A four-way transmission bronchoscope

Abstract

The present application belongs to the technical field of medical apparatus and instruments, and particularly relates to a four-direction transmission bronchoscope. The present application comprises a shell, a rocker transmission assembly installed at the rear end of the shell, and a flexible insertion part installed at the front end of the shell. The rocker transmission mechanism comprises a cross rocker frame, a rocker, and four driving ropes. One end of the driving ropes is in transmission connection with the rocker through the transmission assembly, and the other end is fixedly arranged at the tail end of the flexible insertion part. The rocker is configured to, under the action of an external force, pull the corresponding driving ropes through the transmission assembly to drive the tail end of the flexible insertion part to continuously deflect and adjust in four directions, i.e. up, down, left and right. The present application integrates the rocker, the cross rocker frame and the four driving ropes in the shell, and adopts a single rocker linkage four-rope layout to replace the split layout transmission mode of the traditional multiple independent steel wire cooperating with independent transmission wheel sets, thereby significantly simplifying the transmission structure and improving the integration degree and space utilization rate of the rear end transmission assembly.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a four-way transmission bronchoscope. Background Technology

[0002] Endoscopes, as core instruments in minimally invasive medicine, can enter the body through natural cavities or minimally invasive incisions to explore lesions in body cavities, perform biopsies, and conduct minimally invasive interventional treatments. They are widely used in various clinical fields such as digestive, urological, otolaryngological, and minimally invasive surgery. During endoscopic diagnosis and treatment, the posture adjustment capability of the endoscope's tip directly determines the endoscope's field of view coverage, the comprehensiveness of lesion exploration, and the flexibility of surgical operations. It is a core structure ensuring the accuracy and safety of minimally invasive diagnosis and treatment. Among these components, the four-way transmission structure, as the core transmission component controlling the multi-dimensional deflection of the endoscope's tip (up / down, left / right), directly affects the endoscope's overall performance and clinical adaptability due to its transmission accuracy, deflection flexibility, structural stability, and integrated compactness. As minimally invasive diagnostic and treatment technologies develop towards refinement, comprehensive coverage, and low invasiveness, clinical requirements for the transmission accuracy, blind-angle-free control, and miniaturized structural design of the endoscope's tip multi-dimensional deflection continue to increase.

[0003] Currently, most endoscopes employ traditional wire-driven deflection mechanisms, with bidirectional or simplified four-way drive structures being the mainstream. Traditional bidirectional drive structures can only achieve vertical or horizontal deflection of the endoscope tip in a single plane, offering limited dimensionality. When exploring lesions in complex folds, cavities, or hidden corners of the human body, they cannot achieve multi-positional angle adjustments, resulting in numerous blind spots and hindering comprehensive exploration and precise alignment, leading to extremely poor clinical suitability.

[0004] While existing four-way drive structures can achieve four-way deflection adjustment of the endoscope tip, they still have many inherent technical defects in practical applications. First, most existing four-way drive structures employ a split layout with multiple independent steel wires and independent drive wheel sets. This results in a dispersed structure, low integration, and a large overall footprint, leading to a larger outer diameter of the endoscope tip. This makes insertion into body cavities more invasive, easily causing patient discomfort, and is unsuitable for interventional procedures in confined spaces. Second, the split, independent drive structure is prone to inconsistent drive strokes in each direction and uneven wire tension. This results in asymmetrical four-way deflection angles of the endoscope tip, lag in transmission response, and poor control precision. It is highly susceptible to incomplete deflection and posture deviation, affecting the accurate exploration of lesions and the precision of surgical procedures. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing split layout, which leads to low space utilization and poor consistency of four-way transmission, and to provide a four-way transmission bronchoscope with a compact structure, high transmission accuracy and symmetrical four-way deflection angle.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a four-way transmission bronchoscope, including a housing, a rocker transmission mechanism installed at the rear end of the housing, and a flexible insertion part installed at the front end of the housing;

[0007] The rocker arm transmission mechanism includes:

[0008] A cross-shaped rocker arm is installed inside the housing;

[0009] A rocker arm, one end of which is connected to the cross rocker arm holder, and the other end of which extends to the outside of the housing;

[0010] Four drive ropes, one end of which is connected to the rocker arm via a transmission assembly, and the other end is fixedly disposed at the end of the flexible insertion part; the ends of the four drive ropes are fixedly connected to the end of the flexible insertion part at equal angles along the circumference.

