Hose assembly, power assist mechanism and endoscope used for endoscope

Abstract

The present invention discloses a hose assembly, a power-assisting mechanism and an endoscope used in an endoscope, belonging to the technical field of endoscopes. The hose assembly includes a hose that can be flexibly deformed and a first measuring module for detecting the bending degree of the hose. The first measuring module includes a lasso, the hose serves as an outer sleeve of the lasso, the lasso penetrates the hose through the tube hole of the hose, and the outer diameter of the lasso is smaller than the inner diameter of the tube hole; the first measuring module also includes a displacement sensor, the displacement sensor includes a slider supported by a reset spring, one end of the lasso is fixedly connected to the slider, and the displacement sensor also includes a detection device for measuring the position of the slider on the sliding track. The power-assisting mechanism and the endoscope both include the hose assembly. The hose assembly provided by this scheme can not only serve as the installation basis of the external drive module, but also can measure the bending degree of its own hose to serve the drive motor control, and has the characteristics of simple structure.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscopes, and in particular to a hose assembly, a power assist mechanism and an endoscope used in 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 body tube is to adjust the bending degree of the body tube by pulling the steel wire of the body tube. The body tube is a bendable structure on the endoscope. For the angle measurement of such a bendable structure, the solutions adopted in the prior art include grating-based technical solutions, gyroscope-based technical solutions and pressure sensor-based technical solutions. Relevant prior arts include patent documents with application numbers: CN202410247234.X, CN201911350408.0, and CN201310242888.5.

[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 hose assembly, a power-assisting mechanism and an endoscope used in the endoscope. The hose assembly provided by the solution can measure the bending degree of the hose itself and has the characteristics of simple structure.

[0007] In view of the above problems, the hose assembly, power-assisting mechanism and endoscope provided by the present invention solve the problems through the following technical points: the hose assembly used in the endoscope includes a hose that can be flexibly deformed and a first measuring module for detecting the bending degree of the hose, the first measuring module includes a lasso, the hose serves as an outer sleeve of the lasso, the lasso passes through the hose through the tube hole of the hose, and the outer diameter of the lasso is smaller than the inner diameter of the tube hole;

[0008] The first measuring module also includes a displacement sensor, which includes a slider supported by a reset spring, one end of the lasso is fixedly connected to the slider, and the displacement sensor also includes a detection device for measuring the position of the slider on the sliding track.

[0009] When this solution is used in practice, it is used as a component of the endoscope assisting mechanism, specifically:

[0010] A power-assisting mechanism used in an endoscope, the power-assisting mechanism includes a driving module with a built-in power source, and also includes the hose assembly as described above, the driving module includes a driving motor and a cable connected to the driving motor, the driving motor is used to provide the cable with a pulling force for pulling the endoscope body tube; the hose serves as an outer sleeve of the cable, the cable is slidably fitted in the hose and passes through the hose; one end of the hose is fixedly connected to the shell of the driving module, and a first measuring module is built into the driving module. When in use, the power-assisting structure can be used as the only mechanism on the endoscope for pulling the steel wire of the body tube. For example, the cable serves as the steel wire of the body tube or is connected to the steel wire of the body tube, and the body tube is pulled by controlling the drive motor. It can also be used as a component of the power source for pulling the steel wire of the body tube, that is, as an electric power-assisting mechanism, which realizes force coupling with the handwheel drive mechanism on the existing endoscope under the action of the coupling module, and uses the detected movement of the handwheel as a control signal to control the operation of the drive motor, so that the torque output by the drive motor serves as the power-assisting torque for bending the body tube. For example, the handwheel drive mechanism has a handwheel and a drive wheel connected to the handwheel for transmission, the drive wheel is connected to the steel wire of the body tube, and the drive wheel pulls the steel wire of the body tube by rotating, and the drive module includes a roller, which is coaxial with the drive wheel and fixed to each other. The roller and the drive wheel are components of the coupling module, and the torque output by the drive motor is transmitted to the roller through a transmission chain including the cable.

[0011] In the above application, since the lasso and the hose are included, the lasso and the lasso are both contents of the hose, so the drive module is flexibly connected to the operating handle. Compared with the existing endoscope with an electric power-assist mechanism, the traditional drive module integrated with the operating handle is set to be external to the operating handle. Under such an endoscope structure, on the one hand, for the operator, the above flexible connection method will ensure that the weight of the drive module will not be directly loaded on the operating handle. In this way, when the endoscope needs to be used for a long time, compared with the implementation method in which the drive module is built into the operating handle, the drive module configured as an external drive and the drive module The flexible connection between the dynamic module and the operating handle reduces the weight of the hand when using the operating handle. In this way, 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, even if a coupling module is used to drive the bending of the scope tube in a force coupling manner, 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.

