Optical element driving device and endoscope

Abstract

The invention relates to an optical element driving device and an endoscope. The optical element driving device comprises a driving assembly, wherein the driving assembly is provided with a first reference position and a second reference position which are arranged at intervals in the first direction; the moving part is connected with the driving assembly, located between the first reference position and the second reference position and used for being connected with the optical element. The first limiting element is arranged at the first reference position; the second limiting element is arranged at the second reference position; the moving part is configured to move in a reciprocating mode in the first direction under driving of the driving assembly so as to trigger the first limiting element or the second limiting element. Through the arrangement of the first limiting element and the second limiting element, a reliable physical coordinate zero point and a stroke end point can be provided, position accumulation errors can be reduced and even eliminated through zero returning operation, the positioning accuracy of the optical element is ensured, and mechanical overshoot collision can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to an optical element driving device and an endoscope. BACKGROUND

[0002] With the progress of minimally invasive medical technology, medical endoscopes are developing towards higher imaging quality and smaller invasion size. In order to realize optical zoom or autofocus function without increasing the diameter of the front end mirror body, a miniature driving mechanism integrated in the endoscope tip objective lens module becomes a key technology. Such mechanism usually needs to realize high-precision and reliable linear driving of lens group millimeter-level stroke in an extremely compact space with a diameter of only a few millimeters.

[0003] At present, the miniature driving scheme applied in this field can meet the requirements of space constraints to a certain extent, but still faces at least the following problems in actual clinical application. First, due to the extremely miniaturized design, such mechanism is often difficult to integrate an effective position sensor, resulting in that the system works in an open loop or semi-closed loop state, there is a position cumulative error, and the absolute physical position of the optical element (such as a lens) cannot be confirmed after long-term use or accidental disturbance. Secondly, the endoscope may face the risk of vibration, temperature change or invasion of small foreign matters during disinfection, turnover and clinical use, and the internal precision motion mechanism has the potential failure possibility of jamming and increased resistance, thereby reducing the reliability of the device. SUMMARY

[0004] Therefore, it is necessary to provide an optical element driving device and an endoscope to solve the problems that the current miniature driving has a position cumulative error and cannot confirm the absolute physical position of the optical element after long-term use or accidental disturbance.

[0005] In a first aspect, an embodiment of the present application provides an optical element driving device, comprising:

[0006] a driving assembly having a first reference position and a second reference position spaced apart along a first direction;

[0007] a moving piece connected with the driving assembly and located between the first reference position and the second reference position, and used for connecting the optical element;

[0008] a first limit element provided at the first reference position and used for generating a first electric signal after being triggered;

[0009] a second limit element provided at the second reference position and used for generating a second electric signal after being triggered;

[0010] The moving piece is configured to reciprocally move along the first direction under the driving of the driving assembly to trigger the first limit element or the second limit element.

[0011] In one of the embodiments, the driving assembly comprises a driving member and a transmission member, the transmission member is configured with a cavity; the moving member is embedded in the cavity and is in contact with the transmission member;

[0012] The driving member is arranged outside the transmission member and is configured to stimulate the transmission member to generate vibration to push the moving member to move in the first direction.

[0013] In one of the embodiments, the transmission member comprises a first docking portion, a pushing portion and a second docking portion connected in sequence in the first direction;

[0014] The first reference position is formed on the first docking portion, and the second reference position is formed on the second docking portion.

[0015] In one of the embodiments, the optical element driving device further comprises a first detection circuit and a second detection circuit, the first detection circuit is electrically connected with the first limiting element and transmits the first electric signal; the second detection circuit is electrically connected with the second limiting element and transmits the second electric signal.

[0016] In one of the embodiments, the first reference position is a first opening formed on the side wall of the first docking portion, the first opening is configured to accommodate the first limiting element and / or the first detection circuit;

[0017] And / or, the second reference position is a second opening formed on the side wall of the second docking portion, the second opening is configured to accommodate the second limiting element and / or the second detection circuit.

[0018] In one of the embodiments, the driving member is arranged on the outer side wall of the pushing portion; the driving member comprises a plurality of driving bodies arranged along the circumference of the pushing portion;

[0019] And / or, the moving member is configured with a mounting position for fixing the optical element;

[0020] And / or, the moving member is configured to move in the space defined by the pushing portion.

[0021] In one of the embodiments, the optical element driving device further comprises a support seat, the support seat is located on at least one side of the driving assembly in the first direction; at least part of the driving assembly is connected to the support seat.

[0022] In one of the embodiments, at least part of the support seat is embedded in the cavity of the transmission member;

[0023] The support base is configured with a mounting channel, at least part of the mounting channel is located at the first reference position or the second reference position; the mounting channel is used to accommodate the first limiting element or the second limiting element, and the contact of the first limiting element or the second limiting element is arranged to protrude from the surface of the support base along the first direction and extend into the cavity.

[0024] In one of the embodiments, opposite ends of the moving piece along the first direction are a first conductive end surface and a second conductive end surface respectively; the first conductive end surface is used to contact the first limiting element, and the second conductive end surface is used to contact the second limiting element.

[0025] The size of the optical element along the first direction is smaller than the size of the moving piece along the first direction.

[0026] In one of the embodiments, two first limiting elements are arranged at the first reference position, and the two first limiting elements are arranged side by side to contact the same end surface of the moving piece at the same time.

[0027] And / or, two second limiting elements are arranged at the second reference position, and the two second limiting elements are arranged side by side to contact the same end surface of the moving piece at the same time.

[0028] In one of the embodiments, the moving piece is configured to move in a self-checking mode; when the driving assembly drives the moving piece to move from the first reference position to the second reference position in a first time length, and drives the moving piece to move from the second reference position to the first reference position in a second time length, it is determined that the movement of the moving piece is in a normal state.

[0029] In one of the embodiments, when the moving piece reaches the first reference position, the first limiting element is triggered to generate the first electrical signal; when the moving piece reaches the second reference position, the second limiting element is triggered to generate the second electrical signal.

[0030] In one of the embodiments, in the self-checking mode, the moving piece fails to move from the first reference position to the second reference position in a third time length under the driving of the driving assembly; and / or, the moving piece fails to move from the second reference position to the first reference position in a fourth time length under the driving of the driving assembly, it is determined that the movement of the moving piece is in a first abnormal state.

[0031] and, the moving piece moves from the first reference position to the second reference position in a third time length, and the moving time length is greater than the first time length; and / or, the moving piece moves from the second reference position to the first reference position in a fourth time length, and the moving time length is greater than the second time length; it is determined that the moving of the moving piece is in a second abnormal state;

[0032] wherein the third time length is greater than the first time length, and the fourth time length is greater than the second time length.

[0033] and / or, the second time length is equal to the first time length.

[0034] In a second aspect, the embodiments of the present application provide an endoscope comprising the optical element driving device of the first aspect.

