, and in particular to a cable assembly used in an endoscope 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 prior art, electronic endoscopes refer more to endoscopes that use CCD technology, while soft endoscopes (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 operating handle of the electronic endoscope increases with the increase of the angle / body tube bending. When the doctor frequently operates the handle for a long time, the large fluctuations and continuous resistance will increase the fatigue of the operation and affect the accuracy and efficiency of endoscopic surgery. To address this problem, electric-assisted endoscopes have appeared 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.

[0004] The general way for the handwheel and electric power-assisting structure on the endoscope to act on the scope tube is to adjust the bending degree of the scope tube by pulling the steel wire of the scope tube. At the same time, the steel wire of the scope tube needs to be configured to have an appropriate tightness, such as the technical solution provided in the patent document with patent application number CN202311258404.6. Regarding the adjustment of the tightness, the prior art has a technical solution that uses a threaded tube shape change to constrain the steel wire to achieve the adjustment of the tension of the steel wire, such as the technical solution provided in the patent document with patent application number CN201420702809.4.

[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 a cable assembly and an endoscope for use in an endoscope. This solution provides a cable assembly for use in an endoscope, which can not only adjust the tension of the cable, but also make the torque required in the process of pulling the cable more stable, which is beneficial to ensuring the working stability and reliability of the endoscope.

[0007] In view of the above problems, the present invention provides a cable assembly used in an endoscope and an endoscope to solve the problems through the following technical points: a cable assembly used in an endoscope, comprising a cable and a flexible tube sleeved on the cable, and also comprising a pre-tightening module for adjusting the shape of the flexible tube, the pre-tightening module comprising a module seat, the module seat is provided with an internal threaded hole, a sliding seat is slidably matched in the internal threaded hole, the sliding seat is elastically supported on the bottom of the internal threaded hole through an elastic support member, and also comprises an adjusting nut threadedly connected to the internal threaded hole and located on the side of the sliding seat opening, the sliding seat is clamped between the adjusting nut and the elastic support member;

[0008] 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;

[0009] One end of the flexible tube is fixedly connected to the sliding seat. The flexible tube serves as an outer sleeve of the cable, and the cable is slidably fitted in the flexible tube.

[0010] When the present solution is in use, the cable can be used to directly pull the endoscope body to adjust the degree of bending of the body tube. For example, an electric traction mechanism connected to one end of the cable is used to pull the cable, and the other end of the cable is fixed to the front end of the body tube. In this way, an electric drive scheme for bending the body tube based on the cable assembly is formed. It can also be used as a component of a drive module in an electric power-assist structure of an endoscope. By coupling with the handwheel force and acting on the steel wire that pulls the body tube to bend, a body tube bending power scheme including a handwheel power unit and an electric power unit is obtained.

[0011] In the above two applications, the pre-tensioning module is used to adjust the initial tension of the tensioned cable. The specific principle is: one end of the flexible tube is fixed on the fixed structure of the endoscope. According to the specific application, the fixed structure includes but is not limited to the scope tube, the operating handle, the shell part of the pre-tensioning module, etc. After the position of the slider on the axis of the internal threaded hole is adjusted by rotating the adjusting nut, one end of the flexible tube changes position with the movement of the slide seat. At this time, one end of the flexible tube moves, while the position of the other end of the flexible tube is fixed. After the flexible tube undergoes this movement, the flexible tube bends or deforms 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 loosening the cable. On the one hand, compared with the method of directly pulling the end of the cable to control the tensioning state of the cable, this scheme The cable tensioning force can be adjusted with higher accuracy and can be used to achieve precise adjustment of the cable tensioning force. On the other hand, when the driving motor for pulling the cable is switched between forward and reverse directions, when the cable is provided with pulling force to pull the scope tube or the coupling module, after the force of the cable acting on the flexible tube is transmitted to the slide, the slide moves toward the bottom side of the internal threaded hole and further compresses the elastic support member. The compression amount of the elastic support member is proportional to the pulling amount of the cable and increases linearly during the pulling process. When the driving motor rotates in the opposite direction to release the cable, the elastic support member releases energy and pushes the slide toward the side where the adjusting nut is located. This process can reduce the frictional resistance of the flexible tube to the movement of the cable, thereby achieving the purpose of reducing the torque when the driving motor rotates in the opposite direction, reducing the torque fluctuation during the working process of the driving motor, and ensuring the working stability and reliability of the relevant structures on the endoscope.

