Electronic control endoscope for duodenum

Abstract

The invention relates to the technical field of medical instruments, and provides an electronic control endoscope for duodenum, which comprises an endoscope body and a driving device, the endoscope body comprises an operation part, an insertion part, a forceps lifting device assembly, a flexible traction piece and a first power coupling assembly, the insertion part is connected to the operation part and extends in the direction away from the operation part, and the flexible traction piece is connected to the operation part; the clamp lifting device assembly is arranged at the end, away from the operation part, of the insertion part, the first power coupling assembly is arranged on the operation part, one end of the flexible traction piece is connected with the first power coupling assembly, and the other end of the flexible traction piece penetrates through the insertion part and is connected to the clamp lifting device assembly. The driving device comprises a second power coupling assembly, and the second power coupling assembly is used for driving the first power coupling assembly so as to control the action of the clamp lifting device assembly. The electrically controlled endoscope provided by the invention solves the problems of high operation complexity and the like of a duodenoscope.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an electrically controlled endoscope for the duodenum. Background Art

[0002] Endoscopic technology, as a core method of modern minimally invasive diagnosis and treatment, plays an important role in the diagnosis and treatment of gastrointestinal diseases. Traditional duodenoscopes usually adopt a mechanical forceps lifting structure, and their operating mechanism is generally equipped with a lever-type transmission system, which adjusts the position of the instrument channel by manually operating the lever. Although this type of mechanical transmission device has been optimized and improved over the years, it still has significant limitations in actual clinical applications. First, the complex lever linkage structure makes the operating part bulky, and the presence of multiple transmission fulcrums not only increases the complexity of instrument assembly but also directly affects the sensitivity of operation. Second, the operator needs to manually maintain the lever angle throughout the entire operation to maintain the position of the forceps channel. Long-term surgery can easily cause operator fatigue and affect surgical accuracy. Third, the inherent clearance error of mechanical transmission and the instability of manual operation are superimposed, which can easily cause instrument jitter, positioning drift and other problems, which are particularly obvious during delicate treatment operations. Summary of the Invention

[0003] The present invention provides an electrically controlled endoscope for the duodenum, which is used to solve the defects of manual control of the forceps elevator in the prior art. By transforming the lever transmission system of the traditional mechanical forceps elevator into an electrically controlled drive structure, the technical pain points of the traditional duodenoscope, such as insufficient sensitivity, high operation complexity and poor long-term stability caused by the inherent defects of mechanical transmission, are solved.

[0004] The electronically controlled endoscope for duodenum provided by the present invention comprises: The scope body includes an operating portion, an insertion portion, a forceps lifting assembly, a flexible traction member, and a first power coupling assembly. The insertion portion is connected to the operating portion and extends in a direction away from the operating portion. The forceps lifting assembly is provided at one end of the insertion portion away from the operating portion. The first power coupling assembly is provided at the operating portion. One end of the flexible traction member is connected to the first power coupling assembly, and the other end is provided through the insertion portion and connected to the forceps lifting assembly. The driving device includes a second power coupling assembly, and the second power coupling assembly is used to drive the first power coupling assembly, thereby controlling the action of the forceps lifting assembly.

[0005] According to the electrically controlled endoscope for duodenum provided by the present invention, the first power coupling component includes: a support member, provided on the operating portion; a first rotating shaft rotatably disposed on the support member, wherein a first coupling portion is disposed at a first end of the first rotating shaft, and the first coupling portion is configured to couple with the second power coupling assembly; The first gear is sleeved on the outside of the first rotating shaft and connected to the flexible traction member. The first rotating shaft is used to drive the first gear to rotate.

[0006] According to the electric-controlled endoscope for duodenum provided by the present invention, a first guide rail is provided on the support member, and the first rotating shaft is located at one end of the first guide rail; The first power coupling assembly further includes: a slider slidably disposed on the first guide rail and connected to the flexible traction member; A connecting rod has one end rotatably connected to the first gear and the other end rotatably connected to the slider.

[0007] According to the electrically controlled endoscope for the duodenum provided by the present invention, the first power coupling assembly also includes a second gear and a first detection component, the second gear is rotatably provided on the support member and engages with the first gear, the first detection component is provided on the second gear, and the first detection component is used to detect the rotation angle of the second gear.

[0008] According to the electrically controlled endoscope for duodenum provided by the present invention, a second guide rail is provided on the support member, and the second guide rail is located on one side of the first gear; The first power coupling assembly further includes a rack, which is slidably disposed on the second guide rail and meshes with the first gear. The flexible traction member is connected to the rack.

[0009] According to the electronically controlled endoscope for the duodenum provided by the present invention, the first end of the first rotating shaft is located on the first side of the support member, the second end of the first rotating shaft passes through the support member and is located on the second side of the support member, the first gear is provided at the second end of the first rotating shaft; the second guide rail is provided on the second side of the support member; The first power coupling assembly further includes a second detection component, which is provided on the first gear and is used to detect the rotation angle of the first gear.

[0010] According to the electrically controlled endoscope for duodenum provided by the present invention, the second power coupling component includes: base plate; a second rotating shaft rotatably disposed on the bottom plate, the second rotating shaft being used to couple with the first power coupling assembly; a first bevel gear, sleeved on the second rotating shaft, and configured to drive the second rotating shaft to rotate; The motor is arranged on the bottom plate. The output end of the motor is provided with a second bevel gear, and the second bevel gear is meshed with the first bevel gear.

[0011] According to the electrically controlled endoscope for the duodenum provided by the present invention, the second power coupling assembly further comprises a force detector, and the force detector is provided with a third gear; The third gear is engaged with the first bevel gear; alternatively, the second power coupling assembly further includes a fourth gear, which is sleeved on the output end of the motor, and the fourth gear rotates synchronously with the second bevel gear, and the fourth gear is engaged with the third gear.

[0012] According to the electrically controlled endoscope for the duodenum provided by the present invention, the second power coupling assembly further comprises: a friction member, sleeved on the second rotating shaft, the friction member having a first friction surface, the first bevel gear having a second friction surface, the first friction surface being in contact with the second friction surface; an elastic member, sleeved on the second rotating shaft, wherein a first end of the elastic member abuts against the friction member or the first bevel gear; A locking member is sleeved on the second rotating shaft and located at the second end of the elastic member. The locking member is used to control the maximum static friction force between the first friction surface and the second friction surface by applying pressure between them.

[0013] According to the electrically controlled endoscope for the duodenum provided by the present invention, the second power coupling assembly further includes a third detection component, which is disposed on the base plate and meshes with the first bevel gear, and is used to detect the rotation angle of the first bevel gear.

[0014] According to the electrically controlled endoscope for the duodenum provided by the present invention, the second rotating shaft includes a non-metallic rotating shaft.