[0012] Based on the above conception, the present solution provides the above hose assembly, aiming to solve the following problems: during the use of the endoscope, if the user holds the operating handle, the drive module is placed on the endoscope main frame or other possible support platform, and the relative position of the drive module and the operating handle is adaptively changed according to the use needs. As the above relative position changes, the hose will produce corresponding deformation. Since the cable is the content in the hose, when the operating handle is moved relative to the drive module, the hose may have different degrees of bending. Under different degrees of bending of the hose, this makes the hose have different pulling resistance to the cable that needs to be pulled by the drive motor, and for the torque size of the cable pulling roller / scope body tube head end, the resistance will cause the drive motor to have different output torque losses. When the bending degree of the current hose is obtained in real time through the first measurement module, it can be measured according to The result obtained by the first measurement module is used to provide feedback compensation for the torque output by the drive motor working in the current hose state. 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 drive 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 drive motor pulling the cable is reduced. For the adjustment of the scope angle, the endoscope can be operated in the handwheel constant torque mode (the handwheel is turned at any scope tube angle to maintain the torque required for the current rotation speed unchanged) or the handwheel proportional torque mode (the power assist mechanism compensates the torque required for the rotation of the drive wheel in proportion), so that the torque finally applied by the drive motor to the roller is more stable, thereby optimizing the handwheel operation feel and the handwheel control accuracy, thereby achieving the purpose of improving the control accuracy of the scope bending angle.

[0013] The principle by which the first measuring module in the present solution obtains the bending degree of the hose is as follows: the lasso is pulled between the operating handle and the driving module through the internal space of the hose. When the hose bends, the lateral force provided by the bending of the hose to the lasso pulls the slider, causing the slider to change position on its sliding trajectory. The displacement sensor detects the position of the slider through the detection module to obtain the bending degree of the hose.

[0014] Different from the means of detecting the bending of the scope tube in the prior art, the deformation of the hose caused by the above relative position change is affected by the position change and posture change of the operating handle, and is not accompanied by the rotation of the transmission module such as the driving wheel for pulling the steel wire of the scope tube. Therefore, it is not suitable for detection through the existing grating structure for detecting the bending degree of the scope tube. Although the bending degree of the hose can be detected by using multiple gyroscopes or multiple pressure sensors, the arrangement of the corresponding front-end structure (gyroscope, pressure sensor) will cause the hose structure to be complicated and it is troublesome to convert the inspection result of the front-end structure into the result of the hose bending degree.

[0015] In summary, the above hose assembly provides a structural basis for setting an external drive module outside the operating handle and flexibly connecting the drive module and the operating handle. In order to address the problem that the operating characteristics of the endoscope affect the bending degree of the hose, and the bending degree of the hose affects the loss of the torque provided by the drive module during the transmission process, a solution is provided based on a lasso built into the hose, which pulls the slider with the lasso when the hose is deformed, and checks the position of the slider on its sliding trajectory. The bending degree of the hose is obtained by utilizing the characteristic that the position is associated with the bending degree of the hose, and the torque output by the drive motor is compensated based on the bending degree of the hose.

[0016] As a further technical solution of the hose assembly:

[0017] The first measuring module also includes a mounting seat and a pulley, the detection device and the pulley are fixed on the mounting seat, and the reset spring is supported on the detection device; on the sliding track of the slider, the pulley is arranged on one end close to the detection device, and the lasso passes around the pulley.

[0018] In the above scheme, the mounting seat serves as an assembly base for the corresponding parts on the first measuring module, so as to install the corresponding parts into an integral structure. For example, the detection device and the pulley are fixed on the mounting seat, and the reset spring elastically supports the slider on the detection device. As the pulling force of the lasso on the slider changes, the reset spring produces adaptive elastic deformation and the slider moves to the corresponding position. At this time, the detection device directly or indirectly detects the position of the slider, which can be associated with the deformation degree of the hose. In this scheme, the pulley and fixed pulley are used to change the direction of the lasso extension path to achieve the purpose of limiting the extension path or shape of the lasso. For example, the lasso between the pulley and the slider extends along the extension direction of the sliding track / the length direction of the sliding rod below, so that the lasso pulling force on the slider and the support force of the reset spring are both in the same straight line direction, which can achieve the purpose of optimizing the force on the corresponding parts of the displacement sensor and ensuring the measurement accuracy and life of the displacement sensor.

[0019] The lasso comprises a second lasso and a first lasso, the second lasso is connected in series with the first lasso, and the second lasso has a stronger anti-deformation ability than the first lasso;

[0020] The lasso in the hose is the second lasso, and the lasso that goes around the pulley is the first lasso.

[0021] In the above scheme, the lasso built into the hose is the second lasso, and the lasso that passes around 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 to the bending degree of the hose, and the good flexibility of the first lasso is utilized to reduce the influence of the lasso on the bending of the hose.

