Wide view angle rectal scope with independent adjustment of lens orientation and method of adjustment

Abstract

The application discloses a wide-viewing-angle rectal speculum with lens direction independent adjustment and an adjusting method, and belongs to the technical field of medical devices. The rectal speculum comprises a head deflection mechanism composed of a lower-level rotating platform, an upper-level rotating platform, a camera assembly and a spin decoupling mechanism, and a transmission shaft system comprising a lower-level driving shaft, an upper-level driving shaft and a mandrel. The lower-level rotating platform is driven by the lower-level driving shaft to rotate around the mirror body axis; the upper-level rotating platform is driven by the upper-level driving shaft and is deflected relative to the lower-level rotating platform, thereby driving the camera assembly to change the pointing angle; the spin decoupling mechanism is linked with the upper-level rotating platform and is driven by the mandrel to eliminate the spin of the camera assembly during the angle change. The application realizes wide-range viewing angle adjustment of the camera in a very small radial space by using a non-coaxial rotation pair, and eliminates the image plane spin through an active compensation mechanism, thereby ensuring the stability and orthographic property of image acquisition, significantly reducing the visual fatigue of doctors and improving the diagnostic accuracy.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and particularly relates to a wide-angle rectoscope with independent lens direction adjustment and an adjustment method. Background Technology

[0002] This invention relates to the field of medical device technology, specifically to a wide-angle proctoscopy with independently adjustable lens direction. A proctoscopy is an important tool for the diagnosis and treatment of rectal diseases in clinical practice. By inserting an endoscope with an image acquisition module into the patient's cavity, doctors can observe the lesions inside the intestine in real time. With the development of minimally invasive interventional techniques, clinical practice has placed higher demands on the observation range and image quality of proctoscopy. Traditional proctoscopy typically changes the field of view by rotating the entire endoscope or by bending the flexible tip. Its core purpose is to achieve comprehensive, blind-spot-free coverage of the intestinal wall by adjusting the camera's direction, thereby improving the detection rate of lesions.

[0003] However, existing proctoscopy technology still has significant limitations in practical applications. First, traditional flexible endoscopes rely on traction wires to drive the tip to bend. Their complex structure and space constraints make it difficult to integrate multiple degrees of freedom for precise adjustments within a very small diameter, thus limiting the observation angle. Second, existing methods that adjust the viewing angle via differential mechanisms often suffer from severe image spin problems during camera tilting. This means that as the lens tilt angle changes, the image rotates around the optical axis, increasing the visual burden on doctors and the difficulty of diagnosis, and also greatly increasing the risk of surgical errors. Furthermore, existing multi-axis drive mechanisms often suffer from loose spatial nesting and severe motion interference, making it difficult to achieve completely decoupled and independent adjustment of orientation, tilt angle, and image spin while maintaining a compact mechanism, thus failing to meet the needs of high-precision clinical examinations. Summary of the Invention

[0004] To address the limitations in the freedom of adjustment of the viewing angle of proctoscopy in existing technologies, as well as the decrease in diagnostic accuracy during angle adjustment, this invention provides a wide-angle proctoscopy with independent lens direction adjustment and an adjustment method.

[0005] This invention is implemented as follows: a wide-angle rectoscope with independent lens direction adjustment, characterized by comprising a head deflection mechanism and a transmission shaft system; the head deflection mechanism is located at the distal end of the rectoscope and includes a lower-level turntable and an upper-level turntable that cooperate through a non-coaxial rotary pair to generate deflection displacement, as well as a spin decoupling mechanism linked to the upper-level turntable and a camera assembly mounted on the spin decoupling mechanism; the transmission shaft system includes a lower-level drive shaft, an upper-level drive shaft, and a spindle coaxially mounted; the lower-level turntable is driven by the lower-level drive shaft; the upper-level turntable is driven by the upper-level drive shaft and deflects relative to the lower-level turntable to cause the camera assembly to generate an angle change from the axis outward; the spin decoupling mechanism is linked to the upper-level turntable to deflect synchronously, and is driven by the spindle to compensate for and eliminate the spin of the camera assembly during the angle change.

