Endoscope with built-in detachable grasping mechanism

Abstract

The application discloses an endoscope with a built-in detachable grabbing mechanism and relates to the technical field of medical devices.The technical scheme points of the endoscope with the built-in detachable grabbing mechanism include an endoscope handle and a grabbing mechanism, the grabbing mechanism includes a grabbing mechanism shell, the endoscope handle includes a main shell and a secondary shell which is detachably connected with the main shell, and a containing cavity which is matched with the grabbing mechanism shell is formed between the main shell and the secondary shell.The detachable grabbing mechanism can be used to internally build different types of grabbing mechanisms according to needs, so that the clinical use requirements can be met while the cost is reduced;in addition, the grabbing mechanism is used to perform a clamping action while extending forward, so that high-precision operation is facilitated and it is ensured that tissues can be clamped;further, the grabbing mechanism is integrated in the endoscope handle, so that single-hand precise control is facilitated, and the clamping action is controlled in a button mode, so that ergonomics is met and operation is facilitated.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an endoscope having a built-in detachable gripping mechanism. Background Technology

[0002] A Chinese patent with publication number CN114269219A discloses a disposable endoscope with a permanently installed integrated gripper, comprising a shaft, a gripper controller, and a cannula having a working channel within the cannula; the gripper includes a pair of resilient clamping portions with distal ends, which are biased to move away from each other toward an open position as the gripper moves distally relative to the cannula in its extended position; the working channel acts on the gripper so that as the gripper moves proximally relative to the cannula toward its retracted position, the distal ends of the resilient clamps move toward each other and move to a closed position; the gripper control device includes a manually operated collar or lug movable along the length of the shaft.

[0003] However, the integrated gripper in the above patent still has the following problems: 1. When the elastic clamp retracts, it is acted upon by the working channel to perform the gripping action, which results in a certain gap between the elastic clamp and the tissue to be retrieved, which is not conducive to high-precision gripping operation; 2. The gripping controller moves along the length of the axis, which increases the difficulty of operation; 3. The integrated gripper is permanently installed in the endoscope, and the entire endoscope is used once when different grippers are needed, resulting in increased cost and waste. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an endoscope with a built-in detachable gripping mechanism. This detachable gripping mechanism allows for the integration of different types of gripping mechanisms as needed, meeting usage requirements while reducing costs. Furthermore, the gripping mechanism extends forward to perform the gripping action, facilitating high-precision operation, ensuring accurate tissue gripping, and preventing obstruction of the lens's view. Moreover, the gripping action is controlled by a button with one hand, conforming to ergonomics and facilitating operation.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An endoscope with a built-in detachable gripping mechanism includes an endoscope handle and a gripping mechanism. The gripping mechanism includes a gripping mechanism housing. The endoscope handle includes a main housing and a secondary housing detachably connected to the main housing. A receiving cavity is formed between the main housing and the secondary housing to cooperate with the gripping mechanism housing.

[0006] Furthermore, the gripping mechanism also includes a drive outer tube and a drive inner wire extending out of the gripping mechanism housing, and a clamping assembly is provided at the distal end of the drive outer tube and the drive inner wire. The endoscope handle is connected to an insertion tube, and an instrument channel is provided inside the insertion tube; The main housing has a passageway connecting the receiving cavity and the instrument channel, or the main housing and the sub-housing form a passageway connecting the receiving cavity and the instrument channel; the drive outer tube extends into the instrument channel through the passageway.

[0007] Furthermore, the grasping mechanism also includes a drive button; the drive button extends from the endoscope handle for operation; or, the endoscope handle is provided with a grasping mechanism control button that abuts against the drive button.

[0008] Furthermore, a return spring is provided between the drive button and the gripping mechanism housing; the elastic force of the return spring causes the drive button to tend to move to abut against the gripping mechanism control button.

[0009] Furthermore, the gripping mechanism also includes a first movable seat and a second movable seat disposed within the gripping mechanism housing; The proximal end of the drive outer tube is connected to the first movable seat, and the proximal end of the drive inner wire is connected to the second movable seat. When the second movable seat is fixed relative to the gripping mechanism housing, the first movable seat moves relative to the gripping mechanism housing toward the distal end to control the clamping assembly to perform a gripping action.

