Multi-degree-of-freedom endoscope control device

Abstract

The invention discloses a multi-degree-of-freedom endoscope control device which comprises an operation shell used for being connected with a flexible pipe; the operation wheel mechanism is in running fit with the operation shell and is used for controlling multi-angle bending and steering of the far end of the flexible pipe through a traction rope; the locking mechanism comprises a locking assembly and a shifting assembly, the shifting assembly is used for driving the locking assembly to transversely expand in the radial direction of the operation wheel mechanism, and the operation wheel mechanism is locked relative to the operation shell by means of friction force between the locking assembly and the operation wheel mechanism. The operation wheel mechanism is used for controlling multi-angle bending steering of the far end of the flexible pipe, meanwhile, the locking mechanism locks the operation wheel mechanism in a transverse expansion mode, the locking structure is more stable and efficient, a doctor can more accurately control the bending angle of the endoscope, operation is more accurate and convenient, and the operation efficiency is improved. No-dead-corner observation of the endoscope can be achieved, and the working efficiency and quality of doctors can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of endoscopes, and particularly relates to a multi-degree-of-freedom endoscope control device. BACKGROUND

[0002] An endoscope is a device that can be used to observe the state of internal organs of a human body. The endoscope can send a camera capable of taking images into the corresponding internal organs of the human body through a pipeline, so as to observe the state of the internal organs of the human body. The endoscope mainly comprises an insertion part and an operation part. The proximal end of the insertion part is connected to the operation part. The operation part is provided with a control device capable of controlling the bending of the operation part. The orientation of the distal end of the insertion part is adjusted through the operation part, so that the insertion part enters the body through a body cavity or a surgical incision to observe the required position.

[0003] The existing control device mainly comprises an operation mechanism and a locking mechanism. The locking mechanism usually comprises a locking piece with a tooth and a plurality of tooth grooves formed on the outer periphery of a steering piece. When the locking piece is operated to be close to the steering piece radially, the tooth grooves of the steering piece will engage with the tooth to lock the steering piece. When the locking piece is operated to be away from the steering piece radially, the tooth grooves of the steering piece will disengage from the tooth to release the steering piece for steering the distal end of the insertion part.

[0004] However, the existing locking mechanism cannot lock at any angle due to the gap between the tooth grooves. That is, the steering piece in the existing locking mechanism must be rotated to an angle at which the tooth grooves are completely aligned with the tooth of the locking piece, so that the tooth grooves can engage with the tooth to achieve locking. However, in actual application, after the orientation of the distal end of the insertion part is adjusted to the required angle, the tooth grooves of the steering piece are most likely not completely aligned with the tooth of the locking piece. Therefore, the steering piece needs to be slightly rotated (tightened or loosened) to achieve locking, which causes the orientation of the distal end of the insertion part to be unable to be accurately locked at the required angle, affecting the observation effect of the endoscope. SUMMARY

[0005] The purpose of the present application is to provide a multi-degree-of-freedom endoscope control device to solve the above-mentioned problems in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: a multi-degree-of-freedom endoscope control device, comprising: an operation shell for connecting a flexible tube; an operation wheel mechanism in rotational cooperation with the operation shell for controlling the multi-angle bending and steering of the distal end of the flexible tube through a traction rope; and The locking mechanism comprises a locking assembly and a pushing assembly, the pushing assembly is used to drive the locking assembly to expand laterally along the radial direction of the operating wheel mechanism, and the operating wheel mechanism is locked relative to the operating shell by the friction between the locking assembly and the operating wheel mechanism.

[0007] As an optional implementation form of the technical scheme, the operating wheel mechanism comprises a first operating wheel and a second operating wheel, the first operating wheel is provided with a first friction slot for the locking assembly to move, the first operating wheel is connected with a first shaft sleeve, and an end of the first shaft sleeve is provided with a first wheel disc for connecting a traction rope; the second operating wheel is provided with a second friction slot for the locking assembly to move, the second operating wheel is connected with a second shaft sleeve, and an end of the second shaft sleeve is provided with a second wheel disc for connecting another traction rope.

