Instrument switching mechanism and medical device

Abstract

The invention discloses an instrument switching mechanism and a medical device, and relates to the technical field of medical instruments. When a fixing shaft of the instrument switching mechanism is in a first state, the fixing shaft is fixedly connected with a first driving assembly and rotatably connected with a second driving assembly, and when the fixing shaft is in a second state, the fixing shaft is rotatably connected with the first driving assembly and fixedly connected with the second driving assembly; the force application part is used for driving the fixed shaft to rotate and enabling one of the first driving assembly and the second driving assembly to move, and the energy storage part is in an energy storage state; after the energy storage part stores energy, the fixing shaft is switched between the first state and the second state, the energy storage part is in an energy release state, and the energy released by the energy storage part is used for driving the other one of the first driving assembly and the second driving assembly to move reversely. According to the instrument switching mechanism, when the first treatment instrument and the second treatment instrument are switched, the movement displacement of the first treatment instrument and the second treatment instrument can be reduced, and therefore the instrument replacement time can be shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an instrument switching mechanism and a medical device. Background Art

[0002] An endoscope is a commonly used medical device that can directly enter the human body for examination and provide doctors with sufficient diagnostic information. An endoscope usually includes: an insertion part for inserting into the human body, a handle for controlling the bending of the front end of the insertion part, and a display device for displaying the internal environment of the human body's natural cavity; the endoscope can realize the internal observation of the human body, the exploration of lesions, and the treatment of lesions through the cooperation of the above three parts.

[0003] After the insertion portion is inserted into the human body, a treatment instrument can be inserted into the endoscope to complete sampling or treatment of the lesion. For example, for a ureteroscope, in order to better remove stones, the ureteroscope needs to be used with multiple treatment instruments, and the treatment instruments need to be replaced during the operation.

[0004] In traditional endoscope systems, when replacing a treatment instrument, the first treatment instrument is usually pulled out from the instrument channel of the insertion part, and then the second treatment instrument is inserted into the instrument channel. This replacement method requires the first treatment instrument to be completely removed from the instrument channel, and then the second treatment instrument is inserted from the entrance of the instrument channel to the far end of the instrument channel. Not only are the steps cumbersome, but the replacement time is also long.

[0005] The related art provides an endoscope system, in which the instrument channel of the endoscope system includes a first cavity and a second cavity, and the first cavity and the second cavity share a third cavity at the distal end. Therefore, when replacing the treatment instrument, it is only necessary to return the first treatment instrument to the first cavity, and then directly insert the second treatment instrument from the distal end of the second cavity into the third cavity, which can reduce the replacement time of the treatment instrument.

[0006] However, when operating this endoscope system, doctors still need two steps: the first step is to retract the first treatment instrument, and the second step is to insert the second treatment instrument. The operation steps are cumbersome; and the doctor needs to operate two treatment instruments, which is not conducive to the convenience of operation. Therefore, providing an endoscope that is easy to operate is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0007] The present invention discloses an instrument switching mechanism and a medical device, so as to solve the technical problems in the related art that when an endoscope switches treatment instruments, the operation steps are complicated and the operation convenience is poor.

[0008] In order to solve the above problems, the present invention adopts the following technical solutions: A first aspect of the present invention discloses an instrument switching mechanism.

[0009] The instrument switching mechanism of the present invention is used in an endoscope, and the instrument switching mechanism includes a first tube body and a second tube body, wherein the first tube body is used to insert a first treatment instrument, and the second tube body is used to insert a second treatment instrument; the instrument switching mechanism also includes a first drive assembly and a second drive assembly, wherein the first drive assembly is used to drive the first tube body to move, and the second drive assembly is used to drive the second tube body to move; the instrument switching mechanism also includes a fixed shaft, wherein the fixed shaft has at least a first state and a second state, and when the fixed shaft is in the first state, the fixed shaft is fixedly connected to the first drive assembly and rotatably connected to the second drive assembly; when the fixed shaft is in the second state, the fixed shaft is rotatably connected to the first drive assembly and fixedly connected to the second drive assembly; the instrument switching mechanism also includes a force applying member and an energy storage member, wherein the force applying member is used to drive the fixed shaft to rotate and move one of the first drive assembly and the second drive assembly, and the energy storage member is in an energy storage state; after the energy storage member stores energy, the fixed shaft switches between the first state and the second state, and the energy storage member is in an energy release state, and uses the energy released by the energy storage member to drive the other of the first drive assembly and the second drive assembly to move in the opposite direction.

[0010] According to a second aspect of the present invention, a medical device is disclosed.

[0011] The medical device of the present invention comprises an instrument switching mechanism and an endoscope, wherein the instrument switching mechanism is the instrument switching mechanism described in any one of the technical solutions of the present invention, the instrument switching mechanism and the endoscope are an integrated structure, or the instrument switching mechanism and the endoscope are detachably connected.

[0012] The technical solution adopted by the present invention can achieve the following beneficial effects: The instrument switching mechanism of the present invention can drive the fixed shaft to rotate by applying force to the force-applying member. The rotation of the fixed shaft can drive one of the first drive assembly or the second drive assembly to move, so that the corresponding treatment instrument is retracted into the instrument channel, and the other remains fixed, and the energy storage member is in an energy storage state. After the energy storage member stores energy, the fixed shaft switches between the first state and the second state, and the energy storage member is in an energy release state. The energy released by the energy storage member can drive the other of the first drive assembly and the second drive assembly to move in the opposite direction, so that the corresponding treatment instrument enters the common channel, while the one retracted into the instrument channel remains fixed.

[0013] It can be seen that the instrument switching mechanism of the present invention can control the action of the force-applying member and utilize the energy storage member to make the first drive assembly and the second drive assembly move in opposite directions when switching between the first treatment instrument and the second treatment instrument. Compared with the existing switching method, the operation steps are simplified, the operation efficiency can be improved and the operation time can be reduced. In addition, the doctor's operation object is only the force-applying member, and the doctor does not need to operate the two treatment instruments. It has the advantage of convenient operation and can also improve the doctor's operating experience.