[0010] Furthermore, a drive mechanism is also provided inside the housing of the gripping mechanism; Under the action of the drive mechanism, the first movable seat and the second movable seat move a first stroke relative to the gripping mechanism housing toward the far end. Then, the second movable seat is fixed relative to the gripping mechanism housing, and the first movable seat continues to move a second stroke relative to the gripping mechanism housing to control the clamping assembly to perform the gripping action.

[0011] Furthermore, the gripping mechanism housing is provided with a first limiting surface that cooperates with the second movable seat; when the second movable seat moves to contact the first limiting surface, it remains fixed relative to the gripping mechanism housing.

[0012] Furthermore, the drive mechanism is connected to the first movable seat, and a flexible transmission component is provided between the first movable seat and the second movable seat; Alternatively, the drive mechanism is connected to the first movable seat and the second movable seat respectively.

[0013] Furthermore, the flexible transmission component includes a first spring, and a second limiting surface is provided on the first movable seat; the elastic force of the first spring causes the second movable seat to tend to move relative to the first movable seat toward the distal end until it contacts the second limiting surface.

[0014] Furthermore, a first guide limiting structure is provided between the second movable seat and the first movable seat; and / or, a second guide limiting structure is provided between the first movable seat and the gripping mechanism housing.

[0015] Furthermore, a second spring is provided between the first movable seat and the gripping mechanism housing, and the elastic force of the second spring causes the first movable seat to tend to move towards the proximal end relative to the gripping mechanism housing.

[0016] Furthermore, the driving mechanism includes a driving button and a reversing transmission assembly; the moving direction of the driving button is arranged at an angle or perpendicular to the moving direction of the first moving seat.

[0017] Furthermore, the reversing transmission assembly includes a first rack connected to the first movable seat, a large gear meshing with the first rack, a small gear coaxially linked with the large gear, and a second rack meshing with the small gear, the second rack being connected to the drive button.

[0018] Furthermore, the endoscope body also includes an insertion tube control component and a gripping mechanism control button disposed on the endoscope handle, wherein the touch portion of the insertion tube control component and the gripping mechanism control button are arranged opposite to each other.

[0019] Furthermore, the clamp assembly includes a clamp seat connected to the drive outer tube, two clamping plates, and two connecting rods rotatably connected to the two clamping plates respectively; a first pivot shaft is provided between the clamp seat and the two clamping plates, and a second pivot shaft is provided between the drive inner thread and the two connecting rods.

[0020] In summary, the present invention has the following beneficial effects: 1. It adopts a detachable gripping mechanism, which can be built into different types of gripping mechanisms as needed, to meet clinical use needs while reducing costs; 2. By extending forward while performing the gripping action, high-precision operation can be achieved, ensuring that tissue can be accurately gripped. 3. The clamp assembly can be extended and clamped by simply operating the drive mechanism, making it easy to operate; 4. The moving direction of the drive button is inclined relative to the moving direction of the first moving base. This makes the moving direction of the drive button similar to the movement trajectory of the finger, which is ergonomic and makes it easy to operate. 5. The endoscope and grasping mechanism are integrated into the same handle, allowing for simultaneous one-handed operation of both the endoscope and the grasping mechanism. This avoids the inconvenience caused by two-handed operation in existing technologies and greatly improves the flexibility and precision of control. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of an endoscope with a built-in detachable gripping mechanism, as shown in the embodiment. Figure 1 ; Figure 2 This is a schematic diagram of an endoscope with a built-in detachable gripping mechanism, as shown in the embodiment. Figure 2 ; Figure 3 This is a schematic diagram of an endoscope with a built-in detachable gripping mechanism, as shown in the embodiment. Figure 3 ; Figure 4 This is a schematic diagram of an endoscope with a built-in detachable gripping mechanism, as shown in the embodiment. Figure 4 ; Figure 5 This is a schematic diagram of the gripping mechanism in an embodiment. Figure 1 ; Figure 6 This is a schematic diagram of the gripping mechanism in an embodiment. Figure 2 ; Figure 7 This is a schematic diagram of the gripping mechanism in an embodiment. Figure 3 ; Figure 8 This is a schematic diagram of the gripping mechanism in an embodiment. Figure 4 ; Figure 9 This is a schematic diagram of the gripping mechanism in an embodiment. Figure 5 ; Figure 10 This is a schematic diagram of the clamp assembly in the embodiment.