[0011] The rocker arm is configured to pull the corresponding drive rope through the transmission component when a force is applied, thereby driving the end of the flexible insertion part to continuously deflect in four directions: up, down, left, and right.

[0012] Furthermore, the cross rocker arm includes:

[0013] A vertical arc-shaped frame is rotatably mounted inside the housing via a first rotating shaft;

[0014] A horizontal frame is rotatably mounted inside the housing via a second rotating shaft; and the vertical arc-shaped frame is arranged in a cross shape with the horizontal frame.

[0015] A vertical adjustment arc-shaped hole is formed on the vertical arc-shaped frame along the vertical direction;

[0016] A horizontal adjustment elongated hole is formed on the horizontal frame along the horizontal direction;

[0017] One end of the rocker arm passes through the vertical adjustment arc hole and is rotatably mounted on the inner wall of the horizontal adjustment elongated hole.

[0018] Furthermore, the four drive ropes are respectively the upper drive rope, the lower drive rope, the left drive rope, and the right drive rope; and the four drive ropes are distributed at equal 90° intervals along the circumferential direction at their fixing points at the end of the flexible insertion part.

[0019] Furthermore, the transmission assembly includes:

[0020] A reel mounting bracket is fixedly installed inside the housing;

[0021] The first winding reel and the second winding reel are rotatably mounted on the reel mounting frame, respectively; the first winding reel is driven to the vertical arc frame through a first bevel gear set; the second winding reel is driven to the horizontal frame through a second bevel gear set.

[0022] And a first pinion, a large gear, and a second pinion are rotatably mounted on the housing. The first pinion is coaxially arranged with the second rotating shaft, and the large gear is meshed and connected to the first pinion and the second pinion respectively.

[0023] The rotation axes of the first winding reel and the second winding reel are arranged parallel to each other; an upper driving rope and a lower driving rope are wound on the first winding reel, and the upper driving rope and the lower driving rope are wound in opposite directions on the first winding reel; a left driving rope and a right driving rope are wound on the second winding reel, and the left driving rope and the right driving rope are wound in opposite directions on the second winding reel.

[0024] Furthermore, the first bevel gear set includes a first bevel gear coaxially arranged with the first rotating shaft, and a second bevel gear meshing and drivingly connected with the first bevel gear; the second bevel gear is mounted on the spool mounting bracket and coaxially arranged with the first winding spool;

[0025] The second bevel gear set includes a third bevel gear coaxially arranged with the second pinion, and a fourth bevel gear meshing and drivingly connected with the third bevel gear; the fourth bevel gear is mounted on the spool mounting frame and coaxially arranged with the second winding spool.

[0026] Furthermore, the transmission ratio of both the first bevel gear set and the second bevel gear set is 4:3.

[0027] Furthermore, both the upper and lower drive ropes are wound on the first winding reel, and both the left and right drive ropes are wound on the second winding reel.

[0028] When the rocker arm swings along the vertical arc-shaped adjustment hole, it drives the first winding disc to rotate, causing the flexible insertion part to bend up and down.

[0029] When the rocker arm swings along the horizontal adjustment hole, it drives the second winding disc to rotate, causing the flexible insertion part to bend left and right.

[0030] Furthermore, a guide block is fixedly provided in the middle of the housing for radially limiting and slidingly guiding the four drive ropes;

[0031] The guide block has a guide hole for the drive rope to pass through.

[0032] Furthermore, the housing is provided with an inclined channel, and a clamping inlet piece is installed in the inclined channel.

[0033] Furthermore, it also includes an endoscopic suction assembly; the endoscopic suction assembly includes a suction module installed in the housing, a suction tube connected to the suction port of the suction module, and a connector connected to the output port of the suction module;

[0034] The suction tube is inserted into the flexible insertion part, and the connector is connected to the external connecting tube.