[0014] On the other hand, the instrument switching mechanism of the present invention, when switching between the first treatment instrument and the second treatment instrument, first makes one of them retreat into the instrument channel, and uses the process of retreating the treatment instrument to store energy in the energy storage part; then uses the energy stored in the energy storage part to drive the other to extend. In this way, the first treatment instrument or the second treatment instrument only needs to retreat to the distal end of the first instrument channel or the distal end of the second instrument channel, which can reduce the displacement of the first treatment instrument and the second treatment instrument, thereby further shortening the instrument replacement time; in addition, the method of using the energy stored in the energy storage part to drive the first treatment instrument or the second treatment instrument to extend has the advantage of fast extension speed, which can further shorten the instrument replacement time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a schematic diagram of an instrument channel in the related art; Figure 2 is a schematic diagram of a first treatment device and a second treatment device after switching in the related art; Figure 3 is a schematic diagram of a medical device according to an embodiment of the present application; Figure 4 is a partial schematic diagram of a medical device according to an embodiment of the present application; Figure 5 is a schematic diagram of an apparatus switching mechanism according to an embodiment of the present application; Figure 6 This is a first partial schematic diagram of the device switching mechanism of an embodiment of the present application; Figure 7 is a second partial schematic diagram of the device switching mechanism of the embodiment of the present application; Figure 8 is a third partial schematic diagram of the device switching mechanism of the embodiment of the present application; Fig. 9is a cross-sectional view of the fixed axis of the device switching mechanism of the embodiment of the present application in a first state; Fig.10 yes Fig. 9 A magnified view of part A; Fig.11 is a cross-sectional view of the fixed axis of the device switching mechanism of the embodiment of the present application in the second state; Fig.12 yes Fig.11 A magnified view of part B; Fig.13 is a schematic diagram of a first tube body and a second tube body according to an embodiment of the present application; Fig.14 is a schematic diagram of a first tube body and a second tube body in another embodiment of the present application; Fig.15 is a schematic diagram of the cooperation between the force applying member and the fixed shaft in the embodiment of the present application; Fig.16 is a schematic diagram of a housing of an embodiment of the present application; Fig.17 is a first schematic diagram of a boss according to an embodiment of the present application; Fig.18 is a partial schematic diagram of the first gear of the embodiment of the present application; Fig.19 It is a partial schematic diagram of the locking portion of an embodiment of the present application; Fig. 20 is a partial schematic diagram of the second gear of the embodiment of the present application; Fig.21 It is a partial schematic diagram of the first limiting portion of an embodiment of the present application; Fig. 22 It is a partial schematic diagram of the second limiting portion of the embodiment of the present application.

[0017] In the figure: 100, instrument switching mechanism; 110, first tube body; 111, first sliding section; 112, first fixed section; 113, first elastic tube; 114, first fixed assembly; 1141, first sleeve connection portion; 1142, first locking cap; 120, second tube body; 121, second sliding section; 122, second fixed section; 123, second elastic tube; 124, second fixed assembly; 1241, second sleeve connection portion; 1242, second locking cap; 130, first driving assembly; 131, first gear; 1311, first inner tooth; 1312, second inner tooth; 132, first rack portion; 1321, first rack; 140, second driving assembly; 141, second gear; 1411, third inner tooth; 1 412, fourth inner teeth; 142, second rack portion; 1421, second rack; 150, fixed shaft; 151, first limiting portion; 1511, second outer teeth; 152, second limiting portion; 1521, third outer teeth; 153, first outer teeth; 160, force-applying member; 161, block; 170, energy storage member; 180, housing; 181, buckle; 182, boss; 1821, slide groove; 1822, mounting groove; 190, locking portion; 191, fifth inner teeth; 192, sixth inner teeth; 210, first treatment instrument; 220, second treatment instrument; 300, endoscope; 310, handle; 320, insertion portion; 321, first instrument channel; 322, second instrument channel; 323, common channel. DETAILED DESCRIPTION

[0018] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0019] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0020] In each embodiment of the present application, "proximal end" and "distal end" refer to the position of each component relative to the user in the use environment, wherein the end closer to the user is designated as the "proximal end" and the end farther from the user is designated as the "distal end".

[0021] like Figure 1 As shown, in the endoscope system in the related art, the instrument channel includes a first instrument channel 321 and a second instrument channel 322, and the first instrument channel 321 and the second instrument channel 322 are both connected to the common channel 323 at the distal end. When the treatment instrument is replaced, it is only necessary to retract the first treatment instrument 210 into the first instrument channel 321, and then directly insert the second treatment instrument 220 from the distal end of the second instrument channel 322 into the common channel 323. However, when operating this type of endoscope system, the doctor still needs to take two steps: the first step is to retract the first treatment instrument 210, and the second step is to insert the second treatment instrument 220. The operation steps are cumbersome; and the doctor still needs to operate the two treatment instruments, which is not conducive to the convenience of operation.

[0022] To this end, the applicant's related technology provides an instrument switching mechanism, which includes a force-applying member. Through the action of the force-applying member, the first treatment instrument 210 can be retracted and the second treatment instrument 220 can be inserted simultaneously, which can not only reduce the instrument replacement time, but also simplify the instrument replacement operation steps. For the doctor, it is only necessary to operate the force-applying member, which improves the convenience of operation and can improve the doctor's operating experience.

[0023] However, the inventors found in their research that in order to reduce the radial dimension of the distal end of the insertion portion, the size of the common channel 323 is relatively small, and it is difficult to accommodate the first treatment instrument 210 and the second treatment instrument 220 at the same time. Therefore, when switching between the first treatment instrument 210 and the second treatment instrument 220, at least the first treatment instrument 210 needs to be retracted into the first instrument channel 321, and the second treatment instrument 220 can be extended from the second instrument channel 322. When the second treatment instrument 220 continues to move toward the distal end in the common channel 323, the first treatment instrument 210 continues to move toward the proximal end in the first instrument channel 321. In this way, when switching between the first treatment instrument 210 and the second treatment instrument 220, the first treatment instrument 210 and the second treatment instrument 220 need to move at least twice the length of the common channel 323, so that the second treatment instrument 220 can reach the distal end of the insertion portion. Figure 2 A schematic diagram showing a first treatment instrument 210 and a second treatment instrument 220 in an instrument channel is shown.

