Traction mechanism and endoscope

Abstract

The invention discloses a traction mechanism and an endoscope, and relates to the technical field of medical instruments.The endoscope is provided with an insertion part, the insertion part is provided with an active bending section, the traction mechanism comprises a first traction mechanism, a second traction mechanism and a driving mechanism, and the first traction mechanism is connected with the far end of the active bending section; the second traction mechanism is connected with the far end of the driving bending section. The driving mechanism is in transmission connection with the first traction mechanism and the second traction mechanism. The driving mechanism is in transmission connection with the first traction mechanism and the second traction mechanism, so that the first traction mechanism and the second traction mechanism are linked, and the front end part of the insertion part rotates in the circumferential direction of the near end of the driving bending section. According to the technical scheme, the surrounding collection work of the camera module located at the far end of the insertion part can be achieved only by driving one of the first traction mechanism, the second traction mechanism and the driving mechanism, and the problems of image collection omission or poor effect or repeated collection and the like caused by poor operation cooperation among multiple traction mechanisms are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a traction mechanism and an endoscope. Background Art

[0002] An endoscope is a commonly used medical device that can directly enter the natural cavity of the human body and provide doctors with sufficient diagnostic information to treat diseases. In actual operation, the doctor will manually control the front end component of the insertion part of the endoscope to rotate around so that the endoscope can collect image information in the cavity in all directions, thereby obtaining the condition of the patient at various positions in the cavity.

[0003] However, in practice, it is found that the operation of collecting image information has problems such as omissions or repeated collection, which increases the time of image collection, reduces the accuracy of image collection, and affects subsequent diagnosis and treatment plans and treatment effects. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the related technologies, the present application provides a traction mechanism and an endoscope to solve the above-mentioned technical problems.

[0005] The present application provides a traction structure for an endoscope, the endoscope having an insertion portion, the insertion portion having an active bending segment, the traction structure comprising a first traction mechanism, a second traction mechanism and a driving mechanism, the first traction mechanism being connected to the distal end of the active bending segment and being used to drive the active bending segment to bend along a first radial direction, the second traction mechanism being connected to the distal end of the active bending segment and being used to drive the active bending segment to bend along a second radial direction, the driving mechanism transmission-connecting the first traction mechanism and the second traction mechanism, the driving mechanism being able to drive at least one of the first traction mechanism and the second traction mechanism to rotate the front end portion of the insertion portion along the circumferential direction of the proximal end of the active bending segment, wherein the first radial direction and the second radial direction are skewed or intersecting.

[0006] In one embodiment of the present application, the driving mechanism is connected to the first traction mechanism and the second traction mechanism respectively, and the driving mechanism can synchronize the rotation of the first traction mechanism and the second traction mechanism so that one of the bending angle of the insertion part in the first radial direction and the bending angle of the insertion part in the second direction increases and the other decreases.

[0007] In one embodiment of the present application, when the driving mechanism and the first traction mechanism are in a first transmission state, the first traction mechanism drives the insertion portion to bend toward the first side, and when the driving mechanism and the first traction mechanism are in a second transmission state, the first traction mechanism drives the insertion portion to bend toward the second side, and the first side and the second side are two opposite sides in a first radial direction; when the bending angle of the insertion portion in the second radial direction is zero degrees, the driving mechanism and the first traction mechanism switch from the first transmission state to the second transmission state, or, the driving mechanism and the first traction mechanism switch from the second transmission state to the first transmission state.

[0008] In one embodiment of the present application, when the driving mechanism and the second traction mechanism are in the third transmission state, the second traction mechanism drives the insertion portion to bend toward the third side, and when the driving mechanism and the second traction mechanism are in the fourth transmission state, the second traction mechanism drives the insertion portion to bend toward the fourth side, and the third side and the fourth side are opposite sides in the second radial direction; when the bending angle of the insertion portion in the first radial direction is zero degrees, the driving mechanism and the second traction mechanism switch from the third transmission state to the fourth transmission state, or the driving mechanism and the second traction mechanism switch from the fourth transmission state to the third transmission state.

[0009] In one embodiment of the present application, the driving mechanism includes a transmission assembly and a control assembly, the transmission assembly includes a transmission body, a first transmission member and a second transmission member, the first transmission member is transmission-connected to the first traction mechanism, the second transmission member is transmission-connected to the second traction mechanism, and the transmission body is transmission-connected to the first transmission member and the second transmission member; The control component is used to control the first transmission member to reversely drive the first traction mechanism when the bending angle of the insertion portion in the second radial direction is zero degrees, and to control the second transmission member to reversely drive the second traction mechanism when the bending angle of the insertion portion in the first radial direction is zero degrees.

[0010] In one embodiment of the present application, the first transmission member and the second transmission member both include a first transmission wheel and a second transmission wheel, the first traction mechanism and the second traction mechanism both include a traction wheel, and the second transmission wheel and the traction wheel are meshed; The first transmission wheel has a first position and a second position. When the first transmission wheel is in the first position, the first transmission wheel is engaged with the traction wheel and separated from the second transmission wheel. When the first transmission wheel is in the second position, the first transmission wheel is separated from the traction wheel and engaged with the second transmission wheel. The control component is used to control the first transmission wheel to switch between the first position and the second position.

[0011] In one embodiment of the present application, the control component includes a variable magnet, which is magnetically coupled to the first transmission wheel. The variable magnet is used to attract or repel the first transmission wheel so that the first transmission wheel is in the first position or the second position.

[0012] In one embodiment of the present application, the second transmission wheel includes a first tooth portion, a second tooth portion and a first groove, the first groove is arranged between the first tooth portion and the second tooth portion, the first tooth portion is meshed with the traction wheel, and a portion of the first groove is arranged corresponding to the traction wheel. When the first transmission wheel is in the first position, the first transmission wheel is meshed with the traction wheel and is arranged corresponding to the first groove. When the first transmission wheel is in the second position, the first transmission wheel is separated from the traction wheel and meshed with the second tooth portion. The first transmission wheel also has a third position. When the first transmission wheel is in the third position, the first transmission wheel is separated from the traction wheel, and the first transmission wheel is arranged corresponding to the first groove.