[0022] In the diagram: 1. Gripping mechanism housing; 11. First limiting surface; 12. First guide groove; 13. Second guide groove; 2. First moving seat; 21. First shaft segment; 22. Second shaft segment; 23. Guide rod; 24. Second limiting surface; 25. End plate; 26. First protrusion; 27. Second protrusion; 3. Drive outer tube; 4. Second moving seat; 41. Guide hole; 5. Drive inner thread; 6. Clamp assembly; 61. Connecting rod; 62. Clamping plate; 63. Clamp seat; 71. First spring; 72. Second spring; 81. First rack; 82. Large gear; 83. Small gear; 84. Second rack; 85. Drive button; 86. Reset spring; 91. Endoscope handle; 911. Main housing; 912. Sub-housing; 92. Insertion tube; 93. Insertion tube control component; 94. Gripping mechanism control button; 95. Instrument channel. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings.

[0024] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention. Example

[0025] An endoscope with a built-in detachable gripping mechanism, as shown in the reference Figures 1 to 10 The device includes an endoscope body and a gripping mechanism disposed within the endoscope body. In this embodiment, the gripping mechanism is built into the endoscope body, and the gripping mechanism and the endoscope body are detachably connected. In this way, different gripping mechanisms can be selected as needed to meet usage requirements while reducing costs.

[0026] It should be noted that the grasping mechanism can be a biopsy forceps, retrieval forceps, foreign body forceps, stone retrieval basket, etc., which are used to remove human tissue or other foreign bodies under endoscopic conditions, and no specific limitation is made here.

[0027] Reference Figures 1 to 10 The endoscope body includes an endoscope handle 91 and an insertion tube 92 connected to the endoscope handle 91; the endoscope handle 91 is also provided with an insertion tube control component 93, which controls the direction of the distal end of the insertion tube 92; wherein, an instrument channel 95 is provided inside the insertion tube 92; the grasping mechanism includes a grasping mechanism housing 1, and the endoscope handle 91 includes a main housing 911 and a secondary housing 912 detachably connected to the main housing 911; a receiving cavity is formed between the main housing 911 and the secondary housing 912 to cooperate with the grasping mechanism housing 1.

[0028] Reference Figures 1 to 10 After the secondary housing 912 is removed from the main housing 911, the receiving cavity can be opened, thereby allowing the gripping mechanism housing 1 in the receiving cavity to be taken out, thus realizing the detachability of the gripping mechanism. In this embodiment, the gripping mechanism is detachably installed in the endoscope as an independent device, and can be assembled separately during production, which is beneficial to improving production progress and yield.

[0029] Reference Figures 1 to 10 In this embodiment, the gripping mechanism further includes a drive outer tube 3 and a drive inner wire 5 extending out of the gripping mechanism housing 1. The distal ends of the drive outer tube 3 and the drive inner wire 5 are respectively connected to the clamping assembly 6. Specifically, the drive inner wire 5 passes through the drive outer tube 3 and is movable relative to the drive outer tube 3. The clamping assembly 6 includes a clamping seat 63 fixedly disposed at the distal end of the drive outer tube 3, two clamping plates 62, and two connecting rods 61 rotatably connected to the two clamping plates 62 respectively. A first pivot shaft is provided between the clamping seat 63 and the two clamping plates 62, and a second pivot shaft is provided between the distal end of the drive inner wire 5 and the two connecting rods 61.

[0030] Reference Figures 1 to 10 When the inner drive wire 5 is fixed, the second pivot shaft is also fixed. The outer drive tube 3 moves towards the distal end relative to the inner drive wire 5, causing the first pivot shaft to move. The two clamping plates 62 then move closer to each other to perform a clamping action. In this embodiment, the clamping assembly is a flat-mouth structure without a needle. In other optional embodiments, a toothed structure with a needle or a flat-mouth structure with a needle can also be used. No limitation is made here. Of course, the structure of the clamping assembly can also be adjusted as needed. The clamping action can be performed by the relative movement of the outer drive tube and the inner drive wire.

[0031] Reference Figures 1 to 10 An instrument channel 95 is provided inside the insertion tube 92; a passage connecting the receiving cavity and the instrument channel 95 is provided inside the main housing 911. The drive outer tube 3 extends into the instrument channel 95 through the passage and can move within the instrument channel 95; that is, when the grasping mechanism housing 1 is removed from the receiving cavity, the drive outer tube 3 is pulled out from the instrument channel 95 and the passage, realizing the separation of the grasping mechanism from the endoscope; when installing the grasping mechanism, first insert the drive outer tube 3 into the instrument channel 95 through the passage, then embed the grasping mechanism housing 1 into the receiving cavity, and then install the secondary housing 912 onto the main housing 911.