[0006] The present invention provides a wide-angle rectoscope with independent lens direction adjustment, which has the following beneficial effects:

[0007] This invention, by incorporating a cooperating lower-level and upper-level turntable within the head deflection mechanism and utilizing the mechanical characteristics of a non-coaxial rotary pair, efficiently converts the rotation of the drive shaft into a deflection displacement of the camera assembly's pointing angle. This structural design completely overcomes the spatial limitations of traditional flexible endoscope drives, enabling the rectoscope to achieve a high degree of freedom in viewing angle adjustment and a wide observation range within a very small diameter hardware size. This effectively solves the viewing angle limitation problem mentioned in the background art and improves the comprehensiveness of intestinal wall coverage in clinical diagnosis.

[0008] This invention integrates a spin decoupling mechanism into the head mechanism and establishes a linkage with the upper-level turntable. Through the independent drive of the spindle in the transmission shaft system, this solution can compensate for and eliminate the image plane spin component caused by non-coaxial motion coupling in real time during the dynamic process of angle adjustment of the upper-level turntable. This ensures that the acquired image maintains a stable upright posture when the lens is deflected, fundamentally solving the problems of doctor's visual fatigue and decreased diagnostic accuracy caused by image rotation in the background technology. In addition, the transmission layout of the lower-level drive shaft, upper-level drive shaft and spindle coaxially nested, combined with the functional division of the decoupling mechanism, realizes completely decoupled and independent adjustment of pointing orientation, tilt angle and image posture, greatly improving the operational accuracy and clinical applicability of the proctoscope while maintaining a highly compact structure.

[0009] In the above technical solution, preferably, the spin decoupling mechanism includes a lower decoupling member and an upper decoupling member that are hinged to each other; the lower decoupling member is connected to the spindle, and the camera assembly is fixed on the upper decoupling member.

[0010] In the above technical solution, preferably, the upper turntable includes an upper seat ring and an upper inclined platform fixed on the upper seat ring; the upper inclined platform is provided with a guide sleeve hole, and the upper decoupling member is coaxial and rotatably limited within the guide sleeve hole.

[0011] In the above technical solution, preferably, the upper inclined platform is connected to the upper drive shaft through a hollow universal joint; the hollow universal joint includes an input end seat ring, an output connector and a cross fork arm with mutually perpendicular swing axes, and the spin decoupling mechanism passes through the center of the hollow universal joint.

[0012] In the above technical solution, preferably, the upper decoupling component and the lower decoupling component are hinged through a swing hinge; the axis of the swing hinge is arranged to coincide with the axis of the swing shaft in the hollow universal joint that connects to the upper turntable.

[0013] In the above technical solution, preferably, the spin decoupling mechanism is configured such that, during the deflection process of the upper turntable, the spindle drives the upper decoupling component to rotate relative to the upper inclined platform, so as to cancel the image plane spin component generated by the motion of the non-coaxial rotary pair in real time.

[0014] In the above technical solution, preferably, the lower stage turntable includes a lower stage seat ring and a beveled bearing fixed thereon; the beveled bearing has an end face inclined relative to the axis of the mirror body, for the upper stage seat ring to slide on it to achieve differential deflection.

[0015] In the above technical solution, preferably, each component of the head deflection mechanism is supported by a nested split bearing structure: the lower stage turntable is mounted on the outer tube of the mirror body through the outer split bearing; the input end seat ring is mounted inside the lower stage turntable through the middle split bearing; and the lower decoupling component is mounted on the input end seat ring through the inner split bearing.

[0016] In the above technical solution, preferably, the transmission shaft system further includes the outermost mirror body outer tube; the mirror body outer tube, the lower drive shaft, the upper drive shaft and the mandrel are sequentially nested inward to form a four-layer concentric tube structure.

[0017] In summary, this invention, through its compact design of a nested split bearing structure and a four-layer concentric tube structure, achieves independent transmission and reliable support of multiple power sources within the extremely limited diameter of a rectoscope tube. The three layers of split bearings, nested sequentially from the outside in, not only ensure the concentricity of each stage of the turntable and decoupling components during high-speed differential rotation, but also limit the axial position of each component through the thrust resistance of the bearings, effectively preventing imaging jitter caused by mechanical movement and improving the overall rigidity of the mechanism.