[0015] According to the electrically controlled endoscope for the duodenum provided by the present invention, the operating portion includes a bending power coupling mechanism, which is arranged on one side of the operating portion, and the first power coupling assembly is arranged on the other side of the operating portion. The bending power coupling mechanism is used to control the movement of the insertion portion.

[0016] In the electrically controlled endoscope provided by the present invention, by transforming the lever transmission system of the traditional mechanical forceps lifting device into an electrically controlled drive structure, firstly, the modular separation of the operating part and the drive device is realized in the structural design. Furthermore, based on the first power coupling component and the second power coupling component, a dockable separate design is adopted. In this way, not only the equipment assembly process is simplified, but also the structural bloat problem caused by the multi-point transmission in the traditional lever linkage structure is avoided through the integrated design of the power transmission path, which effectively reduces the volume of the electrically controlled endoscope.

[0017] Secondly, the flexible traction part replaces the complex mechanical transmission mechanism under the electric power drive. Its design of directly connecting the lifting forceps assembly and the power coupling assembly not only reduces the mechanical clearance error of the transmission link, but also suppresses hand shaking during manual operation through the stable output characteristics of the electronic control system, thereby improving the accuracy and stability of instrument positioning.

[0018] Compared to the traditional solution in the prior art that relies on manual maintenance of the lever angle, the present invention uses the electric drive characteristics of the second power coupling component to automatically maintain the position adjustment of the forceps lifter without continuous manual force, fundamentally eliminating the positioning drift phenomenon caused by operator fatigue. In addition, since the electronic control system replaces the original manual lever operation, the operator can quantify the movement of the forceps lifter through the drive device, which makes the azimuth adjustment of the forceps lifter more intuitive and reproducible, and can improve the accuracy of repeated positioning in delicate treatment scenarios. These improvements comprehensively solve the technical pain points of traditional duodenoscopes, such as insufficient sensitivity, high operational complexity, and poor long-term stability caused by inherent defects in mechanical transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 Schematic diagram of the structure of an electrically controlled endoscope for duodenum provided in an embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the axial structure of the mirror body provided by an embodiment of the present invention.

[0022] Figure 3 Schematic diagram of the matching structure of the first power coupling assembly and the second power coupling assembly provided in an embodiment of the present invention.

[0023] Figure 4 It is a schematic diagram of the partial structure of the forceps lifting assembly provided in an embodiment of the present invention.

[0024] Figure 5 It is a schematic diagram of the shaft side structure of the driving device provided by an embodiment of the present invention.

[0025] Figure 6 It is a partial enlarged structural diagram of the operating portion provided by an embodiment of the present invention.

[0026] Figure 7 It is a schematic diagram of the axial side structure of the first power coupling assembly provided in an embodiment of the present invention.

[0027] Figure 8 yes Figure 7 Corresponding cross-sectional structural diagram.

[0028] Figure 9 This is another structural schematic diagram of the first power coupling assembly provided in an embodiment of the present invention.

[0029] Figure 10 It is a partial structural diagram of the clamping base and the second power coupling assembly provided in an embodiment of the present invention.

[0030] Figure 11 It is a structural schematic diagram of the second power coupling assembly provided in an embodiment of the present invention.

[0031] Figure 12 It is a schematic cross-sectional structural diagram of the second power coupling assembly provided in an embodiment of the present invention.

[0032] Reference numerals: 10: Mirror body; 100: Insertion part; 110: Bending part; 200: Operating part; 210: Housing; 211: First limiting rib; 300: Lifting forceps assembly; 400: Flexible traction member; 500: First power coupling assembly; 510: Support member; 511: First guide rail; 512: Second guide rail; 520: First rotating shaft; 521: First coupling part; 530: First gear; 540: Slider; 550: Connecting rod; 560: Second gear; 570: First detection component; 580: Rack; 590: Second detection component; 600: Bending power coupling mechanism Structure; 20: driving device; 700: housing; 800: clamping seat; 810: limiting groove; 820: first through hole; 830: second through hole; 900: second power coupling component; 910: bottom plate; 920: second rotating shaft; 921: second coupling part; 930: first bevel gear; 940: motor; 941: second bevel gear; 942: fourth gear; 950: force detector; 951: third gear; 970: friction member; 971: elastic member; 972: locking member; 980: third detection component; 981: third bevel gear; 990: rotating shaft sleeve. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0035] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0037] Figure 1 1 is a schematic structural diagram of an electrically controlled endoscope for duodenum provided in an embodiment of the present invention; Figure 2 It is a schematic diagram of the axial structure of the mirror body provided by an embodiment of the present invention.

[0038] See Figure 1 and Figure 2 An embodiment of the present invention provides an electrically controlled endoscope for the duodenum, hereinafter referred to as the electrically controlled endoscope; the electrically controlled endoscope includes a scope body 10 and a driving device 20, the scope body 10 includes an operating portion 200, an insertion portion 100, a forceps lifting assembly 300, a flexible traction member 400 and a first power coupling assembly 500, the insertion portion 100 is connected to the operating portion 200 and extends in a direction away from the operating portion 200, the operating portion 200 includes a bending portion 110 and a slender hose, one end of the slender hose is connected to the bending portion 110, and the other end is connected to the operating portion 200.

[0039] Figure 3 A schematic diagram of the coordination structure of the first power coupling assembly and the second power coupling assembly provided in an embodiment of the present invention; Figure 4 It is a schematic diagram of the partial structure of the forceps lifting assembly provided in an embodiment of the present invention.

[0040] See Figure 2 、 Figure 3 and Figure 4 The operating part 200 includes a shell 210 and a bending power coupling mechanism 600. In an embodiment of the present invention, the forceps lifting assembly 300 is arranged at the end of the insertion part 100 away from the operating part 200, that is, the bending part 110 in the operating part 200. The first power coupling assembly 500 is arranged inside the shell 210 of the operating part 200. One end of the flexible traction member 400 is connected to the first power coupling assembly 500, and the other end is connected to the forceps lifting assembly 300 after passing through a slender hose.

[0041] Figure 5 It is a schematic diagram of the shaft side structure of the driving device provided by an embodiment of the present invention.

[0042] See Figure 3 and Figure 5 The driving device 20 includes a housing 700, a clamping seat 800 and a second power coupling assembly 900. The clamping seat 800 is arranged in a recessed part of the housing 700. In some optional examples, the clamping seat 800 can also be an integrated structure with the housing 700, and is obtained by the inward recess of the surface of the housing 700; as mentioned above, the clamping seat 800 is a recessed structure, and the clamping seat 800 is used to clamp the operating part 200 of the mirror body 10; the second power coupling assembly 900 is arranged inside the housing 700, and the output end of the second power coupling assembly 900 is exposed to the outside through the surface of the clamping seat 800, and the second power coupling assembly 900 is used to couple with the first power coupling assembly 500 so as to be used to drive the first power coupling assembly 500.

