Circumferential rotation detecting device, detecting method, handle, and endoscope

Abstract

The application discloses a circumferential rotation detection device, a detection method, a handle and a endoscope, and relates to the technical field of medical devices.The circumferential rotation detection device comprises a measurement polar plate assembly, an inner arc-shaped polar plate and an outer arc-shaped polar plate fixed on an endoscope handle shell, a ring-shaped rotating polar plate fixed on an endoscope rotating operating part, the ring-shaped rotating polar plate is located between the inner arc-shaped polar plate and the outer arc-shaped polar plate, a capacitance detection device, an input end of the capacitance detection device is connected with the inner arc-shaped polar plate and the outer arc-shaped polar plate respectively, and a microcontroller.According to a mapping relationship between a capacitance difference detected by the capacitance detection device and a circumferential rotation angle of an insertion part, the microcontroller is converted into a rotation angle and a rotation direction.The endoscope insertion part circumferential rotation detection device provided in the application has the advantages of high detection precision, continuous measurement and simple structure, and can be used in cooperation with AI.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a circumferential rotation detection device, a detection method, a handle and an endoscope. BACKGROUND

[0002] With the deep integration of medical technology and artificial intelligence (AI), the field of endoscopes is undergoing an intelligent revolution. AI technology, through image recognition, deep learning and other means, can assist doctors in quickly and accurately diagnosing lesions, significantly improving diagnosis and treatment efficiency and accuracy. However, in actual application, the existing circumferential rotation angle detection technology of the insertion part of the endoscope has many problems, making it difficult to efficiently cooperate with AI.

[0003] When using an endoscope for examination and treatment, it is crucial to accurately grasp the circumferential rotation angle of the insertion part. Different human body cavities have complex structures and large individual differences, and doctors need to accurately adjust the angle of the insertion part according to the actual situation to ensure clear observation of the target site and avoid missing diseased tissues. In minimally invasive surgery, accurate control of the circumferential rotation angle of the insertion part can enable surgical instruments to accurately reach the lesion site, improving the success rate and safety of surgery.

[0004] Currently, there are various ways to detect the circumferential rotation angle of the insertion part of the endoscope in the existing technology. Some endoscopes have a knob on the operating part, and a cooperating structure, such as a protrusion and a sliding groove along the circumference, and a protruding part or a recessed part cooperating with the protrusion, is provided between the knob and the operating part. When the protrusion slides in the sliding groove, the protruding part or the recessed part provides resistance when the knob is rotated to the set position, indicating the rotation angle of the knob relative to the operating part, and then inferring the rotation angle of the insertion part. However, this method can only provide limited indications of specific angles and cannot achieve continuous and accurate measurement of the circumferential rotation angle of the insertion part. Moreover, this detection data cannot be seamlessly integrated with AI algorithms, making it difficult for AI to obtain real-time insertion part angle information and achieve accurate positioning and analysis of lesions. At the same time, due to the compact structure of the endoscope, it is difficult to integrate low-cost sensors into the endoscope.

[0005] As can be seen from the above, the existing technology has the defects of insufficient detection accuracy, inability to continuously measure, and difficulty in cooperating with AI in detecting the circumferential rotation angle of the insertion part of the endoscope, which seriously hinders the development of intelligent diagnosis and treatment of endoscopes. Therefore, it is of great practical significance and clinical application value to develop a low-cost technology that can accurately, real-time, and conveniently detect the circumferential rotation angle and direction of the insertion part of the endoscope and efficiently cooperate with AI technology, and it is also a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0006] This invention discloses a circumferential rotation detection device, detection method, handle, and endoscope to solve the technical problems of existing technologies in detecting the circumferential rotation angle of the endoscope insertion part, such as insufficient detection accuracy, inability to continuously measure, system complexity, high cost, and difficulty in using with AI.

[0007] To solve the above problems, the present invention adopts the following technical solution:

[0008] In a first aspect, this application provides an endoscope insertion portion circumferential rotation detection device, the endoscope including a handle housing and an insertion portion, the proximal end of the insertion portion being connected to a rotating operating member, the rotating operating member being rotatably connected to the handle housing, and the detection device comprising:

[0009] The measuring electrode assembly includes an inner arc-shaped electrode and an outer arc-shaped electrode fixed to the handle housing. The inner arc-shaped electrode and the outer arc-shaped electrode are arranged in the same direction along the circumference and the distance between them is a. It also includes an annular rotating electrode fixed to the rotating operating component. The annular rotating electrode is located between the inner arc-shaped electrode and the outer arc-shaped electrode. The circumferential thickness b of the annular rotating electrode is continuously and gradually distributed, and satisfies a > b. The rotation center of the annular rotating electrode is offset relative to its geometric center towards the side with the thinnest wall thickness.

[0010] A capacitance detection device, whose input terminals are respectively connected to an inner arc-shaped plate and an outer arc-shaped plate, is used to detect the capacitance difference between the first capacitance value between the annular rotating plate and the inner arc-shaped plate and the second capacitance value between the annular rotating plate and the outer arc-shaped plate.

[0011] The microcontroller's output terminal is connected to the input terminal of the capacitance detection device, and the microcontroller's output terminal is connected to an external receiving device. The microcontroller converts the capacitance difference detected by the capacitance detection device into the rotation angle and rotation direction based on the mapping relationship between the circumferential rotation angle of the insertion part.

[0012] Secondly, this application provides a method for detecting the circumferential rotation of an endoscope insertion portion, implemented based on the aforementioned endoscope insertion portion circumferential rotation detection device. The detection method includes the following steps:

[0013] The capacitance value between the inner arc-shaped electrode and the annular rotating electrode is detected in real time using a capacitance detection device. and the second capacitance value between the outer arc-shaped electrode and the annular rotating electrode. ;

[0014] Calculate capacitance difference ;

[0015] The detected capacitance difference data is transmitted to the microcontroller;

[0016] The microcontroller calculates the rotation angle and / or rotation direction of the insertion part of the endoscope according to a pre-stored mapping relationship between the capacitance difference and the circumferential rotation angle of the insertion part.

[0017] The microcontroller outputs the real-time angle value and direction identifier to an external receiving device.

[0018] In a third aspect, the application provides an endoscope handle comprising the endoscope insertion part circumferential rotation detection device.

[0019] In a fourth aspect, the application provides an endoscope comprising the endoscope handle.

