Multifunctional endoscope fixing and position auxiliary fine adjustment device

Abstract

The invention discloses a multifunctional endoscope fixing and position auxiliary fine adjustment device which comprises a fixing base, a three-dimensional fine adjustment module, an endoscope clamping module, a voice control module and an electronic locking module. The three-dimensional fine adjustment module is connected with the fixed base, and the fixed base is used for providing a stable supporting structure; the three-dimensional fine adjustment module is connected with the endoscope clamping module, the three-dimensional fine adjustment module comprises a sliding rail mechanism and a lead screw mechanism, and the three-dimensional fine adjustment module is used for driving the endoscope clamping module to carry out position fine adjustment so as to carry out auxiliary fine adjustment on the position of the endoscope; and the voice control module is used for voice control of the three-dimensional fine adjustment module, the endoscope clamping module and the electronic locking module. According to the multifunctional endoscope fixing and position auxiliary fine adjustment device, an endoscope can be stably fixed and supported, and shaking and deviation caused by hand shaking or fatigue are avoided; the position of the endoscope can be finely adjusted in an auxiliary mode, the problem that the operation range is too large during small displacement is solved, and the operation precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly, to a multifunctional endoscope fixing and position auxiliary fine-tuning device. Background Art

[0002] A digestive endoscope is a medical device used for directly observing, diagnosing, and treating the gastrointestinal tract, and is widely used in the examination and treatment of digestive system diseases. Digestive endoscopy usually includes examinations such as gastroscopy, colonoscopy, and duodenoscopy. Through the light source, camera device, and control system at the front end of the endoscope, doctors can clearly observe the pathological changes on the inner wall of the digestive tract and perform corresponding treatment operations. Digestive endoscopy can be used to detect various pathological changes such as gastritis, gastric ulcer, polyps, canceration, and bleeding, and can also perform therapeutic operations such as biopsy, hemostasis, polyp resection, and implantation of digestive tract stents. Due to its advantages such as minimal trauma, accurate diagnosis, and rapid recovery, digestive endoscopy has become an important means for early screening and treatment of digestive system diseases.

[0003] The examination process of a digestive endoscope usually involves inserting the front end of the endoscope into the digestive tract, and the doctor manually controls the forward, backward, turning, and angle adjustment of the endoscope to make the endoscope reach the target site for examination. The control of the endoscope mainly relies on the doctor's operation skills. Usually, the left hand controls the operation part, and the front and rear, left and right angles of the front end of the endoscope are adjusted by turning the knob, as well as flushing or sucking the liquid in the digestive tract. The right hand controls the endoscope, pushing or retracting the endoscope to gradually penetrate the digestive tract. The doctor needs to make judgments based on real-time images and continuously adjust the direction and advancement speed of the endoscope to ensure that the endoscope smoothly passes through the curved parts of the digestive tract while ensuring the clarity of the examination field of view and the safety of the operation. Due to the complex physiological structure of the digestive tract, including multiple bends, narrowings, and physiological curves with different angles, the advancement process of the endoscope often requires high technical requirements and the doctor's highly concentrated operation attention, which poses high requirements for the operator's experience and hand control accuracy.

[0004] During endoscopic examinations, doctors need to constantly make fine adjustments to ensure the correct position and angle of the endoscope within the digestive tract. However, traditional endoscopic operations rely entirely on manual fine-tuning by the doctor. Especially in complex or narrow areas, the doctor's manipulation can easily be too large, causing the endoscope to advance or withdraw beyond the expected position, making it difficult to achieve more accurate adjustments. This increases the difficulty and time of the doctor's operation, reduces work efficiency, and may also cause harm to the patient. In addition, when performing complex position inspections and operations, since the doctor needs to use his hands to fix the endoscope, the doctor may also experience shaking due to unstable hands, which further increases the difficulty and time of the operation. When fixing and fine-tuning the endoscope by hand, the doctor needs to maintain precise control of the endoscope at all times, which not only increases the doctor's workload, but also easily causes the endoscope to shift position due to excessive manipulation or unstable hands, and may even cause damage to the inner wall of the digestive tract and affect the inspection effect. Therefore, designing a device that can achieve endoscope fixation and auxiliary position fine-tuning is a key technical problem that needs to be solved at present. Summary of the Invention

