Endoscope sheathing canal control device, driving system and surgical robot

Abstract

The invention provides an endoscope sheathing canal control device, a driving system and a surgical robotic.The endoscope sheathing canal control device comprises a base, a shell, an endoscope sheathing canal, a traction assembly and an adjusting assembly, the traction assembly is used for being fixedly connected with a traction wire, and the adjusting assembly is arranged on a lead path of the traction wire; the adjusting assembly comprises an adjusting seat and a wrapping piece, the wrapping piece is connected to the adjusting seat in a sliding mode, and the traction wire is connected to the wrapping piece in a wrapping mode; the wrapping piece is used for sliding relative to the adjusting base and driving the traction wire to move so as to adjust the tightness of the traction wire. In the traction wire assembling process, the tightness degree of the traction wire can be adjusted, so that the tightness degree of the traction wire can be controlled, and the problem that the bending angle of the bent section of the endoscope sheath tube is deviated due to the fact that the actual expansion and contraction amount of the traction wire is deviated from the theoretical expansion and contraction amount is solved; the accuracy of the surgical instrument entering the target tissue position is improved, and the surgical effect is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly relates to an endoscope sheath control device, a drive system and a surgical robot. Background Art

[0002] Flexible endoscopy is a commonly used minimally invasive surgical technique in clinics. It mainly inserts a flexible endoscope sheath into the target position of the operation through the natural cavity or artificial incision of the human body to achieve the observation and diagnosis of the target tissue, or inserts surgical instruments into the target tissue position through the instrument channel of the flexible endoscope sheath for corresponding surgical treatment.

[0003] The flexible endoscope robot system at least includes a drive box, an instrument box and a flexible endoscope sheath, and the flexible endoscope sheath is installed on the instrument box. In the related art, a traction wire is connected to the flexible endoscope sheath, and the traction wire is assembled and fixed on the pulley in the instrument box. The motor in the drive box drives the pulley in the instrument box to rotate, so as to realize the telescopic movement of the traction wire, and further realize the movement of the bending section of the sheath.

[0004] However, during the assembly process of the traction wire, there is a deviation between the actual telescopic amount and the theoretical telescopic amount of the traction wire, and there is a deviation in the bending angle of the bending section. The accuracy of the surgical instrument entering the target tissue position is relatively low, which affects the surgical effect. Summary of the Invention

[0005] In order to solve at least one problem mentioned in the background art, the present application provides an endoscope sheath control device, a drive system and a surgical robot, which are beneficial to controlling the tightness of the traction wire, and further beneficial to avoiding the problem that the bending angle of the bending section of the endoscope sheath deviates due to the deviation between the actual telescopic amount and the theoretical telescopic amount of the traction wire, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0006] In order to achieve the above-mentioned objectives, in a first aspect, the present application provides an endoscope sheath control device for use in an endoscope, endoscopic surgery and a robotic system, wherein the endoscope has a traction wire, and the endoscope sheath control device comprises a base, a shell, an endoscope sheath, a traction assembly and an adjustment assembly, wherein the shell covers the base and forms a cavity with the base, the traction assembly and the adjustment assembly are located in the cavity, the first end of the endoscope sheath is fixedly connected to the base, and the second end of the endoscope sheath extends in a direction away from the base; The endoscope sheath is used to fix the first end of the traction wire, the traction assembly is used to fix the second end of the traction wire, and the traction assembly is used to drive the traction wire to perform telescopic movement to achieve the bending action of the endoscope sheath; the adjustment assembly is arranged on the lead path of the traction wire; the adjustment assembly includes an adjustment seat and a winding member, the winding member is slidably connected to the adjustment seat, and the traction wire is wound around the winding member; the winding member is used to slide relative to the adjustment seat and drive the traction wire to move so as to adjust the tightness of the traction wire.

[0007] In the above-mentioned endoscope sheath control device, optionally, an adjustment groove is provided on the adjustment seat, and the wrapping member is slidably connected in the adjustment groove and reciprocates along the extension direction of the adjustment groove.

[0008] In the above-mentioned endoscope sheath control device, optionally, the winding component includes a winding wheel and a winding baffle, the winding wheel is slidably connected in the adjustment groove, and slides back and forth along the extension direction of the adjustment groove; the winding baffle is connected to at least a portion of the periphery of the winding wheel, the winding baffle is located on the side of the winding wheel where the traction wire is wound, and a winding area for the traction wire to pass through is formed between the winding baffle and the winding periphery of the winding wheel, and the winding baffle is used to limit the traction wire from escaping from the winding area.

[0009] In the above-mentioned endoscope sheath control device, it is optional to further include a sheath tube for the traction wire to pass through, the sheath tube is at least located on the side of the adjustment component away from the traction component, the open end of the sheath tube is close to the adjustment component, and the traction wire is led out from the open end of the sheath tube and led to the adjustment component.

[0010] In the above-mentioned endoscope sheath control device, optionally, it also includes a sheath fixing assembly, which is located at least on the side of the adjustment assembly away from the traction assembly; the sheath fixing assembly includes a sheath fixing seat and a sheath fixing piece, the first end of the sheath tube is fixedly connected to the endoscope sheath, and the second end of the sheath tube is fixed to the sheath fixing seat via the sheath fixing piece.

[0011] In the above endoscopic sheath control device, optionally, the traction assembly includes a traction wheel and a traction fixing member, a transmission disk is mounted on the base, the traction wheel is connected to the transmission disk, and the traction wire is fixed to the traction wheel through the traction fixing member.

[0012] In the above endoscopic sheath control device, optionally, at least part of the peripheral edge of the traction wheel is provided with a notch, the notch is in an "L" shape, the notch includes a first extension section and a second extension section, the first extension section is opened on at least part of the peripheral edge of the traction wheel, the extending direction of the first extension section is the same as or has an included angle with the radial direction of the traction wheel, the first end of the second extension section is connected to the first extension section, and the second end of the second extension section extends along the direction close to the traction fixing member; the traction assembly includes a traction groove, the traction wire is wound in the traction groove and is sequentially led to the fixed end of the traction fixing member through the first extension section and the second extension section, and is fixed to the traction wheel through the fixed end.

[0013] In the above endoscopic sheath control device, optionally, the central axis of the protective sleeve at the fixed position of the sheath fixing assembly, the central plane of the adjustment groove, and the central plane of the traction groove are on the same horizontal plane; or, the central axis of the protective sleeve at the fixed position of the sheath fixing assembly, the central plane of the adjustment groove, and the central plane of the traction groove are arranged in a staggered manner.

[0014] In the above endoscopic sheath control device, optionally, it further includes a limiting member, the limiting member is close to the traction assembly, the limiting member has a limiting surface, and the limiting surface fits with part of the outer peripheral edge of the traction wheel to limit the traction wire from disengaging from the traction wheel.

[0015] In the above endoscopic sheath control device, optionally, along the extending direction of the base, a wire lead hole is opened on one side of the base, and part of the protective sleeve passes through the wire lead hole; the sheath fixing assembly, the adjustment assembly, and the traction assembly are sequentially arranged along the extending direction of the base and toward the side away from the wire lead hole.

[0016] In the above endoscopic sheath control device, optionally, the number of the adjustment assemblies includes at least two, the number of the traction assemblies includes at least two, one traction assembly is correspondingly arranged with one adjustment assembly, at least two adjustment assemblies and at least two traction assemblies are respectively used for being correspondingly arranged with at least two traction wires one by one; at least two adjustment assemblies form a set of adjustment groups, and in the same set of adjustment groups, the tightness of at least two traction wires wound around at least two adjustment assemblies is equal.

[0017] In the above endoscopic sheath control device, optionally, the number of the adjusting components is four, and the number of the traction components is four. The four adjusting components and the four traction components are respectively arranged in one-to-one correspondence with the four traction wires; two of the four adjusting components are oppositely arranged to form a first adjusting group. In the first adjusting group, the tightness of the two traction wires wound around the two adjusting components correspondingly is equal; and / or, the other two of the four adjusting components are oppositely arranged to form a second adjusting group. In the second adjusting group, the tightness of the two traction wires wound around the two adjusting components correspondingly is equal.

