Endoscope control handle with power assisting function

Abstract

An endoscope control handle with a power assisting function comprises an auxiliary motor bin and a control handle body. The auxiliary motor bin comprises a motor bin box body, and a first power-assisted module, a second power-assisted module and a control circuit module which are arranged in the motor bin box body; the first power assisting module comprises a driving motor, a force feedback main body block, a first pressure sensor, a second pressure sensor and a sensor connecting shaft; one end of the sensor connecting shaft is provided with two symmetrical fan-shaped bumps, and the other end of the sensor connecting shaft is provided with a power interface; an output shaft of the driving motor is inserted into one side of the force feedback main body block, the other side of the force feedback main body block is connected with the sensor connecting shaft, and the first pressure sensor is located in the gap on the left side of one fan-shaped convex block and located in the gap on the right side of the other fan-shaped convex block. The power interface corresponding to the first power assisting module is connected with the X-direction traction wheel, and the power interface corresponding to the second power assisting module is connected with the Y-direction traction wheel. According to the invention, rocker assistance can be realized, and the operation burden can be reduced.

Description

Technical Field

[0001] The present invention relates to an endoscope control handle, and more particularly to an endoscope control handle with a boosting function. Background Art

[0002] An endoscope is a common instrument in the medical field, which is used to enter the human body through natural body cavities or surgical incisions for examination or treatment. Usually, a medical endoscope is manually operated through a control handle, and the operation method is generally to manually rotate a dial or move the handle back and forth. As the bending angle of the front end of the endoscope increases, the resistance of the dial or the handle will increase, and continuous force is required when the front end angle is adjusted to the appropriate position, which is prone to hand fatigue during a long-term detection process. There is also a type of endoscope handle with a driving motor inside, and the bending angle of the front end of the endoscope is directly controlled by the handle buttons. This design is relatively labor-saving, but the actual bending degree can only be understood through the image of the front-end lens of the endoscope or the display of the endoscope host.

[0003] In addition, with the development of medical artificial intelligence recognition and image navigation technologies, the intelligent detection technology of endoscopes combined with robots will become a very promising development direction. Most current endoscopes on the market cannot be directly combined with robotic devices. Usually, special endoscopes need to be designed, which is costly and not conducive to the development of related research technologies. Summary of the Invention

[0004] The purpose of the present invention is to provide an endoscope control handle with a boosting function, aiming to solve the problem of how to achieve rocker boosting and reduce the operation burden.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An endoscope control handle with a boosting function, comprising:

[0007] An auxiliary motor housing and a control handle;

[0008] The auxiliary motor housing includes a motor housing box body and a first boosting module, a second boosting module, and a control circuit module inside;

[0009] The first boosting module includes a driving motor, a force feedback main block, a first pressure sensor, a second pressure sensor, and a sensor connecting shaft;

[0010] The sensor connecting shaft has a first end and a second end. The first end is provided with two symmetric sector-shaped convex blocks, and the second end is provided with a power interface connected to the control handle;

[0011] A first opening is provided on one side of the force feedback main body block, and a second opening is provided on the other side, the first opening is for inserting the output shaft of the drive motor, and the shape of the second opening is conformed to the first end of the sensor connecting shaft; the first end of the sensor connecting shaft is inserted into the second opening, and both sides of the two fan-shaped protrusions have gaps, the first pressure sensor is the gap located on the left side of one of the fan-shaped protrusions, and the second pressure sensor is the gap located on the right side of the remaining fan-shaped protrusion;

[0012] The control handle includes an X-direction traction wheel and a Y-direction traction wheel;

[0013] The second assisting module has the same structure as the first assisting module. The power interface corresponding to the first assisting module is connected to the X-direction traction wheel, and the power interface corresponding to the second assisting module is connected to the Y-direction traction wheel.

[0014] Preferably, the control circuit module is electrically connected to the drive motor, first pressure sensor and second pressure sensor corresponding to the first assist module and the second assist module, respectively; the control circuit module is configured to control the forward or reverse rotation of the corresponding drive motor according to the pressure signals of the first pressure sensor and the second pressure sensor.

