Automatic transmission system for flexible endoscope accessories

Abstract

The invention relates to an automatic transmission system for flexible endoscope accessories, which comprises a digestive endoscope and an auxiliary suite, and the auxiliary suite can be detachably mounted at the mouth of a biopsy duct, through which an accessory tube passes, of the digestive endoscope. The system further comprises a driving part, a monitoring part and a control part in signal connection with the driving part and the monitoring part, the auxiliary suite can stretch out of the power input shaft and the driven output shaft and is connected with the driving part and the monitoring part, and a driving wheel connected with the power input shaft and a follow-up monitoring wheel connected with the driven output shaft are arranged in the auxiliary suite. The accessory pipe is clamped between the driving wheel and the follow-up monitoring wheel, and under the condition that the driving part drives the power output shaft to rotate according to the preset working parameters, the driving wheel drives the accessory pipe to move axially at the first speed. And when the monitoring part detects that the rotating state of the follow-up monitoring wheel connected with the monitoring part is inconsistent with the rotating state of the driving wheel, the control part enables the accessory pipe to axially move at a second speed lower than the first speed in a manner of at least changing the working parameters of the driving part.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an automatic transport system for flexible endoscope accessories. Background Technology

[0002] With the continuous development of digestive endoscopy technology, minimally invasive surgeries such as endoscopic submucosal dissection (ESD) and endoscopic mucosal resection (EMR) have become the preferred treatment for early-stage gastrointestinal cancers and precancerous lesions. During these sophisticated procedures, surgeons frequently insert or remove various treatment accessories (such as injection needles, high-frequency electrosurgical units, hemostatic forceps, and titanium clip releasers) through the biopsy channel of the endoscope to perform marking, incision, dissection, and hemostasis.

[0003] Currently, the insertion of endoscopes in clinical practice mainly relies on a two-handed approach: the doctor operates the endoscope while the nurse assists with insertion, or the doctor holds the endoscope with one hand and operates with the other. This traditional method, which depends on human experience, has revealed significant technical limitations and operational drawbacks in actual clinical application.

[0004] First, because digestive endoscopes are typically over 1 meter long and meander through the patient's body, complex frictional resistance easily arises between the tube and the inner wall of the biopsy channel when pushing a flexible accessory tube through it. During manual pushing, the operator has difficulty perceiving the actual change in resistance at the tip of the accessory tube, often requiring significant pushing force to overcome the accumulated friction along the way. This results in a significant hysteresis effect in force transmission; that is, after the operator applies force to the handle, the movement of the tip is often delayed. And when the static friction is overcome, the accumulated elastic potential energy is released instantaneously, easily causing the tip of the accessory tube to suddenly jut out. This uncontrollable sudden movement can easily cause perforation or damage to the thin mucosa of the digestive tract.

[0005] Secondly, in the doctor-nurse collaborative model, the surgeon operating the endoscope cannot directly feel the tactile sensation of the attachments and can only instruct the nurse to make minor adjustments via verbal commands. Due to the delay in verbal communication and the difference in reaction speed between the two, it is difficult to achieve millimeter-level precision in advancing and retreating. Especially when dealing with bleeding points or minor lesions, the repeated adjustments are not only time-consuming but also prone to causing missed opportunities for optimal operation due to insufficient coordination.

[0006] Furthermore, a complex endoscopic surgery can last for several hours and involve hundreds of insertions and removals of appendages. Prolonged, high-frequency mechanical pushing movements can easily lead to muscle fatigue and even spasms in the operator's hands and arms, affecting the uniformity of pushing speed and the stability of force, thus increasing surgical risks.

[0007] CN110179506A discloses an autonomous controller for endoscopic treatment accessories. It uses a drive wheel to clamp the accessory tube and uses a Hall sensor or encoder to record the number of rotation steps of the drive motor. The movement distance of the accessory is calculated by multiplying the motor rotation number by the wheel circumference, thereby realizing electric feeding and measurement.

[0008] However, the aforementioned existing technology has significant drawbacks: it employs an open-loop control strategy based on the motor, meaning the accessory tube moves by the same amount the drive wheel rotates. In actual clinical settings, the accessory tube surface is often contaminated with bodily fluids, or the biopsy channel is bent, increasing resistance and making slippage highly likely. Once slippage occurs, although the drive wheel is rotating at high speed, the accessory tube is actually stationary or moving at extremely low speed. In this case, the calculation method based on motor steps will cause the system to display a distance much greater than the actual distance, leading to misjudgment by the doctor. More seriously, if the system fails to detect and continue driving while slipping, the drive wheel will generate continuous and intense friction against the stationary accessory tube wall, easily causing wear, peeling, or even breakage of the tube's outer sheath. Fragments may fall into the patient's body, posing a serious surgical safety hazard.

[0009] Therefore, there is an urgent need for a flexible endoscopic accessory automatic transport system that can monitor the actual movement status of the accessory tube in real time and effectively identify and deal with slippage.

[0010] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0011] To address the shortcomings of existing technologies, this invention provides an automated flexible endoscopic accessory transport system for controlling the movement of an accessory tube within the biopsy channel of a digestive endoscope. The system includes an auxiliary kit, a drive unit, a monitoring unit, and a control unit. The auxiliary kit contains a drive wheel and a follow-up monitoring wheel, with the accessory tube held between them. The drive unit connects to and drives the drive wheel to rotate actively, moving the accessory tube via friction. The follow-up monitoring wheel is configured to rotate in response to the movement of the accessory tube. The monitoring unit connects to and collects the actual rotation parameters of the follow-up monitoring wheel. The control unit is configured to: control the drive unit to operate with predetermined parameters, driving the drive wheel to rotate at a speed corresponding to a first speed; receive the actual rotation parameters of the follow-up monitoring wheel from the monitoring unit and compare them with the theoretical rotation parameters of the drive wheel; and when the difference between the two exceeds a preset threshold, control the accessory tube to move at a second speed lower than the first speed or stop by at least changing the operating parameters of the drive unit.