[0020] The technical scheme adopted by the application can achieve the following beneficial effects:

[0021] When the operator rotates the rotation operating part of the insertion part of the endoscope, the annular rotation electrode plate fixedly connected with the rotation operating part will rotate. Since the circumferential thickness b of the annular rotation electrode plate is gradually set and located between the inner arc-shaped electrode plate and the outer arc-shaped electrode plate, the rotation of the annular rotation electrode plate will cause the distance between the annular rotation electrode plate and the two electrode plates to change. Assuming that the annular rotation electrode plate rotates clockwise from the initial position, since the circumferential thickness b of the annular rotation electrode plate is gradually set, the average distance between the annular rotation electrode plate and the inner arc-shaped electrode plate will gradually increase, and according to the relationship that the capacitance is inversely proportional to the distance between the electrode plates, the capacitance between the inner arc-shaped electrode plate and the annular rotation electrode plate will gradually decrease. At the same time, the average distance between the annular rotation electrode plate and the outer arc-shaped electrode plate will gradually decrease, so the capacitance between the outer arc-shaped electrode plate and the annular rotation electrode plate will gradually increase. According to the calculation formula of the capacitance wherein is the dielectric constant, is the opposite area of the electrode plate, is the distance between the electrode plates; distance The change of the distance will cause the capacitance between the inner arc-shaped electrode plate and the annular rotation electrode plate and the capacitance between the outer arc-shaped electrode plate and the annular rotation electrode plate to change, and further cause the capacitance difference Changes occur. The capacitance detection device can detect the capacitance difference between the inner arc-shaped electrode plate and the annular rotating electrode plate, and the capacitance difference between the outer arc-shaped electrode plate and the annular rotating electrode plate in real time, and transmit the capacitance difference data to the microcontroller. The microcontroller analyzes and processes the received capacitance difference data according to the pre-stored mapping relationship between the capacitance difference and the circumferential rotation angle of the insertion part, thereby obtaining the rotation angle of the endoscope insertion part; at the same time, the microcontroller can judge the rotation direction of the insertion part according to the positive and negative changes of the capacitance difference, and if the capacitance difference increases or decreases in a specific trend, it corresponds to the clockwise or counterclockwise rotation direction of the insertion part. Therefore, the endoscope insertion part circumferential rotation detection device provided in the present application realizes the detection of the circumferential rotation angle and the rotation direction of the insertion part at low cost without changing the original basic structure; and has the advantages of high detection precision, continuous measurement and simple structure, and can be used with AI, which has important practical significance and clinical application value. Specifically, the present application has the following advantages:

[0022] (1) The detection device in the present application utilizes the principle of capacitance detection, which can accurately capture the slight position change of the annular rotating electrode plate, thereby realizing high-precision detection of the circumferential rotation angle and direction of the endoscope insertion part. The high-precision detection data provides rich and accurate information for the AI system. The AI system can make real-time evaluation and analysis of the operation process based on these accurate data combined with a large number of clinical cases and medical knowledge. For example, in complex endoscopic surgery, the AI system can determine whether the doctor's operation conforms to the best surgical path according to the rotation angle and direction data, and timely issue warnings or provide operation suggestions to improve the success rate and safety of the operation.

[0023] (2) The detection device in the present application can collect and process capacitance difference data in real time, quickly obtain rotation angle and direction information, and transmit it to the AI system in a timely manner. This real-time feedback mechanism enables the AI system to respond to changes in surgical operations in real time. The AI system can make intelligent decisions based on real-time data, such as automatically adjusting surgical instrument parameters and optimizing surgical plans. During the operation, when the rotation angle or direction of the insertion part is detected to be abnormal, the AI system can quickly analyze the cause and provide corresponding solutions to assist the doctor in making more scientific decisions.

[0024] (3) Since different doctors may have different habits and ways of operating the endoscope, the detection device in the present application can record each doctor's operation data, including the change pattern of rotation angle and direction. The AI system can learn and analyze these personalized data to establish a personalized operation model for each doctor. According to this model, the AI system can provide personalized operation suggestions and training programs for doctors to help them improve their operation skills and efficiency.

[0025] (4) The rotation angle and direction data collected by the detection device in the present application can be transmitted to a remote server through an external receiving device, realizing remote data sharing. In the remote medical scene, experts can obtain these data in real time through the AI system, and remotely guide the operation of the local doctor. The AI system can compare and analyze the operation data of doctors in two places, provide more accurate cooperation suggestions, and promote the optimization of medical resources and the development of remote medical treatment.

[0026] (5) As the detection device in the present application continuously collects data, the AI system can deeply mine and analyze a large amount of data, find potential problems and optimization space existing in the system. The AI system can optimize and adjust the parameter setting, mapping relationship, etc. of the detection device according to the analysis result, realize self-iteration and upgrading of the system. At the same time, the algorithm and model of the AI system itself can also be continuously optimized, improve the analysis and processing ability of the rotation angle and direction data, and further improve the performance of the entire detection and auxiliary diagnosis system. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0028] Figure 1 is a structural schematic diagram of embodiment 4 of the present application;

[0029] Figure 2 is a structural schematic diagram of another angle of embodiment 4 of the present application;

[0030] Figure 3 is a sectional view of A-A in Figure 2

[0031] Figure 4 is a sectional view of B in Figure 3

[0032] Figure 5 is a structural schematic diagram of the anti-fooling protrusion provided on the annular rotating polar plate in the embodiment of the present application;

[0033] Figure 6 is a structural block diagram of the detection device in embodiment 1 of the present application;

[0034] Figure 7 is a structural block diagram of another embodiment of the detection device in embodiment 1 of the present application;

[0035] Figure 8 ​​is a structural block diagram of another embodiment of the detection device in Embodiment 1 of the present application;

[0036] Figure 9 is a structural block diagram of another embodiment of the detection device in Embodiment 1 of the present application;

[0037] Figure 10 is a schematic diagram of the positional relationship between the annular rotating polar plate, the inner arc-shaped polar plate and the outer arc-shaped polar plate when the annular rotating polar plate is located at an initial position in Embodiment 1 of the present application;

[0038] Figure 11 is a schematic diagram of the positional relationship between the annular rotating polar plate, the inner arc-shaped polar plate and the outer arc-shaped polar plate when the annular rotating polar plate is rotated by 180 degrees relative to the initial position in Embodiment 1 of the present application;

[0039] Figure 12 is a schematic diagram of the steps of the detection method in Embodiment 2 of the present application.

[0040] In the figure: 10, handle shell; 20, insertion part; 30, rotating operation piece; 40, inner arc-shaped polar plate; 50, outer arc-shaped polar plate; 60, annular rotating polar plate; 70, capacitance detection device; 80, microcontroller; 90, wireless communication module; 100, storage chip; 110, power supply system; 1101, power supply; 1102, power management module; 120, external receiving device; 130, assembly screw; 140, annular groove; 150, auxiliary mounting piece; 160, foolproof protrusion; 170, foolproof matching groove. DETAILED DESCRIPTION

[0041] In the embodiments of the present application, "proximal end" and "distal end" refer to the relative positions of the components to the user in the use environment, wherein the end closer to the user is designated as the "proximal end", and the end farther from the user is designated as the "distal end".

