Active steering electronic endoscope for urinary system interventional therapy

Abstract

The invention provides an active steering electronic endoscope for urinary system interventional therapy, which is characterized in that on the basis of a classic design structure, a driving reel with a wheel-shaped structure is connected with two traction lines for driving a snake tail structure to steer; the arc guide blocks for inwards extruding the traction wire are arranged on the two sides of the opening structure where the traction wire is output outwards from the periphery of the driving winding wheel, due to the rigidity of the traction wire, the arc guide blocks can enable the traction wire to be attached to the peripheral wall of the driving winding wheel before the traction wire reaches the opening structure, and therefore when the driving winding wheel rotates, the traction wire can be tightly attached to the outer peripheral wall of the driving winding wheel. The rotation angle of the wheel and the feeding amount of the two traction lines pulled by the wheel can be stably kept in linear correlation, the traction lines are led into the endoscope tube in the parallel linear direction in cooperation with a rear limiting adjusting mechanism, the conditions that the traction lines are bent and the like are avoided, the feeding amount is stably transmitted to the front end snake tail structure, and the operation is convenient. And it is ensured that the traction driving mechanism drives the action of the mirror end snake tail structure to be stable, controllable and free of delay and hysteresis.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical surgical equipment, in particular to an active steering electronic endoscope for urinary system interventional therapy. BACKGROUND

[0002] An endoscope is a detection instrument integrating traditional optics, human engineering, precision machinery, modern electronics, mathematics and software, which can enter the human body through natural orifice or small incision made by surgery, and can show lesions invisible to X-ray, so it is a commonly used medical instrument in surgery.

[0003] The special electronic endoscope in the present application is a surgical equipment commonly used in urology surgery, which is used in interventional therapy for kidney lithotripsy, stone removal and other scenarios. Generally, an endoscope includes a scope tube and an operating handle, and the scope tube has a light guide tube, a cable, a cleaning tube (optional) and an instrument channel (optional). Generally, the scope tube cannot be bent, resulting in an unadjustable field of view angle. There are also some electronic endoscopes with the angle of the end of the scope tube being able to be bent to change the field of view. The end of the scope tube is a snake bone structure, and the end of the scope tube is bent by pulling the steel wire on both sides of the snake bone structure, thereby changing the field of view angle and the operation position. The operation of the steel wire in the endoscope is generally manually pulled, or other steel wire pulling methods equivalent to pulling are used, or an electrically driven pulling wire is used.

[0004] However, the current endoscope design with a bendable lens end still has some obvious technical defects: The direction adjustment of the end of the traditional soft mirror type endoscope depends on the mechanical transmission of the handle knob, and the steering needs to be operated by both hands. For such surgical equipment, it is not convenient to use. Further, when the snake tail structure at the end of the scope tube is pulled by the corresponding control structure at the end of the handle to realize the control of the steering of the snake tail structure, the elastic and flexible properties of the steel wire make it difficult to keep the control action accurate. Not only is there a certain lag between the action of the snake tail structure and the control output action of the handle end, but also the steering action amplitude of the snake tail is difficult to keep linearly related to the control action amplitude. The instability of the control can easily cause tissue scratches when the instrument is used in an emergency. In addition, the tactile sensation can be fed back to the operating handle, but the position of the end cannot be accurately judged by the feeling, and there is a risk of perforation.

[0005] In summary, the existing electronic endoscope for urinary system interventional therapy has the technical problems of inconvenient use and inaccurate control. SUMMARY

[0006] The technical problem to be solved by the present application is the technical problem of the existing electronic endoscope for urinary system interventional therapy, which is inconvenient to use and not accurate in control.

[0007] To solve the above problems, the present application provides an active steering electronic endoscope for urinary system intervention, comprising a main body shell and a mirror tube assembly connected to one end of the main body shell, a snake tail structure is arranged at the end of the mirror tube assembly, two pull wires are arranged on both sides of the snake tail structure respectively, which are used to drive the steering of the snake tail structure through pulling action, the pull wires pass through the mirror tube assembly and are connected to a pulling driving mechanism in the main body shell, the pulling driving mechanism comprises a driving winding wheel, and the pull wires are connected with the outer periphery of the driving winding wheel; a winding wheel shell is fixedly connected in the main body shell, the winding wheel shell is annular and surrounds the outer side of the driving winding wheel at a preset interval, the winding wheel shell is provided with an opening structure for passing through the two pull wires, arc guide blocks are arranged on both sides of the opening structure, which are used to press the two pull wires to the outer periphery of the driving winding wheel, and a limiting adjustment structure is further arranged in the main body shell, which is used to comb the direction of the pull wires, so that the two pull wires are parallel to the length direction of the mirror tube assembly after passing through the limiting adjustment structure.

