Endoscope operating handle

Abstract

The application provides an endoscope operating handle, comprising: an operating part; a bending adjusting mechanism arranged at the distal end of the operating part to support a lens assembly; a wire driving mechanism arranged in the operating part; and a plurality of groups of transmission wire mechanisms connected between the wire driving mechanism and the distal end of the bending adjusting mechanism and configured to adjust the bending state of the bending adjusting mechanism under the driving of the wire driving mechanism to adjust the observation direction of the lens assembly, each group of transmission wire mechanisms comprising: two transmission wires, the first ends of the two transmission wires being respectively connected to the distal end of the bending adjusting mechanism and the wire driving mechanism; and an elastic assembly connected between the second ends of the two transmission wires and configured to keep the length unchanged when the tension received is less than a preset threshold value and to be elastically stretched when the tension received is greater than the preset threshold value.

Description

Technical Field

[0001] At least one embodiment of this application relates to the field of medical device technology, and more particularly to an endoscope operating handle. Background Technology

[0002] The endoscope operating handle relies on a thin-diameter transmission wire to drive a bending mechanism at its front end, thereby achieving angle deflection and adjusting the bending state. To meet the thin diameter requirements of the bending mechanism, the diameter of the transmission wire is usually very small, resulting in limited mechanical strength.

[0003] During clinical surgery, the bending mechanism at the tip of the endoscope handle enters the body cavity and comes into contact with the cavity wall. When the bending mechanism is in contact with the cavity wall, the force on the transmission wire increases instantaneously because the transmission wire and the drive component are rigidly connected. This can easily lead to transmission wire fatigue or even direct breakage. Moreover, the force between the bending mechanism and the body cavity can also damage the cavity. Summary of the Invention

[0004] In view of this, this application provides an endoscope operating handle to at least partially solve the above technical problems, reduce the risk of the transmission wire being directly broken by the instantaneous pulling force when encountering resistance, and effectively reduce the degree of damage to the cavity caused by the distal end of the endoscope operating handle, thereby further improving the safety of surgical operations.

[0005] An embodiment of this application provides an endoscope operating handle, comprising: an operating part; a bending mechanism disposed at the distal end of the operating part to support a lens assembly; a wire drive mechanism disposed within the operating part; and multiple sets of transmission wire mechanisms connected between the distal ends of the wire drive mechanism and the bending mechanism, configured to adjust the bending state of the bending mechanism under the drive of the wire drive mechanism to adjust the observation direction of the lens assembly. Each set of transmission wire mechanisms includes: two transmission wires, the first ends of the two transmission wires being respectively connected to the distal end of the bending mechanism and the wire drive mechanism; and an elastic component connected between the second ends of the two transmission wires, configured to maintain a constant length when the applied tension is less than a preset threshold, and to elastically stretch when the applied tension is greater than the preset threshold.

[0006] According to an embodiment of this application, the elastic component includes: two mounting components, respectively disposed at the second ends of the two transmission wires; and an elastic part, elastically disposed between the two mounting components, configured to maintain a constant length when the applied tension is less than the preset threshold, and elastically stretch when the applied tension is greater than the preset threshold, and the length variation range of the elastic part is less than 3 mm.

[0007] According to an embodiment of this application, each of the mounting components includes: a fastening part disposed at the second end of the transmission wire; and a mounting ring disposed at the end of the fastening part away from the transmission wire. The two ends of the elastic part are respectively provided with adapter hooks, and the two adapter hooks are respectively hooked onto the mounting rings of the two mounting components.

[0008] According to an embodiment of this application, in the initial state, the bending mechanism extends in a first direction, and four sets of transmission wire mechanisms are provided. The distal ends of the four sets of transmission wire mechanisms are respectively located at the distal end of the bending mechanism and are evenly spaced around the axis of the first direction. In the two sets of transmission wire mechanisms that are radially opposite to each other in the bending mechanism, one set of transmission wire mechanisms takes in the wire, and the other set of transmission wire mechanisms releases the wire, so that the bending mechanism swings around the axis of the second direction and / or around the axis of the third direction to adjust the bending state of the bending mechanism. The first direction, the second direction, and the third direction are perpendicular to each other.

[0009] According to an embodiment of this application, the wire drive mechanism includes two drive components. The proximal ends of two radially opposite sets of the transmission wire mechanisms of the bending mechanism are wound around one of the drive components in opposite directions. The proximal ends of the other two radially opposite sets of the transmission wire mechanisms of the bending mechanism are wound around the other drive component in opposite directions.

[0010] According to an embodiment of this application, each of the drive components includes: a winding assembly rotatably disposed on the operating part, with the winding assembly wound in opposite directions around the proximal ends of two radially opposite sets of the transmission wire mechanisms of the bending mechanism; a knob portion coaxially connected to the winding assembly and rotatably disposed on the operating part, configured to drive the winding assembly to rotate under manual drive; and a docking portion coaxially connected to the winding assembly and rotatably disposed on the operating part, configured to drive the winding assembly to rotate under the drive of an external robot.

[0011] According to an embodiment of this application, the winding assembly includes: a winding wheel rotatably disposed on the operating part, wherein the transmission wire at the proximal end of the transmission wire mechanism is wound on the winding wheel; two mounting parts threadedly engaged with the winding wheel; and two positioning parts respectively sleeved on the two mounting parts, configured to lock the transmission wire at the proximal end of the transmission wire mechanism between the positioning parts and the winding wheel under the drive of the mounting parts.

[0012] According to an embodiment of this application, the winding wheel is provided with a winding groove for accommodating the transmission wire; the winding assembly further includes: an assembly part disposed on the winding wheel; and a limiting part disposed on the assembly part, which prevents the transmission wire from coming out from the outer edge of the winding groove.