[0035] an optical element, arranged in the moving piece;

[0036] a control unit, electrically connected with the driving assembly, the first limiting element and the second limiting element respectively, the control unit is configured to, after receiving one of the first electric signal and the second electric signal, control the driving assembly to drive the moving piece to change direction and continue to move, and determine whether the other of the first electric signal and the second electric signal is received within a preset time length;

[0037] if the corresponding first electric signal or second electric signal is not received within the preset time length, the driving assembly is controlled to stop driving, and it is determined that the moving of the moving piece is abnormal;

[0038] if the corresponding first electric signal or second electric signal is received within the preset time length, the time difference of continuously receiving the first electric signal and the second electric signal is calculated, and compared with a threshold value, to determine whether the moving of the moving piece is abnormal.

[0039] The optical element driving device and the endoscope can provide reliable physical coordinate zero point and stroke end point through the setting of the first limiting element and the second limiting element, which is conducive to reducing or even eliminating the position cumulative error through the zero operation, ensuring the accuracy of the positioning of the optical element, and avoiding mechanical overshoot collision. In addition, the moving piece is configured to perform reciprocating movement and trigger the limiting element to obtain active self-checking capability, which is conducive to diagnosing whether the driving device is stuck or the motion resistance is abnormal, thereby warning potential failure before use of the driving device, and solving the unknown risk of the state of the equipment (such as the endoscope) working in harsh environment. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 FIG. 1 is a structural schematic diagram of an optical element driving device according to some embodiments of the present application.

[0041] Figure 2 Structure diagram of another optical element driving device according to some embodiments of the present application.

[0042] Figure 3 Structure diagram of an optical element driving device with a set of limiting elements added on the basis of Figure 2 .

[0043] Figure 4 Structure diagram of still another optical element driving device according to some embodiments of the present application.

[0044] Figure 5 Structure diagram of an optical element driving device with a set of limiting elements added on the basis of Figure 4 .

[0045] Figure 6 Structure diagram of yet another optical element driving device according to some embodiments of the present application.

[0046] Figure 7 Structure diagram of an optical element driving device with a set of limiting elements added on the basis of Figure 6 .

[0047] Figure 8 Structure diagram of still another optical element driving device according to some embodiments of the present application.

[0048] Figure 9 Structure diagram of a limiting element in Figure 8 .

[0049] Figure 10 Structure diagram of part of an endoscope according to some embodiments of the present application.

[0050] Reference Signs:

[0051] 100, driving assembly; 110, driving piece; 120, transmission piece; 121, cavity; 122, first butt joint; 123, pushing part; 124, second butt joint; 130, first reference position; 140, second reference position;

[0052] 200, moving piece; 210, first conductive end face; 220, second conductive end face;

[0053] 300 (310, 320, 330, 340), first limiting element; 341, contact point;

[0054] 400 (410, 420, 430, 440), second limiting element;

[0055] 500, optical element;

[0056] 600. Support base; 610. Installation channel;

[0057] 700. First detection circuit;

[0058] 800. Second detection circuit;

[0059] 900, Control Unit;

[0060] First direction - X direction. Detailed Implementation

[0061] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0062] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0063] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0064] In the present application, unless specifically defined otherwise, if there are terms such as "mount", "connect", "connect", "fix" and the like, these terms should be interpreted in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] In the present application, unless specifically defined otherwise, if there are terms such as "mount", "connect", "connect", "fix" and the like, these terms should be interpreted in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0066] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and are not the only embodiment.

[0067] As mentioned in the background, most current solutions rely on open-loop control of motor steps or relative position sensors that are susceptible to interference, lack absolute position references that are set at the physical travel end and are not easily changed, which makes it difficult for the system to quickly and accurately calibrate the position to zero after starting or an accident occurs, and also makes it difficult to prevent mechanical overshoot collisions caused by control abnormalities. In addition, the current structure cannot actively diagnose the mechanical motion state inside, such as whether there is a jam, increased resistance caused by dust, wear or assembly stress, before performing a key observation task. Therefore, the user has no way to know whether the precision mechanism is functional after being moved and disinfected, thereby bringing potential risks to clinical surgery.

[0068] Based on the above problems, the embodiment of the present application provides an optical element driving device and an endoscope. By arranging the first limiting element and the second limiting element, reliable physical coordinate zero point and stroke end point can be provided, which is beneficial to reduce or even eliminate position cumulative error through zero operation, ensures the accuracy of optical element positioning, and is beneficial to avoid mechanical overshoot collision. In addition, by arranging the moving part to perform reciprocating movement and trigger the limiting element, active self-checking capability is obtained, which is beneficial to diagnose whether the driving device is stuck or the movement resistance is abnormal, thereby warning potential failure before use of the driving device, and solving the unknown risk of the state of the equipment (such as an endoscope) working in harsh environment.

[0069] Referring to Figure 1 and Figure 2 , Figure 1 FIG. 1 is a structural schematic diagram of an optical element driving device according to some embodiments of the present application. Figure 2 FIG. 2 is a structural schematic diagram of another optical element driving device according to some embodiments of the present application. The optical element driving device provided by an embodiment of the present application can include a driving assembly 100, a moving part 200, a first limiting element 300, and a second limiting element 400.

[0070] The driving assembly 100 has a first reference position 130 and a second reference position 140 arranged at intervals along a first direction; the moving part 200 is connected with the driving assembly 100 and located between the first reference position 130 and the second reference position 140, and is used to connect an optical element 500; the first limiting element 300 is arranged at the first reference position 130 and is used to generate a first electrical signal after being triggered; the second limiting element 400 is arranged at the second reference position 140 and is used to generate a second electrical signal after being triggered; wherein the moving part 200 is configured to reciprocate along the first direction under the driving of the driving assembly 100, so as to trigger the first limiting element 300 or the second limiting element 400.

[0071] It can be understood that the driving assembly 100 can be used as a fixed reference in this embodiment, and of course, an additional fixed base can be provided, and the driving assembly 100 is arranged on the fixed base for use. The moving part 200 is a movement output component, which can drive the optical element 500 connected thereto to reciprocate under the driving of the driving assembly 100; the optical element 500 in this example can be a lens, a lens group, a filter, a mirror, a polarizer, a prism, etc., which can be selected and used according to actual application scenarios, and is not limited herein. The first limiting element 300 and the second limiting element 400 in this example are used to provide an absolute position reference, and by triggering the moving part 200, an electrical signal reference is provided for position control and self-checking.

[0072] Specifically, the driving assembly 100 in the present example can include a ring-shaped ultrasonic stator assembly, for example, composed of a hollow cylindrical metal stator body, for example, made of beryllium bronze, phosphor bronze, titanium alloy, etc., and of course, other materials with good elasticity, vibration conduction characteristics, and friction resistance can also be selected, and the outer wall of the metal stator body is pasted with partitioned piezoelectric ceramic driving pieces, with the central axis coinciding with the optical axis of the optical element 500.

[0073] Based on the structure of the driving assembly 100 described above, the moving part 200 can be a cylindrical carrier and coaxially and slidably nested in the inner hole of the stator body, and the interface between the two is coupled by a predetermined friction force. The operating principle of the driving assembly 100 and the moving part 200 can be that the driving assembly 100 includes a material such as piezoelectric material or electroactive polymer that deforms under the action of an electric field. Piezoelectric materials (such as piezoelectric ceramics) use the inverse piezoelectric effect to achieve precise displacement control; electroactive polymer materials (such as dielectric elastomers) use the electrostriction or electroactive mechanism to achieve linear displacement control. The driving assembly can be independently excited in different partitions, and when high-frequency voltages with phase differences are applied to different partitions of the driving assembly 100, the driving assembly 100 will produce high-frequency and small-amplitude vibrations.