[0008] The design of the electronic endoscope is based on the structure of the classic design, and the driving winding wheel in the wheel structure is connected with the two pull wires for driving the steering of the snake tail structure. The pull wire is generally a steel wire with certain rigidity and elasticity, and through such a pull wire design, the snake tail structure can be steered to the side where the pull wire is retracted when the pull wire on the other side is pushed forward. The steering angle is positively correlated with the feed amount of the pull wire. The two pull wires are wound on the outer periphery of the driving winding wheel in opposite directions. Thus, when the driving winding wheel rotates in opposite directions, the snake tail structure can be steered in two opposite directions. However, due to the flexibility of the pull wire itself, it is difficult to ensure that the rotation angle of the driving winding wheel is linearly related to the steering angle of the snake tail structure at the front end of the mirror tube assembly. Arc guide blocks are arranged on both sides of the opening structure through which the pull wire is output from the outer periphery of the driving winding wheel, and the arc guide blocks can press the pull wire inward. Due to the rigidity of the pull wire, the pull wire can be kept close to the outer peripheral wall of the driving winding wheel before reaching the opening structure, so that the rotation angle of the wheel and the feed amount of the two pull wires it pulls can be stably linearly related when the driving winding wheel rotates. The limiting adjustment mechanism at the rear end introduces the pull wire in a parallel straight line direction, avoids bending of the pull wire, and stably transmits the feed amount to the front end of the snake tail structure. The structure can maintain the curvature of the pull wire under a pulling force of 2N-4N, and the angle drift is less than 3°. The design effectively ensures that the action of the mirror end snake tail structure driven by the pulling driving mechanism is stable, controllable, and free of delay and hesitation, and solves the technical problems of the existing electronic endoscope for urinary system intervention, such as inconvenience and inaccurate control.

[0009] As a preferred scheme, the limiting adjustment mechanism comprises an adjustment block tightly connected with the inner side wall of the main body shell, the adjustment block is provided with two threaded through holes, the directions of the threaded through holes are both parallel to the length direction of the mirror tube assembly, the spacing between the two threaded through holes is greater than the caliber of the opening of the mirror tube assembly on the main body shell, the threaded through holes are both threadedly connected with hollow guide screws, the two pulling lines are respectively threaded through the middle holes of the two guide screws, and the minimum feedback feeding amount when the pulling line is pulled by rotating the driving winding wheel is adjusted by rotating the matching position between the guide screw and the adjustment block.

[0010] The design provides a preferred limiting adjustment mechanism design, the adjustment block is arranged between the driving winding wheel and the mirror tube position, the two guide screws are connected on the adjustable position of the adjustment block, the guide screw has a middle hole with an inner diameter matched with the pulling line, the pulling line is threaded through the middle hole, and the pulling line is combed through the shape of the guide screw itself; further, since the spacing between the two threaded through holes is greater than the two pulling lines in the mirror tube, the two pulling lines are bent after passing through the guide screw, the front and rear positions of the guide screw relative to the adjustment block are finely adjusted, the bending angle of the passing pulling line can be changed, and the bending angle of the pulling line itself has a certain stiffness. The change of the bending angle can realize the action feedback sensitivity when the pulling line is fed from one end to the other end, and the greater the bending angle of the pulling line is, the smaller the feedback sensitivity is, and when the clamping angle of the pulling line on both sides of the adjustment block tends to be a flat angle, greater action feedback sensitivity can be obtained.

[0011] As a preferred scheme, the inner side wall of the main body shell is provided with a slot structure for inserting the adjustment block, and the adjustment block is tightly inserted with the slot structure in an adjustable position, for adjusting the position of the pulling line in the thickness direction of the main body shell. The design provides a preferred positioning method between the adjustment block and the main body shell for the above technical scheme, the slot structure is arranged on one side of the inner side wall of the main body shell, the slot structure and the outer side wall of the adjustment block are inserted in an interference fit, and the bending angle of the pulling line threaded through the adjustment block can be adjusted by adjusting the depth of the adjustment block inserted into the slot structure.

