An endoscope depth locking adjustment device

Abstract

This invention relates to the field of medical device technology, specifically a spinal endoscope depth locking and adjustment device. The device includes a base, a linear slide rail assembly supporting a hydraulic cylinder, and the linear slide rail assembly supporting a working sheath and an endoscope body. The hydraulic cylinder acts as the actuator directly driving the movement of the working sheath and the endoscope body. A piston is installed inside the hydraulic cylinder. The drive mechanism controls the internal fluid to create a pressure difference through fan-like rotation. This pressure difference is transmitted to the front and rear sides of the piston via a connecting pipe, thus controlling the piston's movement direction and speed. Through hydraulic linkage, the piston is driven to translate by the pressure difference on both sides. This device allows setting the rotation speed and direction of the hydraulic fan, precisely controlling the piston's movement accuracy and eliminating vibration of the power mechanism. Furthermore, after the hydraulic fan stops rotating, the front and rear cavities are quickly hydraulically balanced, preventing any power delay.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a spinal endoscope depth locking adjustment device. Background Technology

[0002] Endoscopic surgery typically involves inserting a working sheath into the spine to observe its internal structure. Generally, under X-ray fluoroscopy, the working sheath is punctured to a predetermined area within the spine. Subcutaneous tissue is then bluntly dissected along a guidewire using progressively deeper channels. Once the channels are established, the endoscope can be inserted to perform decompression surgery. For example, in the treatment of lumbar disc herniation, a nucleus pulposus forceps can be used to gradually remove the degenerated and protruding annulus fibrosus and nucleus pulposus, as well as any free nucleus pulposus within the spinal canal. The advancement and fixation of the working sheath are usually performed manually, and the procedure relies entirely on the surgeon's experience, making precise control of the sheath's advancement difficult.

[0003] An existing patent discloses a percutaneous spinal endoscopic robot endoscope depth locking and adjustment device (publication number CN115177368B), which includes an instrument working assembly and an endoscope. The instrument working assembly includes a base, an instrument assembly working chuck, and an endoscope working sheath. The instrument assembly working chuck is fixedly installed on a mounting base, and the endoscope working sheath is movably sleeved on the instrument assembly working chuck. A locking and adjustment component is provided on the instrument assembly working chuck. The endoscope has an instrument channel, the outer diameter of which is smaller than the inner diameter of the endoscope working sheath. The endoscope can be movably locked within the endoscope working sheath of the instrument assembly working chuck. This percutaneous spinal endoscopic robot endoscope depth locking and adjustment device is simple to operate. The depth of the endoscope within the working sheath (which is fixed to the end of the robot and has no mechanical connection to the endoscope) is controlled by a lead screw motor. The depth data and the torque during the combined movement of the sheath and endoscope are visualized, reducing surgical risks and expanding the clinical application range of endoscopic surgical robots. However, this type of mechanically driven endoscope still has drawbacks. The start and stop of the lead screw motor are delayed, and it is difficult to achieve a sufficiently high level of control. It is also difficult to control the advancing distance at the micrometer level. Errors in the control strategy can easily lead to irreparable medical accidents. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a spinal endoscope depth locking adjustment device. This device allows the movement of the working sheath to be controlled within a micrometer-level range, while simultaneously eliminating the effects of mechanical vibration and assembly precision, and also eliminating the possibility of operational errors during the working sheath's advancement.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A spinal endoscope depth locking and adjustment device includes a base, a linear slide rail assembly, a hydraulic cylinder, and a drive mechanism. The linear slide rail assembly is mounted on the top surface of the base and includes a slider. The body of the endoscope is mounted on the slider.

[0007] The hydraulic cylinder includes a through hole at the front, a piston inside the hydraulic cylinder, and a push rod at the front end of the piston. The push rod extends out of the hydraulic cylinder through the through hole at the front and is connected to the rear of the endoscope body. A sliding seal is provided at the connection between the push rod and the through hole at the front of the hydraulic cylinder. The hydraulic cylinder is divided into a first front cavity and a first rear cavity by the piston. A first pipe joint and a second pipe joint are respectively provided at the first front cavity and the first rear cavity of the hydraulic cylinder.