[0074] Further, for example, a phase-difference high-frequency voltage is applied to the piezoelectric ceramic to excite the micro-elliptical motion of the inner wall of the stator body, which drives the linear motion of the moving part 200 by friction coupling and stick-slip principle; further, since the moving part 200 is coupled to the inner wall of the stator by a predetermined static friction force, the elliptical motion of the stator inner wall particles will generate a directional tangential driving force on the moving part 200, and when the driving force is greater than the static friction force, the moving part 200 will produce a small stick-slip displacement in each vibration period. Based on the cumulative effect of high-frequency vibration, it is manifested as smooth and continuous linear motion of the moving part 200 along the optical axis direction.

[0075] When the moving part 200 travels in the first direction, it touches the first limiting element 300 and the second limiting element 400, thereby providing an absolute position signal, and an external controller can perform intelligent self-checking processes including zero-point calibration, full-motion and time-consumption analysis according to the received signal. In the example, the direction of the moving part 200 can be changed by reversing the direction of the traveling wave by changing the phase sequence of the applied voltage. In addition, the speed and displacement of the moving part 200 can be accurately controlled by controlling the amplitude, frequency and action time of the driving voltage.

[0076] It should be noted that the structure of the driving assembly 100 and the moving part 200 in the present embodiment is not limited to the above structure, but can also be:

[0077] For example, the driving assembly 100 comprises a micro rotary ultrasonic motor or electromagnetic motor and a motion conversion mechanism, the rotary output shaft of the motor is converted into linear motion through the motion conversion mechanism (such as gear and screw pair, turbine worm pair or cam mechanism, etc.), and the moving part 200 is fixedly connected with the linear output end of the motion conversion mechanism to realize the purpose of moving the optical element 500 in the first direction.

[0078] For another example, the driving assembly 100 comprises a separate linear vibration generator and a transmission rod or transmission bar, and the linear vibration generator can be a piezoelectric stack or a voice coil. The moving part 200 is slidably sleeved or clamped on the transmission rod, and the two are coupled through a preset friction force. The transmission rod is driven by the vibration generator to generate reciprocating micro-vibration, thereby driving the moving part 200 to step.

[0079] The specific structure of the driving assembly 100 in the embodiment and the connection relationship with the moving part 200 are not limited to the above-mentioned manner, and any structure capable of driving the moving part 200 to reciprocate in the first direction is included in the protection scope of the present application. Of course, the size of the entire driving device also needs to be considered in actual design, so as to be miniaturized as much as possible to facilitate application in the limited space of an endoscope and the like.

[0080] In order to facilitate understanding of the setting position of the first limiting element 300 and the second limiting element 400 relative to the driving assembly 100, the present example defines that the driving assembly 100 has a first reference position 130 and a second reference position 140 at the two end portions, which can be understood as virtual points in the driving assembly 100, so as to fix the first limiting element 300 and the second limiting element 400 at the virtual points of the driving assembly 100 through external support; of course, it can also be understood as an installation position actually opened on the driving assembly 100, so as to be directly installed with the first limiting assembly and the second limiting assembly. No matter which of the above-mentioned setting modes, as long as the moving part 200 can trigger the first limiting element 300 and the second limiting element 400 respectively when moving to two opposite absolute positions.

[0081] The first limiting element 300 and the second limiting element 400 can be physical contact sensors respectively arranged at the two end limit positions of the moving part 200, such as spring contact pins, rigid metal probes, metal spring sheets, conductive rubber contacts, etc. The tails of the two limiting elements can be connected to an external controller through a lead (i.e. a detection circuit as described below).

[0082] As to the application of the first limiting element 300 and the second limiting element 400 in the present example, the present driving device can be electrically connected with an external controller to realize power supply and control. When the present driving device is powered on, the controller will perform a self-checking program, first control the driving assembly 100 to drive the moving piece 200 to move towards the first limiting element 300, when one end surface of the moving piece 200 contacts the first limiting element 300, the circuit is turned on (or turned off), and a first electric signal (for example, low level jump) is generated. After receiving the signal, the controller stops driving immediately, and defines the physical position as the absolute coordinate zero point of the whole system, so as to eliminate or reduce the cumulative error.

[0083] Subsequently, the controller drives the moving piece 200 to move towards the second limiting element 400, and this process synchronously starts a timer. When the other end surface of the moving piece 200 triggers the second limiting element 400 to generate a second electric signal, the movement stops, and the timer records the time T1. Then, the controller will perform the following judgment: whether the signal is triggered within the maximum allowed time, corresponding to the anti-stuck judgment; or whether the time T1 is within the normal range, corresponding to the anti-stuck or abnormal resistance judgment. If any of the above conditions is not met, the “forward stroke failure” is reported.

[0084] Then, the controller drives the moving piece 200 to move reversely to return to the zero point position, triggers the first electric signal again and records the time T2, and performs similar judgment as in the above example. Only when the moving piece 200 successfully performs the complete reciprocating movement between the first limiting element 300 and the second limiting element 400, and all trigger signals and time lengths meet the expectations, the controller determines that the self-checking is passed, that is, the device is normal and can be used normally.

[0085] It should be noted that the triggering of the first electric signal and the second electric signal can be that the moving piece 200 is grounded, and the limiting element is connected to the power supply through a pull-up resistor, that is, when the moving piece 200 contacts the limiting element, the signal is pulled low. Of course, it can also form an independent loop, which is not limited here.

[0086] In summary, the optical element driving device provided by the embodiment of the present application can provide reliable physical coordinate zero point and stroke end point through the setting of the first limiting element 300 and the second limiting element 400, which is beneficial to reduce or even eliminate the position cumulative error through the zeroing operation, ensure the accuracy of the positioning of the optical element 500, and avoid mechanical overshoot collision. In addition, by configuring the moving piece 200 to perform reciprocating movement and trigger the limiting element, the active self-checking capability is obtained, which is beneficial to diagnose whether the driving device is stuck, whether the movement resistance is abnormal, and thus to prewarn potential faults before the driving device is used, and solve the unknown risk of the state of the equipment (for example, an endoscope) working in a harsh environment.

[0087] In the following, the present application will be described in detail with reference to the accompanying drawings.Figure 1 - attached Figure 9 The specific structure of the optical element driving device provided in the embodiments of the present application is described in detail.

[0088] In some embodiments, as shown in Figure 1 The driving assembly 100 includes a driving member 110 and a transmission member 120, the transmission member 120 is configured with a cavity 121; the moving member 200 is embedded in the cavity 121 and is in contact with the transmission member 120; the driving member 110 is arranged outside the transmission member 120 and is configured to excite the transmission member 120 to generate vibration to push the moving member 200 to move in the first direction.