[0012] As a further technical solution of the cable assembly:

[0013] It also includes a fixing seat, on which one end of the cable is fixed via a ball joint;

[0014] It also includes a driving module for pulling the cable, the driving module includes a driving motor, a gear is connected to the rotor of the driving motor, the teeth on the gear are meshed with a tooth plate, the fixed seat is bolted to the tooth plate through a strip hole, and the length direction of the strip hole satisfies: when the fixed seat slides along the strip hole, the position of the fixed seat in the tooth plate and the length direction changes.

[0015] The above scheme provides a specific connection method between the cable and the drive module, which 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 a fixed seat. Specifically, the end of the cable is fixed to the fixed seat through a ball joint to reduce the torsion of the cable during use, so as to optimize the stress of the relevant structure and ensure the stability of the component; when the bolts in the bar hole of the fixed seat are loosened, the fixed seat slides along the bar hole, that is, the cable is further tensioned or released, and after coarse adjustment to the appropriate tension, the bolt is locked to complete the coarse adjustment of the cable tension. Preferably, the bar hole is arranged on the extension structure at the end of the rack, and the length direction of the bar 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 adjustment nut passes through the center line of the bar hole.

[0016] A tooth plate meshing with the gear teeth is provided on each side of a pair of opposite sides of the gear. There are two cables, each of which is equipped with a flexible tube and a pretensioning module. One end of one of the cables is fixedly connected to one of the tooth plates, and one end of the other cable is fixedly connected to the other tooth plate. Rollers are also included, and each cable is equipped with an independent cable groove on the roller. The other end of each cable is wound in the corresponding cable groove.

[0017] This solution is applicable to the solution of using electric power to achieve the bending of the endoscope body tube. The force coupling method of the electric power can be to use the driving wheel to directly pull the steel wire of the body tube. The driving wheel and the roller are relatively fixed and coaxial. When the driving motor drives the gear to rotate, the two tooth plates move toward or away from each other according to the rotation direction of the gear, so that the two tooth plates synchronously pull the different ends of the two cables; for the specific connection method of 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 a larger angle. Specifically, the above two cables form a set of traction cables for bending the scope 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 Under the action of the toothed plate, another cable 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. In order to prevent the cable from slipping on the roller, such a 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 middle section of the cable fixed on the wheel surface of the roller, the above structure does not have the situation that the cable cannot further pull the roller to rotate after the roller rotates to a certain angle. Therefore, such a structural form can enable the roller to rotate multiple times. At the same time, this scheme 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.

[0018] It also includes a driving wheel that is coaxial with the roller and fixedly connected to the roller, and a hand wheel for driving the driving wheel to rotate.

[0019] The present solution provides a method of using the cable as a component of a driving module in an electric power assist structure of an endoscope, and coupling with the torque force provided by a handwheel to act on a steel wire that pulls the body tube to bend, thereby obtaining a body tube bending power solution including a handwheel power unit and an electric power unit. The roller and the driving wheel are used to form a coupling module for realizing force coupling. Specifically, the driving wheel can be driven by any method in the prior art, such as a gear transmission method, a chain transmission method, a belt transmission method, etc. Pulling the body tube steel wire is used to change the bending angle of the endoscope body. In specific application, the signal to the handwheel can be used as a control signal to trigger the rotation of the cable pulling roller, so as to realize the use of the cable and the roller to provide electric power for the rotation of the driving wheel according to the operator's wishes.

[0020] A force sensor is arranged 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.

[0021] In this solution, when the user turns the handwheel according to control needs, the user's operating action on the handwheel is obtained through the force sensor. Specifically, 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. Then, the power-assisting mechanism including the cable obtains the magnitude and direction of the torque to control the rotation of the driving motor 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 simultaneously provide driving force for the driving wheel, realizing force coupling, realizing the joint action of manual labor and the driving motor on the driving wheel, and realizing the electric power-assisting function when operating the bending angle of the endoscope body.

[0022] It also includes an intermediate shaft, a rotating sleeve that can rotate around the intermediate shaft is arranged on the outer side of the intermediate shaft, the roller and the driving wheel are coaxially installed on the rotating sleeve, a bottom plate that matches the gap with the rotating sleeve is arranged on the outer side of the rotating sleeve, 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, the gap between the protrusion and any block is provided with a measuring element, the measuring element is used to measure the size of the positive pressure between the protrusion and the block, and the handwheel is fixed on the bottom plate.

[0023] 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. 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 in a mutually overlapping relationship, 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 for bending the mirror body tube.

[0024] The utility model also comprises an anti-loosening structure for preventing the adjusting nut from loosening in the internal threaded hole.

