A traction mechanism and an endoscope

Abstract

The present invention discloses a traction mechanism and an endoscope, which relate to the technical field of medical devices. The endoscope has an insertion portion, and the insertion portion has an active bending section. The traction structure includes a first traction mechanism, a second traction mechanism and a driving mechanism. The first traction mechanism is connected to the distal end of the active bending section, and the second traction mechanism is connected to the distal end of the active bending section. The driving mechanism is transmission-connected to the first traction mechanism and the second traction mechanism. The driving mechanism is transmission-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 portion 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 to realize the surround acquisition of the camera module located at the distal end of the insertion portion, which solves the problems of omission, poor effect or repeated acquisition of image acquisition due to poor operation coordination between multiple traction mechanisms.

Description

Technical Field

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

[0002] An endoscope is a commonly used medical device, which is an inspection device that can directly enter the natural cavity of the human body and can provide sufficient diagnostic information for doctors to treat diseases. In actual operation, a doctor manually controls the front-end component of the insertion part of the endoscope to rotate around, so that the endoscope can collect image information of the cavity in all directions, thereby obtaining the condition of the affected area at each position in the cavity.

[0003] However, it is found in practice that there are problems such as missing or repeated image acquisition in the operation of collecting image information, which increases the time of image acquisition, reduces the accuracy of image acquisition, and affects the subsequent diagnosis and treatment plan as well as the treatment effect. Summary of the Invention

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

[0005] The present application provides a traction structure for an endoscope. The endoscope has an insertion part, and the insertion part has an active bending section. The traction structure includes a first traction mechanism, a second traction mechanism, and a driving mechanism. The first traction mechanism is connected to the distal end of the active bending section and is used to drive the active bending section to bend along a first radial direction. The second traction mechanism is connected to the distal end of the active bending section and is used to drive the active bending section to bend along a second radial direction. The driving mechanism is in transmission connection with 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, so that the front end of the insertion part rotates circumferentially along the proximal end of the active bending section, wherein the first radial direction and the second radial direction are skew or intersecting.

[0006] In an embodiment of the present application, the driving mechanism is respectively connected to the first traction mechanism and the second traction mechanism, and the driving mechanism can synchronously rotate 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 an 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 part to bend towards the first side. When the driving mechanism and the first traction mechanism are in a second transmission state, the first traction mechanism drives the insertion part to bend towards the second side. The first side and the second side are two opposite sides in the first radial direction; when the bending angle of the insertion part in the second radial direction is zero degree, the driving mechanism and the first traction mechanism are switched from the first transmission state to the second transmission state, or the driving mechanism and the first traction mechanism are switched from the second transmission state to the first transmission state.

[0008] In an 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 part to bend towards 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 part to bend towards the fourth side. The third side and the fourth side are two opposite sides in the second radial direction; when the bending angle of the insertion part 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.

[0009] In an embodiment of the present application, the driving mechanism includes a transmission assembly and a control assembly. The transmission assembly includes a transmission main body, a first transmission member, and a second transmission member. The first transmission member is drivingly connected to the first traction mechanism, the second transmission member is drivingly connected to the second traction mechanism, and the transmission main body is drivingly connected to the first transmission member and the second transmission member;

[0010] The control assembly is configured to control the first transmission member to reversely drive the first traction mechanism when the bending angle of the insertion part in the second radial direction is zero degree, and control the second transmission member to reversely drive the second traction mechanism when the bending angle of the insertion part in the first radial direction is zero degree.

[0011] In an embodiment of the present application, both the first transmission member and the second transmission member include a first transmission wheel and a second transmission wheel. Both the first traction mechanism and the second traction mechanism include a traction wheel, and the second transmission wheel meshes with the traction wheel;

[0012] 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 meshes with the traction wheel and is 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 meshes with the second transmission wheel. The control assembly is configured to control the first transmission wheel to switch between the first position and the second position.