[0042] In order to facilitate understanding of the endoscope insertion part circumferential rotation detection device, the detection method, the insertion part 20 and the endoscope provided by the embodiments of the present application, the related technologies thereof will be introduced first in combination with application scenarios.

[0043] The endoscope comprises a handle shell 10 and an insertion part 20, the proximal end of the insertion part 20 is connected with a rotating operation piece 30, and the rotating operation piece 30 is rotationally connected with the handle shell 10; the endoscope can be inserted into the human body through the insertion part 20 to observe and diagnose the lesion site, and the rotation of the insertion part 20 is driven by rotating the rotating operation piece 30.

[0044] The prior art has problems such as insufficient detection accuracy, inability to continuously measure, and difficulty in cooperating with AI in detecting the circumferential rotation angle of the endoscope insertion part 20, which seriously restricts the development of intelligent diagnosis and treatment of endoscopes. Therefore, the present application provides an endoscope insertion part circumferential rotation detection device, a detection method, an insertion part 20 and an endoscope, which are described below in combination with Figures 1-12 The technical solutions disclosed in the various embodiments of the present application are described in detail.

[0045] Embodiment 1:

[0046] An endoscope insertion part circumferential rotation detection device is provided in the present application, the endoscope comprising a handle shell 10 and an insertion part 20, the proximal end of the insertion part 20 being connected with a rotation operating member 30, the rotation operating member 30 being rotationally connected with the handle shell 10, the detection device comprising:

[0047] A measurement pole assembly, comprising an inner arc-shaped pole 40 and an outer arc-shaped pole 50 fixed on the handle shell 10, the inner arc-shaped pole 40 and the outer arc-shaped pole 50 being arranged in the same direction along the circumference and having a spacing a; further comprising a ring-shaped rotating pole 60 fixed on the rotation operating member 30, the ring-shaped rotating pole 60 being located between the inner arc-shaped pole 40 and the outer arc-shaped pole 50; the circumferential thickness b of the ring-shaped rotating pole 60 is continuously and gradually distributed, and satisfies a > b, the rotation center O of the ring-shaped rotating pole 60 being offset relative to the geometric center thereof to the thinnest side of the wall thickness;

[0048] A capacitance detection device 70, the input ends of which are connected with the inner arc-shaped pole 40 and the outer arc-shaped pole 50 respectively, for detecting the capacitance difference between the first capacitance value between the ring-shaped rotating pole 60 and the inner arc-shaped pole 40 and the second capacitance value between the ring-shaped rotating pole 60 and the outer arc-shaped pole 50;

[0049] A microcontroller 80, the output end of the capacitance detection device 70 being communicatively connected with the input end of the microcontroller 80, the output end of the microcontroller 80 being communicatively connected with an external receiving device 120; the microcontroller 80 converts the rotation angle and the rotation direction according to the mapping relationship between the capacitance difference detected by the capacitance detection device 70 and the circumferential rotation angle of the insertion part 20.

[0050] The endoscope insertion part circumferential rotation detection device provided in the present application has the following detection process:

[0051] (1) Initial state: when the endoscope is in a stationary state, the inner arc-shaped pole 40, the outer arc-shaped pole 50 and the ring-shaped rotating pole 60 keep the relative positions unchanged, at this time the capacitance detection device 70 detects the capacitance between the inner arc-shaped pole 40 and the ring-shaped rotating pole 60 and the capacitance between the outer arc-shaped pole 50 and the ring-shaped rotating pole 60 Capacitance difference Also an initial value.

[0052] (2) Operation trigger: when the doctor operates the rotating operation piece 30, the insertion part 20 rotates accordingly, and the annular rotating electrode plate 60 fixed on the rotating operation piece 30 also rotates synchronously. Since the circumferential thickness of the annular rotating electrode plate 60 is gradually changed, During rotation, the distance between the annular rotating electrode plate 60 and the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50 changes.

[0053] (3) Capacitance change: according to the calculation formula of capacitance , where is the dielectric constant, is the electrode plate facing area, is the distance between the electrode plates, and the change of the distance will cause the capacitance between the inner arc-shaped electrode plate 40 and the annular rotating electrode plate 60 and the capacitance between the outer arc-shaped electrode plate 50 and the annular rotating electrode plate 60 to change, and thus the capacitance difference changes.

[0054] For example, if the thicker part of the annular rotating electrode plate 60 is close to the inner arc-shaped electrode plate 40, the distance between the inner arc-shaped electrode plate 40 and the annular rotating electrode plate 60 decreases, increases; at the same time, the distance between the outer arc-shaped electrode plate 50 and the annular rotating electrode plate 60 increases, 2 decreases, and the capacitance difference changes accordingly.

[0055] (4) Data acquisition and transmission: the capacitance detection device 70 monitors the changes of and in real time, calculates the capacitance difference , and transmits the capacitance difference data to the microcontroller 80.

[0056] (5) Angle and direction solving:

[0057] Rotation angle: the microcontroller 80 has pre-stored a mapping relationship between the capacitance difference and the circumferential rotation angle of the insertion part 20, and by querying the mapping relationship, the microcontroller 80 can calculate the rotation angle of the endoscope insertion part 20 according to the received capacitance difference data.

[0058] Rotation direction: the microcontroller 80 determines the rotation direction of the insertion part 20 according to the positive and negative changes of the capacitance difference detected by the capacitance detection device 70. For example, when the capacitance difference increases, it is determined as clockwise rotation; when the capacitance difference decreases, it is determined as counterclockwise rotation.

[0059] (6) Data output and AI interaction: The microcontroller 80 transmits the calculated rotation angle and rotation direction data to the external receiving device 120 through its output end, and the external receiving device 120 can further transmit these data to the AI system for processing and analysis.

[0060] In some embodiments, the detection device further comprises a wireless communication module 90, the input end of which is in communication connection with the microcontroller 80, and the output end of which is in communication connection with the external receiving device 120. It can be understood that the wireless communication module 90 uses wireless communication technology such as Bluetooth, Wi-Fi, etc. to convert the digital signal output by the microcontroller 80 into a wireless signal for transmission; the external receiving device 120 receives these signals through the corresponding wireless communication interface and converts them into a recognizable data format, realizing the transmission and sharing of data; so that the AI system can obtain the data in time for analysis and processing, realizing real-time sharing of data and providing real-time support for medical decision-making. During the use of the endoscope, through the wireless communication module 90, the detection device can transmit the detected rotation angle and rotation direction of the insertion part 20 and other data to the external receiving device 120 such as a computer, a tablet computer, etc. in real time, facilitating remote monitoring and data analysis by the operator. For example, during the operation, the AI system can receive the rotation angle and rotation direction data of the insertion part 20 in real time to assist the doctor in making more accurate decisions.