[0008] The main body of the drive mechanism is a cylindrical body. A bidirectional rotatable hydraulic fan device is set in the middle of the drive mechanism. The interior of the drive mechanism located in front of the hydraulic fan device is a second front cavity, and the interior of the drive mechanism located in rear of the hydraulic fan device is a second rear cavity. A fourth pipe joint is provided at the second front cavity of the drive mechanism, and a third pipe joint is provided at the second rear cavity of the drive mechanism. The fourth pipe joint and the first pipe joint are connected by a connecting pipe, and the second pipe joint and the third pipe joint are connected by another connecting pipe.

[0009] The internal cavities of the hydraulic cylinder, drive mechanism, and connecting pipe are all filled with non-conductive liquid.

[0010] Preferably, the drive mechanism includes a cylinder body and a cylinder head. The cylinder body has an annular positioning protrusion near the front end. The hydraulic fan device is a bidirectional hydraulic fan that can be frequency-modulated via PWM. The cylinder head has a cavity inside and is fastened to the front opening of the cylinder body.

[0011] Preferably, the end face of the positioning protrusion facing the cylinder opening has several positioning grooves, the cylinder cover has a positioning post facing the cylinder opening, the bidirectional liquid fan includes a liquid fan frame, the liquid fan frame is provided with a circumferential through positioning hole, when the cylinder cover is fastened to the cylinder, the positioning post passes through the positioning hole and the free end is placed in the positioning groove, and a sealing ring is provided at the connection between the liquid fan frame, the cylinder cover and the positioning protrusion.

[0012] Preferably, the main body of the drive mechanism is a sealed liquid cylinder, the rear end of the drive mechanism is provided with a through hole, a motor is provided at the rear of the drive mechanism, the motor is a bidirectional frequency-modulated motor, the output end of the motor is connected to a drive rod, the drive rod passes through the through hole at the rear end of the drive mechanism and is placed inside the drive mechanism, the position of the drive rod inside the drive mechanism has a fan blade, and the connection between the drive rod and the through hole at the rear end of the drive mechanism has a rotating seal.

[0013] Preferably, a solenoid valve is installed near the hydraulic cylinder in the connecting pipe.

[0014] Preferably, the spinal endoscope depth locking adjustment device further includes a main control module, a power supply module, a first operating console, and a second operating console, wherein...

[0015] The main control module is connected to the hydraulic fan device via signal, and is used to control the rotation direction, rotation speed and rotation timing of the hydraulic fan and monitor the current speed of the hydraulic fan device; the main control module is also connected to the solenoid valve via signal to switch the opening and closing of the solenoid valve.

[0016] The first and second control consoles are respectively connected to the main control module to send control signals to the main control module, and the main control module controls the working status of the hydraulic fan device and the solenoid valve.

[0017] Preferably, both the first and second control panels include a switch for controlling the start and stop of the equipment, a speed control knob, a forward button, and a reverse button.

[0018] Preferably, the spinal endoscope depth locking adjustment device is externally connected to the universal rocker arm mechanism.

[0019] As a preferred embodiment, the control strategy of the spinal endoscope depth locking adjustment device is as follows:

[0020] The first control panel sets the rotation speed of the hydraulic fan device and sends a rotation speed control command to the main control module. The main control module stores the rotation speed control command sent by the first control panel and waits to receive a rotation speed control command sent by the second control panel. The first control panel sets the rotation speed of the hydraulic fan device and sends a rotation speed control command to the main control module. The main control module verifies whether the rotation speed control commands sent by the first and second control panels are consistent. If they are consistent, it configures the speed control signal corresponding to the rotation speed control command. Otherwise, it sends a feedback signal to the first and second control panels.

[0021] After the speed control signal is configured, the main control module waits for the first and second control consoles to send speed direction commands. While the first and second control consoles simultaneously issue the same speed direction command, the module continuously sends speed direction commands to the hydraulic fan device, causing the hydraulic fan device to perform actions according to the speed control signal and the speed direction command.

[0022] The beneficial effects of using this invention are:

[0023] 1. This device uses a hydraulic linkage mechanism, specifically a hydraulic cylinder driven by a hydraulic actuator. The rotation of the fan blades in the hydraulic fan device creates a pressure difference between the two sides of the fan blades inside the actuator, which is then transmitted to the chambers on both sides of the piston in the hydraulic cylinder. The piston is driven to move by the pressure difference between the two sides of the piston. This device allows setting the speed and direction of rotation of the hydraulic fan device, maximizing the precision control of the piston's movement and eliminating vibration of the power mechanism.