[0089] It can be understood that the transmission member 120 is a rigid member with a cavity 121 extending in the first direction, and the material thereof can be selected from metal, such as beryllium bronze, phosphorus bronze or titanium alloy, etc. The moving member 200 is embedded and accommodated in the cavity 121, and the outer surface thereof is in direct contact with the inner surface of the cavity 121 of the transmission member 120, and a stable friction coupling interface is formed by a predetermined pre-tightening force or structural design.

[0090] The driving member 110 in the example can include a material that deforms under the action of an electric field, specifically including a piezoelectric material, such as piezoelectric ceramic, which uses the inverse piezoelectric effect to achieve precise displacement control; and including an electroactive polymer material, such as a dielectric elastomer, which uses the electrostriction or electro-actuator mechanism to achieve linear displacement control. When the driving member 110 generates high-frequency vibration, it will be directly transmitted to the transmission member 120 to excite the wall of the transmission member 120 to generate a specific bending or traveling wave vibration mode. This vibration causes the interface between the transmission member 120 and the moving member 200 to generate a microscopic and directional driving force, thereby pushing the moving member 200 to move linearly in the first direction under the constraint of the cavity 121.

[0091] The transmission member 120, the moving member 200 and the driving member 110 provided in the embodiments are nested with each other, which can be designed to a very small size, and is conducive to designing a miniature driving device, so as to be further applied to a limited space, such as an endoscope. In addition, the moving member 200 is completely nested in the cavity 121 of the transmission member 120, which can provide good guidance and protection for the movement of the optical element 500, reduce or avoid the moving member 200 from deviating or being disturbed by external interference during movement, and further improve the movement precision and reliability.

[0092] In some embodiments, as shown in Figure 2 The transmission member 120 includes a first docking portion 122, a pushing portion 123 and a second docking portion 124 connected in sequence in the first direction; the first reference position 130 is formed on the first docking portion 122, and the second reference position 140 is formed on the second docking portion 124.

[0093] Exemplarily, for the convenience of understanding the functions of different parts of the transmission member 120, the transmission member 120 is virtually divided into the first abutting part 122, the pushing part 123 and the second abutting part 124 along the first direction, and in actual production and manufacturing, the above three parts can be integrally formed to enhance the firmness thereof.

[0094] Further, the first abutting part 122 and the second abutting part 124 are mainly used for the fixation, abutment and bearing of the first limiting element 300 and the second limiting element 400, and the parts can be designed with a thicker wall thickness to facilitate the stable connection with the external base. The pushing part 123, as the core functional segment of the transmission member 120, has an outer wall for mounting the driving member 110 and an inner wall forming a friction driving interface with the moving member 200. In addition, the first reference position 130 can be arranged on the side wall or end face structure of the first abutting part 122, and the second reference position 140 can be arranged at the corresponding position of the second abutting part 124.

[0095] In the embodiment, the transmission member 120 is functionally divided, the pushing part 123 is used for transmitting vibration, and the corresponding abutting parts can strengthen the overall rigidity and connection reliability. The first reference position 130 and the second reference position 140 are arranged on the relatively static abutting parts, which can ensure the stability and accuracy of the position reference signal and avoid the interference of the driving end vibration on the sensing signal, thereby significantly improving the absolute accuracy of self-checking and positioning.

[0096] In some embodiments, as shown in Figure 2 The optical element driving device further includes a first detection circuit 700 and a second detection circuit 800, the first detection circuit 700 is electrically connected with the first limiting element 300 and transmits a first electric signal, and the second detection circuit 800 is electrically connected with the second limiting element 400 and transmits a second electric signal.

[0097] Specifically, the first detection circuit 700 and the second detection circuit 800 in the example can be understood as a wire harness connected with the limiting element and an external controller.

[0098] In some examples, the first detection circuit 700 and the second detection circuit 800 can be independent signal conditioning and transmission units.

[0099] Exemplarily, the input end of the first detection circuit 700 is directly connected with the electric contact, such as the tail of the spring contact pin, of the first limiting element 300, and the output end is connected to an external controller. When the moving member 200 triggers the first limiting element 300, the electrical change (such as conduction or resistance change) formed is captured by the first detection circuit 700 and converted into a first electric signal (such as a standard low-level pulse) transmitted to the controller. The second detection circuit 800 can work in the same way to process the second electric signal generated by the second limiting element 400.

[0100] In some embodiments, as shown in Figure 1 and Figure 2 The first reference position 130 is a first opening formed in the sidewall of the first interface portion 122, configured to accommodate the first limiting element 300 and / or the first detection circuit 700.

[0101] In one example, the second reference position 140 is a second opening formed in the sidewall of the second interface portion 124, configured to accommodate the second limiting element 400 and / or the second detection circuit 800.

[0102] Exemplarily, the first reference position 130 is embodied as a first opening, such as a circular hole, formed in the sidewall of the first interface portion 122 of the transmission member 120, for accommodating and fixing the first limiting element 300, such as a metal sheet, which is inserted into the circular hole and extends into the cavity 121 to contact the moving member 200. Alternatively, the first limiting element 300 is entirely located in the cavity 121, and the first detection circuit 700 is connected with the first limiting element 300 from outside through the first opening. Similarly, a second opening is formed in the sidewall of the second interface portion 124, and the first limiting element 300 is arranged in the same manner as described above.

[0103] The present embodiment can save space and facilitate compact structure by directly integrating the limiting element or the detection circuit in the opening of the transmission member 120.

[0104] In some embodiments, as shown in Figure 1 The driving member 110 is arranged on the outer sidewall of the pushing portion 123; the driving member 110 includes a plurality of driving bodies arranged along the circumference of the pushing portion 123.

[0105] Exemplarily, the number of driving bodies can be 4, 8, etc., and can be designed as an integer multiple of 4. By directly fixing and installing the driving member 110 on the outer sidewall of the transmission member 120, the driving force can be directly transmitted to the driving interface. Further, the driving bodies can be designed as sheet-shaped or arc-shaped sheet-shaped and arranged and pasted along the circumferential direction of the pushing portion 123 uniformly or according to specific limiting requirements. Different limiting electrical signals can be applied to the above-mentioned driving bodies to efficiently excite the required traveling wave or specific modal vibration in the pushing portion 123.

[0106] In one example, the moving member 200 is configured to move within the space defined by the pushing portion 123. Exemplarily, the effective stroke of the moving member 200 is limited within the internal space surrounded and defined by the pushing portion 123 of the transmission member 120, which, in combination with the limiting action of the first limiting element 300 and the second limiting element 400, can effectively avoid mechanical over-shooting collision.

[0107] In this embodiment, the driving member 110 is centrally arranged on the pushing part 123, so that the driving energy is concentrated, thereby ensuring that the vibration energy is maximally used for driving the moving member 200, and the transmission efficiency is improved.

[0108] In one example, the transmission member 120 and the moving member 200 are cylindrically shaped. For example, the outer diameter and the inner diameter of the transmission member 120 and the moving member 200 are precisely matched, so that a cylindrical surface fit with a very small gap is formed. The cylindrical structure can provide uniform constraint and friction in all directions, thereby ensuring the high linearity and concentricity of the movement trajectory of the moving member 200.