[0035] The beneficial effects of the four-way drive bronchoscope of the present invention are:

[0036] This invention integrates the rocker arm, cross rocker arm holder, and four drive ropes inside the housing, employing a single rocker arm linked to all four ropes. This replaces the traditional split-type transmission mode with multiple independent steel wires and independent transmission wheel sets, significantly simplifying the transmission structure and improving the integration and space utilization of the rear-end transmission components. While satisfying the four-way deflection function, the compact design of this invention effectively reduces the radial dimension of the housing. Furthermore, only four drive ropes are needed within the flexible insertion section to achieve bending in four directions (up, down, left, and right) at the end of the flexible insertion section. The diameter of the flexible insertion section is effectively reduced, improving patient comfort and compliance. This allows the bronchoscope to be well-suited for complex interventional scenarios such as pediatric airways and narrowed distal bronchi.

[0037] Furthermore, the ends of the four drive ropes of this invention are fixed to the end of the flexible insertion part at equal angles. Combined with the omnidirectional swing mechanism of the cross rocker arm, the rocker arm can generate precise differential traction on the four drive ropes through the transmission component when it is turned in any direction, ensuring that the stroke changes of the drive ropes in each direction remain highly consistent and synchronized. Compared with the defects of existing split structures, such as uneven wire tension and asymmetrical deflection angles, this invention achieves symmetrical deflection angles of the end of the flexible insertion part in the four directions of up, down, left, and right, with sensitive response and no lag. The operator can achieve continuous, smooth, and precise posture fine-tuning by turning the rocker arm with one hand, effectively eliminating blind spots and significantly improving the comprehensiveness of exploration and surgical precision for lesions in hidden corners of cavities. Attached Figure Description

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0039] Figure 1 This is a perspective view of the four-way drive bronchoscope in an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the internal structure of the four-way drive bronchoscope in an embodiment of the present invention.

[0041] Figure 3 This is an installation diagram of the rocker transmission mechanism and the housing in an embodiment of the present invention.

[0042] Figure 4 This is a first-view perspective perspective view of the rocker transmission mechanism in an embodiment of the present invention.

[0043] Figure 5 This is a second-view perspective perspective view of the rocker transmission mechanism in an embodiment of the present invention.

[0044] Figure 6 This is a top view of the rocker transmission mechanism in an embodiment of the present invention.

[0045] Figure 7 This is an installation diagram of the cross rocker arm holder and the rocker arm in an embodiment of the present invention.

[0046] Figure 8 yes Figure 3 Enlarged view of point A in the middle.

[0047] Figure 9 This is a schematic diagram of the structure of the endoscope suction component in an embodiment of the present invention.

[0048] In the diagram: 1. Shell;

[0049] 2. Rocker transmission mechanism, 21. Cross rocker arm holder, 211. Vertical arc frame, 212. Horizontal frame, 213. Vertical adjustment arc hole, 214. Horizontal adjustment elongated hole, 22. Rocker arm, 23. Drive rope, 24. Transmission assembly, 241. Reel mounting bracket, 242. First winding reel, 243. Second winding reel, 244. First pinion, 245. Large gear, 246. Second pinion, 247. First bevel gear set, 248. Second bevel gear set;

[0050] 3. Flexible insertion part;

[0051] 4. Guide block; 41. Guide hole;

[0052] 5. Inclined passageway;

[0053] 6. Pliers entry component;

[0054] 7. Endoscopic suction assembly; 71. Suction module; 72. Suction port; 73. Connector;

[0055] 8. Image Processor. Detailed Implementation

[0056] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0057] like Figures 1-9The embodiment of a four-way drive bronchoscope of the present invention shown includes a housing 1, a rocker arm transmission mechanism 2 installed at the rear end of the housing 1, and a flexible insertion part 3 installed at the front end of the housing 1. The rocker arm transmission mechanism 2 includes a cross rocker arm frame 21 installed inside the housing 1, a rocker arm 22, and four drive ropes 23. One end of the rocker arm 22 is connected to the cross rocker arm frame 21, and the other end extends outside the housing 1. One end of each drive rope 23 is connected to the rocker arm 22 via a transmission assembly 24, and the other end is fixedly disposed at the end of the flexible insertion part 3. The ends of the four drive ropes 23 are fixedly connected to the end of the flexible insertion part 3 at equal angles along the circumference. The rocker arm 22 is configured to, under external force, pull the corresponding drive rope 23 via the transmission assembly 24 to drive the end of the flexible insertion part 3 to continuously deflect in four directions: up / down, left / right.