[0032] Reference Figures 1 to 10 In this embodiment, the gripping mechanism further includes a drive mechanism, which includes a drive button 85 and a reversing transmission assembly. A gripping mechanism control button 94, which abuts against the drive button 85, is provided on the endoscope handle 91. The gripping mechanism control button 94 and the drive button 85 are separately arranged and abut against each other, facilitating easy disassembly and docking. Preferably, a return spring 86 is provided between the drive button 85 and the gripping mechanism housing 1. The elastic force of the return spring 86 causes the drive button 85 to tend to move to abut against the gripping mechanism control button 94, thus effectively ensuring the consistency and stability of the movement of the gripping mechanism control button 94 and the drive button 85. Of course, in other optional embodiments, the drive button 85 can also extend directly from the endoscope handle 91 for operation, which is not limited here. Reference Figures 1 to 10 In this embodiment, the gripping mechanism further includes a first movable seat 2 and a second movable seat 4 disposed within the gripping mechanism housing 1; the proximal end of the drive outer tube 3 is fixedly connected to the first movable seat 2, and the proximal end of the drive inner wire 5 is fixedly connected to the second movable seat 4; the first movable seat 2 can move relative to the gripping mechanism housing 1, and the second movable seat 4 can move relative to the gripping mechanism housing 1; that is, in this embodiment, the drive outer tube 3 is moved by the first movable seat 2, and the drive inner wire 5 is moved by the second movable seat 4.

[0033] Reference Figures 1 to 10When the second movable seat 4 is fixed relative to the gripping mechanism housing 1, the first movable seat 2 moves relative to the gripping mechanism housing 1 toward the distal end to control the clamping assembly 6 to perform a gripping action; when the second movable seat 4 is fixed relative to the gripping mechanism housing 1, that is, the second movable seat 4 cannot move relative to the gripping mechanism housing 1 toward the distal end; then, when the second movable seat 4 is fixed relative to the gripping mechanism housing 1, the drive inner thread 5 is fixed relative to the gripping mechanism housing 1, and the first movable seat 2 moves relative to the gripping mechanism housing 1 toward the distal end, driving the drive outer tube 3 to move toward the distal end, thereby controlling the clamping assembly 6 to perform a gripping action.

[0034] Reference Figures 1 to 10 In this embodiment, the clamping action is performed while extending forward, which is conducive to high-precision operation and ensures that the tissue can be clamped; of course, the displacement of the forward extension is very small and will not cause any additional impact.

[0035] Reference Figures 1 to 10 Under the action of the drive mechanism, the first moving seat 2 and the second moving seat 4 move a first stroke relative to the gripping mechanism housing 1 toward the far end. Then the second moving seat 4 is fixed relative to the gripping mechanism housing 1, and the first moving seat 2 continues to move a second stroke relative to the gripping mechanism housing 1 to control the clamping assembly 6 to perform the gripping action.

[0036] Reference Figures 1 to 10 Before the endoscope insertion tube 92 is inserted to the designated position, the clamp assembly 6 is located in the instrument channel 95 of the endoscope and is in a clamping state with the two sides close to each other. After reaching the designated position, the first moving seat 2 and the second moving seat 4 move synchronously for a first stroke, so that the clamp assembly 6 extends out of the instrument channel 95 of the endoscope and switches from the clamping state to the open state. Then, the second moving seat 4 continues to move for a second stroke to control the clamp assembly 6 to perform the clamping action.

[0037] Reference Figures 1 to 10 In this embodiment, the first moving seat 2 and the second moving seat 4 are controlled to move synchronously for a first stroke by the drive mechanism so that the clamp assembly 6 extends out of the instrument channel 95 of the endoscope. In this way, the clamp assembly 6 can be extended and the clamping action can be realized by simply operating the drive mechanism, which is convenient to operate.