[0018] In the above endoscopic sheath control device, optionally, two of the four traction components are oppositely arranged to form a first traction group, and two of the four traction wires are fixedly arranged on the two traction components correspondingly. The other two of the four traction components are oppositely arranged to form a second traction group, and the other two of the four traction wires are fixedly arranged on the two traction components correspondingly; the first adjusting group, the first traction group, the second adjusting group and the second traction group are arranged in sequence along the extending direction of the base and on the side away from the lead hole.

[0019] In the above endoscopic sheath control device, optionally, the horizontal height of the first adjusting group and the first traction group is staggered from the horizontal height of the second adjusting group and the second traction group.

[0020] In the above endoscopic sheath control device, optionally, the traction wheel is made of any one of metal material, rigid material, synthetic resin material or copper alloy; and / or, the winding wheel is a bearing wheel, and the outer ring of the winding wheel is made of any one of polytetrafluoroethylene, teflon or polyether ether ketone.

[0021] In a second aspect, the present application provides a driving system, including a driving device and an endoscopic sheath control device, and the driving device is connected to the endoscopic sheath control device.

[0022] In the above driving system, optionally, the driving device includes a driving base, a driving member, a speed reducer and a coupling. The coupling is installed on the speed reducer, and the speed reducer is installed on the driving member; the driving member is connected to the traction component of the endoscopic sheath control device through the coupling, and the base of the endoscopic sheath control device is connected to the driving base.

[0023] In a third aspect, the present application provides a surgical robot, including a control system, a navigation system, a display system, an operating device, an endoscope, and a driving system. A traction wire of the endoscope is connected to an endoscope sheath control device of the driving system.

[0024] The endoscope sheath control device, the driving system, and the surgical robot provided by the present application can drive the traction wire to perform telescopic movement and effectively fix the traction wire by including a traction component, which is beneficial to avoiding the problem of the traction wire coming off the traction wheel. By including an adjustment component, during the process of assembling the traction wire, the adjustment component can adjust the tightness of the traction wire, which is beneficial to controlling the tightness of the traction wire, and further beneficial to avoiding the problem that the actual telescopic amount of the traction wire deviates from the theoretical telescopic amount, resulting in a deviation in the bending angle of the bending section of the endoscope sheath, achieving the consistency of the bending of the bending section of the endoscope sheath, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0025] The structure of the present application and its other application purposes and beneficial effects will become more obvious and understandable through the description of the preferred embodiments in conjunction with the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is a schematic structural diagram of the surgical robot provided by the embodiment of the present application;

[0028] Figure 2 It is a schematic structural diagram of the driving system provided by the embodiment of the present application;

[0029] Figure 3 It is a schematic assembly structural diagram of the driving device and the endoscope sheath control device of the driving system provided by the embodiment of the present application;

[0030] Figure 4 It is a schematic internal structural diagram of the driving device of the driving system provided by the embodiment of the present application;

[0031] Figure 5 It is a schematic internal assembly structural diagram of the driving device and the endoscope sheath control device of the driving system provided by the embodiment of the present application;

[0032] Figure 6 It is a schematic structural diagram of the endoscope sheath control device provided by the embodiment of the present application;

[0033] Figure 7 is Figure 6 a schematic enlarged view of the structure of the boxed part;

[0034] Figure 8 is a schematic exploded view of the endoscope sheath control device provided by an embodiment of the present application;

[0035] Figure 9 is a schematic structural view of the endoscope sheath of the endoscope sheath control device provided by an embodiment of the present application;

[0036] Figure 10 is a schematic structural view of the adjustment assembly of the endoscope sheath control device provided by an embodiment of the present application;

[0037] Figure 11 is a cross-sectional view of the adjustment assembly of the endoscope sheath control device provided by an embodiment of the present application;

[0038] Figure 12 is a front structural view of the traction assembly of the endoscope sheath control device provided by an embodiment of the present application;

[0039] Figure 13 is a rear structural view of the traction assembly of the endoscope sheath control device provided by an embodiment of the present application;

[0040] Figure 14 is a cross-sectional view of the traction assembly of the endoscope sheath control device provided by an embodiment of the present application.

[0041] Explanation of reference numerals:

[0042] 100 - endoscope sheath control device;

[0043] 110 - base; 111 - lead hole; 112 - drive disk;

[0044] 113 - first bearing; 114 - shaft rod of the drive disk; 115 - snap ring;

[0045] 116 - locking plate; 1161 - positioning hole; 117 - second bearing;

[0046] 118 - washer; 119 - locking screw; 120 - housing;

[0047] 121 - cavity; 130 - traction assembly; 131 - traction wheel;

[0048] 1311 - notch; 13111 - first extension segment; 13112 - second extension segment;

[0049] 1312 - traction groove; 132 - traction fixing member; 1321 - traction fixing screw;

[0050] 1322 - Traction fixing pressing pad; 1323 - Traction fixing pressing block; 140 - Adjusting assembly;

[0051] 141 - Adjusting base; 142 - Wrapping part; 1421 - Wrapping wheel;

[0052] 1422 - Wrapping baffle; 14221 - Flat baffle; 14222 - Arc baffle;

[0053] 1423 - Wrapping area; 143 - Adjusting slot; 144 - Installation slot;

[0054] 145 - Adjusting nut; 146 - Adjusting screw; 147 - Wrapping slot;

[0055] 150 - Protective sleeve; 151 - Open end of the protective sleeve; 160 - Protective sleeve fixing assembly;

[0056] 161 - Protective sleeve fixing seat; 162 - Protective sleeve fixing part; 1621 - Protective sleeve fixing screw;

[0057] 1622 - Protective sleeve fixing pressing pad; 170 - Limiting part; 171 - Limiting surface;

[0058] 172 - Positioning column; 180 - Endoscope sheath; 181 - Mechanical channel interface;

[0059] 182 - Insertion section; 183 - Bending section; 184 - Head end;

[0060] 200 - Driving system;

[0061] 210 - Driving device; 211 - Driving base; 212 - Driving part;

[0062] 2121 - Driving motor; 2122 - Driver; 213 - Reducer;

[0063] 214 - Coupling; 215 - Driving box; 216 - Positioning pin;

[0064] 220 - Trolley; 230 - Robot arm;

[0065] 300 - Surgical robot;

[0066] 310 - Control system; 320 - Navigation system; 330 - Display system;

[0067] 340 - Operator; 350 - Traction wire.

[0068] Through the above-mentioned accompanying drawings, specific embodiments of the present application have been shown, and there will be a more detailed description hereinafter. These drawings and written descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0069] Using a flexible endoscope for surgery is a commonly used minimally invasive surgical technique in clinical practice. During the surgical process, the flexible endoscope sheath is inserted through the natural cavity or artificial incision of the human body to the target tissue position for surgery, so as to achieve the observation and diagnosis of the target tissue, or insert surgical instruments through the instrument channel of the flexible endoscope sheath to the target tissue position for corresponding surgical treatment.

[0070] Compared with traditional open surgery, flexible endoscope surgery has small or no incisions, which is beneficial to the rapid recovery of patients. Currently, the commonly used flexible endoscope surgery on the market mainly uses manual instruments. Doctors need to manually insert the endoscope sheath through the natural cavity or artificial incision to the target tissue position according to their own experience, which poses high requirements for the doctor's operation skills and operation stability. In order to improve the operation stability of flexible endoscope surgery and reduce the dependence on the doctor's experience during the penetration of the endoscope, the research and development of flexible endoscope robot systems has begun.