[0005] In order to solve the problems of the prior art, an embodiment of the present invention provides a multifunctional endoscope fixing and position auxiliary fine-tuning device. The technical solution is as follows:

[0006] The present invention provides a multifunctional endoscope fixing and position auxiliary fine-tuning device, comprising: a fixed base, a three-dimensional fine-tuning module, an endoscope clamping module, a voice control module and an electronic locking module; the three-dimensional fine-tuning module is arranged above the fixed base, the three-dimensional fine-tuning module is connected to the fixed base, and the fixed base is used to provide a stable support structure; the three-dimensional fine-tuning module is connected to the endoscope clamping module, the three-dimensional fine-tuning module includes a slide rail mechanism and a screw mechanism, the slide rail mechanism is transmission-connected to the screw mechanism, the three-dimensional fine-tuning module is used to drive the endoscope clamping module to perform fine-tuning of the position, and thus perform auxiliary fine-tuning of the position of the endoscope; the endoscope clamping module includes a plurality of endoscope clamping modules, the plurality of endoscope clamping modules include a plurality of endoscope clamping modules, and the plurality of endoscope clamping modules include a plurality of endoscope clamping modules, ... The device comprises a clamping arm and an adjusting knob, wherein the clamping arm is used to clamp the endoscope, the adjusting knob is used to adjust the clamping force of the clamping arm, and the clamping arm is connected to the adjusting knob; an elastic pad is provided on the inner side of the clamping arm, and the elastic pad is used to contact the outer wall of the endoscope to form a buffer; the three-dimensional fine-tuning module, the endoscope clamping module and the electronic locking module are all connected to the voice control module, and the voice control module is used to voice control the three-dimensional fine-tuning module, the endoscope clamping module and the electronic locking module; the endoscope clamping module and the three-dimensional fine-tuning module are both connected to the electronic locking module, and the electronic locking module is used to lock the endoscope clamping module and the three-dimensional fine-tuning module.

[0007] Further, the fixed base includes a base, a main support column, and a lateral cantilever. The main support column is disposed above the base. One end of the main support column is connected to the base, and the other end is connected to the lateral cantilever.

[0008] Further, the slide rail mechanism includes an X-axis slide rail, a Y-axis slide rail, and a Z-axis slide rail. The X-axis slide rail is disposed on the top of the Y-axis slide rail, and the Z-axis slide rail is disposed on the bottom of the Y-axis slide rail. The X-axis slide rail is connected to the endoscope clamping module, and the Z-axis slide rail is connected to the fixed base.

[0009] Further, the X-axis slide rail, the Y-axis slide rail, and the Z-axis slide rail all adopt a ball screw and stepping motor linkage drive mechanism.

[0010] Further, limit components are provided on the X-axis slide rail, the Y-axis slide rail, and the Z-axis slide rail.

[0011] Further, the voice control module includes a voice collection module, a voice recognition processor, and a control instruction parsing module. The voice collection module is connected to the voice recognition processor, and both the voice collection module and the voice recognition processor are connected to the control instruction parsing module. The voice collection module is used to collect voices, the voice recognition processor is used to parse voice instructions, and the control instruction parsing module is used to generate control signals to further control the three-dimensional fine adjustment module, the endoscope clamping module, and the electronic locking module.

[0012] Further, the electronic locking module adopts an electromagnetic locking mechanism.

[0013] Further, the clamping arm includes an upper clamping arm and a lower clamping arm, and the upper clamping arm is connected to the lower clamping arm.

[0014] Further, an elastic gasket is provided on the inner side of the clamping arm, and the elastic gasket adopts a medical-grade silicone elastic gasket.

[0015] Further, the main support column adopts a telescopic rod structure.

[0016] The beneficial effects brought by the technical solution provided by the embodiment of the present invention are:

[0017] A multifunctional endoscope fixing and position auxiliary fine-tuning device provided by the present invention can stably fix and support the endoscope, avoiding the shaking and deviation caused by the doctor's manual fixation of the endoscope due to hand shaking or fatigue during examinations and operations in complex positions. The fixed endoscope can be assisted in fine-tuning its position through a three-dimensional fine-tuning module, meeting the control requirements for minute position changes during the endoscope examination process, reducing the problem that the doctor is prone to excessive operation amplitude when making minute displacements, improving the operation accuracy and the doctor's work efficiency, reducing the operation pressure on the doctor's hand and the fatigue caused by long-term operation, and also reducing the possible harm to the patient. A voice control module is set. After the endoscope is fixed, the doctor can achieve the auxiliary fine-tuning of the position through voice commands, which is convenient to operate, reduces the doctor's operation burden, improves the doctor's work comfort and examination efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] [[ID=]5]To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. 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 these drawings.