[0025] The present invention is specifically used to solve the following problems: in the process of further pulling the cable, when the slide seat is out of contact with the adjusting nut, the friction between the threads becomes smaller, and the adjusting nut is easy to rotate under shaking and vibration, affecting the structural reliability and performance stability of the preload module. The anti-loosening structure is used to prevent the adjusting nut from loosening in the internal threaded hole. Considering the need to adjust the position of the slide seat, the anti-loosening structure can be an anti-loosening pin, an anti-loosening nut, thread glue, an elastic pad that has been compressed and deformed in the axial direction of the adjusting nut, etc.

[0026] In specific applications, no matter the cable directly pulls the scope tube or the cable serves as a power assist unit of the coupling module, the preferred implementation method is to include multiple cables, and each cable only has the actions of being initially tensioned, further pulled, and released. The cables are equipped with flexible tubes, and the flexible tubes are used to adjust the tension of a single cable. Considering the structural size of the endoscope and the size of the flexible tube, it is necessary that the inner hole diameter of the flexible tube is slightly larger than the outer diameter of the cable. In order to avoid the influence of local wrinkles on the cable tension adjustment accuracy during further bending of the flexible tube, the preferred implementation method is that the flexible tube is a coil spring-shaped spring tube, and in specific applications, the cable can pass through the center hole of the spring tube.

[0027] The present solution also relates to an endoscope, comprising a body tube, a pulling wire arranged in the body tube, an electric drive mechanism for pulling the pulling wire, and also comprising a cable assembly as described above, wherein the cable serves as the pulling wire, one end of the cable is fixedly connected to the head end of the body tube, and the other end of the cable is fixedly connected to the electric drive mechanism.

[0028] The above scheme is a specific application of the cable assembly, specifically used in an endoscope, the cable serves as a pulling wire for pulling the scope tube to bend, and an endoscope is provided, the endoscope adopts the cable assembly as a scope tube bending drive scheme, specifically the cable serves as a component of the transmission chain between the electric drive mechanism and the head end of the scope tube, the specific scheme can be that the electric drive mechanism and the pre-tensioning module are both arranged in the operating handle, and the flexible tube is arranged for the cable located in the operating handle, one end of the flexible tube is fixed to the tail end of the scope tube (the end connected to the operating handle), and the other end is fixed to the slide seat, the control mode of the electric drive mechanism can be button drive, or it can be driven by a handwheel, and the handwheel drive is not limited to whether the handwheel is used to change the bending degree of the scope tube in a force-coupled manner with the electric drive mechanism.

[0029] The present solution also relates to an endoscope, comprising a body tube, a pulling wire arranged in the body tube, and a driving mechanism for pulling the pulling wire, wherein the driving mechanism comprises a handwheel driving mechanism and an electric power-assisted driving mechanism, and also comprises a coupling module for realizing force coupling between the handwheel driving mechanism and the electric power-assisted driving mechanism, and also comprises a cable assembly as described above, wherein the cable serves as a component of a transmission chain between the electric power-assisted driving mechanism and the coupling module: the cable transmits the torque output by the electric power-assisted driving mechanism to the coupling module by being pulled.

[0030] The above scheme is a specific application of the cable assembly, specifically used in an endoscope, the cable serves as a pulling wire on the transmission chain between the electric power driving mechanism and the coupling module, and an endoscope is provided. The endoscope adopts a coupling module as a bending drive scheme for the scope tube. Specifically, the cable serves as a component of the transmission chain between the electric power driving mechanism and the coupling module, and the other transmission chain is a handwheel driving mechanism. Both transmission chains provide torque for the coupling module, and the coupling module pulls the steel wire used for bending the scope tube, so as to achieve the purpose of jointly acting on the head end of the scope tube of the endoscope through the two transmission chains.

[0031] The present invention has the following beneficial effects:

[0032] Regarding the cable assembly, on the one hand, compared with the method of directly pulling the end of the cable to control the tension state of the cable, the cable tension force can be adjusted with higher accuracy and can be used to achieve precise adjustment of the cable tension force.

[0033] On the other hand, when the driving motor that pulls the cable is switched between forward and reverse rotations, when the cable is provided with pulling force to pull the scope body tube or the coupling module, after the force exerted by the cable on the flexible tube is transmitted to the slide, the slide moves toward the bottom side of the internal threaded hole and further compresses the elastic support member. When the driving motor rotates in the opposite direction to release the cable, the elastic support member releases energy and pushes the slide toward the side where the adjusting nut is located. This process can reduce the frictional resistance of the flexible tube to the movement of the cable, thereby achieving the purpose of reducing the torque when the driving motor rotates in the opposite direction, reducing the torque fluctuation during the operation of the driving motor, and ensuring the working stability and reliability of the relevant structures on the endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a structural schematic diagram of a specific application embodiment of the cable assembly described in this solution. In this structural schematic diagram, the cable assembly is used in a driving module to provide an electric assist function for adjusting the bending angle of the mirror body tube;