[0071] A flexible endoscope robot system generally includes a drive system and a flexible endoscope sheath, etc. Among them, the drive system includes a drive box and an instrument box. The flexible endoscope sheath is installed on the instrument box, and the drive box and the instrument box realize the bending of the flexible endoscope sheath. The flexible endoscope robot system replaces the bending in the up and down directions of the endoscope sheath and the overall rotation of the sheath with the bending in the up, down, left, and right four directions, and realizes the 360-degree arbitrary direction bending through the cooperation of the four directions. Specifically, before the operation, the doctor scans and models the patient's tissue through CT images and formulates the best route for the advancement of the flexible endoscope sheath. During the operation, the display system real-time displays the actual position of the end of the endoscope sheath in the model and the path. The doctor controls the actions of the robotic arm and the drive box by controlling the operator to realize the bending of the flexible endoscope sheath and finally reach the target position. Among them, the bending of the flexible endoscope sheath in the up and down directions is called the pitching motion, and the bending in the left and right directions is called the yaw motion.

[0072] The flexible endoscope sheath tube is divided into an insertion section, a bending section, and a head end section according to its function and structure. The distal end of the insertion section is connected to the instrument box, the proximal end of the insertion section is connected to the bending section, and the head end section is located at the distal end of the bending section. Traction wires are evenly distributed and connected circumferentially to the bending section. The traction wires sequentially pass through the bending section and the insertion section and enter the instrument box, and are respectively fixed on the traction wheels in the instrument box. The motor in the drive box drives the traction wheels in the instrument box to rotate, realizing the telescopic movement of the traction wires, and further realizing the pitching and deflection movement of the bending section. The end of the flexible endoscope sheath tube connected to the instrument box is the proximal end, and the other end, i.e., the end closest to the patient, is the distal end.

[0073] It should be noted that since the bending action of the flexible endoscope sheath tube is realized by the motor in the drive box driving the traction wheel to rotate, indirectly driving the traction wire to stretch and contract, the telescopic amount of the traction wire determines the bending angle of the sheath tube. When there is a deviation in the telescopic amount of the traction wire, the bending angle of the sheath tube will deviate. This deviation will cause the actual arrival position of the head end of the sheath tube to be inconsistent with the target position, and it takes a lot of time to correct the position. Such a deviation at the surgical site will also cause a deviation between the actual surgical position and the target position, and even cause the failure of the surgery.

[0074] In the related art, during the assembly process of the traction wire, in some embodiments, the traction wire is directly fixed on the traction wheel. In some embodiments, the traction wire is fixed on the traction wheel after being transmitted through orthogonal and position-fixed rotating wheels, and the end of the traction wire is clamped in the groove provided on the traction wheel. However, in the related art, there is no adjustment mechanism for adjusting the tightness of the traction wire, and the tightness of the traction wire cannot be controlled, resulting in a deviation between the actual telescopic amount and the theoretical telescopic amount of the traction wire, causing a deviation in the bending angle of the bending section. In addition, currently, the traction wire is fixed on the traction wheel by a clamping technique. When the traction wire is subjected to a large pulling force, the end of the traction wire will come out. The end of the traction wire is easily disengaged from the card slot, and the sheath tube deflects in the opposite direction under the action of the reverse pulling force of the traction wire, resulting in deviation from the surgical site and causing surgical accidents.

[0075] Based on the above technical problems, the embodiments of the present application provide an endoscope sheath tube control device, a drive system, and a surgical robot. By including a traction component, the traction component can drive the traction wire to perform telescopic movement, and at the same time can effectively fix the traction wire, improving the fixing effect of the traction wire, which is beneficial to avoiding the problem of the traction wire coming out of the traction wheel; by including an adjustment component, during the assembly process of the traction wire, the adjustment component can adjust the tightness of the traction wire, which is beneficial to controlling the tightness of the traction wire, and further avoiding the problem that the deviation between the actual telescopic amount and the theoretical telescopic amount of the traction wire causes a deviation in the bending angle of the bending section of the endoscope sheath tube, realizing the consistency of the bending of the bending section of the endoscope sheath tube, improving the accuracy of the position where the surgical instrument enters the target tissue, and ensuring the surgical effect.

[0076] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of this application. In the drawings, the same or similar reference numerals denote the same or similar structural elements or structural elements with the same or similar functions throughout. The described embodiments are some structural embodiments of this application, rather than all the structural embodiments. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain this application, and should not be construed as a limitation to this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0077] The following refers to Figure 1 to illustrate the structure of the surgical robot provided in the embodiments of this application.

[0078] Figure 1 is a schematic structural diagram of the surgical robot provided in the embodiments of this application.

[0079] Refer to Figure 1 As shown, the embodiments of this application provide a surgical robot 300, and the surgical robot 300 may include a control system 310, a navigation system 320, a display system 330, an operating device 340, an endoscope, and a drive system 200.

[0080] The control system 310 may include three types: mechanical, electric, and pneumatic. The mechanical control system 310 controls the movement of surgical instruments through manual operation and is suitable for simple surgical operations; the electric control system 310 drives the movement of surgical instruments through a motor and can achieve more precise operations; the pneumatic control system 310 drives the movement of surgical instruments through air pressure and has the characteristics of fast response and high precision.

[0081] Before the surgery, the surgical approach is designed and the surgical simulation is performed in the computer through the navigation system 320, which enables the doctor to accurately master the movement route and position of the surgical instruments, ensures the accuracy of the surgery, and at the same time maximally avoids additional damage to the surrounding tissues and organs. During the surgery, the display system 330 can display the actual position of the head end 184 of the endoscope sheath in the model and the path in real time to assist the doctor in accurate operation. Exemplarily, the display system 330 may be a display screen. The operating device 340 may be an operating console, and a manual controller and the like are arranged on the operating console. The doctor can control all the movements of the surgical instruments and the endoscope by using the manual controller.

[0082] The following refers to Figures 2 to 5 to illustrate the structure of the drive system provided in the embodiments of this application.

[0083] Figure 2 The structural schematic diagram of the drive system provided by the embodiment of the present application Figure 3 The assembly structural schematic diagram of the drive device and the endoscope sheath control device of the drive system provided by the embodiment of the present application Figure 4 The internal structural schematic diagram of the drive device of the drive system provided by the embodiment of the present application Figure 5 The internal assembly structural schematic diagram of the drive device and the endoscope sheath control device of the drive system provided by the embodiment of the present application

[0084] Referring to Figure 2 As shown, the embodiment of the present application provides a drive system 200. The drive system 200 may include a drive device 210 and an endoscope sheath control device 100, and the drive device 210 is connected to the endoscope sheath control device 100.

[0085] In some embodiments, referring to Figure 2 As shown, the drive system 200 may further include a trolley 220 and a robotic arm 230. One end of the robotic arm 230 is connected to the trolley 220, and the other end of the robotic arm 230 is connected to the drive box 215. Among them, the robotic arm 230 is used to drive the overall movement of the drive system 200, so as to realize the forward and backward movement of the endoscope sheath 180 on the movement trajectory.

[0086] Among them, the connection manner between the robotic arm 230 and the drive box 215 and the trolley 220 is not further limited. Exemplarily, the robotic arm 230 and the drive box 215 and the trolley 220 may be connected by means of screw fixation, snap connection or bonding, or may be connected by other means.

[0087] Exemplarily, referring to Figures 3 to 5 As shown, the drive device 210 may include a drive box 215, and the endoscope sheath control device 100 may include a base 110. The drive box 215 is connected to the base 110. Among them, the connection manner between the drive box 215 and the base 110 is not further limited. Exemplarily, the drive box 215 and the base 110 may be connected by means of screw fixation, snap connection or bonding. In this embodiment, the drive box 215 and the base 110 are mainly connected by snap connection.

[0088] In order to further improve the connection effect between the drive box 215 and the base 110, a positioning pin 216 may be provided on the drive box 215, and a positioning hole may be provided on the base 110. The positioning pin 216 is correspondingly inserted into the positioning hole, which is not only beneficial to realizing the connection between the drive box 215 and the base 110, but also beneficial to ensuring the accurate positioning of the drive box 215 and the base 110. Among them, the number of the positioning pin 216 and the positioning hole is not further limited.

