Method for testing bending fatigue of endoscope insertion part

Abstract

The invention discloses a method for testing bending fatigue of an insertion part of an endoscope, which is applied to an insertion part testing device and is used for performing bending fatigue detection on the insertion part of the endoscope, the insertion part comprises a bending section and a straight section which are connected along the axial direction of the insertion part, and a traction rope is arranged on the bending section. The insertion part testing device comprises a traction mechanism and a controller which are electrically connected, and the traction mechanism is used for driving and connecting a traction rope; the method for testing the bending fatigue of the endoscope insertion part comprises the following steps: receiving a test starting instruction; according to the test starting instruction, an insertion part test device is controlled to perform a test mode, and the test mode comprises the step of controlling a traction mechanism to work according to a preset control program; therefore, the bending fatigue test can be completed only by providing the insertion part, so that the real-time performance of the test is ensured, and smooth research and development are facilitated; moreover, the bending fatigue test is completed through the control system, the operation is convenient, the detection efficiency is high, and the precision is high.

Description

Technical Field

[0001] The present invention relates to the technical field of instrument detection, and particularly relates to a test method for the bending fatigue of an endoscope insertion portion. Background Art

[0002] In recent years, with the development of medical technology, endoscopes have been widely used in large, medium and small hospitals, and have now become an essential device in the clinical diagnosis and treatment of diseases. During actual use, the bending section of the endoscope insertion portion needs to be frequently bent; therefore, in order to ensure that the endoscope can meet high-intensity work, during the R & D process, it is necessary to perform bending fatigue detection on the bending section of the inner insertion portion. However, the existing test methods are only applicable to finished endoscopes. Therefore, during the R & D process of endoscopes, it is necessary to wait until a complete endoscope (including the insertion portion and the operation portion) is produced in the later stage of design to perform bending fatigue detection on the bending section of the insertion portion, resulting in a lag in the detection of the insertion portion, inability to adjust the design in a timely manner, and thus delaying the R & D progress. Summary of the Invention

[0003] The main object of the present invention is to propose a test method for the bending fatigue of an endoscope insertion portion, aiming to solve the problem that the existing test method causes a lag in the detection of the insertion portion because it is only applicable to finished endoscopes.

[0004] To achieve the above object, the test method for the bending fatigue of an endoscope insertion portion proposed by the present invention is applied to an insertion portion test device for performing bending fatigue detection on the insertion portion of an endoscope. The insertion portion includes a bending section and a straight section connected axially. A traction rope is provided on the bending section. The insertion portion test device includes a traction mechanism and a controller that are electrically connected. The traction mechanism is used to drive and connect the traction rope;

[0005] The test method for the bending fatigue of the endoscope insertion portion includes:

[0006] Receiving a test start instruction;

[0007] According to the test start instruction, controlling the insertion portion test device to enter a test mode, wherein the test mode includes controlling the traction mechanism to work according to a preset control program.

[0008] The traction mechanism includes a rotating member and a traction driving component. The rotating member is used for the traction rope to wind around and is rotatably arranged. The traction driving component is drivingly connected to the rotating member;

[0009] The insertion portion test device further includes a first detection portion and a second detection portion that are electrically connected to the controller. The first detection portion is used to detect the actual bending parameters of the bending section, and the second detection portion is used to detect the actual rotation parameters of the rotating member;

[0010] Steps for controlling the traction mechanism to work according to a preset control program, including:

[0011] Control the traction drive assembly to start and drive the rotating member to rotate with preset parameters;

[0012] Obtain the actual bending parameters of the bending section and the actual rotation parameters of the rotating member;

[0013] Adjust the control strategy of the traction mechanism according to the target parameters, the actual bending parameters, and the actual rotation parameters.

[0014] Preferably, the preset parameters include a preset rotation angle;

[0015] The steps of controlling the traction drive assembly to start and drive the rotating member to rotate with preset parameters include:

[0016] Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle.

[0017] Preferably, the preset parameters further include a preset rotation direction, and the preset rotation direction is configured to be a first direction and a second direction arranged in a cross manner;

[0018] The steps of controlling the traction drive assembly to drive the rotating member to rotate the preset rotation angle include:

[0019] Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the first direction;

[0020] Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the second direction;

[0021] Alternately repeat the above steps of rotating in the first direction and the second direction in sequence.

[0022] Preferably, the target parameter is configured as the alarm bending angle of the bending section, and the actual bending parameter is configured as the actual bending angle of the bending section;

[0023] The steps of adjusting the control strategy of the traction mechanism according to the target parameters, the actual bending parameters, and the actual rotation parameters include:

[0024] When the actual bending angle does not reach the alarm bending angle, control the traction drive assembly to drive the rotating member to continue rotating at the preset rotation angle;

[0025] When the actual bending angle reaches the alarm bending angle, control the traction drive assembly to stop.

[0026] Preferably, the preset parameters include a preset bending angle, and the preset bending angle is configured such that the rotating member drives the bending section to bend to a constant bending angle;

[0027] The step of controlling the traction drive assembly to start and driving the rotating member to rotate with preset parameters includes:

[0028] Controlling the traction drive assembly to drive the rotating member to rotate so that the bending section bends to the preset bending angle.

[0029] Preferably, the preset parameters further include a preset rotation direction, and the preset rotation direction is configured as a first direction and a second direction arranged in a cross manner;

[0030] The step of controlling the traction drive assembly to drive the rotating member to rotate includes:

[0031] Controlling the traction drive assembly to drive the rotating member to rotate in the first direction so that the bending section bends in the first direction to the preset bending angle;

[0032] Controlling the traction drive assembly to drive the rotating member to rotate in the second direction so that the bending section bends in the second direction to the preset bending angle;

[0033] Repeatedly alternate the above steps of rotating in the first direction and rotating in the second direction in sequence.

[0034] Preferably, the target parameter is configured as the alarm rotation angle of the rotating member, and the actual rotation parameter is configured as the actual rotation angle of the rotating member;

[0035] The step of adjusting the control strategy of the traction mechanism according to the target parameter, the actual bending parameter, and the actual rotation parameter includes:

[0036] When the actual rotation angle does not reach the alarm rotation angle, controlling the traction drive assembly to drive the rotating member to continue rotating to drive the bending section to bend to the preset bending angle;

[0037] When the actual rotation angle reaches the alarm rotation angle, controlling the traction drive assembly to stop.

[0038] Preferably, the insertion part testing device further includes a counter electrically connected to the controller, and the counter is used to record the actual rotation times of the rotating member;

[0039] The step of controlling the traction drive assembly to drive the rotating member to continue rotating further includes:

[0040] Obtaining the actual rotation times of the rotating member;

[0041] When the actual number of rotations reaches the target number of rotations, control the traction drive assembly to stop.

[0042] Preferably, the insertion part testing device further includes a counter electrically connected to the controller, and the counter is used to record the number of rotations of the rotating member;

[0043] The preset parameters include a preset rotation angle, a preset bending angle, a first preset number of times, and a second preset number of times. The preset bending angle is configured such that the rotating member drives the bending section to bend to a constant bending angle;

[0044] The step of controlling the traction drive assembly to start and driving the rotating member to rotate with preset parameters includes:

[0045] Control the traction drive assembly to drive the rotating member to rotate the first preset number of times, wherein each time the rotating member rotates to the preset rotation angle;

[0046] Control the traction drive assembly to drive the rotating member to rotate the second preset number of times, wherein each time the rotating member rotates, the bending section is bent to the preset bending angle.

[0047] Preferably, the step of controlling the traction drive assembly to start and driving the rotating member to rotate with preset parameters further includes:

[0048] Alternately repeat the above two rotation steps in sequence.

[0049] Preferably, the preset bending angle at least includes a first angle, a second angle, a third angle, and a fourth angle, and the second preset number of times at least includes a first number of rotations, a second number of rotations, a third number of rotations, and a fourth number of rotations;

[0050] The step of controlling the traction drive assembly to drive the rotating member to rotate the second preset number of times includes:

[0051] Control the traction drive assembly to drive the rotating member to rotate the first number of rotations, wherein each time the rotating member rotates, the bending section is bent to the first angle;

[0052] Control the traction drive assembly to drive the rotating member to rotate the second number of rotations, wherein each time the rotating member rotates, the bending section is bent to the second angle;

[0053] Control the traction drive assembly to drive the rotating member to rotate the third number of rotations, wherein each time the rotating member rotates, the bending section is bent to the third angle;

[0054] Control the traction drive assembly to drive the rotating member to rotate the fourth number of rotations, wherein each rotation of the rotating member bends the bending section to the fourth angle.

[0055] Preferably, the target parameters are configured as the alarm bending angle of the bending section and the alarm rotation angle of the rotating member, the actual bending parameters are configured as the actual bending angle of the bending section, and the actual rotation parameters are configured as the actual rotation angle of the rotating member;

[0056] The steps of adjusting the control strategy of the traction mechanism according to the target parameters, the actual bending parameters, and the actual rotation parameters include:

[0057] Within the range of rotating the first preset number of times, when the actual bending angle does not reach the alarm bending angle, control the traction drive assembly to drive the rotating member to continue rotating at the preset rotation angle, and when the actual bending angle reaches the alarm bending angle, control the traction drive assembly to stop;

[0058] Within the range of rotating the second preset number of times, when the actual rotation angle does not reach the alarm rotation angle, control the traction drive assembly to drive the rotating member to continue rotating to drive the bending section to bend to the preset bending angle, and when the actual rotation angle reaches the alarm rotation angle, control the traction drive assembly to stop.