[0109] In another example, the shape of the transmission member 120 and the moving member 200 can also be polygonal, such as square, hexagonal, octagonal, etc., which is not specifically limited here.

[0110] In one example, the moving member 200 is configured with a mounting position for fixing the optical element 500. For example, the mounting position can be a hole formed on the moving member 200, such as a through hole with a thread at the end, so that after the lens is placed, a compression ring with a thread on the outer periphery is used for fixing; of course, it can also be a specific clamping groove or a threaded hole penetrating the moving member in the radial direction, so that the lens optical element 500 is clamped and fixed by screwing into the threaded hole.

[0111] As shown in Figure 2 In some embodiments, the optical element driving device further comprises a support seat 600 located on at least one side of the driving assembly 100 along the first direction; and at least part of the driving assembly 100 is connected to the support seat 600.

[0112] It can be understood that the support seat 600 in this example can be a structure for supporting the driving assembly 100, or a structure used as a lens barrel while supporting the driving assembly 100. The support seat 600 can be made of engineering plastic with insulation and high strength, but is not specifically limited.

[0113] In this example, the support seat 600 is arranged at one end or both ends of the driving assembly 100 along the first direction. For example, the transmission member 120 is provided with a cylindrical support seat 600 at both ends, and the butt joint part of the transmission assembly is fixed on the corresponding support seat 600 by means of screws, adhesion or interference fit. The arrangement of the support seat 600 can improve the mounting rigidity and stability of the driving assembly 100, and reduce the risk of deformation or displacement of the driving assembly 100 itself caused by external impact.

[0114] In addition to being installed on the transmission member 120, the first limiting element 300 and the second limiting element 400 can also be, as shown in Figure 6 Figure 6 ​This is a schematic diagram of another optical element driving device according to some embodiments of this application. In some embodiments, at least a portion of the support 600 is embedded in the cavity 121 of the transmission member 120; the support 600 is configured with an installation channel 610, at least a portion of which is located at a first reference position 130 or a second reference position 140; the installation channel 610 is used to accommodate a first limiting element 300 or a second limiting element 400, and the contacts of the first limiting element 300 and the second limiting element 400 are provided to protrude from the surface of the support 600 along a first direction and extend into the cavity 121.

[0115] Specifically, the mounting channel 610 within the support 600, used to connect the external space and the cavity 121, can be designed in an L-shape to fully utilize the axial (first direction) dimension of the support 600 to accommodate the limiting element, avoiding a large radial dimension. Furthermore, when the first limiting element 300 and the second limiting element are used as spring contact pins, they can be placed within the portion of the mounting channel 610 extending along the first direction, with their electrical contact points slightly protruding along the first direction from the inner end face of the support 600 facing the cavity 121, thus extending into the space where the moving member 200 moves. When the moving member 200 moves to its limit position, its end face will accurately press against this protruding contact point.

[0116] In this embodiment, by concealing the limiting element within the mounting channel 610 of the nested support 600, it occupies almost no additional axial and radial space. Moreover, the end face of the support 600 facing the cavity 121 can also be used as a hard limit for the moving part 200.

[0117] In some embodiments, such as Figure 1 As shown, the two opposite ends of the movable member 200 along the first direction are a first conductive end face 210 and a second conductive end face 220, respectively; the first conductive end face 210 is used to contact the first limiting element 300, and the second conductive end face 220 is used to contact the second limiting element 400; the dimension of the optical element 500 along the first direction is smaller than the dimension of the movable member 200 along the first direction.

[0118] For example, the movable component 200 can be made entirely of a conductive material, such as aluminum alloy or stainless steel, or of an insulating material, but with conductive treatment at its two end faces that contact the limiting element. For example, a conductive layer can be formed by coating, patching, or electroplating on the first and second conductive end faces to trigger an electrical connection, i.e., forming the first conductive end face 210 and the second conductive end face 220. In this example, the two conductive end faces of the movable component 200 can form a mechanical-electrical connection with the contacts of the limiting element, simplifying the configuration of the limiting detection circuit.

[0119] And, by limiting the physical length of the carried optical element 500 in the first direction (optical axis direction) to be less than the length of the body of the moving element 200, that is, by completely accommodating or embedding the optical element 500 in the structure of the moving element 200, the situation of the optical element 500 being damaged, deformed, or deviated due to collision during movement of the moving element 200 is avoided.

[0120] In some embodiments, as shown in FIG. 1, two first limit elements 300 are arranged at the first reference position 130, and the two first limit elements 300 are arranged side by side to simultaneously contact the same end surface of the moving element 200. Figure 3 、 Figure 5 And Figure 7 as shown in FIG. 1, two first limit elements 300 are arranged at the first reference position 130, and the two first limit elements 300 are arranged side by side to simultaneously contact the same end surface of the moving element 200.

[0121] In one example, two second limit elements 400 are arranged at the second reference position 140, and the two second limit elements 400 are arranged side by side to simultaneously contact the same end surface of the moving element 200.

[0122] For example, by arranging two independent first limit elements 300 side by side at the first reference position 130, such as two side-by-side spring probes, and calibrating the contacts of the two first limit elements 300, it is ensured that the first conductive end surface 210 of the moving element 200 can simultaneously physically contact the two contacts when it reaches this position. Similarly, the second reference position 140 can also use the same design to arrange two side-by-side second limit elements 400.

[0123] In this embodiment, by arranging two limit components at one reference position, it is possible to effectively prevent false judgments caused by accidental failure of a single limit element, thereby improving the overall reliability of position detection.

[0124] In some embodiments, the moving element 200 is configured to move in a self-checking mode; when the driving assembly 100 drives the moving element 200 to move from the first reference position 130 to the second reference position 140 in a first time period T1, and drives the moving element 200 to move from the second reference position 140 to the first reference position 130 in a second time period T2, it is determined that the movement of the moving element 200 is in a normal state; wherein the moving element 200 triggers the first limit element 300 to generate a first electrical signal when it reaches the first reference position 130; the moving element 200 triggers the second limit element 400 to generate a second electrical signal when it reaches the second reference position 140.

[0125] It can be understood that the self-checking mode in this example can be triggered by system power-on, external instructions, or periodic maintenance programs, which mainly measures the movement time of the moving element 200 in the preset stroke accurately, and compares it with the standard value, thereby evaluating the state of the optical element 500 driving device.

[0126] In the self-check mode, the external controller controls the driving assembly 100 to drive the moving part 200 to move from the first reference position 130 to the second reference position 140, and a timer inside the external controller is synchronously started. When the moving part 200 reaches the second reference position 140 and triggers the second limit element 400 to generate a second electrical signal, the timer stops, and the recorded time is defined as the first time length T1. Subsequently, the controller drives the moving part 200 to move reversely from the second reference position 140 to the first reference position 130, and timing is performed again. When the first limit element 300 is triggered to generate a first electrical signal, the recorded time is defined as the second time length T2.

[0127] In an ideal frictionless changing device, the second time length T2 can be equal to the first time length T1. The controller compares the measured first time length T1 and the second time length T2 with a pre-stored standard time threshold, respectively. If both the first time length T1 and the second time length T2 are within the range of the standard time threshold, it is determined that the self-check result of this time is normal, that is, it indicates that the movement of the driving device is smooth, there is no jamming, and the friction is at a normal level, and the driving device can work normally.