[0089] Continue to refer to Figure 4 and Figure 5 As shown, a drive base 211, a drive member 212, a speed reducer 213, and a coupling 214 may be provided in the drive box 215. The drive member 212 may include a drive motor 2121 and a driver 2122. The drive motor 2121 is located between the speed reducer 213 and the driver 2122. One end of the drive motor 2121 is connected to the speed reducer 213, and the other end of the drive motor 2121 is connected to the driver 2122. The speed reducer 213 is fixed on the drive base 211. The coupling 214 is installed on the shaft of the speed reducer 213. The drive motor 2121 is connected to the traction assembly 130 of the endoscope sheath control device 100 through the coupling 214.

[0090] The speed reducer 213 is one of the very important components in medical equipment. It is a device that converts the rotational speed of a high-speed motor or a low-speed motor into a low-speed, high-torque mechanical torque and transmits it to various systems or modes, effectively realizing the control and coordination between different components, and then stably completing different medical processes and tasks. The coupling 214 is used to connect two shafts (the driving shaft and the driven shaft) in different mechanisms so that they rotate together and transmit torque. Some couplings 214 also have the functions of buffering, vibration reduction, and improving the dynamic performance of the shaft system.

[0091] Exemplarily, the coupling 214 in the embodiment of the present application may be an elastic cross-slider coupling.

[0092] The following refers to Figures 6 to 8 to illustrate the structure of the endoscope sheath control device provided in the embodiment of the present application.

[0093] Figure 6 is a schematic structural diagram of the endoscope sheath control device provided in the embodiment of the present application, Figure 7 is Figure 6 an enlarged schematic structural diagram of the boxed part, Figure 8 is an exploded schematic diagram of the endoscope sheath control device provided in the embodiment of the present application, Figure 9 is a schematic structural diagram of the endoscope sheath of the endoscope sheath control device provided in the embodiment of the present application, Figure 10 is a schematic structural diagram of the adjustment assembly of the endoscope sheath control device provided in the embodiment of the present application, Figure 11 is a sectional view of the adjustment assembly of the endoscope sheath control device provided in the embodiment of the present application.

[0094] Refer to Figures 6 to 8 As shown, the embodiment of the present application provides an endoscope sheath control device 100, which can be used for an endoscope, an endoscopic surgery, and a surgical robot 300. The endoscope has a traction wire 350. Exemplarily, the traction wire 350 may be made of stainless steel.

[0095] Refer to Figure 3 、 Figure 4 and Figures 6 to 8 As shown, the endoscope sheath control device 100 may include a base 110, a housing 120, an endoscope sheath 180, a traction assembly 130, and an adjustment assembly 140. The housing 120 covers the base 110 and encloses a cavity 121 with the base 110. The traction assembly 130 and the adjustment assembly 140 are located in the cavity 121.

[0096] Refer to Figures 3 to 5 and Figure 9 As shown, the endoscope sheath 180 may include a mechanical channel interface 181, an insertion section 182, a bending section 183, and a head end section 184. The bending section 183 is connected between the insertion section 182 and the head end section 184. The insertion section 182 is located on the side of the bending section 183 close to the base 110, and the head end section 184 is located on the side of the bending section 183 away from the base 110. The mechanical channel interface 181 is provided at one end of the insertion section 182 facing away from the bending section 183.

[0097] The insertion section 182 is fixedly connected to the base 110, and a part of the insertion section 182 penetrates into the cavity 121. The mechanical channel interface 181 passes through the top surface of the housing 120. Surgical instruments can enter the insertion section 182, the bending section 183, and the head end section 184 in sequence through the mechanical channel interface 181 and finally reach the target tissue position. The first end of the traction wire 350 is fixedly connected to the head end section 184. The second end of the traction wire 350 extends in the direction of the base 110. The second end of the traction wire 350 extends into the cavity 121 and is fixedly connected to the traction assembly 130. The first end of the endoscope sheath 180 is the end where the insertion section 182 is connected to the base 110, and the second end of the endoscope sheath 180 is the head end section 184.

[0098] Among them, the length of the insertion section 182 is not further limited and can be specifically set according to actual situations. The fixing method between the first end of the traction wire 350 and the head end section 184 is also not further limited. Exemplarily, the first end of the traction wire 350 and the head end section 184 can be connected by welding, bonding, or clamping.

[0099] Refer to Figure 6 and Figure 7 As shown, the adjustment assembly 140 is arranged on the lead path of the traction wire 350. That is to say, the adjustment assembly 140 is located on the side of the traction assembly 130 close to the endoscope sheath 180. It should be noted that the "lead path" of the traction wire 350 can refer to the direction of arrow A shown in Figure 7 and Figure 8 .

[0100] Refer toFigure 10 and Figure 11 As shown in Figure 11 , the adjusting assembly 140 may include an adjusting base 141 and a winding member 142. The winding member 142 is slidably connected to the adjusting base 141, and the traction wire 350 is wound around the winding member 142. The winding member 142 slides relative to the adjusting base 141 and drives the traction wire 350 to move, so as to adjust the tightness of the traction wire 350.

[0101] Exemplarily, the adjusting base 141 may be an adjusting boss, or the adjusting base 141 may also be other structures. In this embodiment, the adjusting base 141 being an adjusting boss is mainly taken as an example for illustration. Exemplarily, the adjusting boss may be a cubic structure. For example, the adjusting boss may be a cuboid structure, or the adjusting boss may be a cube structure. This embodiment does not make further limitations in this regard, and can be specifically set according to actual situations.

[0102] Exemplarily, the adjusting boss may be a part of the base 110 or a boss installed on the base 110.

[0103] Continue to refer to Figure 10 and Figure 11 As shown in Figure 11 , an adjusting groove 143 and a mounting groove 144 may be formed on the adjusting base 141. Among them, the adjusting groove 143 may be an oblong hole, and the mounting groove 144 may be a long slot. The extending direction of the oblong hole is the same as that of the long slot, and an adjusting nut 145 is placed in the long slot. Among them, in this embodiment, the shapes of the adjusting groove 143 and the mounting groove 144 include but are not limited to the above shapes, and can be specifically set according to actual situations. In addition, the dimensions, quantities, materials, etc. of the adjusting groove 143 and the mounting groove 144 are not further limited.

[0104] Continue to refer to Figure 10 and Figure 11 As shown in Figure 11 , the winding member 142 may include a winding wheel 1421 and a winding baffle 1422. The winding baffle 1422 is connected to at least part of the peripheral edge of the winding wheel 1421. The winding baffle 1422 is located on the side of the winding wheel 1421 around which the traction wire 350 is wound. A winding area 1423 for the traction wire 350 to pass through is formed between the winding baffle 1422 and the winding peripheral edge of the winding wheel 1421. The winding baffle 1422 is used to limit the traction wire 350 from getting out of the winding area 1423, thereby being beneficial to avoiding the traction wire 350 from getting out of the winding wheel 1421 and ensuring the winding effect of the traction wire 350.

[0105] Exemplarily, refer to Figure 10 and Figure 11As shown, the winding baffle 1422 may include a flat baffle 14221 and an arc baffle 14222 connected to at least a part of the peripheral edge of the flat baffle 14221. The flat baffle 14221 is located between the winding wheel 1421 and the adjusting boss, and the arc baffle 14222 is located on the side of the winding wheel 1421 where the traction wire 350 is wound. A winding area 1423 is formed between the arc baffle 14222 and the winding peripheral edge of the winding wheel 1421.

[0106] It should be noted that the shape, fixed position, fixing method, etc. of the winding baffle 1422 include but are not limited to the above shape, fixed position and fixing method. Exemplarily, the winding baffle 1422 can be bonded to the adjusting seat 141, and as long as it can prevent the traction wire 350 from coming out of the winding area 1423, it belongs to the protection scope of the present application.

[0107] In actual application, the winding wheel 1421 is slidably connected to the adjusting groove 143 and reciprocally slides along the extending direction of the adjusting groove 143. The adjusting screw 146 sequentially passes through the central hole of the winding wheel 1421, the flat baffle 14221 and the adjusting groove 143 and is connected to the adjusting nut 145. The adjusting nut 145 can reciprocally move along the extending direction of the mounting groove 144.