[0059] Preferably, the preset parameters further include a preset rotation direction, and the preset rotation direction is configured as a first direction and a second direction arranged in a cross manner;

[0060] The steps of controlling the traction drive assembly to drive the rotating member to rotate the first preset number of times include:

[0061] Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the first direction;

[0062] Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the second direction;

[0063] Alternately repeat the above steps of rotating in the first direction and the second direction in sequence.

[0064] Preferably, the preset parameters further include a preset rotation direction, and the preset rotation direction is configured as a first direction and a second direction arranged in a cross manner;

[0065] The steps of controlling the traction drive assembly to drive the rotating member to rotate the second preset number of times include:

[0066] Control the traction drive assembly to drive the rotating member to rotate in the first direction, so that the bending section bends in the first direction to the constant bending angle;

[0067] Control the traction drive assembly to drive the rotating member to rotate in the second direction, so that the bending section bends in the second direction to the constant bending angle;

[0068] Sequentially and alternately repeat the above steps of rotating in the first direction and the second direction.

[0069] Preferably, the insertion part testing device further includes a feeding table and a mounting table. The feeding end face of the feeding table is used for placing the insertion part, and the mounting end face of the mounting table is used for mounting the traction mechanism;

[0070] The insertion part testing device further includes a height adjustment component and a distance detection component electrically connected to the controller;

[0071] Before the step of controlling the traction mechanism to work according to the preset control program, it further includes:

[0072] Obtain the first actual height of the feeding end face of the feeding table;

[0073] Obtain the second actual height of the mounting end face of the mounting table;

[0074] Obtain the actual height difference according to the first actual height and the second actual height;

[0075] Control the height adjustment component to adjust the height of the feeding end face and / or the mounting end face according to the standard height difference and the actual height difference.

[0076] Preferably, the insertion part testing device further includes a bottom plate. The feeding table and the mounting table are both arranged on the bottom plate. The surface of the feeding table facing away from the bottom plate is set as the feeding end face, and the surface of the mounting table facing away from the bottom plate is set as the mounting end face;

[0077] The height adjustment component is arranged on the bottom plate. The height adjustment component includes a movably arranged height adjustment part, and the height adjustment part supports and connects the feeding table;

[0078] The step of controlling the height adjustment component to adjust the height of the feeding end face and / or the mounting end face according to the standard height difference and the actual height difference includes:

[0079] Obtain the height adjustment parameter according to the standard height difference and the actual height difference;

[0080] According to the height adjustment parameter, control the height adjustment part to drive the material placing table to move, so as to adjust the linear distance between the material placing table and the bottom plate.

[0081] The technical solution provided by the present invention has at least the following advantages:

[0082] The test method for the bending fatigue of the insertion part of the endoscope provided by the present invention is applied to an insertion part test device for detecting the bending fatigue of the insertion part of the endoscope. A traction rope is arranged on the bending section of the insertion part. The insertion part test device includes a traction mechanism and a controller that are electrically connected. The traction mechanism is used to drive and connect the traction rope. When the controller receives a test start instruction, it controls the traction mechanism to work according to a preset control program. The traction mechanism can pull or relax the traction rope, so that the bending section can be bent or straightened, thereby realizing the bending fatigue test of the insertion part. In this way, only by providing this component of the insertion part can the bending fatigue test of it be completed, thus ensuring the real-time nature of the test and facilitating the smooth progress of research and development. Moreover, the bending fatigue test is completed through the control system, which is convenient to operate, has high detection efficiency and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0084] Figure 1 It is the first flow chart of the test method for the bending fatigue of the insertion part of the endoscope provided by the present invention;

[0085] Figure 2 It is the second flow chart of the test method for the bending fatigue of the insertion part of the endoscope provided by the present invention;

[0086] Figure 3 It is the third flow chart of the test method for the bending fatigue of the insertion part of the endoscope provided by the present invention;

[0087] Figure 4 It is the fourth flow chart of the test method for the bending fatigue of the insertion part of the endoscope provided by the present invention;

[0088] Figure 5 It is the fifth flow chart of the test method for the bending fatigue of the insertion part of the endoscope provided by the present invention;

[0089] Figure 6 It is the structural schematic diagram of an embodiment of the insertion part test device provided by the present invention;

[0090] Figure 7 is Figure 6 Schematic structural diagram of the insertion part testing device with respect to the test bench;

[0091] Figure 8 is Figure 7 Enlarged schematic diagram of the partial area A of the test bench;

[0092] Figure 9 is Figure 7 Enlarged schematic diagram of the partial area B of the test bench;

[0093] Figure 10 is Figure 7 Enlarged schematic diagram of the partial area C of the test bench;

[0094] Figure 11 is Figure 7 Enlarged schematic diagram of the partial area D of the test bench;

[0095] Figure 12 is Figure 6 Schematic structural diagram of the insertion part testing device with respect to the first limiting part;

[0096] Figure 13 is Figure 6 Schematic structural diagram of the insertion part testing device with respect to the traction mechanism;

[0097] Figure 14 is Figure 6 Schematic structural diagram of the insertion part testing device with respect to the detection mechanism;

[0098] Figure 15 is Figure 14 Top view of the detection mechanism;

[0099] Figure 16 is Figure 14 Detection schematic diagram of the detection mechanism with respect to the laser sensor.

[0100] Explanation of the reference numerals in the drawings:

[0101] 100 Insertion part bending fatigue test equipment; 1 Test bench; 11 Base plate; 12 Loading table; 121 First surface; 122 Rib; 13 Installation table; 131 Installation surface; 14 First guiding table; 15 Second guiding table; 16 Conduit; 161 First pipe section; 162 Second pipe section; 163 Third pipe section; 17 Fixed table; 2 First limiting part; 21 Clamping part; 211 Clamping block; 3 Traction mechanism; 31 Traction part; 311 Rotating part; 3111 Annular groove; 3112 Through hole; 3113 Pressure plate; 32 Traction driving part; 4 Detection mechanism; 41 First detection part; 411 Laser sensor; 42 Base; 5 Second limiting part; 51 First limiting groove; 52 Limiting cover plate; 6 Height adjustment component; 61 Height adjustment part; 7 Operating platform; 71 Chassis; 72 Touch control display screen;

[0102] 200 Insertion part; 201 Bending section; 202 Straight section; 203 Connecting piece;

[0103] 300 Traction rope; 301 Spring tube.

[0104] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0105] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0106] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0107] In addition, if the embodiments of the present invention involve descriptions such as "first" and "second", the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or inability to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0108] An endoscope is a medical device used to observe the internal cavities and organs of the human body and has a wide range of applications in the fields of medical diagnosis and treatment. An endoscope generally consists of an insertion portion, an operation portion, a connection portion, a light source system, an imaging system, a display system, and other parts. The insertion portion is the part of the endoscope that extends into the human body cavity, and its main body is usually a slender and flexible tube. The operation portion includes a driving member and a traction rope. One end of the traction rope is connected to the bending section of the insertion portion, and the other end is connected to the driving member to pull or relax the traction rope when the driving member moves, so that the bending section bends or straightens correspondingly. During the actual research and development process, due to the manufacturing processes of various components, usually, samples of the parts of the insertion portion are produced earlier than those of the operation portion.

[0109] In order to ensure the timeliness of the insertion portion test and ensure the smooth progress of research and development, the present invention provides a test method for the bending fatigue of an endoscope insertion portion. The test method for the bending fatigue of the endoscope insertion portion is applied to an insertion portion test device 100 for performing bending fatigue detection on the insertion portion 200 of the endoscope. The insertion portion 200 includes a bending section 201 and a straight section 202 connected along its axial direction F1. A traction rope 300 is provided on the bending section 201; the insertion portion test device 100 includes a traction mechanism 3 and a controller that are electrically connected, and the traction mechanism 3 is used to drive and connect the traction rope 300.

[0110] The test method for the bending fatigue of the endoscope insertion portion includes:

[0111] S10: Receive a test start instruction;

[0112] S30: According to the test start instruction, control the insertion portion test device to enter a test mode, where the test mode includes controlling the traction mechanism to work according to a preset control program.

[0113] The test method for the bending fatigue of the endoscope insertion part provided by the present invention is applied to the insertion part test device 100 for detecting the bending fatigue of the insertion part 200 of the endoscope. A traction rope 300 is arranged on the bending section 201 of the insertion part 200. The insertion part test device 100 includes a traction mechanism 3 and a controller which are electrically connected. The traction mechanism 3 is used to drive and connect the traction rope 300. When the controller receives a test start instruction, it controls the traction mechanism 3 to work according to a preset control program. The traction mechanism 3 can pull or relax the traction rope 300 so that the bending section 201 can bend or straighten, thereby realizing the bending fatigue test of the insertion part 200. In this way, only by providing the insertion part 200 can the bending fatigue test of it be completed, thus ensuring the real-time performance of the test and being conducive to the smooth progress of research and development. Moreover, by completing the bending fatigue test through the control system, the operation is convenient, the detection efficiency is high, and the accuracy is high.

[0114] Specifically, the traction mechanism 3 includes a rotating member 311 and a traction driving component 32. The rotating member 311 is used for the traction rope 300 to wind around and is rotatably arranged. The traction driving component 32 is drivingly connected to the rotating member 311. The insertion part test device 100 further includes a first detection part 41 and a second detection part which are electrically connected to the controller. The first detection part 41 is used to detect the actual bending parameters of the bending section 201, and the second detection part is used to detect the actual rotation parameters of the rotating member 311.

[0115] The step S30 of controlling the traction mechanism to work according to a preset control program includes:

[0116] S310: Control the traction driving component to start and drive the rotating member to rotate with preset parameters;

[0117] S320: Obtain the actual bending parameters of the bending section and the actual rotation parameters of the rotating member;

[0118] S330: Adjust the control strategy of the traction mechanism according to the target parameters, the actual bending parameters and the actual rotation parameters.