[0035] Figure 2 It is a partial structural schematic diagram of a specific application embodiment of the cable assembly described in this solution, specifically a three-dimensional schematic diagram of the internal structure of the driving module;

[0036] Figure 3 It is a partial structural schematic diagram of a specific embodiment of the cable assembly described in this solution, and is also a two-dimensional schematic diagram of the internal structure of the drive module;

[0037] Figure 4This is a schematic diagram of the partial structure of the first measuring module in a specific application embodiment of the cable assembly described in the present solution, wherein the arrows indicate the movement direction of the first lasso being pulled or the state change process of the second lasso, the state of the reset 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;

[0038] Figure 5 This is a three-dimensional structural schematic diagram of a first measurement module structure in a specific application embodiment of the cable assembly described in this solution;

[0039] Figure 6 A cross-sectional view of a specific embodiment of the cable assembly described in this solution;

[0040] Figure 7 This is a structural schematic diagram of an operating handle structure in a specific application embodiment of the cable assembly described in this solution;

[0041] Figure 8 This is a structural cross-sectional view of an operating handle structure in a specific application embodiment of the cable assembly described in this solution;

[0042] Fig. 9 This is a structural schematic diagram of the transmission relationship between the hand wheel and the driving wheel on the operating handle structure in a specific application embodiment of the cable assembly described in the present solution.

[0043] 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

[0044] The present invention is further described in detail below in conjunction with embodiments, but the present invention is not limited to the following embodiments:

[0045] Embodiment 1:

[0046] like Figures 1 to 9 As shown, a cable assembly used in an endoscope includes a cable 106 and a flexible tube 10301 sleeved on the cable 106, and also includes a pre-tightening module 103 for adjusting the shape of the flexible tube 10301, the pre-tightening module 103 includes a module seat 10306, 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;

[0047] 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;

[0048] One end of the flexible tube 10301 is fixedly connected to the sliding seat 10303 . The flexible tube 10301 serves as an outer sleeve of the cable 106 . The cable 106 is slidably fitted in the flexible tube 10301 .

[0049] When the present solution is used, the cable 106 can be used to directly pull the endoscope body to adjust the degree of bending of the body tube. For example, an electric traction mechanism connected to one end of the cable 106 is used to pull the cable 106, and the other end of the cable 106 is fixed to the front end of the body tube. In this way, an electric drive scheme for bending the body tube based on the cable assembly is formed. It can also be used as a component of the drive module 1 in the electric power-assist structure of the endoscope. By coupling with the handwheel force and acting on the steel wire that pulls the body tube to bend, a body tube bending power scheme including a handwheel power unit and an electric power unit is obtained.

[0050] In the above two applications, the pre-tightening module 103 is used to adjust the initial tension of the tensioned cable 106. The specific principle is: one end of the flexible tube 10301 is fixed to the fixed structure of the endoscope. According to the specific application, the fixed structure includes but is not limited to the scope tube, the operating handle 3, the shell part of the pre-tightening module 103, etc. When the position of the slider on the axis of the internal threaded hole 10305 is adjusted by rotating the adjusting nut 10302, one end of the flexible tube 10301 changes position with the movement of the slide seat 10303. At this time, One end of the flexible tube 10301 moves, while the other end of the flexible tube 10301 is fixed. After the flexible tube 10301 moves, the flexible tube 10301 bends or deforms to a different degree. 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. On the one hand, compared with the method of directly pulling the end of the cable 106 to control the tension state of the cable 106, this scheme is more convenient to pull. The tension of the cable 106 can be adjusted with higher precision, and can be used to achieve precise adjustment of the tension of the cable 106. On the other hand, when the driving motor 102 that pulls the cable 106 switches between forward and reverse directions, when the cable 106 is provided with a pulling force to pull the mirror body tube or the coupling module 303, the force of the cable 106 acting on the flexible tube 10301 is transmitted to the slide 10303, and the slide 10303 moves toward the bottom side of the internal threaded hole 10305 and further compresses the elastic support member 10304. The compression amount of the elastic support member 10304 is equal to the compression amount of the cable 10305. 6 is proportional to the pulling amount and increases linearly during the pulling process. When the drive motor 102 rotates in the opposite direction to release the cable 106, the elastic support member 10304 releases energy and pushes the slide 10303 to move toward the side where the adjusting nut 10302 is located. This process can reduce the friction resistance of the flexible tube 10301 to the movement of the cable 106, thereby achieving the purpose of reducing the torque when the drive motor 102 rotates in the opposite direction, reducing the torque fluctuation during the operation of the drive motor 102, and ensuring the working stability and reliability of the relevant structures on the endoscope.