[0013] In an embodiment of the present application, the control assembly includes a variable magnet. The variable magnet is magnetically coupled to the first transmission wheel, and the variable magnet is configured to adsorb or repel the first transmission wheel so that the first transmission wheel is in the first position or the second position.

[0014] In an 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 disposed between the first tooth portion and the second tooth portion. The first tooth portion meshes with the traction wheel, and a part of the first groove is correspondingly disposed with the traction wheel. When the first transmission wheel is in the first position, the first transmission wheel meshes with the traction wheel and is correspondingly disposed with the first groove. When the first transmission wheel is in the second position, the first transmission wheel is separated from the traction wheel and meshes with the second tooth portion. The first transmission wheel further 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 at the same time, the first transmission wheel is correspondingly disposed with the first groove.

[0015] In an embodiment of the present application, the traction structure further includes an unlocking member. The unlocking member includes a lever and an unlocking portion connected to each other. The lever is rotatably disposed relative to the driving mechanism. The unlocking portion has a first surface. The first surface 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 so that the first transmission wheel switches between the first position and the third position.

[0016] In an embodiment of the present application, the traction structure further includes a prompting mechanism. The prompting mechanism is electrically connected to the control component. When the first traction mechanism or the second traction mechanism switches directions continuously three times, the control component activates the prompting mechanism.

[0017] In an embodiment of the present application, the driving mechanism includes a detection device. The detection device is used to detect the relative positions and rotation directions of the first traction mechanism and the second traction mechanism.

[0018] To achieve the above and other related objectives, the present application provides an endoscope, including the traction structure as described above and an insertion portion. The insertion portion has an active bending section. The distal end of the insertion portion is drivingly connected to the first traction mechanism and the second traction mechanism.

[0019] The technical solution adopted by the present invention can achieve the following beneficial effects: The first traction mechanism can drive the insertion portion of the endoscope to rotate along the first radial direction, and the second traction mechanism can drive the insertion portion to rotate along the second radial direction. The driving mechanism is drivingly 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 portion of the insertion portion rotates circumferentially along the proximal end of the active bending section. By only driving one of the first traction mechanism, the second traction mechanism, and the driving mechanism, without simultaneously adjusting multiple traction mechanisms, the circumferential acquisition work of the imaging module located at the distal end of the insertion portion can be realized, solving problems such as omission or poor effect or repeated acquisition of image acquisition due to poor operation and cooperation between multiple traction mechanisms. This setting can improve the acquisition accuracy and shorten the time for image acquisition. In addition, this setting can also avoid problems such as damaging the human body cavity by directly rotating the part of the insertion portion suitable for contacting the human body cavity. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0021] Figure 1 It is a schematic structural diagram of an endoscope shown in an exemplary embodiment of the present application;

[0022] Figure 2 It is a schematic structural diagram of a traction structure shown in an exemplary embodiment of the present application;

[0023] Figure 3 It is a schematic structural diagram of an insertion portion shown in an exemplary embodiment of the present application;

[0024] Figure 4 It is a schematic structural diagram of the insertion portion located in the renal pelvis shown in an exemplary embodiment of the present application;

[0025] Figure 5 It is a schematic structural diagram of a first transmission member and a traction wheel shown in an exemplary embodiment of the present application;

[0026] Figure 6 It is a schematic structural diagram of the first transmission member and the traction wheel from another perspective shown in an exemplary embodiment of the present application;

[0027] Figure 7 It is a schematic structural diagram of another type of first transmission member and traction wheel shown in an exemplary embodiment of the present application;

[0028] Figure 8 It is a schematic structural diagram of yet another type of first transmission member and traction wheel shown in an exemplary embodiment of the present application;

[0029] Figure 9 It is a schematic structural diagram of an unlocking portion shown in an exemplary embodiment of the present application;

[0030] Figure 10 It is a schematic structural diagram of a traction wheel and a detection device shown in an exemplary embodiment of the present application;

[0031] Figure 11 It is a schematic structural diagram of an endoscope shown in an exemplary embodiment of the present application.