[0012] The transmission system of this invention establishes a closed-loop monitoring and feedback control mechanism for the transmission status of the accessory tube through the cooperation of a drive wheel and a follow-up monitoring wheel. The follow-up monitoring wheel can accurately reflect the actual movement of the accessory tube (i.e., the "output end" status), rather than relying solely on the "input end" data of the drive unit. When the accessory tube slips due to excessive resistance or a wet wall, the system can quickly identify the abnormality by comparing differences and automatically reduce the transmission speed or stop, thereby avoiding continuous high-speed rotation and friction of the drive wheel when the accessory tube is stationary. This effectively prevents wear, peeling, or even breakage of the accessory tube's outer sheath, significantly improving instrument safety during surgery.

[0013] According to a preferred embodiment, the auxiliary kit includes a fixed support for mounting a drive wheel and a movable support for mounting a follow-up monitoring wheel. The movable support is restricted by a guide structure to move relative to the fixed support, allowing the follow-up monitoring wheel to approach or move away from the drive wheel. An elastic element is provided on the side of the movable support away from the fixed support. Under the action of the elastic element, the movable support is elastically biased towards the drive wheel, thereby forming an adaptive clamping mechanism for accessory pipes of different diameters between the drive wheel and the follow-up monitoring wheel. This scheme achieves elastic floating clamping of the accessory pipe through the cooperation of the fixed support and the movable support biased by the elastic element. This structure can automatically adjust the distance between the drive wheel and the follow-up monitoring wheel according to the diameter changes of accessory pipes of different specifications, eliminating the need for manual adjustment. This not only ensures compatibility with various pipe diameters but also provides a stable normal clamping force using the constant force of the elastic element, ensuring the reliability of friction transmission and absorbing vibrations caused by pipe diameter manufacturing tolerances.

[0014] According to a preferred embodiment, while the accessory tube moves at a second speed, the monitoring unit continuously acquires the actual rotation parameters of the follow-up monitoring wheel. When the control unit determines that the actual rotation parameters of the follow-up monitoring wheel have returned to consistency with the rotation state of the drive wheel, it gradually increases the rotation speed of the drive unit to restore the moving speed of the accessory tube from the second speed to the first speed. When the control unit determines that the actual rotation parameters of the follow-up monitoring wheel are still inconsistent with the rotation state of the drive wheel, the control unit controls the drive unit to temporarily stop rotating and then restart, or controls the drive unit to rotate in a pulse manner to eliminate the relative slippage speed between the drive wheel and the accessory tube and attempt to re-establish a relatively static clamping state. This technical solution provides an intelligent slippage self-healing and recovery strategy. Upon detecting slippage, the system does not immediately report an error and stop. Instead, it first reduces the speed to attempt to restore static friction (the static friction coefficient is usually greater than the dynamic friction coefficient). If slippage persists after reducing the speed, it uses "pause and restart" or "pulse mode" to drive the system, utilizing instantaneous momentum changes or vibrations to break the continuous slippage state, eliminate relative slippage speed, and attempt to re-establish a relatively static and effective clamping state between the drive wheel and the accessory tube, minimizing surgical interruptions and manual intervention caused by slippage.

[0015] According to a preferred embodiment, the actual rotation parameters include at least one of the following: the number of rotations of the servo monitoring wheel, angular velocity, and angular displacement signal. The control unit compares the acquired actual rotation parameters with the theoretical rotation parameters of the drive wheel corresponding to predetermined operating parameters, and determines whether transmission slippage exists based on the comparison result. By collecting actual physical quantities such as the number of rotations and angular velocity of the servo monitoring wheel and comparing them in real time with the theoretical output parameters of the drive unit, the system can accurately calculate the deviation between the theoretical feed and the actual feed. This judgment method based on quantitative data, compared to purely qualitative judgment, can more accurately identify minute slippage trends, improve the sensitivity and accuracy of system control, and prevent misjudgments.

[0016] According to a preferred embodiment, the system includes an auxiliary kit detachably mounted at the biopsy port opening. The auxiliary kit includes a housing, within which a power input shaft and a driven output shaft are rotatably mounted. One end of the power input shaft and the driven output shaft extends outside the housing and is used to connect to a drive unit and a monitoring unit, respectively. The other ends of the power input shaft and the driven output shaft, located inside the housing, are connected to and carry a drive wheel and a follow-up monitoring wheel, respectively. This design achieves a physical connection interface between the internal transmission components of the auxiliary kit and the external drive / monitoring components through the power input shaft and the driven output shaft built into the housing. This design allows expensive components containing electronic elements (drive unit, monitoring unit) to exist independently of the auxiliary kit that comes into contact with the human body, facilitating independent disassembly, replacement, or use as a disposable consumable, while ensuring that power and signals can be stably transmitted to the wheel system inside the housing through the shaft ends.

[0017] According to a preferred embodiment, the surface of the housing is formed with a sleeve interface for aligning with the biopsy channel of a digestive endoscope. A fixing connection portion extends peripherally from the sleeve interface, and an adjustable clamping member is connected to the fixing connection portion. By adjusting the clamping member, the auxiliary kit is configured to be detachably fixed to the opening of the biopsy channel, and the clamping center axis of the drive wheel and the follow-up monitoring wheel is aligned with the axis of the biopsy channel. This design, through the adjustable clamping member and the fixing connection portion, establishes a stable connection between the auxiliary kit and the endoscope biopsy channel. This structure has broad versatility and can adapt to endoscope handles of different sizes and shapes. More importantly, this fixing method ensures precise alignment of the clamping center axis of the auxiliary kit with the axis of the biopsy channel, avoiding angular deviation or unnecessary frictional resistance when the accessory tube enters the channel opening, thus ensuring a smooth transmission path.

[0018] According to a preferred embodiment, the housing also has an insertion port for the accessory tube to pass through, with the insertion port and the sleeve interface located on opposite sides of the housing. The axes of the insertion port, the sleeve interface, and the clamping center axes of the drive wheel and the follow-up monitoring wheel are coaxially arranged. This coaxial arrangement of the insertion port, the sleeve interface, and the wheel system clamping center axis creates a straight channel for the accessory tube to pass through. This design minimizes the bending deformation of the accessory tube within the auxiliary kit, allowing for efficient axial transmission of driving force. It avoids increased transmission resistance or accessory tube buckling and jamming caused by a circuitous path, improving operational feel and transmission efficiency.