[0015] Preferably, the control handle further comprises a handle housing, a rocker assembly and a traction rope drive assembly;

[0016] The traction rope driving assembly includes a rocker connecting member, a central rotating member, a first bevel gear, and a second bevel gear;

[0017] The central rotating member has a first shaft hole, the center of the X-direction traction wheel is provided with a first adapter shaft, one end of the first adapter shaft passes through the first shaft hole and can rotate freely, and the other end of the first adapter shaft is connected to the rocker connecting member;

[0018] The center of the first bevel gear has a second shaft hole, one end of the central rotating member is inserted into the second shaft hole and can make the central rotating member and the first bevel gear move in a linkage manner, and the other end of the central rotating member is rotatably connected to a first shaft seat;

[0019] The edges of the first bevel gear and the second bevel gear are meshed and linked, and the Y-direction traction wheel is fixedly connected to one side of the second bevel gear; the center of the other side of the second bevel gear has a second transfer shaft, and the second transfer shaft is rotatably connected to a second shaft seat.

[0020] Preferably, the central rotating member is arranged opposite to the second bevel gear, the second bevel gear is perpendicular to the first bevel gear, and the X-direction traction wheel and the Y-direction traction wheel are arranged opposite to each other.

[0021] Preferably, a third transfer shaft is provided at the center of the first bevel gear; the third transfer shaft is rotatably connected to a third shaft seat; the end of the third transfer shaft is connected to the corresponding power interface of the second boosting module;

[0022] One end of the first transfer shaft is connected to one end of a transmission universal joint, the transmission universal joint is rotatably connected to the third shaft seat, the other end of the transmission universal joint is connected to one end of a universal joint sleeve, and the other end of the universal joint sleeve is connected to the corresponding power interface of the first boosting module.

[0023] Preferably, one end of the universal joint sleeve is a hollow cylindrical member, and at least one straight long hole is provided along the length direction of the hollow cylindrical member;

[0024] A cylindrical adapter is provided at the end of the transmission universal joint, the cylindrical adapter is provided with a limiting protrusion, and the cylindrical adapter is partially inserted into the hollow cylindrical member and the limiting protrusion slides in the corresponding straight long hole.

[0025] Preferably, the central rotating member includes a plate member with a U-shaped cross section, the first shaft hole is located at the center of the plate member; the second shaft hole is a rectangular hole; one end of the plate member is provided with a rectangular block, and the rectangular block is inserted into the second shaft hole;

[0026] The other end of the plate member is provided with a cylindrical member; the first shaft seat includes a base, a semi-circular groove is provided on the upper end surface of the base, and the cylindrical member is placed in the semi-circular groove and fixed by a buckle.

[0027] Preferably, the first shaft seat, the second shaft seat and the third shaft seat are fixed to a base, and the base is fixed in the handle housing;

[0028] The X-direction traction wheel and the Y-direction traction wheel have the same structure and are semi-circular structures; perforations are provided at both the upper and lower ends of the X-direction traction wheel and the Y-direction traction wheel for tying the traction rope; grooves are provided on the outer edges of the X-direction traction wheel and the Y-direction traction wheel for winding the traction rope.

[0029] Preferably, the handle housing includes a receiving portion and a channel portion;

[0030] The traction rope driving assembly and the rocker assembly are located in the receiving portion, and the channel portion is for threading the traction rope;

[0031] The receiving portion includes an arc surface; the arc surface has a notch.