[0032] In the figure: 1. Endoscope; 100. Traction structure; 110. First traction mechanism; 120. Second traction mechanism; 130. Driving mechanism; 131. Transmission component; 1311. Transmission main body; 1312. First transmission part; 1313. Second transmission part; 1314. First transmission wheel; 1315. Second transmission wheel; 1316. Traction wheel; 132. Control component; 1321. Variable magnet; 1331. Third tooth part; 1332. Fourth tooth part; 1333. Second groove; 1334. First tooth part; 1335. Second tooth part; 1336. First groove; 134. Unlocking part; 1341. Lever; 1342. Unlocking portion; 1343. First surface; 1344. Second surface; 1345. Third surface; 1346. Fourth surface; 136. Detection device; 1361. Metal sheet; 1362. Contact device; 200. Insertion part; 210. Active bending section; 220. Front end part; 300. Operation part. Detailed implementation manners

[0033] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0034] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally means an "or" relationship between the associated objects before and after.

[0035] In the embodiments of this application, "proximal end" and "distal end" refer to the relative distances of each component from the user in the usage environment. Among them, 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".

[0036] In practice, it is found that there are problems such as omission or repeated acquisition in the operation of collecting image information during the use of the endoscope, which increases the time for image acquisition, reduces the accuracy of image acquisition, and affects subsequent diagnosis and treatment plans as well as treatment effects.

[0037] In the prior art, in order to improve the accuracy of image acquisition, medical personnel bend the endoscope and simultaneously rotate the entire insertion part of the endoscope circumferentially, so that the camera module of the endoscope can acquire images circumferentially. However, during the rotation process, the insertion part will rub against the human body cavity or the sheath tube, which may cause wear to the human body cavity or the sheath tube. Moreover, medical staff can only rotate the operation part of the endoscope circumferentially, and its rotation effect is difficult to be transmitted to the distal end of the insertion part, and the accuracy of image acquisition is still not high, and the above problems still exist.

[0038] The present application provides a traction structure 100. Please refer to Figure 1 , the traction structure 100 can be used for the endoscope 1. Further, the endoscope 1 may include an operation part 300 and an insertion part 200. The proximal end of the insertion part 200 is connected to the operation part 300, and the traction structure 100 can be arranged in the operation part 300. The insertion part 200 has an active bending section 210, and medical staff can control the active bending section 210 to bend so that the distal end of the insertion part 200 can have different orientations.

[0039] In one embodiment, a camera module may be arranged at the distal end of the insertion part 200, and the camera module can observe the image information in front of the insertion part 200. Medical staff can control the active bending section 210 to bend so that the camera module can observe the image information in different directions. In addition, the insertion part 200 has an instrument channel penetrating through opposite ends, and the treatment instrument can be inserted from the proximal end of the insertion part 200 and extend to the distal end of the insertion part 200. Among them, the treatment instrument includes but is not limited to a biopsy forceps, a laser device, etc.

[0040] In this embodiment, please refer to Figure 2 , the traction structure 100 may include a first traction mechanism 110, a second traction mechanism 120 and a driving mechanism 130, and the driving mechanism 130 can be connected to the first traction mechanism 110 and the second traction mechanism 120.

[0041] 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. Wherein, the first radial direction and the second radial direction are skew or intersecting, in other words, the first radial direction and the second radial direction are not parallel or collinear. The first radial direction and the second radial direction are the radial directions of the insertion part 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 cooperate with each other. For example, the first radial direction and the second radial direction are perpendicular to each other, and the first traction mechanism 110 and the second traction mechanism 120 drive the active bending section 210 at the same time, and the active bending section 210 faces the 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 outputs of the two traction mechanisms, omnidirectional bending can be achieved. This setting improves the adaptability and operability of the endoscope 1, reduces the operation difficulty, improves the surgical success rate, and at the same time brings less trauma and faster recovery time to the patient.