[0019] According to a preferred embodiment, tracks are respectively fitted around the outer periphery of the drive wheel and the follow-up monitoring wheel, and the tracks rotate synchronously with the corresponding wheel bodies. The tracks have a concave arc-shaped cross-section to form a surface contact friction transmission interface that fits against the outer peripheral wall of the accessory tube. The concave arc-shaped design allows the tracks to wrap around and conform to the surface of the cylindrical accessory tube, transforming traditional line contact into a larger surface contact. Without solely relying on increasing clamping pressure, this structure significantly increases the friction transmission interface, effectively solving the problem of slippage on accessory tubes with smooth surfaces or those contaminated with bodily fluids, and improving grip and transmission stability.

[0020] According to a preferred embodiment, the inner wall of the sleeve is provided with a sealing structure made of elastic material. When the auxiliary kit is installed at the biopsy channel opening, the sealing structure is configured to tightly fit the outer wall of the biopsy channel to form a liquid seal. This solution solves the sealing problem at the connection between the auxiliary kit and the endoscope through the elastic sealing structure of the inner wall of the sleeve. When the device is installed, this structure can tightly fit the outer wall of the biopsy channel to form a liquid seal. This not only prevents gas or liquid in the patient's body from leaking out through the connection gap during endoscopic surgery (maintaining pneumoperitoneum pressure), but also prevents external contaminants from entering the biopsy channel or body fluids from refluxing and contaminating the operating handle, ensuring the hygiene and safety of the surgical environment.

[0021] According to a preferred embodiment, the system includes an alarm unit connected to the control unit via a signal. When the cumulative duration of the accessory tube moving or stopping at a second speed exceeds a preset threshold, and the rotation parameters fed back by the monitoring unit continuously show a slippage state, the control unit controls the alarm unit to issue an alarm signal and controls the drive unit to stop operating. If, after attempting automatic speed reduction and other adjustment methods, the slippage state cannot be eliminated within a certain time, the system determines it to be an unrecoverable fault or extreme condition. In this case, actively triggering an alarm and forcibly stopping the drive unit allows for timely notification of medical personnel for intervention, preventing the drive unit from idling for extended periods in an ineffective state, which could lead to overheating, battery depletion, or irreversible mechanical damage to the accessory tube. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a prior art digestive endoscope provided by the present invention; Figure 2 This is a schematic diagram of the biopsy channel of a prior art digestive endoscope through which an accessory tube is inserted, as provided by the present invention. Figure 3 This is a schematic diagram of the installation process before the auxiliary kit provided by the present invention is connected to the biopsy channel of the digestive endoscope; Figure 4 This is a schematic diagram of the overall structure of the auxiliary kit in Embodiment 1 provided by the present invention; Figure 5This is a schematic diagram of the overall assembly of the flexible endoscope accessory automatic transmission system provided by the present invention installed on a digestive endoscope; Figure 6 This is an exploded structural diagram showing the auxiliary kit, drive unit, and control unit separated from each other, provided by the present invention. Figure 7 This is a partially enlarged schematic diagram of the docking structure between the power input shaft and the drive motor shaft of the auxiliary kit provided by the present invention; Figure 8 This is a cross-sectional view of the internal structure of the auxiliary kit in Embodiment 1 provided by the present invention; Figure 9 This is a partially enlarged cross-sectional view of the accessory tube clamped between the drive wheel and the follow-up monitoring wheel in Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the internal transmission and monitoring mechanism after removing the housing in Embodiment 1 of the present invention; Figure 11 This is a schematic diagram of the internal mechanism of the flexible track transmission structure used in Embodiment 2 of the present invention; Figure 12 This is a schematic diagram of a compact transmission mechanism with an added transmission gear set in Embodiment 3 of the present invention; Figure 13 This is an exploded view of the auxiliary kit and external accessories using a slide rail connection structure in Embodiment 4 of the present invention; Figure 14 This is a schematic diagram of the auxiliary kit housing sidewall groove structure in Embodiment 4 provided by the present invention; Figure 15 This is a schematic diagram of the slide bar and positioning ball assembly on the external accessory in Embodiment 4 of the present invention.

[0023] List of reference numerals 100: Digestive endoscope; 110: Biopsy channel; 120: Accessory tube; 200: Auxiliary kit; 210: Housing; 211: Fixing connection; 212: Insertion port; 213: Sleeve interface; 214: External snap-fit ​​component; 215: Fastening component; 216: Sealing structure; 217: Transmission gear; 220: Fixed support; 221: Movable support; 222: Notch; 223: Elastic component; 224: Drive wheel; 225: Follow-up monitoring wheel; 226: Track; 230: Power input shaft; 231: Dovetail fixing groove; 240: Driven output shaft; 241: Positioning bar; 250: Sliding bar; 251: Ball bearing; 252: Sliding groove; 253: Fixing hole; 300: Drive unit; 310: Motor shaft; 311: Dovetail fixing bar; 400: Monitoring unit; 410: Grating sensor; 500: Control unit; 510: Operation button. Detailed Implementation

[0024] The following is a detailed explanation with reference to the accompanying drawings.

[0025] Example 1 This embodiment relates to an automated flexible endoscopic accessory transport system, used to replace manual control of the accessory tube 120 for smooth movement within the biopsy channel 110 of the digestive endoscope 100, solving the problems of low efficiency and high risk of strain on medical staff associated with existing manual accessory instrument changes. (See also...) Figure 1 This illustrates the overall structure of a conventional digestive endoscope 100. As shown, the digestive endoscope 100 has an elongated insertion section and an operating section, with an entrance to a biopsy channel 110 provided on the operating section. See further details. Figure 2 The accessory tube 120 typically needs to be inserted through the inlet of the biopsy channel 110 and extend along the channels inside the digestive endoscope to its tip. The system of the present invention aims to solve the operational difficulties of manually pushing the accessory tube 120.

[0026] Combination Figure 5 The system of the present invention mainly includes a drive unit 300 that provides power for the movement of the accessory tube 120, a monitoring unit 400 for monitoring the actual movement state of the accessory tube 120, a control unit 500 that establishes a signal connection with the drive unit 300 and the monitoring unit 400, and an auxiliary kit 200 that is installed in conjunction with the digestive endoscope 100.