[0022] The displacement sensor further comprises a sliding rod, the sliding block is slidably matched on the sliding rod or the sliding rod can be slidably mounted on the displacement sensor;

[0023] When the slider is slidably engaged with the slide rod, the slider obtains the sliding track by sliding along the slide rod, the reset spring is a coil spring sleeved on the slide rod and supported on the housing of the detection device, the slider maintains a different position from the detection device under different tensions of the lasso, and the detection device can obtain the position of the slider by directly detecting the position of the slider or indirectly according to the support force of the coil spring;

[0024] When the sliding rod is slidably installed on the displacement sensor, the slider is fixedly connected to the sliding rod, and the slider obtains the sliding trajectory by sliding along the hole on the displacement sensor with the sliding rod. The reset spring is a coil spring sleeved on the sliding rod and supported on the housing of the detection device. The slider is synchronized with the sliding rod to maintain a position different from the detection device under different pulling forces of the lasso. The detection device can obtain the position of the slider and the sliding rod by directly detecting the position of the slider and the sliding rod or indirectly based on the supporting force of the coil spring.

[0025] In this solution, the slide rod serves as a guide rod for the movement of the slider, so that the slider can only perform linear reciprocating motion along the axis of the slide rod, so that the position detection result of the slider has a higher correlation with the bending degree of the hose.

[0026] As a further technical solution of the power-assisting mechanism:

[0027] The rotor of the driving motor is connected to a gear, and a toothed plate meshing with the gear teeth is provided on each of a pair of opposite sides of the gear;

[0028] There are two cables, one end of one cable is fixedly connected to one of the tooth plates, and one end of the other cable is fixedly connected to the other tooth plate;

[0029] The utility model also comprises a roller, 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.

[0030] 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 different ends of a group (two) of cables, so that when the driving motor rotates, one cable is pulled by the action of the tooth plate, and the other cable is released by the action of the other tooth plate. When the driving motor rotates in the opposite direction, the way in which the tooth plate acts on the cable is changed. Therefore, the above method can enable the roller to rotate forward and reverse under the action of the driving motor and the cable. The specific connection method between the cable and the roller is intended to provide a technical solution with a simple structure, which can avoid the cable slipping and 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 plates, taking the electric assist based on the coupling module as an example, the cable drives the roller to rotate. When the roller rotates and under the action of the other tooth plate, the other cable is further wound in the cable groove of the roller, and the roller rotates. In the process, the driving wheel is driven to rotate, 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. 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, 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 / housing of the drive module 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 of the drive module and a sliding block fixed on the tooth plate, and the sliding block and the bar rail are slidably matched through a sliding groove.

[0031] Each cable is connected to the tooth plate through a pre-tightening module configured therefor, and the pre-tightening module is used to adjust the tension of the cable between the tooth plate and the roller.

[0032] In this solution, the tension of the cable between each tooth plate and the roller is adjusted by the pre-tightening module, which not only solves the problem of tension adaptation of the 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 pre-tightening force, the life of the cable can be effectively guaranteed while ensuring the control accuracy, and the friction pair formed by the gear and the tooth plate can have a suitable wear rate. At the same time, by adapting a suitable pre-tightening force, when the hose is bent, the bending angle of the hose and the torque loss of the hose to 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 can also adopt a pre-tightening module such as a tensioning wheel.

[0033] The preload module comprises 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 by an elastic support member, and also comprises an adjusting nut threadedly connected in the internal threaded hole and located at the side of the slide seat opening, the slide seat is clamped between the adjusting nut and the elastic support member;

[0034] 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;

[0035] It also comprises a flexible tube with one end 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.

[0036] In the present solution, the module seat can be fixed on the base inside the driving module, or on the shell 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 shell, or the guide sleeve at the front end of the driving module. 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 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 as needed. Compared with the method of directly pulling the end of the cable to control the tensioning state of the cable, the present solution has a higher adjustable cable tensioning accuracy and 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.

[0037] As a rough adjustment scheme for the tension state of the cable, a fixing seat is set at the end of the cable led out from the internal threaded hole in the driving module, and 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 the strip hole. The length direction of the strip hole satisfies: when the fixing seat slides along the strip hole, the tensioning force of the cable stretched between the tooth plate and the roller changes. The above scheme is used to achieve rough adjustment of the tension of the cable. It is a technical scheme for adjusting the tension by directly pulling the end of the cable by 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 fixing seat slides along the strip hole, that is, the cable is further tensioned or released. After the rough adjustment to the appropriate tension, the bolt is locked, and the rough 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.

[0038] 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.

[0039] The present solution also relates to an endoscope, comprising an operating handle on which a wire pulling mechanism for a scope tube is arranged, and also comprising a power-assisting mechanism as described in any one of the above items, wherein the operating handle is connected to the power-assisting mechanism through a hose, and the other end of the hose is fixedly connected to a housing of the operating handle;

[0040] The pull cable is transmission connected with the mirror body tube wire pulling mechanism.

[0041] This scheme is a specific application of the power-assisting mechanism, that is, it is applied to an endoscope to form an endoscope with the power-assisting mechanism. On the endoscope, the power-assisting mechanism establishes a soft connection relationship with the operating handle through the hose on the hose assembly, and the pull cable of the power-assisting mechanism is connected to the steel wire pulling mechanism of the scope tube through the channel provided by the hose. In this way, the hose assembly is used to detect the bending degree of the hose, and the feedback value is fed back to the power-assisting mechanism to achieve precise control of the torque output by the drive motor.