[0119] The following illustrates the test method for the bending fatigue of the endoscope insertion part through specific embodiments. Please refer to Figures 1 to 4 , Figure 1 which is the first flow chart of the test method for the bending fatigue of the endoscope insertion part provided by the present invention; Figure 2 which is the second flow chart of the test method for the bending fatigue of the endoscope insertion part provided by the present invention; Figure 3 which is the third flow chart of the test method for the bending fatigue of the endoscope insertion part provided by the present invention; Figure 4 which is the fourth flow chart of the test method for the bending fatigue of the endoscope insertion part provided by the present invention.

[0120] Please refer to Figure 1 , Figure 1 , which is the first embodiment of the test method for the bending fatigue of the endoscope insertion portion provided by the present invention.

[0121] In the first embodiment, the preset parameters include a preset rotation angle.

[0122] The step S310 of controlling the traction drive assembly to start and driving the rotating member to rotate with the preset parameters includes:

[0123] S3110: Controlling the traction drive assembly to drive the rotating member to rotate the preset rotation angle.

[0124] Meanwhile, the preset parameters further include a preset rotation direction, and the preset rotation direction is configured to be a first direction and a second direction arranged in a cross manner.

[0125] The step S3110 of controlling the traction drive assembly to drive the rotating member to rotate the preset rotation angle includes:

[0126] S3111: Controlling the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the first direction;

[0127] S3112: Controlling the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the second direction;

[0128] S3113: Alternately repeating the above steps of rotating in the first direction and the second direction in sequence.

[0129] And, the target parameter is configured to be the alarm bending angle of the bending section, and the actual bending parameter is configured to be the actual bending angle of the bending section.

[0130] The step S330 of adjusting the control strategy of the traction mechanism according to the target parameter, the actual bending parameter, and the actual rotation parameter includes:

[0131] S3310: When the actual bending angle does not reach the alarm bending angle, controlling the traction drive assembly to drive the rotating member to continue rotating at the preset rotation angle;

[0132] S3320: When the actual bending angle reaches the alarm bending angle, controlling the traction drive assembly to stop.

[0133] The insertion portion test device further includes a counter electrically connected to the controller, and the counter is used to record the actual rotation times of the rotating member.

[0134] After step S3310 of controlling the traction drive assembly to drive the rotating member to continue rotating, the following steps are further included:

[0135] S3311: Obtain the actual number of rotations of the rotating member;

[0136] S3312: When the actual number of rotations reaches the target number of rotations, control the traction drive assembly to stop.

[0137] In the first embodiment, control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the first direction, and control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the second direction, and alternately repeat the above steps of rotating in the first direction and the second direction in sequence. During the rotation of the rotating member, obtain the actual bending angle of the bending section. When the actual bending angle does not reach the alarm bending angle, control the traction drive assembly to drive the rotating member to continue rotating by the preset rotation angle until the target number of rotations is reached, and then control the traction drive assembly to stop; when the actual bending angle reaches the alarm bending angle, control the traction drive assembly to stop.

[0138] Specifically, taking the rotating member 311 rotating at a constant 50° as an example for illustration. When the rotating member 311 rotates 50°, the bending section 201 has a standard bending angle of 180° in the initial state. As the number of bending times of the bending section 201 increases, the bending angle of the bending section 201 will gradually become smaller. Set a target bending angle of 150° as the standard for judging the failure of the bending section 201, that is, the alarm bending angle. Control the rotating member 311 to rotate 50° clockwise once and 50° counterclockwise once, and alternately repeat the rotation steps in sequence.

[0139] During the rotation of the rotating member 311, when the actual bending angle of the bending section 201 is greater than 150°, that is, the actual bending angle does not reach the alarm bending angle, it means that the bending section 201 has not failed, and the bending fatigue test continues. Control the traction drive assembly to drive the rotating member to continue rotating. When it rotates 10,000 times clockwise and 10,000 times counterclockwise, the target number of rotations is reached, and thus the traction drive assembly can be controlled to stop and the test ends.

[0140] When the actual bending angle of the bending section 201 is less than 150°, that is, the actual bending angle reaches the alarm bending angle, it means that the bending section 201 fails, and control the traction drive assembly to stop and end the test.

[0141] It should be noted that in this embodiment, there is no clear sequence number for the detection step of the actual bending angle and the counting step of the actual number of rotations, and they can be carried out simultaneously.

[0142] Please refer to Figure 2 , Figure 2 which is the second embodiment of the test method for the bending fatigue of the endoscope insertion portion provided by the present invention.

[0143] In the second embodiment, the preset parameters include a preset bending angle, and the preset bending angle is configured such that the rotating member drives the bending section to bend to a constant bending angle.

[0144] The step S310 of controlling the traction drive assembly to start and driving the rotating member to rotate with preset parameters includes:[[]]

[0145] S3110': Control the traction drive assembly to drive the rotating member to rotate so that the bending section bends to the preset bending angle.

[0146] Meanwhile, the preset parameters further include a preset rotation direction, and the preset rotation direction is configured as a first direction and a second direction arranged in a cross manner.

[0147] The step S3110' of controlling the traction drive assembly to drive the rotating member to rotate includes:[[]]

[0148] S3111': Control the traction drive assembly to drive the rotating member to rotate in the first direction so that the bending section bends in the first direction to the preset bending angle;

[0149] S3112': Control the traction drive assembly to drive the rotating member to rotate in the second direction so that the bending section bends in the second direction to the preset bending angle;

[0150] S3113': Alternately repeat the above steps of rotating in the first direction and the second direction in sequence.

[0151] And, the target parameter is configured as the alarm rotation angle of the rotating member, and the actual rotation parameter is configured as the actual rotation angle of the rotating member.

[0152] The step S330 of adjusting the control strategy of the traction mechanism according to the target parameter, the actual bending parameter, and the actual rotation parameter includes:[[]]

[0153] S3310': When the actual rotation angle does not reach the alarm rotation angle, control the traction drive assembly to drive the rotating member to continue rotating to drive the bending section to bend to the preset bending angle;

[0154] S3320': When the actual rotation angle reaches the alarm rotation angle, control the traction drive assembly to stop.

[0155] The insertion part testing device further includes a counter electrically connected to the controller, and the counter is used to record the actual number of rotations of the rotating member.

[0156] After the step S3310' of controlling the traction drive assembly to drive the rotating member to continue rotating, the following steps are further included:

[0157] S3311': Obtain the actual number of rotations of the rotating member;

[0158] S3312': When the actual number of rotations reaches the target number of rotations, control the traction drive assembly to stop.

[0159] In the second embodiment, control the traction drive assembly to drive the rotating member to rotate in the first direction, so that the bent section bends to the preset bending angle in the first direction; control the traction drive assembly to drive the rotating member to rotate in the second direction, so that the bent section bends to the preset bending angle in the second direction; alternately repeat the above steps of rotating in the first direction and the second direction in sequence. During the rotation of the rotating member, obtain the actual rotation angle of the rotating member. When the actual rotation angle does not reach the alarm rotation angle, control the traction drive assembly to drive the rotating member to continue rotating to drive the bent section to bend to the preset bending angle until the target number of rotations is reached, and then control the traction drive assembly to stop; when the actual rotation angle reaches the alarm rotation angle, control the traction drive assembly to stop.

[0160] Specifically, taking the example that the rotating member 311 pulls the traction rope 300 to bend the bent section 201 to the preset bending angle of 180°. When the rotating member 311 rotates 50°, the bent section 201 can be bent to the preset bending angle of 180°. As the number of bending times of the bent section 201 increases, the bending angle of the bent section 201 will gradually become smaller. In order to ensure that the actual bending angle of the bent section 201 is always 180°, the actual rotation angle of the rotating member 311 will increase. Set a target rotation angle of 60° as the standard for judging the failure of the bent section 201, that is, the alarm rotation angle. Control the rotating member 311 to rotate clockwise once to bend the bent section 180° in the first direction; control the rotating member 311 to rotate counterclockwise once to bend the bent section 180° in the second direction; alternately repeat the rotation steps in sequence.

[0161] During the rotation of the rotating member 311, when the actual rotation angle of the rotating member 311 is less than 60°, that is, the actual rotation angle does not reach the alarm rotation angle, it means that the bending section 201 has not failed, and the bending fatigue test continues. Control the traction drive assembly to drive the rotating member to continue rotating. When it rotates 10,000 times clockwise and 10,000 times counterclockwise, the target number of rotations is reached, and thus the traction drive assembly can be controlled to stop and the test ends.

[0162] When the actual rotation angle of the rotating member 311 reaches 60°, that is, the actual rotation angle reaches the alarm rotation angle, it means that the bending section 201 has failed. Control the traction drive assembly to stop and end the test.

[0163] It should be noted that in this embodiment, there is no clear sequence number for the detection step of the actual rotation angle and the counting step of the actual number of rotations, and they can be carried out simultaneously.

[0164] Please refer to Figure 3 , Figure 3 This is the third embodiment of the test method for the bending fatigue of the endoscope insertion portion provided by the present invention.

[0165] The insertion portion test device 100 further includes a counter electrically connected to the controller. The counter is used to record the number of rotations of the rotating member 311; the preset parameters include a preset rotation angle, a preset bending angle, a first preset number of times, and a second preset number of times. The preset bending angle is configured such that the rotating member drives the bending section to bend to a constant bending angle.