[0032] Preferably, the rocker assembly includes a rocker button, an upper locking friction plate, a lower locking friction plate, a first compression spring and a second compression spring;

[0033] The end face of the rocker connecting piece is recessed inward to form a blind hole;

[0034] One end of the lower locking friction plate is centrally provided with a first rod, and the other end is centrally provided with a second rod. The lower locking friction plate can selectively abut against the inner side surface of the arc surface;

[0035] The end of the rocker connecting piece is provided with a blind hole. The second compression spring is sleeved on the second rod and makes one end thereof abut against the lower locking friction plate and the other end abut against the bottom of the blind hole; the first rod is provided with a threaded section. The first rod passes through the notch. The upper locking friction plate has an internal thread at the center. The upper locking friction plate is screwed onto the threaded section and can selectively make the upper locking friction plate press against the outer side surface of the arc surface or make the upper locking friction plate disengage from the outer side surface of the arc surface;

[0036] The outer end of the first rod is installed with the rocker button. The inner side of the rocker button has an inner groove. The first compression spring is sleeved on the first rod and makes one end thereof abut against the bottom of the inner groove and the other end abut against the upper locking friction plate;

[0037] The upper locking friction plate, the lower locking friction plate and the arc surface have the same bending radian.

[0038] The advantages of the present invention are as follows:

[0039] An endoscope control handle with a boosting function provided by the present invention combines an auxiliary motor chamber with the control handle to realize the boosting of the handle rocker and reduce the operation burden of doctors.

[0040] Furthermore, the control handle can be held and operated with one hand, and doctors can directly judge the bending state of the front end of the endoscope through the rocker direction.

[0041] Furthermore, the control handle can also be used alone.

[0042] Furthermore, the traction rope drive assembly has a compact structure and low failure rate, and can realize the bending control of the front end of the endoscope in four directions of up, down, left and right.

[0043] Furthermore, the rocker assembly can provide a locking function, which is convenient for doctors to release their hands for operation at any time. Brief Description of the Drawings

[0044] Figure 1 is a schematic perspective view of an endoscope control handle with a boosting function of the present invention;

[0045] Figure 2 is a schematic perspective view of a control handle of the present invention;

[0046] Figure 3 It is a schematic diagram of the exploded structure of an auxiliary motor bin of the present invention;

[0047] Figure 4 is a schematic diagram of the exploded structure of a first power-assisting module of the present invention;

[0048] Figure 5 It is a schematic diagram of the internal structure of an endoscope control handle with power-assisting function of the present invention;

[0049] Figure 6 It is a three-dimensional structural schematic diagram of a traction rope driving assembly of the present invention;

[0050] Figure 7 It is a structural schematic diagram of a traction rope drive assembly of the present invention;

[0051] Figure 8 It is a structural schematic diagram of an X-direction traction wheel and a Y-direction traction wheel of the present invention;

[0052] Figure 9 , Figure 10 , Figure 11 It is a partial structural schematic diagram of a traction rope driving assembly of the present invention;

[0053] Figure 12 It is a structural schematic diagram of a transmission universal joint and a universal joint sleeve of the present invention;

[0054] Figure 13 It is a partial structural schematic diagram of a traction rope driving assembly of the present invention;

[0055] Figure 14 It is a schematic diagram of the connection structure of a first power-assisting module, a second power-assisting module, a traction rope driving assembly and a rocker assembly of the present invention;

[0056] Figure 15 and Figure 16 It is a structural schematic diagram of a rocker assembly of the present invention. DETAILED DESCRIPTION

[0057] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0058] See also Figure 1 and Figure 2 The endoscope control handle with power-assist function provided in this embodiment includes an auxiliary motor compartment 10 and a control handle 20 .

[0059] See also Figure 3 and Figure 4, the auxiliary motor compartment 10 includes a motor compartment box body 14 and the first boosting module 11, the second boosting module 12, and the control circuit module 13 inside it. The first boosting module 11 includes a driving motor 30, a force feedback main body block 31, a first pressure sensor 32, a second pressure sensor 33, and a sensor connecting shaft 34. The sensor connecting shaft 34 has a first end and a second end. Symmetrically arranged two sector-shaped bumps 35 are provided along the radial direction of the first end, and a power interface 36 connected to the control handle 20 is provided at the second end.