[0042] The above description: the pull cable is transmission-connected with the body tube wire pulling mechanism, which not only includes the power-assisting mechanism as the only mechanism on the endoscope for pulling the body tube wire, but also includes a component of the power source for pulling the body tube wire, that is, as an electric power-assisting mechanism, which realizes force coupling with the handwheel driving mechanism on the existing endoscope under the action of the coupling module, and uses the detected movement of the handwheel as a control signal to control the operation of the drive motor, so that the torque output by the drive motor is used as the power-assisting torque for bending the body tube.

[0043] The present invention has the following beneficial effects:

[0044] In the present solution, the above hose assembly provides a structural basis for setting an external drive module outside the operating handle and flexibly connecting the drive module and the operating handle. In view of the problem that the operating characteristics of the endoscope affect the bending degree of the hose, and the bending degree of the hose affects the loss of the torque provided by the drive module during the transmission process, a solution is provided based on a lasso built into the hose, and the lasso pulls the slider when the hose is deformed, and by checking the position of the slider on its sliding trajectory, the bending degree of the hose is obtained by utilizing the characteristics of the correlation between the position and the bending degree of the hose, and the torque output by the drive motor is compensated based on the bending degree of the hose. At the same time, the present solution also has the characteristic of simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic structural diagram of a specific embodiment of the endoscope described in this solution, which is used to show the connection relationship between the drive module and the operating handle;

[0046] Figure 2 A three-dimensional schematic diagram of the internal structure of the driving module in a specific embodiment of the driving module described in this solution, which is a schematic diagram of a partial structure of the internal structure;

[0047] Figure 3 A two-dimensional schematic diagram of the internal structure of the driving module in a specific embodiment of the driving module described in this solution, which is a schematic diagram of a partial structure of the internal structure;

[0048] Figure 4 This is a structural schematic diagram of a specific embodiment of the hose assembly described in the present solution, which reflects the working principle of the first measuring module, 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 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;

[0049] Figure 5 A schematic diagram of a three-dimensional structure of a first measuring module in a specific embodiment of the hose assembly described in this solution;

[0050] Figure 6 This is a structural schematic diagram of a pre-tightening module structure in a specific embodiment of the power assist mechanism described in this solution;

[0051] Figure 7 This is a structural schematic diagram of an operating handle structure in a specific embodiment of the endoscope described in this solution;

[0052] Figure 8 This is a structural cross-sectional view of an operating handle structure in a specific embodiment of the endoscope described in this solution;

[0053] 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 endoscope described in this solution.

[0054] 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

[0055] The present invention is further described in detail below in conjunction with embodiments, but the present invention is not limited to the following embodiments:

[0056] Embodiment 1:

[0057] like Figures 1 to 9As shown, a hose assembly used in an endoscope includes a hose 2 that can be flexibly deformed and a first measuring module 104 for detecting the bending degree of the hose 2. The first measuring module 104 includes a lasso, and the hose 2 serves as an outer sleeve of the lasso. The lasso passes through the hose 2 through the tube hole of the hose 2, and the outer diameter of the lasso is smaller than the inner diameter of the tube hole.

[0058] The first measuring module 104 further includes a displacement sensor 10401, which includes a slider supported by a reset spring, one end of the lasso is fixedly connected to the slider, and the displacement sensor 10401 further includes a detection device for measuring the position of the slider on the sliding track.

[0059] When this solution is used in practice, it is used as a component of the endoscope assisting mechanism, specifically:

[0060] A power-assisting mechanism used in an endoscope, the power-assisting mechanism includes a driving module 1 with a built-in power source, and also includes the hose assembly as described above, the driving module 1 includes a driving motor 102 and a cable 106 connected to the driving motor 102, the driving motor 102 is used to provide the cable 106 with a pulling force for pulling the endoscope body tube; the hose 2 serves as an outer sleeve of the cable 106, the cable 106 is slidably fitted in the hose 2 and passes through the hose 2; one end of the hose 2 is fixedly connected to the shell of the driving module 1, and the first measuring module 104 is built into the driving module 1. When in use, the power-assisting structure can be used as the only mechanism on the endoscope for pulling the body tube steel wire. For example, the cable 106 serves as the body tube steel wire or is connected to the body tube steel wire, and the body tube is pulled by controlling the drive motor 102. It can also be used as a component of the power source for pulling the body tube steel wire, that is, as an electric power-assisting mechanism, which realizes force coupling with the handwheel drive mechanism on the existing endoscope under the action of the coupling module 303, and uses the detected movement of the handwheel as a control signal to control the drive motor 102 to work, so that the torque output by the drive motor 102 serves as the power-assisting torque for bending the body tube. For example, the handwheel drive mechanism has a handwheel and a drive wheel connected to the handwheel for transmission, the drive wheel is connected to the body tube steel wire, and the drive wheel pulls the body tube steel wire by rotating. The drive module 1 includes a roller, which is coaxial with the drive wheel and fixed to each other. The roller and the drive wheel are components of the coupling module 303, and the torque output by the drive motor 102 is transmitted to the roller through a transmission chain including the cable 106.