[0008] As an optional implementation form of the technical scheme, the locking assembly comprises a first locking piece and a second locking piece, the pushing assembly comprises a first pushing piece and a second pushing piece, the first pushing piece is used to lock the first operating wheel by the first locking piece, and the second pushing piece is used to lock the second operating wheel by the second locking piece.

[0009] As an optional implementation form of the technical scheme, the first locking piece comprises a first friction block, the first friction block is provided with a first annular fixing seat, the first annular fixing seat is rotationally arranged in the first friction slot, the first annular fixing seat is provided with a first limiting sliding groove matched with the first friction block, and the first pushing piece is used to drive the first friction block to slide along the first limiting sliding groove, so that the first friction block is in contact with the inner wall of the first friction slot to lock the first operating wheel.

[0010] As an optional implementation form of the technical scheme, the first pushing piece comprises a control knob and a first rotating disc, a central shaft is arranged between the control knob and the operating shell, the first rotating disc is rotationally arranged on the central shaft, a cam is arranged on the first rotating disc, and the control knob is used to drive the first rotating disc to rotate, so that the cam pushes the first friction block to slide along the first limiting sliding groove.

[0011] As an optional implementation form of the technical scheme, the control knob is threadedly connected with the central shaft, and the control knob and the first rotating disc are connected through snap connection.

[0012] As an optional implementation form of the technical scheme, the first shaft sleeve is rotationally arranged outside the central shaft, and the second shaft sleeve is rotationally arranged outside the first shaft sleeve.

[0013] As an optional implementation form of the above technical solution, the second locking member comprises a second friction block, the second friction block is provided with a second annular fixing seat, the second annular fixing seat is rotationally arranged in a second friction groove, the second annular fixing seat is provided with a second limiting sliding groove matched with the second friction block, and the second driving member is used for driving the second friction block to slide along the second limiting sliding groove, so that the second friction block is in contact with the inner wall of the second friction groove, thereby locking the second operation wheel.

[0014] As an optional implementation form of the above technical solution, the second driving member comprises a second rotating disc and a driving cylinder, the second rotating disc is connected with the driving cylinder, the driving cylinder is rotationally matched with the second annular fixing seat, the surface of the driving cylinder is provided with a convex part and a groove part, and the second rotating disc is used for driving the driving cylinder to rotate, so that the convex part drives the second friction block to slide along the second limiting sliding groove.

[0015] As an optional implementation form of the above technical solution, the second rotating disc is connected with a handle rod.

[0016] As an optional implementation form of the above technical solution, one end of the operation shell is provided with a connecting head, one end of the flexible pipe is provided with a connecting seat, the connecting seat is rotationally connected with the connecting head, an angle adjusting sleeve is arranged between the connecting seat and the connecting head, the angle adjusting sleeve is connected with the connecting seat through buckling, and a damping ring is arranged between the angle adjusting sleeve and the connecting head.

[0017] As an optional implementation form of the above technical solution, the operation shell comprises an upper shell and a lower shell, and the upper shell and the lower shell are detachably connected.

[0018] The beneficial effects of the present application are as follows: In the present application, the operation wheel mechanism is used to control the multi-angle bending and turning of the distal end of the flexible pipe, the locking mechanism adopts a transversely expanded mode to lock the operation wheel mechanism, the locking structure is more stable and efficient, the doctor can more accurately control the bending angle of the endoscope, the operation is more accurate and convenient, the dead angle observation of the endoscope can be realized, and the working efficiency and quality of the doctor can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of a multi-degree-of-freedom endoscope control device in an embodiment of the present application; Figure 2 is a structural schematic diagram of an operation wheel mechanism and a locking mechanism in an embodiment of the present application; Figure 3 is a structural schematic diagram of a first operation wheel, a first shaft sleeve and a first disc in an embodiment of the present application; Figure 4 is a structural schematic diagram of a first locking member in an embodiment of the present application; Figure 5 is a structural schematic diagram of a first rotating disc in an embodiment of the present application; Figure 6 is a structural schematic diagram of a second operating wheel, a second shaft sleeve and a second disc in an embodiment of the present application; Figure 7 is a structural schematic diagram of a second locking member and a 44-second actuating member in an embodiment of the present application; Figure 8 is a structural schematic diagram of a connecting head and a connecting seat in an embodiment of the present application; Figure 9 is a use state diagram of a multi-degree-of-freedom endoscope control device in an embodiment of the present application.