[0058] This embodiment integrates the rocker arm 22, the cross rocker arm holder 21, and four drive ropes 23 inside the housing 1, and adopts a layout where a single rocker arm 22 links four ropes, replacing the traditional split-layout transmission mode with multiple sets of independent steel wires and independent transmission wheel sets. This significantly simplifies the transmission structure and improves the integration and space utilization of the rear transmission component 24. While satisfying the four-way deflection function, the compact design of this invention effectively reduces the radial dimension of the housing 1, and only four drive ropes 23 are needed to complete the bending of the flexible insertion part 3 in four directions (up, down, left, and right) at its end. The diameter of the flexible insertion part 3 is effectively reduced, improving patient comfort and compliance, and enabling the bronchoscope to be well adapted to complex interventional scenarios such as pediatric airways and narrow distal bronchi.

[0059] It needs to be further explained that, such as Figures 3 to 7 As shown, the cross rocker arm bracket 21 in this embodiment includes: a vertical arc-shaped bracket 211, a horizontal bracket 212, a vertical adjustment arc-shaped hole 213, and a horizontal adjustment elongated hole 214. Specifically, the vertical arc-shaped bracket 211 is rotatably mounted inside the housing 1 via a first rotating shaft; the horizontal bracket 212 is rotatably mounted inside the housing 1 via a second rotating shaft, and the vertical arc-shaped bracket 211 and the horizontal bracket 212 are arranged in a cross shape. The vertical adjustment arc-shaped hole 213 is opened vertically on the vertical arc-shaped bracket 211, and the horizontal adjustment elongated hole 214 is opened horizontally on the horizontal bracket 212. One end of the rocker arm 22 passes through the vertical adjustment arc-shaped hole 213 and is rotatably mounted on the inner wall of the horizontal adjustment elongated hole 214.

[0060] When the operator manually moves the rocker arm 22, the free end of the rocker arm 22 oscillates in space. Since the rocker arm 22 passes through the vertical adjustment arc-shaped hole 213, its vertical component motion is constrained and guided by the arc-shaped hole, driving the vertical arc-shaped frame 211 to oscillate up and down around the first rotation axis. At the same time, the end of the rocker arm 22 is rotatably mounted on the inner wall of the horizontal adjustment elongated hole 214, and its horizontal component motion drives the horizontal frame 212 to oscillate left and right around the second rotation axis through the elongated hole. The cross-constraint design of the vertical adjustment arc-shaped hole 213 and the horizontal adjustment elongated hole 214 ensures that the oscillation of the rocker arm 22 in any spatial direction can be decomposed into mutually orthogonal vertical oscillation components and horizontal oscillation components. The two components are transmitted independently and without interference to the vertical arc-shaped frame 211 and the horizontal frame 212, respectively.

[0061] In this embodiment, the four drive ropes 23 are the upper drive rope 23, the lower drive rope 23, the left drive rope 23, and the right drive rope 23; and the fixing points of the four drive ropes 23 at the end of the flexible insertion part 3 are distributed at equal 90° intervals along the circumference. The four drive ropes 23 correspond to the bending of the flexible insertion part 3 in the four directions of up, down, left, and right. In this embodiment, the ends of the four drive ropes 23 are fixed to the end of the flexible insertion part 3 at equal included angles. Combined with the universal swing mechanism of the cross rocker arm 21, when the rocker arm 22 is moved in any direction, it can generate precise differential traction on the four drive ropes 23 through the transmission component 24, ensuring that the stroke changes of the drive ropes 23 in each direction remain highly consistent and synchronized. Compared to the defects of existing split structures, such as uneven wire tension and asymmetrical deflection angles, this invention achieves symmetrical deflection angles at the end of the flexible insertion part 3 in the four directions of up, down, left, and right, with sensitive response and no lag. The operator can achieve continuous, smooth, and precise posture fine-tuning by moving the rocker arm 22 with one hand, effectively eliminating blind spots and significantly improving the comprehensiveness of exploration and surgical precision for lesions in hidden corners of cavities.