[0018] The upper drive shaft and upper ramp are connected by a hollow universal joint, ensuring smooth power transmission at the non-coaxial deflection interface. In particular, the yaw hinge and the universal joint's yaw axis are configured to coincide, geometrically eliminating spatial displacement interference during multi-axis linkage. This results in smoother yaw movement of the camera assembly, avoiding mechanical stress and abnormal wear. Simultaneously, the coaxial limiting of the upper decoupling component within the guide sleeve precisely converts the rotational motion of the upper ramp into the radial yaw of the camera, significantly improving the linearity of the pointing adjustment.

[0019] Through the hinged structure of the upper and lower decoupling components and the active drive of the mandrel, active compensation for image plane spin is achieved. While utilizing the oblique bearing to achieve a wide range of angular deflection, the mandrel can cancel the spin component generated by the motion coupling of the oblique surface rotary pair in real time, ensuring that the image observed by the doctor always remains horizontal and upright. This physical-level decoupling mechanism not only simplifies the backend image processing algorithm but also ensures the real-time and intuitive visual feedback, significantly reducing the risk of misdiagnosis and the difficulty of surgical procedures.

[0020] This invention proposes a method for adjusting a wide-angle rectoscope as described above, comprising: Yaw adjustment steps: The upper turntable is rotated by differential driving the lower drive shaft and the upper drive shaft, forcing the upper decoupling component to deflect around the yaw hinge. Spin compensation step: During the yaw adjustment process, the spin shaft synchronously drives the spin decoupling mechanism to rotate, thereby decoupling the camera assembly circumferentially relative to the upper turntable and eliminating image plane spin. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the wide-angle rectoscope described in this invention; Figure 2 This is a schematic diagram of the head deflection mechanism described in this invention; Figure 3 This is a schematic diagram of the transmission shaft system described in this invention; Figure 4 This is a schematic diagram of the structure of the lower-level turntable described in this invention; Figure 5 This is a schematic diagram of the split bearing structure described in this invention; Figure 6 This is a schematic diagram of the connection structure between the lower-level turntable and the lower-level drive shaft described in this invention; Figure 7 This is a schematic diagram of the upper-level turntable described in this invention; Figure 8 This is a schematic diagram of the connection structure between the cross arm and the upper seat ring described in this invention; Figure 9This is a schematic diagram of the cross arm described in this invention; Figure 10 This is a schematic diagram of the connection structure between the upper-level turntable and the upper-level drive shaft described in this invention; Figure 11 This is a schematic diagram of the connection structure between the spin decoupling mechanism and the mandrel described in this invention; Figure 12 This is a schematic diagram of the drive mechanism described in this invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0023] This invention provides a wide-angle proctoscopy with independent lens direction adjustment and an adjustment method thereof. To further illustrate the structure of this invention, a detailed description is provided below in conjunction with the accompanying drawings: Example 1 This embodiment provides a wide-angle rectoscope with independent lens orientation adjustment, designed to achieve large field-of-view adjustment and dynamic real-time image spin compensation through a compact mechanical structure. Please refer to [link / reference]. Figure 1 The distal end of the proctoscope is equipped with a head deflection mechanism 1, and the proximal end is connected to a drive mechanism 3 via a transmission shaft system 2.

[0024] Please see Figure 2 The head deflection mechanism, as the actuator, comprises a lower-level turntable 1-1 and an upper-level turntable 1-2 that cooperate through a non-coaxial rotary joint to generate deflection displacement, as well as a camera assembly 1-3 and a spin decoupling mechanism 1-4 that are coupled and linked to the upper-level turntable. The non-coaxial structure utilizes the relative rotation (differential) between the two-stage turntables to convert rotation into deflection displacement of the camera's pointing angle.