[0061] In the above application, since the lasso 106 and the hose 2 are included, the lasso and the lasso 106 are both used as the contents of the hose 2, so the drive module 1 is flexibly connected to the operating handle 3. Compared with the existing endoscope with an electric power-assist mechanism, the traditional drive module 1 integrated with the operating handle 3 is set to be external relative to the operating handle 3. Under such an endoscope structure, on the one hand, for the operator, the above flexible connection method will ensure that the weight of the drive module 1 will not be directly loaded 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 drive module 1 is built into the operating handle 3, the drive module 1 configured as an external drive and the drive module 1 as an external drive are not directly loaded on the operating handle 3. The flexible connection between the dynamic module 1 and the operating handle 3 reduces the hand weight when using the operating handle 3. In this way, this solution can effectively reduce the requirements for the user's hand strength and endurance when holding the operating handle 3, 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, even if the coupling module 303 is used to drive the scope tube to bend in a force coupling manner, 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.

[0062] Under the above conception, the present solution provides the above hose assembly, aiming to solve the following problems: during the use of the endoscope, if the user holds the operating handle 3, the drive module 1 is placed on the endoscope main frame or other possible support platform, and the relative position of the drive module 1 and the operating handle 3 is adaptively changed according to the use needs. As the above relative position changes, the hose 2 will produce corresponding deformation. Since the cable 106 is the content in the hose 2, when the operating handle 3 is moved relative to the drive module 1, the hose 2 may have different degrees of bending. Under different degrees of bending of the hose 2, this makes the hose 2 have different pulling resistance to the cable 106 that needs to be pulled by the drive motor 102, and for the torque size of the cable 106 pulling the roller / scope body tube head end, the resistance will cause the drive motor 102 to have different output torque losses. When the bending degree of the lower hose 2 is obtained in real time through the first measurement module 104, it can be measured according to the first measurement module 104. The result obtained by a measurement module 104 is used to provide feedback compensation for the torque output by the drive motor 102 operating in the current state of the hose 2. 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 decreases, the torque of the drive motor 102 pulling the cable 106 is reduced. For the adjustment of the scope angle, the endoscope can be operated in a handwheel constant torque mode (the handwheel is rotated at any scope tube angle to maintain the torque required for the current rotation speed unchanged) or in a handwheel proportional torque mode (the power assist mechanism compensates the torque required for the rotation of the drive wheel in proportion), so that the torque applied by the drive motor 102 to the roller is more stable, thereby optimizing the handwheel operation feel and the handwheel control accuracy, thereby achieving the purpose of improving the scope bending angle control accuracy.

[0063] In this solution, the principle by which the first measuring module 104 obtains the bending degree of the hose 2 is as follows: 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 bends, the lateral force provided by the bending of the hose 2 for the lasso pulls the slider, causing the slider to change position on its sliding trajectory. The displacement sensor 10401 obtains the bending degree of the hose 2 by detecting the position of the slider through the detection module.

[0064] Different from the means of detecting the bending of the scope tube in the prior art, the deformation of the hose 2 caused by the above relative position change is affected by the position change and posture change of the operating handle 3, and is not accompanied by the rotation of the transmission module such as the driving wheel for pulling the steel wire of the scope tube. Therefore, it is not suitable to detect through the existing grating structure for detecting the bending degree of the scope tube. Although the bending degree of the hose 2 can also be detected by using multiple gyroscopes or multiple pressure sensors, the arrangement of the corresponding front-end structure (gyroscope, pressure sensor) will cause the structure of the hose 2 to be complicated and it will be troublesome to convert the inspection result of the front-end structure into the bending degree result of the hose 2.

[0065] In summary, the above hose assembly provides a structural basis for setting an external drive module 1 outside the operating handle 3 and flexibly connecting the drive module 1 to the operating handle 3. In order to solve the problem that the operating characteristics of the endoscope affect the bending degree of the hose 2, and the bending degree of the hose 2 affects the loss of the torque provided by the drive module 1 during the transmission process, a solution is provided based on a lasso built into the hose 2, and the lasso pulls the slider when the hose 2 is deformed, and by checking the position of the slider on its sliding trajectory, the bending degree of the hose 2 is obtained by utilizing the characteristic that the position is associated with the bending degree of the hose 2, and the torque output by the drive motor 102 is compensated based on the bending degree of the hose 2.

[0066] Embodiment 2:

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

[0068] The first measuring module 104 also includes a mounting seat 10404 and a pulley 10402. The detection device and the pulley 10402 are both fixed on the mounting seat 10404, and the reset spring is supported on the detection device. On the sliding track of the slider, the pulley 10402 is set on one end close to the detection device, and the lasso is wrapped around the pulley 10402.