[0060] A first opening is provided on one side of the force feedback main body block 31, and a second opening is provided on the other side. The first opening is for inserting the output shaft of the driving motor 30. The shape of the second opening is adapted to the first end of the sensor connecting shaft 34; the first end of the sensor connecting shaft 34 is inserted into the second opening, and the two sector-shaped bumps 35 are located inside the second opening and there are gaps on both sides of the two sector-shaped bumps 35. The first pressure sensor 32 is located in the gap on the left side of one of the sector-shaped bumps 35, and the first pressure sensor 32 is located in the gap on the right side of the remaining one sector-shaped bump 35.

[0061] The control handle 20 includes an X-direction traction wheel 44 and a Y-direction traction wheel 45. The second boosting module 12 has the same structure as the first boosting module 11. The power interface 36 corresponding to the first boosting module 11 is connected to the X-direction traction wheel 44, and the power interface 36 corresponding to the second boosting module 12 is connected to the Y-direction traction wheel 45.

[0062] The control circuit module 13 is electrically connected to the driving motor 30, the first pressure sensor 32, and the second pressure sensor 33 corresponding to the first boosting module 11 and the second boosting module 12 respectively. The control circuit module 13 is configured to control the forward or reverse rotation of the corresponding driving motor 30 according to the pressure signals of the first pressure sensor 32 and the second pressure sensor 33.

[0063] Specifically, the working principle of the control circuit module 13: When the sensor connecting shaft 34 rotates clockwise, the gap on the right side with the force feedback main body block 31 decreases, and the gap on the left side increases. At this time, the first pressure sensor 32 located in the right gap outputs a voltage signal, and this voltage signal changes with the increase of pressure. The second pressure sensor 33 in the left gap is not pressurized or the pressure received decreases, and the output voltage signal is 0 or the signal decreases. The two voltage signals are transmitted to the control circuit module 13, and the control circuit module 13 determines the torque and direction received by the sensor connecting shaft 34 based on the voltage signals. At this time, the output shaft of the driving motor 30 rotates clockwise, driving the force feedback main body block 31 to rotate, thereby reducing the left gap and increasing the right gap. The first pressure sensor 32 in the right gap is less pressurized, and the second pressure sensor 33 in the left gap is more pressurized until the gaps on both sides are consistent and the output signals of the two pressure sensors are the same. It is the opposite when rotating counterclockwise.

[0064] Refer to Figure 5 and Figure 16 , the control handle 20 further includes a handle housing 21, a rocker assembly 22, and a traction rope drive assembly 23. The handle housing 21 includes a receiving portion 24 and a channel portion 25. The traction rope drive assembly 23 and the rocker assembly 22 are located in the receiving portion 24, and the channel portion 25 is for threading a traction rope or some other data line interfaces inherent to the control handle 20. The receiving portion 24 includes an arc surface 26. The arc surface 26 has a notch.

[0065] Refer to Figures 6 to 14 , the traction rope drive assembly 23 further includes a rocker connecting member 27, a central rotating member 28, a first bevel gear 29, and a second bevel gear 40. The central rotating member 28 has a first shaft hole, and a first adapter shaft 41 is provided at the center of the X-direction traction wheel 44. One end of the first adapter shaft 41 passes through the first shaft hole and can rotate freely, and the other end of the first adapter shaft 41 is connected to the rocker connecting member 27. The center of the first bevel gear 29 has a second shaft hole, and one end of the central rotating member 28 is inserted into the second shaft hole and can link the central rotating member 28 and the first bevel gear 29, and the other end of the central rotating member 28 is rotatably connected to a first shaft seat 42. Wherein, the central rotating member 28 includes a plate member with a U-shaped cross section, and the first shaft hole is located at the center of the plate member; the second shaft hole is a rectangular hole; a rectangular block is provided at one end of the plate member, and the rectangular block is inserted into the second shaft hole. A cylindrical member is provided at the other end of the plate member; the first shaft seat 42 includes a base, and a semi-circular groove is provided on the upper end surface of the base, and the cylindrical member is placed in the semi-circular groove and fixed by a buckle 43.