[0051] Embodiment 2:

[0052] This embodiment is further refined on the basis of embodiment 1:

[0053] It also includes a fixing seat 10307, ​​and one end of the cable 106 is fixed to the fixing seat 10307 through a ball joint;

[0054] It also includes a driving module 1 for pulling the cable 106, the driving module 1 includes a driving motor 102, a gear 110 is connected to the rotor of the driving motor 102, a tooth plate 111 is meshed with teeth on the gear 110, a fixed seat 10307 is bolted to the tooth plate 111 through a strip hole, and the length direction of the strip hole satisfies that when the fixed seat 10307 slides along the strip hole, the position of the fixed seat 10307 on the tooth plate 111 and in the length direction changes.

[0055] The above scheme provides a specific connection method between the cable 106 and the drive module 1, which is used to achieve coarse adjustment of the tension of the cable 106. It is a technical scheme that achieves tension adjustment by directly pulling the end of the cable 106 through the fixed seat 10307. Specifically, the end of the cable 106 is fixed to the fixed seat 10307 through a ball joint to reduce the torsion of the cable 106 during use, thereby achieving the purpose of optimizing the stress of the relevant structure and ensuring the stability of the component; when the bolt of the fixed seat 10307 engaged with the strip hole is loosened, the cable 106 is further tensioned or released by sliding along the strip hole through the fixed seat 10307. After coarse adjustment to the appropriate tension, the bolt is locked to complete the coarse adjustment of the tension of the cable 106. 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.

[0056] Embodiment 3:

[0057] This embodiment is further refined on the basis of Embodiment 2:

[0058] A tooth plate 111 meshing with the teeth of the gear 110 is provided on each side of a pair of opposite sides of the gear 110. There are two cables 106, and each cable 106 is provided with a flexible tube 10301 and a pretensioning module 103. One end of one cable 106 is fixedly connected to one of the tooth plates 111, and one end of another cable 106 is fixedly connected to the other tooth plate 111. Rollers are also included, and each cable 106 is provided with an independent cable groove on the roller. The other end of each cable 106 is wound in the corresponding cable groove.

[0059] This solution is applicable to the solution of using electric power to achieve the bending of the endoscope body tube. The force coupling method of the electric power can be to use the driving wheel to directly pull the steel wire of the body tube. The driving wheel and the roller are relatively fixed and coaxial. When the driving motor 102 drives the gear 110 to rotate, the two tooth plates 111 move toward or away from each other according to the rotation direction of the gear 110, so that the two tooth plates 111 synchronously pull the different ends of the two cables 106; for the specific connection method of the cable 106 and the roller, it is intended to provide a technical solution with a simple structure, which can avoid the cable 106 from slipping, and the cable 106 can drive the roller to rotate a larger angle. Specifically, the above two cables 106 form a group of traction cables for bending the scope 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 to rotate. When the roller rotates and another toothed plate 111 is used, 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 being 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 can enable the roller to rotate multiple turns. 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.

[0060] Embodiment 4:

[0061] This embodiment is further refined on the basis of Embodiment 3:

[0062] It also includes a driving wheel that is coaxial with the roller and fixedly connected to the roller, and a hand wheel for driving the driving wheel to rotate.

[0063] The present solution provides a method of using the pull cable 106 as a component of the driving module 1 in the electric power assist structure of the endoscope, and coupling with the torque force provided by the handwheel to act on the steel wire that pulls the body tube to bend, thereby obtaining a body tube bending power solution including a handwheel power unit and an electric power unit. The roller and the driving wheel are used to form a coupling module 303 for realizing force coupling. Specifically, the driving wheel can be driven by any method in the prior art, such as tooth transmission, chain transmission, belt transmission, etc. Pulling the body tube steel wire is used to change the bending angle of the endoscope body. In specific application, the signal to the handwheel can be used as a control signal to trigger the pull cable 106 to pull the roller to rotate, so as to realize the use of the pull cable 106 and the roller to provide electric assistance for the rotation of the driving wheel according to the operator's wishes.

[0064] Embodiment 5:

[0065] This embodiment is further refined on the basis of Embodiment 4:

[0066] A force sensor is arranged 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.

[0067] In this solution, when the user turns the handwheel according to the control needs, the user's operating action on the handwheel is obtained through the force sensor. Specifically, 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. Then, the power assist mechanism including the cable 106 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 assist mechanism simultaneously provide driving force for the driving wheel, 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 assist function is realized when operating the bending angle of the endoscope body.