[0061] In some embodiments, the wireless communication module 90 and the microcontroller 80 are connected in communication through Bluetooth or Wi-Fi wireless communication protocol. It can be understood that Bluetooth and Wi-Fi are both mature wireless communication technologies. The microcontroller 80 encodes the detected data such as the circumferential rotation angle and rotation direction of the insertion part 20 according to the communication format of the Bluetooth or Wi-Fi protocol, and then sends it out in the form of a wireless signal by the wireless communication module 90, which can be compatible with various external devices supporting Bluetooth or Wi-Fi, expanding the application range of the endoscope and facilitating integration with different AI platforms. Enhance the versatility of the device.

[0062] In some embodiments, the detection device further comprises a storage chip 100, which is communicatively connected with the microcontroller 80. It can be understood that the storage chip 100 can be used to store important detection data of the endoscope, such as calibration data, historical detection data, AI model parameters, etc., to prevent data loss due to accidental situations such as communication interruption, etc. At the same time, storing AI model parameters can enable the endoscope to perform preliminary data analysis and diagnosis using existing models in an offline state. At the same time, the storage of historical detection data provides a wealth of samples for the learning and optimization of AI models. Through the analysis of a large amount of historical data, the AI model can continuously adjust and optimize its own parameters to improve the accuracy and reliability of diagnosis. In addition, the calibration data stored in the storage chip 100 can ensure that the detection device can accurately detect the circumferential rotation angle and rotation direction of the insertion part 20 under different environments and conditions, improving the stability and reliability of the system.

[0063] In some embodiments, the storage chip 100 is communicatively connected with the microcontroller 80 through an I 2 C bus or an SPI bus. It can be understood that the microcontroller 80 specifically interacts with the storage chip 100 through these two bus protocols to write the data to be stored into the storage chip 100, or read the required data from the storage chip 100.

[0064] In some embodiments, the output end of the capacitance detection device 70 is communicatively connected with the microcontroller 80 through an I 2 C bus or an SPI bus. It can be understood that after the capacitance detection device 70 converts the capacitance data of the circumferential angle and direction of the endoscope into digital signals, it sends the data to the microcontroller 80 through the communication protocol of the I 2 C bus or the SPI bus. The microcontroller 80 processes and analyzes the received data.

[0065] In some embodiments, the detection device further comprises a power supply system 110, which comprises a power supply 1101 and a power management module 1102 for converting the voltage output by the power supply 1101 into a suitable voltage required by the capacitance detection device 70, the storage chip 100, the wireless communication module 90 and the microcontroller 80. The capacitance detection device 70, the storage chip 100, the wireless communication module 90 and the microcontroller 80 are respectively connected with the power management module 1102 through power lines.

[0066] In some embodiments, the power supply 1101 is powered by a built-in battery or an external power adapter.

[0067] In some embodiments, the external receiving device 120 includes any one or several of a mobile terminal (such as a smartphone, a tablet), a computer device, a medical monitoring terminal, and a cloud server. It can be understood that different medical scenarios have different requirements for data processing and analysis. For example, in an emergency scene, a doctor can use a mobile terminal to quickly obtain endoscope data and assist in diagnosis with AI; in a diagnosis center of a hospital, a computer device can perform more in-depth data analysis; a medical monitoring terminal can be used for long-term patient monitoring; and a cloud server is suitable for large-scale medical data storage and collaborative research between multiple institutions. Different external receiving devices 120 can meet the use requirements in different medical scenarios, whether in mobile medical care, remote diagnosis, or daily examination in a hospital, to ensure effective use of endoscope data and normal operation of the AI system. Different external receiving devices 120 can process and analyze data according to their own advantages to provide doctors with more comprehensive and accurate diagnostic information. For example, a cloud server can mine and analyze a large amount of historical data to support the training of an AI model, improve the accuracy of diagnosis, realize the sharing of medical data and collaborative research between multiple institutions, and promote the development and application of AI technology in the medical field.

[0068] In some embodiments, the circumferential thickness b of the annular rotating polar plate 60 is linearly tapered. It can be understood that, according to the relationship between capacitance and the distance between polar plates, the linearly tapered thickness causes the distance between polar plates to change linearly with the rotation angle, thereby causing the capacitance value to also change linearly, facilitating mathematical modeling and analysis. At the same time, the linear relationship between capacitance change and rotation angle makes it easier to establish a mapping relationship between capacitance difference and rotation angle, and the microcontroller 80 is also more convenient and fast when calculating the angle, improving the real-time performance of detection. In addition, the linear change rule makes the calibration process of the detection device simpler, and only a few key angles and corresponding capacitance values need to be determined to establish a relatively accurate mapping relationship.

[0069] In some embodiments, the arc length and arc degree of the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50 are equal. It can be understood that when the arc length and arc degree of the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50 are equal, the change of the capacitance between them and the annular rotating electrode plate 60 is only related to the rotation angle and position of the annular rotating electrode plate 60, reducing the interference of other factors on the capacitance detection, so as to more accurately reflect the rotation of the insertion part 20. Therefore, in order to simplify the mapping relationship between the change of capacitance and the rotation angle, if the arc length and arc degree of the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50 are different, the capacitance change rule will become complex, increasing the difficulty and calculation amount of establishing the mapping relationship. The equal arc length and arc degree can make the capacitance change present a simpler linear or regular change, which is convenient for subsequent signal processing and angle calculation. Designing the arc length and arc degree of the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50 to be equal makes the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50 have symmetry in structure, and when the annular rotating electrode plate 60 rotates, the capacitance change rule between the two electrode plates is more consistent and predictable, reducing the detection error caused by the difference in electrode plate structure, thereby improving the accuracy of detecting the circumferential rotation angle and direction of the insertion part 20. Moreover, the stability of the capacitance detection is ensured, so that the fluctuation of the capacitance detection result is small at different rotation positions and angles, and the system runs more stably and reliably.