[0013] According to an embodiment of this application, the bending mechanism includes multiple sets of joint modules connected end to end. Two adjacent sets of joint modules include a first joint and a second joint. In the initial state, the second joint rotates 90 degrees relative to the first joint about the axis in the first direction, so that under the drive of the transmission wire mechanism, the first joint swings about the axis in the second direction, and the second joint swings about the axis in the third direction.

[0014] According to an embodiment of this application, the joint module includes: a joint portion; two first mating portions disposed at the distal end of the joint portion and disposed opposite to each other in a first radial direction of the joint portion, each first mating portion including: a rotating portion having a first arcuate surface surrounding an axis in a second direction or an axis in a third direction; and an arcuate groove surrounding the periphery of the rotating portion; and two second mating portions disposed at the proximal end of the joint portion and disposed opposite to each other in a second radial direction of the joint portion perpendicular to the first radial direction, each second mating portion including: an arcuate portion sleeved on the rotating portion of an adjacent joint module and having a second arcuate surface rotatably engaging with the first arcuate surface of the adjacent joint module; and a protrusion disposed on the arcuate portion and extending in a direction away from the arcuate portion, the protrusion sliding within the arcuate groove of the adjacent joint module to limit the angle of relative rotation between the first joint and the second joint.

[0015] According to the endoscope operating handle provided in this application, the bending state of the bending mechanism can be adjusted through a four-drive mechanism and multiple sets of transmission wire mechanisms, adapting to multi-degree-of-freedom adjustment and meeting the positioning operation requirements of complex intracavitary spaces. By connecting elastic components in series inside the transmission wire mechanism, overload buffer protection is formed, reducing the risk of the thin transmission wire being directly broken by the instantaneous pulling force when encountering resistance, without affecting the normal control accuracy of adjusting the bending state of the bending mechanism. It also effectively reduces the degree of damage to the cavity caused by the distal end of the endoscope operating handle, further improving the safety of surgical operations. Attached Figure Description

[0016] The above and other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0017] Figure 1 A perspective view of an endoscope operating handle according to an embodiment of this application is shown schematically;

[0018] Figure 2 A partial view of an endoscope operating handle according to an embodiment of this application is schematically shown;

[0019] Figure 3 A side view of an endoscope operating handle according to an embodiment of this application is schematically shown;

[0020] Figure 4 A schematic side view of a transmission wire mechanism according to an embodiment of this application is shown;

[0021] Figure 5 A schematic side view of a transmission wire mechanism according to another embodiment of this application is shown;

[0022] Figure 6 A schematic diagram illustrating the installation of a wire drive mechanism according to an embodiment of this application is shown.

[0023] Figure 7 A schematic diagram illustrating the installation of a wire winding assembly according to an embodiment of this application is shown.

[0024] Figure 8 A perspective view of a bending mechanism according to an embodiment of this application is shown schematically;

[0025] Figure 9 A perspective view of a joint module according to an embodiment of this application is schematically shown; and

[0026] Figure 10 A perspective view of a lens assembly according to an embodiment of this application is shown schematically.

[0027] Figure Labels

[0028] 1. Operating unit; 11. Housing; 111. First interface; 112. Second interface; 113. Conversion plate; 12. Connecting mechanism; 2. Lens assembly; 21. Imaging chip; 22. Light-emitting unit; 23. Working channel; 3. Bending mechanism; 31. Joint module; 311. First joint; 312. Second joint; 313. Joint part; 3131. Guide wire part; 314. First mating part; 3141. Rotating part; 3142. Arc groove; 315. Second mating part; 3151. Arc part 3152. Protrusion; 4. Wire drive mechanism; 41. Drive assembly; 411. Wire winding assembly; 4111. Wire winding wheel; 4112. Mounting part; 4113. Positioning part; 4114. Wire winding groove; 4115. Assembly part; 4116. Limiting part; 412. Knob part; 413. Connecting part; 5. Wire transmission mechanism; 51. Wire transmission; 52. Elastic assembly; 521. Mounting assembly; 5211. Fastening part; 5212. Mounting ring; 522. Elastic part; 5221. Adapter hook. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0031] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0032] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0033] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference to the directions in the accompanying drawings and are not intended to limit the scope of protection of this application. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this application.

[0034] Embodiments of this application provide an endoscope operating handle, referring to... Figure 1 , Figure 2 and Figure 3As shown, the endoscope operating handle includes an operating part 1, a bending mechanism 3, a wire drive mechanism 4, and multiple sets of transmission wire mechanisms 5. The bending mechanism 3 is located at the distal end of the operating part 1 to support the lens assembly 2. The wire drive mechanism 4 is located inside the operating part 1. The multiple sets of transmission wire mechanisms 5 are connected between the wire drive mechanism 4 and the distal end of the bending mechanism 3, and are configured to adjust the bending state of the bending mechanism 3 under the drive of the wire drive mechanism 4 to adjust the observation direction of the lens assembly 2. Each set of transmission wire mechanisms 5 includes two transmission wires 51 and an elastic component 52. The first ends of the two transmission wires 51 are respectively connected to the distal end of the bending mechanism 3 and the wire drive mechanism 4. The elastic component 52 is connected between the second ends of the two transmission wires 51 and is configured to maintain a constant length when the applied tension is less than a preset threshold and to elastically stretch when the applied tension is greater than the preset threshold.

[0035] It should be noted that the endoscopic operating handle is compatible with multi-directional flexible endoscopic instruments used in ureteroscopic lithotripsy in urology, and is compatible with both manual operation and external robot-driven operation. The endoscopic operating handle can be inserted into natural body cavities such as the urethra and ureter to reach the lesion site. The term "distal end" refers to the end of the endoscopic operating handle that is furthest from the manual or robot-driven end and closest to the lesion site. The term "proximal end" refers to the end of the endoscopic operating handle that is closest to the manual or robot-driven end.

[0036] In detail, the operating part 1 serves as the base carrier of the endoscope operating handle, providing an installation reference and housing protection for the internal wire drive mechanism 4, and can also serve as the main part for the operator to hold and operate.