[0024] To this end, the present application provides an instrument switching mechanism, which can reduce the displacement of the first treatment instrument 210 and the second treatment instrument 220 when switching between the first treatment instrument 210 and the second treatment instrument 220, thereby further shortening the instrument replacement time.

[0025] The following is combined with Figures 1 to 22 , the instrument switching mechanism and medical device provided in this application are described in detail through specific embodiments and their application scenarios.

[0026] The first aspect of this embodiment provides a detailed description of the instrument switching mechanism.

[0027] The instrument switching mechanism of this embodiment is used in an endoscope 300. The endoscope 300 includes a handle 310 and an insertion portion 320. Figure 3 and Figure 4 As shown. The handle 310 is provided with an operating member for the convenience of the doctor to operate, and the insertion part 320 is used to be inserted into the cavity. The insertion part 320 has an active bending section at the distal end, and the distal end surface of the active bending section is provided with a camera module and other structures. The insertion part 320 is also provided with an instrument channel.

[0028] Exemplarily, a first instrument channel 321 and a second instrument channel 322 are independently provided in the insertion portion 320 . The first treatment instrument 210 can be extended through the first instrument channel 321 ; and the second treatment instrument 220 can be extended through the second instrument channel 322 .

[0029] Exemplarily, the insertion portion 320 is provided with a first instrument channel 321 and a second instrument channel 322. At the distal end of the insertion portion 320, the first instrument channel 321 and the second instrument channel 322 are both connected to the common channel 323. Figure 1 or Figure 2 As shown. The first treatment instrument 210 can be extended through the first instrument channel 321 and the common channel 323; when the first treatment instrument 210 is retracted into the first instrument channel 321, the second treatment instrument 220 can be extended through the second instrument channel 322 and the common channel 323. Exemplarily, the first treatment instrument 210 and the second treatment instrument 220 can be selected from biopsy forceps, puncture devices, soft tissue clamps, stone removal baskets, double J tubes, etc.

[0030] The device switching mechanism of this embodiment includes a first tube body 110 and a second tube body 120. Figure 5 The first tube body 110 is used to insert the first treatment instrument 210, and the second tube body 120 is used to insert the second treatment instrument 220. Figure 5As shown. Exemplarily, the first tube body 110 may be in communication with the first instrument channel 321, and the second tube body 120 may be in communication with the second instrument channel 322. Alternatively, the first tube body 110 and the second tube body 120 are respectively formed by the first instrument channel 321 and the second instrument channel 322 extending toward the proximal end, that is, the first tube body 110 and the second tube body 120 are respectively an integrated structure with the first instrument channel 321 and the second instrument channel 322.

[0031] The device switching mechanism of this embodiment further includes a first drive assembly 130 and a second drive assembly 140. Figure 7 As shown. The first drive assembly 130 is used to drive the first tube body 110 to move, and the second drive assembly 140 is used to drive the second tube body 120 to move. Exemplarily, the first drive assembly 130 is fixedly connected to the first tube body 110, and the second drive assembly 140 is fixedly connected to the second tube body 120, so that the first tube body 110 can be driven to move by the movement of the first drive assembly 130, and the second tube body 120 can be driven to move by the movement of the second drive assembly 140. Preferably, the movement directions of the first tube body 110 and the second tube body 120 are opposite, so that the movement directions of the first treatment instrument 210 and the second treatment instrument 220 are opposite, so as to realize instrument switching.

[0032] The device switching mechanism of this embodiment further includes a fixed shaft 150, such as Figure 9~Figure 12 The fixed shaft 150 has at least a first state and a second state. When the fixed shaft 150 is in the first state, the fixed shaft 150 is fixedly connected to the first drive assembly 130 and rotatably connected to the second drive assembly 140; when the fixed shaft 150 is in the second state, the fixed shaft 150 is rotatably connected to the first drive assembly 130 and fixedly connected to the second drive assembly 140. Fig. 9 and Fig.11 Schematic diagrams showing the fixed shaft 150 in the first state and the second state are shown respectively. In this way, when the fixed shaft 150 is in the first state, the rotation of the fixed shaft 150 can drive the first drive assembly 130 to move, while the second drive assembly 140 is not affected by the rotation of the fixed shaft 150; when the fixed shaft 150 is in the second state, the rotation of the fixed shaft 150 can drive the second drive assembly 140 to move, while the first drive assembly 130 is not affected by the rotation of the fixed shaft 150.

[0033] The device switching mechanism of this embodiment further includes a force applying member 160 and an energy storage member 170. Figure 9~Figure 12As shown. Exemplarily, the force-applying member 160 is a component such as a knob or a toggle member that is convenient for the operator to apply force. The energy storage member 170 is a component such as an elastic member that can store mechanical energy as elastic potential energy. The energy storage member 170 is preferably a torsion spring. The force-applying member 160 is fixedly connected to the fixed shaft 150, so that the fixed shaft 150 can be driven to rotate by applying force to the force-applying member 160. When the fixed shaft 150 rotates, one of the first drive assembly 130 and the second drive assembly 140 moves, and the energy storage member 170 is in an energy storage state; after the energy storage member 170 stores energy, the fixed shaft 150 switches between the first state and the second state, the energy storage member 170 is in an energy release state, and uses the energy released by the energy storage member 170 to drive the other of the first drive assembly 130 and the second drive assembly 140 to move in the opposite direction.

[0034] Exemplarily, when the fixed shaft 150 is in the first state and the force-applying member 160 drives the fixed shaft 150 to rotate, the fixed shaft 150 rotates and drives the first drive assembly 130 to move, and the first drive assembly 130 moves and causes the first treatment instrument 210 to retract into the first instrument channel 321. During the movement of the first drive assembly 130, the energy storage member 170 twists and accumulates elastic potential energy; when the first treatment instrument 210 retracts to the distal end of the first instrument channel 321, the fixed shaft 150 switches from the first state to the second state, and the energy storage member 170 has a tendency to restore deformation, so that the energy storage member 170 is in a state of releasing elastic potential energy, and the energy released by the energy storage member 170 can drive the second drive assembly 140 to move, and the second drive assembly 140 moves and causes the second treatment instrument 220 to extend from the second instrument channel 322 to the common channel 323.