[0070] In some embodiments, the capacitance detection device 70 includes an integrated processing chip, which internally includes:

[0071] a differential signal conditioning unit, the input end of which is coupled to the capacitance signal output end of the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50, for receiving the original differential capacitance signal output by the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50, and adjusting the amplitude and suppressing the noise of the original differential capacitance signal, and outputting the conditioned analog differential signal;

[0072] an analog-to-digital conversion unit, the input end signal of which is connected to the output end of the differential signal conditioning unit, for converting the conditioned analog differential signal into a digital signal;

[0073] The digital signal processing unit is configured to perform at least one of the following processes: a) non-linear correction of the digital signal; b) solving the rotation angle based on the pre-stored rotation angle-capacitance difference mapping relationship; and c) identifying the rotation direction through the differential signal polarity change. It can be understood that the differential signal conditioning unit processes the original capacitance difference signal by using differential amplification and filtering circuit principles to improve the signal quality and anti-interference capability; the analog-digital conversion unit converts the analog signal into a digital signal by using analog-digital conversion technology, which is convenient for the digital signal processing unit to process; and the digital signal processing unit processes and analyzes the digital signal according to the pre-stored algorithm and mapping relationship to obtain the rotation angle and rotation direction of the insertion part 20. Integrating multiple functional units in one chip reduces the size and complexity of the detection device, improves the reliability and stability of the system, and also reduces the cost. The integrated processing chip can process the capacitance difference signal in real time, quickly obtain the rotation angle and direction of the insertion part 20, meet the real-time monitoring requirements, and also meet the requirements of modern electronic equipment for miniaturization and integration, so that the detection device can be more conveniently applied to small devices such as endoscopes.

[0074] In some embodiments, the integrated processing chip is a differential capacitance detection chip. It can be understood that the differential capacitance detection chip is specially designed for detecting capacitance difference, has higher sensitivity and accuracy, and can more accurately detect the capacitance difference signal between the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50. Using the differential capacitance detection chip can simplify the design of the capacitance detection device 70, reduce the complexity of external circuits, and improve the reliability and stability of the system.

[0075] In some embodiments, an annular groove 140 is formed on the distal end face of the handle shell 10 to accommodate the rotation of the annular rotating electrode plate 60 therein, and the inner arc-shaped electrode plate 40 and the outer arc-shaped electrode plate 50 are arranged on the two side walls of the annular groove 140, respectively.

[0076] In some embodiments, the cross-sectional shape of the annular rotating electrode plate 60 is an eccentric circular ring shape; the thinnest part of the wall thickness of the annular rotating electrode plate 60 is defined as a first position P1, and the thickest part of the wall thickness is defined as a second position P2; when the annular rotating electrode plate 60 is in the initial position, the center A of the inner circumference of the cross-section of the annular rotating electrode plate 60, the center B of the outer circumference, the center position M of the cross-section of the inner arc-shaped electrode plate 40, the center position N of the cross-section of the outer arc-shaped electrode plate 50, the rotation center O of the annular rotating electrode plate 60, and the first position P1 are located on the same straight line; at this time, the distance between the center position M of the inner arc-shaped electrode plate 40 and the first position P1 is m.

[0077] When the insertion portion 20 is rotated 180 degrees in the clockwise direction or the counterclockwise direction, the inner circumferential center A of the cross section of the annular rotating polar plate 60, the outer circumferential center B, the center position M of the cross section of the inner arc polar plate 40, the center position N of the cross section of the outer arc polar plate 50, the rotating center O of the annular rotating polar plate 60, and the second position P2 are located on the same straight line; at this time, the distance between the center position N of the outer arc polar plate 50 and the second position P2 is n; and m = n is satisfied. It can be understood that, by designing the cross section of the annular rotating polar plate 60 as an eccentric circular ring and stipulating the specific initial position and the position relationship after rotation, the rotating angle of the insertion portion 20 can be accurately detected by the capacitance detection device 70 according to the capacitance change between the polar plates during the rotation of the insertion portion 20. When the insertion portion 20 is rotated 180 degrees, the relationship between each center and the specific position presents a specific geometric feature, and this design ensures that there is a clear corresponding relationship between the capacitance change and the rotating angle, thereby realizing the accurate measurement of the rotating angle of the insertion portion 20. Moreover, the condition of m = n ensures that the detection characteristics of the capacitance detection device 70 are consistent no matter whether the insertion portion 20 is rotated 180 degrees in the clockwise direction or the counterclockwise direction. Moreover, this special structural design simplifies the relevant calculation and algorithm when the capacitance detection device 70 detects the rotating angle and direction of the insertion portion 20. At the same time, the clear geometric position relationship and the symmetry feature relatively reduce the interference factors in the capacitance detection process, and the anti-interference ability of the system is enhanced. No matter in the initial position or the position after rotation, the relationship between the components is fixed and clear, which is conducive to improving the stability and reliability of the entire detection system, and ensures that the rotating information of the insertion portion 20 of the endoscope can be accurately detected under different operating conditions.

[0078] In some embodiments, the material of the annular rotating polar plate 60 is a metalized polyimide film, the minimum value b1 of the thickness b is 0.05 mm, the maximum value b2 is 0.3 mm, and the offset amount Δ of the rotating center O satisfies: Δ = 0.05 mm < Δ < 0.3 mm. It can be understood that a thinner annular rotating polar plate 60 can increase the sensitivity of the capacitance change, because the smaller the thickness of the annular rotating polar plate 60, the greater the influence of the distance change between the polar plates on the capacitance under the same rotating angle, thereby the small rotation of the insertion portion 20 can be more accurately detected. A larger thickness can ensure the mechanical strength and stability of the polar plate, prevent the polar plate from being damaged or deformed during use due to the thickness being too thin, and affect the accuracy of the capacitance detection. By setting a reasonable thickness range, a good balance between the capacitance detection sensitivity and the mechanical performance of the polar plate can be achieved.

[0079] In some embodiments, the detection device further comprises a mounting assembly for mounting the annular rotating polar plate 60, and the mounting assembly comprises:

[0080] a ring-shaped mounting groove is formed on the rotating operation member 30, and the position of the ring-shaped mounting groove corresponds to the annular groove 140 on the handle housing 10;

[0081] an auxiliary mounting member 150, which is consistent with the cross-sectional shape and size of the annular rotating pole plate 60, and is in a micro-interference fit with the ring-shaped mounting groove;

[0082] a plurality of assembly screws 130 and corresponding screw assembly holes, which are distributed circumferentially along the ring-shaped mounting groove on the rotating operation member 30;

[0083] wherein the ring-shaped mounting groove is configured to:

[0084] the auxiliary mounting member 150 and the annular rotating pole plate 60 are fixed by the micro-interference fit;