[0019] Figure 1 It is a module schematic diagram of a multifunctional endoscope fixing and position auxiliary fine-tuning device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the drawings.

[0021] The present invention provides a multifunctional endoscope fixing and position auxiliary fine-tuning device. See Figure 1, including: a fixed base 100, a three-dimensional fine-tuning module 200, an endoscope clamping module 300, a voice control module 400, and an electronic locking module 500; the three-dimensional fine-tuning module 200 is disposed above the fixed base 100, the three-dimensional fine-tuning module 200 is connected to the fixed base 100, and the fixed base 100 is used to provide a stable support structure; the three-dimensional fine-tuning module 200 is connected to the endoscope clamping module 300, the three-dimensional fine-tuning module 300 includes a slide rail mechanism and a lead screw mechanism, the slide rail mechanism is in transmission connection with the lead screw mechanism, and the three-dimensional fine-tuning module 200 is used to drive the endoscope clamping module 300 to perform fine position adjustment, thereby assisting in fine-tuning the position of the endoscope; the endoscope clamping module 300 includes a clamping arm and an adjustment knob, the clamping arm is used to clamp the endoscope, the adjustment knob is used to adjust the clamping force of the clamping arm, and the clamping arm is connected to the adjustment knob; an elastic gasket is provided inside the clamping arm, and the elastic gasket is used to contact the outer wall of the endoscope to form a buffer; the three-dimensional fine-tuning module 200, the endoscope clamping module 300, and the electronic locking module 500 are all connected to the voice control module 400, and the voice control module 400 is used to control the three-dimensional fine-tuning module 200, the endoscope clamping module 300, and the electronic locking module 500 by voice; the endoscope clamping module 300 and the three-dimensional fine-tuning module 200 are both connected to the electronic locking module 500, and the electronic locking module 500 is used to lock the endoscope clamping module 300 and the three-dimensional fine-tuning module 200.

[0022] Specifically, for the endoscope clamping module 300, the three-dimensional fine-tuning module 200, the voice control module 400, and the electronic locking module 500, information interaction is realized between the modules through a communication bus, and they cooperate to complete the functions of endoscope fixation, position auxiliary fine-tuning, and locking and unlocking. The endoscope clamping module 300 and the three-dimensional fine-tuning module 200 are both connected to the electronic locking module 500, and the electronic locking module 500 can perform locking or unlocking operations on the three-dimensional fine-tuning module 200 or the clamping arm according to the doctor's voice command. This device is preferably applicable to the fixation and position auxiliary fine-tuning of the endoscope during digestive endoscopy examination or treatment operations, but can also be applicable to other endoscope operation scenarios according to different endoscope diameters and characteristics. Due to the flexible structure of the digestive endoscope itself, there will be natural bending and deformation, and coupled with the complex structure of the digestive tract and the non-linear conduction of the cavity, the displacement realized at the endoscope clamping module is not exactly the same as the actual displacement of the endoscope front end in the body, so only the auxiliary fine-tuning of the endoscope front end position can be realized.

[0023] Further, the fixed base 100 includes a base, a main support column, and a transverse cantilever. The main support column is disposed above the base, one end of the main support column is connected to the base, and the other end is connected to the transverse cantilever.

[0024] Specifically, the fixed base 100 is a basic support part, which can provide a safe and reliable installation platform for the three-dimensional fine-tuning module 200, the endoscope clamping module 300 and other functional modules. The fixed base 100 is made of rigid metal materials (such as stainless steel, aluminum alloy or high-strength alloy steel) to ensure its structural strength and durability, and to avoid deformation or loosening during long-term use. The bottom of the fixed base 100 is provided with an anti-slip pad or an adsorption base, which can effectively reduce the displacement caused by external forces or equipment vibrations during the endoscope examination, and ensure the stability of the entire device during use.

[0025] Further, the slide rail mechanism includes an X-axis slide rail, a Y-axis slide rail and a Z-axis slide rail. The X-axis slide rail is arranged on the top of the Y-axis slide rail, and the Z-axis slide rail is arranged on the bottom of the Y-axis slide rail. The X-axis slide rail is connected to the endoscope clamping module, and the Z-axis slide rail is connected to the fixed base.