[0012] As a preferred scheme, two inner limiting shafts are arranged in the space between the driving winding wheel and the adjusting block, the positions of the two inner limiting shafts are adjacent to the driving winding wheel and the adjusting block respectively, the axial direction of the inner limiting shaft is perpendicular to the length direction of the pulling line, and the two ends of the inner limiting shaft are fixed against the two sides of the inner side wall of the main body shell, and the two sides of the outer peripheral wall of the inner limiting are respectively abutted against the two pulling lines to limit the minimum spacing between the two pulling lines. The design increases two inner limiting shafts between the driving winding wheel and the pulling line segment of the adjusting block, preferably adopts a cylindrical shaft body, and the two pulling lines are blocked by the inner limiting shaft structure to avoid mutual interference between the two pulling lines, and the pulling line is arranged in advance at the position where the driving winding wheel and the adjusting block interact with the pulling line, so that the angle of the pulling line at the position where the driving winding wheel and the adjusting block are contacted is accurate, thereby ensuring the effect of the driving winding wheel pulling the pulling line to control the turning of the snake tail structure.

[0013] As a preferred scheme, a guide hard tube is arranged in the middle hole of the guide screw, the pulling line passes through the guide hard tube, and the pulling line and the inner peripheral wall of the guide hard tube are slidably connected. The design optimizes the cooperation between the pulling line and the guide screw. Since the length of the guide screw itself is limited, the relative sliding between the middle hole and the pulling line can cause jamming. The guide hard tube is arranged in the middle hole, the pulling line passes through the guide hard tube, and the guide hard tube and the guide screw are relatively slid to improve the relative sliding effect.

[0014] As a preferred scheme, a driving shaft is connected to the center of the driving winding wheel, the end of the driving shaft penetrates through the side wall of the main body shell and is fixedly connected with a driving handle for manually rotating the driving winding wheel, the end of the driving handle is bent and extends to one end of the outer side wall of the main body shell, and the driving handle has no main body shell in the rotation track. The design optimizes the structure of the driving winding wheel. The structure includes a driving shaft at the center of the wheel, a driving handle connected to the driving shaft, and a driving handle located on the outer side wall of the main body shell. The rotation of the driving handle effectively drives the rotation of the driving winding wheel, and since the driving handle has no main body shell in the rotation track, the rotation angle of the driving handle can be larger, which optimizes the turning range when the driving handle rotates to drive the turning of the snake tail structure and ensures that all the working requirements of the endoscope are met.

[0015] As a preferred scheme, the driving winding wheel is located at the end of the main body shell away from the mirror tube assembly, the side wall of the end of the main body shell is arc-shaped to adapt to the shape of the driving winding wheel, and the bent part of the driving handle is located outside the arc-shaped part of the main body shell. This design optimizes the relative distribution position between the driving winding wheel and the main body shell and the adaptive shape of the main body shell. The outside of the main body shell connected with the end of the driving winding wheel is arc-shaped, and the arc structure is adapted to the rotating track of the bent part outside the driving handle, so that the driving handle can completely pass through the main body shell, the steering range of the snake tail structure of the endoscope under the operation of the driving handle reaches 160°, and the operation of the endoscope can be realized by one hand in cooperation with the narrow and long outer contour of the main body shell.

[0016] As a preferred scheme, the driving shaft is sleeved with an annular elastic gasket, the two side end faces of the elastic gasket abut against the side of the driving winding wheel and the inner side wall of the main body shell respectively, and the center of the driving shaft is provided with a fastening screw through a shaft hole. The tightness of the elastic gasket on both sides is adjusted by rotating the fastening screw. This design further optimizes the design of the driving winding wheel. The elastic gasket is sleeved on the driving shaft and clamped between the main body shell and the side wall of the driving winding wheel. The tightness of the elastic gasket is adjusted by tightening or loosening the fastening screw passing through the center of the driving shaft, so that the rotating resistance of the driving handle is adjusted, which is equivalent to adjusting the feedback force between the driving handle and the end of the snake tail structure. The feedback force is adjustable between 0.1N and 0.8N, the steering action of the snake tail structure is suitable for the current operation condition, and the vibration amplitude of the endoscope instrument during operation is greatly reduced. The vibration reduction can reach 82%.