[0085] When the assembly screw 130 is screwed into the screw assembly hole, the axial thrust generated pushes the auxiliary mounting member 150 and the annular rotating polar plate 60 in turn, so that the annular rotating polar plate 60 is out of the micro-interference fit state and extends into the annular groove 140, and is finally positioned at the preset mounting position between the inner arc-shaped polar plate 40 and the outer arc-shaped polar plate 50. It can be understood that the assembly structure is designed by the combination of "micro-interference fit + screw thrust", on the one hand, the micro-interference fit in the initial state ensures that the annular rotating polar plate 60 can be stably clamped in the annular mounting groove during the assembly of the rotating operating member 30 and the handle shell 10. In the natural state, the annular rotating polar plate 60 is clamped by the friction force of the inner wall of the annular mounting groove, which can avoid accidental falling and simplify the pre-assembly process; on the other hand, the axial thrust of the assembly screw 130 can break the micro-interference constraint and push the annular rotating polar plate 60 to the preset position, and the full-contact design of the auxiliary mounting member 150 ensures uniform thrust, which, in combination with the circumferentially distributed multiple assembly screws 130, ensures that the annular rotating polar plate 60 is uniformly stressed and can avoid tilting or jamming; finally, the micro-interference fit relationship between the annular rotating polar plate 60 and the annular mounting groove, as well as the small self-weight of the annular rotating polar plate 60, can realize the stable fixation of the annular rotating polar plate 60 at the preset position. During assembly, the auxiliary mounting member 150 and the annular rotating polar plate 60 are pushed into the annular mounting groove of the rotating operating member 30 in turn, and the micro-interference fit of the two with the annular mounting groove fixes the auxiliary mounting member 150 and the annular rotating polar plate 60 in the annular mounting groove, avoiding falling during assembly; then the rotating operating member 30 and the handle shell 10 are assembled in place to ensure that the annular mounting groove corresponds to the annular groove 140 on the handle shell 10; finally, the multiple assembly screws 130 are evenly tightened along the circumference, so that the ends of the assembly screws 130 extend into the annular mounting groove through the screw assembly hole, and the axial thrust acts on the auxiliary mounting member 150 and the annular rotating polar plate 60 in turn, overcoming the constraint force of the micro-interference fit, pushing the annular rotating polar plate 60 to gradually out of the initial fixed state and extending into the annular groove 140, until the assembly screw 130 is completely screwed in, and the annular rotating polar plate 60 is accurately positioned at the preset mounting position between the inner arc-shaped polar plate 40 and the outer arc-shaped polar plate 50.

[0086] In some embodiments, the inner wall and / or the outer wall of the annular rotating polar plate 60 is provided with a foolproof protrusion 160, and the annular mounting groove is provided with a foolproof matching groove 170 that is adapted to the foolproof protrusion 160 at the position corresponding to the foolproof protrusion 160. It can be understood that, first, the foolproof protrusion 160 provided on the inner wall and / or the outer wall of the annular rotating polar plate 60 forms a unique matching relationship with the foolproof matching groove 170 on the annular mounting groove, which can structurally prevent the annular rotating polar plate 60 from being installed in the annular mounting groove in the wrong direction or angle. During assembly, only when the foolproof protrusion 160 is aligned with and fitted into the foolproof matching groove 170, the annular rotating polar plate 60 can be smoothly pushed into the mounting groove, otherwise it cannot be installed due to physical interference. This design reduces the direction error caused by visual error or operational negligence during manual assembly, significantly improves the one-time qualification rate of assembly, and reduces the rework cost caused by incorrect installation. Furthermore, the fitting structure of the foolproof protrusion 160 and the foolproof matching groove 170 forms additional constraints on the annular rotating polar plate 60 in the radial and circumferential directions. When the annular rotating polar plate 60 is pushed to the preset position by the assembly screw 130, the mechanical engagement of the foolproof protrusion 160 and the foolproof matching groove 170 can effectively limit the circumferential rotation of the annular rotating polar plate 60 in the annular mounting groove, while being combined with a micro-interference fit; this double positioning mechanism ensures the relative positional accuracy between the annular rotating polar plate 60 and the inner arc-shaped polar plate 40 and the outer arc-shaped polar plate 50, reduces the influence of the shaking or displacement of the annular rotating polar plate 60 on the detection device, and thus guarantees the stability and accuracy of the detection data.

[0087] In some embodiments, the contact surface between the auxiliary mounting member 150 and the annular rotating polar plate 60 is a concave-convex matching surface. It can be understood that the concave-convex matching surface can increase the contact area and friction between the auxiliary mounting member 150 and the annular rotating polar plate 60, making the connection between the two more stable. Compared with flat surface contact, the concave-convex structure can effectively prevent relative sliding between the auxiliary mounting member 150 and the annular rotating polar plate 60, ensuring that the annular rotating polar plate 60 can accurately rotate according to the design requirements during the operation of the device, and improving the reliability and stability of the entire device. At the same time, the concave-convex matching structure can function as a positioning mechanism, allowing the annular rotating polar plate 60 to quickly and accurately reach the preset position when it is mounted on the auxiliary mounting member 150, facilitating installation and reducing error accumulation during installation, which helps to improve the assembly accuracy of the device and ensure the relative positional accuracy between the components, thereby improving the performance of the entire endoscope insertion part 20 circumferential rotation detection device.

[0088] Embodiment 2:

[0089] An endoscope insertion part circumferential rotation detection method is implemented based on the endoscope insertion part circumferential rotation detection device in embodiment 1, and the detection method comprises the following steps:

[0090] S100, detecting a first capacitance value between the inner arc-shaped electrode plate 40 and the ring-shaped rotating electrode plate 60 in real time by the capacitance detection device 70 , and a second capacitance value between the outer arc-shaped electrode plate 50 and the ring-shaped rotating electrode plate 60 ;

[0091] S200, calculating the capacitance difference ;

[0092] S300, transmitting the detected capacitance difference data to the microcontroller 80;

[0093] S400, the microcontroller 80 calculates the rotation angle and / or rotation direction of the insertion part 20 of the endoscope according to the pre-stored mapping relationship between the capacitance difference and the circumferential rotation angle of the insertion part 20;

[0094] S500, outputting the real-time angle value and direction identifier to the external receiving device 120 by the microcontroller 80.