[0035] The instrument switching mechanism of this embodiment applies force to the force-applying member 160 to drive the fixed shaft 150 to rotate. The rotation of the fixed shaft 150 can drive one of the first drive assembly 130 or the second drive assembly 140 to move, so that the corresponding treatment instrument is retracted into the instrument channel, and the other remains fixed, and the energy storage member 170 is in an energy storage state; after the energy storage member 170 stores energy, the fixed shaft 150 switches between the first state and the second state, and the energy storage member 170 is in an energy release state. The energy released by the energy storage member 170 can drive the other of the first drive assembly 130 and the second drive assembly 140 to move in the opposite direction, so that the corresponding treatment instrument enters the common channel 323, while the one retracted into the instrument channel remains fixed.

[0036] It can be seen that the instrument switching mechanism of this embodiment, when switching between the first treatment instrument 210 and the second treatment instrument 220, controls the action of the force-applying member 160 and utilizes the energy storage member 170 to make the first drive component 130 and the second drive component 140 move in opposite directions. Compared with the existing switching method, the operation steps are simplified, the operation efficiency can be improved and the operation time can be reduced. In addition, the doctor's operation object is only the force-applying member 160, and the doctor does not need to operate two treatment instruments. It has the advantage of convenient operation and can also improve the doctor's operating experience.

[0037] On the other hand, the instrument switching mechanism of this embodiment, when the first treatment instrument 210 and the second treatment instrument 220 are switched, first one of them is retracted into the instrument channel, and the energy storage member 170 is stored in the process of the retraction of the treatment instrument; and then the energy stored in the energy storage member 170 is used to drive the other to extend. In this way, the first treatment instrument 210 or the second treatment instrument 220 only needs to be retracted to the distal end of the first instrument channel 321 or the distal end of the second instrument channel 322, which can reduce the displacement of the first treatment instrument 210 and the second treatment instrument 220, thereby further shortening the instrument replacement time; in addition, the method of using the energy stored in the energy storage member 170 to drive the first treatment instrument 210 or the second treatment instrument 220 to extend has the advantage of fast extension speed, which can further shorten the instrument replacement time.

[0038] In some embodiments, the first driving assembly 130 includes a first gear 131 and a first rack portion 132. Figure 7 The first rack portion 132 is fixedly connected to the first tube body 110, and the first rack portion 132 is meshed with the first gear 131. Thus, the first gear 131 can be rotated to drive the first rack portion 132 to move toward the distal end or the proximal end, thereby driving the first tube body 110 and the first treatment instrument 210 located in the first tube body 110 to move toward the distal end or the proximal end.

[0039] In some embodiments, the second driving assembly 140 includes a second gear 141 and a second rack portion 142. Figure 7 The second rack portion 142 is fixedly connected to the second tube body 120, and the second rack portion 142 is meshed with the second gear 141. Thus, the second gear 141 can be rotated to drive the second rack portion 142 to move toward the distal end or the proximal end, thereby driving the second tube body 120 and the second treatment instrument 220 located in the second tube body 120 to move toward the distal end or the proximal end.

[0040] In some embodiments, the first rack portion 132 and the second rack portion 142 are respectively located at two sides of the fixed shaft 150, and the first gear 131 and the second gear 141 are respectively located at two ends of the energy storage member 170. Figure 7 to Figure 12As shown. In this way, when one of the first gear 131 and the second gear 141 rotates, the energy storage member 170 is in an energy storage state, and the energy released by the energy storage member 170 can drive the other to rotate in the opposite direction. This structural distribution can not only utilize the energy storage member 170 to store energy when one of the first gear 131 and the second gear 141 rotates, and utilize the energy released by the energy storage member 170 to drive the other to rotate in the opposite direction, but also make the layout of the device switching mechanism of this embodiment compact and reasonable.

[0041] In some embodiments, the device switching mechanism further includes a housing 180, such as Figure 5 and Figure 6 The housing 180 is provided with a receiving cavity, and the first drive assembly 130 and the second drive assembly 140 are arranged in the receiving cavity. Fig. 9 and Fig.11 As shown. Exemplarily, in order to facilitate the installation of the first drive assembly 130 and the second drive assembly 140, the housing 180 may include an upper housing and a lower housing that are detachably connected. Exemplarily, when the instrument switching mechanism and the endoscope 300 are split structures, the housing 180 is an additional housing, such as Figure 3~Figure 6 As shown. The additional housing 180 is used to accommodate the first drive assembly 130 and the second drive assembly 140, which can avoid occupying the internal space of the handle 310, or the handle 310 is too large and inconvenient for the doctor to hold and operate. Exemplarily, the instrument switching mechanism and the endoscope 300 can also be an integrated structure, in which case the housing 180 can be the shell of the handle 310 of the endoscope 300.

[0042] In some embodiments, the housing 180 is further provided with a buckle 181, such as Figure 3 The buckle 181 is used to clamp and fix the operating parts of the first treatment instrument 210 and the second treatment instrument 220, so as to avoid the problem that the first treatment instrument 210 and the second treatment instrument 220 are difficult to collect and fix when not in use.

[0043] In some embodiments, the device switching mechanism further includes a locking portion 190, such as Figure 7 to Figure 12As shown. The locking portion 190 is located in the accommodating cavity of the housing 180, and the locking portion 190 is fixedly connected to the housing 180. Exemplarily, when the fixed shaft 150 is in the first state, the fixed shaft 150 is fixedly connected to the first gear 131, and the locking portion 190 is used to be fixedly connected to the second gear 141. Therefore, when the fixed shaft 150 is in the first state, the rotation of the fixed shaft 150 can only drive the first gear 131 to rotate, and the second gear 141 is fixed by the locking portion 190, so that when the fixed shaft 150 rotates, it can only drive the first tube body 110 to move toward the proximal end. When the fixed shaft 150 is in the second state, the fixed shaft 150 is fixedly connected to the second gear 141, and the locking portion 190 is used to be fixedly connected to the first gear 131. Therefore, when the fixed shaft 150 is in the second state, the rotation of the fixed shaft 150 can only drive the second gear 141 to rotate, and the first gear 131 is fixed by the locking portion 190, so that when the fixed shaft 150 rotates, it can only drive the second tube 120 to move toward the distal end.