[0062] like Figure 5 and Figure 6As shown, the transmission assembly 24 in this embodiment includes: a coil mounting frame 241, a first winding coil 242, a second winding coil 243, and a first pinion 244, a large gear 245, and a second pinion 246 rotatably mounted on the housing 1. The coil mounting frame 241 is fixedly mounted inside the housing 1, and the first winding coil 242 and the second winding coil 243 are respectively rotatably mounted on the coil mounting frame 241; the first winding coil 242 is connected to the vertical arc frame 211 via a first bevel gear set 247; the second winding coil 243 is connected to the horizontal frame 212 via a second bevel gear set 248. The first pinion 244 is coaxially arranged with the second rotating shaft, and the large gear 245 meshes with the first pinion 244 and the second pinion 246 for transmission. The rotation axes of the first winding reel 242 and the second winding reel 243 are arranged parallel to each other. An upper driving rope 23 and a lower driving rope 23 are wound on the first winding reel 242, and the winding directions of the upper and lower driving ropes 23 on the first winding reel 242 are opposite. A left driving rope 23 and a right driving rope 23 are wound on the second winding reel 243, and the winding directions of the left and right driving ropes 23 on the second winding reel 243 are opposite. It should be understood that in this embodiment, both the first and second rotating shafts are rotatably connected to the housing via bearings. A mounting bracket is also included, which is fixedly mounted on the housing. The first pinion 244, the second pinion 246, and the large gear 245 are all rotatably mounted on the mounting bracket via bearings. The bearing type and size used here can be selected according to the specific scenario, and will not be described in detail here.

[0063] In a preferred embodiment, both the upper and lower drive ropes 23 are wound on the first winding reel 242, and both the left and right drive ropes 23 are wound on the second winding reel 243. When the rocker arm 22 swings along the vertical arc-shaped adjustment hole, it drives the first winding reel 242 to rotate, causing the flexible insertion part 3 to bend up and down. When the rocker arm 22 swings along the horizontal adjustment elongated hole 214, it drives the second winding reel 243 to rotate, causing the flexible insertion part 3 to bend left and right.

[0064] In use, when the operator moves the rocker arm 22 forward and backward, the rocker arm 22 swings along the vertical adjustment arc hole 213. This swinging motion is transmitted to the vertical arc frame 211 through the first rotating shaft, and the vertical arc frame 211 rotates around the first rotating shaft. After the rotation is reversed by the first bevel gear set 247, it drives the first winding disc 242 to rotate around its axis at a corresponding angle. Since the upper driving rope 23 and the lower driving rope 23 are wound in opposite directions on the first winding disc 242, the rotation of the first winding disc 242 will inevitably cause one of the driving ropes 23 to be wound in and the other driving rope 23 to be released, thereby generating a differential traction force between the upper and lower fixed points at the end of the flexible insertion part 3, driving the end of the insertion tube to bend smoothly upward or downward.

[0065] Similarly, when the operator moves the rocker arm 22 left or right, the rocker arm 22 swings along the horizontal adjustment hole 214. This swing is transmitted to the horizontal frame 212 via the second rotating shaft, and the horizontal frame 212 rotates around the second rotating shaft. This rotation is transmitted to the second bevel gear 248 group after passing through the two-stage reduction gear meshing of the first pinion 244, the large gear 245, and the second pinion 246. After reversing, it drives the second winding reel 243 to rotate. Since the left drive rope 23 and the right drive rope 23 are wound in opposite directions on the second winding reel 243, the rotation of the second winding reel 243 causes the left and right drive ropes 23 to produce opposite winding and unwinding strokes, thereby generating differential traction between the left and right fixed points at the end of the flexible insertion part 3, driving the end of the insertion tube to bend smoothly to the left or right.

[0066] In this embodiment, the vertical bending and horizontal bending actions of the flexible insertion part 3 are independent and do not interfere with each other. When the operator moves the rocker arm 22 in any compound direction, such as upper left or lower right, the vertical arc frame 211 and the horizontal frame 212 simultaneously generate corresponding swing components. The first winding reel 242 and the second winding reel 243 rotate synchronously and coordinately, jointly realizing the continuous and smooth adjustment of the end of the flexible insertion part 3 at any angle in four directions of space. A pair of drive ropes 23 wound in opposite directions on the same winding reel realizes a linkage mechanism of retraction and release with one turn, ensuring that during the bending action of the end of the flexible insertion part 3 in the corresponding direction, the amount of contraction of one drive rope 23 and the amount of release of the other drive rope 23 always remain strictly equal, thereby ensuring the complete symmetry of the bending angle about the central axis, fundamentally eliminating the defects such as asymmetrical deflection angle and centering offset caused by the independent driving of two ropes in the traditional split structure.