[0108] Exemplarily, in this embodiment, the extending direction of the adjusting groove 143 mainly refers to reciprocally sliding along the length direction of the adjusting groove 143, and the extending direction of the mounting groove 144 mainly refers to reciprocally moving along the length direction of the mounting groove 144. Exemplarily, the adjusting groove 143 can be V-shaped, U-shaped or other shapes, and this embodiment does not limit this.

[0109] The adjustment method of the adjustment assembly 140 provided by the embodiment of the present application is as follows: After the traction wire 350 is fixed on the traction assembly 130, loosen the adjusting screw 146 of the adjustment assembly 140, measure the tension on the winding wheel 1421 with a dynamometer, and adjust the position of the winding wheel 1421 along the length direction of the adjusting groove 143 until the specified force is reached, and then tighten the adjusting screw 146. Exemplarily, when the winding wheel 1421 moves outward along the length direction of the adjusting groove 143, the traction wire 350 is tensioned, and when the winding wheel 1421 moves inward along the length direction of the adjusting groove 143, the traction wire 350 is slack, where the inner side and the outer side are relative to the central plane of the base 110.

[0110] It should be noted that the tension on the winding wheel 1421 can be known by measuring the pressure exerted by the traction wire 350 on the winding wheel 1421. In addition, the direction in which the winding wheel 1421 moves outward can be referred to Figure 10 as shown by the arrow B1 direction in Figure 10As shown by the arrow B2 direction in [reference], the B1 direction and the B2 direction are opposite directions.

[0111] In addition, it should be noted that the winding wheel 1421 can be a bearing wheel. The upper plane of the inner ring of the bearing wheel is pressed tightly against the adjusting screw 146, and the lower plane is in contact with the flat baffle 14221. The traction wire 350 is wound in the winding groove 147 on the outer ring of the bearing wheel. The winding groove 147 can be a U-shaped groove. The winding wheel 1421 can be made of a material with a low friction coefficient with the traction wire 350, which is beneficial to reducing the frictional resistance when the traction wire 350 slides on the winding wheel 1421.

[0112] Exemplarily, the outer ring of the winding wheel 1421 can be made of any one of polytetrafluoroethylene, Teflon or polyetheretherketone with a low friction coefficient. The inner ring of the winding wheel 1421 is not limited by the material. For example, the inner ring of the winding wheel 1421 can be made of any one of metal or plastic.

[0113] Exemplarily, the surface of the winding wheel 1421 can also be sprayed with an anti-friction coating such as tetrafluoroethylene, so as to minimize the frictional force between the surface of the winding wheel 1421 and the traction wire 350, which is beneficial to further reducing the frictional resistance when the traction wire 350 slides on the winding wheel 1421.

[0114] Therefore, in this embodiment, by providing the adjusting assembly 140, during the process of assembling the traction wire 350, the adjusting assembly 140 can adjust the tightness of the traction wire 350, which is beneficial to controlling the tightness of the traction wire 350, and further beneficial to avoiding the problem that the actual elongation amount of the traction wire 350 deviates from the theoretical elongation amount, resulting in a deviation in the bending angle of the bending section 183 of the endoscope sheath tube, realizing the consistency of the bending of the bending section 183 of the endoscope sheath tube, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0115] As an alternative embodiment, referring to Figure 6 and Figure 7 shown, it may further include a protective sleeve 150 through which the traction wire 350 passes. Specifically, the protective sleeve 150 is disposed in the insertion section 182 and wraps around the outside of the traction wire 350. The protective sleeve 150 extends from the insertion section 182 into the base 110. The protective sleeve 150 is at least on the side of the adjusting assembly 140 away from the traction assembly 130. The open end 151 of the protective sleeve is close to the adjusting assembly 140. The traction wire 350 is led out from the open end 151 of the protective sleeve and led to the adjusting assembly 140. The protective sleeve 150 can provide a movement channel for the traction wire 350 and can reduce the frictional resistance between the traction wire 350 and other components, which is beneficial to extending the service life of the traction wire 350.

[0116] Among them, "at least located in" in that the protective sleeve 150 is at least located on the side of the adjustment assembly 140 facing away from the traction assembly 130 means that in some embodiments, the protective sleeve 150 may be located on the side of the adjustment assembly 140 facing away from the traction assembly 130, and in some embodiments, the protective sleeve 150 may also be provided between the adjustment assembly 140 and the traction assembly 130.

[0117] In the embodiments of the present application, mainly taking the protective sleeve 150 located on the side of the adjustment assembly 140 facing away from the traction assembly 130 as an example for description, such a design helps to improve the space utilization rate inside the base 110, reduce the overall size of the endoscope sheath control device 100, and the protective sleeve 150 will not cause assembly interference with other components on the base 110.

[0118] It should be noted that since the length of the protective sleeve 150 will affect the length of the traction wire 350, and further affect the bending angle of the bending section 183, it is necessary to fix the protective sleeve 150 to ensure that the effective length dimension of the protective sleeve 150 remains unchanged. Exemplarily, the distal end of the protective sleeve 150 and the distal end of the insertion section 182 can be fixedly connected by welding or bonding, and the proximal end of the protective sleeve 150 can be fixed to the side of the adjustment assembly 140 facing away from the traction assembly 130 by screws.

[0119] Exemplarily, the protective sleeve 150 in the embodiments of the present application can be a spring tube.

[0120] As an alternative implementation manner, referring to Figure 6 and Figure 7 shown, a sheath fixing assembly 160 may further be included, and the sheath fixing assembly 160 is at least located on the side of the adjustment assembly 140 facing away from the traction assembly 130. In the embodiments of the present application, mainly taking the sheath fixing assembly 160 located on the side of the adjustment assembly 140 facing away from the traction assembly 130 as an example for description.

[0121] Referring to Figure 6 and Figure 7 shown, the sheath fixing assembly 160 may include a sheath fixing base 161 and a sheath fixing member 162. Among them, the sheath fixing base 161 may be a sheath fixing boss, and the sheath fixing member 162 may include a sheath fixing screw 1621 and a sheath fixing gasket 1622. The sheath fixing gasket 1622 is arranged on the sheath fixing boss. After the protective sleeve 150 extends from the insertion section 182 into the base 110, it is fixed to the sheath fixing base 161 by the sheath fixing screw 1621 and the sheath fixing gasket 1622. Thus, through the sheath fixing assembly 160, it is beneficial to firmly fix the protective sleeve 150 on the base 110, improve the fixing effect of the protective sleeve 150, ensure that the protective sleeve 150 will not move during the use of the endoscope sheath control device 100, and ensure that the effective length of the protective sleeve 150 remains unchanged to the greatest extent.

[0122] Exemplarily, the sheath fixing seat 161 can be a part of the base 110 or a component mounted on the base 110, and no further limitation is made in this embodiment.

[0123] In order to further improve the fixing effect on the sheath tube 150, in the embodiment of the present application, the sheath fixing seat 161 and the sheath fixing pressing pad 1622 can be made of materials with a relatively large coefficient of friction. Exemplarily, the sheath fixing seat 161 and the sheath fixing pressing pad 1622 can be made of any one of metal materials, rigid materials, synthetic resin materials or copper alloys, which is beneficial to making the fixing of the sheath tube 150 more reliable.

[0124] It should be noted that no further limitation is made on the number, shape, size and setting position of the sheath fixing seat 161, the sheath fixing screw 1621 and the sheath fixing pressing pad 1622, and they can be specifically set according to the actual situation.

[0125] As an alternative implementation manner, referring to Figure 6 as shown, a limiting member 170 can also be included. The limiting member 170 is close to the traction assembly 130. The limiting member 170 has a limiting surface 171, and the limiting surface 171 is attached to a part of the outer peripheral edge of the traction wheel 131 to prevent the traction wire 350 from slipping off the traction wheel 131. Exemplarily, the limiting member 170 can be a limiting platform, and the limiting member 170 is mounted on the base 110.