[0037] The bending mechanism 3 is located at the distal end of the operating part 1 extending towards the human body cavity. The lens assembly 2 is located at the distal end of the bending mechanism 3. When the bending mechanism 3 bends and swings, it directly drives the lens assembly 2 to change its orientation synchronously, thereby adjusting the observation direction of the lens assembly 2.

[0038] The wire drive mechanism 4 is housed within the internal space enclosed by the operating section 1, achieving a compact overall structure. Multiple sets of wire transmission mechanisms 5 are arranged between the output end of the wire drive mechanism 4 and the distal end of the bending mechanism 3. Two transmission wires 51 of each set of transmission mechanisms 5 extend to both ends along the transmission path. The first ends of the two transmission wires 51 are respectively connected to the distal end of the bending mechanism 3 and the wire drive mechanism 4. An elastic component 52 is connected in series between the adjacent second ends of the two transmission wires 51.

[0039] The transmission wire 51 is made of fine-diameter steel wire rope. Under normal operating conditions where the wire drive mechanism 4 drives the transmission wire mechanism 5, the elastic component 52 maintains its original length, ensuring the power transmission of the transmission wire 51 and achieving precise bending control of the bending mechanism 3. When the bending mechanism 3 and / or the lens assembly 2 encounters a wall obstruction within the body, and the internal tension of the transmission path rises and exceeds a preset threshold, resulting in an overload, the elastic component 52 elastically stretches, absorbing the external force on the transmission wire mechanism 5 and confining the maximum tension borne by the transmission wire 51 within a safe range.

[0040] In this implementation, the bending state of the bending mechanism 3 can be adjusted through a four-drive mechanism and multiple sets of transmission wire mechanisms 5, adapting to multi-degree-of-freedom adjustment and meeting the positioning operation requirements of complex intracavitary spaces. By connecting an elastic component 52 in series inside the transmission wire mechanism 5, overload buffer protection is formed. Without affecting the normal control accuracy of adjusting the bending state of the bending mechanism 3, the risk of the thin transmission wire 51 being directly broken by the instantaneous pulling force when encountering resistance is reduced, and the degree of damage to the cavity caused by the distal end of the endoscope operating handle is effectively reduced, further improving the safety of surgical operations.

[0041] In one exemplary embodiment, reference is made to Figure 1 As shown, the operating unit 1 includes a housing 11 and a connecting mechanism 12. The housing 11 forms a receiving space for the wire drive mechanism 4. The connecting mechanism 12 is disposed between the distal end of the housing 11 and the bending mechanism 3. The connecting mechanism 12 is a tubular structure that provides a receiving channel for multiple sets of drive wire mechanisms 5.

[0042] In one exemplary embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 As shown, in the initial state, the bending mechanism 3 extends in the first direction. Four sets of transmission wire mechanisms 5 are provided, with their distal ends respectively located at the distal end of the bending mechanism 3 and evenly spaced around the axis of the first direction. In the two radially opposite sets of transmission wire mechanisms 5 of the bending mechanism 3, one set of transmission wire mechanisms 5 takes in the wire, while the other set releases the wire, causing the bending mechanism 3 to oscillate around the axis of the second direction and / or around the axis of the third direction, thereby adjusting the bending state of the bending mechanism 3. The first direction, the second direction, and the third direction are perpendicular to each other.

[0043] In detail, refer to Figure 1 As shown, in the initial state, the bending mechanism 3 is in a straight posture, and the whole is extended in a straight line along the first direction.

[0044] Specifically, the connection points at the distal ends of the four sets of transmission wire mechanisms 5 are evenly distributed along the circumferential direction of the distal end face of the bending mechanism 3, that is, the connection points at the distal ends of the four sets of transmission wire mechanisms 5 are located at the quarter points of the bending mechanism 3. Two sets of radially opposite transmission wire mechanisms 5 form a driving pairing mechanism. When one set of transmission wire mechanisms 5 shortens the transmission wire 51, the other set of transmission wire mechanisms 5 simultaneously releases the transmission wire 51, which can pull the bending mechanism 3 to bend and swing towards the wire-receiving side. The two driving pairing mechanisms cooperate with each other, enabling the bending mechanism 3 to swing around mutually perpendicular second and third direction axes, thereby achieving four-way bending action of the bending mechanism 3, namely pitch and yaw actions. In this way, the lens assembly 2 can achieve full-space pointing adjustment without relying on rotating the lens assembly 2 around the first direction axis to achieve spatial angle coverage.

[0045] In this implementation, the distal ends of the four sets of transmission wire mechanisms 5 are evenly distributed around the axis of the first direction, and the bending drive of the orthogonal second and third directions is realized, so that the bending mechanism 3 has four-way bending capability, thereby simplifying the operation process of the operator to find the lesion point, reducing the risk of tissue damage caused by the rotation of the lens assembly 2 around the axis of the first direction, and thus improving the safety of the surgical operation.

[0046] In one exemplary embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 As shown, the wire drive mechanism 4 includes two drive components 41. The two sets of radially opposite transmission wire mechanisms 5 of the bending mechanism 3 are wound around one of the drive components 41 in opposite directions. The other two sets of radially opposite transmission wire mechanisms 5 are wound around the other drive component 41 in opposite directions.

[0047] In detail, the two drive components 41 are arranged independently, respectively controlling the pitch and yaw movements. In one drive component 41, the proximal ends of two sets of radially opposite transmission wire mechanisms 5 are wound in opposite directions. As the drive component 41 rotates, one set of transmission wire mechanisms 5 is wound and shortened, while the other set of transmission wire mechanisms 5 is simultaneously released and extended, thereby enabling the bending mechanism 3 to oscillate around the axis of the second direction, thus adjusting the bending state of the pitch degree of freedom of the bending mechanism 3.