[0166] The step S310 of controlling the traction drive assembly to start and drive the rotating member to rotate with preset parameters includes:

[0167] S3110”: Control the traction drive assembly to drive the rotating member to rotate the first preset number of times, wherein each time the rotating member rotates to the preset rotation angle;

[0168] S3120”: Control the traction drive assembly to drive the rotating member to rotate the second preset number of times, wherein each rotation of the rotating member causes the bending section to bend to the preset bending angle.

[0169] Meanwhile, the preset parameters further include a preset rotation direction, and the preset rotation direction is configured as a first direction and a second direction arranged in a cross manner.

[0170] The step S3110” of controlling the traction drive assembly to drive the rotating member to rotate the first preset number of times includes:

[0171] "S3111": Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the first direction;

[0172] "S3112": Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the second direction;

[0173] "S3113": Alternately repeat the above steps of rotating in the first direction and the second direction in sequence.

[0174] The step S3120 of controlling the traction drive assembly to drive the rotating member to rotate the second preset number of times includes:

[0175] "S3121": Control the traction drive assembly to drive the rotating member to rotate in the first direction so that the bent section bends in the first direction to the constant bending angle;

[0176] "S3122": Control the traction drive assembly to drive the rotating member to rotate in the second direction so that the bent section bends in the second direction to the constant bending angle;

[0177] "S3123": Alternately repeat the above steps of rotating in the first direction and the second direction in sequence.

[0178] Moreover, the target parameters are configured as the alarm bending angle of the bent section and the alarm rotation angle of the rotating member, the actual bending parameter is configured as the actual bending angle of the bent section, and the actual rotation parameter is configured as the actual rotation angle of the rotating member.

[0179] The step S330 of adjusting the control strategy of the traction mechanism according to the target parameters, the actual bending parameters, and the actual rotation parameters includes:

[0180] "S3310": Within the range of rotating the first preset number of times, when the actual bending angle does not reach the alarm bending angle, control the traction drive assembly to drive the rotating member to continue rotating at the preset rotation angle, and when the actual bending angle reaches the alarm bending angle, control the traction drive assembly to stop;

[0181] "S3320": Within the range of rotating the second preset number of times, when the actual rotation angle does not reach the alarm rotation angle, control the traction drive assembly to drive the rotating member to continue rotating to drive the bent section to bend to the preset bending angle, and when the actual rotation angle reaches the alarm rotation angle, control the traction drive assembly to stop.

[0182] In the third embodiment, first control the traction drive assembly 32 to drive the rotating member 311 to rotate by the preset rotation angle. After the first preset number of rotations is completed; control the traction drive assembly 32 to drive the rotating member 311 to rotate so that the bending section bends to a constant bending angle. After the second preset number of rotations is completed, stop the test.

[0183] For example, first control the traction drive assembly 32 to drive the rotating member 311 to rotate 5000 times at the preset rotation angle of 50°; and, in the same rotation method as in the above embodiment, control the rotating member 311 to rotate 50° clockwise once and 50° counterclockwise once, and alternately repeat the rotation steps in sequence.

[0184] During the rotation of the rotating member 311, when the actual bending angle of the bending section 201 is less than 150°, that is, when the actual bending angle reaches the alarm bending angle, it represents that the bending section 201 fails, control the traction drive assembly to stop, and end the test. When the actual bending angle of the bending section 201 is greater than or equal to 150°, that is, when the actual bending angle does not reach the alarm bending angle, it represents that the bending section 201 does not fail, and the bending fatigue test continues until 5000 rotations are completed.

[0185] Subsequently, control the traction drive assembly 32 to drive the rotating member 311 to rotate 5000 times. Among them, each rotation of the rotating member 311 causes the bending section 201 to bend to 180°; and, in the same rotation method as in the above embodiment, control the rotating member 311 to rotate clockwise once to bend the bending section 180° in the first direction; control the rotating member 311 to rotate counterclockwise once to bend the bending section 180° in the second direction; alternately repeat the rotation steps in sequence.

[0186] During the rotation of the rotating member 311, when the actual rotation angle of the rotating member 311 reaches 60°, that is, when the actual rotation angle reaches the alarm rotation angle, it represents that the bending section 201 fails, control the traction drive assembly to stop, and end the test; when the actual rotation angle of the rotating member 311 is less than 60°, that is, when the actual rotation angle does not reach the alarm rotation angle, it represents that the bending section 201 does not fail, and the bending fatigue test continues until 5000 rotations are completed, and the test ends.

[0187] The present invention does not specifically limit the first preset number and the second preset number. The first preset number and the second preset number can be set to the same value; the first preset number and the second preset number can be set to different values.

[0188] In one embodiment, the first preset number and the second preset number are set to the same value. For example, the number of bending fatigue tests is set to 10,000 times. During the actual test, the first preset number can be set to 5,000 times and the second preset number can be set to 5,000 times.

[0189] Specifically, step S310 of controlling the traction drive assembly to start and driving the rotating member to rotate with preset parameters further includes:

[0190] S3130”: Alternately repeat the above two rotation steps in sequence.

[0191] For example, the first preset number can also be set to 100 times and the second preset number can be set to 100 times; alternately repeat the above two rotation steps in sequence. For example, control the traction drive assembly 32 to drive the rotating member 311 to rotate 100 times at the preset rotation angle of 50°; control the traction drive assembly 32 to rotate 100 times, and each rotation of the rotating member 311 bends the bending section 201 to 180°; control the traction drive assembly 32 to drive the rotating member 311 to rotate 100 times at the preset rotation angle of 50°; control the traction drive assembly 32 to rotate 100 times, and each rotation of the rotating member 311 bends the bending section 201 to 180°; and so on, alternately repeating in sequence.

[0192] Please refer to Figure 4 , Figure 4 which is the fourth embodiment of the test method for the bending fatigue of the endoscope insertion portion provided by the present invention.

[0193] The preset bending angle at least includes a first angle, a second angle, a third angle, and a fourth angle, and the second preset number at least includes a first rotation number, a second rotation number, a third rotation number, and a fourth rotation number.

[0194] Step S3120” of controlling the traction drive assembly to drive the rotating member to rotate the second preset number includes:

[0195] S3124”: Control the traction drive assembly to drive the rotating member to rotate the first rotation number, where each rotation of the rotating member bends the bending section to the first angle;

[0196] S3125”: Control the traction drive assembly to drive the rotating member to rotate the second rotation number, where each rotation of the rotating member bends the bending section to the second angle;

[0197] S3126”: Control the traction drive assembly to drive the rotating member to rotate the third rotation number, where each rotation of the rotating member bends the bending section to the third angle;

[0198] "S3127": Control the traction drive assembly to drive the rotating member to rotate the fourth number of rotations, wherein each rotation of the rotating member causes the bent section to bend to the fourth angle.

[0199] In the third embodiment, first control the traction drive assembly 32 to drive the rotating member 311 to rotate at the preset rotation angle. After the first preset number of rotations is completed; control the traction drive assembly 32 to drive the rotating member 311 to rotate so that the bent section bends to the first angle. After the first number of rotations is completed; control the traction drive assembly 32 to drive the rotating member 311 to rotate so that the bent section bends to the second angle. After the second number of rotations is completed; control the traction drive assembly 32 to drive the rotating member 311 to rotate so that the bent section bends to the third angle. After the third number of rotations is completed; control the traction drive assembly 32 to drive the rotating member 311 to rotate so that the bent section bends to the fourth angle. After the fourth number of rotations is completed.

[0200] For example, first control the traction drive assembly 32 to drive the rotating member 311 to rotate 2000 times at the preset rotation angle of 50°; and, in the same rotation method as in the above embodiment, control the rotating member 311 to rotate clockwise by 50° once and counterclockwise by 50° once, and alternately repeat the rotation steps in sequence. During the rotation of the rotating member 311, when the actual bending angle reaches the alarm bending angle, it represents that the bent section 201 fails, and control the traction drive assembly to stop and end the test. When the actual bending angle does not reach the alarm bending angle, it represents that the bent section 201 does not fail, and the bending fatigue test continues until 2000 rotations are completed.

[0201] Control the traction drive assembly 32 to drive the rotating member 311 to rotate 2000 times, wherein each rotation of the rotating member 311 causes the bent section 201 to bend to 270°; and, in the same rotation method as in the above embodiment, control the rotating member 311 to rotate clockwise once and counterclockwise once; alternately repeat the rotation steps in sequence. During the rotation of the rotating member 311, when the actual rotation angle reaches the alarm rotation angle, it represents that the bent section 201 fails, control the traction drive assembly to stop and end the test; when the actual rotation angle does not reach the alarm rotation angle, it represents that the bent section 201 does not fail, and the bending fatigue test continues until 2000 rotations are completed and the test ends.

[0202] Control the traction drive assembly 32 to drive the rotating member 311 to rotate 2000 times. Wherein, each rotation of the rotating member 311 bends the bending section 201 to 180°; and, in the same rotation method as the above embodiment, control the rotating member 311 to rotate clockwise once and counterclockwise once; alternately repeat the rotation steps in sequence. During the rotation of the rotating member 311, when the actual rotation angle reaches the alarm rotation angle, it represents that the bending section 201 fails, control the traction drive assembly to stop, and end the test; when the actual rotation angle does not reach the alarm rotation angle, it represents that the bending section 201 does not fail, and the bending fatigue test continues until the rotation is completed 2000 times, and the test ends.

[0203] Control the traction drive assembly 32 to drive the rotating member 311 to rotate 2000 times. Wherein, each rotation of the rotating member 311 bends the bending section 201 to 150°; and, in the same rotation method as the above embodiment, control the rotating member 311 to rotate clockwise once and counterclockwise once; alternately repeat the rotation steps in sequence. During the rotation of the rotating member 311, when the actual rotation angle reaches the alarm rotation angle, it represents that the bending section 201 fails, control the traction drive assembly to stop, and end the test; when the actual rotation angle does not reach the alarm rotation angle, it represents that the bending section 201 does not fail, and the bending fatigue test continues until the rotation is completed 2000 times, and the test ends.