[0020] In the figure: 1 - operating shell; 2 - flexible tube; 3 - operating wheel mechanism; 4 - locking mechanism; 5 - angle adjusting sleeve; 11 - connecting head; 21 - connecting seat; 31 - first operating wheel; 32 - second operating wheel; 33 - first shaft sleeve; 34 - first disc; 35 - second shaft sleeve; 36 - second disc; 41 - first locking member; 42 - second locking member; 43 - first actuating member; 44 - second actuating member; 411 - first friction block; 412 - first annular fixing seat; 421 - second friction block; 422 - second annular fixing seat; 431 - control knob; 432 - first rotating disc; 433 - central shaft; 434 - cam; 441 - second rotating disc; 442 - driving cylinder; 443 - protruding part; 444 - recessed part; 445 - handle bar. DETAILED DESCRIPTION

[0021] As shown in Figures 1-9 , the embodiment provides a multi-degree-of-freedom endoscope control device, which comprises an operating shell 1, an operating wheel mechanism 3 and a locking mechanism 4, the operating shell 1 is used for connecting a flexible tube 2, wherein the operating shell 1 comprises an upper shell and a lower shell, and the upper shell and the lower shell are detachably connected. The operating wheel mechanism 3 is rotationally matched with the operating shell 1, and the operating wheel mechanism 3 controls the multi-angle bending steering of the distal end of the flexible tube 2 through a traction rope such as a steel wire rope. The locking mechanism 4 comprises a locking assembly and an actuating assembly, the actuating assembly is used for driving the locking assembly to expand laterally along the radial direction of the operating wheel mechanism 3, and the operating wheel mechanism 3 is locked relative to the operating shell 1 by relying on the friction force between the locking assembly and the operating wheel mechanism 3.

[0022] In the present application, the operating wheel mechanism 3 is used for controlling the multi-angle bending steering of the distal end of the flexible tube 2, and the locking mechanism 4 adopts the lateral expansion mode to lock the operating wheel mechanism 3, the locking structure is more stable and efficient, the doctor can more accurately control the bending angle of the endoscope, the operation is more accurate and convenient, the dead angle observation of the endoscope can be realized, and the working efficiency and quality of the doctor can be improved.

[0023] As Figure 2 , Figure 3 and Figure 6 shown, in this embodiment, the operating wheel mechanism 3 includes a first operating wheel 31 and a second operating wheel 32, the first operating wheel 31 is provided with a first friction slot for the locking assembly to move, the first operating wheel 31 is connected with a first shaft sleeve 33, the end of the first shaft sleeve 33 is provided with a first disc 34 for connecting a traction rope; the second operating wheel 32 is provided with a second friction slot for the locking assembly to move, the second operating wheel 32 is connected with a second shaft sleeve 35, the end of the second shaft sleeve 35 is provided with a second disc 36 for connecting another traction rope. By rotating the first operating wheel 31 and the second operating wheel 32, the bending angle of the flexible pipe 2 can be adjusted by using the traction rope. The present application adopts four-way and stable full-angle control to realize the multi-angle steering function of the flexible pipe 2.

[0024] As Figure 2 shown, the locking assembly includes a first locking piece 41 and a second locking piece 42, the poking assembly includes a first poking piece 43 and a second poking piece 44, the first poking piece 43 locks the first operating wheel 31 by using the first locking piece 41, and the second poking piece 44 locks the second operating wheel 32 by using the second locking piece 42.

[0025] As Figure 4 shown, specifically, the first locking piece 41 includes a first friction block 411, the first friction block 411 is provided with a first annular fixing seat 412, the first annular fixing seat 412 is rotationally arranged in the first friction slot, the first annular fixing seat 412 is provided with a first limiting sliding groove matched with the first friction block 411, and the first poking piece 43 is used to drive the first friction block 411 to slide along the first limiting sliding groove, so that the first friction block 411 is in contact with the inner wall of the first friction slot to lock the first operating wheel 31. The opposite sides of the first annular fixing seat 412 are provided with first limiting sliding grooves, and each first limiting sliding groove is provided with a first friction block 411. Under the action of the first poking piece 43, the two first friction blocks 411 slide along the first limiting sliding grooves and gradually approach the inner wall of the first friction slot. After the first friction block 411 is in contact with the inner wall of the first friction slot, the first operating wheel 31 is locked by using the friction force between the first friction block 411 and the inner wall of the first friction slot.