[0048] Another drive component 41 controls another pair of radially opposite transmission wire mechanisms 5 to realize the bending mechanism 3 swinging about a third-direction axis to adjust the bending state of the bending mechanism 3's yaw degree of freedom.

[0049] In this implementation, two independent drive components 41 control two orthogonal bending degrees of freedom respectively, jointly completing the four-way bending drive of the bending mechanism 3. The two sets of transmission wire mechanisms 5 of the same drive component 41 are wound in opposite directions at their proximal ends, ensuring that when the rotation drive input is received, the take-up and unwinding of the wire are completed synchronously, and the bending action response is direct.

[0050] In one exemplary embodiment, reference is made to Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the elastic component 52 includes two mounting components 521 and an elastic portion 522. The two mounting components 521 are respectively disposed at the second ends of the two transmission wires 51. The elastic portion 522 is elastically disposed between the two mounting components 521 and is configured to maintain a constant length when the applied tension is less than a preset threshold and elastically stretch when the applied tension is greater than the preset threshold, and the length variation range of the elastic portion 522 is less than 3 mm.

[0051] In detail, the two mounting components 521 serve as mounting parts 4112 between the elastic part 522 and the two transmission wires 51, respectively. One end is reliably assembled with the second end of the transmission wire 51, and the other end is provided with a mating structure for assembly and docking with the end of the elastic part 522.

[0052] The elastic part 522 is docked at both ends with two mounting components 521 and constrained between the two mounting components 521, thereby connecting in series to the transmission path between the two transmission wires 51. The deformation stroke of the elastic part 522 is limited to within 3 mm and matched with the maximum bending stroke of the bending mechanism 3 to ensure that the elastic part 522 will not spatially interfere with the peripheral housing 11 and peripheral parts of the operating part 1 when it is stretched and deformed, thus avoiding motion jamming.

[0053] The elastic part 522 can be a tension / compression spring or a ring spring. The stiffness parameters of the spring are matched and calibrated in series with the stiffness of the steel wire rope of the transmission wire 51. Before assembly, the transmission wire 51 can also be pre-stretched to eliminate the elongation of the steel wire rope itself and ensure the stability of the transmission system stiffness of the transmission wire mechanism 5.

[0054] In this embodiment, the installation component 521 enables a reliable connection between the elastic part 522 and the transmission wire 51, while limiting the maximum deformation stroke of the elastic part 522. This not only provides buffer energy absorption during overload, but also reduces the risk of motion interference of the elastic part 522 in the narrow internal space of the housing 11, thereby ensuring the safe movement of the transmission wire mechanism 5.

[0055] In one exemplary embodiment, reference is made to Figure 2 , Figure 3 and Figure 4As shown, each mounting assembly 521 includes a fastening part 5211 and a mounting ring 5212. The fastening part 5211 is located at the second end of the transmission wire 51. The mounting ring 5212 is located at the end of the fastening part 5211 away from the transmission wire 51. The two ends of the elastic part 522 are respectively provided with adapter hooks 5221, and the two adapter hooks 5221 are respectively hooked onto the mounting rings 5212 of the two mounting assemblies 521.

[0056] In detail, the fastening part 5211 can be an aluminum sleeve or a stainless steel sleeve. The fastening part 5211 is pressed against the second end of the transmission wire 51, thereby firmly connecting it to the end of the transmission wire 51 and preventing the transmission wire 51 from coming loose from the mounting assembly 521 when under force.

[0057] The mounting ring 5212 extends outward from the end of the fastening part 5211 away from the transmission wire 51, forming a ring-shaped hook-and-loop engagement component. The elastic part 522 has adapter hooks 5221 at both ends, and the adapter hooks 5221 and the elastic part 522 can be an integral structure. The adapter hooks 5221 can be engaged into the inner space of the mounting ring 5212, allowing the elastic part 522 to form a hook-and-loop assembly with the mounting rings 5212 of the mounting components 521 on both sides, enabling quick disassembly and replacement of the elastic part 522.

[0058] After the hook-and-loop assembly is completed, the elastic part 522 is tensioned and positioned between the two sets of mounting components 521. After the transmission wire mechanism 5 is assembled, a preload is applied to ensure that the adapter hook 5221 and the mounting ring 5212 will not disengage under normal working tension.

[0059] In this embodiment, the fastening part 5211 securely connects the transmission wire 51 and the mounting ring 5212, and the adapter hooks 5221 at both ends of the elastic part 522 engage with the mounting ring 5212. The assembly is simple and facilitates the replacement and maintenance of the elastic part 522 in the future.

[0060] In some embodiments, an anti-detachment retaining ring can be added to the hook position of the adapter hook 5221 and the mounting ring 5212. The anti-detachment retaining ring is sleeved on the outside of the mounting ring 5212 to prevent the adapter hook 5221 from coming out of the inside of the mounting ring 5212, thereby further improving the connection reliability under vibration and impact conditions.

[0061] In another alternative embodiment, reference is made to... Figure 2 , Figure 3 and Figure 5 As shown, each mounting assembly 521 includes a fastening part 5211. The fastening part 5211 can be an aluminum sleeve or a stainless steel sleeve. The fastening parts 5211 of the two mounting assemblies 521 are pressed against both ends of the elastic part 522 and respectively pressed against the second ends of the two transmission wires 51. In this way, the elastic part 522 is connected in series with the two transmission wires 51 through the two fastening parts 5211, completing the assembly of the transmission wire mechanism 5.

[0062] In some embodiments, the elastic part 522 with different wire diameters and effective turns can be replaced according to the diameter of the adapted transmission wire 51 and the breaking load of the transmission wire 51, thereby adjusting the tension protection threshold of the transmission wire mechanism 5 to adapt to the usage requirements of endoscope operating handles of different specifications.

[0063] To ensure that the elastic component 52 meets the requirements under both normal operating conditions and overload conditions, the stiffness of the transmission wire 51 and the parameters of the elastic part 522 are systematically calibrated.