[0024] 2. Since the power mechanism controlling the front cavity and the rear cavity in the drive device of this device is a hydraulic fan device, in order to connect the pressure of the front cavity and the rear cavity, the hydraulic fan device will quickly achieve hydraulic balance in the front cavity and the rear cavity after the hydraulic fan device stops rotating, and there will be no power delay.

[0025] 3. This device operates the hydraulic fan device in the spinal endoscope depth locking adjustment device through dual control consoles and data verification. This dual control console signal verification control measurement avoids sudden high-speed start of the hydraulic fan device due to misoperation, thus preventing medical accidents. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the spinal endoscope depth locking adjustment device of the present invention.

[0027] Figure 2 This is a schematic diagram of the hydraulic cylinder of the present invention.

[0028] Figure 3 This is a schematic diagram of the driving mechanism of the present invention.

[0029] Figure 4 for Figure 1 Enlarged view of a section at point C.

[0030] Figure 5 This is a schematic diagram of the control module of the spinal endoscope depth locking adjustment device of the present invention.

[0031] Figure 6 This is a schematic diagram of the first operating console in this invention.

[0032] Figure 7 This is a schematic diagram of the drive mechanism in another embodiment.

[0033] Figure 8 This is a schematic diagram of the drive mechanism in another embodiment.

[0034] The reference numerals in the figures include:

[0035] 10-Base, 11-Guide frame, 12-Linear slide rail assembly, 13-Hydraulic cylinder, 131-Push rod, 132-Piston, 133-Sliding seal, 134-First pipe connector, 135-Second pipe connector, 14-Drive mechanism, 141-Cylinder body, 1411-Third pipe connector, 1412-Injection and venting port, 1413-Positioning protrusion, 142-Cylinder head, 1421-Fourth pipe connector, 1422-Positioning pin, 143-Two-way hydraulic fan, 1431-Positioning 144-Sealing ring, 15-Connecting pipe, 151-First solenoid valve, 152-Second solenoid valve, 20-Main control module, 31-First operating panel, 311-Display screen, 312-Working status display area, 313-Control buttons and knobs, 32-Second operating panel, 41-Working sheath, 42-Endoscope body, 51-Motor, 52-Drive rod, 53-Fan blade, 54-Rotating support, 60-Power supply module, A-Second rear inner cavity, B-Second front inner cavity. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this technical solution clearer, the following detailed description, in conjunction with specific embodiments, further illustrates this technical solution. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this technical solution.

[0037] Example 1

[0038] like Figures 1-4 As shown, this embodiment proposes a spinal endoscope depth locking adjustment device, including a base 10, a linear slide rail assembly 12, a hydraulic cylinder 13, and a drive mechanism 14. The linear slide rail assembly 12 is mounted on the top surface of the base 10 and includes a slider. The main body of the endoscope is mounted on the slider.

[0039] The hydraulic cylinder 13 includes a through hole at the front and a piston 132 inside. The piston 132 has a push rod 131 at its front end. The push rod 131 extends out of the hydraulic cylinder 13 through the through hole at the front and is connected to the rear of the endoscope body. A sliding seal 133 is provided at the connection between the push rod 131 and the through hole at the front of the hydraulic cylinder 13. The hydraulic cylinder 13 is divided into a first front cavity and a first rear cavity by the piston 132. A first pipe joint 134 and a second pipe joint 135 are respectively provided at the first front cavity and the first rear cavity of the hydraulic cylinder 13.

[0040] The main body of the drive mechanism 14 is a cylinder. A bidirectional rotatable hydraulic fan device is installed in the middle of the drive mechanism 14. The interior of the drive mechanism 14 located in front of the hydraulic fan device is the second front cavity B, and the interior of the drive mechanism 14 located in rear of the hydraulic fan device is the second rear cavity A. The drive mechanism 14 is provided with a fourth pipe joint 1421 corresponding to the second front cavity B, and a third pipe joint 1411 corresponding to the second rear cavity A. The fourth pipe joint 1421 and the first pipe joint 134 are connected by a connecting pipe 15, and the second pipe joint 135 and the third pipe joint 1411 are connected by another connecting pipe 15. The function of the injection and venting hole 1412 is to inject glycerin and vent air.