[0027] Combination Figure 6 The auxiliary kit 200 includes a housing 210, within which a power input shaft 230 and a driven output shaft 240 are rotatably mounted. For example... Figure 7 As shown, the power input shaft 230 and the driven output shaft 240 can extend outside the housing 210 and are connected to the drive unit 300 and the monitoring unit 400, respectively. Figure 8 and Figure 9The auxiliary kit 200 also includes a drive wheel 224 connected to the power input shaft 230 and a follow-up monitoring wheel 225 connected to the driven output shaft 240, thereby clamping the accessory tube 120 between the drive wheel 224 and the follow-up monitoring wheel 225. The drive unit 300, as the core of the power output, provides continuous and stable power support for the axial movement of the accessory tube 120. This drive unit 300 can be independently installed externally within the auxiliary kit 200 and can be quickly docked with it. The drive unit 300 can integrate a micro motor and optionally be equipped with a reduction gearbox. The micro motor can adjust its operating parameters according to the instructions of the control unit 500; the reduction gearbox can reduce power and increase torque according to actual transmission requirements, ensuring that the drive wheel 224 can adapt to different power output scenarios for the movement of the accessory tube 120. The monitoring unit 400 is used to collect the status parameters of the accessory tube 120 during its movement, providing a reliable basis for the judgment of the control unit 500. A grating sensor 410 can be configured within the monitoring unit 400 to collect the actual rotation parameters of the follow-up monitoring wheel 225, including at least one of the following: the number of rotations of the follow-up monitoring wheel 225, angular velocity, and angular displacement signals. These signals can then be used to infer the actual movement state of the accessory tube 120 in contact with the follow-up monitoring wheel 225. The grating sensor 410 is connected to the control unit 500 via a signal line, transmitting the collected real-time signals to the control unit 500. This ensures that the control unit 500 can promptly obtain feedback on the movement of the accessory tube 120, providing data support for subsequent parameter adjustments and status assessments. At least one operation button 510 can be provided on the surface of the control unit 500, allowing medical personnel to apply emergency braking to the drive unit 300 as needed to handle unforeseen circumstances. The control unit 500 can integrate a microprocessor, which can also preset the length data of the tube inserted into the body by the digestive endoscope 100. Based on the length of the tube and the target depth to which the accessory tube 120 needs to be inserted, the control unit 500 calculates and sets the rotation direction, rotation speed and rotation duration of the motor shaft 310 that extends out of the drive unit 300 and is connected to the power input shaft 230 as predetermined working parameters.

[0028] The control unit 500 can control the drive unit 300 to operate at predetermined working parameters based on preset parameters, driving the drive wheel 224 to rotate at a speed corresponding to the first speed. Simultaneously, the control unit 500 can continuously receive feedback signals transmitted by the monitoring unit 400 and compare them with the theoretical rotation parameters of the drive wheel 224 corresponding to the predetermined working parameters, thereby determining whether the actual movement state of the accessory tube 120 is consistent with expectations. When the control unit 500 determines that the difference between the two exceeds a preset threshold, it usually means that slippage has occurred between the drive wheel 224 and the accessory tube 120, or between the follow-up monitoring wheel 225 and the accessory tube 120. At this time, the control unit 500 will immediately execute an adjustment command, at least by changing the working parameters of the drive unit 300, i.e., reducing the output speed of the drive unit 300, so that the accessory tube 120 moves at a second speed lower than the first speed, thereby reducing ineffective sliding friction and creating conditions for re-establishing effective static friction. Specifically, the aforementioned second speed is configured to be 10% to 60% of the first speed. In a preferred embodiment, when the system determines that the slippage is minor (e.g., the speed difference is slightly higher than a threshold), the control unit 500 sets the second speed to 40% to 60% of the first speed to attempt to restore grip while maintaining surgical efficiency as much as possible. When the system determines that the slippage is severe or lasts for a long time, the control unit 500 further reduces the second speed to 10% to 30% of the first speed, i.e., enters a low-speed creep mode. This graded or significant speed reduction strategy is based on the physical principle that the static friction coefficient is usually greater than the dynamic friction coefficient. By significantly reducing the relative sliding speed between the contact surface of the drive wheel 224 and the accessory tube 120, the continuous dynamic friction slippage balance can be broken, making it easier to capture and return to a relatively static friction lock state.

[0029] While the accessory tube 120 moves at the second speed, the monitoring unit 400 continuously collects the actual rotation parameters of the follow-up monitoring wheel 225 and transmits them to the control unit 500. The control unit 500 then continuously compares and judges: if it is determined that the actual rotation parameters of the follow-up monitoring wheel 225 are consistent with the rotation state of the drive wheel 224, it indicates that the slippage phenomenon has been eliminated. At this time, the control unit 500 will gradually increase the rotation speed of the drive unit 300 to smoothly restore the moving speed of the accessory tube 120 from the second speed to the first speed, ensuring the continuity of the surgical operation; if it is determined that the actual rotation parameters of the follow-up monitoring wheel 225 are still inconsistent with the rotation state of the drive wheel 224, it indicates that the slippage phenomenon has not been effectively resolved. The control unit 500 controls the drive unit 300 to temporarily stop rotating and then restart, or controls the drive unit 300 to rotate in a pulse manner to eliminate the relative sliding speed between the drive wheel 224 and the accessory tube 120 and attempt to re-establish a relatively static clamping state.

[0030] To further enhance system safety, the system also includes an alarm unit connected to the control unit 500. The alarm unit can be integrated into the surface of the control unit 500 or an external accessory, and mainly consists of an audible and visual alarm component, including an alarm light and a buzzer. When the cumulative duration of the accessory tube 120 moving at the second speed exceeds a preset threshold, and during this period the actual movement state of the accessory tube 120 remains inconsistent with the expected movement state, it indicates that the system may have encountered a fault or abnormality that cannot be resolved automatically. In this case, the control unit 500 will immediately control the alarm unit to issue an alarm signal. For example, the alarm light may illuminate red and flash continuously, and the buzzer may emit a continuous alarm sound to remind medical staff to pay attention. Simultaneously, the control unit 500 will automatically control the drive unit 300 to stop operating, preventing damage to the accessory tube 120 or affecting surgical safety due to continuous ineffective operation. Medical staff can restart the system via operation button 510 after troubleshooting.