[0068] Embodiment 6:

[0069] This embodiment is further refined on the basis of Embodiment 5:

[0070] It also includes an intermediate shaft 30317, and a rotating sleeve that can rotate around the intermediate shaft 30317 is arranged on the outer side of the intermediate shaft 30317, and the roller and the driving wheel are coaxially installed on the rotating sleeve, and a bottom plate that matches the gap with the rotating sleeve is arranged on the outer side of the rotating sleeve, and a stopper 30319 that is in a positive relationship is fixed on the bottom plate, and the force sensor includes a protrusion and a measuring element, and 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.

[0071] 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. 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 in a mutually overlapping relationship, so that the two handwheels are installed on the same intermediate shaft 30317 in a centralized manner, 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 the first sprocket 30312 for controlling the left and right bending of the mirror body, and the other sprocket serves as the second sprocket 30313 for controlling the up and down bending of the mirror body. 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 30313, and each sprocket is meshed with a chain 30318 for pulling a steel wire for bending the mirror body tube.

[0072] Embodiment 7:

[0073] This embodiment is further refined on the basis of embodiment 1:

[0074] It also includes an anti-loosening structure for preventing the adjusting nut 10302 from loosening in the internal threaded hole 10305.

[0075] The present solution is specifically used to solve the following problems: in the process of further pulling the cable 106, when the slide 10303 is out of contact with the adjusting nut 10302, the friction between the threads becomes smaller, and the adjusting nut 10302 is prone to self-rotation due to shaking and vibration, affecting the structural reliability and performance stability of the preload module 103. The anti-loosening structure is used to prevent the adjusting nut 10302 from loosening in the internal threaded hole 10305. Considering the need to adjust the position of the slide 10303, the anti-loosening structure can be an anti-loosening pin, an anti-loosening nut, thread glue, an elastic pad that has been compressed and deformed in the axial direction of the adjusting nut 10302, etc.

[0076] Embodiment 8:

[0077] This embodiment is further refined on the basis of embodiment 1:

[0078] In specific applications, no matter the cable 106 directly pulls the scope tube or the cable 106 serves as a power assist unit of the coupling module 303, a preferred implementation method is to include multiple cables 106, and each cable 106 only has the actions of being initially tensioned, further pulled, and released. The cables 106 are all equipped with a flexible tube 10301, and the flexible tube 10301 is used to adjust the tension of a single cable 106. Considering the structural size of the endoscope and the size of the flexible tube 10301, it is necessary that the inner hole diameter of the flexible tube 10301 is slightly larger than the outer diameter of the cable 106. In order 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, a preferred implementation method is that the flexible tube 10301 is a coil spring-shaped spring tube, and in specific applications, the cable 106 passes through the center hole of the spring tube.

[0079] Embodiment 9:

[0080] Based on Example 1, this embodiment provides an endoscope, including a body tube, a pulling wire arranged in the body tube, and an electric drive mechanism for pulling the pulling wire. It also includes the cable assembly described in Example 1, and the cable 106 serves as the pulling wire. One end of the cable 106 is fixedly connected to the head end of the body tube, and the other end of the cable 106 is fixedly connected to the electric drive mechanism.

[0081] The above scheme is a specific application of the cable assembly, specifically, it is applied to an endoscope, the cable 106 is used as a pulling wire for pulling the scope tube to bend, and an endoscope is provided, which adopts the cable assembly as a scope tube bending drive scheme, specifically, the cable 106 is used as a component of the transmission chain between the electric drive mechanism and the head end of the scope tube, and the specific scheme can be that the electric drive mechanism and the pre-tensioning module 103 are both arranged in the operating handle 3, and the flexible tube 10301 is arranged for the cable 106 located in the operating handle 3, one end of the flexible tube 10301 is fixed to the tail end of the scope tube (the end connected to the operating handle 3), and the other end is fixed to the slide 10303, the control mode of the electric drive mechanism can be button drive, or it can be driven by a handwheel, and the handwheel drive is not limited to whether the handwheel is used to change the bending degree of the scope tube in a force-coupled manner with the electric drive mechanism.

[0082] Embodiment 10:

[0083] Based on Example 1, this embodiment provides an endoscope, including a body tube, a pulling wire arranged in the body tube, and a driving mechanism for pulling the pulling wire, the driving mechanism includes a handwheel driving mechanism and an electric power driving mechanism, and also includes a coupling module 303 for realizing force coupling between the handwheel driving mechanism and the electric power driving mechanism, and also includes the cable assembly as described above, the cable 106 serves as a component of the transmission chain between the electric power driving mechanism and the coupling module 303: the cable 106 transmits the torque output by the electric power driving mechanism to the coupling module 303 by being pulled.