[0041] The internal cavities of the hydraulic cylinder 13, the drive mechanism 14, and the connecting pipe 15 are all filled with a non-conductive liquid, such as glycerin.

[0042] Specifically, such as Figure 1 As shown, in this embodiment, the base 10 is a fixed metal base 10, which can be externally connected to a universal rocker arm mechanism. Before use, the base 10 is moved to the opening position on the back of the patient's spine via the universal rocker arm mechanism. A linear slide rail assembly 12 is provided in the middle of the base 10. The function of the linear slide rail assembly 12 is to install the endoscope body 42 and guide the endoscope body 42 to move linearly. At the front of the endoscope body 42 is a working sheath 41, which contains optical fibers and lighting. A guide frame 11 is provided at the front of the top surface of the front of the base 10. The function of the guide frame 11 is to guide and support the working sheath 41. A hydraulic cylinder 13 is installed at the rear of the linear slide rail assembly 12. The hydraulic cylinder 13 is the power structure that pushes the support to move the endoscope body 42 back and forth. The control part of the hydraulic cylinder 13 is a drive mechanism 14, which drives the hydraulic cylinder 13 to perform forward or backward movements by controlling the hydraulic pressure. Hydraulic transmission between hydraulic cylinder 13 and drive mechanism 14 is achieved through connecting pipe 15. In this embodiment, there are two connecting pipes 15, and a first solenoid valve 151 and a second solenoid valve 152 are respectively installed on the two connecting pipes 15. The main control module 20 is the direct structure for controlling the operating state of drive mechanism 14, while the first operating panel 31 and the second operating panel 32 are operating mechanisms for configuring parameters and issuing control commands to the main control module 20.

[0043] like Figure 2 As shown, the hydraulic cylinder 13 is a traditional metal cylinder. The front of the hydraulic cylinder 13 has a removable cover, and the piston 132 is placed inside the hydraulic cylinder 13. The front of the piston 132 forms an independent chamber called the first front inner cavity, and the rear of the piston 132 forms the first rear chamber. The first pipe joint 134 and the second pipe joint 135 can be connected by threads, which has the advantages of stable installation and good sealing performance.

[0044] like Figure 3 As shown, the drive mechanism 14 includes a cylinder body 141 and a cylinder head 142. An annular positioning protrusion 1413 is located near the front end of the cylinder body 141. The hydraulic fan device is a bidirectional hydraulic fan 143 that can be frequency-modulated via PWM. The cylinder head 142 has an internal cavity and is fastened to the front opening of the cylinder body 141. The cylinder body 141 and cylinder head 142 cooperate to form a sealed cavity inside the drive mechanism 14. When the bidirectional hydraulic fan 143 rotates in the first direction, it drives the glycerin in the second rear inner cavity A to move towards the second front inner cavity B. Driven by the bidirectional hydraulic fan 143, the glycerin in the second rear inner cavity A forms a negative pressure, and the glycerin in the second front inner cavity B forms a positive pressure. Please refer to [reference needed]. Figure 3 Glycerol in the second front cavity B is forced into the first front cavity through the connecting pipe 15. At the same time, glycerol in the first rear cavity is forced into the second rear cavity A, thus causing piston 132 to move backward. Conversely, when the bidirectional liquid fan 143 rotates in the second direction, piston 132 moves forward, which will not be described further.

[0045] Since the hydraulic fan device is a bidirectional hydraulic fan 143 that can be frequency-modulated via PWM, the rotation speed of the bidirectional hydraulic fan 143 can be controlled at any speed within the rated speed range, based on the characteristics of PWM frequency modulation. Because the rotation speed and direction of the bidirectional hydraulic fan 143 directly control the magnitude and direction of the pressure difference formed by glycerin on both sides of the piston 132, the bidirectional hydraulic fan 143 can be used to control the glycerin pressure on both sides of the piston 132, and also control the direction and speed at which the push rod 131 pushes the endoscope body 42 back and forth.