[0204] Control the traction drive assembly 32 to drive the rotating member 311 to rotate 2000 times. Wherein, each rotation of the rotating member 311 bends the bending section 201 to 90°; and, in the same rotation method as the above embodiment, control the rotating member 311 to rotate clockwise once and counterclockwise once; alternately repeat the rotation steps in sequence. During the rotation of the rotating member 311, when the actual rotation angle reaches the alarm rotation angle, it represents that the bending section 201 fails, control the traction drive assembly to stop, and end the test; when the actual rotation angle does not reach the alarm rotation angle, it represents that the bending section 201 does not fail, and the bending fatigue test continues until the rotation is completed 2000 times, and the test ends.

[0205] Please refer to Figure 5 , Figure 5 which is the fifth embodiment of the test method for the bending fatigue of the endoscope insertion part provided by the present invention.

[0206] The insertion part test device 100 further includes a material placing table 12 and a mounting table 13. The material placing end face of the material placing table 12 is used for placing the insertion part 200, and the mounting end face of the mounting table 13 is used for mounting the traction mechanism 3; the insertion part test device 100 further includes a height adjustment component 6 and a distance detection component 7 electrically connected to the controller.

[0207] Before step S30 of controlling the traction mechanism to work according to a preset control program, the following steps are further included:

[0208] S210: Obtain the first actual height of the discharging end face of the discharging table;

[0209] S220: Obtain the second actual height of the mounting end face of the mounting table;

[0210] S230: Obtain the actual height difference according to the first actual height and the second actual height;

[0211] S240: Control the height adjustment assembly to adjust the height of the discharging end face and / or the mounting end face according to the standard height difference and the actual height difference.

[0212] Specifically, the insertion part testing device 100 further includes a bottom plate 11. The discharging table 12 and the mounting table 13 are both arranged on the bottom plate 11. The surface of the discharging table 12 facing away from the bottom plate 11 is set as the discharging end face, and the surface of the mounting table 13 facing away from the bottom plate 11 is set as the mounting end face. The height adjustment assembly 6 is arranged on the bottom plate 11. The height adjustment assembly 6 includes a height adjustment part 61 arranged movably, and the height adjustment part 61 supports and connects the discharging table 12.

[0213] Step S240 of controlling the height adjustment assembly to adjust the height of the discharging end face and / or the mounting end face according to the standard height difference and the actual height difference includes:

[0214] S2410: Obtain the height adjustment parameter according to the standard height difference and the actual height difference;

[0215] S2420: Control the height adjustment part to drive the discharging table to move according to the height adjustment parameter, so as to adjust the linear distance between the discharging table and the bottom plate.

[0216] It can be known that in an actual product, the operation part is usually set as a rotating wheel, and an annular groove for winding a traction rope is arranged on the outer wall of the rotating wheel. The annular groove is generally located in the middle of the rotating wheel. Since the traction part 31 is equivalent to the operation part of the endoscope, in order to further simulate the positional relationship between the flexible tube body 200 and the operation part, and ensure that the bending state of the flexible tube body 200 during the test is approximately the same as its bending state in the endoscope, thereby improving the test accuracy, it is necessary to further limit the positional relationship between the flexible tube body 200 and the traction part 31. By adjusting the height of the material discharging end face and / or the mounting end face, the plane where the central axis of the flexible tube body 200 is located and the middle plane of the traction part 31 are in the same plane. In this way, the mounting state of the flexible tube body 200 in the endoscope can be further simulated, and the accuracy of the test result can be further improved.

[0217] The height adjusting assembly 6 includes a height adjusting part 61 which is movably arranged so as to be able to move close to or away from the bottom plate 11. The height adjusting part 61 supports and connects the material discharging table 12 to adjust the linear distance between the material discharging table 12 and the bottom plate 11 during its movement.

[0218] The distance detecting assembly 7 includes a first distance detecting part 71 and a second distance detecting part 72. The first distance detecting part 71 is arranged corresponding to the material discharging table 12 for detecting the first actual height between the material discharging surface and the bottom plate 11. The second distance detecting part 72 is arranged corresponding to the mounting table 13 for detecting the second actual height between the mounting surface and the bottom plate 11.

[0219] In the fifth embodiment, the first actual height and the second actual height are obtained; according to the first actual height and the second actual height, the actual height difference is obtained; according to the standard height difference and the actual height difference, the height adjustment parameter is obtained; according to the height adjustment parameter, the height adjusting part is controlled to drive the material discharging table to move so as to adjust the linear distance between the material discharging table and the bottom plate.

[0220] The present invention also provides an insertion part testing device 100. Please refer to Figure 6, the insertion part testing device 100 includes a test bench 1, a traction mechanism 3, a detection mechanism 4, and a controller (not shown in the figure); the test bench 1 is used for placing the insertion part 200, and a first limiting part 2 is arranged on the test bench 1 for limiting and fixing the straight section 202; the traction mechanism 3 is arranged on the test bench 1, and the traction mechanism 3 includes a movable traction part 31, and the traction part 31 is drivingly connected to a traction rope 300 to pull or relax the traction rope 300 during its movement; the detection mechanism 4 is arranged on the test bench 1, and the detection mechanism 4 includes a first detection part 41 and a second detection part. The first detection part 41 is arranged corresponding to the bending section 201 to detect whether the bending section 201 is bent in place when the traction rope 300 pulls the bending section 201, and the second detection part is arranged corresponding to the traction part 31 to detect the movement state of the traction part 31; the controller is electrically connected to the traction mechanism 3 and the detection mechanism 4.

[0221] During the R & D process, after the sample of the insertion part 200 is made, the insertion part testing device 100 can be used to perform a bending fatigue test on the insertion part 200. Place the insertion part 200 on the test bench 1, and the first limiting part 2 on the test bench 1 limits and fixes the straight section 202; arrange a traction mechanism 3 on the test bench 1, one end of the traction rope 300 is connected to the bending section 201, and the other end is connected to the traction part 31 of the traction mechanism 3. At this time, the traction part 31 is equivalent to the operation part of the endoscope, and the traction rope 300 is pulled or relaxed by the movement of the traction part 31, so that the bending section 201 can be bent or straightened. Thus, when the traction part 31 continuously makes reciprocating movements, the bending section 201 can be driven to bend repeatedly. At the same time, a detection mechanism 4 is arranged on the test bench 1, and the detection mechanism 4 includes a first detection part 41 and a second detection part. The first detection part 41 is arranged corresponding to the bending section 201 to detect whether the bending section 201 is bent in place when the traction rope 300 pulls the bending section 201, and the second detection part is arranged corresponding to the traction part 31 to detect the movement state of the traction part 31, and accordingly judge the bending state of the insertion part 200, so as to complete the bending fatigue aging test of the insertion part 200.

[0222] In this way, the insertion part testing device 100 can perform a bending fatigue aging test on the insertion part 200 in time after the sample of the insertion part 200 is made, without waiting to perform the test after the sample of the operation part is made, so as to ensure the real-time nature of the test and facilitate the smooth progress of the R & D. Moreover, the test bench 1, the traction mechanism 3, the detection mechanism 4, and the controller are integrated into an automated testing device, and the bending fatigue aging test is completed by using the automated testing device, which is convenient to operate, has high detection efficiency, and high accuracy.

[0223] In an embodiment, please refer toFigure 7 The test bench 1 includes a bottom plate 11, a feeding table 12 and a mounting table 13 arranged on the bottom plate 11. The feeding table 12 is used for placing the insertion part 200, and the mounting table 13 is located on one side of the feeding table 12 in the axial direction F1 of the insertion part 200 and is arranged away from the bending section 201. Among them, the first limiting part 2 is arranged on the feeding table 12, the traction mechanism 3 is arranged on the mounting table 13, and the detection mechanism 4 is arranged on the bottom plate 11.

[0224] It can be known that in an actual product, the operating part is usually set as a rotating wheel, and an annular groove for winding the traction rope is arranged on the outer wall of the rotating wheel, and the annular groove is generally located in the middle of the rotating wheel. Since the traction part 31 is equivalent to the operating part of the endoscope, in order to further simulate the positional relationship between the insertion part 200 and the operating part, ensure that the bending state of the insertion part 200 during the test is approximately the same as its bending state in the endoscope, and thus improve the test accuracy, it is necessary to further limit the positional relationship between the insertion part 200 and the traction part 31. In an embodiment, in the direction away from the bottom plate 11, the linear distance between the feeding table 12 and / or the mounting table 13 and the bottom plate 11 is adjustable, so that the plane where the central axis of the insertion part 200 is located and the middle plane of the traction part 31 are in the same plane. In this way, the installation state of the insertion part 200 in the endoscope can be further simulated, and the accuracy of the test result can be further improved.

[0225] That is to say, the linear distance between the feeding table 12 and the bottom plate 11 can be adjusted, the linear distance between the mounting table 13 and the bottom plate 11 can be adjusted, or the linear distances between the feeding table 12 and the mounting table 13 and the bottom plate 11 can be adjusted simultaneously. In this way, the relative height of the feeding table 12 and the mounting table 13 is adjusted, so as to ensure that the plane where the central axis of the insertion part 200 is located and the middle plane of the traction part 31 are in the same plane.