[0064] First, since the stiffness of the transmission wire mechanism 5, which consists of the transmission wire 51 and the elastic component 52, is nonlinear, the transmission wire mechanism 5 is subjected to a "pre-stretching" treatment (loaded to 40%-50% of the fracture strength and held) before the transmission wire mechanism 5 drives the bending mechanism 3 for precise bending control. This effectively reduces the "structural elongation" of the transmission wire mechanism 5 and ensures that the stiffness of the transmission wire mechanism 5 after treatment is stable and conforms to the linear formula.

[0065] The stiffness formula for transmission wire 51 is:

[0066] ;

[0067] in This is the effective metal cross-sectional area of ​​the transmission wire. The effective elastic modulus of the transmission wire. This refers to the length of the transmission wire.

[0068] For single-strand drive wire (1X7 or 1X9). For multi-strand drive wires (7X7 or 7X19). ; .

[0069] The stiffness formula for the elastic part 522 is:

[0070] ;

[0071] in, The shear modulus of the elastic part of the material (80-85 GPa). The wire diameter of the elastic part, Let n be the mean diameter of the elastic part, and n be the effective number of coils in the elastic part.

[0072] Formula for the total stiffness of the transmission wire 51 and the elastic part 522 connected in series:

[0073] ;

[0074] By measuring the elastic part with different parameters, the expected results can be achieved under both normal and overload conditions. Under normal operating conditions, the small tension change after pre-tensioning of the transmission wire mechanism 5 (such as pre-tension deformation at the level of 0.175 mm) indicates that the transmission wire mechanism 5 still has extremely high rigidity and does not produce significant control displacement error. Under overload conditions where the lens assembly 2 is obstructed by hitting the wall, as the input force increases, the elastic part 522 undergoes significant stretching (such as reaching a limit change of 3 mm), effectively absorbing the mechanical displacement at the input end. The tension of the transmission wire 51 decreases significantly, thereby effectively reducing the risk of transmission wire 51 breakage failure. Thus, through the above pre-tensioning treatment and rigidity matching, the high-precision transmission of the transmission wire mechanism 5 is ensured under normal operating conditions, while providing reliable buffer protection under overload conditions.

[0075] In one exemplary embodiment, reference is made to Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, each drive assembly 41 includes a winding assembly 411, a knob portion 412, and a docking portion 413. The winding assembly 411 is rotatably disposed on the operating part 1, and is wound in opposite directions around the proximal ends of the two radially opposite sets of transmission wire mechanisms 5 of the bending mechanism 3. The knob portion 412 is coaxially connected to the winding assembly 411 and rotatably disposed on the operating part 1, and is configured to drive the winding assembly 411 to rotate under manual drive. The docking portion 413 is coaxially connected to the winding assembly 411 and rotatably disposed on the operating part 1, and is configured to drive the winding assembly 411 to rotate under the drive of an external robot.

[0076] In detail, the winding assembly 411 is a rotating part 3141 that directly winds and houses the proximal end of the transmission wire 51. The proximal ends of the transmission wires 51 of the two radially opposite sets of transmission wire mechanisms 5 of the bending mechanism 3 are wound in opposite directions on the winding assembly 411. During the rotation of the winding assembly 411, the transmission wire 51 of one set of transmission wire mechanisms 5 is wound up, and the transmission wire 51 of the other set of transmission wire mechanisms 5 is unwound synchronously. The winding assembly 411 of one drive assembly 41 drives the bending mechanism 3 to swing about the second direction axis, and the winding assembly 411 of the other drive assembly 41 drives the bending mechanism 3 to swing about the third direction axis.

[0077] The knob 412 is located on the outside of the housing 11 and is coaxially fixed to the wire winding assembly 411. The operator can rotate the knob 412 to drive the wire winding assembly 411 to rotate synchronously and complete the manual bending operation.

[0078] The docking part 413 and the wire winding assembly 411 maintain a coaxial and synchronous rotation relationship. The docking part 413 is exposed at the corresponding position of the operating part 1 to dock with the drive end of the robot. The robot output torque can drive the wire winding assembly 411 to rotate through the docking part 413, realizing robot mode drive.

[0079] The knob part 412, the wire winding assembly 411, and the docking part 413 are coaxially connected and move synchronously. In this way, manual drive and robot drive share the same transmission chain.

[0080] In this implementation, the same drive component 41 provides both manual mode drive and robot mode drive. In the event of robot malfunction or an emergency during surgery requiring manual takeover, the operator can directly turn the knob 412 to take over the operation without assembling the manual drive component, eliminating the learning burden and intervention delay of operation switching.

[0081] In some embodiments, a clutch structure may be provided between the docking part 413 and the drive end of the robot. The clutch structure can selectively disconnect the torque transmission between the docking part 413 and the drive end of the robot. During manual operation, the transmission constraint of the robot's drive end is released, further reducing the damping feel of manual rotation.

[0082] In one exemplary embodiment, reference is made to Figure 3 , Figure 6 and Figure 7 As shown, the winding assembly 411 includes a winding wheel 4111, two mounting portions 4112, and two positioning portions 4113. The winding wheel 4111 is rotatably disposed on the operating portion 1, and the transmission wire 51 at the proximal end of the transmission wire mechanism 5 is wound around the winding wheel 4111. The two mounting portions 4112 are threadedly engaged with the winding wheel 4111. The two positioning portions 4113 are respectively sleeved on the two mounting portions 4112 and are configured to lock the transmission wire 51 at the proximal end of the transmission wire mechanism 5 between the positioning portions 4113 and the winding wheel 4111 under the drive of the mounting portions 4112.

[0083] In detail, the winding wheel 4111 is, but is not limited to, rotatably mounted in the housing 11 via bearings to wind the drive wire 51. The proximal ends of the drive wires 51 of the two radially opposite sets of drive wire 51 assemblies in the bending mechanism 3 are wound in opposite directions on the same winding wheel 4111 and respectively set in the corresponding locking positions of the winding wheel 4111.

