Endoscope insertion part angle detection device, traction wheel assembly, handle and endoscope

Abstract

The invention discloses an endoscope insertion part angle detection device, a traction wheel assembly, a handle and an endoscope. The detection device comprises a first gear which is coaxially arranged with the traction wheel; the second gear is arranged on the outer side of the first gear and meshed with the first gear; the magnetic sensing unit comprises a first magnet arranged on the rotating shaft end face or the axial end face of the second gear; the angle detection unit comprises a first Hall element corresponding to the position of the first magnet; and the controller is electrically connected with the first Hall element. The detection device has the advantages of being high in precision, real-time and the like, due to the advantages, the detection device can be deeply fused with AI auxiliary medical treatment, new transformation and improvement are brought to medical diagnosis and treatment, and the detection device has important clinical application value and wide development prospects.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an endoscope insertion angle detection device, a traction wheel assembly, a handle, and an endoscope. Background Technology

[0002] With advancements in medical technology, endoscopy, with its minimally invasive and visualization advantages, plays a vital role in clinical diagnosis and treatment, including digestive system diseases, urological surgeries, and thoracoscopic surgeries. For example, in early gastrointestinal cancer screening, endoscopy allows direct visualization of lesions, enabling pathological diagnosis through biopsies. In urological stone surgery, percutaneous nephrolithotomy and ureteroscopy can perform stone fragmentation under direct vision. However, when inserting endoscopes into body cavities, the complex structures of human organs (such as the S-shaped bends of the intestines and the branching structure of the bronchi) make it difficult for surgeons to precisely control the bending angle and direction of the insertion site. This often necessitates reliance on experience, leading to reduced surgical efficiency, increased patient discomfort, and even the risk of tissue damage due to improper operation. Currently, traditional endoscopes use a circular scale method, relying on the doctor's visual estimation of the bending angle of the insertion site. This method is highly subjective, inaccurate, labor-intensive, and inefficient. Meanwhile, while existing AI-assisted medical technologies have been applied in areas such as medical image recognition and disease diagnosis prediction, when combined with endoscopes, the lack of high-precision insertion site angle detection data prevents the accurate construction of a three-dimensional position model of the endoscope within the patient's body. This hinders real-time planning and intelligent navigation of the surgical path, limiting the depth and breadth of AI-assisted medical applications in endoscopic surgery.

[0003] Therefore, developing a method that can accurately detect the bending angle and direction of the endoscope insertion section is key to improving the safety, accuracy, and intelligence of endoscopic surgery, and has important practical significance for promoting the innovative development of medical technology. Summary of the Invention

[0004] This invention discloses an endoscope insertion angle detection device, a traction wheel assembly, a handle, and an endoscope to solve the aforementioned technical problems in related technologies.

[0005] To solve the above problems, the present invention adopts the following technical solution: In a first aspect, this application provides a first gear, which is coaxially arranged with the traction wheel; The second gear is disposed outside the first gear and meshes with the first gear; A magnetic sensing unit, the magnetic sensing unit including a first magnet disposed on the shaft end face or axial end face of the second gear; An angle detection unit, wherein the angle detection unit includes a first Hall element corresponding to the position of the first magnet; A controller, which is electrically connected to a first Hall element.

[0006] Secondly, this application provides a traction wheel assembly, including the aforementioned endoscope insertion angle detection device.

[0007] Thirdly, this application provides an endoscope handle, including the aforementioned traction wheel assembly.

[0008] Fourthly, this application provides an endoscope including the aforementioned endoscope handle.