[0043] When in use, the operating part 200 of the mirror body 10 is first set on the clamping seat 800 of the driving device 20, and the first power coupling component 500 is docked with the second power coupling component 900 so that the two can transmit power; further, the second power coupling component 900 is started, and the second power coupling component 900 drives the first power coupling component 500 to move, and the first power coupling component 500 transmits the power output by the second power coupling component 900 to the forceps lifting component 300 of the bending part 110 through the flexible traction member 400. By controlling the output mode of the second power coupling component 900, the forceps lifting component in the forceps lifting component 300 can be controlled, for example, the forceps lifting component can be controlled to descend or rise.

[0044] See Figures 1 to 5It can be understood that in the electrically controlled endoscope provided by the embodiment of the present invention, by transforming the lever transmission system of the traditional mechanical forceps lifting device into an electrically controlled drive structure, the modular separation of the operating part 200 and the drive device 20 is first realized in the structural design. Furthermore, based on the first power coupling component 500 and the second power coupling component 900 adopting a dockable separate design, the operating part 200 of the scope body 10 can be quickly installed to the drive device 20 through the clamping seat 800, which not only simplifies the equipment assembly process, but also avoids the structural bloat problem caused by the multi-point transmission in the traditional lever linkage structure through the integrated design of the power transmission path, which effectively reduces the volume of the electrically controlled endoscope.

[0045] Secondly, the flexible traction member 400 replaces the complex mechanical transmission mechanism under the electric power drive. Its design of directly connecting the forceps lifting assembly 300 and the power coupling assembly not only reduces the mechanical clearance error of the transmission link, but also suppresses the hand shaking during manual operation through the stable output characteristics of the electronic control system, thereby improving the accuracy and stability of the instrument positioning.

[0046] Compared with the traditional solution in the prior art that relies on manual maintenance of the lever angle, the present invention uses the electric drive characteristics of the second power coupling component 900 to automatically maintain the position adjustment of the forceps lifter without continuous manual force, fundamentally eliminating the positioning drift phenomenon caused by operator fatigue. In addition, since the electronic control system replaces the original manual lever operation, the operator can quantify the movement of the forceps lifter through the drive device 20, which makes the azimuth adjustment of the forceps lifter more intuitive and reproducible, and can improve the accuracy of repeated positioning in delicate treatment scenarios. These improvements comprehensively solve the technical pain points of traditional duodenoscopes, such as insufficient sensitivity, high operational complexity, and poor long-term stability due to inherent defects in mechanical transmission.

[0047] Continue reading Figure 2 In an optional embodiment of the present invention, the bending power coupling mechanism 600 is disposed on one side of the housing 210, and the first power coupling assembly 500 is also disposed on the other side of the housing 210. It should be noted that the number of the bending power coupling mechanism 600 can be one or more. Figure 2 As shown, the electrically controlled endoscope provided by the present invention has a bending power coupling mechanism 600 arranged in pairs and symmetrically arranged on two sides of the shell 210. The first power coupling component 500 is arranged on the third side of the shell 210. The first power coupling component 500 and the bending power coupling mechanism 600 are respectively arranged on different sides of the shell 210, which can be relative or adjacent. The specific arrangement can be adjusted according to the structural design of the operating part to meet the needs of optimizing the spatial layout.

[0048] It can be understood that the embodiment of the present invention optimizes the space utilization of the internal structure of the operating part 200 by arranging the bending power coupling mechanism 600 and the first power coupling assembly 500 on different sides of the shell 210. Specifically, since the bending power coupling mechanisms 600 are arranged in pairs and are symmetrically distributed on both sides of the shell 210, and the first power coupling assembly 500 is independently arranged on the third side, this allows the multiple groups of power transmission components that were originally concentrated in a single direction to be dispersed, thereby avoiding the problem of internal space congestion caused by the stacking of multiple mechanisms in traditional designs. This three-dimensional spatial partitioning not only creates physical isolation between the power coupling mechanisms and reduces the risk of motion interference, but also keeps the surface of the operating part 200 shell 700 flat and smooth through the three-dimensional layout, eliminating the cleaning dead corners formed by the protruding components of the traditional mechanical operating part 200.

[0049] Compared to conventional endoscopes employing centralized transmission structures, the present invention significantly reduces the overall size of the operating unit 200 while maintaining functional integrity through a multi-sided distributed mechanism and externally located drive unit 20. Furthermore, the symmetrical arrangement of the bending power coupling mechanism 600 ensures more balanced transmission of driving force for bidirectional bending, while the independent placement of the first power coupling assembly 500 on the third side enables dedicated drive paths for the forceps lifter. This spatially decoupled design simplifies the assembly of the various functional modules and reduces overall weight by eliminating redundant support structures.

[0050] Figure 6 It is a partial enlarged structural diagram of the operating portion provided by an embodiment of the present invention.

[0051] See Figure 5 and Figure 6 In an optional embodiment of the present invention, a first limiting rib 211 is further provided on the outer surface of the shell 210, and the first limiting rib 211 is protruding from the surface of the shell 210. Correspondingly, a limiting groove 810 is provided on the surface of the clamping seat 800 of the driving device 20, and the limiting groove 810 is used to cooperate with the first limiting rib 211 to prevent the operating part 200 from being displaced relative to the clamping seat 800.

[0052] It is understandable that in the electrically controlled endoscope provided by the embodiment of the present invention, the mechanical locking effect between the operating part 200 and the drive device 20 is enhanced by providing a first limiting rib 211 on the surface of the shell 210 to cooperate with the limiting groove 810 corresponding to the clamping seat 800. When the operating part 200 is clamped to the drive device 20, the physical constraint formed by the first limiting rib 211 embedded in the limiting groove 810 can effectively resist the multi-dimensional forces generated during the operation, thereby avoiding the relative displacement that may occur when the traditional fixation relies solely on friction. This interlocking limiting design not only ensures that the first power coupling component 500 and the second power coupling component 900 always maintain precise alignment during the power transmission process, but also improves the anti-interference ability of the overall structure through the mechanical interlocking mechanism, so that the power transmission stability of the electrically controlled drive system is guaranteed.

[0053] In an optional embodiment of the present invention, the first limiting rib 211 and the output end of the first power coupling component 500 are arranged on different sides of the shell 210. Correspondingly, the output end of the second power coupling component 900 is arranged on the bottom surface of the clamping seat 800, and the limiting groove 810 is arranged on the side of the clamping seat 800; it can be understood that such an arrangement can form a functional coordination mechanism in the spatial dimension. When the operating part 200 is docked with the driving device 20, the first limiting rib 211 on the side of the shell 210 is embedded in the limiting groove 810 on the side of the clamping seat 800, and a lateral positioning reference can be established first through rigid constraint. The hard limit formed by the first limiting rib 211 in the lateral direction can effectively eliminate the lateral offset when the operating part 200 is docked with the driving device 20. In this way, the first power coupling component 500 and the second power coupling component 900 on the bottom surface of the clamping seat 800 can be naturally aligned in the vertical direction. This multi-directional partitioned layout decouples the positioning action from the power docking action in space. The lateral engagement of the first limiting rib 211 and the limiting groove 810 not only fixes the horizontal position of the operating part 200, but also provides guidance for the axial docking of the first power coupling component 500 and the second power coupling component 900 on the bottom surface by limiting the lateral degree of freedom, thereby reducing the difficulty of position calibration during synchronous docking of multiple components.