[0017] As a preferred scheme, the outer peripheral wall of the driving winding wheel is provided with an annular groove for arranging the pull wires, and two positioning clamping holes are arranged in the annular groove on the side away from the opening structure of the driving winding wheel, which are respectively used for clamping and fixing the tail ends of the two pull wires. This design optimizes the connection and matching structure between the driving winding wheel and the pull wire. The annular groove is arranged on the outer peripheral wall of the driving winding wheel, so that the pull wire can be effectively limited and guided to avoid winding errors of the pull wire on the driving winding wheel. The positioning clamping holes for fixing the wire ends of the pull wire are arranged on the side opposite to the opening structure in the annular groove, so that the end positioning of the pull wire is ensured.

[0018] As a preferred scheme, the inner side wall of the main body shell is provided with a guide rib structure between the driving winding wheel and the adjusting block, the guide rib structure includes two guide grooves corresponding to the positions of the pull wires respectively, and the two pull wires pass through the two guide grooves respectively. This design further limits and guides the pull wire between the driving winding wheel and the adjusting block, so that the pull wire remains straight between them and displacement loss is avoided during transmission. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The overall external structure schematic diagram of an active steering electronic endoscope for urinary system intervention treatment provided by the present application; Figure 2 The internal structure schematic diagram of one side of an active steering electronic endoscope for urinary system intervention treatment in the present application; Figure 1 Figure 3 The side sectional structure schematic diagram of an active steering electronic endoscope for urinary system intervention treatment in the present application; Figure 1 Figure 4 The internal structure schematic diagram of the other side of an active steering electronic endoscope for urinary system intervention treatment in the present application; Figure 1 Figure 5 The partial structure schematic diagram of a pulling driving mechanism of an active steering electronic endoscope for urinary system intervention treatment in the present application. Figure 1 Wherein,

[0020] Figures 1-5 In the present application: 1, main body shell; 2, mirror tube assembly; 3, snake tail structure; 4, driving handle; 5, fastening screw; 6, driving winding wheel; 7, opening structure; 8, circular arc guide block; 9, pulling line; 10, inner limiting shaft; 11, guide screw; 12, adjusting block; 13, slot structure; 14, guide rib plate structure; 15, annular sink; 16, driving shaft; 17, elastic gasket; 18, positioning clamping hole. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application will be further described below in combination with specific embodiments.

[0022] Before the working principle of the present application is described in detail, the description of the present application needs to be further explained: in the description of the present application, it needs to be explained that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0023] ​​​​In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a connection of two components welded together. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] refer to Figures 1-5 The following examples illustrate this. Figure 1 This invention provides a schematic diagram of the overall external structure of an actively steerable electronic endoscope for interventional treatment of the urinary system. Figure 2 for Figure 1 A schematic diagram of the internal structure of one side of an actively steerable electronic endoscope used for interventional treatment of the urinary system. Figure 3 for Figure 1 A side-sectional schematic diagram of an actively steerable electronic endoscope used for interventional treatment of the urinary system. Figure 4 for Figure 1 A schematic diagram of the internal structure of the other side of an actively steerable electronic endoscope used for interventional treatment of the urinary system. Figure 5 for Figure 1 A partial structural diagram of the traction drive mechanism of an active steering electronic endoscope used for interventional treatment of the urinary system.

[0025] This embodiment provides an actively steerable electronic endoscope for interventional treatment of the urinary system, including a main body shell 1 and a tube assembly 2 connected to one end of the main body shell 1. A snake-tail structure 3 is provided at the end of the tube assembly 2, and two traction wires 9 are respectively provided on both sides of the snake-tail structure 3 for driving the snake-tail structure 3 to steer through traction. The traction wires 9 pass through the tube assembly 2 and connect to a traction drive mechanism inside the main body shell 1. The traction drive mechanism includes a drive winding wheel 6, and the traction wires 9 are all connected to the outer periphery of the drive winding wheel 6. A winding wheel housing is fixedly connected inside the outer casing 1. The winding wheel housing is circular and surrounds the outer side of the drive winding wheel 6 at a preset interval. The winding wheel housing is provided with an opening structure 7 for passing through two traction lines. Both sides of the opening structure 7 are provided with arc guide blocks 8 to press the two traction lines towards the outer periphery of the drive winding wheel 6. A limit adjustment structure is also provided inside the main casing 1. The limit adjustment mechanism is used to straighten the direction of the traction lines 9 so that the two traction lines 9 are parallel to the length direction of the lens tube assembly 2 after passing through the limit adjustment mechanism.