[0226] Please refer to Figure 7 The insertion part testing device 100 further includes a height adjustment component 6 and a distance detection component 7. The height adjustment component 6 is arranged on the bottom plate 11. The height adjustment component 6 includes a height adjustment part 61 that is movably arranged so as to be able to move closer to or away from the bottom plate 11. The height adjustment part 61 supports and connects the feeding table 12 to adjust the linear distance between the feeding table 12 and the bottom plate 11 during its movement. The distance detection component 7 is respectively arranged corresponding to the feeding table 12 and the mounting table 13 to detect the height difference between the feeding table 12 and the mounting table 13. Among them, the controller is electrically connected to the height adjustment component 6 and the distance detection component 7 to control the movement of the height adjustment part 61 when the height difference exceeds a preset value.

[0227] In an exemplary embodiment, the surface of the material placing table 12 facing away from the bottom plate 11 is used to place the insertion part 200, and the surface of the installation table 13 facing away from the bottom plate 11 is used to install the traction part 31. In order to ensure that the plane where the central axis of the insertion part 200 is located and the median plane of the traction part 31 are in the same plane, the standard height difference between the surface of the material placing table 12 and the surface of the installation table 13 can be determined according to the actual product specifications.

[0228] The distance detection assembly 7 includes a first distance detection part 71 and a second distance detection part 72. The first distance detection part 71 is arranged corresponding to the material placing table 12 for detecting the first linear distance between the surface of the material placing table 12 and the bottom plate 11; the second distance detection part 72 is arranged corresponding to the installation table 13 for detecting the second linear distance between the surface of the installation table 13 and the bottom plate 11; according to the first linear distance and the second linear distance, the actual height difference between the material placing table 12 and the installation table 13 is determined, and according to the actual height difference and the standard height difference, the height adjustment parameter is determined; the height adjustment part 61 adjusts the height of the material placing table 12 according to the height adjustment parameter.

[0229] It can be known that the material placing table 12 is used for the bending section 201 and the straight section 202 to rest on. In order to reduce the friction between the bending section 201 and the material placing table 12 during the bending process, in one embodiment, please refer to Figure 9 , the material placing table 12 has a first surface 121 facing away from the bottom plate 11, and convex ribs 122 protrude from the first surface 121. The convex ribs 122 extend along the axial direction F1 of the bent pipe body 200, and the end surface of the convex ribs 122 facing away from the first surface 121 is used for the bending section 201 and the straight section 202 to rest on; by setting the convex ribs 122 to raise the terrain of the bending section 201, the bending section 201 is suspended during bending, so as to avoid generating large friction with the material placing table 12, thereby further eliminating other interference factors and ensuring the accuracy of the test results.

[0230] In an actual product, the bent pipe body 200 includes a bending section 201, a straight section 202 and a connecting piece 203 connected in sequence in its axial direction F1. Usually, the radial dimension F2 of the connecting piece 203 is much larger than that of the straight section 202. In order to ensure that the central axes of the bending section 201, the straight section 202 and the connecting piece 203 are in the same horizontal plane, so as to optimize the test effect, it is necessary to fix the straight section 202 and the connecting piece 203 separately; in one embodiment, please refer to Figure 7, the test bench 1 further includes a fixing table 17, which is arranged on the bottom plate 11 and is between the feeding table 12 and the mounting table 13. The fixing table 17 is used for placing the connecting piece 203 at the end of the straight section 202.

[0231] Continuing from the above, the first limiting portion 2 is arranged on the feeding table 12 to limit and fix the straight section 202. In order to further improve the placement stability of the insertion portion 200, in one embodiment, please refer to Figure 8 , the bending fatigue test equipment for the insertion portion 200 further includes a second limiting portion 5, which is arranged on the fixing table 17 and is used for limiting and fixing the connecting piece 203; by jointly limiting and fixing the straight section 202 and the connecting piece 203 through the first limiting portion 2 and the second limiting portion 5, the stability of the insertion portion 200 can be ensured, and the influence of the displacement of the insertion portion 200 on the test result during the test can be avoided.

[0232] Specifically, a first limiting groove 51 is formed on the fixing table 17, and the connecting piece 203 is clamped and fixed in the first limiting groove 51. A limiting cover plate 52 is arranged on the fixing table 17, and the limiting cover plate is detachably installed at the notch of the first limiting groove 51 to limit and fix the connecting piece 203 to prevent the connecting piece 203 from detaching from the notch of the first limiting groove 51, further ensuring the installation stability of the bent pipe body 200; wherein, the second limiting portion 5 includes the first limiting groove 51 and the limiting cover plate 52.

[0233] It can be known that for different specifications of the insertion portion 200, the lengths of the straight section 202 and the connecting piece 203 are different. The position of the fixing table 17 relative to the feeding table 12 is adjustable in the axial direction F1 of the insertion portion 200 to adjust the relative position between the fixing table 17 and the feeding table 12, so as to adapt to different specifications of the insertion portion 200.

[0234] The present invention does not specifically limit the installation method of the fixing table 17. In one embodiment, the fixing table 17 is installed on the bottom plate 11 through a threaded connection structure. The threaded connection structure includes an elongated hole arranged on the bottom plate 11, a threaded hole arranged on the fixing table 17, and a stud passing through the elongated hole and threadedly connected to the threaded hole. The long axis of the elongated hole is arranged along the axial direction F1 of the insertion portion 200. In another embodiment, a sliding connection structure is arranged between the fixing table 17 and the bottom plate 11. The sliding connection structure includes a sliding groove and a slider that are slidably connected. One of the sliding groove and the slider is arranged on the bottom plate 11, and the other is arranged on the fixing table 17.

[0235] As described above, the feeding table 12 and the mounting table 13 are respectively for placing the bent tube body 200 and the traction part 31. In order to simulate the environment of the endoscope product and meet the bending angle requirements of the bending section 201, there is a large spacing between the feeding table 12 and the mounting table 13. One end of the traction rope 300 is connected to the bending section 201, and the other end passes through the bent tube body 200 and is connected to the traction part 31. The part of the traction rope 300 between the corresponding feeding table 12 and the mounting table 13 is in a suspended state. In order to ensure the stability of the traction rope 300 when pulling the bending section 201, in one embodiment, please refer to Figure 10 , the test bench 1 further includes a first guiding platform 14. The first guiding platform 14 is arranged on the bottom plate 11 and is between the feeding table 12 and the mounting table 13. The first guiding platform 14 is used for the spring tube 301 on the traction rope 300 to rest on, so that the traction rope 300 is on a preset path.

[0236] It can be known that for bent tube bodies 200 of different specifications, their lengths are different, and the positions of the spring tubes on the traction rope 300 are also different; in one embodiment, the position of the first guiding platform 14 relative to the feeding table 12 is adjustable in the axial direction F1 of the bent tube body 200; by adjusting the position of the first guiding platform 14, it can adapt to bent tube bodies 200 of different specifications.

[0237] And in order to further correct the posture of the traction rope 300 and ensure that the traction rope 300 will not deviate from the preset path, in one embodiment, please refer to Figure 11 , the test bench 1 further includes a second guiding platform 15. The second guiding platform 15 is arranged on the bottom plate 11 and is between the feeding table 12 and the mounting table 13. A conduit 16 is arranged on the second guiding platform 15 for providing a passage for the traction rope 300 to pass through.

[0238] Similarly, the position of the second guiding platform 15 relative to the feeding table 12 is adjustable in the axial direction F1 of the insertion part 200; by adjusting the position of the second guiding platform 15, it can adapt to insertion parts 200 of different specifications.

[0239] It can be understood that the conduit 16 provides a passage for the traction rope 300 to pass through to guide the traction rope 300 to change the passing direction. If an ordinary round tube is used, although it can play a guiding role, the contact area between the traction rope 300 and the inside of the round tube is large, resulting in a relatively large frictional force between the traction rope 300 and the round tube. In order to reduce the frictional force, in one embodiment, please refer to Figure 11, the catheter 16 includes a first pipe section 161, a second pipe section 162, and a third pipe section 163. The second pipe section 162 is provided as a bent pipe and connects the first pipe section 161 and the third pipe section 163. The second pipe section 162 is provided as a bellows pipe, and the third pipe section 163 is disposed close to the traction mechanism 3.

[0240] Setting the second pipe section 162 as a bellows pipe can, on the one hand, play a guiding role for the traction rope 300; on the other hand, only the spaced arc vertices contact between the traction rope 300 and the inner wall of the bellows pipe, rather than the entire inner wall. Therefore, the contact area between the traction rope 300 and the inner wall of the bellows pipe can be significantly reduced, thereby reducing the friction between the traction rope 300 and the inner wall of the bellows pipe; and, the second pipe section 162, as the middle part of the catheter 16, is usually in a bent state during testing and normal use. Designing the second pipe section 162 as a bellows pipe, the second pipe section 162 can adaptively adjust its shape according to the axial path of the traction rope 300, so as to effectively reduce the fracture risk of the catheter 16 during the repeated movement of the traction rope 300.

[0241] Specifically, the first pipe section 161, the second pipe section 162, and the third pipe section 163 are all provided as bellows pipes, that is, the catheter 16 as a whole is provided as a bellows pipe. Thus, during the reciprocating movement of the traction rope 300, the catheter 16 as a whole can adaptively adjust its shape according to the axial path of the traction rope 300.

[0242] In an embodiment, please refer to Figure 12 , the first limiting portion 2 includes a plurality of clamping portions 21. The plurality of clamping portions 21 are arranged side by side and spaced apart in the axial direction F1 of the insertion portion 200. Each clamping portion 21 includes two clamping blocks 211. The two clamping blocks 211 are arranged side by side in the radial direction F2 of the insertion portion 200 and jointly clamp and fix the straight section 202.