[0054] Figure 7 It is a schematic diagram of the axial side structure of the first power coupling assembly provided in an embodiment of the present invention. Figure 8 yes Figure 7 Corresponding cross-sectional structural diagram.

[0055] See Figure 2 Figure 3 、 Figure 7 and Figure 8In an optional embodiment of the present invention, the first power coupling assembly 500 includes a support member 510, a first rotating shaft 520 and a first gear 530. The support member 510 is arranged inside the shell 210 of the operating part 200 and is fixedly connected to the shell 210. In some optional examples, the two can be an integrally formed structure; the first rotating shaft 520 is rotatably arranged on the surface of the support member 510, and a first coupling portion 521 is provided at the first end of the first rotating shaft 520. The first coupling portion 521 passes through the surface of the shell 210 and is exposed to the outside of the shell 210. The first coupling portion 521 is used to couple with the second power coupling assembly 900. The specific structure of the first coupling portion 521 can be a convex structure, such as a shaft-like part, or a concave structure, such as Figure 5 The special-shaped groove shown.

[0056] The first gear 530 is sleeved on the outside of the first rotating shaft 520 and is fixedly connected to the first rotating shaft 520. The flexible traction member 400 is connected to the first gear 530. The first rotating shaft 520 is used to drive the first gear 530 to rotate under the drive of the second power coupling assembly 900, thereby controlling the action of the distal forceps lifting assembly 300.

[0057] It is understood that in the electrically controlled endoscope provided by the embodiment of the present invention, the integrated transmission design of the first rotating shaft 520 and the first gear 530 achieves a compact layout of the internal structure of the first power coupling assembly 500. When the second power coupling assembly 900 drives the first rotating shaft 520 to rotate via the first coupling portion 521, the first gear 530 can convert the rotational torque into a linear displacement of the flexible traction member 400. This shaft-wheel linkage transmission method not only optimizes the linearity of the power transmission path, but also eliminates the problem of angular deviation accumulation in traditional lever transmission through the characteristics of gear meshing. Secondly, compared with the mechanical transmission structure of multi-point lever linkage, the embodiment of the present invention integrates the originally dispersed transmission fulcrums into a single rotation axis through the direct coordination of gears and rotating shafts, significantly reducing the mechanical backlash during power transmission and effectively improving transmission efficiency.

[0058] Continue reading Figure 7 and Figure 8 In an optional embodiment of the present invention, a first guide rail 511 is provided on the support member 510, and the first rotating shaft 520 is located at one end of the first guide rail 511; the first power coupling assembly 500 also includes a slider 540 and a connecting rod 550, the slider 540 is slidably provided on the first guide rail 511 and is connected to the flexible traction member 400; one end of the connecting rod 550 is rotatably connected to the first gear 530, and the other end is rotatably connected to the slider 540.

[0059] During use, the first rotating shaft 520 drives the first gear 530 to rotate, and the first gear 530 drives one end of the connecting rod 550 to rotate. The other end of the connecting rod 550 moves linearly under the restriction of the slider 540 and the first guide rail 511, thereby driving the flexible traction member 400 to move linearly.

[0060] It is understood that in the electrically controlled endoscope provided in the embodiment of the present invention, a gear-connecting rod 550 composite transmission mechanism is constructed by converting the rotational motion of the first gear 530 into linear displacement of the slider 540 via the connecting rod 550. Since the sliding fit between the slider 540 and the first guide rail 511 constrains the freedom of motion, when the first gear 530 drives the connecting rod 550 to swing, the slider 540 at the end of the connecting rod 550 generates precise linear motion along the first guide rail 511, resulting in a strict proportional relationship between the displacement of the flexible traction member 400 and the rotation angle of the first rotating shaft 520. This rotation-to-linear motion conversion mechanism eliminates the motion trajectory deviation caused by the multi-point swinging in the traditional multi-link 550 mechanism by constraining the slider 540 with a single degree of freedom through the first guide rail 511, while also ensuring uniform displacement output by utilizing the equally divided nature of the gear meshing.

[0061] Compared with the traditional solution of pure lever transmission in the prior art, the embodiment of the present invention replaces the angular transmission of the multi-stage lever with the linear motion guided by the first guide rail 511, and simplifies the complex transmission chain that originally relied on the coordination of multiple hinge points into an integrated transmission unit of the first gear 530, the connecting rod 550 and the slider 540, effectively reducing the complexity of the overall device.

[0062] Continue reading Figure 7 and Figure 8 In an optional embodiment of the present invention, the first power coupling assembly 500 further includes a second gear 560 and a first detection component 570. The second gear 560 is rotatably disposed on the support member 510 and engages with the first gear 530. The first detection component 570 is disposed on the second gear 560. The first detection component 570 is used to detect the rotation angle of the first gear 530.

[0063] The first detection component 570 can use a magnetic encoder, and a magnet is correspondingly set on the second gear 560. When the second gear 560 rotates, the magnetic encoder can detect the rotation angle of the magnet, thereby identifying the rotation angle of the second gear 560; in an optional embodiment of the present invention, the first detection component 570 can also use existing components such as angle sensors. Specifically, it can be adaptively selected according to actual conditions.

[0064] It will be appreciated that, in this embodiment of the present invention, by providing a first detection component 570 on the second gear 560 meshing with the first gear 530, a non-contact measurement system for indirectly detecting the transmission angle is established. Specifically, because the meshing transmission between the second gear 560 and the first gear 530 has a strict angular correspondence, when the first rotating shaft 520 drives the first gear 530 to rotate, the synchronous rotation of the second gear 560 can be accurately captured by the first detection component 570, thereby indirectly inferring the actual rotation angle of the first gear 530 through the transmission ratio relationship of the gear pair.

[0065] Furthermore, based on the fixed proportional relationship between the displacement of the flexible traction member 400 and the rotation angle of the first rotating shaft 520, the detection data can be directly converted into the real-time displacement of the forceps elevator assembly 300, so that the actual working position of the distal forceps elevator forms a one-to-one correspondence with the angle detection value. This two-stage gear detection mechanism not only ensures the accuracy of angle detection through the proportional transmission characteristics of gear meshing, but also transforms complex instrument end state monitoring into a simple parameter relationship that can be quantified and calculated. While maintaining the structural integrity of the transmission system, it also realizes the full process visual tracking of the forceps elevator working status.