[0013] In one embodiment of the present application, the traction structure also includes an unlocking member, which includes a lever and an unlocking portion that are connected to each other. The lever is rotatably arranged relative to the driving mechanism. The unlocking portion has a first surface, which abuts against the first transmission wheel, and the first surface is inclined relative to the lever. When the lever rotates, the first surface can drive the first transmission wheel to switch the first transmission wheel between the first position and the third position.

[0014] In one embodiment of the present application, the traction structure further includes a prompt mechanism, which is electrically connected to the control component. When the first traction mechanism or the second traction mechanism switches directions three times in succession, the control component turns on the prompt mechanism.

[0015] In one embodiment of the present application, the driving mechanism includes a detection device, and the detection device is used to detect the relative position and rotation direction of the first traction mechanism and the second traction mechanism.

[0016] To achieve the above-mentioned purpose and other related purposes, the present application provides an endoscope, including the traction structure and insertion portion as described above, the insertion portion having an active bending section, and the distal end of the insertion portion is transmission-connected to a first traction mechanism and a second traction mechanism.

[0017] The technical solution adopted by the present invention can achieve the following beneficial effects: the first traction mechanism can drive the insertion part of the endoscope to rotate along the first radial direction, and the second traction mechanism can drive the insertion part to rotate along the second radial direction. The driving mechanism is connected to the first traction mechanism and the second traction mechanism so that the first traction mechanism and the second traction mechanism are linked, and the front end of the insertion part rotates circumferentially along the proximal end of the active bending section. Only one of the first traction mechanism, the second traction mechanism and the driving mechanism needs to be driven, and there is no need to adjust multiple traction mechanisms at the same time, so that the surround acquisition work of the camera module located at the far end of the insertion part can be realized, which solves the problems of omission, poor effect or repeated acquisition of image acquisition due to poor operation coordination between multiple traction mechanisms. This setting can improve the acquisition accuracy and shorten the time of image acquisition. In addition, this setting can also avoid the problem of directly rotating the part of the insertion part suitable for contacting the human body cavity, thereby damaging the human body cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1is a schematic structural diagram of an endoscope shown in an exemplary embodiment of the present application; Figure 2 is a structural schematic diagram of a traction structure shown in an exemplary embodiment of the present application; Figure 3 is a schematic structural diagram of an insertion portion shown in an exemplary embodiment of the present application; Figure 4 is a schematic structural diagram of an insertion portion in the renal pelvis shown in an exemplary embodiment of the present application; Figure 5 is a structural schematic diagram of a first transmission member and a traction wheel shown in an exemplary embodiment of the present application; Figure 6 is a schematic structural diagram of a first transmission member and a traction wheel from another perspective shown in an exemplary embodiment of the present application; Figure 7 is a schematic structural diagram of another first transmission member and a traction wheel shown in an exemplary embodiment of the present application; Figure 8 is a structural schematic diagram of another first transmission member and a traction wheel shown in an exemplary embodiment of the present application; Fig. 9 is a schematic structural diagram of an unlocking part shown in an exemplary embodiment of the present application; Fig.10 is a schematic structural diagram of a traction wheel and a detection device shown in an exemplary embodiment of the present application; Fig.11 It is a schematic diagram of the structure of an endoscope shown in an exemplary embodiment of the present application.

[0020] In the figure: 1, endoscope; 100, traction structure; 110, first traction mechanism; 120, second traction mechanism; 130, driving mechanism; 131, transmission assembly; 1311, transmission body; 1312, first transmission member; 1313, second transmission member; 1314, first transmission wheel; 1315, second transmission wheel; 1316, traction wheel; 132, control assembly; 1321, variable magnet; 1331, third tooth portion; 1332, fourth tooth portion; 133 3. second groove; 1334. first tooth portion; 1335. second tooth portion; 1336. first groove; 134. unlocking member; 1341. lever; 1342. unlocking portion; 1343. first surface; 1344. second surface; 1345. third surface; 1346. fourth surface; 136. detection device; 1361. metal sheet; 1362. electric shock device; 200. insertion portion; 210. active bending section; 220. front end portion; 300. operating portion. DETAILED DESCRIPTION

[0021] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0022] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0023] In each embodiment of the present application, "proximal end" and "distal end" refer to the position of each component relative to the user in the use environment, wherein the end closer to the user is designated as the "proximal end" and the end farther from the user is designated as the "distal end".

[0024] In practice, it has been found that the operation of collecting image information by endoscopy has problems such as omission or repeated collection, which increases the time of image collection, reduces the accuracy of image collection, and affects the subsequent diagnosis and treatment plan and treatment effect.

[0025] In the prior art, in order to improve the accuracy of image acquisition, medical personnel bend the endoscope and rotate the entire insertion part of the endoscope circumferentially at the same time, so that the camera module of the endoscope can collect images circumferentially. However, during the rotation process, the insertion part will rub against the human body cavity or sheath, which may cause wear of the human body cavity or sheath. In addition, medical personnel can only rotate the operating part of the endoscope circumferentially, and the rotation effect is difficult to be transmitted to the distal end of the insertion part. The accuracy of image acquisition is still not high, and the above-mentioned problems still exist.

[0026] This application provides a traction structure 100, see Figure 1 , the traction structure 100 can be used for the endoscope 1. Further, the endoscope 1 can include an operating part 300 and an insertion part 200, the proximal end of the insertion part 200 is connected to the operating part 300, and the traction structure 100 can be arranged in the operating part 300. The insertion part 200 has an active bending section 210, and the medical staff can control the active bending section 210 to bend, so that the distal end of the insertion part 200 can have different directions.

[0027] In one embodiment, a camera module may be provided at the distal end of the insertion portion 200, and the camera module can observe image information in front of the insertion portion 200. Medical staff can control the active bending section 210 to bend so that the camera module can observe image information in different directions. In addition, the insertion portion 200 has an instrument channel running through the opposite ends, and the treatment instrument can be inserted from the proximal end of the insertion portion 200 and extend to the distal end of the insertion portion 200. The treatment instrument includes but is not limited to biopsy forceps, laser devices, etc.

[0028] In this example, see Figure 2 The traction structure 100 may include a first traction mechanism 110 , a second traction mechanism 120 , and a driving mechanism 130 . The driving mechanism 130 may connect the first traction mechanism 110 and the second traction mechanism 120 .