[0026] Further, the X-axis slide rail, the Y-axis slide rail and the Z-axis slide rail all adopt a ball screw and stepping motor linkage drive mechanism.

[0027] Further, limit components are arranged on the X-axis slide rail, the Y-axis slide rail and the Z-axis slide rail.

[0028] Specifically, the three-dimensional fine-tuning module 200 includes an X-axis slide rail, a Y-axis slide rail and a Z-axis slide rail. Through the linkage of the slide rail mechanism and the lead screw mechanism, the fine-tuning operation of the endoscope clamping module 300 in the front-back, left-right and up-down directions can be realized. The X-axis slide rail is located at the top layer, and the X-axis slide rail is connected to the endoscope clamping module 300. The Y-axis slide rail is located in the middle layer, and the Z-axis slide rail is located at the bottom layer. The Z-axis slide rail is connected to the transverse cantilever of the fixed base 100. The X-axis slide rail is used to realize the fine-tuning operation of the endoscope clamping module 300 in the front-back direction (retreating and advancing direction). An X-axis slider platform is arranged on the X-axis slide rail, and the X-axis slider platform is connected to the endoscope clamping module 300, which can realize the adjustment of the front-back displacement. A Y-axis slider platform is arranged on the Y-axis slide rail, and the X-axis slide rail is installed on the Y-axis slider platform to realize the fine-tuning operation of the endoscope clamping module 300 in the left-right direction. A Z-axis slider platform is arranged on the Z-axis slide rail, and the Y-axis slide rail is installed on the Z-axis slider platform to realize the fine-tuning of the endoscope clamping module in the up-down direction. The movements of the X-axis slider platform, the Y-axis slider platform and the Z-axis slider platform are precisely controlled by a stepping motor and a lead screw mechanism, and a fine-tuning accuracy of 0.1 mm can be achieved, meeting the dynamic position adjustment requirements of the endoscope in the complex structural environment of the digestive tract.

[0029] Furthermore, the voice control module 400 includes a voice acquisition module, a voice recognition processor, and a control instruction parsing module. The voice acquisition module is connected to the voice recognition processor, and both the voice acquisition module and the voice recognition processor are connected to the control instruction parsing module. The voice acquisition module is used to acquire voices, the voice recognition processor is used to parse voice instructions, and the control instruction parsing module is used to generate control signals, thereby controlling the three-dimensional fine-tuning module 200, the endoscope clamping module 300, and the electronic locking module 500.

[0030] Specifically, the voice control module 400 includes a voice acquisition module, a voice recognition processor, and a control instruction parsing module. The voice acquisition module receives the voice instructions issued by the doctor and transmits the voice data to the voice recognition processor for parsing. The parsed control instructions generate corresponding control signals by the control instruction parsing module. The voice recognition processor is built-in with a variety of common operation instructions, including but not limited to: "Move forward 1 mm", "Move backward 0.5 mm", "Move left 1 mm", "Move right 0.5 mm", "Lock the position", "Unlock", "Clamp the endoscope", "Release the clamp". The control instruction parsing module generates corresponding control signals according to the text or control instructions parsed by the voice recognition processor, and sends the control signals to each functional module through the communication bus.

[0031] Furthermore, the electronic locking module 500 adopts an electromagnetic locking mechanism.