[0009] The technical solution adopted in this invention can achieve the following beneficial effects: The endoscope insertion section angle detection device in this application is based on the principle of gear transmission and magnetoelectric conversion to achieve angle detection. Its detection process has the potential for deep synergy with AI-assisted medical applications. From the perspective of the detection principle, the first gear is coaxially arranged with the traction wheel, enabling the rotation of the traction wheel to be synchronously transmitted to the first gear. The second gear meshes with the first gear, converting the rotation of the first gear into its own rotational motion. A magnetic sensing unit has a first magnet installed on the shaft end face or axial end face of the second gear. The angle detection unit senses the magnetic signal through a corresponding first Hall element. When the traction wheel rotates, it drives the first gear to rotate, which in turn causes the second gear to rotate. The first magnet rotates accordingly, and the magnetic signal sensed by the first Hall element changes, generating an electrical signal output. After receiving the electrical signal from the first Hall element, the controller analyzes parameters such as the frequency and period of the magnetic signal change to calculate the rotation angle of the second gear. Then, based on the gear transmission ratio, it calculates the rotation angle of the traction wheel, thereby determining the bending angle of the endoscope insertion section. This detection principle boasts advantages such as simple structure and low cost. Through gear transmission and magnetoelectric conversion, it transforms mechanical rotation into quantifiable electrical signals, improving automation and accuracy compared to traditional visual detection methods. In its integration with AI-assisted medicine, this detection device provides crucial raw data for AI. AI can perform comprehensive analysis based on this real-time, accurate insertion point bending angle data, combined with endoscopic images, patient medical history, and other multi-dimensional data. For example, in complex endoscopic surgeries, AI can determine the endoscope's position and orientation within the patient's body in real time based on the insertion point angle data, and plan the optimal surgical path for the surgeon using organ models. Furthermore, by continuously analyzing large amounts of angle data, it can provide risk warnings for surgical procedures, assisting doctors in making more precise decisions. In addition, the vast amount of data generated by the detection device can be used for training and optimizing AI algorithms, improving AI's adaptability and accuracy in different patients and surgical scenarios, promoting the continuous development and improvement of AI-assisted medical technology, and providing strong support for achieving precision medicine. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is an installation diagram of an embodiment of this application; Figure 2 yes Figure 1 Enlarged diagram of section A in the middle; Figure 3 This is an installation diagram from another angle of an embodiment of this application; Figure 4 yes Figure 3 Enlarged diagram of section B; Figure 5 This is another installation diagram of an embodiment of this application; Figure 6 yes Figure 5 Enlarged diagram of section C; Figure 7 This is a schematic diagram of the installation of the second and third gears in an embodiment of this application; Figure 8 This is a schematic diagram of the installation of the first Hall element, the first magnet, the second Hall element, and the second magnet in the embodiments of this application; Figure 9 This is a schematic diagram showing the positional relationship between the elongated hole and the second and third gears in an embodiment of this application; Figure 10 This is a schematic diagram showing the installation position of the fixed column in an embodiment of this application; Figure 11 yes Figure 10 Enlarged schematic diagram of section D in the middle; Figure 12 This is a schematic diagram of the locking screw in an embodiment of this application; Figure 13 This is a schematic diagram of the external structure of the endoscope in Embodiment 4 of this application.

[0012] In the diagram: 10, First gear; 20, Second gear; 30, Third gear; 40, First magnet; 50, Second magnet; 60, First Hall element; 70, Second Hall element; 80, Mounting base; 90, First connector; 100, Second connector; 110, Elongated hole; 120, First column; 130, Second column; 140, Top surface; 150, Locking bolt; 160, Traction wheel; 170, Traction rope; 180, Housing; 190, First shaft; 200, Second shaft; 210, Handle; 220, Insertion part; 230, Lever; 240, Threaded mounting hole. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0014] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0015] In the various embodiments of this application, "near end" and "far end" refer to the distance of each component from the user in the usage environment. The end closer to the user is designated as the "near end", and the end farther from the user is designated as the "far end".

[0016] In the relevant technology, the doctor operates the lever 230 on the endoscope handle 210 to transmit the rotational motion to the traction wheel 160 at the proximal end of the insertion part 220 via the transmission component. One end of the traction rope 170, which is wound around the groove on the surface of the traction wheel 160, is fixed to the wheel, and the other end is connected to the joint ring of the curved section at the distal end of the insertion part 220. When the traction wheel 160 rotates to wind up or release the traction rope 170, it will generate a pulling force on the joint ring of the curved section, causing the multiple hinged joint rings to deform towards the force-bearing side, thereby achieving the bending of the insertion part 220.