[0029] The first traction mechanism 110 is connected to the distal end of the active bending section 210. Further, the traction rope of the first traction mechanism 110 can be connected to the distal end of the active bending section 210, and the connection method can be welding, bonding, snap connection, etc., which is not limited in this embodiment. The first traction mechanism 110 is used to drive the active bending section 210 to bend along the first radial direction. The second traction mechanism 120 is connected to the distal end of the active bending section 210. Further, the traction rope of the second traction mechanism 120 can be connected to the distal end of the active bending section 210, and the connection method can be welding, bonding, snap connection, etc., which is not limited in this embodiment. The second traction mechanism 120 is used to drive the active bending section 210 to bend along the second radial direction. Among them, the first radial direction and the second radial direction are not in the same plane or intersecting, in other words, the first radial direction and the second radial direction are not parallel or colinear. The first radial direction and the second radial direction are radial directions of the insertion portion 200. Exemplarily, when the first traction mechanism 110 and the second traction mechanism 120 work simultaneously or alternately, the first traction mechanism 110 and the second traction mechanism 120 can work in synergy. For example, the first radial direction is perpendicular to the second radial direction, and the first traction mechanism 110 and the second traction mechanism 120 simultaneously drive the active bending section 210, and the active bending section 210 faces a direction between the first radial direction and the second radial direction. In this way, the active bending section 210 can be bent at any angle, and then by adjusting the output of the two traction mechanisms, all-round bending can be achieved. This setting can improve the adaptability and operability of the endoscope 1, reduce the difficulty of operation, and improve the success rate of surgery, while also bringing less trauma and faster recovery time to patients.

[0030] In one embodiment, please refer to Figure 2, the first radial direction and the second radial direction intersect, and there is an angle between the first radial direction and the second radial direction, and the angle can be 30°, 60° or 90°, etc., which is not limited in this embodiment. Furthermore, the first radial direction and the second radial direction are perpendicular. The first traction mechanism 110 and the second traction mechanism 120 can act on the same position of the active bending segment 210, such as the distal end of the active bending segment 210, etc. The force directions of the first traction mechanism 110 and the second traction mechanism 120 on the active bending segment 210 are also perpendicular to each other. This setting can control the first traction mechanism 110 and the second traction mechanism 120 to evenly switch the direction of the active bending segment 210, avoid stress concentration in one of the first traction mechanism 110 and the second traction mechanism 120, and is beneficial to the uniform force of the traction structure 100.

[0031] Preferably, the traction structure 100 may further include a third traction mechanism and a fourth traction mechanism. The active bending section 210 may include a first section and a second section, and the proximal end of the first section is connected to the distal end of the second section. The first traction mechanism 110 and the second traction mechanism 120 are connected to the distal end of the first section and are used to control the distal end of the first section to rotate circumferentially along the distal end of the second section. The third traction mechanism and the fourth traction mechanism are connected to the distal end of the second section and are used to control the distal end of the second section to rotate along its own proximal end. This setting can improve the driving effect of the traction structure 100. The third traction mechanism and the fourth traction mechanism can drive the second section to bend to enter a more curved cavity, and the axis of the first section intersects the proximal end of the second section circumferentially. For example, the first section is inserted into the renal pelvis, and the second section is bent and arranged in the ureter. At this time, the first traction mechanism 110 and the second traction mechanism 120 can drive the distal end of the first section to rotate circumferentially along the distal end of the second section, and the distal end of the first section can rotate in all directions to collect image information of various positions of the renal pelvis.

[0032] In another embodiment, the first radial direction and the second radial direction are not in the same plane. In other words, the first radial direction and the second radial direction are not parallel or colinear, and are not on the same plane. In addition, the first traction mechanism 110 and the second traction mechanism 120 can drive the active bending section 210 to rotate at different positions. Exemplarily, the active bending section 210 includes a first section and a second section, and the proximal end of the first section is connected to the distal end of the second section. The first radial direction is located at the distal end of the first section, and the second radial direction is located at the distal end of the second section. The first traction mechanism 110 acts on the distal end of the first section, which can drive the first section and the second section to move together (or only control the movement of the first section), and the second traction mechanism 120 acts on the distal end of the second section, and the second traction mechanism 120 can drive the second section to move. This setting can improve the operability of the active bending section 210, and more different linkage forms can be achieved through the driving mechanism 130 to achieve all-round collection.

[0033] Please continue reading Figure 2The driving mechanism 130 is transmission-connected to the first traction mechanism 110 and the second traction mechanism 120, and the driving mechanism 130 can drive at least one of the first traction mechanism 110 and the second traction mechanism 120 to make the front end portion 220 of the insertion portion 200 rotate circumferentially along the proximal end of the active bending section 210. The front end portion 220 of the insertion portion 200 may be a portion at the distal end of the insertion portion 200, which may include a camera module, an instrument tube or a lighting module, etc. In one case, the active bending section 210 is connected to the proximal end of the front end portion 220. When the active bending section 210 is bent, the front end portion 220 can be oriented in different directions. This arrangement can realize the linkage between the first traction mechanism 110 and the second traction mechanism 120 through the driving mechanism 130. Figure 3 As shown, under the linkage of the first traction mechanism 110 and the second traction mechanism 120, the front end portion 220 can rotate in a circumferential direction. Medical staff only need to drive one of the first traction mechanism 110, the second traction mechanism 120 and the driving mechanism 130, without adjusting multiple traction mechanisms at the same time, so that the camera module located at the far end of the insertion portion 200 can be surrounded by the acquisition work, which solves the problems of omission, poor effect or repeated acquisition of image acquisition caused by poor operation coordination between multiple traction mechanisms.

[0034] In addition, the driving mechanism 130 still drives the front end portion 220 of the insertion portion 200 to rotate along the circumferential direction of the proximal end of the active bending section 210, and does not drive the insertion portion 200 to rotate as a whole, thereby avoiding friction between the portion of the insertion portion 200 that is suitable for contacting the human body cavity or sheath and the human body cavity, thereby damaging the human body cavity, etc. Moreover, this arrangement enables the first traction mechanism 110 and the second traction mechanism 120 to easily drive the active bending section 210, thereby avoiding the occurrence of poor transmission efficiency of the insertion portion 200, etc.