[0032] Specifically, the electronic locking module 500 is used to fix the slider platform or the endoscopic clamping module 300 by electromagnetic adsorption or mechanical braking after the endoscopic clamping module 300 is adjusted to the target position, so as to achieve precise fixation and position maintenance of the endoscope, and prevent position drift or slippage during the inspection process. The electronic locking module 500 includes an electromagnetic locking device, an electromagnetic coil, a locking drive circuit, and a control unit. When receiving the locking instruction issued by the voice control module 400, the electronic locking module 500 precisely fixes the position of the endoscope by electromagnetic adsorption or mechanical braking. The electromagnetic locking device is the core component of the electronic locking module 500, mainly composed of an electromagnetic coil, an iron core, a magnetic clamping plate, and a fixed adsorption plate. The electromagnetic locking device generates a magnetic field through the electromagnetic coil to fix the slider platform or the endoscopic clamping module at the target position, thereby preventing the position of the endoscope from drifting. In the powered-on state, the magnetic field generated by the electromagnetic coil tightly adsorbs the fixed adsorption plate and the slider platform to achieve the locking function of the slider platform. In the powered-off state, the magnetic field disappears, and the slider platform returns to the sliding state to achieve the unlocking function. The mechanical braking device, as an auxiliary locking mechanism of the electronic locking module 500, can fix and unlock the slider platform in case of electromagnetic locking failure or special circumstances. The mechanical braking device includes a mechanical braking rod, a spring return mechanism, a fixed card slot, and a driving motor. When the electronic locking module 500 receives the "lock" instruction, the driving motor drives the mechanical braking rod into the fixed card slot to achieve the physical locking of the slider platform. When receiving the "unlock" instruction, the mechanical braking rod withdraws from the fixed card slot through the spring return mechanism, enabling the slider platform to return to the sliding state. The locking control circuit is used to control the powered-on and powered-off states of the electromagnetic locking device and the mechanical braking device, and to achieve the control of locking and unlocking operations. The X-axis slider platform, Y-axis slider platform, and Z-axis slider platform of the three-dimensional fine-tuning module 200 are all connected to the electronic locking module 500. The electronic locking module 500 fixes the X-axis slider platform, Y-axis slider platform, and Z-axis slider platform through electromagnetic adsorption or mechanical braking devices to achieve stable maintenance in the X-axis, Y-axis, and Z-axis directions. The electronic locking module 500 is connected to the clamping arm of the endoscopic clamping module 300, and controls the opening and closing state of the clamping arm through locking and unlocking to achieve the clamping and releasing operations of the endoscope.

[0033] Further, the clamping arm includes an upper clamping arm and a lower clamping arm, and the upper clamping arm and the lower clamping arm are connected.

[0034] Further, an elastic gasket is arranged on the inner side of the clamping arm, and the elastic gasket adopts a medical-grade silicone elastic gasket.

[0035] Specifically, the endoscopic clamping module 300 includes an upper clamping arm and a lower clamping arm. The upper clamping arm and the lower clamping arm cooperate with each other to form a clamping space, and the clamping force is automatically adjusted through a sliding guide rail and a locking mechanism. The endoscopic clamping module 300 is connected to the X-axis slider platform of the three-dimensional fine-tuning module 200 through a slider connection part. The clamping arms of the endoscopic clamping module 300 are locked and unlocked by an electronic locking module 500. The endoscopic clamping module 300 is used for stably clamping and fixing the endoscope. An elastic gasket is arranged on the inner side of the clamping arm. The elastic gasket adopts a medical-grade silicone elastic gasket, which can provide appropriate friction when clamping the endoscope to prevent the endoscope from sliding or damaging the surface of the endoscope. The upper clamping arm and the lower clamping arm are dynamically adjusted through a sliding guide rail and a locking mechanism, and can automatically adjust the clamping force according to the diameter of the endoscope. The clamping force adjustment mechanism includes a micro screw, a spring reset device and an electromagnetic adjustment device, which can automatically adjust the distance between the clamping arms according to the diameter of the endoscope. The upper and lower clamping arms are driven to move through a stepping motor and a lead screw linkage mechanism, and the clamping strength can be adjusted according to the doctor's instructions or the automatic mode to ensure that the endoscope is stably fixed in different working states. When the endoscope is inserted into the endoscopic clamping module 300, the clamping arms automatically adjust the clamping space through the sliding guide rail and automatically adjust the clamping force according to the outer diameter of the endoscope. The clamping force adjustment mechanism ensures that the clamping force is appropriate through the micro screw and the spring reset device, avoids damaging the endoscope, and at the same time keeps the endoscope stable and does not shift during the process of advancing or withdrawing.

[0036] Furthermore, the main support column adopts a telescopic rod structure.

[0037] Specifically, the main support column adopts a telescopic rod structure to realize the height adjustment of the fixed base 100 in the vertical direction, which is convenient for adapting to different patient postures or the height of the examination platform, and improves the applicability and operation comfort of the device.