[0042] In one implementation, please continue to refer to Figure 2 , the first radial direction and the second radial direction intersect, and there is an included angle between the first radial direction and the second radial direction. The included angle can be 30°, 60°, 90°, etc., which is not limited in this embodiment. Further, the first radial direction and the second radial direction are perpendicular to each other. The first traction mechanism 110 and the second traction mechanism 120 can act on the same position of the active bending section 210, such as the distal end of the active bending section 210, etc. The acting directions of the first traction mechanism 110 and the second traction mechanism 120 on the active bending section 210 are also perpendicular to each other. This setting can control the first traction mechanism 110 and the second traction mechanism 120 to uniformly switch the orientation of the active bending section 210, avoiding stress concentration in one of the first traction mechanism 110 and the second traction mechanism 120, which is beneficial to the uniform force of the traction structure 100.

[0043] 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.

[0044] 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.

[0045] Please continue reading Figure 2 The 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 3As shown, under the linkage of the first traction mechanism 110 and the second traction mechanism 120, the front end 220 can rotate circumferentially. Medical staff only need to drive one of the first traction mechanism 110, the second traction mechanism 120, and the drive mechanism 130, without simultaneously adjusting multiple traction mechanisms, to achieve the circumferential acquisition work of the camera module located at the distal end of the insertion part 200, solving the problems such as omission of image acquisition, poor effect, or repeated acquisition caused by poor operation coordination between multiple traction mechanisms.

[0046] In addition, the drive mechanism 130 still drives the front end 220 of the insertion part 200 to rotate circumferentially along the proximal end of the active bending section 210, without driving the entire insertion part 200 to rotate, avoiding problems such as friction between the part of the insertion part 200 suitable for contacting the human body cavity or sheath and the human body cavity, which may damage the human body cavity. Moreover, this setting can enable the first traction mechanism 110 and the second traction mechanism 120 to easily drive the active bending section 210, avoiding situations such as poor transmission efficiency of the insertion part 200.

[0047] It can be understood that, 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 angles of the insertion part 200 in the first radial direction and the second radial direction may increase or decrease simultaneously. This may cause the insertion part 200 to have a large bending at one position and a small bending at another position, and then the rotation path of the camera module is a circular path with up and down fluctuations, and then the range of the acquisition path of the camera module is uncontrollable, and it is difficult for medical staff to know whether the camera module has acquired a certain azimuth. In the drive mechanism 130 of this embodiment, it is respectively connected to the first traction mechanism 110 and the second traction mechanism 120. The drive mechanism 130 can synchronize the rotation of the first traction mechanism 110 and the second traction mechanism 120, so that one of the bending angles 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 3 shown, the endoscope 1 comprehensively acquires the image information in the cavity, and the rotation path of the camera module is approximately circular. Please refer to Figure 4 , Figure 4The structural schematic diagram of the insertion part in the renal pelvis is shown. The acquisition range of the camera module is as shown in area a, and the camera module can clearly obtain the image of this part. Further, the plane where this path is located is substantially 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 insertion part 200 to move along the axis of the insertion part 200, that is, the insertion part 200 can be controlled to continue to extend or be pulled out to switch the acquisition position of the camera module, and then the next full-range acquisition of the camera module can be started. This setting can optimize the operation logic, simplify the operation steps, avoid situations such as missed acquisition or repeated acquisition, and improve the acquisition efficiency and accuracy.

[0048] In this embodiment, please refer to Figure 1 and Figure 2 , when the drive mechanism 130 and the first traction mechanism 110 are in the first transmission state, the first traction mechanism 110 drives the insertion part 200 to bend to the first side. When the drive mechanism 130 and the first traction mechanism 110 are in the second transmission state, the first traction mechanism 110 drives the insertion part 200 to bend to the second side. The first side and the second side are two sides opposite to each other in the first radial direction. In other words, under the drive of the drive mechanism 130, the rotation direction of the first traction mechanism 110 is different in the first transmission state and the second transmission state, that is, the rotation direction of the first traction mechanism 110 is clockwise in the first transmission state, and the rotation direction of the first traction mechanism 110 is counterclockwise in the second transmission state.