[0035] Understandably, please continue to refer to Figure 2 , under the driving action of the first traction mechanism 110 and the second traction mechanism 120, the bending angle of the insertion part 200 in the first radial direction and the second radial direction may increase or decrease at the same time. This will cause the insertion part 200 to bend significantly at one position and slightly at another position, and then the rotation path of the camera module is a circular path that fluctuates up and down, which makes the range of the camera module's acquisition path uncontrollable, and it is difficult for medical staff to know whether the camera module has captured a certain direction. In this embodiment, the driving mechanism 130 is respectively connected to the first traction mechanism 110 and the second traction mechanism 120, and the driving mechanism 130 can synchronize the rotation of the first traction mechanism 110 and the second traction mechanism 120, so that one of the bending angle of the insertion part 200 in the first radial direction and the bending angle of the insertion part 200 in the second direction increases, and the other decreases. Furthermore, as Figure 3As shown, the endoscope 1 collects image information in the cavity in all directions, and the rotation path of the camera module is roughly circular. Figure 4 , Figure 4 A schematic diagram of the structure of the insertion part in the renal pelvis is shown, and the acquisition range of the camera module is shown in area a, and the camera module can clearly acquire this part of the image. Furthermore, the plane in which this path is located is roughly perpendicular to the axis of the insertion part 200. After the front end 220 rotates at least one circle, the medical staff can control the axial movement of the insertion part 200 along the insertion part 200, that is, the insertion part 200 can be controlled by continuing to extend or pull out to switch the acquisition position of the camera module, and the next all-round acquisition of the camera module can be started. This setting can optimize the operation logic, simplify the operation steps, avoid missed acquisition or repeated acquisition, and improve the acquisition efficiency and accuracy.

[0036] In this embodiment, please refer to Figure 1 as well as Figure 2 When the driving mechanism 130 and the first traction mechanism 110 are in the first transmission state, the first traction mechanism 110 drives the insertion portion 200 to bend toward the first side, and when the driving mechanism 130 and the first traction mechanism 110 are in the second transmission state, the first traction mechanism 110 drives the insertion portion 200 to bend toward the second side, and the first side and the second side are two opposite sides in the first radial direction. In other words, under the drive of the driving mechanism 130, the rotation direction of the first traction mechanism 110 in the first transmission state and the second transmission state is different, that is, the rotation direction of the first traction mechanism 110 in the first transmission state is clockwise, and the rotation direction of the first traction mechanism 110 in the second transmission state is counterclockwise.

[0037] When the bending angle of the insertion portion 200 in the second radial direction is zero degrees, the driving mechanism 130 and the first traction mechanism 110 are switched from the first transmission state to the second transmission state, or the driving mechanism 130 and the first traction mechanism 110 are switched from the second transmission state to the first transmission state. When the bending angle of the insertion portion 200 in the second radial direction is zero degrees, the front end portion 220 is located in the second radial direction, the first traction mechanism 110 rotates to the maximum effective range, the transmission state of the driving mechanism 130 and the first traction mechanism 110 is changed, and the rotation direction of the first traction mechanism 110 is changed (e.g., clockwise rotation is switched to counterclockwise rotation).

[0038] Also, please refer to Figure 1 as well as Figure 2When the driving mechanism 130 and the second traction mechanism 120 are in the third transmission state, the second traction mechanism 120 drives the insertion portion 200 to bend toward the third side. When the driving mechanism 130 and the second traction mechanism 120 are in the fourth transmission state, the second traction mechanism 120 drives the insertion portion 200 to bend toward the fourth side. The third side and the fourth side are two opposite sides in the second radial direction. In other words, under the drive of the driving mechanism 130, the second traction mechanism 120 has different rotation directions in the first transmission state and the second transmission state, that is, the rotation direction of the second traction mechanism 120 in the third transmission state is clockwise, and the rotation direction of the second traction mechanism 120 in the fourth transmission state is counterclockwise.

[0039] When the bending angle of the insertion portion 200 in the first radial direction is zero degrees, the driving mechanism 130 and the second traction mechanism 120 are switched from the third transmission state to the fourth transmission state, or the driving mechanism 130 and the second traction mechanism 120 are switched from the fourth transmission state to the third transmission state. When the bending angle of the insertion portion 200 in the first radial direction is zero degrees, the front end portion 220 is located in the first radial direction, and the second traction mechanism 120 rotates to the maximum effective range, changing the transmission state of the driving mechanism 130 and the second traction mechanism 120, and changing the rotation direction of the second traction mechanism 120 (such as switching from clockwise rotation to counterclockwise rotation).

[0040] Therefore, when the first traction mechanism 110 and the second traction mechanism 120 are in the maximum effective range, the control component 132 can automatically control the first traction mechanism 110 and the second traction mechanism 120 to switch the rotation direction accordingly, ensuring that the front end portion 220 rotates circumferentially, avoiding a half-circle or a quarter-circle rotation of the front end portion 220 due to a rotation direction problem, so as to ensure that the camera module can collect image information in the cavity in all directions.

[0041] In this example, see Figure 2 The driving mechanism 130 may include a transmission component 131 and a control component 132. The control component 132 is connected to the transmission component 131 in a transmission manner. The control component 132 is used to control the transmission component 131 so as to change the rotation direction and rotation posture of the first traction mechanism 110 and the second traction mechanism 120 through the transmission component 131. Further, the control component 132 can detect the posture of the first traction mechanism 110 and the second traction mechanism 120, and can also detect the relative posture of the front end portion 220 of the insertion portion 200. The control component 132 controls the transmission component 131 through the relative posture, so as to drive the front end portion 220 of the insertion portion 200 to rotate along the circumferential direction of the proximal end of the active bending section 210 through the first traction mechanism 110 and the second traction mechanism 120, thereby reducing the operation steps of the medical staff themselves.

[0042] In one embodiment, please refer to Figure 2 The transmission assembly 131 may include a transmission body 1311, a first transmission member 1312 and a second transmission member 1313, wherein the first transmission member 1312 is transmission-connected to the first traction mechanism 110, the second transmission member 1313 is transmission-connected to the second traction mechanism 120, and the transmission body 1311 is transmission-connected to the first transmission member 1312 and the second transmission member 1313. The transmission body 1311 can link the first transmission member 1312 and the second transmission member 1313, thereby promoting the linkage of the first transmission member 1312 and the second transmission member 1313. Furthermore, the medical staff can drive any one of the transmission body 1311, the first traction mechanism 110 and the second traction mechanism 120, and the control assembly 132 can automatically change the motion conditions of the remaining two, such as direction, posture, etc. This setting does not require adjusting multiple traction mechanisms at the same time, that is, it can realize the surround acquisition work of the camera module located at the far end of the insertion part 200, which solves the problem of poor operation coordination between multiple traction mechanisms.