[0126] Among them, no further limitation is made on the specific shape of the limiting surface 171. Exemplarily, the limiting surface 171 can be a flat surface, or the limiting surface 171 can be a concave arc surface. In this embodiment, the limiting surface 171 is mainly taken as an example of a concave arc surface for illustration. The arc surface is in small-gap fit with a part of the outer peripheral edge of the traction wheel 131, and the traction wire 350 can be fixed on the traction wheel 131 to prevent it from slipping off. Among them, no further limitation is made on the shape, material, number, arrangement mode, etc. of the limiting member 170, and they can be specifically set according to the actual situation.

[0127] As an alternative implementation manner, referring to Figure 6 and Figure 7 as shown, along the extending direction of the base 110, a wire leading hole 111 can be opened on one side of the base 110, and a part of the sheath tube 150 passes through the wire leading hole 111. In this embodiment, the extending direction of the base 110 mainly refers to the length direction of the base 110. The wire leading hole 111 is opened on one side of the base 110. Exemplarily, the wire leading hole 111 is opened on the side of the adjusting assembly 140 away from the traction assembly 130.

[0128] The sheath fixing assembly 160, the adjusting assembly 140, and the traction assembly 130 are arranged in sequence along the extending direction of the base 110 and toward the side away from the lead hole 111. Such an arrangement helps to greatly improve the space utilization rate inside the base 110, reduce the overall size of the endoscope sheath control device 100, and there will be no assembly interference between the components.

[0129] Figure 12 FIG. 4 is a front structural schematic diagram of the traction assembly of the endoscope sheath control device provided by the embodiment of the present application. Figure 13 FIG. 5 is a back structural schematic diagram of the traction assembly of the endoscope sheath control device provided by the embodiment of the present application. Figure 14 FIG. 6 is a sectional view of the traction assembly of the endoscope sheath control device provided by the embodiment of the present application.

[0130] As an alternative embodiment, referring to Figure 8 、 Figures 12 to 14 shown, the traction assembly 130 may include a traction wheel 131 and a traction fixing member 132. A transmission disk 112 is installed on the base 110. The traction wheel 131 is connected to the transmission disk 112, and the traction wire 350 is fixed to the traction wheel 131 through the traction fixing member 132. Exemplarily, the traction wheel 131 is installed on the shaft rod of the transmission disk 112, and the traction wheel 131 and the transmission disk 112 may be fixed by clamping or bonding.

[0131] Exemplarily, referring to Figure 12 shown, the traction fixing member 132 may include a traction fixing screw 1321, a traction fixing gasket 1322, and a traction fixing block 1323. The traction fixing block 1323 is disposed on the traction wheel 131, the traction fixing gasket 1322 is disposed on the traction fixing block 1323, and a traction groove 1312 may be provided on the traction wheel 131. After passing through the winding wheel 1421, the traction wire 350 is wound clockwise on the traction groove 1312 and routed around the traction fixing screw 1321 between the traction fixing gasket 1322 and the traction fixing block 1323 on the upper surface of the traction wheel 131. When the traction fixing screw 1321 is tightened, the traction wire 350 can be fixed.

[0132] Exemplarily, the traction fixing block 1323 and the traction wheel 131 may be two separate components, or the traction fixing block 1323 may be connected to the traction wheel 131 by bonding, clamping, or threaded connection, or the traction fixing block 1323 may also be a part of the traction wheel 131. No further limitation is made in this embodiment.

[0133] In addition, the number of winding turns of the traction wire 350 on the traction groove 1312 is not limited either, and the winding can be performed according to the actual situation. The shape of the traction groove 1312 can also be V-shaped, U-shaped, or other shapes.

[0134] In addition, the shapes of the traction fixing block 1323 and the traction fixing pad 1322 are not limited either, as long as the purpose of wire pressing can be achieved. The traction fixing screw 1321 can be made into a smooth shaft without threads at the front section, and the front section of the traction fixing screw 1321 serves the purpose of preventing the traction wire 350 from slipping out of the traction groove 1312.

[0135] In order to further prevent the traction wire 350 from slipping out of the traction groove 1312, in the embodiments of the present application, the traction wheel 131, the traction fixing pad 1322, and the traction fixing block 1323 can all be made of materials with a relatively large coefficient of friction. Exemplarily, the traction wheel 131, the traction fixing pad 1322, and the traction fixing block 1323 can be made of any one of metal materials, rigid materials, synthetic resin materials, or copper alloys, thereby being beneficial to ensuring the fixing effect of the traction wire 350.

[0136] As an alternative implementation, referring to Figure 12 and Figure 13 as shown, a notch 1311 can be provided on the traction wheel 131.

[0137] It should be noted that in the embodiments of the present application, the shape of the notch 1311 is not further limited. Exemplarily, the notch 1311 can be in an "L shape" or a "W shape". In this embodiment, referring to Figure 12 and Figure 13 as shown, the shape of the notch 1311 is mainly taken as an L shape for illustration.

[0138] Exemplarily, referring to Figure 12 as shown, the notch 1311 can include a first extension segment 13111 and a second extension segment 13112. The first extension segment 13111 is opened on at least part of the circumference of the traction wheel 131. Exemplarily, the extending direction of the first extension segment 13111 can be the same as the radial direction of the traction wheel 131, or the extending direction of the first extension segment 13111 can have an included angle with the radial direction of the traction wheel 131. This is not further limited in this embodiment.

[0139] The first end of the second extension segment 13112 is connected to the first extension segment 13111, and the second end of the second extension segment 13112 extends in the direction close to the traction fixing member 132. In this way, when winding, the traction wire 350 is wound in the traction groove 1312 and is successively led to the fixed end of the traction fixing member 132 via the first extension segment 13111 and the second extension segment 13112, and is fixed on the traction wheel 131 through the fixed end, where the fixed end is the top end of the traction fixing screw 1321.

[0140] With such a design, since the traction wire 350 is fixed along the root of the L-shaped wire groove and blocked by the protruding platform extending from the L-shaped wire groove, it will not come out of the spool. The traction fixing screw 1321 further fixes the traction wire 350 at the position between it and the spool, preventing the traction wire 350 from coming out of the spool.

[0141] Among them, no further limitations are imposed on the size, setting position, number of settings, etc. of the notch 1311, and specific settings can be made according to the actual situation. In addition, the outer diameter of the traction wheel 131 needs to be large enough compared to its spool to ensure that the traction wire 350 will not come out of the traction wheel 131 even when the traction wire 350 is in a slack state during movement.

[0142] In addition, it should be noted that in the embodiment of the present application, the designed "L-shaped" notch 1311 has the following advantages compared with a straight notch, a rectangular notch, a square notch, or a fan-shaped notch: when the traction wire 350 is led from the notch 1311 to the fixed end of the traction fixing member 132, the traction wire 350 is tightened at the second end of the second extension section 13112. The length of the traction wire 350 from the first end to the second end of the second extension section 13112 is equivalent to being tightened by twice the length of the second extension section 13112 compared to a normal notch. When it is necessary to pay out the traction wire 350, it is necessary to slacken twice the length of the second extension section 13112 more than a normal notch to make the traction wire 350 come out of the notch 1311. Therefore, the "L-shaped" notch in this embodiment can effectively ensure the fixing effect of the traction wire 350 and the traction wheel 131 to the greatest extent.

[0143] As an alternative embodiment, referring to Figure 6 As shown, the central axis of the protective sleeve 150 at the fixed position of the sheath fixing assembly 160, the central plane of the adjustment groove 143, and the central plane of the traction groove 1312 can be on the same horizontal plane, or the central axis of the protective sleeve 150 at the fixed position of the sheath fixing assembly 160, the central plane of the adjustment groove 143, and the central plane of the traction groove 1312 can also be arranged in a staggered manner.

[0144] In the embodiment of the present application, it is mainly described by taking the central axis of the protective sleeve 150 at the fixed position of the sheath fixing assembly 160, the central plane of the adjustment groove 143, and the central plane of the traction groove 1312 being on the same horizontal plane as an example. Such an arrangement is beneficial to minimizing the frictional resistance during the telescopic process of the traction wire 350, thereby ensuring that the telescopic process of the traction wire 350 is smoother to the greatest extent.

[0145] As an alternative embodiment, the number of adjustment components 140 may include one, and the number of traction components 130 may include one. One traction component 130 is correspondingly arranged with one adjustment component 140, and the adjustment component 140 and the traction component 130 are respectively used for being correspondingly arranged with one traction wire 350.