[0084] Mounting part 4112 can be a bolt. Both mounting parts 4112 are threadedly engaged with the threaded holes of the winding wheel 4111. Positioning part 4113 can be a washer. Two positioning parts 4113 are respectively fitted onto the two mounting parts 4112.

[0085] When the mounting part 4112 is rotated, it feeds along the thread axis, pushing the positioning part 4113 toward the end face of the winding wheel 4111. The pressing force then clamps and fixes the near end of the transmission wire 51 between the positioning part 4113 and the end face of the winding wheel 4111, thus locking and fixing the near end of the transmission wire 51. The two sets of mounting parts 4112 and positioning parts 4113 respectively lock the near ends of the transmission wires 51 of the two sets of transmission wire mechanisms 5 for the same wound yarn.

[0086] In this embodiment, the mounting part 4112 engages with the threaded wire to drive the positioning part 4113 to lock the end near the transmission wire 51, making disassembly and assembly convenient. It also facilitates the adjustment of the preload of the transmission wire 51 during the assembly stage, making assembly debugging and subsequent maintenance and replacement of the transmission wire 51 convenient.

[0087] In one exemplary embodiment, reference is made to Figure 3 , Figure 6 and Figure 7 As shown, the winding wheel 4111 is provided with a winding groove 4114 for receiving the drive wire 51. The winding assembly 411 also includes an assembly part 4115 and a limiting part 4116. The assembly part 4115 is provided on the winding wheel 4111. The limiting part 4116 is provided on the assembly part 4115 and prevents the drive wire 51 from coming out of the outer edge of the winding groove 4114.

[0088] In detail, the winding groove 4114 is formed on the outer circumferential surface of the winding wheel 4111. During the winding process of the transmission wire 51, it is housed and placed inside the winding groove 4114, which provides radial limiting constraint for the transmission wire 51.

[0089] The assembly part 4115 is disposed on the winding wheel 4111. The limiting part 4116 can be integrally formed with the assembly part 4115. The limiting part 4116 spans the outside of the opening of the winding groove 4114. During the winding wheel 4111's rotation for winding and unwinding, it prevents the transmission wire 51 from jumping out from the edge of the opening of the winding groove 4114, thus preventing the transmission wire 51 from detaching from the winding wheel 4111 and causing transmission failure.

[0090] Two sets of assembly parts 4115 and limiting parts 4116 are provided for the same winding yarn. The two sets of assembly parts 4115 and limiting parts 4116 correspond to the two sets of transmission yarn mechanisms 5 wound on the same winding wheel 4111, thereby preventing the transmission yarn 51 of the two sets of transmission yarn mechanisms 5 from disengaging from the winding groove 4114 of the winding wheel 4111.

[0091] In this embodiment, the winding groove 4114 constrains the winding path of the transmission wire 51 and, together with the limiting part 4116, prevents the transmission wire 51 from detaching from the winding groove 4114 of the winding wheel 4111. This improves the reliability of the engagement between the transmission wire 51 and the winding wheel 4111, avoids the transmission wire 51 detaching from the winding groove 4114 and causing bending loss of control, and improves the stability and safety of the transmission of the transmission wire mechanism 5.

[0092] In some embodiments, the mounting part 4115 can be mounted on the winding wheel 4111 by screws. In this way, after disassembling the mounting part 4115, the transmission wire 51 can be easily removed from the winding groove 4114, which facilitates disassembly and maintenance.

[0093] In one exemplary embodiment, reference is made to Figure 1 , Figure 8 and Figure 9 As shown, the bending mechanism 3 includes multiple sets of joint modules 31 connected end to end. Two adjacent sets of joint modules 31 include a first joint 311 and a second joint 312. In the initial state, the second joint 312 rotates 90 degrees relative to the first joint 311 about the axis of the first direction, so that under the drive of the transmission wire mechanism 5, the first joint 311 swings about the axis of the second direction, and the second joint 312 swings about the axis of the third direction.

[0094] In detail, the bending mechanism 3 is a flexible continuous structure formed by multiple sets of joint modules 31 connected end to end.

[0095] The pivot hinge axes of adjacent first joint 311 and second joint 312 are orthogonal to each other. In the initial state, the second joint 312 is rotated 90° relative to the first joint 311 about the central axis of the bending mechanism 3. The hinge axis of the first joint 311 is arranged along the second direction, and the hinge axis of the second joint 312 is arranged along the third direction.

[0096] The transmission wires 51 at the distal ends of the four sets of transmission wire mechanisms 5 are positioned at the quarter points of the joint modules 31 at the distal end of the bending mechanism 3. Under the pulling drive of the transmission wire mechanisms 5, the first joint 311 can swing relative to the adjacent second joint 312 around the axis of the second direction; the second joint 312 can swing relative to the adjacent first joint 311 around the axis of the third direction. The swing angles of the multiple sets of joint modules 31 are accumulated and superimposed, ultimately achieving large-angle four-way bending at the distal end of the bending mechanism 3.

[0097] In this implementation, the hinge axes of adjacent joint modules 31 are arranged to intersect each other at 90°. The bending mechanism 3 achieves four-way bending at large angles by relying on the cumulative deflection of the joint modules 31. This enables full-space pointing capability within a small tube diameter, reducing the risk of tissue damage caused by the rotation of the lens assembly 2 around the first direction axis, thereby improving the safety of the surgical operation.

[0098] In some embodiments, the number of joint modules 31 can be increased or decreased according to the maximum bending angle required in practice. Increasing the number of joint modules 31 can result in a larger total bending angle.