[0026] The electronic endoscope is designed on the basis of the structure of a classic design, and a driving winding wheel 6 in a wheel structure is connected to two driving snail structures 3 to pull the pulling wires 9, wherein the pulling wires 9 are made of a material with certain rigidity and elasticity, generally steel wires, and the design of the pulling wires 9 can effectively realize that, when one side of the pulling wire 9 is pushed forward and the other side of the pulling wire 9 is retracted, the snail structure 3 is turned to the side where the pulling wire 9 is retracted, and the turning angle is positively correlated with the feeding amount of the pulling wire 9. The two pulling wires 9 are wound on the outer circumferential edge of the driving winding wheel 6 in opposite winding directions, so that the driving winding wheel 6 can drive the snail structure 3 to turn in two opposite directions when the driving winding wheel 6 rotates in opposite directions. However, since the pulling wire 9 itself has certain flexibility, it is difficult to ensure that the rotation angle of the driving winding wheel 6 is linearly correlated with the turning angle of the snail structure 3 at the front end of the mirror tube assembly 2. The arc guide blocks 8 are arranged on both sides of the opening structure 7 through which the pulling wire 9 is output from the outer periphery of the driving winding wheel 6, and the arc guide blocks 8 can press the pulling wire 9 inward. Due to the rigidity of the pulling wire 9 itself, the arc guide blocks 8 can keep the pulling wire 9 adhered to the outer peripheral wall of the driving winding wheel 6 before reaching the opening structure 7, so that the rotation angle of the wheel and the feeding amount of the two pulling wires 9 it pulls can stably keep linear correlation when the driving winding wheel 6 rotates. The rear limiting adjustment mechanism cooperates to introduce the pulling wire 9 into the mirror tube in a parallel straight line direction, avoids the bending of the pulling wire, and stably transmits the feeding amount to the front snail structure 3. The structure can maintain the curvature of the pulling wire 9 stable under the traction of 2N-4N, and the angle drift is less than 3°. The design effectively ensures that the action of the snail structure 3 at the mirror end driven by the pulling and driving mechanism is stable, controllable, and without delay and lag. The technical problems of the existing electronic endoscope for urinary system interventional therapy, such as inconvenience and inaccurate control, are solved.

[0027] In the technical scheme provided in the embodiment, the limiting adjustment mechanism includes an adjustment block 12 tightly connected to the inner side wall of the main body shell 1. The adjustment block 12 is provided with two threaded holes, and the directions of the threaded holes are parallel to the length direction of the mirror tube assembly 2. The spacing between the two threaded holes is greater than the caliber of the opening of the mirror tube assembly 2 on the main body shell 1. The threaded holes are both threadedly connected with hollow guide screws 11. The two pulling wires 9 are respectively arranged through the middle holes of the two guide screws 11. The cooperation position between the guide screw 11 and the adjustment block 12 is adjusted by rotating, so as to adjust the minimum feedback feeding amount when the pulling wire 9 is pulled by rotating the driving winding wheel 6.

[0028] The design provides a preferred position limiting adjustment mechanism design, which sets an adjustment block 12 between the driving winding wheel 6 and the mirror tube position, and the two guide screws 11 are connected to the adjustment block 12 in an adjustable position. The guide screw 11 has a middle hole with an inner diameter matched with the pull wire 9, and the pull wire 9 passes through the middle hole. The guide screw 11 itself achieves the combing of the pull wire 9. Further, since the distance between the two threaded holes is larger than the distance between the two pull wires 9 in the mirror tube, the two pull wires 9 are bent after passing through the guide screw 11. The front and rear positions of the guide screw 11 relative to the adjustment block 12 can be adjusted to change the bending angle of the pull wire 9 passing through. Since the pull wire 9 has a certain stiffness, the change in the bending angle can achieve the action feedback sensitivity when the pull wire 9 is fed from one end to the other end. A larger bending angle of the pull wire 9 means a smaller feedback sensitivity. When the wire clamp angle of the pull wire 9 on both sides of the adjustment block 12 approaches a flat angle, a greater action feedback sensitivity can be obtained.