[0069] In the above scheme, the mounting seat 10404 is used as an assembly base for the corresponding parts on the first measuring module 104, so as to install the corresponding parts into an integral structure. For example, the detection device and the pulley 10402 are fixed on the mounting seat 10404, and the reset spring elastically supports the slider on the detection device. As the pulling force of the lasso on the slider changes, the reset spring produces adaptive elastic deformation and the slider moves to the corresponding position. At this time, the detection device directly or indirectly detects the position of the slider, which can be associated with the deformation degree of the hose 2. In this scheme, the pulley 10402 is a fixed pulley 10402, and its function is to change the direction of the lasso extension path to achieve the purpose of limiting the extension path or shape of the lasso. For example, the lasso between the pulley 10402 and the slider extends along the extension direction of the sliding track / the length direction of the sliding rod below, so that the lasso pulling force on the slider and the support force of the reset spring are both in the same straight line direction, which can achieve the purpose of optimizing the force on the corresponding parts of the displacement sensor 10401 and ensuring the measurement accuracy and life of the displacement sensor 10401.

[0070] Embodiment 3:

[0071] This embodiment is further refined on the basis of Embodiment 2:

[0072] 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 second lasso 10405 has a stronger anti-deformation ability than the first lasso 10403;

[0073] The lasso located in the hose 2 is the second lasso 10405 , and the lasso passing around the pulley 10402 is the first lasso 10403 .

[0074] In the above scheme, the lasso built into the hose 2 is the second lasso 10405, and the lasso passing around 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.

[0075] Embodiment 4:

[0076] This embodiment is further refined on the basis of embodiment 1:

[0077] The displacement sensor 10401 further includes a sliding rod, and the sliding block is slidably matched on the sliding rod or the sliding rod can be slidably mounted on the displacement sensor 10401;

[0078] When the slider is slidably engaged with the slide rod, the slider obtains the sliding track by sliding along the slide rod, the reset spring is a coil spring sleeved on the slide rod and supported on the housing of the detection device, the slider maintains a different position from the detection device under different tensions of the lasso, and the detection device can obtain the position of the slider by directly detecting the position of the slider or indirectly according to the support force of the coil spring;

[0079] When the sliding rod is slidably installed on the displacement sensor 10401, the slider is fixedly connected to the sliding rod, and the slider obtains the sliding trajectory by sliding along the hole on the displacement sensor 10401 with the sliding rod. The reset spring is a coil spring mounted on the sliding rod and supported on the housing of the detection device. The slider is synchronized with the sliding rod to maintain a position different from the detection device under different pulling forces of the lasso. The detection device can obtain the position of the slider and the sliding rod by directly detecting the position of the slider and the sliding rod or indirectly based on the supporting force of the coil spring.

[0080] In this solution, the slide rod serves as a guide rod for the movement of the slider, so that the slider can only perform linear reciprocating motion along the axis of the slide rod, so that the position detection result of the slider has a higher correlation with the bending degree of the hose 2.

[0081] Embodiment 5:

[0082] This embodiment is further refined on the basis of embodiment 1:

[0083] The rotor of the driving motor 102 is connected to a gear 110, 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;

[0084] 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 ;

[0085] The device further comprises a roller, on which each cable 106 is provided with an independent cable groove, and the other end of each cable 106 is wound in the corresponding cable groove.

[0086] In this solution, the drive 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 (two) of cables 106, so that when the drive motor 102 rotates, one cable 106 is pulled by the action of the tooth plate 111, and the other cable 106 is released by the action of the other tooth plate 111. When the drive motor 102 rotates in the opposite direction, the way in which the tooth plate 111 acts on the cable 106 is changed. Therefore, the above method can enable the roller to rotate forward and reverse under the action of the drive motor 102 and the cable 106. The specific connection method between the cable 106 and the roller is intended to provide a technical solution with a simple structure, which can avoid the cable 106 from slipping and can drive the roller to rotate at a larger angle. Specifically, the above two cables 106 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 111, when one of the cables 106 is further pulled out of the cable groove under the action of the tooth plates 111, taking the electric assist based on the coupling module 303 as an example, the cable 106 drives the roller to rotate. When the roller rotates and under the action of the other tooth plate 111, the other cable 106 is further wound in the cable groove of the roller. In the process of the roller rotating, the driving wheel is driven to rotate, so as to achieve the purpose of pulling the mirror body tube wire in a specific way. In order 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 use of a single cable 106, and the middle section of the cable 106 is fixed on the wheel surface of the roller, and the two ends are respectively connected to different tooth plates 111. In the above structure, there is no situation where 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 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 / shell of the drive module 1 through 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 set at each end of the tooth plate 111. The limit switch 112 serves as a contact switch. When the limit switch 112 contacts the end of the tooth plate 111, it provides a stop rotation signal for the drive motor 102. The slide rail assembly 109 includes a bar rail fixed on the base 101 of the drive module 1 and a sliding block fixed on the tooth plate 111. The sliding block and the bar rail are slidably matched through a sliding groove.