[0025] The drive shaft system, serving as the power transmission medium, employs a highly integrated four-layer concentric tube structure. Please refer to [link / reference]. Figure 3 The structure consists of, from the outside in, a fixed outer tube 2-1 for the lens body, a lower-level drive shaft 2-2, an upper-level drive shaft 2-3, and a spindle 2-4. The lower-level drive shaft is fixedly connected to the lower-level turntable and is responsible for driving the entire deflection mechanism to perform azimuth scanning around the lens body's main axis. The upper-level drive shaft is connected to the upper-level turntable via a hollow universal joint and is responsible for driving the deflection action. The spindle extends deep into the innermost layer of the mechanism and is connected to the spin decoupling mechanism, used to correct the camera's spin attitude in real time during the deflection process.

[0026] The lower-level turntable, serving as the base of the entire head deflection mechanism, determines the stability of subsequent deflections through its structural precision. Please refer to [link / reference]. Figure 4 , Figure 5and Figure 6 The lower-level turntable includes a lower-level seat ring 1-1-1 and a beveled bearing 1-1-2 fixed thereon. The lower-level seat ring is installed at the end of the outer tube of the mirror body via a split bearing 4 structure. Specifically, the split bearing structure is composed of three bearing components made of self-lubricating material with a radius of 120 degrees. This three-piece design effectively eliminates the radial sway that is easily generated by a two-piece structure under load, thereby providing high-precision radial support and axial limiting for the lower-level turntable. The lower-level turntable is driven by the lower-level drive shaft to rotate 360 ​​degrees around the main axis of the mirror body, providing a changing support reference surface for the upper-level turntable above it.

[0027] The beveled bearing, fixed to the lower stage seat, has an end face inclined relative to the axis of the endoscope body. This beveled face forms the physical basis for subsequent differential motion. The beveled bearing's end face inclination angle is optimized to ensure that when the upper stage turntable rotates on it, the camera assembly can achieve the maximum swing stroke from the center outward, thereby covering a wider field of view of the rectal cavity wall.

[0028] Please see Figure 7 The upper stage turntable has an annular guide rail structure at its bottom, which mates with the oblique bearing, forming the non-coaxial rotary pair. When the upper stage drive shaft drives the upper stage turntable to rotate via a hollow universal joint, the upper stage turntable is forced to rotate along the normal direction of the oblique surface under the constraint between the upper stage drive ring and the oblique bearing, thereby generating a deflection displacement relative to the lower stage turntable, which in turn causes the camera assembly to change its visual pointing angle.

[0029] The upper-level turntable is connected to the upper-level drive shaft via a hollow universal joint. The hollow universal joint employs a hollow cross coupling structure, its core function being to establish a power channel with constant torque and permissible angular variation between the upper-level drive shaft and the upper-level inclined platform in a deflected state. Please refer to [link / reference]. Figure 8 , Figure 9 and Figure 10 The hollow universal joint specifically includes an input end bearing 1-2-2, an output connector 1-2-3, and a cross-shaped fork arm 1-2-4 with mutually perpendicular first and second swing axes. The proximal end of the input end bearing is fixedly connected to the distal end of the upper-level drive shaft, thereby converting the tubular rotational power of the upper-level drive shaft into the circular motion of the bearing. The input end bearing is supported on the lower-level turntable through a middle-layer split bearing structure. This shaft-in-shaft support method ensures the dynamic stability of the upper-level drive chain and the lower-level drive chain when rotating concentrically.

[0030] The crossarm is designed as a ring frame structure. The central wall of the ring frame has a first hinge hole that mates with the hinge joint at the upper end of the input end bearing ring, while the two end walls of the ring frame have second hinge holes that mate with the hinge joints of the output connector. By directly creating the hinge holes on the ring frame wall, the crossarm, input end bearing ring, and output connector together form a unified connecting assembly distributed on the annular cylindrical wall. This assembly naturally forms a continuous cylindrical hollow channel at its geometric center, providing unobstructed space for the spin decoupling mechanism to pass through from the central axis. The distal end of the output connector is fixedly connected to the upper-level ramp in the upper-level turntable. When the upper-level drive shaft rotates, power is transmitted through the input end bearing ring and the ring crossarm to the output connector, ultimately driving the upper-level ramp.