[0044] In some embodiments, when the fixed shaft 150 switches between the first state and the second state, the time required for the locking portion 190 to release the fixed connection with one of the first gear 131 and the second gear 141 is greater than the time required for the locking portion 190 to be fixedly connected with the other of the first gear 131 and the second gear 141.

[0045] Exemplarily, when the fixed shaft 150 switches from the first state to the second state, the locking portion 190 first locks the first gear 131, and then the second gear 141 is unlocked from the locking portion 190. It is known that the fixed shaft 150 is unlocked from the first gear 131 while the locking portion 190 is locked with the first gear 131; or the fixed shaft 150 is unlocked from the first gear 131 before or after the locking portion 190 is locked with the first gear 131. If the fixed shaft 150 is unlocked from the first gear 131 after the locking portion 190 is locked with the first gear 131, the fixed shaft 150 is unlocked from the first gear 131 before the locking portion 190 is unlocked from the second gear 141. In this way, it can be ensured that after the locking portion 190 is unlocked from the second gear 141, all the energy released by the energy storage member 170 is used to drive the second gear 141 to rotate, thereby avoiding the problem that part of the energy released by the energy storage member 170 is used to drive the first gear 131 to rotate.

[0046] In some embodiments, the outer surface of the fixed shaft 150 is provided with a first limiting portion 151 and a second limiting portion 152. Fig.10 and Fig.12 The first limiting portion 151 and the second limiting portion 152 are axially fixedly connected to the fixed shaft 150, and the first limiting portion 151 and the second limiting portion 152 are circumferentially rotatably connected to the fixed shaft 150. The two ends of the energy storage member 170 are respectively fixedly connected to the first limiting portion 151 and the second limiting portion 152, as shown. Fig.10 and Fig.12 Thus, the energy storage member 170 can be stored with energy by the rotation of the first limiting portion 151 or the second limiting portion 152, and the energy released by the energy storage member 170 when restoring the deformation can also be used to drive the first limiting portion 151 or the second limiting portion 152 to rotate.

[0047] Exemplarily, the first limit portion 151 and the second limit portion 152 are sleeved on the outer surface of the fixed shaft 150, and the upper and lower surfaces of the first limit portion 151 and the second limit portion 152 are provided with limit members (the limit members are not shown in the figure) to prevent the first limit portion 151 and the second limit portion 152 from moving in the axial direction of the fixed shaft 150, so that the first limit portion 151 and the second limit portion 152 will not rotate with the rotation of the fixed shaft 150, and the first limit portion 151 and the second limit portion 152 can move with the movement of the fixed shaft 150 in its axial direction.

[0048] When the fixed shaft 150 is in the first state, the first limiting portion 151 is fixedly connected to the first gear 131, and the second limiting portion 152 is fixedly connected to the locking portion 190 and the second gear 141. Fig.10 When the fixed shaft 150 is in the first state, the fixed shaft 150 is also fixedly connected to the first gear 131. At this time, when the fixed shaft 150 rotates, the first gear 131 and the first limiting portion 151 can be driven to rotate together; and the second gear 141 is fixedly connected to the locking portion 190 through the second limiting portion 152, so that when the fixed shaft 150 rotates, the second gear 141 and the second limiting portion 152 can remain fixed.

[0049] When the fixed shaft 150 is in the second state, the second limiting portion 152 is fixedly connected to the second gear 141, and the first limiting portion 151 is fixedly connected to the locking portion 190 and the first gear 131. Fig.12 When the fixed shaft 150 is in the second state, the fixed shaft 150 is also fixedly connected to the second gear 141. At this time, when the fixed shaft 150 rotates, the second gear 141 and the second limiting portion 152 can be driven to rotate together; and the first gear 131 is fixedly connected to the locking portion 190 through the first limiting portion 151, so that when the fixed shaft 150 rotates, the first gear 131 and the first limiting portion 151 can remain fixed.

[0050] In some embodiments, the outer wall of the fixed shaft 150 is provided with a first external tooth 153, the outer walls of the first limiting portion 151 and the second limiting portion 152 are respectively provided with a second external tooth 1511 and a third external tooth 1521, the inner wall of the first gear 131 is provided with a first internal tooth 1311 and a second internal tooth 1312, the inner wall of the second gear 141 is provided with a third internal tooth 1411 and a fourth internal tooth 1412, and the inner wall of the locking portion 190 is provided with a fifth internal tooth 191 and a sixth internal tooth 192, as shown in FIG. Fig.15 , Figure 18 to Figure 22 When the fixed shaft 150 is in the first state, the first outer teeth 153 mesh with the first inner teeth 1311, the second outer teeth 1511 mesh with the second inner teeth 1312, and the third outer teeth 1521 mesh with the third inner teeth 1411 and the sixth inner teeth 192. At this time, the fixed shaft 150 is fixedly connected to the first gear 131, the first limiting portion 151 is fixedly connected to the first gear 131, and the second limiting portion 152 is fixedly connected to the locking portion 190 and the second gear 141. When the fixed shaft 150 is in the second state, the second outer teeth 1511 are meshed with the second inner teeth 1312 and the fifth inner teeth 191, the third outer teeth 1521 are meshed with the third inner teeth 1411, and the fourth inner teeth 1412 are meshed with the first outer teeth 153. At this time, the fixed shaft 150 can be fixedly connected to the second gear 141, the second limiting portion 152 is fixedly connected to the second gear 141, and the first limiting portion 151 is fixedly connected to the locking portion 190 and the first gear 131.

[0051] The instrument switching mechanism of this embodiment, through the cooperation of the internal teeth and the external teeth, can realize the switching of the fixed shaft 150 between the first state and the second state only by moving the fixed shaft 150 along its axial direction, which has the advantage of easy realization of the state switching of the fixed shaft 150.