[0026] The first actuating element 43 includes a control knob 431 and a first rotating disk 432. A central shaft 433 is provided between the control knob 431 and the operating housing 1. The first rotating disk 432 is rotatably mounted on the central shaft 433 and has a cam 434. The control knob 431 drives the first rotating disk 432 to rotate, causing the cam 434 to push the first friction block 411 to slide along the first limiting groove. Preferably, the control knob 431 is threaded to the central shaft 433, and the control knob 431 is connected to the first rotating disk 432 via a snap-fit ​​connection. The first bushing 33 is rotatably sleeved on the outside of the central shaft 433, and the second bushing 35 is rotatably sleeved on the outside of the first bushing 33. Figure 5 As shown, the cam 434 is elliptical. When the doctor drives the control knob 431 to rotate, the first rotating disk 432 rotates together with the control knob 431. The cam 434 at the bottom of the first rotating disk 432 rotates and contacts the first friction block 411, pushing the first friction block 411 to slide along the first limiting groove, so that the first friction block 411 contacts the inner wall of the first friction groove, locking the first operating wheel 31.

[0027] like Figure 7 As shown, in this embodiment, the second locking member 42 includes a second friction block 421. The second friction block 421 is equipped with a second annular fixing seat 422, which is rotatably disposed within a second friction groove. The second annular fixing seat 422 is provided with a second limiting slide groove adapted to the second friction block 421. The second actuating member 44 is used to drive the second friction block 421 to slide along the second limiting slide groove, so that the second friction block 421 contacts the inner wall of the second friction groove, thereby locking the second operating wheel 32. Second limiting slide grooves are provided on both opposite sides of the second annular fixing seat 422, and each second limiting slide groove is provided with a second friction block 421. Under the action of the second actuating member 44, the two second friction blocks 421 slide along the second limiting slide groove and gradually approach the inner wall of the second friction groove. After the second friction block 421 contacts the inner wall of the second friction groove, the friction between the second friction block 421 and the inner wall of the second friction groove locks the second operating wheel 32.

[0028] The second actuating element 44 includes a second rotating disk 441 and a driving cylinder 442. The second rotating disk 441 is connected to the driving cylinder 442, which is rotatably engaged with a second annular fixed seat 422. The surface of the driving cylinder 442 is provided with a protrusion 443 and a groove 444. The second rotating disk 441 drives the driving cylinder 442 to rotate, so that the protrusion 443 pushes the second friction block 421 to slide along the second limiting groove. Preferably, the second rotating disk 441 is connected to a handle 445. When the second operating wheel 32 is not locked, the groove 444 of the drive cylinder 442 faces the second friction block 421; when locking is required, the second rotating disk 441 is driven to rotate by the handle 445, and the drive cylinder 442 and the second rotating disk 441 rotate together. At this time, the protrusion 443 on the surface of the drive cylinder 442 contacts the second friction block 421 and pushes the second friction block 421 to slide along the second limiting groove, so that the second friction block 421 contacts the inner wall of the second friction groove, thereby locking the second operating wheel 32.

[0029] In this embodiment, as Figure 8 As shown, one end of the operating housing 1 is provided with a connector 11, and one end of the flexible tube 2 is provided with a connector 21. The connector 21 is rotatably connected to the connector 11, and an angle adjustment sleeve 5 is provided between the connector 21 and the connector 11. The angle adjustment sleeve 5 is connected to the connector 21 by a snap-fit, and a damping ring is provided between the angle adjustment sleeve 5 and the connector 11. By controlling the rotation of the angle adjustment sleeve 5 with external force, the damping ring can produce a certain damping effect. The angle adjustment sleeve 5 drives the connector 21 to rotate, realizing the manual rotation adjustment of the flexible tube 2, which is beneficial for achieving endoscope observation without blind spots.