[0066] The first bevel gear 29 meshes with the edge of the second bevel gear 40 to link the two, and the Y-direction traction wheel 45 is fixedly connected to one side of the second bevel gear 40; a second adapter shaft 46 is provided at the center of the other side of the second bevel gear 40, and the second adapter shaft 46 is rotatably connected to a second shaft seat 47. The central rotating member 28 and the second bevel gear 40 are arranged oppositely, the second bevel gear 40 is perpendicular to the first bevel gear 29, and the X-direction traction wheel 44 and the Y-direction traction wheel 45 are arranged oppositely and located between the central rotating member 28 and the second bevel gear 40. A third adapter shaft 48 is provided at the center of the first bevel gear 29. The third adapter shaft 48 is rotatably connected to a third shaft seat 49; the end of the third adapter shaft 48 is connected to the power interface 36 corresponding to the second boosting module 12. The central rotating member 28 is perpendicular to the first bevel gear 29, and the second bevel gear 40 is perpendicular to the first bevel gear 29.

[0067] One end of a first adapter shaft 41 on the left side of the X-direction traction wheel 44 is connected to one end of a transmission universal joint 50. The transmission universal joint 50 is rotatably connected to a third shaft seat 49. The other end of the transmission universal joint 50 is connected to one end of a universal joint sleeve 51. The other end of the universal joint sleeve 51 is connected to a corresponding power interface 36 of the first assist module 11. A rectangular protrusion on the right side of the X-direction traction wheel 44 is for connecting a rocker connecting member 27. When the rocker button 60 is toggled back and forth, the X-direction traction wheel 44 rotates accordingly.

[0068] One end of the universal joint sleeve 51 is a hollow cylindrical member, and at least one straight long hole 52 is provided along the length direction of the hollow cylindrical member. A cylindrical adapter 53 is provided at the end of the transmission universal joint 50. The cylindrical adapter 53 is provided with a limiting protrusion 54. The cylindrical adapter 53 is partially inserted into the hollow cylindrical member and the limiting protrusion 54 slides in the corresponding straight long hole 52. Accordingly, the transmission universal joint 50 can slide back and forth inside the universal joint sleeve, and due to the limiting effect of the straight long hole 52 of the universal joint sleeve on the transmission universal joint 50, there is a distance limit for the back-and-forth movement. At the same time, when the universal joint sleeve 51 rotates, it can drive the transmission universal joint 50 to rotate, and then drive the X-direction traction wheel 44 to rotate. The other side of the universal joint sleeve is connected to a corresponding sensor connecting shaft 34 of the first assist module 11.

[0069] The first shaft seat 42, the second shaft seat 47, and the third shaft seat 49 are fixed to a base 55, and the base 55 is fixed inside the handle housing 21. The X-direction traction wheel 44 and the Y-direction traction wheel 45 have the same structure and are semi-circular structures; perforations are provided at both the upper and lower ends of the X-direction traction wheel 44 and the Y-direction traction wheel 45 for tying traction ropes; grooves are provided on the outer edges of the X-direction traction wheel 44 and the Y-direction traction wheel 45 for winding traction ropes. The traction ropes pass through the grooves and the perforations, and after multiple repeated windings, the traction ropes are knotted and fixed with glue. The X-direction traction wheel 44 and the Y-direction traction wheel 45 each fix a set of traction ropes, and by rotating, the traction ropes in one direction are tightened and the traction ropes in the other direction are relaxed to control the bending of the front end of the endoscope insertion portion. In this embodiment, the X-direction traction wheel 44 is responsible for the bending control in the up and down directions, and the Y-direction traction wheel 45 controls the bending control in the left and right directions.