[0043] Understandably, please continue to refer to Figure 2 , the medical staff drives one of the first traction mechanism 110 and the second traction mechanism 120, and rotates to the maximum range in the first radial direction or the second radial direction, and the medical staff drives in reverse, such as the driving direction can be switched from clockwise to counterclockwise. At this moment, the traction mechanism can issue a prompt to facilitate the medical staff to drive in reverse. Alternatively, the medical staff drives the transmission body 1311 to rotate in one direction (such as counterclockwise or clockwise), and the control component 132 can automatically control the reversal of the first traction mechanism 110 and the second traction mechanism 120. Therefore, the medical staff can directly rotate the transmission body 1311 to a preset number of circles, that is, the all-round image acquisition operation of the camera module can be completed, which simplifies the operation steps of the transmission body 1311 and improves the acquisition efficiency of the camera module.

[0044] To facilitate the subsequent description, the medical staff driving the transmission body 1311 to rotate is used as an example for description, and the situation where the medical staff drives one of the first traction mechanism 110 and the second traction mechanism 120 is not repeated.

[0045] In addition, the transmission body 1311 can be configured as an electric drive member, such as a drive motor. Medical staff can turn on the transmission body 1311, and the transmission body 1311 can automatically drive the first transmission member 1312 and the second transmission member 1313, and the drive assembly can automatically control the rotation direction and position of the first transmission member 1312 and the second transmission member 1313. In addition, in order to calibrate the acquisition path of the camera module, the rotation speed of the transmission body 1311 can be configured to be not a constant speed, nor a non-linear distribution as the bending angle of the active bending section 210 changes. In other words, in the case where the rotation angular velocity of the front end 220 is constant, the rotation path of the front end 220 is roughly circular, and the rotation speed of the first traction mechanism 110 or the second traction mechanism 120 decreases or increases at a constant acceleration value. When the affected part appears within the field of view of the camera module, the transmission body 1311 can slow down the rotation speed so that the camera module can clearly capture the situation of the affected part, which can optimize the effect of the traction structure 100.

[0046] In some other cases, the transmission body 1311 is provided with a damper (not shown), which can slow down the rotation speed of the transmission body 1311 so that the front end 220 has a smoother and safer rotation effect, avoiding the reduction of the image effect captured by the camera module due to excessive rotation speed.

[0047] Further, the control component 132 is used to control the first transmission member 1312 to reversely drive the first traction mechanism 110 when the bending angle of the insertion portion 200 in the second radial direction is zero degrees, and to control the second transmission member 1313 to reversely drive the second traction mechanism 120 when the bending angle of the insertion portion 200 in the first radial direction is zero degrees. It can be understood that one of the bending angles of the insertion portion 200 in the first radial direction and the bending angle of the insertion portion 200 in the second direction increases, and the other decreases. Therefore, when the bending angle of the insertion portion 200 in the second radial direction is zero degrees, the first traction mechanism 110 rotates to the maximum effective range, and when the bending angle of the insertion portion 200 in the first radial direction is zero degrees, the second traction mechanism 120 rotates to the maximum effective range. Therefore, when the first traction mechanism 110 and the second traction mechanism 120 are in the maximum effective range, the control component 132 can automatically control the first traction mechanism 110 and the second traction mechanism 120 to switch the rotation direction accordingly to ensure that the camera module can collect image information in the cavity in all directions.

[0048] In this embodiment, please refer to Figure 2 as well as Figure 5, the first transmission member 1312 and the second transmission member 1313 both include a first transmission wheel 1314 and a second transmission wheel 1315, and the first traction mechanism 110 and the second traction mechanism 120 both include a traction wheel 1316. For the convenience of description, the following content is introduced by taking the example that the first transmission member 1312 can include the first transmission wheel 1314 and the second transmission wheel 1315, and the first traction mechanism 110 can include the traction wheel 1316. The second transmission member 1313 and the second traction mechanism 120 can also be configured accordingly, which will not be described in detail in this embodiment.

[0049] The first transmission wheel 1314, the second transmission wheel 1315 and the traction wheel 1316 can all be gears or other structures with teeth, etc. Among them, the gears can be bevel gears, spur gears, etc., and the types of gears are not limited.

[0050] Please also read Figure 6 as well as Figure 7 The first transmission wheel 1314 has a first position and a second position. Further, the first transmission wheel 1314 can be arranged on the rod. The first transmission wheel 1314 can be movably arranged relative to the rod. The first position and the second position are two different positions on the rod. Figure 6 As shown, when the first transmission wheel 1314 is in the first position, the first transmission wheel 1314 is meshed with the traction wheel 1316 and is separated from the second transmission wheel 1315. The first transmission wheel 1314 is directly meshed with the traction wheel 1316, and the rotation directions of the first transmission wheel 1314 and the traction wheel 1316 are opposite, that is, the first transmission wheel 1314 rotates clockwise and the traction wheel 1316 rotates counterclockwise. Figure 7 As shown, when the first transmission wheel 1314 is in the second position, the first transmission wheel 1314 is separated from the traction wheel 1316 and meshed with the second transmission wheel 1315. Figure 6 In the L2 direction, the first transmission wheel 1314 moves from the first position to the second position. Specifically, the first transmission wheel 1314 drives the second transmission wheel 1315 to rotate, and then transmits the transmission to the traction wheel 1316 via the second transmission wheel 1315. During the transmission process, the transmission direction is changed twice, so that the rotation directions of the first transmission wheel 1314 and the traction wheel 1316 are the same, that is, when the first transmission wheel 1314 rotates clockwise, the traction wheel 1316 also rotates clockwise. At this time, the separation of the first transmission wheel 1314 and the traction wheel 1316 can also prevent the first transmission wheel 1314 and the second transmission wheel 1315 from acting on the traction wheel 1316 in two opposite directions at the same time, thereby improving the safety of the traction structure 100.