[0031] like Figure 3 and Figure 4 As shown, the auxiliary kit 200 serves as a connection carrier between the system and the digestive endoscope 100, and is detachably mounted at the opening of the biopsy channel 110 of the digestive endoscope 100. The auxiliary kit 200 includes a housing 210, the surface of which is formed with a sleeve interface 213 for mating with the biopsy channel 110 of the digestive endoscope 100. The sleeve interface 213 has a cylindrical structure, and its inner diameter is adapted to the outer diameter of the biopsy channel 110 of the digestive endoscope 100. Figure 8 The inner wall of the socket 213 is provided with a sealing structure 216. The sealing structure 216 is made of flexible medical silicone and has good sealing and elasticity. When the socket 213 is connected to the biopsy channel 110, the sealing structure 216 is configured to fit tightly against the outer wall of the biopsy channel 110 to form a liquid seal.

[0032] like Figure 3 and Figure 5 As shown, a fixing connection portion 211 extends circumferentially from the socket 213. The fixing connection portion 211 is a sheet-like structure, symmetrically distributed on both sides of the socket 213. An adjustable fastening member 215 is connected to the fixing connection portion 211. The fastening member 215 adopts an elastic strap or buckle structure, possessing good elasticity and locking ability. Medical personnel can securely and detachably fix the auxiliary kit 200 to the opening of the biopsy channel 110 by adjusting the tightness of the fastening member 215. During the fixation process, the fastening member 215 can adapt to the handles of digestive endoscopes 100 of different diameters, ensuring the stability of the fixation. At the same time, this fixation method can align the clamping center axis of the drive wheel 224 and the follow-up monitoring wheel 225 with the axis of the biopsy channel 110, avoiding the attachment tube 120 from moving and getting stuck or being damaged due to axis misalignment.

[0033] like Figure 4As shown, the housing 210 is also provided with an insertion port 212 for the accessory tube 120 to pass through. The insertion port 212 and the sleeve interface 213 are located on opposite sides of the housing 210. The insertion port 212 has a circular through hole structure, and its inner diameter is slightly larger than the outer diameter of the common accessory tube 120, so as to facilitate the smooth insertion of the accessory tube 120. The axis of the insertion port 212, the axis of the sleeve interface 213, and the clamping center axis of the drive wheel 224 and the follow-up monitoring wheel 225 are arranged coaxially to ensure that after the accessory tube 120 passes through the insertion port 212, it can smoothly enter the biopsy channel 110 in a straight line, avoiding additional friction or resistance caused by path deviation.

[0034] like Figure 10 As shown, the housing 210 is provided with a fixed support 220 and a movable support 221. The fixed support 220 is integrally formed with the housing 210 and has high structural stability. It is used to install the drive wheel 224. The movable support 221 is restricted by a guide structure to be able to move relative to the fixed support 220 so that the follow-up monitoring wheel 225 can approach or move away from the drive wheel 224. To further improve the stability of the movable support 221 in the direction of movement and prevent it from moving left, right or up and down during movement, the fixed support 220 has a notch 222 on the side facing the movable support 221. The notch 222 is elongated and its extension direction is consistent with the preset movement direction of the movable support 221. The movable support 221 has a protrusion structure on the side facing the fixed support 220 that matches the shape of the notch 222. The protrusion structure can be slidably inserted into the notch 222. Through the cooperation of the notch 222 and the protrusion structure, a double guide limit is formed to ensure that the movable support 221 always moves smoothly along the preset trajectory. This further ensures the relative position accuracy of the follow-up monitoring wheel 225 and the drive wheel 224 and prevents the clamping center from shifting due to the movement of the movable support 221.

[0035] like Figure 10 As shown, an elastic element 223 is provided on the side of the movable support 221 away from the fixed support 220. The elastic element 223 is preferably a helical spring, one end of which is fixedly connected to the movable support 221, and the other end is fixed to a corresponding position on the inner wall of the housing 210. Under the action of the elastic element 223, the movable support 221 is elastically biased towards the drive wheel 224, thereby forming an adaptive clamping mechanism for accessory tubes 120 of different diameters between the drive wheel 224 and the follow-up monitoring wheel 225. When the accessory tube 120 passes between the drive wheel 224 and the follow-up monitoring wheel 225, the movable support 221 will automatically adjust the moving distance according to the actual diameter of the accessory tube 120, so that the follow-up monitoring wheel 225 and the drive wheel 224 jointly form a suitable clamping force, which can ensure stable clamping of the accessory tube 120 without damaging the accessory tube 120 due to excessive clamping force, and is suitable for use with accessory tubes 120 of various specifications.

[0036] like Figure 10 , Figure 11 As shown, the drive wheel 224 and the follow-up monitoring wheel 225 are arranged opposite to each other, and together they form a dual-wheel transmission system, which is the core structure for realizing the transmission of the accessory tube 120. The drive wheel 224 is fixedly connected to the power input shaft 230, which is rotatably mounted inside the housing 210, with one end extending to the outside of the housing 210 for docking with the motor shaft 310 of the drive unit 300. The end of the power input shaft 230 is provided with a dovetail fixing groove 231, the shape of which is adapted to the dovetail fixing strip 311 on the motor shaft 310, forming a trapezoidal groove structure. When performing power docking, the dovetail fixing strip 311 of the motor shaft 310 is aligned with the dovetail fixing groove 231 of the power input shaft 230 and inserted, so that the two can be tightly meshed, ensuring that the power of the drive unit 300 can be efficiently and without slippage transmitted to the drive wheel 224. The hub of the drive wheel 224 is made of metal or hard plastic and has sufficient structural strength to withstand the torque during transmission. The outer layer of the hub is covered with a layer of medical-grade silicone, which has a high coefficient of friction and a micro-texture cast on its surface. The micro-texture can further increase the friction with the outer wall of the accessory tube 120, thereby achieving efficient and lossless power transmission and preventing slippage between the drive wheel 224 and the accessory tube 120.