[0095] Further, the pre-stored mapping relationship between the capacitance difference and the circumferential rotation angle of the insertion part 20 is established by the following steps:

[0096] A100, under standard environmental conditions, rotate the insertion part 20 of the endoscope circumferentially to a plurality of preset angles;

[0097] A200, for each preset angle, record the corresponding capacitance difference data detected by the capacitance detection device 70;

[0098] A300. Based on the recorded preset angles and corresponding capacitance difference data, a mapping relationship between the capacitance difference and the circumferential rotation angle of the insertion portion 20 is constructed and stored in the microcontroller 80. It can be understood that by operating under standard environmental conditions, the interference of environmental factors such as temperature and humidity on capacitance detection can be eliminated, ensuring the accuracy and reliability of the measurement data. This lays a solid foundation for subsequent accurate measurement of the circumferential rotation angle of the insertion portion 20. Rotating the insertion portion 20 circumferentially to multiple preset angles and recording the capacitance difference data corresponding to each preset angle can obtain rich data points, comprehensively reflecting the relationship between the capacitance difference and the rotation angle. Based on these rich and accurate data, the mapping relationship can more accurately describe the internal relationship between the two, thereby improving the accuracy of angle measurement. After constructing and storing the mapping relationship, the microcontroller 80 can quickly and accurately find the corresponding circumferential rotation angle of the insertion portion 20 through the mapping relationship based on the real-time detected capacitance difference data. This enables the detection device to measure the rotation angle of the endoscope insertion portion 20 in real time and dynamically, providing timely and accurate information to the doctor or operator, which helps to improve the accuracy and safety of the operation or operation. The mapping relationship provides a calibration basis for the entire detection system. During system use, calibration can be performed periodically or irregularly to compare and verify the actual measured capacitance difference with the stored mapping relationship, ensuring the measurement accuracy and stability of the system. If a deviation is found, timely adjustment and correction can be made to ensure the long-term stable operation of the detection device. Storing the mapping relationship in the microcontroller 80 facilitates integration and collaborative work with other parts of the endoscope system. The microcontroller 80 can transmit angle information to other control units or display devices to achieve automated control and information sharing of the entire endoscope system, improving the overall performance and ease of use of the system.

[0099] Further, the capacitance detection device 70 detects the capacitance difference according to a preset sampling frequency to ensure that the change of the capacitance difference can be obtained in real time and accurately. It can be understood that in most common endoscope application scenarios, the sampling frequency can be set between 10Hz-100Hz. This range can meet the basic detection requirements while not causing excessive data processing pressure to the system. When the insertion portion 20 rotates at a high speed or the detection accuracy requirement is extremely high, the sampling frequency may need to be increased to 100Hz-1000Hz or even higher. For example, in some surgical operation scenarios that require fast response, a higher sampling frequency is needed to obtain the rotation information of the insertion portion 20 in real time and accurately.

[0100] Further, the step of calculating the rotation direction of the endoscope insertion portion 20 by the microcontroller 80 comprises:

[0101] The rotation direction of the insertion portion 20 is determined according to the positive or negative change of the capacitance difference. If the capacitance difference increases or decreases in a specific trend, it corresponds to the clockwise or counterclockwise rotation direction of the insertion portion 20. It can be understood that, since the circumferential thickness b of the annular rotating polar plate 60 is gradually arranged, when it rotates between the inner arc polar plate 40 and the outer arc polar plate 50, the distance between the two inner arc polar plates 40 and the outer arc polar plate 50 will change, thereby causing the capacitance difference to change.

[0102] Suppose that in the initial state, the relative position of the annular rotating polar plate 60 and the inner arc polar plate 40 and the outer arc polar plate 50 is such that the capacitance between the inner arc polar plate 40 and the annular rotating polar plate 60 is , and the capacitance between the outer arc polar plate 50 and the annular rotating polar plate 60 is , at this time the capacitance difference is .

[0103] When the insertion portion 20 rotates clockwise: the position of the annular rotating polar plate 60 changes, and the distance between it and the inner arc polar plate 40 can gradually decrease, according to the capacitance calculation formula , where is the dielectric constant, is the polar plate opposite area, is the distance between the polar plates, and the distance decreases, which causes the capacitance to increase. At the same time, the distance between the annular rotating polar plate 60 and the outer arc polar plate 50 can gradually increase, causing the capacitance to decrease. Then the capacitance difference will increase.

[0104] When the insertion portion 20 rotates counterclockwise: the distance between the annular rotating polar plate 60 and the inner arc polar plate 40 gradually increases, causing the capacitance to decrease. The distance between the annular rotating polar plate 60 and the outer arc polar plate 50 gradually decreases, causing the capacitance to increase. At this time the capacitance difference will decrease. Therefore, by monitoring the change trend of the capacitance difference, that is, the increase of the capacitance difference corresponds to the clockwise rotation of the insertion portion 20, and the decrease of the capacitance difference corresponds to the counterclockwise rotation of the insertion portion 20. The microcontroller 80 can accurately determine the rotation direction of the insertion portion 20 of the endoscope according to this rule combined with the detected capacitance difference change.

[0105] Embodiment 3:

[0106] The present application provides an endoscope handle, which comprises the endoscope insertion portion circumferential rotation detection device in embodiment 1.

[0107] Embodiment 4:

[0108] The present application provides an endoscope, comprising the endoscope handle in embodiment 3.

[0109] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the change or replacement within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An endoscope insertion portion circumferential rotation detection device, the endoscope comprising a handle housing (10) and an insertion portion (20), wherein a rotational operating element (30) is connected to the proximal end of the insertion portion (20), the rotational operating element (30) being rotatably connected to the handle housing (10), characterized in that, The detection device includes: The measuring electrode assembly includes an inner arc-shaped electrode (40) and an outer arc-shaped electrode (50) fixed on the handle housing (10), the inner arc-shaped electrode (40) and the outer arc-shaped electrode (50) are arranged in the same direction along the circumference and the distance between them is a; it also includes an annular rotating electrode (60) fixed on the rotating operating component (30), the annular rotating electrode (60) is located between the inner arc-shaped electrode (40) and the outer arc-shaped electrode (50); the circumferential thickness b of the annular rotating electrode (60) is continuously and gradually distributed, and satisfies a > b; The capacitance detection device (70) has its input terminals connected to the inner arc-shaped plate (40) and the outer arc-shaped plate (50) respectively, and is used to detect the capacitance difference between the first capacitance value between the annular rotating plate (60) and the inner arc-shaped plate (40) and the second capacitance value between the annular rotating plate (60) and the outer arc-shaped plate (50); The output of the microcontroller (80) and the input of the capacitance detection device (70) are connected in communication. The output of the microcontroller (80) is connected in communication with the external receiving device (120). The microcontroller (80) converts the capacitance difference detected by the capacitance detection device (70) into the rotation angle according to the mapping relationship between the circumferential rotation angle of the insertion part (20). The microcontroller (80) determines the rotation direction of the insertion part (20) according to the positive and negative changes of the capacitance difference detected by the capacitance detection device (70).

2. The circumferential rotation detection device for the endoscope insertion section according to claim 1, characterized in that, The detection device further includes a wireless communication module (90), the input end of which is communicatively connected to a microcontroller (80), and the output end of which is communicatively connected to an external receiving device (120); And / or, the detection device further includes a memory chip (100) which is communicatively connected to a microcontroller (80).