[0066] Compared to the traditional solution in the prior art that relies on the operator's experience to judge the position of the forceps lifter, the present invention establishes a closed-loop state mapping from the drive input to the instrument end forceps lifter assembly 300 through the quantitative detection of the gear transmission angle and the linear correlation with the displacement of the flexible traction member 400. Due to the lack of measurability of the transmission link of the traditional mechanical forceps lifter, the operator can only guess the position of the instrument by feel. However, the present invention can directly calculate the real-time lifting height of the forceps lifter by detecting the precise data of the rotation angle of the first gear 530, combining the known gear-slider transmission ratio and the displacement relationship of the flexible traction member 400, and completely eliminating the random errors of manual estimation. This state characterization method based on the inherent physical characteristics of the transmission chain can provide high-precision position feedback for the electronic control system without the need for additional sensors or camera modules at the end of the bending part 110.

[0067] Figure 9 This is another structural schematic diagram of the first power coupling assembly provided in an embodiment of the present invention.

[0068] See Figure 9In an optional embodiment of the present invention, unlike the aforementioned embodiment, a second guide rail 512 is provided on the support member 510; the first power coupling assembly 500 further includes a rack 580, which is slidably disposed within the second guide rail 512 and meshes with the first gear 530. The flexible traction member 400 is connected to the rack 580. In other optional embodiments of the present invention, a slider coupled with a friction wheel or a screw coupled with a nut may also be used to achieve power transmission between the first rotating shaft 520 and the flexible traction member 400. Specifically, these arrangements may be adaptively designed based on existing technologies, and will not be detailed herein.

[0069] It is understood that in the electrically controlled endoscope provided by the embodiment of the present invention, by combining the meshing transmission of the gear-rack 580 with the guide structure of the second guide rail 512, an integrated transmission unit for converting rotational motion into linear motion is constructed. Specifically, because the rack 580 slides along a fixed trajectory under the constraint of the second guide rail 512, when the first gear 530 drives the rack 580 to move linearly, the displacement of the flexible traction member 400 will form a strict linear correspondence with the gear rotation angle. Similar to the slider 540 in the aforementioned embodiment, the single degree of freedom restriction of the rack 580 by the second guide rail 512 not only eliminates the redundant motion component of the traditional connecting rod 550 mechanism, but also ensures the smoothness of power transmission through the continuous meshing characteristics of the rack 580 and the gear, making the output displacement of the flexible traction member 400 more predictable and repeatable.

[0070] Compared to the conventional multi-stage lever transmission scheme employed in the prior art, the present invention replaces the complex hinge-connecting rod 550 structure with a gear-rack 580 meshing mechanism. This present invention achieves similar technical effects to the slider 540-connecting rod 550 structure of the aforementioned embodiment, which will not be further elaborated herein. For details, please refer to the preceding text. Unlike the aforementioned embodiment, this embodiment utilizes a gear-rack 580 transmission mechanism in place of the gear-connecting rod 550 mechanism of the aforementioned embodiment, optimizing the motion conversion mechanism through this change in transmission form. Specifically, compared to the slider 540-connecting rod 550 scheme, which relies on the combined motion conversion of the connecting rod 550 swing angle and the guide rail constraints, the meshing of the gear and rack 580 directly converts rotational motion into pure linear motion of the rack 580 along the guide rail, eliminating the lateral force interference caused by the swing of the connecting rod 550.

[0071] Secondly, since the meshing contact surface between the rack 580 and the first gear 530 continuously maintains linear interaction, the continuity of its motion transmission is compared to the intermittent thrust transmission of the connecting rod 550 mechanism, which can form a stricter one-to-one correspondence between the displacement output of the flexible traction member 400 and the rotation angle of the first gear 530, thereby improving the linearity of the displacement control.

[0072] Furthermore, the sliding path of rack 580 within second guide rail 512 is strictly perpendicular to the radius of first gear 530, ensuring that the direction of the pulling force is always coaxial with the direction of motion of the flexible traction line. This avoids the impact of the changing inclination of connecting rod 550 on force transmission efficiency in the conventional design. Furthermore, the direct connection between rack 580 and flexible traction member 400 eliminates intermediate transmission components, simplifying the assembly process while further reducing the possibility of transmission misalignment due to component wear, thereby improving transmission accuracy and structural reliability.

[0073] Continue reading Figure 9 In an optional embodiment of the present invention, the first end of the first rotating shaft 520 is located on the first side of the support member 510, the second end of the first rotating shaft 520 passes through the support member 510 and is located on the second side of the support member 510, and the first gear 530 is arranged at the second end of the first rotating shaft 520, that is, the first gear 530 is arranged on the second side of the support member 510; accordingly, the second guide rail 512 is also arranged on the second side of the support member 510.

[0074] It can be understood that such an arrangement converts the same-side layout of the support member 510 into a double-sided layout, and can convert the plane layout in the aforementioned embodiment into a spatial three-dimensional layout, which can effectively reduce the extension of the first power coupling component 500 in the lateral space, thereby effectively reducing the volume of the operating part 200 and promoting the miniaturization of the structure of the mirror body 10.

[0075] Continue reading Figure 9 In an optional embodiment of the present invention, the first power coupling assembly 500 further includes a second detection component 590. The second detection component 590 is directly disposed on the first gear 530 and is used to detect the rotation angle of the first gear 530. The specific form of the second detection component 590 can be referred to the first detection component 570 described above and will not be described in detail herein.

[0076] It can be understood that, with such a design, compared with the solution of setting the second gear 560 in the aforementioned embodiment, the second detection component 590 for detecting the angle can be directly set on the first gear 530, reducing the power transmission components, thereby reducing the influence of power transmission on the angle detection results, and improving the accuracy of the angle detection results; secondly, the bilateral layout in the aforementioned embodiment can also avoid the position interference between the second detection component 590 and the first coupling part 521, so that the layout of the first power coupling component 500 can be more reasonable.

[0077] Figure 10 It is a partial structural diagram of the clamping base and the second power coupling assembly provided in an embodiment of the present invention.

[0078] See Figure 5 and Figure 10 In an optional embodiment of the present invention, a first through hole 820 and a second through hole 830 are provided on the clamping seat 800, and the first through hole 820 and the second through hole 830 are provided on the side wall of the clamping seat 800. The first through hole 820 and the second through hole 830 are used to realize the coupling and docking of the bending driving component in the driving device 20 and the bending power coupling mechanism 600. Specifically, the structure and docking of the bending driving component and the bending power coupling mechanism 600 can refer to the existing technology and will not be repeated here.

[0079] Figure 11 It is a structural schematic diagram of the second power coupling assembly provided in an embodiment of the present invention.