[0049] When the bending angle of the insertion part 200 in the second radial direction is zero degree, the drive mechanism 130 and the first traction mechanism 110 are switched from the first transmission state to the second transmission state, or the drive 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 part 200 in the second radial direction is zero degree, at this time the front end 220 is located in the second radial direction, and the first traction mechanism 110 rotates to the maximum effective range, changing the transmission state of the drive mechanism 130 and the first traction mechanism 110, and changing the rotation direction of the first traction mechanism 110 (such as switching from clockwise rotation to counterclockwise rotation).

[0050] And, please refer to Figure 1 and 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.

[0051] 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).

[0052] 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.

[0053] 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.

[0054] In one embodiment, please refer toFigure 2 , the transmission assembly 131 may include a transmission main body 1311, a first transmission member 1312, and a second transmission member 1313. The first transmission member 1312 is drivingly connected to the first traction mechanism 110, the second transmission member 1313 is drivingly connected to the second traction mechanism 120, and the transmission main body 1311 is drivingly connected to the first transmission member 1312 and the second transmission member 1313. The transmission main body 1311 can link the first transmission member 1312 and the second transmission member 1313, thereby causing the first transmission member 1312 and the second transmission member 1313 to be linked. Furthermore, medical staff can drive any one of the transmission main body 1311, the first traction mechanism 110, and the second traction mechanism 120, and the control assembly 132 can automatically change the movement conditions of the remaining two, such as direction, pose, etc. This setting can achieve the circumferential acquisition work of the camera module located at the distal end of the insertion portion 200 without adjusting multiple traction mechanisms simultaneously, solving the problem of poor operation coordination between multiple traction mechanisms.

[0055] It can be understood that, please continue to refer to Figure 2 , when medical staff drive one of the first traction mechanism 110 and the second traction mechanism 120 and rotate to the maximum range in the first radial direction or the second radial direction, and then medical staff drive in the reverse direction, for example, the driving direction can be switched from clockwise to counterclockwise. At this moment, the traction mechanism can give a prompt to facilitate the medical staff to drive in the reverse direction. Or, when medical staff drive the transmission main body 1311 to rotate unidirectionally (such as counterclockwise or clockwise), the control assembly 132 can automatically control the first traction mechanism 110 and the second traction mechanism 120 to change direction. Therefore, medical staff can directly rotate the transmission main body 1311 to a preset number of turns to complete the omnidirectional image acquisition operation of the camera module, simplifying the operation steps of the transmission main body 1311 and improving the acquisition efficiency of the camera module.

[0056] For the convenience of subsequent content description, the case where medical staff drive the transmission main body 1311 to rotate is taken as an example for description, and the case where medical staff drive one of the first traction mechanism 110 and the second traction mechanism 120 will not be elaborated.

[0057] In addition, the transmission main body 1311 can be configured as an electric driving member, such as a driving motor, etc. Medical staff can turn on the transmission main body 1311, and the transmission main body 1311 can automatically drive the first transmission member 1312 and the second transmission member 1313. The driving assembly can automatically control the rotation direction and position of the first transmission member 1312 and the second transmission member 1313. Moreover, to calibrate the acquisition path of the camera module, as the bending angle of the active bending section 210 changes, the rotation speed of the transmission main body 1311 can be configured to be neither a constant speed nor a non-linear distribution. In other words, in the case where the angular velocity of the front end 220 is constant, the rotation path of the front end 220 is approximately circular, and the rotation speed of the first traction mechanism 110 or the second traction mechanism 120 decreases or increases with a constant acceleration value. When a diseased part appears within the field of view of the camera module, the transmission main body 1311 can slow down the rotation speed so that the camera module can clearly acquire the situation of the diseased part, which can optimize the effect of the traction structure 100.

[0058] In some other cases, a damper (not shown in the figure) is provided on the transmission main body 1311. The damper can slow down the rotation speed of the transmission main body 1311 so that the front end 220 has a more stable and safe rotation effect, and avoid reducing the image effect acquired by the camera module due to too fast rotation speed.