[0038] Reference Figures 1 to 10Preferably, in this embodiment, the gripping mechanism housing 1 is provided with a first limiting surface 11 that cooperates with the second movable seat 4; the first movable seat 2 and the second movable seat 4 move synchronously toward the distal end, and when the second movable seat 4 contacts the first limiting surface 11, it cannot continue to move, that is, it is fixed relative to the gripping mechanism housing 1; the first limiting surface 11 is used to change the movement state of the first movable seat 2 and the second movable seat 4, which is simple and ingenious in structure and has good stability; of course, in other optional embodiments, other structures can also be used to prevent the movement of the second movable seat 4, which is not limited here.

[0039] Reference Figures 1 to 10 In this embodiment, the driving mechanism is connected to the first movable seat 2, and a flexible transmission component is provided between the first movable seat 2 and the second movable seat 4; the driving force of the driving mechanism acts directly on the first movable seat 2 and drives the first movable seat 2 to move relative to the gripping mechanism housing 1; through the flexible transmission component, the first movable seat 2 drives the second movable seat 4 to move synchronously; after the second movable seat 4 is blocked by the first limiting surface 11, the flexible transmission component provides a clearance stroke to avoid jamming.

[0040] Reference Figures 1 to 10 In this embodiment, the driving mechanism acts directly on the first movable seat 2, and a flexible transmission component is set between the first movable seat 2 and the second movable seat 4. This simplifies the structure and facilitates operation. Of course, in other optional embodiments, the driving mechanism can also be connected to the first movable seat and the second movable seat respectively, that is, the driving mechanism drives the first movable seat and the second movable seat to move respectively. This is not a limitation.

[0041] Reference Figures 1 to 10 Preferably, in this embodiment, the flexible transmission component includes a first spring 71, and a second limiting surface 24 is provided on the first movable seat 2. The elastic force of the first spring 71 causes the second movable seat 4 to tend to move towards the distal end relative to the first movable seat 2 until it contacts the second limiting surface 24. Under the action of the elastic force of the first spring 71, the second movable seat 4 is fixed relative to the first movable seat 2, so the two can move synchronously for a first stroke. When the second movable seat 4 contacts the first limiting surface 11 and cannot move, the first movable seat 2 continues to move, and the first spring 71 is compressed to provide a clearance stroke. Using the first spring 71 as the flexible transmission component has the advantages of simple structure and convenient assembly. Of course, in other optional embodiments, the flexible transmission component can also use other parts or components, which are not limited here.

[0042] Reference Figures 1 to 10 Preferably, a first guide limiting structure is provided between the second movable seat 4 and the first movable seat 2, and a second guide limiting structure is provided between the first movable seat 2 and the gripping mechanism housing 1, thereby improving the stability of the movement of the first movable seat 2 and the second movable seat 4.

[0043] Reference Figures 1 to 10 Specifically, in this embodiment, the first movable seat 2 includes a first shaft segment 21 arranged axially, two guide rods 23 arranged opposite to each other, a second shaft segment 22, and an end plate 25; the second movable seat 4 is located between the first shaft segment 21 and the second shaft segment 22, and the second movable seat 4 is provided with a guide hole 41 for the guide rods 23 to pass through; that is, the first guide limiting structure includes guide rods 23 and guide holes 41; the first spring 71 is sleeved on the guide rods 23 and the second shaft segment 22, one end of the first spring 71 is in contact with the second movable seat 4, and the other end is in contact with the end plate 25; the second limiting surface 24 is formed on the end face of the first shaft segment 21, and the second limiting surface 24 is opposite to the second shaft segment 22.

[0044] Reference Figures 1 to 10 In this embodiment, the driving outer tube 3 is fixedly inserted through the first shaft section 21, and the proximal opening of the driving outer tube 3 is flush with or recessed in the second limiting surface 24; the driving inner wire 5 passes through the proximal opening of the driving outer tube 3 and is fixedly embedded in the second movable seat 4; the second movable seat 4 protrudes radially from the first shaft section 21, so as to be able to contact the first limiting surface 11.

[0045] Reference Figures 1 to 10 In this embodiment, the first guide limiting structure of the first movable seat 2 and the second movable seat 4 has the advantages of being simple, ingenious, and having good stability. In other optional embodiments, other guide limiting structures can be used between the first movable seat 2 and the second movable seat 4, which are not limited here.