[0046] In addition, this device also has the advantages of eliminating vibration and eliminating action delay. Specifically, since the moving mechanism of this device is only the bidirectional hydraulic fan 143, the vibration generated by the movement of the bidirectional hydraulic fan 143 is only in the drive mechanism 14 and will not be transmitted to the hydraulic cylinder 13. Therefore, vibration is also eliminated during the forward movement of the working sheath 41. Please also refer to... Figure 3 Since the glycerol in the second rear cavity A and the second front cavity B are connected, and the bidirectional liquid fan 143 does not close the second rear cavity A and the second front cavity B, the glycerol in the second rear cavity A and the second front cavity B quickly reach pressure balance after the control signal of the bidirectional liquid fan 143 stops. The glycerol pressure in the first rear cavity and the first front cavity connected to it also reaches balance, thus eliminating the phenomenon of motion lag.

[0047] like Figure 4As shown, the end face of the positioning protrusion 1413 facing the opening of the cylinder body 141 has several positioning grooves. The cylinder cover 142 facing the opening of the cylinder body 141 has a positioning post 1422. The bidirectional liquid fan 143 includes a liquid fan frame with a circumferentially penetrating positioning hole 1431. When the cylinder cover 142 is fastened to the cylinder body 141, the positioning post 1422 passes through the positioning hole 1431 and its free end is placed in the positioning groove. A sealing ring 144 is provided at the connection between the liquid fan frame, the cylinder cover 142, and the positioning protrusion 1413. The cylinder cover 142 can position the bidirectional liquid fan 143 during installation, and the vibration generated by the bidirectional liquid fan 143 can be eliminated by the sealing ring 144. The only part of this device that requires maintenance is the bidirectional liquid fan 143. Removing the cylinder cover 142 exposes the bidirectional liquid fan 143, facilitating installation and maintenance. The vibration generated by the bidirectional liquid fan 143 can also be partially eliminated by the sealing ring 144 to achieve a precise fit.

[0048] A solenoid valve is installed on the connecting pipe 15 near the hydraulic cylinder 13, respectively. Figure 1 When the working sheath 41 needs to be locked, the first solenoid valve 151 and the second solenoid valve 152 are closed, which can keep the glycerin volume in the cavities on both sides of the piston 132 constant and prevent the working sheath 41 and the endoscope body 42 from moving.

[0049] like Figure 5 As shown, this spinal endoscope depth locking adjustment device also includes a main control module 20, a power supply module 60, a first operating console 31, and a second operating console 32, wherein...

[0050] The main control module 20 is connected to the hydraulic fan device via signal to control the rotation direction, rotation speed, and rotation timing of the hydraulic fan and to monitor the current speed of the hydraulic fan device; the main control module 20 is also connected to the solenoid valve via signal to switch the opening and closing of the solenoid valve.

[0051] The first control panel 31 and the second control panel 32 are respectively connected to the main control module 20 to send control signals to the main control module 20, and control the working status of the hydraulic fan device and the solenoid valve through the main control module 20.

[0052] Both the first control panel 31 and the second control panel 32 include a switch for controlling the start and stop of the equipment, a speed control knob, a forward button, and a reverse button.

[0053] The power supply module 60 is electrically connected to the main control module 20, and the main control module 20 supplies power to the first solenoid valve 151, the second solenoid valve 152, the bidirectional liquid fan 143 and the main control module 20.

[0054] The main control module 20 in this device includes an industrial control board, a main control chip, and a speed control chip. The main control chip has a register that can store control signals. The speed control chip is a dedicated control chip for the PWM bidirectional liquid fan 143. The bidirectional liquid fan 143 has a four-pin control line, with two pins for power control, one pin for PWM monitoring, and one pin for PWM control.

[0055] like Figure 6 As shown, most of the panel area on the first operating platform 31 is a display screen 311, which can be connected to the endoscope body 42 for video signal connection, displaying the endoscope's acquired images in real time. The side of the display screen 311 is a working status display area 312, which shows the converted piston 132 thrust speed values ​​corresponding to the rotational speed parameters configured on this operating platform and the other operating platform. Control buttons and knobs 313 include switches, which serve as emergency stop and lock buttons. Pressing the switch prevents any operation on the first operating platform 31 or the second operating platform 32. The speed adjustment knob controls the rotational speed of the bidirectional hydraulic fan 143, and the converted piston 132 thrust speed is vertically displayed in the working status display area 312. The forward and reverse buttons control the rotation time and direction of the bidirectional hydraulic fan 143. When either the forward or reverse button on the first operating platform 31 or the second operating platform 32 is pressed simultaneously, the bidirectional hydraulic fan 143 rotates.