[0059] Furthermore, 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 part 200 in the second radial direction is zero degree, and control the second transmission member 1313 to reversely drive the second traction mechanism 120 when the bending angle of the insertion part 200 in the first radial direction is zero degree. It can be understood that when 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, the other decreases. Therefore, when the bending angle of the insertion part 200 in the second radial direction is zero degree, the first traction mechanism 110 rotates to the maximum effective range, and when the bending angle of the insertion part 200 in the first radial direction is zero degree, 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 correspondingly switch the rotation direction to ensure that the camera module can acquire the image information inside the cavity in all directions.

[0060] In this embodiment, please refer to and Figure 2 and Figure 5, both the first transmission member 1312 and the second transmission member 1313 include a first transmission wheel 1314 and a second transmission wheel 1315, and both the first traction mechanism 110 and the second traction mechanism 120 include a traction wheel 1316. For the convenience of description, the following content will take the first transmission member 1312 which may include a first transmission wheel 1314 and a second transmission wheel 1315, and the first traction mechanism 110 which may include a traction wheel 1316 as an example for introduction. The second transmission member 1313 and the second traction mechanism 120 can also be correspondingly arranged, which will not be elaborated in this embodiment.

[0061] 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.

[0062] Please refer to Figure 6 and 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 member, and the first transmission wheel 1314 can be movably arranged relative to the rod member. The first position and the second position are two different positions on the rod member. As Figure 6 shown, when the first transmission wheel 1314 is in the first position, the first transmission wheel 1314 meshes with the traction wheel 1316 and is separated from the second transmission wheel 1315. The first transmission wheel 1314 directly meshes 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. As Figure 7 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 meshes with the second transmission wheel 1315. Exemplarily, along Figure 6 the L2 direction in, 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 is transmitted to the traction wheel 1316 through the second transmission wheel 1315. During the transmission process, the transmission direction changes twice, so that the rotation directions of the first transmission wheel 1314 and the traction wheel 1316 are the same, that is, the first transmission wheel 1314 rotates clockwise and the traction wheel 1316 also rotates clockwise. At this time, the setting that the first transmission wheel 1314 is separated from 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, improving the safety of the traction structure 100.

[0063] The control component 132 is used to control the switching of the first driving wheel 1314 between the first position and the second position. During the switching of the first driving wheel 1314 between the first position and the second position, the control component 132 also realizes the switching of the rotation direction of the first traction mechanism 110, such as switching from counterclockwise rotation to clockwise rotation, so as to realize the linkage between the first traction mechanism 110 and the second traction mechanism 120.

[0064] Exemplarily, please refer to Figure 6 , the second driving 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 spaced apart. The first tooth portion 1334 meshes with the traction wheel 1316, and a part of the first groove 1336 is correspondingly disposed with the traction wheel 1316. When the first driving wheel 1314 is in the first position, the first driving wheel 1314 meshes with the traction wheel 1316 and is correspondingly disposed with the first groove 1336. When the first driving wheel 1314 is in the second position, the first driving wheel 1314 is separated from the traction wheel 1316 and meshes with the second tooth portion 1335.

[0065] Such as Figure 8 shown, the first driving wheel 1314 further has a third position, which is another position on the rod member different from the first position and the second position. Among them, the third position may be between the first position and the second position. When the first driving wheel 1314 is in the third position, the first driving wheel 1314 is separated from the traction wheel 1316, and at the same time the first driving wheel 1314 is correspondingly disposed with the first groove 1336. Exemplarily, please refer to Figures 6 - 8 together, along Figure 6 in the L2 direction, the first driving wheel 1314 moves from the first position to the third position. Or, along Figure 6 in the L1 direction, the first driving wheel 1314 moves from the second position to the third position. At this time, the first driving wheel 1314 of at least one of the first traction mechanism 110 and the second traction mechanism 120 does not mesh with the corresponding second driving 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 portion 200 in a single direction (the first radial direction or the second radial direction).