[0052] The cooperation between the fixed shaft 150 and the first gear 131 and the second gear 141, between the first limiting portion 151 and the first gear 131 and the locking portion 190, and between the second limiting portion 152 and the second gear 141 and the locking portion 190 is not limited to the cooperation through internal teeth and external teeth, but can also be carried out through structures such as snaps and slots.

[0053] In some embodiments, when the fixed shaft 150 is in the first state, the distance between the upper end surface of the third outer tooth 1521 and the lower end surface of the sixth inner tooth 192 is greater than the distance between the lower end surface of the second outer tooth 1511 and the upper end surface of the fifth inner tooth 191. In this way, when the fixed shaft 150 is switched from the first state to the second state, the time required for the locking portion 190 to release the fixed connection with the second gear 141 is greater than the time required for the locking portion 190 to be fixedly connected with the first gear 131. In other words, the locking portion 190 can be released from the fixed connection with the second gear 141 only after the locking portion 190 is locked with the first gear 131, so that the energy released by the energy storage member 170 can be fully used to drive the second gear 141 to rotate.

[0054] In some embodiments, when the fixed shaft 150 is in the second state, the distance between the lower end surface of the second outer tooth 1511 and the upper end surface of the fifth inner tooth 191 is greater than the distance between the upper end surface of the third outer tooth 1521 and the lower end surface of the sixth inner tooth 192. In this way, when the fixed shaft 150 is switched from the second state to the first state, the time required for the locking portion 190 to release the fixed connection with the first gear 131 is greater than the time required for the locking portion 190 to be fixedly connected with the second gear 141. In other words, the locking portion 190 can be released from the fixed connection with the first gear 131 only after the locking portion 190 is locked with the second gear 141, so that the energy released by the energy storage member 170 can be fully used to drive the first gear 131 to rotate.

[0055] In some embodiments, the housing 180 is provided with a boss 182, such as Fig.16 As shown. The boss 182 is nested with the force member 160, and the boss 182 is rotatably matched with the force member 160. Exemplarily, the force member 160 is provided with a block 161, and the boss 182 is provided with a slide groove 1821, and the slide groove 1821 has a circumferential channel and an axial channel for the block 161 to slide, so as to adapt to the circumferential rotation and axial movement of the force member 160, as shown. Fig.15 and Fig.17 As shown. Fig.15 and Fig.17 As shown, there are two blocks 161 , and correspondingly, there are two slide grooves 1821 , with one block 161 corresponding to one slide groove 1821 .

[0056] In some embodiments, in order to facilitate the assembly of the block 161, the boss 182 is further provided with a mounting groove 1822, the mounting groove 1822 is connected to the slide groove 1821, and the mounting groove 1822 extends to the upper end of the boss 182, such as Fig.17 shown.

[0057] In some embodiments, the first tube body 110 includes a first sliding section 111 and a first fixed section 112. Fig.13 or Fig.14 As shown. The first sliding section 111 is located at the proximal end of the first fixed section 112. The first sliding section 111 is fixedly connected to the first rack portion 132, the first fixed section 112 is slidably connected to the first rack portion 132, and the first treatment instrument 210 is fixedly connected to the first sliding section 111. Exemplarily, the first rack portion 132 has a channel that passes through along its axial direction, the first sliding section 111 and the first fixed section 112 are installed in the channel, and the diameter of the portion of the channel used to install the first sliding section 111 is smaller, so that the first sliding section 111 and the channel can be interference fit; the diameter of the portion of the channel used to install the first fixed section 112 is larger, so that the first fixed section 112 and the channel can be slidably fit. As shown Figure 7As shown, a first rack 1321 is provided on a side surface of the first rack portion 132 , and the first rack 1321 is used to mesh with the first gear 131 .

[0058] In some embodiments, the second tube body 120 includes a second sliding section 121 and a second fixed section 122. Fig.13 or Fig.14 As shown. The second sliding section 121 is located at the proximal end of the second fixed section 122. The second sliding section 121 is fixedly connected to the second rack portion 142, the second fixed section 122 is slidably connected to the second rack portion 142, and the second treatment instrument 220 is fixedly connected to the second sliding section 121. The fixing method of the second sliding section 121 and the second fixed section 122 can be the same as the first sliding section 111 and the first fixed section 112, which will not be described in detail here. Figure 8 As shown, a second rack 1421 is provided on the side of the second rack portion 142 , and the second rack 1421 is used to mesh with the second gear 141 .

[0059] In the instrument switching structure of the present embodiment, the first tube body 110 includes a first sliding section 111 and a first fixed section 112, and the second tube body 120 includes a second sliding section 121 and a second fixed section 122. When the first gear 131 or the second gear 141 rotates, it is only necessary to drive the first sliding section 111 and the second sliding section 121 located at the proximal end to move to complete the switching of the first treatment instrument 210 and the second treatment instrument 220, which can improve the smoothness of the instrument switching and avoid the first tube body 110 and the second tube body 120 being blocked by the internal structure of the handle 310 of the endoscope 300 and / or the complexity of the moving path during the overall sliding process.

[0060] In some embodiments, the first sliding section 111 and the first fixed section 112 are connected via a first elastic tube 113, and the second sliding section 121 and the second fixed section 122 are connected via a second elastic tube 123. Fig.14 As shown. Exemplarily, the first elastic tube 113 and the second elastic tube 123 are bellows or spring tubes. Exemplarily, when the first tube body 110 or the second tube body 120 moves toward the distal end, the first elastic tube 113 or the second elastic tube 123 gradually switches from a stretched state to a compressed state; when the first tube body 110 or the second tube body 120 moves toward the proximal end, the first elastic tube 113 or the second elastic tube 123 gradually switches from a compressed state to a stretched state. Fig.14 It is a schematic diagram showing that after the first rack portion 132 moves toward the distal end and the second rack portion 142 moves toward the proximal end, the first elastic tube 113 is in a compressed state and the second elastic tube 123 is in a stretched state.

[0061] The inventors discovered during their research that the first sliding section 111 and the first fixed section 112, as well as the second sliding section 121 and the second fixed section 122, are segmented structures. When the force applied by the force-applying member 160 is too large, it is easy to cause the distal end of the first sliding section 111 and the proximal end of the first fixed section 112 to nest with each other, or the distal end of the second sliding section 121 and the proximal end of the second fixed section 122 to nest with each other.