[0067] The vertical arc frame 211 and the horizontal frame 212 rotate independently, driving two winding discs respectively through two sets of bevel gears. This ensures that the two transmission chains for vertical bending and horizontal bending are completely decoupled kinematically and do not interfere with each other. When the operator moves the rocker arm 22, the vertical and horizontal components are transmitted independently, providing intuitive control with no lag in response. During compound directional control, the two axes move smoothly and seamlessly without any jamming or interference, significantly improving the accuracy and flexibility of endoscope head posture adjustment during clinical operations.

[0068] In this embodiment, the first bevel gear set 247 includes a first bevel gear coaxially arranged with the first rotating shaft and a second bevel gear 248 meshing and drivingly connected with the first bevel gear; the second bevel gear 248 is mounted on the reel mounting frame 241 and coaxially arranged with the first winding reel 242; the second bevel gear set 248 includes a third bevel gear coaxially arranged with the second pinion 246 and a fourth bevel gear meshing and drivingly connected with the third bevel gear; the fourth bevel gear is mounted on the reel mounting frame 241 and coaxially arranged with the second winding reel 243. As a preferred embodiment, the transmission ratio of the first bevel gear set 247 and the second bevel gear set 248 in this embodiment is both 4:3.

[0069] Specifically, when the operator moves the rocker arm 22 in the forward and backward direction, the vertical arc frame 211 oscillates around the first rotation axis. The first bevel gear, coaxially fixed with the first rotation axis, rotates along with it and drives the second bevel gear 248 to rotate through meshing transmission. This reverses the power transmission from the swing axis in the forward and backward direction to the axis of the second bevel gear 248 arranged in the left and right direction, thereby driving the first winding reel 242, coaxially fixed with the second bevel gear 248, to rotate, achieving differential traction of the upper and lower drive ropes 23. When the operator moves the rocker arm 22 in the left and right direction, the horizontal frame 212 oscillates around the second rotation axis, driving the first pinion 244 to rotate. After being decelerated by the large gear 245, it drives the second pinion 246 to rotate. The third bevel gear, coaxially fixed with the second pinion 246, rotates together and drives the fourth bevel gear to rotate through meshing transmission. This reverses the power transmission from the swing axis of the horizontal frame 212 to the axis of the fourth bevel gear, thereby driving the second winding disc 243, coaxially fixed with the fourth bevel gear, to rotate, achieving differential traction of the left and right drive ropes 23. The two sets of bevel gears respectively convert the spatial swing of the vertical arc frame 211 and the horizontal frame 212 into the fixed-axis rotational motion of the two winding discs. The two sets of bevel gears respectively achieve a 90° positive reversal of the power transmission path, allowing the axes of the first winding disc 242 and the second winding disc 243 to be arranged parallel and adjacent within the confined housing 1. The overall layout is highly compact, effectively avoiding the spatial expansion caused by the winding disc axes being arranged in the same direction as the swing axis of the rocker arm 22, further reducing the axial and radial volume occupied by the transmission assembly 24.

[0070] To ensure the stability of the sliding direction of the drive ropes 23, a guide block 4 is fixedly provided in the middle of the housing 1 in this embodiment for radially limiting and slidingly guiding the four drive ropes 23, and a guide hole 41 for the drive ropes 23 to pass through is provided on the guide block 4. After the four drive ropes 23 are led out from the first winding reel 242 and the second winding reel 243 respectively, they pass through the corresponding guide hole 41 on the guide block 4, and then extend into the flexible insertion part 3 after passing through the guide hole 41, and finally are fixed at the end of the flexible insertion part 3. During the process of the rocker arm 22 driving the winding reel to rotate, the winding reel generates winding traction or release of the drive ropes 23, and the drive ropes 23 reciprocate along their axial direction under the constraint of the guide hole 41. The inner wall of the guide hole 41 and the outer wall of the drive rope 23 form a sliding fit, which continuously constrains and guides the movement direction of the drive rope 23, ensuring that the drive rope 23 can maintain a stable straight trajectory whether it is in a tensioned or relaxed state, and will not cause radial deviation, jumping or entanglement due to the flexibility of the rope itself, bending stress or the internal space turning of the shell 1.