[0029] With the above adjustment design of the action feedback sensitivity of the pull wire 9, the feedback sensitivity is adjusted to the required sensitivity by rotating the guide screw 11 before the main body shell 1 is closed and fixed. The preferred sensitivity of the technical solution is 0.5°, that is, when the minimum rotation angle of the driving winding wheel 6 is 0.5°, the snake tail structure 3 end generates a controllable turning amplitude. The relative position between the guide screw 11 and the adjustment block 12 is completely fixed by means of point gluing or welding.

[0030] In the technical solution provided in the embodiment, the inner side wall of the main body shell 1 is provided with a slot structure 13 for inserting the adjustment block 12. The adjustment block 12 and the slot structure 13 are tightly inserted in an adjustable position, which is used to adjust the position of the pull wire 9 in the thickness direction of the main body shell 1. The design provides a preferred positioning method between the adjustment block 12 and the main body shell 1 for the above technical solution. The slot structure 13 is provided on one side of the inner side wall of the main body shell 1, and the slot structure 13 and the outer side wall of the adjustment block 12 are inserted in an interference fit. The depth adjustment of the adjustment block 12 inserted into the slot structure 13 can assist in adjusting the bending angle of the pull wire 9 passing through the adjustment block 12 in the above technical solution.

[0031] In the technical scheme provided by the embodiment, two inner limiting shafts 10 are arranged in the space between the driving winding wheel 6 and the adjusting block 12, the positions of the two inner limiting shafts 10 are adjacent to the driving winding wheel 6 and the adjusting block 12 respectively, the axial direction of the inner limiting shaft 10 is perpendicular to the length direction of the pulling line 9, the two ends of the inner limiting shaft 10 are fixedly arranged against the two sides of the inner side wall of the main body shell 1, and the two sides of the outer peripheral wall of the inner limiting shaft 10 are respectively arranged against the two pulling lines 9, so as to limit the minimum spacing between the two pulling lines 9. The design increases two inner limiting shafts 10 between the pulling line 9 segment between the driving winding wheel 6 and the adjusting block 12, preferably adopts a cylindrical shaft body, and the two pulling lines 9 are blocked by the inner limiting shaft 10 structure, so that the mutual interference between the two pulling lines 9 is avoided, and the pulling line 9 is arranged in advance at the position where the two structures of the driving winding wheel 6 and the adjusting block 12 interact with the pulling line 9, so that the angle of the pulling line 9 at the position where the driving winding wheel 6 and the adjusting block 12 are contacted is accurate, thereby ensuring the effect of the driving winding wheel 6 on the control of the turning of the snake tail structure 3 by the pulling line 9.

[0032] In the technical scheme provided by the embodiment, a guide hard pipe is arranged in the middle hole of the guide screw 11, the pulling line 9 passes through the guide hard pipe, and the pulling line 9 is slidably connected with the inner peripheral wall of the guide hard pipe. The design optimizes the cooperation between the pulling line 9 and the guide screw 11. Since the length of the guide screw 11 itself is limited, the relative sliding between the middle hole and the pulling line 9 can cause jamming. The guide hard pipe is arranged in the middle hole, the pulling line 9 passes through the guide hard pipe, and the relative sliding between the guide hard pipe and the guide screw 11 is improved.

[0033] In the technical scheme provided by the embodiment, the center of the driving winding wheel 6 is connected with a driving shaft 16, the end of the driving shaft 16 passes through the side wall of the main body shell 1 and is fixedly connected with a driving handle 4 for manually rotating the driving winding wheel 6, the end of the driving handle 4 is bent and extends to one end of the outer side wall of the main body shell 1, and the rotation track of the driving handle 4 is not hindered by the main body shell 1. The design optimizes the structure of the driving winding wheel 6. The structure includes a driving shaft 16 located at the center of the wheel, the driving shaft 16 is connected with the driving handle 4, the rotation of the driving handle 4 located on the outer side wall of the main body shell 1 effectively drives the rotation of the driving winding wheel 6, and since the rotation track of the driving handle 4 is not hindered by the main body shell 1, the rotation angle of the driving handle 4 can be larger, the rotation amplitude of the snake tail structure 3 when the snake tail structure 3 is driven to turn by the rotation of the driving handle 4 is optimized, and the overall working requirements of the endoscope are met.