[0062] The instrument switching mechanism of this embodiment can partially absorb the force applied by the force-applying member 160 through the first elastic tube 113 and the second elastic tube 123; when the first elastic tube 113 and the second elastic tube 123 are compressed to the limit, they can be regarded as hard tubes, which are not easy to bend or avoid excessive force applied by the force-applying member 160, causing the distal end of the first sliding section 111 and the proximal end of the first fixed section 112 to nest with each other, or the distal end of the second sliding section 121 and the proximal end of the second fixed section 122 to nest with each other.

[0063] Without limitation thereto, the first sliding section 111 and the first fixed section 112 may also be arranged at intervals, and the second sliding section 121 and the second fixed section 122 may also be arranged at intervals, such as Fig.13 That is, the first sliding section 111 and the first fixed section 112, and the second sliding section 121 and the second fixed section 122 are all segmented structures.

[0064] In some embodiments, a first fixing assembly 114 is disposed at the proximal end of the first sliding section 111. Figure 5 The first fixing assembly 114 is sleeved on the first sliding section 111 and the first treatment instrument 210 , and the first sliding section 111 and the first treatment instrument 210 are axially fixedly connected, so that the axial movement of the first sliding section 111 can drive the axial movement of the first treatment instrument 210 .

[0065] In some embodiments, the first fixing assembly 114 includes a first sleeve portion 1141 and a first locking cap 1142. Figure 5 The first sleeve portion 1141 is sleeved on the first sliding section 111 and the first treatment instrument 210, and the first locking cap 1142 is sleeved on the outside of the first sleeve portion 1141 and fixedly connected to the first sleeve portion 1141. Figure 6As shown, the proximal end of the first sleeve portion 1141 is a conical structure, and the proximal end of the first sleeve portion 1141 is provided with a plurality of openings in the circumferential direction, so that the first sleeve portion 1141 can be sleeved on the first sliding section 111 and the first treatment instrument 210; the outer surface of the first sleeve portion 1141 is also provided with a threaded structure. The inner surface of the first locking cap 1142 is a conical structure, and the inner surface of the first locking cap 1142 has a threaded structure. Therefore, when the first locking cap 1142 is sleeved on the outside of the first sleeve portion 1141 and threadedly connected with the first sleeve portion 1141, the proximal end of the first sleeve portion 1141 can be folded and the first treatment instrument 210 can be clamped and fixed.

[0066] In some embodiments, a second fixing assembly 124 is disposed at the proximal end of the second sliding section 121. Figure 5 The second fixing assembly 124 is sleeved on the second sliding section 121 and the second treatment instrument 220 , and the second sliding section 121 and the second treatment instrument 220 are axially fixedly connected, so that the axial movement of the second sliding section 121 can drive the axial movement of the second treatment instrument 220 .

[0067] In some embodiments, the second fixing assembly 124 includes a second sleeve portion 1241 and a second locking cap 1242. Figure 5 The second sleeve portion 1241 is sleeved on the second sliding section 121 and the second treatment instrument 220, and the second locking cap 1242 is sleeved on the second sleeve portion 1241 and fixedly connected to the second sleeve portion 1241. Figure 6 As shown, the second sleeve portion 1241 and the second locking cap 1242 are the same as the first sleeve portion 1141 and the first locking cap 1142, and are not described in detail here.

[0068] The instrument switching mechanism of this embodiment is provided with a first fixing component 114 and a second fixing component 124, which can facilitate the replacement of the type of the first treatment instrument 210 and / or the second treatment instrument 220 based on surgical requirements.

[0069] The second aspect of this embodiment describes the medical device in detail.

[0070] The medical device of this embodiment includes an instrument switching mechanism 100 and an endoscope 300. Figure 3 and Figure 4 The instrument switching mechanism 100 is the instrument switching mechanism of any technical solution in the first aspect of this embodiment. The structure of the endoscope 300 can be the same as that of the prior art, and will not be described in detail here.

[0071] In some embodiments, the instrument switching mechanism 100 and the endoscope 300 are integrated. In this structure, the force applying member 160 can be disposed on the housing of the handle 310. The instrument switching mechanism 100 and the endoscope 300 are integrated, which can make the medical device compact and convenient for doctors to operate.

[0072] In some embodiments, the instrument switching mechanism 100 is detachably connected to the endoscope 300, such as Figure 3 and Figure 4 This structure can facilitate the replacement of the type of the first treatment instrument 210 and / or the second treatment instrument 220 and can also ensure that the layout inside the handle 310 of the endoscope 300 is not affected.

[0073] The medical device of this embodiment has an instrument switching mechanism of any one of the technical solutions in the first aspect of this embodiment. When the medical device switches between two treatment instruments, it can simplify the operation steps, improve the operation efficiency and reduce the operation time, and also improve the doctor's operation experience; on the other hand, when switching between the two treatment instruments, the medical device of this embodiment can also reduce the movement displacement of the first treatment instrument 210 and the second treatment instrument 220, thereby further shortening the instrument replacement time.

[0074] 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.

[0075] 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.

[0076] 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. An instrument switching mechanism, used in an endoscope, characterized in that: The instrument switching mechanism comprises a first tube body (110) and a second tube body (120), wherein the first tube body (110) is used to insert a first treatment instrument (210), and the second tube body (120) is used to insert a second treatment instrument (220); The instrument switching mechanism further comprises a first driving assembly (130) and a second driving assembly (140), wherein the first driving assembly (130) is used to drive the first tube body (110) to move, and the second driving assembly (140) is used to drive the second tube body (120) to move; The device switching mechanism further comprises a fixed shaft (150), wherein the fixed shaft (150) has at least a first state and a second state. When the fixed shaft (150) is in the first state, the fixed shaft (150) is fixedly connected to the first drive assembly (130) and is rotatably connected to the second drive assembly (140); when the fixed shaft (150) is in the second state, the fixed shaft (150) is rotatably connected to the first drive assembly (130) and is fixedly connected to the second drive assembly (140); The device switching mechanism further comprises a force applying member (160) and an energy storage member (170), wherein the force applying member (160) is used to drive the fixed shaft (150) to rotate and move one of the first drive assembly (130) and the second drive assembly (140), and the energy storage member (170) is in an energy storage state; after the energy storage member (170) stores energy, the fixed shaft (150) switches between the first state and the second state, and the energy storage member (170) is in an energy release state, and uses the energy released by the energy storage member (170) to drive the other of the first drive assembly (130) and the second drive assembly (140) to move in the opposite direction.