[0017] In related technologies, accurately detecting the bending direction and angle of the insertion portion 220 within the body has always been a challenging problem for medical professionals. Existing methods for detecting the bending angle of the endoscope insertion portion 220 have many limitations. Therefore, this application proposes an endoscope insertion portion angle detection device, a traction wheel assembly, a handle, and an endoscope.

[0018] The following is in conjunction with the appendix Figures 1 to 13 The endoscopic insertion angle detection device, traction wheel assembly, handle and endoscope provided in this application will be described in detail through specific embodiments and application scenarios.

[0019] Example 1: This application provides an endoscope insertion section angle detection device, comprising: The first gear 10 is coaxially arranged with the traction wheel 160; The second gear 20 is disposed outside the first gear 10 and meshes with the first gear 10; The magnetic sensing unit includes a first magnet 40 disposed on the end face or axial end face of the first rotating shaft 190 of the second gear 20. An angle detection unit includes a first Hall element 60 corresponding to the position of the first magnet 40; The controller is electrically connected to the first Hall element 60.

[0020] In some embodiments, the detection device further includes a third gear 30 with a different number of teeth than the second gear 20, the third gear 30 being disposed outside the first gear 10 and meshing with the first gear 10; The magnetic sensing unit also includes a second magnet 50 disposed on the end face or axial end face of the second rotating shaft 200 of the third gear 30. The angle detection unit also includes a second Hall element 70 corresponding to the position of the second magnet 50, and the controller is electrically connected to the second Hall element 70. It is understood that the first gear 10 rotates coaxially with the traction wheel 160, driving the second gear 20 and the third gear 30, which have different numbers of teeth on their outer sides, to rotate. The magnetic sensing unit has a first magnet 40 and a second magnet 50 respectively installed on the end face or axial end face of the first shaft 190 and the second shaft 200 of the second gear 20 and the third gear 30. The angle detection unit senses changes in the magnetic field through the first Hall element 60 and the second Hall element 70 and converts them into electrical signals. Due to the difference in the number of teeth between the second gear 20 and the third gear 30, their speed difference is linearly related to the rotation angle of the traction wheel. By calculating the signal difference between the first Hall element 60 and the second Hall element 70, and combining it with a pre-calibrated transmission ratio, the controller can accurately calculate the rotation angle of the traction wheel 160, and thus determine the bending angle of the endoscope insertion part 220. Therefore, it has advantages such as high precision and real-time performance, which enable it to be deeply integrated with AI-assisted medicine, bringing new changes and improvements to medical diagnosis and treatment, and has important clinical application value and broad development prospects.

[0021] In some embodiments, the second gear 20 and the third gear 30 have the same module. Having the same module ensures accurate tooth profile matching when the second gear 20 and the third gear 30 mesh with the first gear 10, avoiding transmission interference and uneven wear caused by module differences, thus guaranteeing the stability and reliability of the gear transmission system. The same module also allows for the sharing of machining tools, reducing manufacturing costs. Furthermore, the standardized module makes the installation and debugging of the second gear 20 and the third gear 30 more convenient, facilitating standardized production and maintenance of the device. This provides a stable mechanical foundation for the angle detection of the endoscope insertion section 220, thereby ensuring that AI-assisted medical treatment obtains accurate and reliable angle data.

[0022] In some embodiments, the second gear 20 has n teeth, where n is a natural number; the third gear 30 has m teeth, where m is a natural number; satisfying: mn=k1, 1≤k1≤5; Alternatively, nm = k2, 1 ≤ k2 ≤ 5. It is understandable that when the difference in the number of teeth between the second gear 20 and the third gear 30 is limited to a small range, both the compactness and stability of the gear transmission system are ensured, while a significant and controllable speed difference is generated. A smaller difference in the number of teeth avoids the problems of disparate gear sizes and complex structures caused by excessively large transmission ratios, reducing manufacturing and assembly difficulties. Simultaneously, the stable speed difference maintains a high linear correlation with the rotation angle of the traction wheel 160, enabling the controller to calculate the bending angle of the endoscope insertion section 220 more accurately and efficiently.

[0023] In some implementations, mn=1 or nm=1 is satisfied.