[0031] The upper-level turntable consists of an upper-level seat ring and an upper-level inclined platform 1-2-5 fixed to the upper-level seat ring. The bottom of the upper-level seat ring slides in contact with the obliquely cut bearing surface of the lower-level turntable, forming the non-coaxial rotary pair. Due to the presence of the oblique interface, the geometric center line of the upper-level inclined platform will continuously deviate angularly relative to the main axis of the mirror body during rotation. At this time, the annular cross arm compensates for the angular displacement difference caused by the rotation of the upper-level inclined platform in real time through two sets of mutually perpendicular hinge holes on its wall.

[0032] A high-precision guide sleeve is provided in the middle of the upper inclined platform. The axis of this guide sleeve is precisely calibrated so that it is collinear with the main axis of the mirror body when the mechanism is in the initial position. The upper decoupling component of the spin decoupling mechanism is coaxially and circumferentially rotatably confined within this guide sleeve. This limiting relationship ensures that the upper decoupling component is radially controlled by the upper inclined platform, that is, each yaw movement of the upper inclined platform will directly force the upper decoupling component to synchronously change its angle through the side wall of the sleeve. This chain transmission, in which the inclined platform rotates to drive the sleeve, and the sleeve drives the decoupling component, constitutes the core mechanical logic of this device to achieve pointing angle adjustment.

[0033] The spin decoupling mechanism, serving as the direct support for the camera, essentially involves physically separating and independently controlling the yaw and spin degrees of freedom in space. (Please refer to...) Figure 11 The spin decoupling mechanism specifically includes a lower decoupling component 1-4-1 and an upper decoupling component 1-4-2 that are hinged to each other. The proximal end of the lower decoupling component passes through the cylindrical channel formed by the annular frame of the hollow universal joint and is fixedly connected to the innermost mandrel. The lower decoupling component is supported in the input end race of the hollow universal joint by an inner split bearing structure. This multi-layer nested support structure allows the mandrel to obtain a stable axial reference when driving the lower decoupling component to rotate, and it is not affected by the radial runout generated when the outer drive shaft rotates, thus ensuring the stability of the end-image posture.

[0034] The upper and lower decoupling components are hinged together by a swing hinge, the centerline of which forms the physical axis of the upper decoupling component's swinging motion. The camera assembly is fixed to the distal end of the upper decoupling component and rotates synchronously with it. Specifically, in this embodiment, the upper and lower decoupling components are formed from a sodium hypochlorite tube, and the swing hinge is a hinge joint formed by cutting the sodium hypochlorite tube.

[0035] To ensure the accuracy of the yaw motion trajectory and the smoothness of power transmission, the yaw hinge is spatially arranged with coaxial constraints: in the assembled state, the axis of the yaw hinge is configured to be coaxial with the hinge axis of the central cross arm in the hollow universal joint. This coaxial configuration ensures that the yaw center of the spin decoupling mechanism is consistent with the power input reference of the universal joint, thereby effectively counteracting spatial interference caused by multi-axis linkage when performing complex pointing angle adjustments.

[0036] When the upper turntable deflects under differential drive, the guide sleeve hole of the upper inclined platform tilts accordingly, forcing the upper decoupling component located therein to tilt synchronously. At this time, the rotation angle of the upper decoupling component around the tilting hinge defines the tilt angle of the camera. Since the tilting hinge is coplanar with the central axis of the universal joint, the deflection driving force applied by the upper inclined platform to the upper decoupling component can be precisely applied within the preset hinge plane, avoiding mechanical stiffness or structural wear caused by axis misalignment. During this process, to prevent the upper decoupling component from generating unnecessary image spin, the spindle drives the lower decoupling component in real time according to the deflection phase, thereby maintaining the circumferential attitude of the upper decoupling component through the tilting hinge.

[0037] Furthermore, the spin decoupling mechanism also features an orientation pre-adjustment function. When the upper turntable is in its initial zero-position state, parallel to the main axis of the lens body, the upper decoupling component and the guide sleeve hole are coaxial and interference-free. In this state, the operator can drive the entire spin decoupling mechanism to spin around its central axis via the drive spindle. This action essentially adjusts the spatial orientation of the tilting hinge in the circumferential direction; that is, by changing the orientation of the tilting axis, the radial direction in which the camera assembly will tilt when the tilting adjustment is subsequently initiated is pre-set.