[0146] As an alternative embodiment, the number of adjustment components 140 may include at least two. Exemplarily, the number of adjustment components 140 may include two, three or more. The number of traction components 130 may include at least two. Exemplarily, the number of traction components 130 may include two, three or more. One traction component 130 is correspondingly arranged with one adjustment component 140. At least two adjustment components 140 and at least two traction components 130 are respectively used for being arranged in one-to-one correspondence with at least two traction wires 350. At least two adjustment components 140 form a set of adjustment groups. In the same set of adjustment groups, the tightness of at least two traction wires 350 wound around at least two adjustment components 140 is equal, which is beneficial to ensuring the consistency of the bending of the bending section 183.

[0147] In the embodiment of the present application, with reference to Figure 6 as shown, mainly taking the number of adjustment components 140 being four, the number of traction components 130 being four, and the number of traction wires 350 being four as an example for description, four adjustment components 140 and four traction components 130 are respectively used for being arranged in one-to-one correspondence with four traction wires 350.

[0148] Exemplarily, with reference to Figure 6 as shown, two of the four adjustment components 140 are oppositely arranged to form a first adjustment group. In the first adjustment group, the tightness of the two traction wires 350 correspondingly wound around the two adjustment components 140 is equal; the other two of the four adjustment components 140 are oppositely arranged to form a second adjustment group. In the second adjustment group, the tightness of the two traction wires 350 correspondingly wound around the two adjustment components 140 is equal.

[0149] Exemplarily, two of the four traction components 130 are oppositely arranged to form a first traction group, and two of the four traction wires 350 are correspondingly fixed on the two traction components 130. The other two of the four traction components 130 are oppositely arranged to form a second traction group, and the other two of the four traction wires 350 are correspondingly fixed on the two traction components 130.

[0150] The first adjustment group, the first traction group, the second adjustment group, and the second traction group are arranged in sequence along the extending direction of the base 110 and toward the side away from the lead hole 111. Such an arrangement helps to greatly improve the space utilization rate inside the base 110, reduce the overall size of the endoscope sheath control device 100, and there will be no assembly interference between components.

[0151] It should be noted that the relationship between the tightness of the first adjustment group and the tightness of the second adjustment group is not limited. Exemplarily, the tightness of the first adjustment group may be the same as that of the second adjustment group, or the tightness of the first adjustment group may be different from that of the second adjustment group. In addition, the arrangement of the first adjustment group, the first traction group, the second adjustment group, and the second traction group includes but is not limited to the above arrangement, and can be specifically arranged according to the actual space size.

[0152] Exemplarily, the distribution positions of the two traction components 130 in the first traction group can be symmetrically arranged with respect to a mirror image, and the distribution positions of the two traction components 130 in the second traction group can be symmetrically arranged with respect to a mirror image, which is beneficial to ensuring the consistency of the actions of the traction wires 350 in two opposite directions.

[0153] As an optional implementation manner, the horizontal heights of the first adjustment group and the first traction group can be staggered from the horizontal heights of the second adjustment group and the second traction group. Exemplarily, referring to Figure 6 As shown, the horizontal heights of the first adjustment group and the first traction group are the same as the first horizontal height, and the horizontal heights of the second adjustment group and the second traction group are the same as the second horizontal height, and the second horizontal height is higher than the first horizontal height. This design method arranges the traction wires 350 for front-back adjustment above the first adjustment group and the first traction group. On the one hand, it greatly improves the space utilization rate inside the base 110 and reduces the overall size of the endoscope sheath control device 100. On the other hand, it will not interfere with the arrangement of the traction wires 350 for left-right adjustment, and can also avoid problems such as entanglement between multiple traction wires 350.

[0154] In some embodiments, the horizontal heights of the four traction components 130 can also be designed to be the same. In some embodiments, the first horizontal height can also be lower than the second horizontal height. This embodiment does not make further limitations on this, and can be specifically adjusted according to the actual situation.

[0155] As an optional implementation manner, referring to Figure 8As shown in the figure, the endoscope sheath control device 100 may further include a transmission disk 112, a first bearing 113, an elastic retaining ring 115, a locking plate 116, a second bearing 117, a washer 118, and a locking screw 119. A plurality of positioning posts 172 may be provided on the limiting member 170, and a plurality of positioning holes 1161 are provided on the locking plate 116. The plurality of positioning posts 172 and the plurality of positioning holes 1161 are arranged in one-to-one correspondence.

[0156] During assembly, the first bearing 113 is installed on the shaft rod 114 of the transmission disk and is installed on the base 110 from below the base 110. The traction wheels 131 are respectively sleeved on the shaft rod 114 of the transmission disk and are finally fixed above the shaft shoulder. The elastic retaining ring 115 is installed on the shaft rod 114 of the transmission disk to clamp the traction wheels 131 to prevent the traction wheels 131 from moving up and down. The locking plate 116 is installed on the limiting member 170 and is accurately positioned through the positioning posts 172 and the positioning holes 1161, which is beneficial to improving the fixing effect of the locking plate 116 and the limiting member 170. The second bearing 117 is respectively installed on the uppermost end of the shaft rod 114 of the transmission disk from above the locking plate 116 for circumferential limiting of the transmission disk 112. The locking screw 119 is installed at the top end of the shaft rod 114 of the transmission disk, and the inner ring of the second bearing 117 is pressed tightly through the washer 118.

[0157] It should be noted that in this embodiment, since the number of the adjusting assemblies 140 is four, the number of the traction assemblies 130 is four, and the number of the traction wires 350 is four, the number of the transmission disks 112, the number of the first bearings 113, the number of the elastic retaining rings 115, the number of the second bearings 117, the number of the washers 118, and the number of the locking screws 119 can all be set to four. Similarly, the number of the drive motors 2121, the number of the drivers 2122, the number of the speed reducers 213, and the number of the couplings 214 can also all be set to four.

[0158] Similarly, the number of the protective sleeves 150 can be set to four. The four protective sleeves 150 are respectively sleeved outside the four traction wires 350, which is beneficial to avoiding the frictional resistance between the traction wires 350 and between the traction wires 350 and other components, and is beneficial to extending the service life of the traction wires 350.

[0159] The cooperation working process of the endoscope sheath control device 100 and the drive device 210 provided in the embodiment of the present application is described as follows:

[0160] Four traction wires 350 pass through four winding wheels 1421 in one-to-one correspondence and are then fixed on four traction wheels 131. Four drive motors 2121 drive four drive disks 112 to perform circumferential motion respectively. The four traction wheels 131 perform circumferential motion driven by the four drive disks 112. The four traction wheels 131 drive the four traction wires 350 to perform telescopic motion in one-to-one correspondence, so as to control the bending section 183 of the endoscope sheath 180 to bend towards the target direction.

[0161] Exemplarily, two traction assemblies 130 in the first traction group respectively control the deflection motion of the bending section 183 of the endoscope sheath 180, that is, control the motion of the bending section 183 in the left-right direction (the two traction assemblies 130 closer to the lead hole 111 side); two traction assemblies 130 in the second traction group respectively control the pitching motion of the bending section 183 of the endoscope sheath 180, that is, control the motion of the bending section 183 in the up-down direction (the two traction assemblies 130 away from the lead hole 111 side).

[0162] Exemplarily, when the bending section 183 needs to deflect to the left, the inner traction assembly 130 in the first traction group rotates to make the traction wire 350 in a contracted wire-winding state, and the outer traction assembly 130 in the first traction group rotates to make the traction wire 350 in a stretched wire-unwinding state, so that the bending section 183 can be bent to the left.