[0037] like Figure 10 , Figure 11As shown, the follow-up monitoring wheel 225 is fixedly connected to the driven output shaft 240. The driven output shaft 240 is also rotatably installed inside the housing 210, with one end corresponding to the grating sensor 410 of the monitoring unit 400, so that the grating sensor 410 can collect rotation signals. One or more positioning strips 241 are provided on the outer peripheral wall of the driven output shaft 240 along its axial direction. The positioning strips 241 are elongated protruding structures and are made of the same material as the driven output shaft 240, or of a high-contrast material (such as metal material embedded in the surface of a plastic shaft) to form obvious marking features. When the driven output shaft 240 rotates together with the follower monitoring wheel 225, the positioning strips 241 will rotate synchronously with the shaft. The grating sensor 410 generates periodic pulse signals by emitting light and receiving reflected or transmitted light, using the changes in the blocking and conduction of light by the positioning strips 241. The monitoring unit 400 can obtain the rotation speed of the positioning strips 241 by calculating the frequency of the pulse signals, and then calculate the key parameters such as the rotational angular velocity, number of rotations, and angular displacement of the follower monitoring wheel 225, providing a more accurate signal basis for the status judgment of the control unit 500. The follow-up monitoring wheel 225 is a passively rotating wheel, mounted on a pivot connected to the movable support 221. It floats along with the movable support 221, adapting to accessory tubes 120 of different diameters. The rotation axis system of the follow-up monitoring wheel 225 employs a low-damping design to ensure extremely high responsiveness to the movement of the accessory tube 120. Simultaneously, the outer circumferential surface of the follow-up monitoring wheel 225 is configured with a sufficient coefficient of friction (e.g., using rubber material or a rough texture) to ensure reliable follow-up rotation without relative slippage under the movement of the accessory tube 120, thereby guaranteeing the accuracy of the monitoring data.

[0038] like Figures 3-7 As shown, the auxiliary kit 200 also includes an external snap-fit ​​connector 214, integrated into the outer wall of the housing 210. This connector is used to snap onto external accessories. Its structural design reduces manufacturing costs and allows the external accessories to be charged via contactless charging technology, enabling reuse and providing a stable rotational force to the auxiliary device. The auxiliary kit 200 is designed as a single-use product, discarding after use to avoid cross-infection risks due to incomplete sterilization, thus meeting medical aseptic operation requirements. The fixing connection 211 is connected to the auxiliary device via a movable plug-in connection. This connection facilitates the installation and removal of the auxiliary kit 200 and avoids discarding the fixing strap when replacing the auxiliary kit 200, further improving operational convenience and resource utilization.

[0039] Furthermore, the system employs a dual-function control method based on an incremental rotary encoder, integrated into the control logic of the control unit 500. This method simultaneously enables the determination of the direction of the operation intention and the measurement of the transmission distance, and includes logic for automatic stopping at a preset distance. Medical personnel can preset the transmission distance of the accessory tube 120 via the operation button 510. When the control unit 500 calculates, based on the signal from the monitoring unit 400, that the actual movement distance of the accessory tube 120 has reached the preset distance, it automatically controls the drive unit 300 to stop operating, achieving precise positioning of the accessory tube 120 and avoiding surgical risks caused by excessive movement. Simultaneously, the auxiliary kit 200 adopts a flexible, fully enclosed pipe structure with a sealed lip design, effectively preventing external contaminants from entering the interior. Combined with non-contact charging technology, this ensures that the entire device meets medical-grade sterilization and waterproof standards, satisfying the sterile environment requirements of the operating room.

[0040] Example 2 This embodiment is a further improvement on the foregoing embodiment, and repeated content will not be described again.

[0041] The difference between this embodiment and Embodiment 1 is that the transmission interface has been optimized in this embodiment. For example... Figure 11 As shown, both the drive wheel 224 and the follow-up monitoring wheel 225 are equipped with tracks 226 on their outer periphery, forming a clamp-type track 226 transmission structure. By increasing the contact area with the outer wall of the accessory tube 120, the static friction is improved, thereby optimizing the driving effect.

[0042] The track 226 is made of a soft medical material with a concave arc cross-section. This material has good elasticity, wear resistance, and biocompatibility, allowing it to fit tightly against the outer wall of the accessory tube 120 without damaging it. The inner surface of the track 226 is provided with a meshing structure, such as grooves or teeth, that matches the outer circumference of the drive wheel 224 and the follow-up monitoring wheel 225, ensuring that the track 226 can be securely fitted onto the drive wheel 224 and the follow-up monitoring wheel 225, preventing relative slippage between the track 226 and the wheel body during transmission. The outer surface of the track 226 is also provided with microscopic anti-slip textures, further increasing the coefficient of friction with the outer wall of the accessory tube 120 and improving the reliability of power transmission.

[0043] The connection between the drive wheel 224 and the power input shaft 230 remains unchanged. Power is efficiently transmitted through the dovetail fixing groove 231 meshing with the dovetail fixing bar 311 of the motor shaft 310 of the drive unit 300. When the drive unit 300 drives the drive wheel 224 to rotate, the drive wheel 224 drives the track 226 to rotate synchronously through the meshing of the track 226. The track 226 then drives the accessory tube 120 to move axially through static friction with the outer wall of the accessory tube 120. Simultaneously, the accessory tube 120 drives the track 226 on the other side to rotate synchronously during its movement, thereby driving the follower monitoring wheel 225 to rotate. The follower monitoring wheel 225 is fixedly connected to the driven output shaft 240, causing the driven output shaft 240 to rotate together with the follower monitoring wheel 225, providing a stable rotation signal to the grating sensor 410 of the monitoring unit 400. One or more positioning strips 241 are provided on the outer peripheral wall of the driven output shaft 240 along the axial direction. The positioning strips 241 are arranged in the same way as in Embodiment 1, and can be a high-contrast structure that is integrally formed into the shaft body or embedded in it. When the driven output shaft 240 rotates, the positioning strips 241 rotate with the shaft body and periodically block the light of the grating sensor 410, causing the grating sensor 410 to generate pulse signals. The monitoring unit 400 accurately calculates the rotation speed of the positioning strips 241 by analyzing the frequency and number of pulse signals, and then converts it into the rotation parameters of the follow-up monitoring wheel 225, providing accurate data support for the control unit 500 to determine whether the accessory tube 120 is slipping.