[0056] Example 2

[0057] like Figure 7 As shown, this embodiment is based on the spinal endoscope depth locking adjustment device in embodiment 1, only replacing the bidirectional liquid fan 143, and using an external motor 51 and drive rod 52 as the mechanism to drive the fan blades 53 to rotate.

[0058] In this embodiment, the main body of the drive mechanism 14 is a sealed liquid cylinder. A through hole is provided at the rear end of the drive mechanism 14. A motor 51, which is a bidirectional frequency-modulated motor, is located behind the drive mechanism 14. The output end of the motor 51 is connected to a drive rod 52. The drive rod 52 passes through the through hole at the rear end of the drive mechanism 14 and is placed inside the drive mechanism 14. A fan blade 53 is located on the drive rod 52 inside the drive mechanism 14. A rotating seal is provided at the connection between the drive rod 52 and the through hole at the rear end of the drive mechanism 14. The rotating support 54 consists of a bracket and a bearing, used to support the drive rod 52.

[0059] The spinal endoscope depth locking adjustment device in this embodiment is less accurate than the spinal endoscope depth locking adjustment device in Embodiment 1, but it is easier to maintain.

[0060] Example 3

[0061] like Figure 8As shown, this embodiment is based on the spinal endoscope depth locking adjustment device in embodiment 1. In this embodiment, the cylinder 141 is a device with both ends open. Two cylinder covers 142 are provided on both sides of the cylinder 141. A bidirectional liquid fan 143 is provided inside the cylinder 141 near the end. The two bidirectional liquid fans 143 rotate in different directions and can rotate in one direction as much as possible, which can achieve the same effect.

[0062] Example 4

[0063] Based on the spinal endoscope depth locking adjustment device in Example 1, the control strategy of the spinal endoscope depth locking adjustment device is as follows:

[0064] The first control panel 31 sets the rotation speed of the hydraulic fan device and sends a rotation speed control command to the main control module 20. The main control module 20 stores the rotation speed control command sent by the first control panel 31 and waits to receive a rotation speed control command sent by the second control panel 32. The first control panel 31 sets the rotation speed of the hydraulic fan device and sends a rotation speed control command to the main control module 20. The main control module 20 verifies whether the rotation speed control commands sent by the first control panel 31 and the second control panel 32 are consistent. If they are consistent, the main control module configures the speed control signal corresponding to the rotation speed control command. Otherwise, it sends a feedback signal to the first control panel and the second control panel.

[0065] After the speed control signal is configured, the main control module 20 waits for the first and second control consoles to send speed direction commands. While the first and second control consoles simultaneously issue the same speed direction command, the module continuously sends speed direction commands to the hydraulic fan device, so that the hydraulic fan device performs actions according to the speed control signal and the speed direction command.

[0066] This device operates the hydraulic fan (bidirectional hydraulic fan 143) in the spinal endoscope depth locking adjustment device through dual control consoles and data verification. This dual control console signal verification control measurement avoids sudden high-speed start of the hydraulic fan due to misoperation, thus preventing medical accidents.

[0067] The above content is only a preferred embodiment of the present invention. For those skilled in the art, many changes can be made in the specific implementation and application scope based on the ideas of the present invention. As long as these changes do not depart from the concept of the present invention, they all fall within the protection scope of this patent.

Claims

1. A spinal endoscope depth locking adjustment device, characterized in that: The device includes a base, a linear slide rail assembly, a hydraulic cylinder, and a drive mechanism. The linear slide rail assembly is mounted on the top surface of the base and includes a slider. The body of the endoscope is mounted on the slider. The hydraulic cylinder includes a through hole at the front, a piston inside the hydraulic cylinder, and a push rod at the front end of the piston. The push rod extends out of the hydraulic cylinder through the through hole at the front and is connected to the rear of the endoscope body. A sliding seal is provided at the connection between the push rod and the through hole at the front of the hydraulic cylinder. The hydraulic cylinder is divided into a first front cavity and a first rear cavity by the piston. A first pipe joint and a second pipe joint are respectively provided at the first front cavity and the first rear cavity of the hydraulic cylinder. The main body of the drive mechanism is a cylindrical body. A bidirectional rotatable hydraulic fan device is set in the middle of the drive mechanism. The interior of the drive mechanism located in front of the hydraulic fan device is a second front cavity, and the interior of the drive mechanism located in rear of the hydraulic fan device is a second rear cavity. A fourth pipe joint is provided at the second front cavity of the drive mechanism, and a third pipe joint is provided at the second rear cavity of the drive mechanism. The fourth pipe joint and the first pipe joint are connected by a connecting pipe, and the second pipe joint and the third pipe joint are connected by another connecting pipe. The internal cavities of the hydraulic cylinder, drive mechanism, and connecting pipe are all filled with non-conductive liquid.