[0046] Reference Figures 1 to 10 In this embodiment, the sidewalls of the end plate 25 are respectively provided with a first protrusion 26 and a second protrusion 27, which are arranged vertically. The gripping mechanism housing 1 is respectively provided with a first guide groove 12 that matches the first protrusion 26 and a second guide groove 13 that matches the second protrusion 27. That is, the second guide limiting structure in this embodiment includes the first protrusion 26, the second protrusion 27, the first guide groove 12 and the second guide groove 13. The vertical arrangement of the first protrusion 26 and the second protrusion 27 can improve the stability of the movement of the first moving seat 2. Of course, in other optional embodiments, other guide limiting structures can also be used between the first moving seat 2 and the gripping mechanism housing 1, which are not limited here.

[0047] Reference Figures 1 to 10 Preferably, a second spring 72 is provided between the first movable seat 2 and the gripping mechanism housing 1. The elastic force of the second spring 72 causes the first movable seat 2 to tend to move towards the proximal end relative to the gripping mechanism housing 1. When performing the gripping action, the second spring 72 is compressed. After the gripping action is completed, the second spring 72 plays a reset role, thereby facilitating operation.

[0048] Reference Figures 1 to 10 Preferably, in this embodiment, the drive button 85 moves along a straight line, and the direction of movement of the drive button 85 is inclined or perpendicular to the direction of movement of the first moving base 2. Preferably, the direction of movement of the drive button 85 is inclined relative to the direction of movement of the first moving base 2, so that the direction of movement of the drive button 85 is similar to the movement trajectory of the finger, which conforms to ergonomics and makes it easy to operate. Of course, in other optional embodiments, the direction of movement of the drive button 85 can also be parallel to the direction of movement of the first moving base 2, which is not limited here.

[0049] Reference Figures 1 to 10 In this embodiment, the moving direction of the gripping mechanism control button 94 is the same as the moving direction of the drive button 85. When the finger presses the gripping mechanism control button 94 directly, the gripping mechanism control button 94 will then drive the drive button 85 to move.

[0050] Reference Figures 1 to 10 In this embodiment, the touch-sensitive area of ​​the insertion tube control 93 and the gripping mechanism control button 94 are arranged 180° opposite each other. This conforms to ergonomics, facilitates one-handed operation, and reduces the difficulty of operation. For example, when holding the endoscope handle 91, the thumb contacts the touch-sensitive area of ​​the insertion tube control 93, while the index or middle finger can contact the gripping mechanism control button 94. Furthermore, the movement direction of the gripping mechanism control button 94 matches the bending trajectory of the index finger, thereby improving operational comfort and reducing the difficulty of operation.

[0051] Reference Figures 1 to 10 Preferably, in this embodiment, the reversing transmission assembly includes a first rack 81 connected to the end plate 25 of the first movable seat 2, a large gear 82 meshing with the first rack 81, a small gear 83 coaxially linked with the large gear 82, and a second rack 84 meshing with the small gear 83. The second rack 84 is connected to a drive button 85. The drive button 85 drives the second rack 84 to move, and the second rack 84 drives the small gear 83 and the large gear 82 to rotate synchronously. The large gear 82 drives the first rack 81 to move, and the first rack 81 drives the first movable seat 2 to move.

[0052] Reference Figures 1 to 10 In this embodiment, the reversing transmission assembly uses two gear and rack assemblies. The angle of the second rack 84 can be adjusted as needed, thereby flexibly setting the moving direction of the drive button 85 and optimizing the operating experience. In this embodiment, the large gear 82 and the small gear 83 are relative. The large gear 82 and the small gear 83 cooperate to shorten the moving stroke of the drive button 85, which not only facilitates operation but also optimizes the size. In other optional embodiments, the reversing transmission assembly can also adopt other structures, which are not limited here.

[0053] The working principle is as follows: Before the endoscope insertion tube 92 is inserted into the designated position, the clamp assembly 6 is located in the instrument channel 95 of the endoscope under the elastic force of the second spring 72; under the restriction of the instrument channel 95, the clamp assembly 6 overcomes the elastic force of the first spring 71 and is in a clamping state that is close to each other; at this time, a small gap is formed between the second moving seat 4 and the second limiting surface 24.

[0054] After reaching the designated position, press the gripping mechanism control button 94 to make the clamp assembly 6 extend out of the instrument channel 95; after the clamp assembly 6 extends, it switches from the gripping state to the open state under the elastic force of the first spring 71.

[0055] Next, continue pressing the gripping mechanism control button 94 to drive the outer tube 3 to continue moving and control the clamping assembly 6 to perform the gripping action.