[0243] That is to say, the straight section 202 is jointly clamped and fixed by the two clamping blocks 211; the relative positions of the two clamping blocks 211 in the radial direction F2 of the insertion portion 200 are set to be adjustable, so that the gap size between the two clamping blocks 211 is adjustable, thereby adapting to insertion portions 200 of different outer diameter specifications.

[0244] As described above, the bending section 201 and the straight section 202 are arranged on the feeding table 12 and are clamped and fixed by the clamping blocks 211 on the feeding table 12; that is to say, the feeding table 12 and the clamping blocks 211 are in direct contact with the insertion part 200, and when the bending section 201 bends, friction will be generated between the insertion part 200 and the feeding table 12 and the clamping blocks 211. In order to reduce the frictional force, in one embodiment, the feeding table 12, the fixed table 17 and the clamping blocks 211 are made of PTFE (Polytetrafluoroethylene). It can be known that the surface of PTFE material is smooth, high-temperature resistant, has an extremely low coefficient of friction, is not easy to adhere to impurities and is non-toxic. Therefore, the frictional force between the bending section 201 and the feeding table 12 and the clamping blocks 211 is small, the bending resistance of the bending section 201 is small, and the surface of the bending section 201 will not be damaged.

[0245] At the same time, the height-adjusting part 61 supports the feeding table 12, and the connecting member 203 is arranged on the fixed table 17. Therefore, the height-adjusting part 61 and the fixed table 17 only play a supporting role and will not be in direct contact with the bending section 201 and the straight section 202. For the convenience of processing, cost reduction and weight reduction, the height-adjusting part 61 and the fixed table 17 are both made of aluminum alloy material.

[0246] Generally, the operating part of the endoscope is set as a rotating wheel. In order to further simulate the operating part of the endoscope, in one embodiment, please refer to Figure 13 , the traction part 31 includes a rotating part 311, the rotating part 311 is rotatably installed on the test bench 1, and the rotating part 311 is used for the traction rope 300 to wind around it, so as to pull or relax the traction rope 300 when it rotates; the traction mechanism 3 further includes a traction driving assembly electrically connected to the controller, and the traction driving assembly includes a traction driving part 32 arranged movably, and the traction driving part 32 is drivingly connected to the rotating part 311 to drive the rotating part 311 to rotate forward and backward. Specifically, the mounting table 13 includes a mounting surface 131 facing away from the bottom plate 11; the rotating part 311 is rotatably installed on the mounting surface 131 along the normal line of the mounting surface 131.

[0247] It can be known that the towing rope 300 is a part connected to the insertion part 200, and the rotating part 311 is a part of the insertion part testing device 100; during the bending fatigue aging test, the towing rope 300 and the rotating part 311 need to be frequently disassembled and assembled. To ensure the strength of the rotating part 311 and prevent damage to the parts caused by frequent disassembly and assembly, in one embodiment, an annular groove 3111 for accommodating the towing rope 300 is formed on the circumferential side wall of the rotating part 311, and a through hole 3112 communicating with the annular groove 3111 is formed on the end face of the rotating part 311 for the end of the towing rope 300 to pass through; a pressing plate 3113 is arranged at the position of the rotating part 311 corresponding to the through hole 3112 for pressing and fixing the end of the towing rope 300; that is to say, the end of the towing rope 300 is fixed by the clamping fastening method, which is convenient for the fixing and disassembly of the towing rope 300 while meeting the fixing force.

[0248] As described above, by providing the first detection part 41 and the second detection part, it is determined whether the bending section 201 is bent in place during the bending fatigue aging test. It can be understood that when the towing rope 300 pulls the bending section 201, the bending section 201 will be bent. A detection point is selected on the bending section 201, such as the end of the bending section 201. When the bending section 201 is bent, its end will have a fixed movement track.

[0249] In one embodiment, please refer to Figures 14 to 16 , the first detection part 41 includes a laser sensor 411, the laser sensor 411 is arranged on the test bench 1, and the laser sensor 411 is used to detect the actual bending parameters of the bending section 201; wherein, the controller is electrically connected to the laser sensor 411.

[0250] The following describes the installation position and specific detection method of the laser sensor 411. The laser sensor 411 can be arranged on one side of the feeding table 12 in the axial direction F1 of the insertion part 200, or the laser sensor 411 can also be arranged above the feeding table 12. Please refer to Figures 9 to 11 , in the radial direction F2 of the insertion part 200, the laser sensor 411 is arranged at an interval from the insertion part 200, and a preset distance is arranged between the laser sensor 411 and the insertion part 200.

[0251] The determination of the preset distance is related to the bending angle of the bending section 201. For example, when the rotating member 311 rotates a preset angle X (e.g., 50°), the bending section 201 has a standard bending angle Y (e.g., 180°) in the initial state; as the number of bending times of the bending section 201 increases, the traction rope 300 is repeatedly stretched, which may cause adverse factors such as plastic deformation and elongation of the traction rope 300. Therefore, when the rotating member 311 rotates the preset angle X (e.g., 50°), the bending angle of the bending section 201 may gradually decrease. At this time, a target bending angle Z (e.g., 150°) can be set. When the actual bending angle of the bending section 201 is less than the target bending angle Z, it means that the bending section 201 fails and the test can be stopped. According to the target bending angle Z (e.g., 150°), a target position can be found on the feeding table 12 for the detection point on the bending section 201. On the radial direction F2 of the insertion part 200, the distance from this target position to the insertion part 200 is the preset distance.

[0252] It can be known that the laser sensor 411 usually determines the distance or other parameters by emitting a beam of laser onto the target object and measuring the reflected light. During the test, the bending section 201 repeats the bending action. When the laser sensor 411 receives the reflected light, it means that the light emitted by the laser sensor 411 hits the bending section 201. The distance can be determined based on the reflected light, so as to determine the actual bending angle of the bending section 201; at this time, the detection point is at the target position or exceeds the target position, and the actual bending angle of the bending section 201 is between the standard bending angle Y and the target bending angle Z (between 180° and 150°), and the bending section 201 does not fail; when the laser sensor 411 does not receive the reflected light, it means that the light emitted by the laser sensor 411 does not hit the bending section 201. At this time, the detection point cannot reach the target position, and the actual bending angle of the bending section 201 is less than the target bending angle Z (150°), and the bending section 201 fails.

[0253] As mentioned above, taking the end of the bending section 201 as the detection point, due to the different bending radii of the bending sections 201 of the insertion parts 200 with different specifications, the movement trajectories of the ends of the bending sections 201 are also different when the bending sections 201 are bent; at the target bending angle Z, for the insertion parts 200 with different specifications, the target positions corresponding to the detection points on the bending sections 201 on the feeding table 12 are also different, so that the preset distances are also different. In order to adapt to the insertion parts 200 with different specifications, in an embodiment, the detection mechanism 4 further includes a base 42 arranged on the test bench 1, and the position of the base 42 relative to the insertion part 200 is adjustable in the radial direction F2 of the insertion part 200; wherein, the laser sensor 411 is arranged on the base 42.

[0254] In an actual product, two traction ropes 300 are usually provided for the endoscope. The two traction ropes 300 respectively pull and bend the bending section 201 in different directions. In order to simulate the actual operation process of the endoscope, the rotating member 311 is used for the two traction ropes 300 to wind from different directions, so as to pull different traction ropes 300 when their turning directions are different, so that the bending section 201 has two bending states with different bending directions. In one embodiment, please refer to Figures 9 to 11 , the detection part includes two laser sensors 411. The two laser sensors 411 are arranged side by side on the radial direction F2 of the insertion part 200 to respectively detect the bending section 201 in different bending states.

[0255] Continuing from the previous embodiment "the two clamping blocks 211 are arranged side by side on the radial direction F2 of the insertion part 200 and jointly clamp and fix the straight section 202", when the laser sensor 411 is arranged on one side of the feeding table 12 in the axial direction F1 of the insertion part 200, in order to prevent the clamping block 211 from blocking the laser emitted by the laser sensor 411, the clamping block 211 is partially provided with a hollow to avoid the laser emitted by the laser sensor 411.

[0256] In the present invention, the insertion part bending fatigue test device 100 further includes an operation table 7. The operation table 7 is arranged on the detection table 1. The operation table 7 includes a chassis 71 and a touch display screen 72. An installation cavity is formed in the chassis 71 for arranging wire routing and related components. The controller is arranged in the chassis 71; an opening communicating with the installation cavity is provided on the chassis 71. The touch display screen 72 is arranged in the chassis 71, and its display panel is exposed from the opening for the user to operate.

[0257] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other relevant technical fields, is included in the patent protection scope of the present invention.

Claims

1. A test method for the bending fatigue of an endoscope insertion section, which is applied to an insertion section test device for detecting the bending fatigue of the insertion section of an endoscope. The insertion section includes a bending section and a straight section connected axially. A traction rope is arranged on the bending section, and it is characterized in that The insertion part testing device includes a traction mechanism and a controller that are electrically connected. The traction mechanism is used to drive and connect a traction rope; The testing method for the bending fatigue of the endoscope insertion part includes: Receiving a test start instruction; According to the test start instruction, controlling the insertion part testing device to enter a test mode, wherein the test mode includes controlling the traction mechanism to work according to a preset control program.