[0128] In some embodiments, in the self-check mode, the moving part 200 fails to move from the first reference position 130 to the second reference position 140 within a third time length T3 under the driving of the driving assembly 100, and / or the moving part 200 fails to move from the second reference position 140 to the first reference position 130 within a fourth time length T4 under the driving of the driving assembly 100, it is determined that the movement of the moving part 200 is in a first abnormal state.

[0129] It can be understood that the present embodiment can be further divided into different cases with different severity, including a case of timeout of travel and a case of risk of jamming. In other words, the controller drives the moving part 200 to move, and a maximum allowed time, that is, the third time length T3 and the fourth time length T4, is preset. If the moving part 200 fails to trigger the second limit element 400 within the third time length T3 and / or fails to trigger the first limit element 300 within the fourth time length T4, it is determined that it is in the first abnormal state, corresponding to a serious fault. This state can indicate that the device has been completely jammed, or there is a great resistance that makes it impossible to travel the full distance. In this state, the system will immediately enter a safety locking state, stop driving, and send an alarm to the upper system or the operator.

[0130] The abnormality detection state can further include the following cases: the moving part 200 moves from the first reference position 130 to the second reference position 140 within a third time length T3, and the moving time length t1 is greater than the first time length T1; and / or, the moving part 200 moves from the second reference position 140 to the first reference position 130 within a fourth time length T4, and the moving time length t2 is greater than the second time length T2, so that it is determined that the movement of the moving part 200 is in a second abnormal state; the third time length T3 is greater than the first time length T1, and the fourth time length T4 is greater than the second time length T2.

[0131] It can be further understood that, as a more refined early warning state, the moving part 200 can eventually complete the stroke, but the time consumption is significantly increased. The actual time consumption of the moving part 200 moving from the first reference position 130 to the second reference position 140 exceeds the normal first time length T1, but has not exceeded the maximum third time length T3. Similarly, the actual time consumption of the return stroke exceeds the normal second time length T2, but is less than the fourth time length T4, and this state is defined as the second abnormal state.

[0132] The above-mentioned second abnormal state indicates that the device movement resistance has increased, and there are early jamming, insufficient lubrication, or small foreign matter interference, but it has not completely failed. The system can determine that this state is a performance degradation state, and can prompt to suggest maintenance related information.

[0133] In the embodiment, by subdividing the abnormal state into at least two levels of complete failure and performance decay, explicit fault positioning information can be provided, and maintenance efficiency can be improved.

[0134] In some embodiments, the material of the first limiting element 300 and the second limiting element 400 includes a conductive metal, and the material of the moving part 200 includes a conductive metal.

[0135] In one example, the first limiting element 300 and the second limiting element 400 include at least one of a spring contact pin, a metal wire, a metal column, a metal block, a metal spring piece, and a metal spring leaf.

[0136] Illustratively, to ensure reliable electrical contact, the first limiting element 300, the second limiting element 400, and the moving part 200 are all made of conductive metal materials, such as stainless steel, brass, beryllium bronze, etc., so as to provide a basis for forming a detection loop.

[0137] In addition, the specific form of the limiting element can be diversified, which can be: a spring contact pin with an internal spring, which can provide a buffering and stable contact force; a rigid metal wire, a metal block, or a metal column, which has a simple structure and low cost, and is suitable for occasions with clear space and force; a metal spring piece which provides contact force by deforming itself and absorbs slight overshoot.

[0138] The following examples will illustrate in detail the specific structure and location of the first limiting element 300 and the second limiting element 400.

[0139] Example 1

[0140] like Figure 6 As shown, there are two mounting bases, respectively located on opposite sides of the drive assembly 100, serving as the front and rear lens barrels. The first limiting element 330 is a front limiting spring contact pin, and the second limiting element 430 is a rear limiting spring contact pin. Specifically, the front and rear lens barrels are respectively provided with mounting holes and slots along a first direction for accommodating and positioning the spring contact pins. The front and rear limiting spring contact pins are installed in these holes and slots, with their respective contact tips extending out of the holes and slots in their natural state and entering the movement path of the moving member 200. The positions of these two contact tips precisely define the two physical limit positions of the movement stroke of the moving member 200, namely the first reference position and the second reference position.

[0141] To ensure the reliability of electrical signal detection, the front and rear lens barrels are preferably made of insulating materials (such as polyetheretherketone), or an insulating sleeve is provided between the spring contact pin and the lens barrel to ensure electrical insulation between the limiting element and the housing.

[0142] Both the front and rear limit spring contacts are conductive, and their respective signal leads are connected to two different signal detection input pins of an external controller. Internally or externally, these two input pins are connected to a positive power supply voltage via pull-up resistors.

[0143] Based on the above structure and circuit connection, when the moving part 200 is not in contact with either spring contact pin, both signal detection pins of the controller are at a high level due to the pull-up resistors. When the moving part 200 moves under the drive of the drive unit 110, and its front end contacts the front limit spring contact pin, a conductive loop is formed from the positive power supply voltage through the pull-up resistor, signal pin, front limit spring contact pin, moving part 200 to the common ground. This loop rapidly pulls the level of the signal pin from high to low, close to the common ground. This clear high-to-low level transition is the first electrical signal. Similarly, when the rear end of the moving part 200 contacts the rear limit spring contact pin, a similar path is formed, generating a second electrical signal that is also a high-to-low level transition. Therefore, by monitoring the level state of its input pins in real time, the controller can accurately determine whether the moving part 200 has reached any physical limit position of its travel.

[0144] Example 2

[0145] like Figure 2 and Figure 4As shown, the first and second limiting elements 310 and 410 are no longer the spring contact pins axially mounted in the above example, but are replaced by radially mounted front and rear limiting metal columns.

[0146] Of course, as Figure 4 As shown, the first and second limiting elements 320 and 420 can also be front and rear limiting metal springs, and the present example takes the metal springs as an example for illustration.

[0147] Specifically, the two metal springs are punched or etched from a thin metal sheet with good electrical conductivity and elasticity, and are mounted in the mounting position of the transmission member 120. After installation, the free end of the metal spring slightly protrudes towards the cavity 121 of the transmission member 120, and is located at the two physical limit positions of the movement stroke of the moving member 200.

[0148] The working mode of the present example is basically similar to that of Example One, and the moving member 200 is also configured to be conductive and grounded. When the moving member 200 is driven to move to the front limiting position, the side edge of the front end face will contact and push the side wall of the front limiting metal spring. Since the metal spring has elasticity, it will slightly elastically deform under the action of the contact force. This contact process can also form a conduction loop from the signal pin to the ground, thereby generating a high-to-low level jump signal (first electrical signal). Similarly, when the moving member 200 moves to the rear limiting position, the side edge of the rear end face will contact the rear limiting metal spring, generating a second electrical signal.