[0051] The control component 132 is used to control the first transmission wheel 1314 to switch between the first position and the second position. During the switching of the first transmission wheel 1314 between the first position and the second position, the control component 132 also switches the rotation direction of the first traction mechanism 110, such as switching from counterclockwise rotation to clockwise rotation, thereby realizing the linkage between the first traction mechanism 110 and the second traction mechanism 120.

[0052] For example, see Figure 6 The second transmission wheel 1315 may include a first tooth portion 1334, a second tooth portion 1335, and a first groove 1336. The first groove 1336 is disposed between the first tooth portion 1334 and the second tooth portion 1335, that is, the first tooth portion 1334 and the second tooth portion 1335 are disposed at intervals. The first tooth portion 1334 is meshed with the traction wheel 1316, and a portion of the first groove 1336 is disposed correspondingly to the traction wheel 1316. When the first transmission wheel 1314 is in the first position, the first transmission wheel 1314 is meshed with the traction wheel 1316 and is disposed correspondingly to the first groove 1336. When the first transmission wheel 1314 is in the second position, the first transmission wheel 1314 is separated from the traction wheel 1316 and meshed with the second tooth portion 1335.

[0053] like Figure 8 As shown, the first transmission wheel 1314 also has a third position, which is another position on the rod that is different from the first position and the second position. The third position may be between the first position and the second position. When the first transmission wheel 1314 is in the third position, the first transmission wheel 1314 is separated from the traction wheel 1316, and the first transmission wheel 1314 is correspondingly arranged with the first groove 1336. For example, please refer to Figure 6-Figure 8 ,along Figure 6 In the L2 direction, the first transmission wheel 1314 moves from the first position to the third position. Figure 6 In the L1 direction, the first transmission wheel 1314 moves from the second position to the third position. At this time, the first transmission wheel 1314 of at least one of the first traction mechanism 110 and the second traction mechanism 120 is not engaged with the corresponding second transmission wheel 1315 and the traction wheel 1316, and the linkage between the first traction mechanism 110 and the second traction mechanism 120 is released. Medical staff can drive the first traction mechanism 110 and the second traction mechanism 120 respectively to realize the rotation of the insertion part 200 in a single direction (the first radial direction or the second radial direction).

[0054] Please continue reading Figure 5, the traction wheel 1316 has a third tooth portion 1331, a fourth tooth portion 1332 and a second groove 1333, the second groove 1333 is arranged between the third tooth portion 1331 and the fourth tooth portion 1332, that is, the third tooth portion 1331 and the fourth tooth portion 1332 are arranged at intervals, and the second groove 1333 is between the third tooth portion 1331 and the fourth tooth portion 1332. The second groove 1333 is arranged corresponding to a part of the first groove 1336 and the second tooth portion 1335. Among them, the third position can be at a position corresponding to the first groove 1336 and the second groove 1333. When the first transmission wheel 1314 is in the second position, the first transmission wheel 1314 is arranged corresponding to the second groove 1333 of the traction wheel 1316 and meshes with the second tooth portion 1335. The fourth tooth portion 1332 can engage with part of the second gear. When the first transmission wheel 1314 is in the second position, the fourth tooth portion 1332 does not directly engage with the first transmission wheel 1314. The fourth tooth portion 1332 increases the contact area between the traction wheel 1316 and the second transmission wheel 1315 to improve the safety and driving effect of the traction structure 100.

[0055] In one embodiment, please refer to Figure 2 , the control component 132 may include a variable magnet 1321, which may be an electromagnet, etc., and the variable magnet 1321 is magnetically coupled with the first transmission wheel 1314. When the direction of the current in the variable magnet 1321 changes, the direction of the magnetic field of the variable magnet 1321 will also change accordingly. The variable magnet 1321 is used to adsorb or repel the first transmission wheel 1314, so that the first transmission wheel 1314 is in the first position or the second position. When the variable magnet 1321 adsorbs the first transmission wheel 1314, the variable magnet 1321 can adsorb the first transmission wheel 1314 to the first position. On the contrary, when the variable magnet 1321 repels the first transmission wheel 1314, the first transmission wheel 1314 will be pushed to the second position, and the rotation direction of the traction wheel 1316 will change. This setting can realize the rapid switching of the position of the first transmission wheel 1314 by changing the power-on state of the variable magnet 1321, thereby controlling the rotation direction of the traction wheel 1316. This control method responds quickly and has high accuracy and reliability.

[0056] In some other cases, there are two states of magnetic coupling or decoupling between the variable magnet 1321 and the first transmission wheel 1314. Exemplarily, the first transmission wheel 1314 is in the second position. When the variable magnet 1321 is powered on, the variable magnet 1321 is magnetically coupled with the first transmission wheel 1314, and the variable magnet 1321 can adsorb the first transmission wheel 1314 to the first position. When the variable magnet 1321 is powered off, the magnetic coupling between the variable magnet 1321 and the first transmission wheel 1314 is decoupled, and the first transmission wheel 1314 moves under the action of its own gravity, so that the first transmission wheel 1314 moves to the second position, which will not be described in detail here.

[0057] In this example, please refer to Figure 2 The traction structure 100 may further include an unlocking member 134, which includes a lever 1341 and an unlocking portion 1342 connected to each other. The lever 1341 is rotatably arranged relative to the driving mechanism 130, and the unlocking portion 1342 has a first surface 1343, the first surface 1343 abuts against the first transmission wheel 1314, and the first surface 1343 is tilted relative to the lever 1341. When the lever 1341 rotates, the first surface 1343 can drive the first transmission wheel 1314 to switch the first transmission wheel 1314 between the first position and the third position. The lever 1341 can be moved by medical staff to change the relative position of the first transmission wheel 1314, so as to release or start the linkage between the first traction mechanism 110 and the second traction mechanism 120, thereby enriching the driving effect of the traction structure 100.

[0058] Also, see Fig. 9 The unlocking portion 1342 has a second surface 1344 and a third surface 1345. Both the second surface 1344 and the third surface 1345 can be planes and are perpendicular to the axis of the lever 1341. The second surface 1344 and the third surface 1345 are arranged at opposite ends of the first surface 1343. When the first transmission wheel 1314 abuts against the second surface 1344, the first transmission wheel 1314 is in the first position. When the first transmission wheel 1314 abuts against the third surface 1345, the first transmission wheel 1314 is in the third position. The second surface 1344 and the third surface 1345 can make the action direction of the first transmission wheel 1314 on the unlocking portion 1342 (such as the gravity of the first transmission wheel 1314) be in the same direction as the axis of the lever 1341, so that the unlocking member 134 can be self-locked to prevent the unlocking member 134 from rotating by itself.