[0066] Please continue to refer to 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 disposed 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 spaced apart, and the second groove 1333 is located between the third tooth portion 1331 and the fourth tooth portion 1332. The second groove 1333 is correspondingly disposed with a part of the first groove 1336 and the second tooth portion 1335. Among them, the third position can be at the position where the first groove 1336 corresponds to the second groove 1333. When the first transmission wheel 1314 is in the second position, the first transmission wheel 1314 is correspondingly disposed with the second groove 1333 of the traction wheel 1316 and meshes with the second tooth portion 1335. The fourth tooth portion 1332 can mesh with a part of the second gear. When the first transmission wheel 1314 is in the second position, the fourth tooth portion 1332 does not directly mesh 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.

[0067] In one embodiment, please refer back to Figure 2 , the control assembly 132 may include a variable magnet 1321. The variable magnet 1321 may be an electromagnet or the like, and the variable magnet 1321 is magnetically coupled to 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 also changes accordingly. The variable magnet 1321 is used to adsorb or repel the first transmission wheel 1314 to make the first transmission wheel 1314 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 at this time, the rotation direction of the traction wheel 1316 will change. This setting can quickly switch the position of the first transmission wheel 1314 by changing the energization state of the variable magnet 1321, and then control the rotation direction of the traction wheel 1316. This control method has a rapid response and high precision and reliability.

[0068] 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 energized, magnetic coupling occurs between the variable magnet 1321 and the first transmission wheel 1314, and the variable magnet 1321 can attract the first transmission wheel 1314 to the first position. When the variable magnet 1321 is de-energized, magnetic decoupling occurs between the variable magnet 1321 and the first transmission wheel 1314, 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 elaborated here.

[0069] In this embodiment, please refer back to Figure 2 , the traction structure 100 may further include an unlocking member 134, and the unlocking member 134 includes a lever 1341 and an unlocking portion 1342 that are connected to each other. The lever 1341 is rotatably arranged relative to the driving mechanism 130. The unlocking portion 1342 has a first surface 1343, and the first surface 1343 abuts against the first transmission wheel 1314, and the first surface 1343 is inclined relative to the lever 1341. When the lever 1341 rotates, the first surface 1343 can drive the first transmission wheel 1314 so that the first transmission wheel 1314 switches between the first position and the third position. The lever 1341 can be toggled by medical staff, thereby changing the relative position of the first transmission wheel 1314 to release or activate the linkage between the first traction mechanism 110 and the second traction mechanism 120, enriching the driving effect of the traction structure 100.

[0070] And, please refer to Figure 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 flat surfaces 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 acting direction of the first transmission wheel 1314 on the unlocking portion 1342 (such as the gravity of the first transmission wheel 1314) be the same 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.

[0071] Please refer to Figure 9, the unlocking part 1342 further has a fourth surface 1346, the fourth surface 1346 is correspondingly arranged with 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 movement range of the first transmission wheel 1314, prevent the first transmission wheel 1314 from moving to a higher position or other positions, and improve the use reliability of the first transmission wheel 1314.

[0072] In this embodiment, please refer to Figure 1 , the traction structure 100 may further include a prompting mechanism (not shown in the figure), the prompting mechanism includes but is not limited to a buzzer, a horn, a prompting light or a vibration motor, etc. The prompting mechanism can prompt medical staff by means of sound, light, vibration or a combination of multiple methods. The type and prompting method of the prompting mechanism are not limited in this embodiment. 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 give a prompt under specified circumstances.

[0073] In one implementation manner, when the first traction mechanism 110 or the second traction mechanism 120 continuously switches directions three times, the control component 132 turns on the prompting mechanism. It can be understood that during the process of the front end 220 of the insertion part 200 rotating one circle, the first traction mechanism 110 and the second traction mechanism 120 switch directions at least twice. When the driving 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 degree. Although the first traction mechanism 110 or the second traction mechanism 120 switches directions twice, there may still be a certain blind area in the camera module. However, when one of them continuously switches directions three times, it can indicate that the front end 220 rotates at least one circle, eliminating the blind area of the camera module. At the same time, the prompting mechanism gives a prompt, and the medical staff can know that the front end 220 has rotated at least one circle, and the medical staff can control the insertion part 200 to switch the acquisition position and start the next full-round acquisition of the camera module.