[0044] Because the cross-section of the track 226 is concave arc-shaped, the track 226 forms a surface contact with the outer wall of the accessory tube 120. Compared with the line contact between the drive wheel 224, the follow-up monitoring wheel 225 and the accessory tube 120 in Embodiment 1, the contact area is significantly increased, effectively dispersing the clamping pressure. Thus, without increasing the normal pressure, the maximum value of static friction is greatly improved. Even if the outer wall of the accessory tube 120 is a smooth material with a low coefficient of friction, or is covered with lubricating substances such as body fluids, slippage can be effectively avoided, ensuring the stability and continuity of power transmission.

[0045] In this embodiment, the working logic of the monitoring unit 400 and the control unit 500 is the same as in embodiment 1. The grating sensor 410 continuously collects the actual rotation parameters of the follow-up monitoring wheel 225. The control unit 500 determines whether the accessory tube 120 is slipping by comparing the rotation state of the drive wheel 224 and the follow-up monitoring wheel 225. When a very small number of slippage cases occur, the control unit 500 will still control the drive unit 300 to change the working parameters according to the preset logic, so that the accessory tube 120 moves or stops at the second speed. When the control unit 500 determines that the actual rotation parameters of the follow-up monitoring wheel 225 are still inconsistent with the rotation state of the drive wheel 224, the control unit 500 controls the drive unit 300 to temporarily stop rotating and then restart, or controls the drive unit 300 to rotate in a pulse manner to eliminate the relative sliding speed between the drive wheel 224 and the accessory tube 120 and attempt to re-establish a relatively static clamping state.

[0046] Furthermore, the auxiliary kit 200 in this embodiment is also a single-use product. External accessories are connected to the auxiliary kit 200 via external connector 214 and can be reused via contactless charging. The sealing structure 216 of the socket 213 and the flexible, fully enclosed pipe structure, among other safety designs, remain unchanged to ensure medical-grade sterilization and waterproofing, avoiding the risk of cross-infection. This improved drive structure replaces line contact friction with surface contact friction, further enhancing the system's adaptability to different operating conditions, especially suitable for scenarios where the outer wall of the accessory tube 120 has a high degree of lubrication, ensuring smooth surgical procedures.

[0047] Example 3 This embodiment is a further improvement on the foregoing embodiment, and repeated content will not be described again.

[0048] like Figure 12 As shown, to further improve space utilization, this embodiment adds a transmission gear set inside the housing 210. The transmission gear set consists of multiple meshing small gears, which are connected to the power input shaft 230 and drive wheel 224, the driven output shaft 240 and follow-up monitoring wheel 225, respectively. Through the transmission action of the transmission gear set, the shaft spacing between the drive wheel 224 and the follow-up monitoring wheel 225 can be further reduced without changing the power transmission efficiency, making the entire drive structure more compact. The transmission gear 217 is made of hard plastic or metal, possessing good meshing accuracy and wear resistance, ensuring the smoothness and durability of power transmission.

[0049] Example 4 This embodiment is a further improvement on the foregoing embodiment, and repeated content will not be described again.

[0050] The core improvement of this embodiment lies in fixing the fastening member 215 to the external accessory, while optimizing the positioning structure of the auxiliary kit 200 and the external accessory, thus simplifying the installation process.

[0051] like Figure 13 and Figure 14 As shown, the outer wall of the housing 210 of the auxiliary kit 200 is provided with a groove 252. The groove 252 is a long strip-shaped groove structure that extends along the length of the housing 210. The inner wall of the groove 252 is provided with a plurality of evenly distributed fixing holes 253. The fixing holes 253 are circular through holes that communicate with the interior of the groove 252. Figure 13 and Figure 15 As shown, the external accessories (including the drive unit 300, monitoring unit 400, etc.) are equipped with corresponding sliders 250. The shape of the slider 250 is adapted to the slide groove 252, and it is a long strip-shaped protrusion. A ball assembly is provided on the side of the slider 250. The ball assembly consists of a ball 251 and a miniature spring. One end of the miniature spring is fixed inside the slider 250, and the other end is connected to the ball 251, giving the ball 251 elastic extension and retraction capabilities. When the external accessories are connected to the auxiliary kit 200, the slider 250 is aligned with one end of the slide groove 252 and slid in. During the sliding process of the slider 250 in the slide groove 252, the ball 251 always fits against the inner wall of the slide groove 252 under the action of the miniature spring. When the slider 250 slides to the preset position, the ball 251 is engaged in the corresponding fixing hole 253 under the elastic force of the miniature spring, realizing the initial positioning of the external accessories and the auxiliary kit 200. The positioning is accurate and the operation is convenient, and it can be completed without additional tools.

[0052] like Figure 13 As shown, the fastening member 215 is fixedly connected to the outer shell of the external accessory to form an integrated structure. The fastening member 215 is made of elastic medical straps, which have good elasticity and toughness. Its surface is provided with an adhesive layer, which uses medical-grade pressure-sensitive adhesive, which has good adhesion and biocompatibility, and can be easily peeled off after being pasted without leaving any adhesive residue. After the auxiliary kit 200 is initially positioned by the cooperation of the slide bar 250 and the slide groove 252, medical staff only need to wrap the fastening member 215 around the handle of the digestive endoscope 100 and use the adhesive layer to glue and fix the two ends of the fastening member 215 to complete the firm connection between the auxiliary kit 200 and the digestive endoscope 100. Compared with the method of operating the fastening member 215 separately in Embodiment 1, the operation steps are greatly reduced and the installation efficiency is improved. Meanwhile, the design of the fastening element 215 being fixedly connected to the external accessory avoids the loss of the fastening element 215 when replacing the disposable auxiliary kit 200, allowing the fastening element 215 to be reused along with the external accessory, which reduces usage costs and further simplifies the operation process. The housing 210 of the auxiliary kit 200 is also provided with a fixing hole 253. After the fastening element 215 is wrapped and fixed, the free end of the fastening element 215 can be passed through the fixing hole 253 for secondary fixation, ensuring the stability of the fixation and preventing the auxiliary kit 200 from shifting due to vibration or pulling during the operation.