[0080] See Figure 10 and Figure 11 In an optional embodiment of the present invention, the second power coupling assembly 900 includes a base plate 910, a second rotating shaft 920, a first bevel gear 930 and a motor 940. The base plate 910 is arranged inside the housing 700 and is fixedly connected to the housing 700; the second rotating shaft 920 is rotatably arranged on the surface of the base plate 910, and a second coupling portion 921 is provided on the second rotating shaft 920. The second coupling portion 921 is used to couple with the first coupling portion 521. In other words, the second rotating shaft 920 is used to couple with the first power coupling assembly 500.

[0081] The first bevel gear 930 is sleeved on the second rotating shaft 920, and the second rotating shaft 920 is used to drive the first bevel gear 930 to rotate; the motor 940 is set on the surface of the base plate 910 through the mounting seat, and the output end of the motor 940 faces the first bevel gear 930, and the output end of the motor 940 is provided with a second bevel gear 941, the second bevel gear 941 and the output shaft of the motor 940 keep synchronous rotation, and the second bevel gear 941 is engaged with the first bevel gear 930.

[0082] When in use, the motor 940 drives the second bevel gear 941 to rotate, the second bevel gear 941 drives the first bevel gear 930 to rotate, and the first bevel gear 930 drives the second rotating shaft 920 to rotate. Based on the cooperation between the second coupling part 921 and the first coupling part 521, the second rotating shaft 920 will transmit the power from the motor 940 to the first rotating shaft 520 in the mirror body 10. The power transmission inside the first power coupling component 500 is described above and will not be repeated here.

[0083] It is understood that in the electrically controlled endoscope provided by the embodiment of the present invention, the integrated design of the bevel gear pair and the motor 940 drive unit achieves spatial conversion of the power transmission direction. Specifically, because the output shaft of the motor 940 is vertically meshed with the first bevel gear 930 via the second bevel gear 941, the axial rotation of the motor 940 can be converted into radial rotation of the second rotating shaft 920. This orthogonal transmission design allows for three-dimensional utilization of the internal space of the drive device 20, effectively resolving the problem of the large size of the drive device 20 caused by the long axial length of the motor 940.

[0084] Traditional manual operation relies on multi-stage levers to change the direction of force, which has great limitations. In addition, the power transmission efficiency of the multi-stage lever structure is low and the accuracy is poor. In the embodiment of the invention, the right-angle transmission characteristics of the bevel gear can effectively improve the problems existing in the lever structure; further, the axial docking method of the second rotating shaft 920 and the first rotating shaft 520 enables the power coupling process to achieve transmission axis alignment without the need for an additional steering mechanism, avoiding the increased complexity of traditional mechanical connections due to the need to add a transmission fulcrum for direction conversion.

[0085] Continue reading Figure 11 In an optional embodiment of the present invention, the second power coupling assembly 900 further includes a force detector 950 and a third gear 951 , and the third gear 951 is provided on the force detector 950 ; there are two optional matching modes between the third gear 951 and the first bevel gear 930 .

[0086] Method 1: The force detector 950 is mounted on the surface of the base plate 910 via a mounting base. The third gear 951 is also in the form of a bevel gear, and the third gear 951 is directly engaged with the first bevel gear 930 .

[0087] Mode 2: The second power coupling assembly 900 further includes a fourth gear 942 . The fourth gear 942 is sleeved on the output end of the motor 940 and rotates synchronously with the second bevel gear 941 . The fourth gear 942 is meshed with the third gear 951 .

[0088] During use, during the rotation of the first bevel gear 930, the distal forceps lifting assembly 300 will transmit a feedback force to the second power coupling assembly 900 through the flexible traction member 400 and the first power coupling assembly 500. In other words, during the rotation of the motor 940, due to the load change, the output shaft of the motor 940 will be subjected to a reaction force from the external load. The force detector 950 and the third gear 951 can detect the reaction force borne by the output shaft of the motor 940 and the actual torque of the output shaft of the motor 940, that is, the force received by the distal forceps lifting assembly when it contacts the tissue structure in the patient's body based on the way the third gear 951 meshes with the first bevel gear 930, or indirectly transmitted through the fourth gear 942.

[0089] It is understandable that in the electrically controlled endoscope provided by the embodiment of the present invention, a real-time monitoring system for reaction force based on the mechanical characteristics of the transmission chain is constructed by integrating the coordination mechanism of the force detector 950 and the third gear 951 in the bevel gear transmission system. Specifically, when the distal forceps lifting assembly 300 contacts the tissue in the patient's body, its force is transmitted to the second power coupling assembly 900 through the flexible traction member 400 and the first power coupling assembly 500, forming a reverse load on the output shaft of the motor 940. In the first method, the direct engagement of the third bevel gear 981 and the first bevel gear 930 synchronously transmits the load change of the main transmission shaft to the force detector 950, so that the force state of the gear pair meshing surface can be directly captured; in the second method, the parallel engagement of the fourth gear 942 and the third gear 951 indirectly reflects the load change through the reaction torque of the output shaft of the motor 940. Both configurations can convert the actual contact force between the distal forceps elevator and the tissue into a torque change of the output shaft of the motor 940 based on the force transmission characteristics of the gear transmission, and then realize quantitative feedback of the force by detecting the force state of the third gear 951.

[0090] Traditional mechanical forceps lifters lack a load feedback mechanism and can only rely entirely on the operator's hand feeling to judge the amount of force applied. This is a traditional mechanical operation that is prone to overload or under-force when pulling or clamping tissue. The embodiment of the present invention abstracts the complex force between the distal instrument and the tissue into an accurately measurable electrical signal through the mechanical coupling relationship of the gear transmission chain. That is, the real-time monitoring of the gear meshing force by the force detector 950 can directly reflect the reaction torque borne by the output shaft of the motor 940, thereby indirectly characterizing the actual force at the end of the forceps lifter and realizing the force perception of the lifting and lowering of the forceps lifter, thereby preventing harm to the patient during surgery due to excessive force of the forceps lifter operation. This detection method based on the mechanical characteristics of the transmission system not only avoids the structural complexity of the additional end sensor in the traditional solution, but also ensures the consistency of the detection data with the actual load through the accuracy of the force transmission of the gear meshing, providing reliable data support for the precise control of force applied during surgery and the safety of forceps lifter operation.

[0091] Figure 12 It is a schematic cross-sectional structural diagram of the second power coupling assembly provided in an embodiment of the present invention.

[0092] See Figure 12 In an optional embodiment of the present invention, the second power coupling assembly 900 further includes a friction member 970, an elastic member 971 and a locking member 972. The friction member 970 is sleeved on the second rotating shaft 920. The friction member 970 and the first bevel gear 930 can be superimposed, or the first bevel gear 930 and the friction member 970 can be superimposed. Figure 9 As shown); the friction member 970 is provided with a first friction surface, and the first bevel gear 930 is provided with a second friction surface, and the first friction surface and the second friction surface are in contact with each other; the first friction surface and the second friction surface can be made of the same material, or different materials to increase the maximum static friction between the two. Specifically, it can be adaptively selected according to actual conditions.