[0149] The self-checking process performed by the controller can be understood with reference to other embodiments, i.e., by driving the moving member 200 to complete one complete reciprocating motion, and monitoring the level jump signal caused by the metal spring contact event in the process, and measuring and judging whether the forward and rearward stroke times are within the normal threshold range, and finally diagnosing the health status of the driving device.

[0150] Compared with Example One, the present embodiment uses radially mounted metal springs, which have lower requirements for radial wall thickness and are more suitable for miniaturized design with extremely compact structure and limited wall thickness. In addition, the elastic deformation of the metal spring when it is contacted can effectively absorb the impact energy when the moving member 200 reaches the limit position, reducing the vibration and wear caused by rigid collision, and helping to prolong the service life of the entire mechanism and maintain long-term stability.

[0151] Example Three

[0152] As Figure 8 and Figure 9As shown, the first limit element 340 and the second limit element 440 in this example are designed as front and rear limit round circlip pieces with integrated contacts 341. The circlip pieces are made of conductive material, but are divided into two independent contact areas by insulation treatment (forming a notch) thereon.

[0153] A possible circuit connection is as follows: at each limit position, one contact 341 on the circlip piece is connected to the positive supply voltage via a lead (or via a pull-up resistor), while the other contact 341 is connected to a signal detection input pin of the controller via a lead. The input pin is connected to ground via a pull-down resistor outside or inside the controller, so that in the non-contact state, the level of the pin is low.

[0154] Unlike the previous embodiments, the moving element 200 in this embodiment does not need to be grounded, and can be in an electrically floating state, but its front and rear end faces need to be conductive, or at least conductive in the area corresponding to the circlip piece contacts.

[0155] When the moving element 200 is driven to move to the front limit position, its conductive front end face will simultaneously contact the two contacts on the front limit round circlip piece. At this time, the conductive end face of the moving element 200 electrically connects the two originally disconnected contacts. This forms a conduction path from the positive supply voltage via the first contact, the moving element 200 end face, the second contact to the signal pin, thereby applying the positive supply voltage to the signal pin, causing its level to jump from low to high. This low-to-high level jump constitutes the first electrical signal in this embodiment. When the moving element 200 moves to the rear limit position, it will trigger the rear limit round circlip piece in exactly the same way, generating a second electrical signal that is also a low-to-high level jump.

[0156] Correspondingly, the internal logic of the controller is adjusted to recognize and respond to this low-to-high level jump as a sign of reaching the limit of travel. In addition, the self-checking process performed by the controller, including zero-seeking, driving reciprocating motion, segment timing, comparison with a preset time threshold, and the overall logic of finally making a health status diagnosis, is exactly the same as in other embodiments.

[0157] As shown in Figure 3 , Figure 5 and Figure 7 , in some embodiments, two independent limit elements, i.e. front limit double contact pins, are arranged side by side at the front limit position of the travel of the moving element 200. Similarly, rear limit double contact pins are also arranged side by side at the rear limit position. These contact pins can be spring contact pins as described in Example One, or other forms of conductive contacts.

[0158] Based on the same application concept, the present application also provides an endoscope, as shown in the drawings, which comprises the optical element driving device, the optical element 500 and the control unit 900 in the above embodiments. Figure 10

[0159] The optical element 500 is arranged on the moving part 200; the control unit 900 is electrically connected with the driving assembly 100, the first limiting element 300 and the second limiting element 400 respectively, and the control unit 900 is configured to, after receiving one of the first electric signal and the second electric signal, control the driving assembly 100 to drive the moving part 200 to change direction and continue to move, and determine whether the other of the first electric signal and the second electric signal is received within a preset time length; if the corresponding first electric signal or second electric signal is not received within the preset time length, the driving assembly 100 is controlled to stop driving, and it is determined that the moving part 200 is abnormal in movement.

[0160] If the corresponding first electric signal or second electric signal is received within the preset time length, the time difference between the first electric signal and the second electric signal received continuously is calculated, and compared with a threshold value to determine whether the moving part 200 is abnormal in movement.

[0161] It can be understood that the endoscope in the present example can comprise a mirror body, an optical element driving device arranged at the front end of the mirror body, and an optical element 500 driven by the driving device, such as a zoom lens group, and a control unit 900 arranged outside the driving device.

[0162] Specifically, the optical element driving device is encapsulated and fixed in the front hard tip of the endoscope insertion part. The moving part 200 of the driving device has already mounted the optical element 500, and the optical axis coincides with the imaging light path of the endoscope. The electrical leads of the driving assembly 100, the first limiting element 300 and the second limiting element 400 are extended backward through the slender flexible circuit board or micro wire harness inside the endoscope insertion part, and are electrically connected with the control unit 900.

[0163] As an optional implementation manner, the control unit 900 can be understood as a microprocessor or an application specific integrated circuit, which can include a signal input interface, a driving signal output interface, and a timer, a memory and other modules. The control unit 900 can be integrated as a functional module in the internal host system.

[0164] The control unit 900 in the present example is configured to at least perform the following work:

[0165] ​In the self-checking or normal zooming process, the control unit 900 continuously monitors the signals from the first limit element 300 and the second limit element 400. When receiving any one of the electrical signals, for example, the moving element 200 touches the first limit element 300, generating a first electrical signal, the control unit 900 will immediately instruct the driving assembly 100 to stop driving in the current direction, and reverse the driving phase, control the moving element 200 to start moving in the opposite direction; At the same time, start the timer. When no second electrical signal is received within the preset time period, the control driving assembly stops driving, which means that the driving device may have been completely stuck, or there is a great resistance that causes it to be unable to walk the full course, so it needs to be safety-locked, stop driving, and send an alarm information.

[0166] When the corresponding second electrical signal is received within the preset time period, that is, the moving element 200 triggers the second limit element 400 at the other end (generates a second electrical signal).

[0167] In the movement of the moving element 200 from triggering one limit element to triggering another limit element, the timer inside the control unit 900 is started and stopped synchronously. The control unit 900 calculates and records the time difference between the two events. Subsequently, the control unit 900 compares this time difference with the standard time threshold range preset in the memory. Of course, the standard threshold is determined by the stroke time in the normal, non-stuck state through calibration.

[0168] If the time difference is within the normal threshold range, it is determined that the stroke movement is smooth and the mechanism is normal.

[0169] If the time difference significantly exceeds the maximum threshold, it is determined that the mechanism has a serious jamming or near-stuck failure.

[0170] If the time difference has increased significantly, beyond the normal range, although it has not exceeded the time, it is determined that the mechanism has an early risk of increased resistance or slight jamming, which is a warning state.

[0171] In some embodiments, the complete self-checking and workflow of the endoscope before use in this application can be that when the endoscope system is powered on, the control unit 900 automatically performs the initialization self-checking process, including: controlling the driving assembly 100 to drive the moving element 200 to move to the first limit element 300 until the trigger signal is generated, completing the system zero. Control the moving element 200 to move to the second limit element 400 full range, record the time difference, and determine whether it is normal. If it is normal, control the moving element 200 to return to the first limit element 300, record the time difference, and determine whether it is normal. If all stroke times are normal, the control unit 900 sends a self-checking pass signal to the host, and the endoscope enters the standby state. If any stage is abnormal, immediately lock the drive and send an alarm to prompt the zoom mechanism failure, preventing clinical use.