2. The spinal endoscope depth locking and adjustment device according to claim 1, characterized in that: The drive mechanism includes a cylinder body and a cylinder head. The cylinder body has an annular positioning protrusion near the front end. The hydraulic fan device is a bidirectional hydraulic fan that can be frequency-modulated via PWM. The cylinder head has a cavity inside and is fastened to the front opening of the cylinder body.

3. The spinal endoscope depth locking and adjustment device according to claim 2, characterized in that: The end face of the positioning protrusion facing the cylinder opening has several positioning grooves. The cylinder cover has a positioning post facing the cylinder opening. The bidirectional liquid fan includes a liquid fan frame with a circumferential through positioning hole. When the cylinder cover is fastened to the cylinder, the positioning post passes through the positioning hole and its free end is placed in the positioning groove. A sealing ring is provided at the connection between the liquid fan frame, the cylinder cover, and the positioning protrusion.

4. The spinal endoscope depth locking adjustment device according to claim 1, characterized in that: The main body of the drive mechanism is a sealed liquid cylinder. The rear end of the drive mechanism is provided with a through hole. A motor is provided at the rear of the drive mechanism. The motor is a bidirectional frequency-modulated motor. The output end of the motor is connected to a drive rod. The drive rod passes through the through hole at the rear end of the drive mechanism and is placed inside the drive mechanism. The position of the drive rod inside the drive mechanism has a fan blade. A rotating seal is provided at the connection between the drive rod and the through hole at the rear end of the drive mechanism.

5. The spinal endoscope depth locking adjustment device according to any one of claims 1-4, characterized in that: A solenoid valve is installed near the hydraulic cylinder in the connecting pipe.

6. The spinal endoscope depth locking adjustment device according to claim 5, characterized in that: The spinal endoscope depth locking adjustment device also includes a main control module, a power supply module, a first operating console, and a second operating console, wherein... The main control module is connected to the hydraulic fan device via signal, and is used to control the rotation direction, rotation speed and rotation timing of the hydraulic fan and monitor the current speed of the hydraulic fan device; the main control module is also connected to the solenoid valve via signal to switch the opening and closing of the solenoid valve. The first and second control consoles are respectively connected to the main control module to send control signals to the main control module, and the main control module controls the working status of the hydraulic fan device and the solenoid valve.

7. The spinal endoscope depth locking adjustment device according to claim 6, characterized in that: Both the first and second control consoles include a switch for controlling the start and stop of the equipment, a speed control knob, a forward button, and a reverse button.

8. The spinal endoscope depth locking adjustment device according to claim 6, characterized in that: The spinal endoscope depth locking adjustment device is externally connected to the universal rocker arm mechanism.

9. The spinal endoscope depth locking adjustment device according to claim 6, characterized in that: The control strategy of the spinal endoscope depth locking adjustment device is as follows: The first control panel sets the rotation speed of the hydraulic fan device and sends a rotation speed control command to the main control module. The main control module stores the rotation speed control command sent by the first control panel and waits to receive a rotation speed control command sent by the second control panel. The first control panel sets the rotation speed of the hydraulic fan device and sends a rotation speed control command to the main control module. The main control module verifies whether the rotation speed control commands sent by the first and second control panels are consistent. If they are consistent, it configures the speed control signal corresponding to the rotation speed control command. Otherwise, it sends a feedback signal to the first and second control panels. After the speed control signal is configured, the main control module waits for the first and second control consoles to send speed direction commands. While the first and second control consoles simultaneously issue the same speed direction command, the module continuously sends speed direction commands to the hydraulic fan device, causing the hydraulic fan device to perform actions according to the speed control signal and the speed direction command.

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