[0059] See also Fig. 9The unlocking portion 1342 further has a fourth surface 1346, which is arranged corresponding to the first surface 1343, and the first transmission wheel 1314 is located between the first surface 1343 and the second surface 1344. The fourth surface 1346 can limit the range of movement of the first transmission wheel 1314, prevent the first transmission wheel 1314 from moving to a higher position or other positions, and improve the reliability of the first transmission wheel 1314.

[0060] In this example, see Figure 1 The traction structure 100 may also include a prompting mechanism (not shown), which includes but is not limited to a buzzer, a speaker, a prompting light or a vibration motor, etc. The prompting mechanism can prompt the medical staff by sound, light, vibration or a combination of the above, and the present embodiment does not limit the type and prompting method of the prompting mechanism. The prompting mechanism is electrically connected to the control component 132, and the control component 132 can control the prompting mechanism so that the prompting mechanism can issue a prompt under specified circumstances.

[0061] In one embodiment, when the first traction mechanism 110 or the second traction mechanism 120 switches direction three times in a row, the control component 132 turns on the prompt mechanism. It is understandable that in the process of controlling the front end 220 of the insertion part 200 to rotate one circle, the first traction mechanism 110 and the second traction mechanism 120 switch directions at least twice. When the drive mechanism 130 is turned on, the bending angle of the insertion part 200 in the first radial direction and / or the second radial direction is not zero, and the first traction mechanism 110 or the second traction mechanism 120 switches directions twice, but the camera module may still have a certain blind spot. However, when one of them switches directions three times in a row, this can indicate that the front end 220 rotates at least one circle, eliminating the blind spot of the camera module. At the same time, the prompt mechanism issues a prompt, and the medical staff can know that the front end 220 rotates at least one circle, and the medical staff can control the insertion part 200 to switch the acquisition position and start the next all-round acquisition of the camera module.

[0062] In this example, see Figure 2 as well as Fig.10, the driving mechanism 130 may include a detection device 136, and the detection device 136 may be an encoder or a position sensor, etc., which is not limited in this embodiment. Exemplarily, for the convenience of description, the following content is described by taking the first traction mechanism 110 as an example. The first traction mechanism 110 is provided with at least two metal sheets 1361 arranged side by side. At least two metal sheets 1361 are displaced from each other. The traction structure 100 is fixedly provided with two electric shock devices 1362, and the electric shock devices 1362 and the metal sheets 1361 are arranged in a one-to-one correspondence. When the metal sheet 1361 passes through the electric shock device 1362, the electric shock device 1362 can be turned on to ensure that the first traction mechanism 110 rotates. At the same time, by comparing the time relationship between the power-on sequence of the combination of the two electric shock devices 1362 and the metal sheet 1361, it is possible to obtain the rotation direction of the first traction mechanism 110. Similarly, the second traction mechanism 120 can also be configured with the detection device 136. The detection device 136 is used to detect the relative position and rotation direction of the first traction mechanism 110 and the second traction mechanism 120. The first traction mechanism 110 and the second traction mechanism 120 are connected to the active bending section 210 through their respective transmission mechanisms to drive them to bend. The setting of the detection device 136 can prevent the first traction mechanism 110 and the second traction mechanism 120 from excessive rotation. When the detection device 136 detects excessive rotation, the control component 132 can control the prompt mechanism to issue a prompt to prevent medical staff from erroneously operating the traction structure 100 and improve the safety of the traction structure 100.

[0063] In addition, the detection device 136 can obtain the position information of the first traction mechanism 110 and the second traction mechanism 120 in real time. For example, when the driving mechanism 130 is turned on, the detection device 136 can determine the initial position of the first traction mechanism 110 and the second traction mechanism 120, and the driving mechanism 130 can react faster and adjust the motion state of the first traction mechanism 110 and the second traction mechanism 120, thereby achieving more precise control of the active bending section 210.

[0064] In this embodiment, the drive mechanism 130 may further include a processor and a memory, and the processor is electrically connected to the memory. Among them, the memory stores computer program instructions. Exemplarily, the processor can be electrically connected to the variable magnet 1321, and control the direction or magnitude of the magnetic field of the variable magnet 1321. This setting can make the various parts of the drive mechanism 130 work according to the instructions, control the first traction mechanism 110 and the second traction mechanism 120 to be linked to each other, and realize the camera module of the insertion part 200 to perform a surround acquisition operation. The processor can also be electrically connected to the prompt mechanism, etc., which will not be repeated here.

[0065] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the entire battery management system, and executes various functions and processes data of the battery management system by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to handle wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor, but may be implemented separately through a communication chip.

[0066] The memory may include a random access memory (RAM) or a read-only memory (ROM). The memory may be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, etc.), instructions for implementing the following various method examples, etc. The data storage area may also store data created by the traction structure 100 during use, etc.

[0067] To achieve the above-mentioned and other related purposes, the present application provides an endoscope 1, see Fig.11 The endoscope 1 may include the aforementioned traction structure 100 and an insertion portion 200, wherein the insertion portion 200 has an active bending section 210, and the distal end of the insertion portion 200 is connected to the first traction mechanism 110 and the second traction mechanism 120. In this way, the endoscope 1 has the beneficial effects of any of the aforementioned solutions, which will not be described in detail here. In another case, the endoscope 1 may also include an operating portion 300, and the traction structure 100 is disposed in the operating portion 300 for medical personnel to operate.

[0068] The endoscope 1 may be a bronchoscope, a pyeloscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a rhinoscope, a stomatoscope, a laryngoscope, a colposcope, a laparoscope, an arthroscope, etc. The embodiment of the present application does not impose any specific restrictions on the type of the endoscope 1.