[0084] The above scheme is a specific application of the cable assembly, specifically, it is used on an endoscope, the cable 106 is used as a pulling wire on the transmission chain between the electric power driving mechanism and the coupling module 303, and an endoscope is provided. The endoscope adopts the coupling module 303 as the bending drive scheme of the scope tube, specifically, the cable 106 is used as a component of the transmission chain between the electric power driving mechanism and the coupling module 303, and the other transmission chain is a handwheel driving mechanism, which acts on the front end of the scope tube of the endoscope through two transmission chains and in a force coupling manner.

[0085] Embodiment 11:

[0086] Based on Example 10, in order to reduce the weight and volume of the endoscope operating handle 3 and reduce the impact of the electric power-assisted driving mechanism on the volume and weight of the operating handle 3, this embodiment is configured as an operating handle 3 on which the electric power-assisted driving mechanism is provided with a handwheel and a scope tube steel wire pulling mechanism, the scope tube steel wire pulling mechanism includes an intermediate shaft 30317 and a driving wheel installed on the intermediate shaft 30317, the handwheel is used to drive the driving wheel to rotate, the driving wheel pulls the scope tube steel wire by rotating, a force sensor is provided on the transmission chain between the handwheel and the driving wheel, the force sensor is used to detect the magnitude and direction of the torque provided by the handwheel to the driving wheel;

[0087] It also includes a roller coaxial with the driving wheel and fixed relative to the driving wheel, and an electric power-assisted driving mechanism for driving the roller to rotate, the electric power-assisted driving 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;

[0088] It also includes a first measuring module 104 for detecting the bending degree of the hose 2;

[0089] A second measuring module for detecting the rotation angle of the driving wheel is also included.

[0090] 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 electric power-assisted driving 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 electric power-assisted driving 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-assisted function is realized when operating the bending angle of the endoscope body.

[0091] The driving module 1 that is traditionally integrated with the operating handle 3 is configured to be external to the operating handle 3. On the one hand, for the operator, the above flexible connection method will ensure that the weight of the driving module 1 will not be directly loaded on the operating handle 3. 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. The coupling module 303 no longer uses a planetary gear 110 mechanism that is relatively larger in volume than the roller. Therefore, 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.

[0092] The present solution is also configured to include a first measuring module 104 and a second measuring module, which are intended 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 2, 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 soft The output torque of the drive motor 102 working in the 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 electric power driving 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, so as to achieve the purpose of improving the control accuracy of the mirror body bending angle.

[0093] 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.

[0094] Embodiment 12:

[0095] This embodiment is based on the embodiment 11, and is more detailed. The driving module 1 includes a shell, a base 101 is fixed on the shell, a driving motor 102 and a first measuring module 104 are both installed on the base 101, a guide sleeve 105 for docking with the hose 2 is provided on the base 101, a cable 106 extends to the hose 2 through the guide sleeve 105, and the second measuring module is built in the operating handle 3; the first measuring 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, and a portion of the lasso is The 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 serves 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; 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. 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 passing through 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 that the end of the second lasso 10405 The sensitivity of the position is affected by the bending degree of the hose 2, and the better flexibility of the first lasso 10403 is used to reduce the influence of the lasso on the bending of the hose 2; the displacement sensor 10401 is fixed to the base 101 of the driving module 1 through the mounting seat 10404, one end of the first lasso 10403 is fixedly connected to the slider on the sliding rod, and the first lasso 10403 is fixedly connected to one end of the second lasso 10405 after passing through the pulley 10402, and the second lasso 10405 is sheathed with a flexible sleeve outside and extends through the tube hole of the hose 2, and the other end of the second lasso 10405 is fixed to the shell of the operating handle 3, and the first lasso 10403 and the second lasso 10405 are both installed in a tensioned state; the handwheel package It includes a first hand wheel 30301 and a second hand wheel 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 hand wheel 30301, the first force sensor 30302, the first base plate 30303, and the first baffle 30304 form a transmission chain between one of the hand wheels and one group of steel wires, and the second hand wheel 30305, the second force sensor 30306, the second base plate 30307, ​​and the second baffle 30308 form a transmission chain between another hand wheel and another group of steel wires, and each transmission chain is configured with a separate rotating sleeve.

[0096] Embodiment 13:

[0097] This embodiment is based on Embodiment 11. As a specific implementation method of the second measuring module, the second measuring module is a magnetic ring encoder fixed on the driving wheel or the 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 the 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 scheme is a second measuring module implementation scheme 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.

[0098] Embodiment 14:

[0099] This embodiment is based on the embodiment 11, as a solution for providing output indication of the drive motor 102 and providing control feedback for the drive motor 102 through the detection result of the tension on the cable 106, and also includes a tension sensor 108 for measuring the tension provided by the drive motor 102 to the cable 106. 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.