[0163] Therefore, the endoscope sheath control device 100, the drive system 200 and the surgical robot 300 provided in the present application, by including the traction assembly 130, can drive the traction wire 350 to perform telescopic motion, and can effectively fix the traction wire 350 at the same time, which is beneficial to avoiding the problem that the traction wire 350 comes off from the traction wheel 131; by including the adjustment assembly 140, during the process of assembling the traction wire 350, the adjustment assembly 140 can adjust the tightness of the traction wire 350, so as to be beneficial to controlling the tightness of the traction wire 350, and further beneficial to avoiding the problem that the actual telescopic amount of the traction wire 350 deviates from the theoretical telescopic amount, resulting in the bending angle of the bending section 183 of the endoscope sheath having a deviation, realizing the consistency of the bending of the endoscope sheath 180, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0164] In the description of the embodiments of the present application, it should be understood that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, or an indirect connection through an intermediate medium, and can be the communication of the internal structures of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0165] The orientation or positional relationship indicated by terms such as "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically and precisely defined.

[0166] In the description of the present application, the terms "first", "second", "third", "fourth", etc. in the specification, claims and above-mentioned drawings are used to distinguish similar objects and do not necessarily need to be used 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 the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the structural technical features thereof. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An endoscope sheath control device, It is characterized in that Used for endoscopes, endoscopic surgery and surgical robots, the endoscope has a traction wire, and the endoscope sheath control device includes a base, a shell, an endoscope sheath, a traction component and an adjustment component; The shell is covered on the base and encloses a cavity with the base, the traction assembly and the adjustment assembly are located in the cavity, the first end of the endoscope sheath is fixedly connected to the base, and the second end of the endoscope sheath extends in a direction away from the base; The endoscope sheath is used to be fixedly connected to the first end of the traction wire, the traction assembly is used to be fixedly connected to the second end of the traction wire, and the traction assembly is used to drive the traction wire to perform telescopic movement to achieve a bending action of the endoscope sheath; The adjustment component is arranged on the lead path of the traction wire, and the adjustment component includes an adjustment seat and a winding member, the winding member is slidably connected to the adjustment seat, and the traction wire is wound around the winding member; the winding member is used to slide relative to the adjustment seat and drive the traction wire to move so as to adjust the tightness of the traction wire.

2. The endoscope sheath control device according to claim 1, It is characterized in that The adjusting seat is provided with an adjusting slot, the wrapping member is slidably connected in the adjusting slot, and reciprocates along the extending direction of the adjusting slot.

3. The endoscope sheath control device according to claim 2, It is characterized in that The winding member comprises a winding wheel and a winding baffle, wherein the winding wheel is slidably connected to the adjusting groove and reciprocates along the extending direction of the adjusting groove; The winding baffle is connected to at least part of the periphery of the winding wheel, and the winding baffle is located on the side of the winding wheel where the traction wire is wound. A winding area for the traction wire to pass through is formed between the winding baffle and the winding periphery of the winding wheel, and the winding baffle is used to limit the traction wire from escaping from the winding area.

4. The endoscope sheath control device according to claim 3, It is characterized in that It also includes a sheath tube for the traction wire to pass through, the sheath tube is at least located on the side of the adjustment component away from the traction component, the open end of the sheath tube is close to the adjustment component, and the traction wire is led out from the open end of the sheath tube and led to the adjustment component.

5. The endoscope sheath control device according to claim 4, It is characterized in that It also includes a sheath fixing assembly, wherein the sheath fixing assembly is at least located on a side of the adjustment assembly facing away from the traction assembly; The sheath fixing assembly comprises a sheath fixing seat and a sheath fixing piece. The first end of the sheath tube is fixedly connected to the endoscope sheath tube, and the second end of the sheath tube is fixed to the sheath fixing seat through the sheath fixing piece.

6. The endoscope sheath control device according to claim 5, It is characterized in that The traction assembly comprises a traction wheel and a traction fixing piece. A transmission disc is mounted on the base. The traction wheel is connected to the transmission disc. The traction wire is fixed on the traction wheel through the traction fixing piece.

7. The endoscope sheath control device according to claim 6, characterized in that, a notch is provided on the traction wheel, the notch is in an "L" shape, the notch includes a first extension section and a second extension section, the first extension section is provided on at least part of the peripheral edge of the traction wheel, the extending direction of the first extension section is the same as or has an included angle with the radial direction of the traction wheel, the first end of the second extension section is connected to the first extension section, and the second end of the second extension section extends along the direction close to the traction fixing member; a traction groove is provided on the traction wheel, the traction wire is wound in the traction groove and is led to the fixed end of the traction fixing member through the first extension section and the second extension section in sequence, and is fixed on the traction wheel through the fixed end.

8. The endoscope sheath control device according to claim 7, characterized in that, the central axis of the protective sleeve at the fixing position of the sheath fixing assembly, the central plane of the adjustment groove and the central plane of the traction groove are on the same horizontal plane; or, the central axis of the protective sleeve at the fixing position of the sheath fixing assembly, the central plane of the adjustment groove and the central plane of the traction groove are arranged in a dislocation manner.

9. The endoscope sheath control device according to claim 8, characterized in that, it further includes a limiting member, the limiting member is close to the traction assembly, the limiting member has a limiting surface, and the limiting surface is attached to a part of the outer periphery of the traction wheel to limit the traction wire from disengaging from the traction wheel.

10. The endoscope sheath control device according to claim 9, characterized in that, along the extending direction of the base, a wire leading hole is provided on one side of the base, and part of the protective sleeve passes through the wire leading hole; the sheath fixing assembly, the adjustment assembly and the traction assembly are arranged in sequence along the extending direction of the base and toward the side away from the wire leading hole.

11. The endoscope sheath control device according to any one of claims 1-10, characterized in that, the number of the adjustment assemblies includes at least two, the number of the traction assemblies includes at least two, one traction assembly is correspondingly arranged with one adjustment assembly, and at least two adjustment assemblies and at least two traction assemblies are respectively used for corresponding arrangement with at least two traction wires one by one; at least two adjustment assemblies form a set of adjustment groups, and in the same set of adjustment groups, the tightness of at least two traction wires wound around at least two adjustment assemblies is equal.

12. The endoscope sheath control device according to claim 10, characterized in that, the number of the adjustment assemblies includes four, the number of the traction assemblies includes four, and the four adjustment assemblies and the four traction assemblies are respectively used for corresponding arrangement with four traction wires one by one; two of the four adjustment assemblies are oppositely arranged to form a first adjustment group, and in the first adjustment group, the tightness of the two traction wires correspondingly wound around the two adjustment assemblies is equal; And / or, the other two of the four adjusting components are oppositely arranged to form a second adjusting group. In the second adjusting group, the tensions of the two traction wires respectively wound around the two adjusting components are equal.

13. The endoscope sheath control device according to claim 12, wherein, two of the four traction components are oppositely arranged to form a first traction group, two of the four traction wires are respectively fixed to the two traction components, the other two of the four traction components are oppositely arranged to form a second traction group, and the other two of the four traction wires are respectively fixed to the two traction components; The first adjusting group, the first traction group, the second adjusting group, and the second traction group are arranged in sequence along the extending direction of the base and toward the side away from the lead hole.

14. The endoscope sheath control device according to claim 13, wherein, the horizontal heights of the first adjusting group and the first traction group are staggered from the horizontal heights of the second adjusting group and the second traction group.

15. The endoscope sheath control device according to any one of claims 6-10, wherein, the traction wheel is made of any one of metal material, rigid material, synthetic resin material, or copper alloy; and / or, the winding wheel is a bearing wheel, and the outer ring of the winding wheel is made of any one of polytetrafluoroethylene, Teflon, or polyether ether ketone.

16. A drive system, wherein, it includes a driving device and the endoscope sheath control device according to any one of claims 1-15, and the driving device is connected to the endoscope sheath control device.

17. The drive system according to claim 16, wherein, the driving device includes a driving base, a driving member, a speed reducer, and a coupling. The coupling is installed on the speed reducer, and the speed reducer is installed on the driving member; the driving member is connected to the traction component of the endoscope sheath control device through the coupling, and the base of the endoscope sheath control device is connected to the driving base.

18. A surgical robot, wherein, it includes a control system, a navigation system, a display system, an operator, an endoscope, and the drive system according to claim 16 or 17. The traction wire of the endoscope is connected to the endoscope sheath control device of the drive system.

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