[0070] Refer to Figure 15 and Figure 16The rocker assembly 22 includes a rocker button 60, an upper locking friction plate 61, a lower locking friction plate 62, a first compression spring 63 and a second compression spring 64. The end surface of the rocker connector 27 is recessed inward to form a blind hole 65. A first rod 66 is convexly provided at the center of one end of the lower locking friction plate 62, and a second rod 67 is convexly provided at the center of the other end. The lower locking friction plate 62 can selectively abut the inner side surface of the arc surface 26. A blind hole 65 is provided at the end of the rocker connector 27, and the second compression spring 64 is sleeved on the second rod 67 and one end of the second compression spring 64 abuts against the lower locking friction plate 62, and the other end abuts against the bottom of the blind hole 65. Optionally, the blind hole 65 is a stepped blind hole 65, the root of the first rod 66 is a mounting stop, the bottom small hole is slightly larger than the diameter of the second compression spring 64 to accommodate the second compression spring 64, and the upper large hole cooperates with the mounting stop to insert the first rod 66 into the stepped blind hole 65. When the rocker button 60 is not pressed, the lower locking friction sheet 62 is pressed against the inner side of the arc surface 26 by the action of the second compression spring 64, and the rocker assembly 22 is locked due to the friction force, limiting the movement of the rocker button 60, ensuring that the curvature of the front end of the endoscope insertion part will not change after the hand is released, which is convenient for temporary operation or relaxation. When the rocker button 60 is pressed, the second compression spring 64 is compressed, and the lower locking friction sheet 62 moves downward to separate from the inner side of the arc surface 26, so that the rocker button 60 can be bent in any direction.

[0071] The first rod 66 is provided with a threaded section, and the first rod 66 passes through the notch. The center of the upper locking friction plate 61 has an internal thread, and the upper locking friction plate 61 is screwed to the threaded section, and the upper locking friction plate 61 can be selectively pressed against the outer side of the arc surface 26, or the upper locking friction plate 61 can be separated from the outer side of the arc surface 26. The upper locking friction plate 61, the lower locking friction plate 62 and the arc surface 26 have the same curvature. The outer end of the first rod 66 is installed with a rocker button 60, and the inner side of the rocker button 60 has an inner groove. The first compression spring 63 is sleeved on the first rod 66 and abuts against the bottom of the inner groove, and the other end abuts against the upper locking friction plate 61. The traction rope driving assembly 23 can be driven by the rocker button 60 to achieve control of the bending degree of the front end of the endoscope insertion part. When the upper locking friction plate 61 is screwed down to the threaded section, since the upper locking friction plate 61 and the arc surface have the same curvature, the upper locking friction plate 61 and the arc surface are completely contacted and locked, and the upper locking friction plate 61 cannot move at all due to the friction force, locking the rocker button 60 so that it cannot move, and the first compression spring 63 provides continuous pressure to prevent it from loosening. After the upper locking friction plate 61 is loosened upward, the inner side of the upper locking friction plate 61 is out of contact with the outer side of the arc surface 26, and the rocker button 60 can rotate freely. At this time, due to the pressure provided by the first compression spring 63, the upper locking friction plate 61 is not easy to loosen after being screwed up in place, ensuring the gap between the inner side of the upper locking friction plate 61 and the handle housing.

[0072] During use, the rocker button 60 is rocked back and forth, driving the rocker connecting member 27 to swing back and forth. The X-direction traction wheel 44 rotates, driving the upper and lower wire traction ropes, so as to realize the upward and downward bending of the front end of the endoscope insertion part. At this time, when the X-direction traction wheel 44 rotates, it drives the transmission universal joint 50 and the universal joint sleeve to rotate, and then drives the sensor connecting shaft 34 to rotate. At this time, the control circuit module 13 senses the torque transmitted by the rocker button 60, and then makes the driving motor 30 corresponding to the first assist module 11 rotate. The rotation direction of the motor is the same as the rotation direction of the sensor connecting shaft 34, reducing the resistance of the rocker button 60 being rocked. When the rocker button 60 stops being rocked, the control circuit module 13 receives a torque signal of 0, and at this time the driving motor 30 stops rotating.