3. The circumferential rotation detection device for the endoscope insertion section according to claim 2, characterized in that, The detection device also includes a power supply system (110), which includes a power supply (1101) and a power management module (1102) for converting the voltage output by the power supply (1101) into the appropriate voltage required by the capacitance detection device (70), the wireless communication module (90), the memory chip (100), and the microcontroller (80). The capacitance detection device (70), the wireless communication module (90), the memory chip (100), and the microcontroller (80) are respectively connected to the power management module (1102) via the power supply (1101) line. And / or, the capacitance detection device (70) includes an integrated processing chip, which internally contains: The differential signal conditioning unit has its input end coupled to the capacitor signal output end of the inner arc plate (40) and the outer arc plate (50). It is used to receive the original capacitor difference signal output by the inner arc plate (40) and the outer arc plate (50), and to perform amplitude adjustment and noise suppression on the original differential capacitor signal, and output the conditioned analog differential signal. An analog-to-digital converter unit has its input signal connected to the output of the differential signal conditioning unit to convert the conditioned analog differential signal into a digital signal. A digital signal processing unit is configured to perform at least one of the following processes: a) performing nonlinear correction on a digital signal; b) calculating a rotation angle based on a pre-stored rotation angle-capacitance difference mapping relationship; and c) identifying the rotation direction by means of a change in the polarity of a differential signal.

4. The circumferential rotation detection device for the endoscope insertion section according to claim 3, characterized in that, The integrated processing chip is a differential capacitance detection chip.

5. The circumferential rotation detection device for the endoscope insertion section according to claim 1, characterized in that, The circumferential thickness b of the annular rotating electrode plate (60) is linearly gradually varied; And / or, the arc length and arcuateness of the inner arcuate plate (40) and the outer arcuate plate (50) are equal; And / or, an annular groove (140) is provided on the distal end face of the handle housing (10) to accommodate the annular rotating electrode plate (60) rotating therein, and the inner arc-shaped electrode plate (40) and the outer arc-shaped electrode plate (50) are respectively disposed on the two side walls of the annular groove (140); And / or, the cross-sectional shape of the annular rotating electrode (60) is an eccentric annular ring; the thinnest part of the wall of the annular rotating electrode (60) is defined as the first position (P1), and the thickest part of the wall is defined as the second position (P2). When the annular rotating electrode (60) is in its initial position, the center of the inner circumference (A), the center of the outer circumference (B), the center of the cross-section of the inner arc-shaped electrode (40) (M), the center of the cross-section of the outer arc-shaped electrode (50) (N), the rotation center (O) of the annular rotating electrode (60), and the first position (P1) are all on the same straight line; at this time, the distance between the center position (M) of the inner arc-shaped electrode (40) and the first position (P1) is m; When the insertion part (20) rotates 180 degrees clockwise or counterclockwise, the inner circumference center (A), outer circumference center (B), center position (M) of the cross-section of the inner arc-shaped electrode (40), center position (N) of the cross-section of the outer arc-shaped electrode (50), rotation center (O) of the annular rotating electrode (60), and the second position (P2) are on the same straight line; at this time, the distance between the center position (N) of the outer arc-shaped electrode (50) and the second position (P2) is n; satisfying m=n; And / or, the annular rotating electrode (60) is made of metallized polyimide film, with a minimum thickness b1 of 0.05 mm and a maximum thickness b2 of 0.3 mm, and the offset Δ of the rotation center (O) satisfies: Δ = .

6. The circumferential rotation detection device for the endoscope insertion section according to claim 5, characterized in that, The detection device further includes a mounting assembly for mounting the annular rotating electrode plate (60), the mounting assembly comprising: An annular mounting groove is formed on the rotary operating component (30), the position of which corresponds to the annular groove (140) on the handle housing (10); The auxiliary mounting component (150) has the same cross-sectional shape and size as the annular rotating electrode plate (60), and both form a slight interference fit with the annular mounting groove; Multiple mounting screws (130) and corresponding screw mounting holes are provided on the rotating operating member (30) along the circumferential direction of the annular mounting groove. The annular mounting groove is configured as follows: The auxiliary mounting component (150) and the annular rotating electrode plate (60) are fixed by a slight interference fit. When the mounting screw (130) is screwed into the screw mounting hole, the axial thrust generated pushes the auxiliary mounting part (150) and the annular rotating electrode plate (60) in sequence, causing the annular rotating electrode plate (60) to disengage from the slight interference fit and extend into the annular groove (140), and finally be positioned at the preset installation position between the inner arc-shaped electrode plate (40) and the outer arc-shaped electrode plate (50).

7. A method for detecting the circumferential rotation of an endoscope insertion section, characterized in that: Based on the endoscope insertion part circumferential rotation detection device according to any one of claims 1-6, the detection method includes the following steps: The capacitance value between the inner arc-shaped electrode (40) and the annular rotating electrode is detected in real time using a capacitance detection device (70). and the second capacitance value between the outer arc-shaped electrode (50) and the annular rotating electrode. ; Calculate capacitance difference ; The detected capacitance difference data is transmitted to the microcontroller (80). The microcontroller (80) calculates the rotation angle of the endoscope insertion part based on the pre-stored mapping relationship between the capacitance difference and the circumferential rotation angle of the insertion part (20), and determines the rotation direction of the insertion part (20) based on the positive and negative changes of the capacitance difference detected by the capacitance detection device (70). The microcontroller (80) outputs the real-time angle value and direction indicator to the external receiving device (120).

8. The method for detecting circumferential rotation of the endoscope insertion section according to claim 7, characterized in that: The mapping relationship between the pre-stored capacitance difference and the circumferential rotation angle of the insertion part (20) is established through the following steps: Under standard environmental conditions, the endoscope insertion section is rotated circumferentially to multiple preset angles; For each preset angle, the corresponding capacitance difference data detected by the capacitance detection device (70) is recorded; Based on the recorded preset angle and the corresponding capacitance difference data, a mapping relationship between capacitance difference and the circumferential rotation angle of the insertion part (20) is constructed and stored in the microcontroller (80); And / or, the capacitance detection device (70) detects the capacitance difference according to a preset sampling frequency to ensure that the change in capacitance difference can be obtained in real time and accurately; And / or, the step by which the microcontroller (80) calculates the rotation direction of the endoscope insertion section includes: The direction of rotation of the insertion part (20) is determined by the positive or negative change of the capacitance difference. If the capacitance difference increases or decreases in a specific trend, the corresponding direction of rotation of the insertion part (20) is clockwise or counterclockwise.

9. An endoscope handle, characterized in that, Includes the circumferential rotation detection device for the endoscope insertion section as described in any one of claims 1-6.

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

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