[0053] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and not intended to limit the scope of the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept.

Claims

1. An automated flexible endoscopic accessory transport system for controlling the movement of an accessory tube (120) within the biopsy channel (110) of a digestive endoscope (100), characterized in that, include: Auxiliary kit (200), drive unit (300), monitoring unit (400) and control unit (500); The auxiliary kit (200) has a drive wheel (224) and a follow-up monitoring wheel (225) arranged opposite to each other. The accessory tube (120) is clamped between the drive wheel (224) and the follow-up monitoring wheel (225). The drive unit (300) is connected to and drives the drive wheel (224) to rotate actively, thereby driving the accessory tube (120) to move through friction. The follow-up monitoring wheel (225) is configured to rotate in response to the movement of the accessory tube (120). The monitoring unit (400) is connected to and collects the actual rotation parameters of the follow-up monitoring wheel (225). The control unit (500) is configured to: control the drive unit (300) to operate with predetermined working parameters, drive the drive wheel (224) to rotate at a speed corresponding to the first speed; receive the actual rotation parameters of the follow-up monitoring wheel (225) fed back by the monitoring unit (400), and compare them with the theoretical rotation parameters of the drive wheel (224); when it is determined that the difference between the two exceeds a preset threshold, at least by changing the working parameters of the drive unit (300), control the accessory tube (120) to move or stop at a second speed lower than the first speed.

2. The system according to claim 1, characterized in that, The auxiliary kit (200) includes a fixed support (220) for mounting the drive wheel (224) and a movable support (221) for mounting the follow-up monitoring wheel (225); the movable support (221) is restricted by a guide structure to be movable relative to the fixed support (220) so that the follow-up monitoring wheel (225) approaches or moves away from the drive wheel (224). An elastic element (223) is provided on the side of the movable support (221) away from the fixed support (220). Under the action of the elastic element (223), the movable support (221) is elastically biased toward the drive wheel (224), thereby forming an adaptive clamping mechanism for accessory pipes (120) of different diameters between the drive wheel (224) and the follow-up monitoring wheel (225).

3. The system according to claim 1 or 2, characterized in that, While the accessory tube (120) moves at the second speed, the monitoring unit (400) continuously acquires the actual rotation parameters of the follow-up monitoring wheel (225); When the control unit (500) determines that the actual rotation parameters of the follow-up monitoring wheel (225) are consistent with the rotation state of the drive wheel (224), the control unit (500) gradually increases the rotation speed of the drive unit (300) so that the moving speed of the accessory tube (120) is restored from the second speed to the first speed. When the control unit (500) determines that the actual rotation parameters of the follow-up monitoring wheel (225) are still inconsistent with the rotation state of the drive wheel (224), the control unit (500) controls the drive unit (300) to temporarily stop rotating and then restart, or controls the drive unit (300) to rotate in a pulse manner to eliminate the relative sliding speed between the drive wheel (224) and the accessory tube (120) and attempt to re-establish a relatively static clamping state.

4. The system according to any one of claims 1 to 3, characterized in that, The actual rotation parameters include at least one of the following: the number of rotations of the follow-up monitoring wheel (225), angular velocity, and angular displacement signal; The control unit (500) compares the actual rotation parameters obtained with the theoretical rotation parameters of the drive wheel (224) corresponding to the predetermined operating parameters of the drive unit (300), and determines whether there is transmission slippage based on the comparison results.

5. The system according to any one of claims 1 to 4, characterized in that, The system includes an auxiliary kit (200) detachably mounted to the opening of the biopsy channel (110), the auxiliary kit (200) including a housing (210) in which a power input shaft (230) and a driven output shaft (240) are rotatably mounted. One end of the power input shaft (230) and the driven output shaft (240) extends to the outside of the housing (210) and is used to connect to the drive unit (300) and the monitoring unit (400) respectively; the other end of the power input shaft (230) and the driven output shaft (240) located inside the housing (210) is connected to and carries the drive wheel (224) and the follow-up monitoring wheel (225) respectively.

6. The system according to any one of claims 1 to 5, characterized in that, The surface of the housing (210) is formed with a sleeve (213) for docking with the biopsy channel (110) of the digestive endoscope (100). The socket (213) is provided with a fixed connection part (211) extending around its periphery. An adjustable fastening member (215) is connected to the fixed connection part (211). By adjusting the fastening member (215), the auxiliary kit (200) is configured to be detachably fixed to the opening of the biopsy channel (110), and the clamping center axis of the drive wheel (224) and the follow-up monitoring wheel (225) is aligned with the axis of the biopsy channel (110).

7. The system according to any one of claims 1 to 6, characterized in that, The housing (210) is also provided with an insertion port (212) for the accessory tube (120) to pass through. The insertion port (212) and the sleeve interface (213) are located on opposite sides of the housing (210); The axis of the insertion port (212), the axis of the sleeve interface (213), and the clamping center axis of the drive wheel (224) and the follow-up monitoring wheel (225) are arranged coaxially.

8. The system according to any one of claims 1 to 7, characterized in that, The drive wheel (224) and the follow-up monitoring wheel (225) are respectively fitted with tracks (226), and the tracks (226) rotate synchronously with the corresponding wheel bodies; The track (226) has a concave arc-shaped cross-section to form a surface contact friction transmission interface that fits against the outer peripheral wall of the accessory tube (120).

9. The system according to any one of claims 1 to 8, characterized in that, The inner wall of the socket (213) is provided with a sealing structure (216), which is made of an elastic material; When the auxiliary kit (200) is installed at the opening of the biopsy channel (110), the sealing structure (216) is configured to fit tightly against the outer wall of the biopsy channel (110) to form a liquid seal.

10. The system according to any one of claims 1 to 9, characterized in that, The system includes an alarm unit that is signal-connected to the control unit (500); If the cumulative duration of the accessory tube (120) moving or stopping at the second speed exceeds a preset threshold, and the rotation parameters fed back by the monitoring unit (400) continuously show a slipping state, the control unit (500) controls the warning unit to issue an alarm signal and controls the drive unit (300) to stop running.

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