2. The device switching mechanism according to claim 1, characterized in that: The first driving assembly (130) comprises a first gear (131) and a first rack portion (132), the first rack portion (132) being fixedly connected to the first tube body (110), and the first rack portion (132) being meshed with the first gear (131); The second driving assembly (140) comprises a second gear (141) and a second rack portion (142); the second rack portion (142) is fixedly connected to the second tube body (120); and the second rack portion (142) is meshed with the second gear (141).

3. The device switching mechanism according to claim 2, characterized in that: The first rack portion (132) and the second rack portion (142) are respectively located on both sides of the fixed shaft (150); the first gear (131) and the second gear (141) are respectively located at both ends of the energy storage member (170); when one of the first gear (131) and the second gear (141) rotates, the energy storage member (170) is in an energy storage state, and the energy released by the energy storage member (170) can drive the other to rotate in the opposite direction.

4. The device switching mechanism according to claim 2, characterized in that: It also comprises a housing (180) and a locking portion (190), wherein the housing (180) is provided with a receiving cavity, the first drive assembly (130) and the second drive assembly (140) are arranged in the receiving cavity, and the locking portion (190) is fixedly connected to the housing (180); When the fixed shaft (150) is in a first state, the fixed shaft (150) is fixedly connected to the first gear (131), and the locking portion (190) is used to be fixedly connected to the second gear (141); When the fixed shaft (150) is in the second state, the fixed shaft (150) is fixedly connected to the second gear (141), and the locking portion (190) is used to be fixedly connected to the first gear (131).

5. The device switching mechanism according to claim 4, characterized in that: When the fixed shaft (150) switches between the first state and the second state, the time required for the locking portion (190) to release the fixed connection with one of the first gear (131) and the second gear (141) is greater than the time required for the locking portion (190) to be fixedly connected with the other of the first gear (131) and the second gear (141).

6. The device switching mechanism according to claim 5, characterized in that: The outer surface of the fixed shaft (150) is provided with a first limiting portion (151) and a second limiting portion (152); the first limiting portion (151) and the second limiting portion (152) are axially fixedly connected to the fixed shaft (150), and the first limiting portion (151) and the second limiting portion (152) are circumferentially rotatably connected to the fixed shaft (150); two ends of the energy storage member (170) are respectively fixedly connected to the first limiting portion (151) and the second limiting portion (152); When the fixed shaft (150) is in a first state, the first limiting portion (151) is fixedly connected to the first gear (131), and the second limiting portion (152) is fixedly connected to both the locking portion (190) and the second gear (141); when the fixed shaft (150) is in a second state, the second limiting portion (152) is fixedly connected to the second gear (141), and the first limiting portion (151) is fixedly connected to both the locking portion (190) and the first gear (131).

7. The device switching mechanism according to claim 6, characterized in that: The outer wall of the fixed shaft (150) is provided with first external teeth (153), the outer walls of the first limiting portion (151) and the second limiting portion (152) are respectively provided with second external teeth (1511) and third external teeth (1521), the inner wall of the first gear (131) is provided with first internal teeth (1311) and second internal teeth (1312), the inner wall of the second gear (141) is provided with third internal teeth (1411) and fourth internal teeth (1412), and the inner wall of the locking portion (190) is provided with fifth internal teeth (191) and sixth internal teeth (192), and when the fixed shaft (150) is in the first state, the first external teeth (153) mesh with the first internal teeth (1311), the second external teeth (1511) mesh with the second internal teeth (1312), and the third external teeth (1521) mesh with both the third internal teeth (1411) and the sixth internal teeth (192); When the fixed shaft (150) is in the second state, the second external teeth (1511) mesh with the second internal teeth (1312) and the fifth internal teeth (191), the third external teeth (1521) mesh with the third internal teeth (1411), and the fourth internal teeth (1412) mesh with the first external teeth (153).

8. The device switching mechanism according to claim 7, characterized in that: When the fixed shaft (150) is in the first state, the distance between the upper end surface of the third external tooth (1521) and the lower end surface of the sixth internal tooth (192) is greater than the distance between the lower end surface of the second external tooth (1511) and the upper end surface of the fifth internal tooth (191); When the fixed shaft (150) is in the second state, the distance between the lower end surface of the second outer tooth (1511) and the upper end surface of the fifth inner tooth (191) is greater than the distance between the upper end surface of the third outer tooth (1521) and the lower end surface of the sixth inner tooth (192).

9. The device switching mechanism according to any one of claims 2 to 8, characterized in that: The first tube body (110) comprises a first sliding section (111) and a first fixed section (112); the first sliding section (111) and the first fixed section (112) are connected via a first elastic tube (113); the first sliding section (111) is fixedly connected to the first rack portion (132); the first fixed section (112) is slidably connected to the first rack portion (132); and the first treatment instrument (210) is fixedly connected to the first sliding section (111); The second tube body (120) comprises a second sliding section (121) and a second fixed section (122); the second sliding section (121) and the second fixed section (122) are connected via a second elastic tube (123); the second sliding section (121) is fixedly connected to the second rack portion (142); the second fixed section (122) is slidably connected to the second rack portion (142); and the second treatment instrument (220) is fixedly connected to the second sliding section (121).

10. A medical device, characterized in that: The invention comprises an instrument switching mechanism (100) and an endoscope (300), wherein the instrument switching mechanism (100) is the instrument switching mechanism described in any one of claims 1 to 9, and the instrument switching mechanism (100) and the endoscope (300) are an integrated structure, or the instrument switching mechanism (100) and the endoscope (300) are detachably connected.

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