[0099] In one exemplary embodiment, reference is made to Figure 1 , Figure 8 and Figure 9 As shown, the joint module 31 includes a joint portion 313, two first mating portions 314, and two second mating portions 315. The two first mating portions 314 are disposed at the distal end of the joint portion 313 and are arranged opposite each other in a first radial direction of the joint portion 313. Each first mating portion 314 includes a rotating portion 3141 and an arcuate groove 3142. The rotating portion 3141 has a first arcuate surface surrounding an axis in a second direction or a third direction. The arcuate groove 3142 is disposed around the periphery of the rotating portion 3141.

[0100] Two second mating portions 315 are disposed at the proximal end of the joint portion 313 and are disposed opposite each other in a second radial direction perpendicular to the first radial direction. Each second mating portion 315 includes an arcuate portion 3151 and a protrusion 3152. The arcuate portion 3151 is fitted onto the rotating portion 3141 of the adjacent joint module 31 and has a second arcuate surface that rotatably engages with the first arcuate surface of the adjacent joint module 31. The protrusion 3152 is disposed on the arcuate portion 3151 and extends away from the arcuate portion 3151. The protrusion 3152 slides within the arcuate groove 3142 of the adjacent joint module 31 to limit the angle of relative rotation between the first joint 311 and the second joint 312.

[0101] In detail, the joint portion 313 can be a cylindrical tubular structure, serving as the main structure of the single-section joint module 31. The inner wall of the joint portion 313 is provided with a guide portion 3131 for the transmission wire 51 of the transmission wire mechanism 5 to pass through, so as to guide the transmission wire 51 to pass through and be positioned in the bending mechanism 3.

[0102] Two first mating portions 314 at the distal end of the joint portion 313 are arranged radially opposite to each other. The first arcuate surface of the rotating portion 3141 serves as the mating surface for the hinged rotation of adjacent joint modules 31. An arcuate groove 3142 is arranged around the outer periphery of the rotating portion 3141.

[0103] Two second mating parts 315 at the proximal end of the joint 313 are arranged opposite each other along another orthogonal radial direction of the joint 313. The second arcuate surface of the arcuate part 3151 fits into each other with the first arcuate surface of the rotating part 3141 of the adjacent joint module 31, forming a rotating hinge pair to realize relative swinging between adjacent joint modules 31.

[0104] The protrusion 3152 extends outward from the arc-shaped portion 3151, extends into the arc-shaped groove 3142 of the adjacent joint module 31, and slides within the arc-shaped groove 3142.

[0105] During the relative swinging of adjacent joint modules 31, the protrusion 3152 slides along the arc-shaped groove 3142. The arc length of the arc-shaped groove 3142 itself determines the sliding stroke of the protrusion 3152. When the protrusion 3152 slides against the end wall of the arc-shaped groove 3142, a mechanical limit is triggered, restricting the maximum swing angle between adjacent joint modules 31 and preventing the bending mechanism 3 from exceeding its bending limit.

[0106] In this implementation, the first arc surface and the second arc surface form a hinged rotating pair, while the protrusion 3152 and the arc groove 3142 cooperate to achieve mechanical angle limit, which not only ensures that the adjacent joint modules 31 swing flexibly, but also avoids the bending mechanism 3 from bending beyond the limit, and protects the transmission wire 51 passing inside from damage due to excessive bending.

[0107] In some embodiments, the arc length of the arc groove 3142 can be adjusted according to the required maximum swing angle. By changing the arc length of the arc groove 3142, the maximum swing angle that adjacent joint modules 31 are allowed to swing relative to each other can be changed, thereby adapting to the bending angle requirements of different clinical scenarios.

[0108] The joint module 31 can be integrally formed by laser cutting of a tube. Since the joint part 313 is a tubular structure, the cutting surface is ensured to be in the radial direction of the joint part 313. In this way, the first and second arcuate surfaces of the rotating part 3141 and the arcuate part 3151 gradually contract from the outside to the inside along the radial direction of the joint part 313, thereby ensuring that the hinge engagement position of the rotating part 3141 and the arcuate part 3151 will not disengage.

[0109] In one exemplary embodiment, reference is made to Figure 1 , Figure 2 , Figure 3 and Figure 10 As shown, a first interface 111 and a second interface 112 are respectively provided on both sides of the distal end of the housing 11. The first interface 111 is used for injecting saline solution required during the operation and for connecting the laser fiber used for lithotripsy. The second interface 112 is used for setting up transmission lines.

[0110] Lens assembly 2 is located at the distal end of bending mechanism 3. The distal end of lens assembly 2 is equipped with imaging chip 21, light-emitting unit 22, and working channel 23. Working channel 23 is connected to first interface 111 to guide the delivery of saline solution and the laser emitted by the laser fiber to act on the lesion location. A transmission line is electrically connected to light-emitting unit 22 to control its emission, achieving illumination. The transmission line is electrically connected to conversion plate 113 inside housing 11 and communicatively connected to imaging chip 21 to transmit video information acquired by lens assembly 2 to an external display device to display an image of the lesion location.

[0111] According to the endoscope operating handle provided in this embodiment, the bending state of the bending mechanism 3 can be adjusted through a four-drive mechanism and multiple sets of transmission wire mechanisms 5, adapting to multi-degree-of-freedom adjustment and meeting the positioning operation requirements of complex intracavitary spaces. By connecting an elastic component 52 in series inside the transmission wire mechanism 5, overload buffer protection is formed. Without affecting the normal control accuracy of adjusting the bending state of the bending mechanism 3, the risk of the thin transmission wire 51 being directly broken by the instantaneous pulling force when encountering resistance is reduced, and the degree of damage to the cavity caused by the distal end of the endoscope operating handle is effectively reduced, further improving the safety of surgical operations.

[0112] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this application is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this application, and all such substitutions and modifications should fall within the scope of this application.