[0038] The physical support between the moving parts of the head deflection mechanism is achieved through a nested split bearing structure. To integrate multiple independent drive chains within a very small tube diameter, this embodiment employs a rotary support system that nests layer by layer from the outside in. First, the lower-stage turntable is supported and mounted on the distal end of the outer tube of the scope body via the outer split bearing. The outer split bearing not only provides a radial bearing surface for the lower-stage turntable to rotate around the main shaft, but also has flange-shaped thrust structures at both ends. These structures, through engagement with the annular groove at the end of the outer tube, strictly limit the axial position of the lower-stage turntable, preventing longitudinal movement during differential deflection.

[0039] At the power input end of the hollow universal joint, the input end bearing ring is mounted inside the lower stage turntable via a middle-layer split bearing structure. This design allows the power from the upper drive shaft to bypass the static structure of the lower stage turntable and directly drive the universal joint. In the innermost layer of the mechanism, the lower decoupling component is supported within the input end bearing ring via an inner-layer split bearing structure. Thus, the head assembly forms a four-layer progressive nested layout: the outer tube of the mirror body, the lower stage turntable, the input end bearing ring, and the lower decoupling component. This support structure ensures that the three power sources (azimuth, yaw, and decoupling) do not interfere with each other when rotating independently, and that radial runout is limited to the micrometer level.

[0040] The drive mechanism is connected to the proximal end of the transmission shaft system; please refer to [link / reference]. Figure 12 The mechanism includes a sealed drive housing, a drive bracket 3-1, and three independent drive gear shaft systems arranged around the transmission shaft system. Three drive motors 3-2 are evenly distributed circumferentially around the near end of the transmission shaft system and are securely mounted on the drive bracket. The outer tube 2-1 of the mirror body is locked to the drive bracket as a reference. Three parallel transmission shafts 3-3 are correspondingly mounted on the drive bracket and distributed around the transmission shaft system. The near end of each transmission shaft is connected to the output shaft of the three motors via couplings, allowing the motors to directly drive the transmission shafts to rotate. At the power coupling end, the lower-level drive shaft 2-2, the upper-level drive shaft 2-3, and the spindle 2-4 are respectively connected to the corresponding transmission shafts via gear pairs 3-4. To avoid mechanical interference in a confined space, the driven gear transmission parts on the lower-level drive shaft, the upper-level drive shaft, and the spindle are axially distributed sequentially from the far end to the near end of the transmission shaft system. The driven gears of each drive shaft are fixed to their proximal ends by an expansion sleeve structure. The uniform radial pressure provided by the expansion sleeve generates sufficient frictional torque to ensure that the high-frequency start-stop and micro-stepping movements of the motor can be transmitted to the remote mechanism instantaneously and without loss. This effectively eliminates the functional backlash error caused by the fit clearance in traditional key connections, thereby achieving precise closed-loop control of deflection direction and spin compensation.

[0041] Furthermore, the concentricity between the various levels of the drive shaft system is maintained by self-lubricating bushings distributed between the shaft tubes. These bushings not only provide radial positioning but also act as vibration damping layers between the drive shafts, absorbing high-frequency vibrations generated by the motor operation, thus ensuring the stability of the image captured by the end-effector camera. At the proximal end of the four-layer concentric tube structure, each shaft is equipped with an O-ring seal, which, in conjunction with the positive pressure airflow within the drive housing, prevents liquids from entering the shaft gaps or the housing interior during the cleaning and disinfection process. This complete physical architecture, from precision support at the distal end to dynamic coupling at the proximal end, provides a robust mechanical guarantee for achieving complex multi-degree-of-freedom linkages.

[0042] Example 2 This embodiment provides a wide-angle rectoscope adjustment method based on the above hardware structure. Its core lies in the real-time differential coupling of the rotational speeds of the three concentric drive shafts through a control system, thereby achieving omnidirectional scanning of the visual orientation and dynamic elimination of image plane spin. This control process is specifically divided into the following stages: The first stage is the orientation pre-adjustment and scanning stage. In this stage, the control system drives the lower-level drive shaft, the upper-level drive shaft, and the spindle to rotate synchronously at the same angular velocity. Since there is no relative speed difference between the three axes, the inclined plane of the upper-level turntable relative to the lower-level turntable remains stationary, and the tilt angle of the camera assembly is locked at the initial zero position. At this time, through the synchronous rotation of the three axes, the yaw hinge can be driven to rotate in the circumferential direction, thereby preset the yaw plane, or perform a routine 360-degree surround view inspection in the zero position.