[0073] When the rocker button 60 is rocked left and right, the rocker connecting member 27 drives the central rotating member 28 to rotate. The first bevel gear 29, the second bevel gear 40, and the Y-direction traction wheel 45 rotate, driving the left and right wire traction ropes, so as to realize the left and right bending of the front end of the endoscope insertion part. When the central rotating member 28 rotates, it further drives the sensor connecting shaft 34 to rotate. At this time, the control circuit module 13 senses the torque transmitted by the rocker button 60, and then makes the driving motor 30 corresponding to the second assist module 12 rotate. The rotation direction of the motor is the same as the rotation direction of the sensor connecting shaft 34, reducing the resistance of the rocker button 60 being rocked. When the rocker button 60 stops being rocked, the torque signal received by the control circuit module 13 is 0, and at this time the driving motor 30 stops rotating.

[0074] When the rocker button 60 is rocked in any direction, the traction rope drive assembly 23 decomposes the movement direction of the rocker button 60 into the rotation of the X-direction traction wheel 44 and the rotation of the Y-direction traction wheel 45. Through the feedback control of the control circuit module 13, the three-dimensional direction assistance of the rocker is realized, and any angle bending within the allowable bending range of the front end of the endoscope insertion part is realized.

[0075] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "center", "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description, rather than indicating or implying that the device or element must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0076] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, so that a parameter or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent in these parameters or devices.

[0078] The above is the preferred embodiment of the present invention and the technical principles applied. For those skilled in the art, any obvious changes such as equivalent transformation and simple substitution based on the technical solution of the present invention without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention.

Claims

1. An endoscope control handle with power-assist function, characterized in that: include: Auxiliary motor compartment and control handle; The auxiliary motor compartment includes a motor compartment box body and a first power-assisting module, a second power-assisting module and a control circuit module therein; The first power assist module includes a driving motor, a force feedback main block, a first pressure sensor, a second pressure sensor and a sensor connecting shaft; The sensor connecting shaft has a first end and a second end, the first end is provided with two symmetrical fan-shaped protrusions, and the second end is provided with a power interface connected to the control handle; A first opening is provided on one side of the force feedback main body block, and a second opening is provided on the other side, the first opening is for inserting the output shaft of the drive motor, and the shape of the second opening is conformed to the first end of the sensor connecting shaft; the first end of the sensor connecting shaft is inserted into the second opening, and both sides of the two fan-shaped protrusions have gaps, the first pressure sensor is the gap located on the left side of one of the fan-shaped protrusions, and the second pressure sensor is the gap located on the right side of the remaining fan-shaped protrusion; The control handle includes an X-direction traction wheel and a Y-direction traction wheel; The second assisting module has the same structure as the first assisting module. The power interface corresponding to the first assisting module is connected to the X-direction traction wheel, and the power interface corresponding to the second assisting module is connected to the Y-direction traction wheel.

2. The endoscope control handle with power-assist function as claimed in claim 1, characterized in that: The control circuit module is electrically connected to the drive motor, the first pressure sensor and the second pressure sensor corresponding to the first power assist module and the second power assist module respectively; the control circuit module is configured to control the forward or reverse rotation of the corresponding drive motor according to the pressure signals of the first pressure sensor and the second pressure sensor.

3. The endoscope control handle with power-assist function as claimed in claim 1, characterized in that: The control handle also includes a handle housing, a rocker assembly and a traction rope drive assembly; The traction rope driving assembly includes a rocker connecting member, a central rotating member, a first bevel gear, and a second bevel gear; The central rotating member has a first shaft hole, the center of the X-direction traction wheel is provided with a first adapter shaft, one end of the first adapter shaft passes through the first shaft hole and can rotate freely, and the other end of the first adapter shaft is connected to the rocker connecting member; The center of the first bevel gear has a second shaft hole, one end of the central rotating member is inserted into the second shaft hole and can make the central rotating member and the first bevel gear move in a linkage manner, and the other end of the central rotating member is rotatably connected to a first shaft seat; The edges of the first bevel gear and the second bevel gear are meshed and linked, and the Y-direction traction wheel is fixedly connected to one side of the second bevel gear; the center of the other side of the second bevel gear has a second transfer shaft, and the second transfer shaft is rotatably connected to a second shaft seat.