2. The test method for the bending fatigue of the endoscope insertion portion according to claim 1, wherein The traction mechanism includes a rotating member and a traction driving component. The rotating member is used for the traction rope to wind around and is rotatably arranged. The traction driving component is drivingly connected to the rotating member; The insertion part testing device further includes a first detection part and a second detection part that are electrically connected to the controller. The first detection part is used to detect the actual bending parameters of the bending section, and the second detection part is used to detect the actual rotation parameters of the rotating member; The step of controlling the traction mechanism to work according to a preset control program includes: Controlling the traction driving component to start and driving the rotating member to rotate with preset parameters; Obtaining the actual bending parameters of the bending section and the actual rotation parameters of the rotating member; Adjusting the control strategy of the traction mechanism according to the target parameters, the actual bending parameters, and the actual rotation parameters.

3. The test method for the bending fatigue of the endoscope insertion section according to claim 2, characterized in that, The preset parameters include a preset rotation angle; The step of controlling the traction driving component to start and driving the rotating member to rotate with preset parameters includes: Controlling the traction driving component to drive the rotating member to rotate the preset rotation angle.

4. The method for testing the bending fatigue of the endoscope insertion portion according to claim 3, wherein, The preset parameters further include a preset rotation direction, and the preset rotation direction is configured to be a first direction and a second direction that are cross - arranged; The step of controlling the traction driving component to drive the rotating member to rotate the preset rotation angle includes: Controlling the traction driving component to drive the rotating member to rotate the preset rotation angle in the first direction; Controlling the traction driving component to drive the rotating member to rotate the preset rotation angle in the second direction; Sequentially and alternately repeating the above steps of rotating in the first direction and the second direction.

5. The method for testing the bending fatigue of the endoscope insertion portion according to claim 3, wherein The target parameters are configured as the alarm bending angle of the bending section, and the actual bending parameters are configured as the actual bending angle of the bending section; The step of adjusting the control strategy of the traction mechanism according to the target parameters, the actual bending parameters, and the actual rotation parameters includes: When the actual bending angle does not reach the alarm bending angle, controlling the traction driving component to drive the rotating member to continue rotating by the preset rotation angle; When the actual bending angle reaches the alarm bending angle, controlling the traction driving component to stop.

6. The test method for the bending fatigue of the endoscope insertion portion according to claim 2, characterized in that The preset parameters include a preset bending angle, and the preset bending angle is configured such that the rotating member drives the bending section to bend to a constant bending angle; The step of controlling the traction driving component to start and driving the rotating member to rotate with preset parameters includes: Controlling the traction driving component to drive the rotating member to rotate so that the bending section bends to the preset bending angle.

7. The method for testing the bending fatigue of the endoscope insertion portion according to claim 6, characterized in that, The preset parameters further include a preset rotation direction, and the preset rotation direction is configured to be a first direction and a second direction that are cross - arranged; The step of controlling the traction drive assembly to drive the rotating member to rotate includes: Controlling the traction drive assembly to drive the rotating member to rotate in the first direction, so that the bending section bends in the first direction to the preset bending angle; Controlling the traction drive assembly to drive the rotating member to rotate in the second direction, so that the bending section bends in the second direction to the preset bending angle; Sequentially and alternately repeating the above steps of rotating in the first direction and the second direction.

8. The test method for the bending fatigue of the endoscope insertion section according to claim 6, characterized in that, The target parameter is configured as the alarm rotation angle of the rotating member, and the actual rotation parameter is configured as the actual rotation angle of the rotating member; The step of adjusting the control strategy of the traction mechanism according to the target parameter, the actual bending parameter and the actual rotation parameter includes: When the actual rotation angle does not reach the alarm rotation angle, controlling the traction drive assembly to drive the rotating member to continue rotating to drive the bending section to bend to the preset bending angle; When the actual rotation angle reaches the alarm rotation angle, controlling the traction drive assembly to stop.

9. The method for testing the bending fatigue of the endoscope insertion portion according to claim 5 or 8, characterized in that The insertion part testing device further includes a counter electrically connected to the controller, and the counter is used to record the actual rotation times of the rotating member; After the step of controlling the traction drive assembly to drive the rotating member to continue rotating, it further includes: Obtaining the actual rotation times of the rotating member; When the actual rotation times reach the target rotation times, controlling the traction drive assembly to stop.

10. The method for testing the bending fatigue of the endoscope insertion portion according to claim 2, wherein The insertion part testing device further includes a counter electrically connected to the controller, and the counter is used to record the rotation times of the rotating member; The preset parameters include a preset rotation angle, a preset bending angle, a first preset number of times and a second preset number of times, and the preset bending angle is configured as the rotating member driving the bending section to bend to a constant bending angle; The step of controlling the traction drive assembly to start and drive the rotating member to rotate with preset parameters includes: Controlling the traction drive assembly to drive the rotating member to rotate the first preset number of times, wherein the rotating member rotates to the preset rotation angle each time; Controlling the traction drive assembly to drive the rotating member to rotate the second preset number of times, wherein the rotating member rotates to make the bending section bend to the preset bending angle each time.

11. The method for testing the bending fatigue of the endoscope insertion portion according to claim 10, characterized in that, The step of controlling the traction drive assembly to start and drive the rotating member to rotate with preset parameters further includes: Sequentially and alternately repeating the above two rotation steps.

12. The method for testing the bending fatigue of the endoscope insertion portion according to claim 10, wherein, The preset bending angle at least includes a first angle, a second angle, a third angle and a fourth angle, and the second preset number of times at least includes a first rotation number of times, a second rotation number of times, a third rotation number of times and a fourth rotation number of times; The step of controlling the traction drive assembly to drive the rotating member to rotate the second preset number of times includes: Controlling the traction drive assembly to drive the rotating member to rotate the first rotation number of times, wherein the rotating member rotates to make the bending section bend to the first angle each time; Controlling the traction drive assembly to drive the rotating member to rotate the second rotation number of times, wherein the rotating member rotates to make the bending section bend to the second angle each time; Control the traction drive assembly to drive the rotating member to rotate the third number of rotations, wherein each rotation of the rotating member causes the bent section to bend to the third angle; Control the traction drive assembly to drive the rotating member to rotate the fourth number of rotations, wherein each rotation of the rotating member causes the bent section to bend to the fourth angle.

13. The method for testing the bending fatigue of the endoscope insertion portion according to claim 10, characterized in that The target parameters are configured as the alarm bending angle of the bent section and the alarm rotation angle of the rotating member, the actual bending parameter is configured as the actual bending angle of the bent section, and the actual rotation parameter is configured as the actual rotation angle of the rotating member; The steps of adjusting the control strategy of the traction mechanism according to the target parameters, the actual bending parameters, and the actual rotation parameters include: Within the range of rotating the first preset number of times, when the actual bending angle does not reach the alarm bending angle, control the traction drive assembly to drive the rotating member to continue rotating at the preset rotation angle, and when the actual bending angle reaches the alarm bending angle, control the traction drive assembly to stop; Within the range of rotating the second preset number of times, when the actual rotation angle does not reach the alarm rotation angle, control the traction drive assembly to drive the rotating member to continue rotating to drive the bent section to bend to the preset bending angle, and when the actual rotation angle reaches the alarm rotation angle, control the traction drive assembly to stop.

14. The method for testing the bending fatigue of the endoscope insertion portion according to claim 10, characterized in that, The preset parameters further include a preset rotation direction, and the preset rotation direction is configured as a first direction and a second direction arranged in a cross manner; The steps of controlling the traction drive assembly to drive the rotating member to rotate the first preset number of times include: Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the first direction; Control the traction drive assembly to drive the rotating member to rotate the preset rotation angle in the second direction; Sequentially and alternately repeat the above steps of rotating in the first direction and the second direction.

15. The method for testing the bending fatigue of the endoscope insertion portion according to claim 10, wherein The preset parameters further include a preset rotation direction, and the preset rotation direction is configured as a first direction and a second direction arranged in a cross manner; The steps of controlling the traction drive assembly to drive the rotating member to rotate the second preset number of times include: Control the traction drive assembly to drive the rotating member to rotate in the first direction so that the bent section bends to the constant bending angle in the first direction; Control the traction drive assembly to drive the rotating member to rotate in the second direction so that the bent section bends to the constant bending angle in the second direction; Sequentially and alternately repeat the above steps of rotating in the first direction and the second direction.

16. The test method for the bending fatigue of the endoscope insertion portion according to claim 1, wherein, The insertion part testing device further includes a feeding table and a mounting table. The feeding end face of the feeding table is used for placing the insertion part, and the mounting end face of the mounting table is used for mounting the traction mechanism; The insertion part testing device further includes a height adjustment component and a distance detection component electrically connected to the controller; Before the step of controlling the traction mechanism to work according to the preset control program, it further includes: Obtain the first actual height of the feeding end face of the feeding table; Acquire a second actual height of the mounting end surface of the mounting platform; Acquire an actual height difference according to the first actual height and the second actual height; According to the standard height difference and the actual height difference, the height adjustment component is controlled to adjust the height of the discharge end surface and / or the installation end surface.

17. The method for testing the bending fatigue of the endoscope insertion portion according to claim 16, characterized in that, The insertion part testing device further comprises a bottom plate, the material discharging platform and the mounting platform are both arranged on the bottom plate, a side surface of the material discharging platform away from the bottom plate is arranged as the material discharging end surface, and a side surface of the mounting platform away from the bottom plate is arranged as the mounting end surface; The height adjustment component is arranged on the bottom plate, and the height adjustment component comprises a movable height adjustment part, and the height adjustment part is supported and connected to the unloading platform; The step of controlling the height adjustment component to adjust the height of the discharge end surface and / or the installation end surface according to the standard height difference and the actual height difference comprises: Acquiring a height adjustment parameter according to the standard height difference and the actual height difference; According to the height adjustment parameter, the height adjustment part is controlled to drive the unloading platform to move, so as to adjust the linear distance between the unloading platform and the bottom plate.

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