[0043] The second stage is the tilt (angle) adjustment stage. When it is necessary to change the pointing angle of the camera assembly (i.e., deflection outward from the axis), the control system breaks the three-axis synchronization state, creating an inter-stage speed difference between the lower-level drive shaft and the upper-level drive shaft. The upper-level drive shaft drives the upper-level inclined platform to rotate around the non-coaxial rotary joint through a hollow universal joint. The guide sleeve hole of the upper-level inclined platform forces the upper decoupling component to flip around the yaw hinge. During this process, the control system calculates the image plane spin angular velocity generated by the coupling due to the rotation of the inclined plane in real time according to the preset kinematic model, and instructs the spindle to add a compensation speed on top of the original synchronous speed.

[0044] The third stage is the spin cancellation and image plane maintenance stage. The spindle drives the yaw hinge and its upper decoupling component through the lower decoupling component, generating relative rotation with respect to the upper inclined platform within the guide sleeve hole. The specific compensation logic is as follows: the direction of the compensation rotation speed of the spindle is opposite to the direction of the spin component generated by the differential deflection, and their values ​​completely cancel each other out. This dynamic compensation ensures that the acquired image remains horizontal and upright throughout the entire process of the camera assembly changing its tilt angle with the upper turntable, avoiding visual dizziness for doctors caused by the movement of the mechanism.

[0045] The core of this device's adjustment method lies in the precise decoupling and motion compensation of the three power paths in the transmission shaft system. During orientation pre-adjustment, the system first places the upper turntable in its initial zero position (i.e., the axis of the upper inclined stage coincides with the main axis of the endoscope). At this time, the drive mechanism drives the spin decoupling mechanism to rotate as a whole through the spindle. The control algorithm records the rotation angle of the spindle in real time and maps it to the spatial orientation coordinates of the yaw hinge in the circular coordinate system. Since the upper decoupling component and the guide sleeve are coaxial at this time, there is no radial load during the rotation process, ensuring high accuracy of orientation setting and laying a benchmark for subsequent lesion observation in specific anatomical orientations.

[0046] After entering the tilt adjustment stage, a controlled speed difference begins to emerge between the lower-level drive shaft and the upper-level drive shaft. This occurs when the lower-level turntable remains stationary or moves at a controlled speed. During rotation, the upper drive shaft moves at... The speed drives the upper turntable to slide on the inclined plane. At this time, the attitude of the upper turntable follows the differential motion equation of the inclined cylinder. Its guide sleeve hole, while causing the upper decoupling component to wobble, induces a spin increment that is non-linearly related to the deflection angle. In order to eliminate this image plane rotation, the microprocessor in the control box will synchronously calculate the corresponding spin compensation angle. It also instructs the spindle drive motor to add a compensating rotation to the original azimuth angle. Through this dynamic differential compensation linkage logic, the image captured by the camera component can always remain horizontal and upright as the pointing angle changes, solving the problem of operator disorientation caused by the left and right tilt of the image when observing with a traditional endoscope during turning.

[0047] During omnidirectional scanning, the lower-level drive shaft, upper-level drive shaft, and spindle can enter a synchronized rotation mode. When the three axes rotate synchronously at the same angular velocity, the relative pose of the head deflection mechanism remains locked, and the camera assembly performs a circumferential scan along with the distal end of the rectoscope while maintaining a predetermined tilt angle. This synchronization is controlled in a closed loop by the encoder in the drive mechanism. Once the phase deviation between the three axes exceeds the set threshold, the system automatically initiates a phase correction program, ensuring coordinated movement by fine-tuning the single-axis step pulses.