[0071] like Figure 3 As shown, in this embodiment, the housing 1 is provided with an inclined channel 5, and a forceps entry piece 6 is installed within the inclined channel 5. The forceps entry piece 6 serves as an instrument channel interface, allowing biopsy forceps and surgical instruments to pass through and reach the lesion for sampling and minimally invasive procedures. It should be understood that the forceps entry piece 6 in this embodiment adopts a structure that can be directly purchased from the prior art, and the specific structure of the forceps entry piece 6 will not be described in detail here.

[0072] See Figure 3 and Figure 9 As shown, the four-way drive bronchoscope of this embodiment also includes an endoscopic suction assembly 7; the endoscopic suction assembly 7 includes a suction module 71 installed in the housing 1, a suction tube connected to the suction port 72 of the suction module 71, and a connector 73 connected to the output port of the suction module 71; the suction tube passes through the flexible insertion part 3, and the connector 73 is connected to an external connecting tube. The connector 73 of the endoscopic suction assembly 7 is connected to a negative pressure air source through an external connecting tube, and removes accumulated fluid, secretions and residual debris inside the cavity by negative pressure adsorption, effectively purifying the surgical field of vision, avoiding obstruction of vision, and improving the clarity, accuracy and safety of endoscopic exploration and surgical operation.

[0073] It should also include an image acquisition sensor, an image processor 8 connected to the image acquisition sensor, and a display connected to the image processor 8. The image acquisition sensor is installed at the front end of the flexible insertion part 3. After the bronchoscope is inserted into the human cavity, the image acquisition sensor installed at the front end of the flexible insertion part 3 captures the tissue images inside the cavity in real time, converts the optical signals into electrical signals, and transmits them to the image processor 8. The image processor 8 performs a series of image processing operations on the received raw image signals, including but not limited to low light compensation, noise filtering, edge enhancement, and color correction, to improve image clarity and realism. The processed standard video signal is transmitted to the display via a data cable. The surgeon can obtain a real-time and clear image of the cavity inside the area pointed to by the front end of the insertion tube by observing the display screen. During the exploration, the surgeon determines the location and direction of the lesion based on the real-time image displayed on the display, and adjusts the deflection posture of the front end of the insertion tube by moving the rocker arm 22 to align the field of view of the image acquisition sensor with the target lesion area, achieving a comprehensive and blind-spot-free exploration of hidden parts inside the cavity.

[0074] It should be understood that the sensor model, location, and principle used in this embodiment are all existing technologies. This is only to emphasize that it is applied to the endoscope in this embodiment, and the sensor model, installation location, and principle will not be described in detail here.

[0075] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A four-way drive bronchoscope, characterized in that, It includes a housing (1), a rocker drive assembly (2) installed at the rear end of the housing (1), and a flexible insertion part (3) installed at the front end of the housing (1). The rocker transmission mechanism (2) includes: A cross rocker arm (21) is installed inside the housing (1); A rocker arm (22), one end of which is connected to the cross rocker arm holder (21), and the other end extends out to the outside of the housing (1); Four drive ropes (23), one end of which is connected to the rocker arm (22) via a transmission assembly (24), and the other end is fixedly disposed at the end of the flexible insertion part (3); the ends of the four drive ropes (23) are fixedly connected to the end of the flexible insertion part (3) at equal angles along the circumference. The rocker arm (22) is configured to pull the corresponding drive rope (23) through the transmission assembly (24) when a force is applied, so as to drive the end of the flexible insertion part (3) to continuously deflect in four directions: up, down, left, and right.