[0056] Then, release the gripping mechanism control button 94, and under the elastic force of the second spring 72, the clamp assembly 6 retracts into the instrument channel 95.

[0057] In this embodiment, after the clamp assembly 6 extends out of the instrument channel 95, it is within the visible range of the insertion tube 92. Therefore, the operator can observe the state of the clamp assembly 6. Thus, the two pressing strokes of the gripping mechanism control button 94 are controlled by the operator directly observing the state of the clamp assembly 6, without using additional pressing stroke prompts. Without using additional pressing stroke prompts, the operator's attention points are reduced, which helps the operator concentrate on observation and operation.

Claims

1. An endoscope with a built-in detachable gripping mechanism, comprising an endoscope handle and a gripping mechanism, characterized in that: The grasping mechanism includes a grasping mechanism housing, and the endoscope handle includes a main housing and a secondary housing detachably connected to the main housing; a receiving cavity is formed between the main housing and the secondary housing to cooperate with the grasping mechanism housing; The gripping mechanism further includes a drive outer tube and a drive inner wire extending from the gripping mechanism housing. The distal ends of the drive outer tube and the drive inner wire are provided with a clamping assembly. The clamping assembly includes a clamping seat connected to the drive outer tube, two clamping plates, and two connecting rods rotatably connected to the two clamping plates respectively. A first pivot shaft is provided between the clamping seat and the two clamping plates, and a second pivot shaft is provided between the drive inner wire and the two connecting rods. The endoscope handle is connected to an insertion tube, and an instrument channel is provided inside the insertion tube; The main housing has a passageway connecting the receiving cavity and the instrument channel, or the main housing and the sub-housing form a passageway connecting the receiving cavity and the instrument channel; the drive outer tube extends into the instrument channel through the passageway. The gripping mechanism further includes a first movable seat and a second movable seat disposed within the gripping mechanism housing; a driving mechanism is also disposed within the gripping mechanism housing, the driving mechanism being connected to the first movable seat, and a first spring being disposed between the first movable seat and the second movable seat; The proximal end of the drive outer tube is connected to the first movable seat, and the proximal end of the drive inner wire is connected to the second movable seat. The drive outer tube is moved by the first movable seat, and the drive inner wire is moved by the second movable seat. The gripping mechanism housing is provided with a first limiting surface that cooperates with the second movable seat; when the second movable seat moves to contact the first limiting surface, it remains fixed relative to the gripping mechanism housing. Under the action of the drive mechanism, the first and second movable seats move a first stroke relative to the gripping mechanism housing toward the distal end, causing the clamping assembly to extend out of the instrument channel. After the clamping assembly extends, it switches from the gripping state to the open state under the elastic force of the first spring. When the second movable seat is fixed relative to the gripping mechanism housing, the drive inner wire is fixed relative to the gripping mechanism housing, and the first movable seat continues to move a second stroke relative to the gripping mechanism housing toward the distal end, driving the drive outer tube to move toward the distal end, thereby controlling the clamping assembly to perform the gripping action.

2. The endoscope with a built-in detachable gripping mechanism according to claim 1, characterized in that: The grasping mechanism also includes a drive button; the drive button extends from the endoscope handle and is used for operation; or, the endoscope handle is provided with a grasping mechanism control button that abuts against the drive button.

3. The endoscope with a built-in detachable gripping mechanism according to claim 2, characterized in that: A return spring is provided between the drive button and the gripping mechanism housing; the elastic force of the return spring causes the drive button to tend to move to abut against the gripping mechanism control button.

4. The endoscope with a built-in detachable gripping mechanism according to claim 1, characterized in that: The first movable seat is provided with a second limiting surface; the elastic force of the first spring causes the second movable seat to tend to move relative to the first movable seat toward the distal end until it contacts the second limiting surface.

5. The endoscope with a built-in detachable gripping mechanism according to claim 1, characterized in that: The driving mechanism includes a driving button and a reversing transmission assembly; the moving direction of the driving button is arranged at an angle or perpendicular to the moving direction of the first moving seat.

6. The endoscope with a built-in detachable gripping mechanism according to claim 5, characterized in that: The reversing transmission assembly includes a first rack connected to a first movable seat, a large gear meshing with the first rack, a small gear coaxially linked with the large gear, and a second rack meshing with the small gear. The second rack is connected to a drive button.

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