Claims

1. An endoscope operating handle, characterized in that, include: Operation unit (1); The bending mechanism (3) is located at the far end of the operating part (1) to support the lens assembly (2); A wire drive mechanism (4) is disposed within the operating part (1); and Multiple sets of transmission wire mechanisms (5) are connected between the distal ends of the wire drive mechanism (4) and the bending mechanism (3), and are configured to adjust the bending state of the bending mechanism (3) under the drive of the wire drive mechanism (4) to adjust the observation direction of the lens assembly (2). Each set of transmission wire mechanisms (5) includes: Two drive wires (51), the first ends of which are respectively connected to the distal end of the bending mechanism (3) and the wire drive mechanism (4); and The elastic component (52), connected between the second ends of the two transmission wires (51), is configured to maintain its length when the tension is less than a preset threshold and to stretch elastically when the tension is greater than the preset threshold.

2. The endoscope operating handle according to claim 1, characterized in that, The elastic component (52) includes: Two mounting components (521) are respectively disposed at the second ends of the two drive wires (51); and The elastic part (522) is elastically disposed between the two mounting components (521) and is configured to maintain a constant length when the tension is less than the preset threshold and to stretch elastically when the tension is greater than the preset threshold, and the length variation range of the elastic part (522) is less than 3 mm.

3. The endoscope operating handle according to claim 2, characterized in that, Each of the installation components (521) includes: A fastening part (5211) is provided at the second end of the transmission wire (51); The mounting ring (5212) is located at the end of the fastening part (5211) away from the transmission wire (51). The two ends of the elastic part (522) are respectively provided with adapter hooks (5221), and the two adapter hooks (5221) are respectively hooked onto the mounting rings (5212) of the two mounting components (521).

4. The endoscope operating handle according to claim 1, characterized in that, In the initial state, the bending mechanism (3) extends in the first direction, and the transmission wire mechanism (5) is provided in four sets. The far ends of the four sets of transmission wire mechanisms (5) are respectively provided at the far ends of the bending mechanism (3) and are evenly spaced around the axis of the first direction. In the bending mechanism (3), one of the two radially opposite sets of the transmission wire mechanism (5) takes in the wire, and the other set of the transmission wire mechanism (5) releases the wire, so that the bending mechanism (3) swings about the axis of the second direction and / or about the axis of the third direction to adjust the bending state of the bending mechanism (3), wherein the first direction, the second direction and the third direction are perpendicular to each other.

5. The endoscope operating handle according to claim 4, characterized in that, The wire drive mechanism (4) includes two drive components (41). The proximal ends of the two radially opposite sets of the transmission wire mechanisms (5) of the bending mechanism (3) are wound around one of the drive components (41) in opposite directions. The proximal ends of the other two radially opposite sets of the transmission wire mechanisms (5) of the bending mechanism (3) are wound around the other drive component (41) in opposite directions.

6. The endoscope operating handle according to claim 5, characterized in that, Each of the drive components (41) includes: The winding assembly (411) is rotatably disposed on the operating part (1), and is wound in opposite directions around the near ends of the two sets of the transmission wire mechanisms (5) that are radially opposite to each other in the bending mechanism (3). A knob (412), coaxially connected to the winding assembly (411) and rotatably disposed on the operating part (1), is configured to drive the winding assembly (411) to rotate under manual drive; and The docking part (413) is coaxially connected to the winding assembly (411) and rotatably disposed on the operating part (1), and is configured to drive the winding assembly (411) to rotate under the drive of an external robot.

7. The endoscope operating handle according to claim 6, characterized in that, The wire winding assembly (411) includes: A winding wheel (4111) is rotatably disposed on the operating part (1), and the transmission wire (51) at the proximal end of the transmission wire mechanism (5) is wound on the winding wheel (4111). Two mounting portions (4112) are threadedly engaged with the winding wheel (4111); and Two positioning parts (4113) are respectively fitted onto the two mounting parts (4112) and are configured to lock the transmission wire (51) at the proximal end of the transmission wire mechanism (5) between the positioning part (4113) and the winding wheel (4111) under the drive of the mounting part (4112).

8. The endoscope operating handle according to claim 7, characterized in that, The winding wheel (4111) is provided with a winding groove (4114) for accommodating the transmission wire (51); The wire winding assembly (411) also includes: Assembly part (4115) is provided on the winding wheel (4111); and A limiting part (4116) is provided on the assembly part (4115) and prevents the transmission wire (51) from coming out of the outer edge of the winding groove (4114).

9. The endoscope operating handle according to any one of claims 4 to 8, characterized in that, The bending mechanism (3) includes multiple sets of joint modules (31) connected end to end. Two adjacent sets of joint modules (31) include a first joint (311) and a second joint (312). In the initial state, the second joint (312) rotates 90 degrees relative to the first joint (311) about the axis of the first direction, so that under the drive of the transmission wire mechanism (5), the first joint (311) swings about the axis of the second direction, and the second joint (312) swings about the axis of the third direction.

10. The endoscope operating handle according to claim 9, characterized in that, The joint module (31) includes: Joint (313); Two first mating portions (314) are disposed at the distal end of the joint portion (313) and are disposed opposite each other in a first radial direction of the joint portion (313). Each first mating portion (314) includes: The rotating part (3141) has a first arcuate surface surrounding an axis in the second direction or an axis in the third direction; and An arc-shaped groove (3142) is disposed around the periphery of the rotating part (3141); and Two second mating portions (315) are disposed at the proximal end of the joint portion (313) and are disposed opposite each other in a second radial direction perpendicular to the first radial direction of the joint portion (313). Each second mating portion (315) includes: An arc-shaped portion (3151) is fitted onto the rotating portion (3141) of an adjacent joint module (31), and has a second arc-shaped surface that rotatably engages with the first arc-shaped surface of the adjacent joint module (31); and A protrusion (3152) is provided on the arcuate portion (3151) and extends in a direction away from the arcuate portion (3151). The protrusion (3152) slides in the arcuate groove (3142) of the adjacent joint module (31) to limit the angle of relative rotation between the first joint (311) and the second joint (312).

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