[0048] Furthermore, to prevent mechanical overload at extreme deflection angles, a virtual limit function is preset in the drive mechanism's control system. Through real-time monitoring of the torque sensors on each drive shaft, when an abnormal increase in current is detected, the system automatically determines that the mechanical physical limit has been reached or an intestinal wall obstacle has been encountered, immediately stopping power output and issuing an audible and visual alarm. This complete system, from the underlying physical structure to the high-level logic control, enables this wide-angle rectoscope to not only possess powerful field-of-view adjustment capabilities but also extremely high operational safety and image stability, fully meeting the clinical needs of precision minimally invasive surgery.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wide-angle rectoscope with independent lens direction adjustment, characterized in that, include: The head deflection mechanism, located at the distal end of the rectoscope, includes a lower stage turntable and an upper stage turntable that cooperate through a non-coaxial rotary pair to generate deflection displacement, as well as a spin decoupling mechanism linked to the upper stage turntable and a camera assembly installed in the spin decoupling mechanism. The transmission shaft system includes a lower-level drive shaft, an upper-level drive shaft, and a spindle that are coaxially mounted. The lower-level turntable is driven by the lower-level drive shaft; the upper-level turntable is driven by the upper-level drive shaft and deflects relative to the lower-level turntable, so as to cause the camera assembly to produce an angle change from the axis outward. The spin decoupling mechanism is linked to the upper turntable for synchronous deflection and is driven by the spindle to compensate for and eliminate the spin of the camera assembly during the angle change.

2. The wide-angle rectoscope according to claim 1, characterized in that, The spin decoupling mechanism includes a lower decoupling component and an upper decoupling component that are hinged to each other; the lower decoupling component is connected to the spindle, and the camera assembly is fixed to the upper decoupling component.

3. The wide-angle rectoscope according to claim 2, characterized in that, The upper turntable includes an upper seat ring and an upper inclined platform fixed on the upper seat ring; the upper inclined platform is provided with a guide sleeve hole, and the upper decoupling component is coaxial and rotatably limited within the guide sleeve hole.

4. The wide-angle rectoscope according to claim 3, characterized in that, The upper inclined platform is connected to the upper drive shaft via a hollow universal joint; the hollow universal joint includes an input end seat ring, an output connector, and a cross fork arm with mutually perpendicular swing axes, and the spin decoupling mechanism passes through the center of the hollow universal joint.

5. The wide-angle rectoscope according to claim 4, characterized in that, The upper decoupling component and the lower decoupling component are hinged together by a swing hinge; the axis of the swing hinge is coplanar with the axis of the swing shaft in the hollow universal joint that connects to the upper turntable.

6. The wide-angle rectoscope according to claim 2, characterized in that, The spin decoupling mechanism is configured such that, during the deflection of the upper turntable, the spindle drives the upper decoupling component to rotate relative to the upper inclined platform, so as to cancel the image plane spin component generated by the motion of the non-coaxial rotary pair in real time.

7. The wide-angle rectoscope according to claim 1, characterized in that, The lower stage turntable includes a lower stage seat ring and a beveled bearing fixed thereon; the beveled bearing has an end face inclined relative to the axis of the mirror body, for the upper stage seat ring to slide on it to achieve differential deflection.

8. The wide-angle rectoscope according to claim 4, characterized in that, The components of the head deflection mechanism are supported by a nested split bearing structure: The lower-level turntable is mounted on the outer tube of the mirror body via an outer split bearing; The input end bearing is installed in the lower stage turntable via a middle layer split bearing. The lower decoupling component is mounted on the input end bearing ring via an inner split bearing.

9. The wide-angle rectoscope according to claim 1, characterized in that, The transmission shaft system also includes the outermost mirror body outer tube; the mirror body outer tube, the lower drive shaft, the upper drive shaft and the spindle are sequentially nested inward to form a four-layer concentric tube structure.

10. The method for adjusting a wide-angle rectoscope according to any one of claims 1-9, characterized in that, include: Yaw adjustment steps: The upper turntable is rotated by differential driving the lower drive shaft and the upper drive shaft, forcing the upper decoupling component to deflect around the yaw hinge. Spin compensation step: During the yaw adjustment process, the spin shaft synchronously drives the spin decoupling mechanism to rotate, thereby decoupling the camera assembly circumferentially relative to the upper turntable and eliminating image plane spin.

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