[0093] The elastic member 971 is sleeved on the second rotating shaft 920 and is located above the friction member 970 and the first bevel gear 930. When the friction member 970 and the first bevel gear 930 are superimposed, the first end of the elastic member 971 abuts against the friction member 970; when the first bevel gear 930 and the friction member 970 are superimposed, the first end of the elastic member 971 abuts against the first bevel gear 930 (as shown in FIG. Figure 9 As shown), the elastic member 971 is used to provide positive pressure so that the first friction surface and the second friction surface fit tightly together.

[0094] The locking member 972 is also sleeved on the second rotating shaft 920 and is located at the second end of the elastic member 971. The locking member 972 can be specifically in the form of a pair of nuts, and corresponding threads can be set on the second rotating shaft 920; the locking member 972 is used to provide a locking force to change the positive pressure between the first friction surface and the second friction surface, thereby controlling the maximum static friction force between the first friction surface and the second friction surface.

[0095] During use, the first bevel gear 930 rotates with the motor 940, and the second rotating shaft 920 rotates with the first bevel gear 930 in cooperation with the first friction surface and the second friction surface. That is, in this embodiment, the static friction between the first friction surface and the second friction surface is used to transmit power between the second rotating shaft 920 and the first bevel gear 930. When the resistance experienced by the distal forceps elevator exceeds the safety value set by the system via the locking member 972, the static friction between the first friction surface and the second friction surface will turn into sliding friction, thereby cutting off the power transmission between the first bevel gear 930 and the second rotating shaft 920.

[0096] It can be understood that in the electrically controlled endoscope provided by the embodiment of the present invention, a power transmission system with an overload protection function is constructed by cooperating the friction surface of the friction member 970 and the first bevel gear 930 and the elastic pressure adjustment mechanism. Specifically, when the motor 940 drives the first bevel gear 930 to rotate, the second rotating shaft 920 rotates synchronously through the static friction between the first friction surface and the second friction surface. Under the synergistic effect of the positive pressure applied by the elastic member 971 and the preload of the locking member 972, the maximum static friction between the friction surfaces can be precisely controlled. When the load borne by the distal forceps lifting assembly 300 exceeds the preset threshold, the sliding friction generated between the friction surfaces will cut off the power transmission path, thereby avoiding mechanical damage to the transmission mechanism due to overload. This power interruption mechanism based on friction threshold control can provide a dynamic protection barrier for the flexible traction member 400 and the forceps lifting assembly 300 while maintaining normal transmission accuracy.

[0097] Compared with the traditional mechanical structure using rigid transmission in the prior art, the embodiment of the present invention fundamentally solves the problems of the flexible traction member 400 being stretched or the transmission components being permanently deformed due to excessive operating force in traditional endoscopes through the controllable sliding characteristics of the friction pair. Specifically, when a traditional mechanical lifting forceps encounters abnormal resistance, it is difficult for the operator to achieve precise control of the operating force. In the embodiment of the present invention, the sliding critical value between the friction surfaces is pre-set by the pre-tightening force of the locking member 972, which can automatically release the power transmission when the safety limit is reached. This protects the integrity of the instrument and reduces the operational risk. Furthermore, the continuous pressing action of the elastic member 971 ensures the stability of the contact pressure of the friction surface, which can avoid the intermittent slippage phenomenon caused by long-term use of traditional rigid connections; secondly, the adjustable characteristics of the locking member 972 can also provide flexibility for the setting of force thresholds in different clinical scenarios.

[0098] Continue reading Figure 11 In an optional embodiment of the present invention, the second power coupling assembly 900 further includes a third detection component 980, which is arranged on the base plate 910 through a mounting seat. A third bevel gear 981 is provided at the end of the third detection component 980, and the third bevel gear 981 is engaged with the first bevel gear 930. The third detection component 980 is used to detect the rotation angle of the first bevel gear 930.

[0099] When in use, the rotation of the first bevel gear 930 will drive the third bevel gear 981 to rotate. Since the rotation of the first bevel gear 930 and the second bevel gear 941 are synchronized, the third detection component 980 can detect the rotation angle of the first bevel gear 930 in real time based on this, that is, the rotation angle of the output shaft of the motor 940.

[0100] It is understandable that in the electrically controlled endoscope provided by the embodiment of the present invention, by adding a third detection component 980 to the meshing path of the first bevel gear 930, a redundant verification system for dual angle detection at the drive end and the transmission end is constructed. Specifically, since the meshing transmission of the third bevel gear 981 and the first bevel gear 930 is strictly synchronized with the gear pair of the main transmission chain, the real-time monitoring data of the rotation angle of the first bevel gear 930 by the third detection component 980 can be cross-verified with the detection result of the rotation angle of the first gear 530 by the first detection component 570. When the displacement of the flexible traction member 400 is calculated by the rotation angle of the first gear 530, the output shaft angle data of the motor 940 provided by the third detection component 980 can reversely verify the overall transmission ratio stability of the transmission system, thereby establishing a closed-loop data association between the input end and the execution end of the transmission chain, ensuring the accuracy of the position feedback of the distal forceps lifter.

[0101] Compared with the prior art, the embodiment of the present invention realizes full-link state tracking from the power source to the execution end through the synergy of the third detection component 980 and the first detection component 570. Specifically, the traditional mechanical lifting clamp only relies on the detection of a single transmission node, and cannot distinguish whether the transmission error comes from the driving end or the execution end. In the embodiment of the present invention, the direct monitoring of the output shaft of the motor 940 by the third detection component 980, combined with the indirect detection of the execution gear by the first detection component 570, can accurately locate the error generation link. For example, when there is a deviation between the theoretical relationship between the displacement of the flexible traction member 400 and the rotation angle of the motor 940, the comparison of the synchronous data of the two detection components can quickly determine whether it is caused by gear pair wear or motor 940 failure. This dual detection mechanism not only improves the system fault diagnosis capability, but also eliminates the blind spots of traditional single-point detection through data mutual verification, thereby improving the error tracing accuracy and system reliability.

[0102] In an optional embodiment of the present invention, the second power coupling assembly 900 includes a rotating shaft sleeve 990, which is arranged on the clamping seat 800. The second rotating shaft 920 passes through the rotating shaft sleeve 990 and is coupled and docked with the first rotating shaft 520. The rotating shaft sleeve 990 and the second rotating shaft 920 are both made of non-metallic materials, that is, the second rotating shaft 920 includes a non-metallic rotating shaft. For example, ceramic material is used to make the second rotating shaft 920 and the rotating shaft sleeve 990.