[0034] In the technical scheme provided by the embodiment, the driving winding wheel 6 is located at the end of the main body shell 1 away from the mirror tube assembly 2, the side wall of the end of the main body shell 1 is in the shape of a circular arc suitable for the shape of the driving winding wheel 6, and the bent part of the driving handle 4 is located outside the circular arc part of the main body shell 1. The design optimizes the relative distribution position between the driving winding wheel 6 and the main body shell 1 and the adaptive shape design of the main body shell 1. The outside of the main body shell 1 connected to the end of the driving winding wheel 6 is in the shape of a circular arc, which is suitable for the rotation track of the bent part outside the driving handle 4, so that the driving handle 4 can completely pass through the main body shell 1, and the steering range of the endoscope snake tail structure 3 under the operation of the driving handle 4 reaches 160°. In combination with the narrow and long shape of the main body shell 1, the operation of the endoscope can be realized by single-handed operation.

[0035] In the technical scheme provided by the embodiment, the elastic gasket 17 is sleeved on the driving shaft 16, and the two side end faces of the elastic gasket 17 abut against the side of the driving winding wheel 6 and the inner side wall of the main body shell 1, respectively. The center of the driving shaft 16 is provided with a fastening screw 5 through the shaft hole, and the compression force of the elastic gasket 17 on both sides is adjusted by rotating the fastening screw 5. The design further optimizes the design of the driving winding wheel. The elastic gasket 17 is sleeved on the driving shaft 16 and clamped between the main body shell 1 and the side wall of the driving winding wheel 6. The compression force of the elastic gasket 17 is adjusted by tightening or loosening the fastening screw 5 provided through the center of the driving shaft 16, so that the rotation resistance of the driving handle 4 is adjusted, which is equivalent to adjusting the feedback force between the driving handle 4 and the end of the snake tail structure 3. The feedback force is adjustable between 0.1N and 0.8N, so that the steering action of the snake tail structure 3 is suitable for the current operation situation, and the vibration amplitude of the endoscope instrument during operation is greatly reduced. The vibration reduction can reach 82%.

[0036] In the technical scheme provided by the embodiment, the outer peripheral wall of the driving winding wheel 6 is provided with an annular groove 15 for arranging the pull wires 9, and two positioning clamping holes 18 are arranged in the annular groove 15 on the side away from the opening structure 7 of the driving winding wheel 6, which are respectively used for clamping and fixing the tail ends of the two pull wires 9. The design optimizes the connection and matching structure between the driving winding wheel 6 and the pull wire 9. The annular groove 15 is arranged on the outer peripheral wall of the driving winding wheel 6, so that the pull wire 9 can be effectively limited and guided, and winding errors of the pull wire 9 on the driving winding wheel 6 are avoided. The positioning clamping holes 18 for fixing the wire ends of the pull wire 9 are arranged on the side opposite to the opening structure 7 in the annular groove 15, so that the end positioning of the pull wire 9 is ensured.

[0037] In the technical scheme provided by the embodiment, the inner side wall of the main body shell 1 is provided with a guide rib plate structure 14 between the driving winding wheel 6 and the adjusting block 12, the guide rib plate structure 14 comprises two guide grooves corresponding to the positions of the two pull wires 9 respectively, and the two pull wires 9 pass through the two guide grooves respectively. This design further limits and guides the pull wire 9 between the driving winding wheel 6 and the adjusting block 12, ensures that the pull wire 9 between them remains straight, and avoids displacement loss during transmission.

[0038] Although the embodiments of the present application are disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications shall fall within the protection scope of the present application.

Claims

1. An active steering electronic endoscope for urinary system intervention, comprising a main body shell (1) and a mirror tube assembly (2) connected to one end of the main body shell (1), wherein a serpentine structure (3) is arranged at the end of the mirror tube assembly (2), two pull wires (9) are arranged on both sides of the serpentine structure (3) respectively, and the serpentine structure (3) is driven to steer through the pulling action, the pull wires (9) pass through the mirror tube assembly (2) and are connected to a pulling driving mechanism in the main body shell (1), the pulling driving mechanism comprises a driving winding wheel (6), and the pull wires (9) are connected to the outer periphery of the driving winding wheel (6); characterized in that, The main body shell (1) is fixedly connected with a winding wheel shell, the winding wheel shell is annular and is spaced by a preset interval and surrounds the outside of the driving winding wheel (6), the winding wheel shell is provided with an opening structure (7) for passing through two traction lines, both sides of the opening structure (7) are provided with arc guide blocks (8) for pressing two traction lines to the outer periphery of the driving winding wheel (6), the main body shell (1) is further provided with a limiting adjustment structure, the limiting adjustment structure is used for combing the direction of the traction line (9), so that the two traction lines (9) are parallel to the length direction of the mirror tube assembly (2) after passing through the limiting adjustment structure.