[0038] The beneficial effects brought by the technical solution provided by the embodiment of the present invention are:

[0039] A multifunctional endoscopic fixing and position auxiliary fine-tuning device provided by the present invention can stably fix and support the endoscope, avoiding the shaking and deviation caused by the doctor's manual fixation of the endoscope due to hand shaking or fatigue during the examination and operation in complex positions; the fixed endoscope can be assisted in fine-tuning the position through the three-dimensional fine-tuning module, meeting the control requirements for minute position changes during the endoscopic examination process, reducing the problem that the doctor is prone to excessive operation amplitude when making minute displacements, improving the operation accuracy and the doctor's work efficiency, reducing the operation pressure on the doctor's hand and the fatigue caused by long-term operation, and at the same time reducing the possible harm to the patient; a voice control module is set. After the endoscope is fixed, the doctor can realize the auxiliary fine-tuning of the position through voice commands, which is convenient to operate, reduces the doctor's operation burden, and improves the doctor's work comfort and examination efficiency.

[0040] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multifunctional endoscope fixing and position auxiliary fine-tuning device, characterized in that, Comprising: A fixed base, a three-dimensional fine-tuning module, an endoscope clamping module, a voice control module, and an electronic locking module; the three-dimensional fine-tuning module is disposed above the fixed base, the three-dimensional fine-tuning module is connected to the fixed base, and the fixed base is used to provide a stable support structure; the three-dimensional fine-tuning module is connected to the endoscope clamping module, the three-dimensional fine-tuning module includes a slide rail mechanism and a lead screw mechanism, the slide rail mechanism is in transmission connection with the lead screw mechanism, and the three-dimensional fine-tuning module is used to drive the endoscope clamping module to perform fine position adjustment, thereby assisting in fine-tuning the position of the endoscope; the endoscope clamping module includes a clamping arm and an adjustment knob, the clamping arm is used to clamp the endoscope, the adjustment knob is used to adjust the clamping force of the clamping arm, and the clamping arm is connected to the adjustment knob; an elastic gasket is provided inside the clamping arm, and the elastic gasket is used to contact the outer wall of the endoscope to form a buffer; the three-dimensional fine-tuning module, the endoscope clamping module, and the electronic locking module are all connected to the voice control module, and the voice control module is used to control the three-dimensional fine-tuning module, the endoscope clamping module, and the electronic locking module by voice; the endoscope clamping module and the three-dimensional fine-tuning module are both connected to the electronic locking module, and the electronic locking module is used to lock the endoscope clamping module and the three-dimensional fine-tuning module.

2. The multi-functional endoscope fixing and position auxiliary fine-tuning device according to claim 1, characterized in that, The fixed base includes a base, a main support column, and a transverse cantilever, the main support column is disposed above the base, one end of the main support column is connected to the base, and the other end is connected to the transverse cantilever.

3. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 1, characterized in that, The slide rail mechanism includes an X-axis slide rail, a Y-axis slide rail, and a Z-axis slide rail, the X-axis slide rail is disposed on the top of the Y-axis slide rail, the Z-axis slide rail is disposed on the bottom of the Y-axis slide rail, the X-axis slide rail is connected to the endoscope clamping module, and the Z-axis slide rail is connected to the fixed base.

4. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 3, wherein, The X-axis slide rail, the Y-axis slide rail, and the Z-axis slide rail all adopt a ball screw and stepping motor linkage transmission mechanism.

5. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 3, characterized in that, Limit components are provided on the X-axis slide rail, the Y-axis slide rail, and the Z-axis slide rail.

6. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 1, characterized in that, The voice control module includes a voice acquisition module, a voice recognition processor, and a control instruction parsing module, the voice acquisition module is connected to the voice recognition processor, the voice acquisition module and the voice recognition processor are both connected to the control instruction parsing module, the voice acquisition module is used to acquire voices, the voice recognition processor is used to parse voice commands, and the control instruction parsing module is used to generate control signals to control the three-dimensional fine-tuning module, the endoscope clamping module, and the electronic locking module.

7. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 1, wherein, The electronic locking module adopts an electromagnetic locking mechanism.

8. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 1, characterized in that, The clamping arm includes an upper clamping arm and a lower clamping arm, and the upper clamping arm and the lower clamping arm are connected.

9. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 1, characterized in that An elastic gasket is provided inside the clamping arm, and the elastic gasket adopts a medical-grade silicone elastic gasket.

10. The multifunctional endoscope fixing and position auxiliary fine-tuning device according to claim 2, wherein The main support column adopts a telescopic rod structure.

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