[0074] In this embodiment, please refer to Figure 2 and Figure 10, the driving mechanism 130 may include a detection device 136, which may be an encoder, a position sensor, etc., and this embodiment does not limit it. Exemplarily, for convenience of description, the following content will be 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 misaligned with each other. The traction structure 100 is fixedly provided with two contact devices 1362, and the contact devices 1362 and the metal sheets 1361 are arranged in one-to-one correspondence. When the metal sheet 1361 passes through the contact device 1362, the contact device 1362 can be turned on to ensure that the first traction mechanism 110 rotates. At the same time, by comparing the power-on time relationship of the combination of the two contact devices 1362 and the metal sheets 1361, the rotation direction of the first traction mechanism 110 can be obtained. 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 positions and rotation directions 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 it to bend. The setting of the detection device 136 can avoid the situation that the first traction mechanism 110 and the second traction mechanism 120 may rotate excessively. When the detection device 136 detects an excessive rotation situation, the control component 132 can control the prompting mechanism to give a prompt to avoid incorrect operation of the traction structure 100 by medical staff and improve the safety of the traction structure 100.

[0075] In addition, the detection device 136 can obtain the position information of both 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 judge the initial positions of the first traction mechanism 110 and the second traction mechanism 120, and the driving mechanism 130 can react faster, adjust the motion states of the first traction mechanism 110 and the second traction mechanism 120, so as to achieve more precise control of the active bending section 210.

[0076] In this embodiment, the driving 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 magnetic field direction, size, etc. of the variable magnet 1321. This setting can make each part of the driving mechanism 130 work according to the instructions, control the first traction mechanism 110 and the second traction mechanism 120 to interact, and realize the surrounding acquisition operation of the camera module of the insertion part 200. The processor can also be electrically connected to the prompting mechanism, etc., which will not be elaborated here.

[0077] The processor may include one or more processing cores. The processor uses various interfaces and circuits to connect various parts within the entire battery management system, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory, as well as calling data stored in the memory, it executes various functions of the battery management system and processes data. Optionally, the processor may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the display content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor and can be implemented separately through a communication chip.

[0078] The memory may include random access memory (RAM), or may also include read-only memory. The memory can be used to store instructions, programs, code, code sets, or instruction sets. The memory may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the 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 can also store data created during the use of the traction structure 100.

[0079] To achieve the above and other related purposes, the present application provides an endoscope 1. Please refer to Figure 11 , the endoscope 1 may include the aforementioned traction structure 100 and the insertion portion 200. The insertion portion 200 has an active bending section 210. The distal end of the insertion portion 200 is drivingly 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 foregoing solutions, which will not be elaborated here. In another case, the endoscope 1 may further include an operation portion 300, and the traction structure 100 is disposed within the operation portion 300 for medical staff to operate.

[0080] The endoscope 1 may be a bronchoscope, a pyeloscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a nasal endoscope, an oral endoscope, a laryngoscope, a vaginoscope, a laparoscope, an arthroscope, etc. The embodiments of the present application do not specifically limit the type of the endoscope 1.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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 connected to a 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 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, the transmission body is transmission-connected to the first transmission member and the second transmission member, and the driving mechanism can drive at least one of the first traction mechanism and the second traction mechanism to make the front end of the insertion portion rotate along the circumferential direction of the proximal end of the active bending section; Wherein, 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, 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 meshed 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 meshed 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, and the first radial direction and the second radial direction are skewed or intersecting.

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 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 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.

6. The traction structure according to claim 5, 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.

7. The traction structure according to claim 3, 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.

8. 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.

9. An endoscope, characterized in that: include: The traction structure according to any one of claims 1 to 8; 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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