2. The actively steering electronic endoscope for urinary system intervention according to claim 1, characterized in that, The limiting adjustment mechanism includes an adjustment block (12) tightly connected with the inner side wall of the main body shell (1), the adjustment block (12) is provided with two threaded holes, the threaded holes are parallel to the length direction of the mirror tube assembly (2), the spacing between the two threaded holes is greater than the caliber of the opening of the mirror tube assembly (2) on the main body shell (1), the threaded holes are both threadedly connected with hollow guide screws (11), two traction lines (9) are respectively threaded through the middle holes of the two guide screws (11), the minimum feedback feed amount when the traction line (9) is pulled by rotating the driving winding wheel (6) is adjusted by rotating the cooperation position between the guide screw (11) and the adjustment block (12).

3. The actively steering electronic endoscope for urinary system intervention according to claim 2, characterized in that, One side of the inner side wall of the main body shell (1) is provided with a slot structure (13) for inserting the adjustment block (12), the adjustment block (12) is tightly inserted with the slot structure (13) in an adjustable position, which is used for adjusting the position of the traction line (9) in the thickness direction of the main body shell (1).

4. The actively steering electronic endoscope for urinary system intervention according to claim 2, characterized in that, Two inner limiting shafts (10) are arranged in the space between the driving winding wheel (6) and the adjustment block (12), the positions of the two inner limiting shafts (10) are adjacent to the driving winding wheel (6) and the adjustment block (12) respectively, the axial direction of the inner limiting shaft (10) is perpendicular to the length direction of the traction line (9), the two ends of the inner limiting shaft (10) are abuttingly fixed with the two sides of the inner side wall of the main body shell (1), the outer peripheral walls of the inner limiting shaft (10) are respectively abutted with the two traction lines (9) to limit the minimum spacing between the two traction lines (9).

5. The actively steering electronic endoscope for urinary system intervention according to claim 2, characterized in that, A guide hard tube is threaded in the middle hole of the guide screw (11), the traction line (9) is threaded through the guide hard tube, the traction line (9) is slidably connected with the inner peripheral wall of the guide hard tube.

6. The actively steering electronic endoscope for the urinary system intervention treatment according to any one of claims 2-5, characterized in that, The center of the driving winding wheel (6) is connected with a driving shaft (16), the end of the driving shaft (16) penetrates through the side wall of the main body shell (1) and is fixedly connected with a driving handle (4) for manually rotating the driving winding wheel (6), the end of the driving handle (4) is bent and extends to one end of the outer side wall of the main body shell (1), and the driving handle (4) has no main body shell (1) in the rotation track.

7. The actively steering electronic endoscope for urinary system interventions according to claim 6, characterized in that, The driving winding wheel (6) is located at the end of the main body shell (1) away from the mirror tube assembly (2), the side wall of the end of the main body shell (1) is arc-shaped to adapt to the shape of the driving winding wheel (6), and the bent part of the driving handle (4) is located outside the arc-shaped part of the main body shell (1).

8. The actively steering electronic endoscope for urinary system intervention according to claim 6, characterized in that, The elastic gasket (17) is annularly sleeved on the driving shaft (16), and the two side end faces of the elastic gasket (17) abut against the side of the driving winding wheel (6) and the inner side wall of the main body shell (1) respectively; the center of the driving shaft (16) is provided with a fastening screw (5) through a shaft hole, and the compression force of the elastic gasket (17) on both sides is adjusted by rotating the fastening screw (5).

9. The actively steering electronic endoscope for urinary system interventions according to claim 6, characterized in that, The outer peripheral wall of the driving winding wheel (6) is provided with an annular groove (15) for arranging the pull wires (9), and two positioning clamping holes (18) are arranged in the annular groove (15) on the side away from the opening structure (7) of the driving winding wheel (6), and are respectively used for clamping and fixing the tail ends of the two pull wires (9).

10. The actively steering electronic endoscope for urinary system intervention according to claim 6, characterized in that, The inner side wall of the main body shell (1) is provided with a guide rib structure (14) between the driving winding wheel (6) and the adjusting block (12), the guide rib structure (14) includes two guide grooves corresponding to the positions of the pull wires (9) respectively, and the two pull wires (9) pass through the two guide grooves respectively.

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