[0103] It can be understood that in the electrically controlled endoscope provided by the embodiment of the present invention, a composite functional structure with both electrical isolation and mechanical transmission is constructed by adopting a non-metallic rotating shaft sleeve 990 and a second rotating shaft 920. Specifically, due to the ceramic material properties of the second rotating shaft 920 and the rotating shaft sleeve 990, they can form a natural electrical insulation barrier while realizing power transmission, so that the current conduction path between the endoscope drive device 20 and the mirror body 10 can be physically blocked. This insulation design not only eliminates the structural redundancy of the traditional metal drive shaft that requires an additional insulating layer, but also avoids the risk of leakage caused by damage to the insulating layer through the intrinsic properties of the material, thereby simplifying the complexity of the overall insulation structure of the endoscope. Secondly, when the third detection component 980 works in conjunction with the first detection component 570, the high insulation of the non-metallic rotating shaft ensures that the detection signal transmission is not subject to electromagnetic interference.

[0104] It should be noted that the technical solutions in the various embodiments of the present invention can be combined with each other, but the basis for the mutual combination is that it can be implemented by ordinary technicians in this field; when the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist, that is, it does not fall within the scope of protection of the present invention.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An electronically controlled endoscope for duodenum, characterized in that: include: A mirror body (10) comprises an operating portion (200), an insertion portion (100), a forceps lifting assembly (300), a flexible traction member (400) and a first power coupling assembly (500), wherein the insertion portion (100) is connected to the operating portion (200) and extends in a direction away from the operating portion (200), the forceps lifting assembly (300) is provided at one end of the insertion portion (100) away from the operating portion (200), the first power coupling assembly (500) is provided at the operating portion (200), one end of the flexible traction member (400) is connected to the first power coupling assembly (500), and the other end is passed through the insertion portion (100) and connected to the forceps lifting assembly (300); The driving device (20) comprises a second power coupling assembly (900), wherein the second power coupling assembly (900) is used to drive the first power coupling assembly (500), thereby controlling the movement of the forceps lifting assembly (300).

2. The electronically controlled endoscope for duodenum according to claim 1, characterized in that: The first power coupling assembly (500) comprises: A support member (510), provided on the operating portion (200); a first rotating shaft (520) rotatably disposed on the support member (510); a first coupling portion (521) being provided at a first end of the first rotating shaft (520); and the first coupling portion (521) being used to couple with the second power coupling assembly (900); A first gear (530) is sleeved on the outside of the first rotating shaft (520) and connected to the flexible traction member (400). The first rotating shaft (520) is used to drive the first gear (530) to rotate.

3. The electronically controlled endoscope for duodenum according to claim 2, characterized in that: A first guide rail (511) is provided on the support member (510), and the first rotating shaft (520) is located at one end of the first guide rail (511); The first power coupling assembly (500) further comprises: A slider (540) is slidably disposed on the first guide rail (511) and is connected to the flexible traction member (400); A connecting rod (550) has one end rotatably connected to the first gear (530) and the other end rotatably connected to the slider (540).

4. The electronically controlled endoscope for duodenum according to claim 3, characterized in that: The first power coupling assembly (500) further comprises a second gear (560) and a first detection component (570); the second gear (560) is rotatably disposed on the support member (510) and meshes with the first gear (530); the first detection component (570) is disposed on the second gear (560); and the first detection component (570) is used to detect the rotation angle of the second gear (560).

5. The electronically controlled endoscope for duodenum according to claim 2, characterized in that: A second guide rail (512) is provided on the support member (510), and the second guide rail (512) is located on one side of the first gear (530); The first power coupling assembly (500) further includes a rack (580), the rack (580) being slidably disposed on the second guide rail (512) and meshing with the first gear (530), and the flexible traction member (400) being connected to the rack (580).

6. The electronically controlled endoscope for duodenum according to claim 5, characterized in that: The first end of the first rotating shaft (520) is located on the first side of the support member (510), the second end of the first rotating shaft (520) passes through the support member (510) and is located on the second side of the support member (510), the first gear (530) is provided on the second end of the first rotating shaft (520); the second guide rail (512) is provided on the second side of the support member (510); The first power coupling assembly (500) further includes a second detection component (590), the second detection component (590) being provided on the first gear (530), and the second detection component (590) being used to detect the rotation angle of the first gear (530).

7. The electronically controlled endoscope for duodenum according to any one of claims 1 to 6, characterized in that: The second power coupling assembly (900) comprises: Bottom plate (910); a second rotating shaft (920) rotatably disposed on the bottom plate (910), the second rotating shaft (920) being used to couple with the first power coupling assembly (500); a first bevel gear (930) sleeved on the second rotating shaft (920), the first bevel gear (930) being used to drive the second rotating shaft (920) to rotate; The motor (940) is provided on the bottom plate (910), and a second bevel gear (941) is provided at the output end of the motor (940), and the second bevel gear (941) is meshed with the first bevel gear (930).

8. The electronically controlled endoscope for duodenum according to claim 7, characterized in that: The second power coupling assembly (900) further includes a force detector (950), wherein the force detector (950) is provided with a third gear (951); The third gear (951) is meshed with the first bevel gear (930); or the second power coupling assembly (900) further includes a fourth gear (942), wherein the fourth gear (942) is sleeved on the output end of the motor (940), the fourth gear (942) rotates synchronously with the second bevel gear (941), and the fourth gear (942) is meshed with the third gear (951).

9. The electronically controlled endoscope for duodenum according to claim 7, characterized in that: The second power coupling assembly (900) further comprises: A friction member (970) is sleeved on the second rotating shaft (920), the friction member (970) is provided with a first friction surface, the first bevel gear (930) is provided with a second friction surface, and the first friction surface and the second friction surface are in contact with each other; an elastic member (971) sleeved on the second rotating shaft (920), wherein a first end of the elastic member (971) abuts against the friction member (970) or the first bevel gear (930); A locking member (972) is sleeved on the second rotating shaft (920) and located at the second end of the elastic member (971). The locking member (972) is used to control the maximum static friction force between the first friction surface and the second friction surface by applying pressure between them.

10. The electronically controlled endoscope for duodenum according to claim 7, characterized in that: The second power coupling assembly (900) further includes a third detection component (980), the third detection component (980) being arranged on the base plate (910) and meshing with the first bevel gear (930), the third detection component (980) being used to detect the rotation angle of the first bevel gear (930).

11. The electronically controlled endoscope for duodenum according to claim 7, characterized in that: The second rotating shaft (920) comprises a non-metallic rotating shaft.

12. The electronically controlled endoscope for duodenum according to any one of claims 1 to 6, characterized in that: The operating portion (200) comprises a bending power coupling mechanism (600), wherein the bending power coupling mechanism (600) is arranged on one side of the operating portion (200), and the first power coupling assembly (500) is arranged on the other side of the operating portion (200). The bending power coupling mechanism (600) is used to control the movement of the insertion portion (100).

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