4. The endoscope control handle with power-assist function as claimed in claim 3, characterized in that: The central rotating member is arranged opposite to the second bevel gear, the second bevel gear is perpendicular to the first bevel gear, and the X-direction traction wheel and the Y-direction traction wheel are arranged opposite to each other.

5. The endoscope control handle with power-assist function as claimed in claim 4, characterized in that: A third transfer shaft is provided at the center of the first bevel gear; the third transfer shaft is rotatably connected to a third shaft seat; the end of the third transfer shaft is connected to the power interface corresponding to the second power-assisting module; The first adapter shaft is connected to one end of a transmission universal joint, the transmission universal joint is rotatably connected to the third shaft seat, the other end of the transmission universal joint is connected to one end of a universal joint sleeve, and the other end of the universal joint sleeve is connected to the power interface corresponding to the first power assist module.

6. The endoscope control handle with power-assist function as claimed in claim 5, characterized in that: One end of the universal joint sleeve is a hollow cylindrical member, and at least one straight long hole is opened along the length direction of the hollow cylindrical member; A columnar adapter is provided at the end of the transmission universal joint, and the columnar adapter is provided with a limiting protrusion. The columnar adapter is partially inserted into the hollow cylindrical member and the limiting protrusion is slidably arranged in the corresponding straight long hole.

7. The endoscope control handle with power-assist function as claimed in claim 5, characterized in that: The central rotating member comprises a plate member with a U-shaped cross section, wherein the first axial hole is located at the center of the plate member; the second axial hole is a rectangular hole; a rectangular block is provided at one end of the plate member, and the rectangular block is plugged into the second axial hole; A cylindrical member is disposed at the other end of the plate; the first shaft seat includes a base, and a semicircular groove is disposed on the upper end surface of the base. The cylindrical member is placed in the semicircular groove and fixed by a buckle.

8. The endoscope control handle with power-assist function as claimed in claim 5, characterized in that: The first shaft seat, the second shaft seat and the third shaft seat are fixed to a base, and the base is fixed in the handle housing; The X-direction traction wheel and the Y-direction traction wheel have the same structure and are semicircular structures; the upper and lower ends of the X-direction traction wheel and the Y-direction traction wheel are provided with through holes for binding the traction rope; the outer edges of the X-direction traction wheel and the Y-direction traction wheel are provided with grooves for winding the traction rope.

9. The endoscope control handle with power-assist function as claimed in claim 3, characterized in that: The handle housing comprises a receiving portion and a channel portion; The traction rope driving assembly and the rocker assembly are located in the accommodation portion, and the channel portion is used for passing the traction rope; The accommodating portion comprises an arc-shaped surface; the arc-shaped surface has a notch.

10. The endoscope control handle with power-assist function according to claim 9, characterized in that: The rocker assembly includes a rocker button, an upper locking friction plate, a lower locking friction plate, a first compression spring and a second compression spring; The end surface of the rocker connecting piece is recessed inwardly to form a blind hole; A first rod is protruded from the center of one end of the lower locking friction plate, and a second rod is protruded from the center of the other end, and the lower locking friction plate can selectively abut against the inner side surface of the arc surface; The end of the rocker connecting member is provided with a blind hole, the second compression spring is sleeved on the second rod and one end of the second compression spring abuts against the lower locking friction plate, and the other end abuts against the bottom of the blind hole; the first rod is provided with a threaded section, the first rod passes through the notch, the center of the upper locking friction plate has an internal thread, the upper locking friction plate is screwed to the threaded section, and the upper locking friction plate can be selectively pressed against the outer side surface of the arc surface, or the upper locking friction plate can be separated from the outer side surface of the arc surface; The rocker button is installed at the outer end of the first rod, and the inner side of the rocker button has an inner groove, the first compression spring is sleeved on the first rod and abuts against the bottom of the inner groove, and the other end abuts against the upper locking friction plate; The upper locking friction plate, the lower locking friction plate and the arc-shaped surface have the same curvature.

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