[0100] Embodiment 15:

[0101] Based on Example 11, this embodiment is designed for the structure of the operating handle 3. For the steel wire used to pull the scope body, the operating handle 3 includes a substrate 301, on which a first guide frame 302 for constraining the position of the steel wire for pulling the scope body on the operating handle 3 is provided, and on which a second guide frame 304 for constraining the position of the cable 106 on the operating handle 3 is provided.

[0102] 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. A cable assembly for use in an endoscope, comprising a cable (106) and a flexible tube (10301) sleeved on the cable (106), and also comprising a pre-tightening module (103) for adjusting the shape of the flexible tube (10301), characterized in that: The preload module (103) comprises a module seat (10306), an internal threaded hole (10305) is provided on the module seat (10306), a slide seat (10303) is slidably fitted 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 comprises an adjustment nut (10302) threadedly connected to the internal threaded hole (10305) and located on the orifice side of the slide seat (10303), and the slide seat (10303) is 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; One end of the flexible tube (10301) is fixedly connected to the sliding seat (10303); the flexible tube (10301) serves as an outer sleeve of the cable (106); the cable (106) is slidably fitted in the flexible tube (10301); The other end of the flexible tube (10301) is fixed to a fixed structure of the endoscope, wherein the fixed structure comprises a body tube, an operating handle (3), and a shell portion of a pre-tightening module (103).

2. A cable assembly for use in an endoscope according to claim 1, characterized in that: It also includes a fixing seat (10307), and one end of the cable (106) is fixed to the fixing seat (10307) via a ball joint; The invention also comprises a drive module (1) for pulling the cable (106), wherein the drive module (1) comprises a drive motor (102), wherein a gear (110) is connected to a rotor of the drive motor (102), wherein teeth on the gear (110) are meshed with a tooth plate (111), and a fixed seat (10307) is bolted to the tooth plate (111) via a strip hole, wherein the length direction of the strip hole satisfies that when the fixed seat (10307) slides along the strip hole, the position of the fixed seat (10307) in the tooth plate (111) and in the length direction changes.

3. A cable assembly for use in an endoscope according to claim 2, characterized in that: A toothed plate (111) meshing with the teeth of the gear (110) is provided on each of a pair of opposite sides of the gear (110), the number of the cables (106) is two, each cable (106) is provided with a flexible tube (10301) and a pretensioning module (103), one end of one cable (106) is fixedly connected to one of the toothed plates (111), and one end of another cable (106) is fixedly connected to the other toothed plate (111), and also includes a roller, 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.

4. A cable assembly for use in an endoscope according to claim 3, characterized in that: It also includes a driving wheel that is coaxial with the roller and fixedly connected to the roller, and a hand wheel for driving the driving wheel to rotate.

5. A cable assembly for use in an endoscope according to claim 4, characterized in that: A force sensor is arranged 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.

6. A cable assembly for use in an endoscope according to claim 5, characterized in that: It also includes an intermediate shaft (30317), the outer side of the intermediate shaft (30317) is provided with a rotating sleeve that can rotate around the intermediate shaft (30317), the roller and the driving wheel are coaxially mounted on the rotating sleeve, the outer side of the rotating sleeve is provided with a bottom plate that matches the gap of the rotating sleeve, and the bottom plate is fixed with a stopper (30319) in a positive relationship, 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 stoppers (30319), 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 to the bottom plate.

7. A cable assembly for use in an endoscope according to claim 1, characterized in that: It also includes an anti-loosening structure for preventing the adjusting nut (10302) from loosening in the internal threaded hole (10305).

8. The cable assembly used in an endoscope according to claim 1, characterized in that: The flexible tube (10301) is a spring tube in the shape of a spiral spring.

9. An endoscope, comprising a body tube, a pulling wire arranged in the body tube, and an electric drive mechanism for pulling the pulling wire, characterized in that: It also includes the cable assembly according to claim 1, wherein the cable (106) serves as the pulling wire, one end of the cable (106) is fixedly connected to the head end of the mirror body tube, and the other end of the cable (106) is fixedly connected to the electric drive mechanism.

10. An endoscope, comprising a body tube, a pulling wire arranged in the body tube, and a driving mechanism for pulling the pulling wire, wherein the driving mechanism comprises a handwheel driving mechanism and an electric power driving mechanism, and further comprises a coupling module (303) for realizing force coupling between the handwheel driving mechanism and the electric power driving mechanism, characterized in that: It also includes the cable assembly as described in claim 1, wherein the cable (106) is a component of the transmission chain between the electric power-assisted drive mechanism and the coupling module (303): the cable (106) transmits the torque output by the electric power-assisted drive mechanism to the coupling module (303) by being pulled.

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