[0087] Embodiment 6:

[0088] This embodiment is further refined on the basis of Embodiment 5:

[0089] Each cable 106 is connected to the tooth plate 111 via a pre-tightening module 103 configured therefor. The pre-tightening module 103 is used to adjust the tension of the cable 106 between the tooth plate 111 and the roller.

[0090] 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.

[0091] Embodiment 7:

[0092] This embodiment is further refined on the basis of Embodiment 6:

[0093] The preload module 103 includes a module seat 10306 fixed on the driving module 1, and an internal threaded hole 10305 is provided on the module seat 10306. 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 by an elastic support member 10304, and also includes an adjustment nut 10302 threadedly connected to the internal threaded hole 10305 and located at the orifice side of the slide seat 10303. The slide seat 10303 is clamped between the adjustment nut 10302 and the elastic support member 10304;

[0094] 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;

[0095] It also includes a flexible tube 10301 with one end 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 .

[0096] In this solution, the module seat 10306 can be fixed on the base 101 inside the driving module 1, 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 is fixed to the base 101, the shell, or the guide sleeve 105 at the front end of the driving module 1. The guide sleeve 105 is used to dock with the hose 2. 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 flexible tube 103 The other end of 01 is fixed on the driving module 1. When the end of the flexible tube 10301 moves, the flexible tube 10301 bends or deforms or the degree of deformation changes. 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 tension 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. During use of the present solution, when the tooth plate 111 provides tension to the cable 106 to pull the roller to rotate, the force exerted by the cable 106 on the flexible tube 10301 is transmitted to the slide 10303, and the slide 10303 moves toward the tooth plate 111 and further compresses the elastic support member 10304. When the tooth plate 111 rotates in the opposite direction under the action of the drive motor 102, 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 present structure.

[0097] As a coarse adjustment scheme for the tensioning state of the cable 106, a fixed seat 10307 is provided at the end of the cable 106 led out from the internal threaded hole 10305 in the driving module 1. One end of the cable 106 used to connect to 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 that when the fixed seat 10307 slides along the strip hole, the tensioning force of the cable 106 tensioned 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.

[0098] 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.

[0099] Embodiment 8:

[0100] This embodiment is further refined on the basis of Embodiment 7:

[0101] 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.

[0102] Embodiment 9:

[0103] Based on Example 1, this embodiment provides an endoscope, including an operating handle 3 on which a wire pulling mechanism for a scope tube is provided, and also includes the power-assisting mechanism described in Example 1, wherein the operating handle 3 is connected to the power-assisting mechanism through a hose 2, and the other end of the hose 2 is fixedly connected to the housing of the operating handle 3;

[0104] The pull cable 106 is transmission connected to the mirror body tube wire pulling mechanism.

[0105] This scheme is a specific application of the power-assisting mechanism, that is, it is applied to an endoscope to form an endoscope with the power-assisting mechanism. On the endoscope, the power-assisting mechanism establishes a soft connection relationship with the operating handle 3 through the hose 2 on the hose assembly, and the pull cable 106 of the power-assisting mechanism is connected to the steel wire pulling mechanism of the scope tube through the channel provided by the hose 2. In this way, the hose assembly is used to detect the bending degree of the hose 2, and the feedback value is fed back to the power-assisting mechanism to achieve precise control of the torque output by the drive motor 102.

[0106] As described above: the pull cable 106 is transmission-connected with the body tube wire pulling mechanism, which not only includes the power-assisting mechanism as the only mechanism on the endoscope for pulling the body tube wire, but also includes a component of the power source for pulling the body tube wire, that is, as an electric power-assisting mechanism, which realizes force coupling with the handwheel driving mechanism on the existing endoscope under the action of the coupling module 303, and uses the detected movement of the handwheel as a control signal to control the operation of the drive motor 102, so that the torque output by the drive motor 102 is used as the power-assisting torque for bending the body tube.

[0107] Embodiment 10:

[0108] This embodiment is further refined on the basis of Embodiment 9:

[0109] As a coupling scheme for the bending force of the mirror body tube, this embodiment provides a specific implementation method of the operating handle 3, wherein an intermediate shaft 30317 is arranged on the operating handle 3, and a rotating sleeve rotatable around the intermediate shaft 30317 is arranged on the outer side of the intermediate shaft 30317, and a bottom plate which cooperates with the rotating sleeve clearance is arranged on the outer side of the rotating sleeve, and a block 30319 which 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 block 30319, and a measuring element is arranged in the gap between the protrusion and any block 30319, and the measuring element is used to measure the size of the positive pressure between the protrusion and the block 30319, and the hand wheel 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.

[0110] 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.

[0111] More specifically, as described, 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 tube, 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 the steel wire.