2. The four-way drive bronchoscope according to claim 1, characterized in that, The cross rocker arm (21) includes: A vertical arc-shaped frame (211) is rotatably mounted inside the housing (1) via a first rotating shaft; A horizontal frame (212) is rotatably mounted inside the housing (1) via a second rotating shaft; and the vertical arc-shaped frame (211) and the horizontal frame (212) are arranged in a cross shape. A vertical adjustment arc-shaped hole (213) is provided on the vertical arc-shaped frame (211) along the vertical direction; A horizontal adjustment elongated hole (214) is provided on the horizontal frame (212) in the horizontal direction; One end of the rocker arm (22) passes through the vertical adjustment arc hole (213) and is rotatably mounted on the inner wall of the vertical adjustment elongated hole.

3. A four-way drive bronchoscope according to claim 2, characterized in that, The four drive ropes (23) are the upper drive rope (23), the lower drive rope (23), the left drive rope (23), and the right drive rope (23); and the four drive ropes (23) are distributed at equal 90° intervals along the circumference at the fixing points at the end of the flexible insertion part (3).

4. A four-way drive bronchoscope according to claim 3, characterized in that, The transmission assembly (24) includes: A coil mounting bracket (241) is fixedly installed inside the housing (1); The first winding reel (242) and the second winding reel (243) are rotatably mounted on the reel mounting bracket (241); the first winding reel (242) is connected to the vertical arc frame (211) via a first bevel gear set (247); the second winding reel (243) is connected to the horizontal frame (212) via a second bevel gear set (248). And a first pinion (244), a large gear (245) and a second pinion (246) are rotatably mounted on the housing (1). The first pinion (244) is coaxially arranged with the second rotating shaft, and the large gear (245) is meshed and connected to the first pinion (244) and the second pinion (246) respectively. The first winding reel (242) and the second winding reel (243) are arranged parallel to each other on their rotation axes; an upper driving rope (23) and a lower driving rope (23) are wound on the first winding reel (242), and the upper driving rope (23) and the lower driving rope (23) are wound in opposite directions on the first winding reel (242); a left driving rope (23) and a right driving rope (23) are wound on the second winding reel (243), and the left driving rope (23) and the right driving rope (23) are wound in opposite directions on the second winding reel (243).

5. A four-way drive bronchoscope according to claim 4, characterized in that: The first bevel gear set (247) includes a first bevel gear coaxially arranged with the first rotating shaft and a second bevel gear (248) meshing and drivingly connected with the first bevel gear; the second bevel gear (248) is mounted on the spool mounting bracket (241) and coaxially arranged with the first winding spool (242); The second bevel gear (248) group includes a third bevel gear coaxially arranged with the second pinion (246) and a fourth bevel gear meshing and drivingly connected with the third bevel gear; the fourth bevel gear is mounted on the spool mounting bracket (241) and coaxially arranged with the second winding spool (243).

6. A four-way drive bronchoscope according to claim 4, characterized in that: The transmission ratio of the first bevel gear set (247) and the second bevel gear set (248) is 4:

3.

7. A four-way drive bronchoscope according to claim 4, characterized in that, The upper drive rope (23) and the lower drive rope (23) are both wound on the first winding reel (242), and the left drive rope (23) and the right drive rope (23) are both wound on the second winding reel (243); When the rocker arm (22) swings along the vertical arc-shaped adjustment hole, it drives the first winding disc (242) to rotate, causing the flexible insertion part (3) to bend up and down. When the rocker arm (22) swings along the horizontal adjustment hole (214), it drives the second winding disc (243) to rotate, causing the flexible insertion part (3) to bend left and right.

8. A four-way drive bronchoscope according to claim 1, characterized in that: The housing (1) is fixedly provided with a guide block (4) for radially limiting and sliding guiding the four drive ropes (23). The guide block (4) has a guide hole (41) for the drive rope (23) to pass through.

9. A four-way drive bronchoscope according to claim 1, characterized in that: An inclined channel (5) is provided on the housing (1), and a clamping inlet piece (6) is installed in the inclined channel (5).

10. A four-way drive bronchoscope according to claim 1, characterized in that: It also includes an endoscope suction assembly (7); the endoscope suction assembly (7) includes a suction module (71) installed in the housing (1), a suction tube connected to the suction port (72) of the suction module (71), and a connector (73) connected to the output port of the suction module (71). The suction tube is inserted into the flexible insertion part (3), and the connector (73) is connected to the external connecting tube.

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