[0172] The self-checking procedure, which is automatically executed by power-up, contains complete reciprocating motion and time judgment, and transforms the endoscope zoom mechanism from unknown state to state-transparent device. Before each use for patients, the system can automatically complete a comprehensive mechanical health examination, fundamentally eliminating the risk of failure in surgery due to hidden mechanism failure (such as jam caused by post-disinfection residues).

[0173] In addition, the control unit 900 can effectively eliminate any form of position cumulative error based on the zeroing operation of the absolute physical limit signal. This makes the starting point of each zoom operation absolutely accurate, ensuring the high repeatability of the corresponding relationship between the zoom lens position and image clarity under different use times and different use periods, and providing a reliable imaging foundation for accurate medical diagnosis and surgical navigation.

[0174] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered within the scope of the present disclosure.

[0175] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. An optical element driving device, characterized in that, include: The drive assembly (100) has a first reference position (130) and a second reference position (140) arranged at intervals along a first direction. The movable element (200) is connected to the drive assembly (100) and located between the first reference position (130) and the second reference position (140), and is used to connect the optical element (500). The first limiting element (300) is located at the first reference position (130) and is used to generate a first electrical signal after being triggered. The second limiting element (400) is located at the second reference position (140) and is used to generate a second electrical signal after being triggered. The movable element (200) is configured to reciprocate along the first direction under the drive of the drive assembly (100) to trigger the first limiting element (300) or the second limiting element (400).

2. The optical element driving device according to claim 1, characterized in that, The drive assembly (100) includes a drive member (110) and a transmission member (120), the transmission member (120) having a cavity (121); the moving member (200) is embedded in the cavity (121) and is in contact with the transmission member (120); The drive member (110) is located outside the transmission member (120) and is configured to excite the transmission member (120) to vibrate in order to push the moving member (200) to move along the first direction.

3. The optical element driving device according to claim 2, characterized in that, The transmission component (120) includes a first docking part (122), a pushing part (123), and a second docking part (124) connected in sequence along the first direction; The first reference position (130) is formed in the first docking portion (122), and the second reference position (140) is formed in the second docking portion (124).

4. The optical element driving device according to claim 3, characterized in that, The optical element driving device further includes a first detection circuit (700) and a second detection circuit (800). The first detection circuit (700) is electrically connected to the first limiting element (300) and transmits the first electrical signal; the second detection circuit (800) is electrically connected to the second limiting element (400) and transmits the second electrical signal.

5. The optical element driving device according to claim 4, characterized in that, The first reference position (130) is a first opening formed on the side wall of the first docking portion (122), and the first opening is configured to accommodate the first limiting element (300) and / or the first detection circuit (700). And / or, the second reference position (140) is a second opening formed on the sidewall of the second docking portion (124), the second opening being configured to accommodate the second limiting element (400) and / or the second detection circuit (800).

6. The optical element driving device according to any one of claims 3-5, characterized in that, The driving member (110) is disposed on the outer side wall of the pushing part (123); the driving member (110) includes a plurality of driving bodies, which are arranged circumferentially along the pushing part (123); And / or, the movable element (200) is configured with a mounting position for fixing the optical element (500). And / or, the moving part (200) is configured to move within the space defined by the pushing part (123).

7. The optical element driving device according to claim 2, characterized in that, The optical element driving device further includes a support base (600) located on at least one side of the driving assembly (100) along the first direction; at least a portion of the driving assembly (100) is connected to the support base (600).

8. The optical element driving device according to claim 7, characterized in that, At least a portion of the support base (600) is embedded in the cavity (121) of the transmission member (120); The support base (600) is configured with an installation channel (610), at least a portion of which is located at the first reference position (130) or the second reference position (140); the installation channel (610) is used to accommodate the first limiting element (300) or the second limiting element (400), and the contacts of the first limiting element (300) and the second limiting element (400) protrude from the surface of the support base (600) along the first direction and extend into the cavity (121).

9. The optical element driving device according to any one of claims 1-5, 7, and 8, characterized in that, The moving part (200) has a first conductive end face (210) and a second conductive end face (220) at opposite ends along the first direction; the first conductive end face (210) is used to contact the first limiting element (300), and the second conductive end face (220) is used to contact the second limiting element (400); The dimension of the optical element (500) along the first direction is smaller than the dimension of the moving part (200) along the first direction.

10. The optical element driving device according to any one of claims 1-5, 7, and 8, characterized in that, Two first limiting elements (300) are provided at the first reference position (130), and the two first limiting elements (300) are arranged side by side so as to contact the same end face of the moving part (200) simultaneously. And / or, two second limiting elements (400) are provided at the second reference position (140), and the two second limiting elements (400) are arranged side by side to contact the same end face of the moving member (200) simultaneously.

11. The optical element driving device according to any one of claims 1-5, 7, and 8, characterized in that, The moving part (200) is configured to move in self-test mode; when the driving component (100) drives the moving part (200) to move from the first reference position (130) to the second reference position (140) for a first duration, and drives the moving part (200) to move from the second reference position (140) to the first reference position (130) for a second duration, it is determined that the movement of the moving part (200) is in a normal state; When the moving part (200) reaches the first reference position (130), it triggers the first limiting element (300) to generate the first electrical signal; when the moving part (200) reaches the second reference position (140), it triggers the second limiting element (400) to generate the second electrical signal.

12. The optical element driving device according to claim 11, characterized in that, In the self-test mode, if the moving part (200) fails to move from the first reference position (130) to the second reference position (140) under the drive of the drive component (100) for a third duration; and / or, if the moving part (200) fails to move from the second reference position (140) to the first reference position (130) under the drive of the drive component (100) for a fourth duration, then the movement of the moving part (200) is determined to be in a first abnormal state; And, if the moving part (200) moves from the first reference position (130) to the second reference position (140) during the third duration, and the movement duration is greater than the first duration; and / or, if the moving part (200) moves from the second reference position (140) to the first reference position (130) during the fourth duration, and the movement duration is greater than the second duration, then it is determined that the movement of the moving part (200) is in a second abnormal state; Wherein, the third duration is greater than the first duration, and the fourth duration is greater than the second duration; And / or, the second duration is equal to the first duration.

13. An endoscope, characterized in that, Includes the optical element driving device according to any one of claims 1-12; An optical element (500) is disposed on the movable element (200); The control unit (900) is electrically connected to the drive assembly (100), the first limiting element (300), and the second limiting element (400), respectively. The control unit (900) is configured to, upon receiving one of the first electrical signal and the second electrical signal, control the drive assembly (100) to drive the moving member (200) to change direction and continue moving, and determine whether the other of the first electrical signal and the second electrical signal is received within a preset time period. If the corresponding first electrical signal or second electrical signal is not received within the preset time period, the drive component (100) is controlled to stop driving, and the movement of the moving part (200) is determined to be abnormal. If the corresponding first electrical signal or second electrical signal is received within the preset time period, the time difference between the continuous receipt of the first electrical signal and the second electrical signal is calculated and compared with a threshold to determine whether the movement of the moving part (200) is abnormal.

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