[0024] In some embodiments, the detection device further includes an auxiliary installation component, the auxiliary installation component comprising: Mounting base 80, on which the second gear 20 and the third gear 30 are rotatably mounted, and the mounting base 80 is detachably connected to the endoscope housing 180; A first connector 90, wherein the first Hall element 60 is mounted on one end of the first connector 90, and the other end of the first connector 90 is detachably connected to the mounting base 80; The second connector 100 has the second Hall element 70 mounted at one end, and the other end of the second connector 100 is detachably connected to the mounting base 80. It is understood that the auxiliary mounting assembly, through its modular and detachable structural design, significantly improves the practicality and adaptability of the detection device. The mounting base 80, as the core carrier, stably integrates the second gear 20 and the third gear 30, and is detachably connected to the endoscope housing 180. This ensures the stability of the gear transmission system and facilitates the installation, disassembly, and maintenance of the equipment, reducing subsequent maintenance costs and operational difficulties. The independent detachable mounting of the Hall element by the first connector 90 and the second connector 100 not only ensures the precise alignment of the magnetic sensing unit but also facilitates the individual replacement and calibration of the sensor, avoiding the need to replace the entire device due to damage to a single component. This design provides a reliable hardware foundation for AI-assisted medical applications, ensuring the stability and accuracy of angle detection data, while also improving the device's versatility across different endoscope models, contributing to the widespread application and rapid iteration of AI-assisted angle detection technology in the medical field.

[0025] In some embodiments, the mounting base 80 has an elongated hole 110, and the length direction of the elongated hole 110 is located in the radial direction of the traction wheel 160; the auxiliary mounting assembly further includes: A positioning post, fixed to the endoscope housing 180, includes a first post 120 and a second post 130. The second post 130 is adapted to the elongated hole 110 and is slidably engaged with the elongated hole 110. The top surface of the first post 120 is provided with a straight top surface 140. The mounting base 80 can slide on the straight top surface 140. Pushing the mounting base 80 can move the second post 130 along the length direction of the elongated hole 110 until the second gear 20 and the third gear 30 reach the installation position. A locking element is used to detachably lock and secure the mounting base 80 to the positioning post. Understandably, this auxiliary mounting assembly, through the coordinated design of the elongated hole 110, the positioning post, and the locking element, constructs an installation and adjustment system that combines flexibility and stability. The sliding engagement between the elongated hole 110 and the second column 130 of the positioning post allows the mounting base 80 to be flexibly adjusted radially along the traction wheel 160, facilitating precise calibration of the meshing positions of the second and third gears with the first gear 10 and ensuring transmission accuracy. The straight top surface 140 of the first column 120 of the positioning post provides a stable sliding guide surface for the mounting base 80, preventing misalignment. After installation, the locking element quickly secures the base to the positioning post, preventing loosening during use and ensuring detection accuracy. This adjustable and easy-to-install structural design not only reduces assembly difficulty and improves production efficiency but also adapts to the installation requirements of different gear specifications or equipment, enhancing the versatility of the device. In AI-assisted medical scenarios, this structure ensures the reliable operation of the angle detection device, providing hardware support for AI to obtain stable and accurate 220° angle data of the insertion part, thus helping to achieve more precise medical operations and diagnostic decisions.

[0026] In some embodiments, the second gear 20 and the third gear 30 are symmetrically located on both sides of the elongated hole 110. It is understood that the symmetrical distribution of the second gear 20 and the third gear 30 on both sides of the elongated hole 110 effectively balances the radial force generated during gear transmission, reduces wear and vibration caused by uneven force on the bearing of the first gear 10, and improves the stability and service life of the transmission system. The symmetrical layout, combined with the adjustment function of the elongated hole 110, ensures that the two gears maintain a uniform meshing state with the first gear 10 during installation and adjustment, ensuring that the accuracy of the speed difference detection is not affected by installation deviations. This structural design provides a reliable mechanical basis for the detection of the endoscopic insertion section 220° angle, thereby providing stable and accurate data support for AI-assisted medical care and ensuring the precision of surgical operations and diagnoses.

[0027] In some embodiments, the locking element is a locking bolt 150, and the second column 130 is provided with a threaded mounting hole 240 adapted to the locking bolt 150, for the locking bolt 150 to lock and fix the second column 130 to the mounting base 80.