[0069] The technical solution adopted by the present invention can achieve the following beneficial effects: the first traction mechanism 110 can drive the insertion part 200 of the endoscope 1 to rotate along the first radial direction, and the second traction mechanism 120 can drive the insertion part 200 to rotate along the second radial direction. The driving mechanism 130 is connected by transmission to the first traction mechanism 110 and the second traction mechanism 120, so that the first traction mechanism 110 and the second traction mechanism 120 are linked, and the front end 220 of the insertion part 200 rotates along the circumferential direction of the proximal end of the active bending section 210. Only one of the first traction mechanism 110, the second traction mechanism 120 and the driving mechanism 130 needs to be driven, and there is no need to adjust multiple traction mechanisms at the same time, that is, the surround acquisition work of the camera module located at the far end of the insertion part 200 can be realized, which solves the problems of omission, poor effect or repeated acquisition of image acquisition due to poor operation cooperation between multiple traction mechanisms. This setting can improve the acquisition accuracy and shorten the time of image acquisition. In addition, this setting can also avoid directly rotating the part of the insertion part 200 that is suitable for contacting the human body cavity, and damaging the human body cavity.

[0070] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0071] In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0072] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A traction structure for an endoscope, wherein the endoscope has an insertion portion, and the insertion portion has an active bending section, characterized in that: The traction structure comprises: a first traction mechanism, the first traction mechanism being connected to the distal end of the active bending segment and being used for driving the active bending segment to bend along a first radial direction; a second traction mechanism, the second traction mechanism being connected to the distal end of the active bending segment and used for driving the active bending segment to bend along a second radial direction; and A driving mechanism, the driving mechanism is transmission-connected to the first traction mechanism and the second traction mechanism, and the driving mechanism can drive at least one of the first traction mechanism and the second traction mechanism to rotate the front end portion of the insertion portion along the circumferential direction of the proximal end of the active bending section; Wherein, the first radial direction and the second radial direction are not in the same plane or intersect with each other.

2. The traction structure according to claim 1, characterized in that: The driving mechanism is connected to the first traction mechanism and the second traction mechanism respectively, and the driving mechanism can synchronize the rotation of the first traction mechanism and the second traction mechanism to increase one of the bending angle of the insertion portion in the first radial direction and the bending angle of the insertion portion in the second direction, and reduce the other.

3. The traction structure according to claim 2, characterized in that: When the driving mechanism and the first traction mechanism are in a first transmission state, the first traction mechanism drives the insertion portion to bend toward a first side; when the driving mechanism and the first traction mechanism are in a second transmission state, the first traction mechanism drives the insertion portion to bend toward a second side, and the first side and the second side are two sides opposite to each other in the first radial direction; when the bending angle of the insertion portion in the second radial direction is zero degree, the driving mechanism and the first traction mechanism switch from the first transmission state to the second transmission state, or the driving mechanism and the first traction mechanism switch from the second transmission state to the first transmission state; And / or, when the driving mechanism and the second traction mechanism are in the third transmission state, the second traction mechanism drives the insertion portion to bend toward the third side; when the driving mechanism and the second traction mechanism are in the fourth transmission state, the second traction mechanism drives the insertion portion to bend toward the fourth side, and the third side and the fourth side are opposite sides in the second radial direction; when the bending angle of the insertion portion in the first radial direction is zero degree, the driving mechanism and the second traction mechanism switch from the third transmission state to the fourth transmission state, or the driving mechanism and the second traction mechanism switch from the fourth transmission state to the third transmission state.

4. The traction structure according to claim 2 or 3, characterized in that: The driving mechanism includes a transmission assembly and a control assembly, the transmission assembly includes a transmission body, a first transmission member and a second transmission member, the first transmission member is transmission-connected to the first traction mechanism, the second transmission member is transmission-connected to the second traction mechanism, and the transmission body is transmission-connected to the first transmission member and the second transmission member; The control component is used to control the first transmission member to reversely drive the first traction mechanism when the bending angle of the insertion portion in the second radial direction is zero degree, and to control the second transmission member to reversely drive the second traction mechanism when the bending angle of the insertion portion in the first radial direction is zero degree.

5. The traction structure according to claim 4, characterized in that: The first transmission member and the second transmission member both include a first transmission wheel and a second transmission wheel, the first traction mechanism and the second traction mechanism both include a traction wheel, and the second transmission wheel is meshed with the traction wheel; The first transmission wheel has a first position and a second position. When the first transmission wheel is in the first position, the first transmission wheel is engaged with the traction wheel and separated from the second transmission wheel. When the first transmission wheel is in the second position, the first transmission wheel is separated from the traction wheel and engaged with the second transmission wheel. The control component is used to control the first transmission wheel to switch between the first position and the second position.

6. The traction structure according to claim 5, characterized in that: The control assembly includes a variable magnet, the variable magnet is magnetically coupled to the first transmission wheel, and the variable magnet is used to attract or repel the first transmission wheel so that the first transmission wheel is in the first position or the second position; And / or, the second transmission wheel includes a first tooth portion, a second tooth portion and a first groove, the first groove is arranged between the first tooth portion and the second tooth portion, the first tooth portion is meshed with the traction wheel, a part of the first groove is arranged corresponding to the traction wheel, when the first transmission wheel is in the first position, the first transmission wheel is meshed with the traction wheel and is arranged corresponding to the first groove, when the first transmission wheel is in the second position, the first transmission wheel is separated from the traction wheel and meshed with the second tooth portion, the first transmission wheel also has a third position, when the first transmission wheel is in the third position, the first transmission wheel is separated from the traction wheel, and the first transmission wheel is arranged corresponding to the first groove.

7. The traction structure according to claim 6, characterized in that: The traction structure also includes an unlocking member, which includes a lever and an unlocking portion that are connected to each other. The lever is rotatably arranged relative to the driving mechanism. The unlocking portion has a first surface, which abuts against the first transmission wheel and is tilted relative to the lever. When the lever rotates, the first surface can drive the first transmission wheel to switch the first transmission wheel between the first position and the third position.

8. The traction structure according to claim 4, characterized in that: The traction structure further includes a prompt mechanism, which is electrically connected to the control component. When the first traction mechanism or the second traction mechanism switches directions three times in succession, the control component turns on the prompt mechanism.

9. The traction structure according to claim 1, characterized in that: The driving mechanism comprises a detection device, and the detection device is used to detect the relative position and rotation direction of the first traction mechanism and the second traction mechanism.

10. An endoscope, characterized in that: include: The traction structure according to any one of claims 1 to 9; as well as, The insertion part has an active bending section, and the distal end of the insertion part is transmission-connected to the first traction mechanism and the second traction mechanism.

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