[0030] This embodiment also provides a method for using a multi-degree-of-freedom endoscope control device, including the following steps: S1, the movement of the wire rope is controlled by the traction mechanism 3; S2, using the pulling action of the steel wire rope to pull the flexible tube 2 to bend the flexible tube 2; S3, the operating wheel mechanism 3 is locked by the locking mechanism 4; S4, the bending direction of the flexible tube 2 is manually adjusted by operating the angle adjustment sleeve 5 at the front end of the outer shell 1; Furthermore, endoscopes can be applied to electronic esophagoscopes, electronic gastroscopes, electronic duodenoscopes, electronic enteroscopes, electronic colonoscopes, electronic laryngoscopes, electronic bronchoscopes, electronic laparoscopes, electronic cholangioscopes, colposcopes, hysteroscopes, vascular endoscopes, and arthroscopy, etc.

[0031] Furthermore, in step S1, the movement of the wire rope is driven by rotating the first operating wheel 31 and the second operating wheel 32. The first operating wheel 31 is a small wheel, and the second operating wheel 32 is a large wheel. The large wheel and the small wheel can rotate left and right respectively to control two directions, such as... Figure 9 As shown, the rotation of the large wheel and the small wheel can achieve control in four directions, and the corresponding flexible tube 2 can be bent in four directions.

[0032] Furthermore, in step S3, the first actuating member 43 uses the first locking member 41 to laterally compress the inner wall of the first operating wheel 31 to generate resistance and achieve the locking function, and the second actuating member 44 uses the second locking member 42 to laterally compress the inner wall of the second operating wheel 32 to generate resistance and achieve the locking function.

[0033] Furthermore, the first actuating element 43 includes a control knob 431 and a first rotating disk 432, with the control knob 431 and the first rotating disk 432 connected by a snap-fit. The control knob 431 drives the first rotating disk 432 to rotate, and the cam 434 at the bottom of the first rotating disk 432 opens the first friction block 411, causing the first friction block 411 to contact the inner wall of the first friction groove, thereby locking the first operating wheel 31 and fixing the small wheel. The second actuating element 44 includes a second rotating disk 441 and a drive cylinder 442. The second rotating disk 441 is connected to a handle 445. The handle 445 drives the second rotating disk 441 to rotate, causing the protrusion 443 on the surface of the drive cylinder 442 to rotate. The protrusion 443 pushes the second friction block 421 out, causing the second friction block 421 to contact the inner wall of the second friction groove, thereby locking the second operating wheel 32 and fixing the large wheel.

[0034] In step S4, the angle adjustment sleeve 5 is rotated by manual control, and the damping ring produces a certain damping effect. The angle adjustment sleeve 5 is connected to the connecting seat 21 by a snap-fit. The angle adjustment sleeve 5 and the connecting head 11 are engaged by an annular rotatable slide groove. The damping ring is set in the slide groove. Rotating the angle adjustment sleeve 5 drives the connecting seat 21 to rotate, thereby realizing the rotation of the flexible tube 2 and achieving observation without blind spots.

[0035] Compared with the prior art, the present invention has a wider range of applications. By rotating the first operating wheel 31 and the second operating wheel 32, the desired observation angle can be achieved. The angle of the flexible tube 2 is locked by the locking mechanism 4, and the orientation of the flexible tube 2 is adjusted by the angle adjustment sleeve 5, so as to achieve observation without blind spots and assist doctors in completing accurate observation of lesions.

[0036] In the description of the application, the terms "installation", "connection", "connection", "fixation" and the like should be broadly understood, which can be fixed connection, detachable connection or integral; can be mechanical connection or electrical connection; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship of two elements, and those skilled in the art can understand the specific meaning of the above terms in the application. In addition, the specific features, structures and the like described in the embodiments are included in at least one embodiment, and those skilled in the art can combine the features of different embodiments without mutual contradiction. The protection scope of the application is not limited to the above specific embodiments, and according to the basic technical concept of the application, those skilled in the art can think of embodiments without creative labor, which belong to the protection scope of the application.

Claims

1. A multi-degree-of-freedom endoscope control device, characterized by, The utility model relates to a kind of flexible pipe steering device, including: Operating shell (1) for connecting flexible pipe (2); Operating wheel mechanism (3) is rotationally matched with operating shell (1), for the remote end of flexible pipe (2) is controlled by traction rope multi-angle bending steering;And Locking mechanism (4) includes locking assembly and dialing assembly, the dialing assembly is used to drive locking assembly along the radial of operating wheel mechanism (3) and transverse expansion, and operating wheel mechanism (3) is locked relative to operating shell (1) by the friction between locking assembly and operating wheel mechanism (3).