[0028] In some embodiments, the elongated hole 110 is a waist-shaped hole.

[0029] In some embodiments, the second gear 20 and the third gear 30 are rotatably mounted on the mounting base 80 via the first rotating shaft 190 and the second rotating shaft 200, respectively; the first magnet 40 and the second magnet 50 are respectively disposed on the first rotating shaft 190 and the second rotating shaft 200.

[0030] In some embodiments, both the first magnet 40 and the second magnet 50 are permanent magnets.

[0031] In some implementations, the controller is a PLC.

[0032] Example 2: This application provides a traction wheel assembly, including the endoscope insertion angle detection device in Embodiment 1.

[0033] Example 3: This application provides an endoscope handle, including the traction wheel assembly of Embodiment 2.

[0034] Example 4: This application provides an endoscope, including the endoscope handle of Embodiment 3.

[0035] The endoscopes used in the embodiments of this application can be disposable endoscopes, endoscopes reusable for a limited number of uses, or endoscopes reusable indefinitely. The endoscopes in this embodiment can be bronchoscopes, pyeloscopes, esophagoscopes, gastroscopes, colonoscopes, otoscopes, rhinoscopes, oral endoscopes, laryngoscopes, colposcopes, laparoscopes, arthroscopes, etc. This embodiment does not specifically limit the type of endoscope.

[0036] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0037] Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0038] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An endoscope insertion section angle detection device, characterized in that, include: The first gear is coaxially arranged with the traction wheel; The second gear is disposed outside the first gear and meshes with the first gear; A magnetic sensing unit, the magnetic sensing unit including a first magnet disposed on the shaft end face or axial end face of the second gear; An angle detection unit, the angle detection unit including a first Hall element corresponding to the position of the first magnet; A controller, which is electrically connected to a first Hall element.

2. The endoscope insertion section angle detection device according to claim 1, characterized in that, The detection device also includes a third gear with a different number of teeth than the second gear, the third gear being disposed outside the first gear and meshing with the first gear; The magnetic sensing unit also includes a second magnet disposed on the shaft end face or axial end face of the third gear; The angle detection unit also includes a second Hall element corresponding to the position of the second magnet, and the controller is electrically connected to the second Hall element.

3. The endoscope insertion section angle detection device according to claim 2, characterized in that, The second and third gears have the same module.

4. The endoscope insertion section angle detection device according to claim 3, characterized in that, The second gear has n teeth, where n is a natural number; the third gear has m teeth, where m is a natural number. satisfy: mn=k1, 1≤k1≤5; Alternatively, nm = k2, 1 ≤ k2 ≤ 5.

5. The endoscope insertion section angle detection device according to claim 4, characterized in that, The detection device further includes an auxiliary installation component, which includes: Mounting base, on which the second and third gears are rotatably mounted, the mounting base being detachably connected to the endoscope housing; A first connector, wherein the first Hall element is mounted on one end of the first connector, and the other end of the first connector is detachably connected to the mounting base; The second connector has the second Hall element mounted on one end, and the other end of the second connector is detachably connected to the mounting base.

6. The endoscope insertion section angle detection device according to claim 5, characterized in that, The mounting base has an elongated hole, and the length of the elongated hole is located in the radial direction of the traction wheel; the auxiliary mounting assembly also includes: The positioning post is fixed to the endoscope housing and includes a first post and a second post. The second post is adapted to the elongated hole and is slidably engaged with the elongated hole. The top surface of the first post is provided with a straight top surface. The mounting base can slide on the straight top surface. Pushing the mounting base can move the second post along the length direction of the elongated hole until the second gear and the third gear reach the installation position. Locking element, used to detachably lock and secure the mounting base to the positioning post.

7. The endoscope insertion section angle detection device according to claim 6, characterized in that, The second and third gears are symmetrically located on both sides of the elongated hole.

8. A traction wheel assembly, characterized in that, Includes the endoscope insertion section angle detection device as described in any one of claims 1-7.

9. An endoscope handle, characterized in that, Includes the traction wheel assembly as described in claim 8.

10. An endoscope, characterized in that, Includes the endoscope handle as described in claim 9.

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