[0112] Furthermore, with regard to the structural design of the operating handle 3, for the steel wire used to pull the scope body tube, it is configured that the operating handle 3 includes a base plate 301, on which a first guide frame 302 for constraining the position of the steel wire on the operating handle 3 is provided, and on which a second guide frame 304 for constraining the position of the pull cable 106 on the operating handle 3 is provided.

[0113] As an operating part structure equipped with two sets 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 passes through the pipe hole of the hose 2 and extends from the driving module 1 to the operating handle 3.

[0114] 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.

[0115] As a specific application, it also includes a control module, which collects monitoring results of the force sensor, the first measurement module 104 and the second measurement module. The second measurement module is used to detect the rotation angle of the drive wheel and control 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 result, the drive motor 102 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 2 and the bending degree of the scope tube, according to the mode setting in which the bending degree of the hose 2 and the bending degree of the scope tube are both proportional to the torque loss, it is realized to provide electric assistance for the bending operation of the endoscope scope.

[0116] Among them, as a specific implementation method 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 scheme is a second measurement 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.

[0117] 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 hose assembly for use in an endoscope, comprising a hose (2) that can be flexibly deformed and a first measuring module (104) for detecting the bending degree of the hose (2), characterized in that: The first measuring module (104) comprises a lasso, the hose (2) serves as an outer sleeve of the lasso, the lasso passes through the hose (2) through the tube hole of the hose (2), and the outer diameter of the lasso is smaller than the inner diameter of the tube hole; The first measurement module (104) further comprises a displacement sensor (10401), wherein the displacement sensor (10401) comprises a slider supported by a return spring, one end of the lasso being fixedly connected to the slider, and the displacement sensor (10401) further comprises a detection device for measuring the position of the slider on the sliding track; The first measuring module (104) further comprises a mounting seat (10404) and a pulley (10402); the detection device and the pulley (10402) are both fixed on the mounting seat (10404); and a reset spring is supported on the detection device; on the sliding track of the slider, the pulley (10402) is arranged on one end close to the detection device, and the lasso is passed around the pulley (10402).

2. The hose assembly for endoscope according to claim 1, characterized in that: The lasso comprises a second lasso (10405) and a first lasso (10403), the second lasso (10405) and the first lasso (10403) are connected in series, and the second lasso (10405) has a stronger anti-deformation ability than the first lasso (10403); The lasso located in the hose (2) is the second lasso (10405), and the lasso wrapped around the pulley (10402) is the first lasso (10403).

3. The hose assembly for use in an endoscope according to any one of claims 1 to 2, characterized in that: The displacement sensor (10401) further comprises a sliding rod, the sliding block is slidably matched on the sliding rod or the sliding rod can be slidably mounted on the displacement sensor (10401); When the slider is slidably engaged with the slide rod, the slider obtains the sliding track by sliding along the slide rod, and the return spring is a coil spring sleeved on the slide rod; When the slide rod is slidably mounted on the displacement sensor (10401), the slider is fixedly connected to the slide rod, and the slider obtains the sliding trajectory by sliding along the hole on the displacement sensor (10401) with the slide rod, and the reset spring is a coil spring sleeved on the slide rod.

4. A power-assisting mechanism for an endoscope, characterized in that: The power-assisting mechanism comprises a driving module (1) with a built-in power source, and also comprises a hose assembly according to any one of claims 1 to 3, wherein the driving module (1) comprises a driving motor (102) and a pulling cable (106) connected to the driving motor (102), and the driving motor (102) is used to provide the pulling cable (106) with a pulling force for pulling the endoscope body tube; The hose (2) serves as an outer sleeve of the cable (106), and the cable (106) is slidably fitted in the hose (2) and passes through the hose (2); One end of the hose (2) is fixedly connected to the housing of the drive module (1).

5. The power assist mechanism for an endoscope according to claim 4, 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 number of the cables (106) is two, one end of one of the cables (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); It 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.

6. The power assist mechanism for an endoscope according to claim 5, 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.

7. The power assist mechanism for an endoscope according to claim 6, 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) with one end fixedly connected to the sliding seat (10303), the flexible tube (10301) serving as an outer sleeve of the cable (106), and the cable (106) is slidably fitted in the flexible tube (10301); The other end of the flexible tube (10301) is fixed on any one of the following: a base inside the drive module (1), a shell of the drive module (1), or a guide sleeve at the front end of the drive module (1).

8. The power assist mechanism for an endoscope according to claim 7, characterized in that: The flexible tube (10301) is a spring tube in the shape of a spiral spring.

9. An endoscope, comprising an operating handle (3) on which a scope tube wire pulling mechanism is arranged, characterized in that: It also comprises the power-assisting mechanism according to any one of claims 4 to 8, wherein the operating handle (3) is connected to the power-assisting mechanism via a hose (2), and the other end of the hose (2) is fixedly connected to the housing of the operating handle (3); The pulling cable (106) is transmission-connected to the mirror body tube steel wire pulling mechanism.

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