2. The multi-degree-of-freedom endoscope control device according to claim 1, characterized by, The operating wheel mechanism (3) includes first operating wheel (31) and second operating wheel (32), the first operating wheel (31) is opened with the first friction slot for the activity of locking assembly, first operating wheel (31) is connected with first shaft sleeve (33), and the end of first shaft sleeve (33) is equipped with the first wheel disc (34) for connecting a traction rope;The second operating wheel (32) is opened with the second friction slot for the activity of locking assembly, and second operating wheel (32) is connected with second shaft sleeve (35), and the end of second shaft sleeve (35) is equipped with the second wheel disc (36) for connecting another traction rope.

3. The multi-degree-of-freedom endoscope control device according to claim 2, characterized by, The locking assembly includes first locking piece (41) and second locking piece (42), and the dialing assembly includes first dialing piece (43) and second dialing piece (44), the first dialing piece (43) is locked to first operating wheel (31) using first locking piece (41), and the second dialing piece (44) is locked to second operating wheel (32) using second locking piece (42).

4. The multi-degree-of-freedom endoscope control device according to claim 3, characterized by, The first locking piece (41) includes first friction block (411), and the first friction block (411) is equipped with first annular fixing seat (412), the first annular fixing seat (412) is rotationally arranged in the first friction slot, and the first annular fixing seat (412) is equipped with the first limit sliding groove matched with the first friction block (411), and the first dialing piece (43) is used to drive the first friction block (411) to slide along the first limit sliding groove, so that the first friction block (411) is in contact with the inner wall of the first friction slot to lock the first operating wheel (31).

5. The multi-degree-of-freedom endoscope control device according to claim 4, characterized by, The first dialing piece (43) includes control knob (431) and first rotary disc (432), and the control knob (431) is equipped with central shaft (433) between operating shell (1), and the first rotary disc (432) is rotationally arranged on the central shaft (433), and the first rotary disc (432) is equipped with cam (434), and the control knob (431) is used to drive the first rotary disc (432) to rotate, so that the cam (434) pushes the first friction block (411) to slide along the first limit sliding groove.

6. The multi-degree-of-freedom endoscope control device according to claim 5, characterized by, The control knob (431) is threadedly connected with the central shaft (433), and the control knob (431) is connected with the first rotary disc (432) by buckle connection.

7. The multi-degree-of-freedom endoscope control device according to claim 6, characterized by, The first shaft sleeve (33) is rotationally arranged outside the central shaft (433), and the second shaft sleeve (35) is rotationally arranged outside the first shaft sleeve (33).

8. The multi-degree-of-freedom endoscope control device according to claim 3, characterized by, The second locking piece (42) comprises a second friction block (421), which is provided with a second annular fixing seat (422) rotationally arranged in a second friction groove, and is provided with a second limiting sliding groove matched with the second friction block (421).

9. The multi-degree-of-freedom endoscope control device according to claim 8, characterized by, The second driving member (44) comprises a second rotating disc (441) and a driving cylinder (442), the second rotating disc (441) is connected with the driving cylinder (442), the driving cylinder (442) is rotationally matched with the second annular fixing seat (422), the surface of the driving cylinder (442) is provided with a convex part (443) and a concave part (444), the second rotating disc (441) is used for driving the driving cylinder (442) to rotate, so that the convex part (443) pushes the second friction block (421) to slide along the second limiting sliding groove; the second rotating disc (441) is connected with a handle rod (445).

10. The multi-degree-of-freedom endoscope control device of claim 1, wherein, One end of the operation shell (1) is provided with a connecting head (11), one end of the flexible pipe (2) is provided with a connecting seat (21), the connecting seat (21) is rotationally connected with the connecting head (11), and an angle adjusting sleeve (5) is arranged between the connecting seat (21) and the connecting head (11), the angle adjusting sleeve (5) is connected with the connecting seat (21) through buckling, and a damping ring is arranged between the angle adjusting sleeve (5) and the connecting head (11).

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