Endoscope

Abstract

An endoscope includes a main body portion, an operation portion, an execution portion, and a transmission portion. The main body portion includes a handle and an insertion tube extending in an axial direction from a distal end of the handle. The operation portion partially protrudes from the handle in a radial direction and is configured to swing relative to the handle in a front-rear direction parallel to the axial direction and in a left-right direction perpendicular to the axial direction. The execution portion is mounted to a distal end of the insertion tube and includes a lens assembly. The transmission portion includes a transmission assembly and a guide assembly. The transmission assembly is connected between the operation portion and the execution portion and passes through the insertion tube. The guide assembly is mounted within the handle and is configured to guide a transmission direction of the transmission assembly such that the transmission portion maps the swinging of the operation portion in the front-rear direction and the left-right direction one-to-one to swinging of the execution portion relative to the insertion tube in an up-down direction and the left-right direction to adjust a viewing direction of the lens assembly.

Description

Technical Field

[0001] At least one embodiment of this application relates to the field of medical robots and minimally invasive surgical instruments, and more specifically, to an endoscope. Background Technology

[0002] Laparoscopic surgery is a minimally invasive surgical procedure that involves inserting laparoscopic instruments and an endoscope into the body through a small incision to perform surgical operations. The endoscope, as the primary device for obtaining the surgical field of view during surgery, directly affects the surgeon's ability to acquire information about the surgical field, and consequently, the continuity and efficiency of the surgical procedure, due to its observation range, angle adjustment efficiency, and imaging clarity.

[0003] Most existing endoscopes employ a rigid body structure. When a doctor needs to adjust the observation angle, an assistant typically moves the endoscope handle outside the patient's body, causing the entire endoscope to swing up and down and left and right around a constraint point near the puncture site to change the observation direction of the lens inside the body. This method of field of view adjustment relies on a wide range of hand movements by the assistant, which is easily affected by assistant fatigue, differences in experience, and hand stability, leading to shaky vision, delayed response, or insufficient adjustment precision, making it difficult to achieve stable, intuitive, and continuous control of the observation angle.

[0004] To reduce the impact of large-scale swaying of the endoscope during surgical adjustments, some flexible endoscope solutions have been proposed in the prior art. These endoscopes utilize a flexible structure at the endpiece, such as a wire traction device, a flexible joint, or a continuous structure, allowing the endpiece lens to deflect at a certain angle relative to the endoscope body. However, existing flexible endoscopes typically focus on the design of the end-effector bending mechanism itself. The operator manipulates the endpiece at the input end to sway it, thus changing the endoscope's observation direction. It is difficult for the operator to directly perceive and predict the observation angle of the endpiece based on their own posture. In practical use, the operator often needs to rely on image feedback during surgery to continuously correct their posture and amplitude at the input end to change the endoscope's observation direction, affecting the intuitiveness, continuity, and efficiency of perspective adjustment. Summary of the Invention

[0005] To address at least one of the above-mentioned and other technical problems in the prior art, embodiments of this application provide an endoscope that allows the operator to intuitively control the observation direction of the endoscope's end lens through hand gestures.

[0006] Embodiments of this application provide an endoscope including a main body, an operating part, an actuator, and a transmission part. The main body includes a handle and an insertion tube extending axially from the distal end of the handle. The radially extending portion of the operating part is configured to oscillate relative to the handle in a front-back direction parallel to the axial direction and in a left-right direction perpendicular to the axial direction. The actuator is mounted at the distal end of the insertion tube and includes a lens assembly. The transmission part includes a transmission assembly and a guide assembly. The transmission assembly connects the operating part and the actuator and passes through the insertion tube. The guide assembly is mounted within the handle and configured to guide the transmission direction of the transmission assembly, such that the transmission part maps the oscillation of the operating part in the front-back and left-right directions to the oscillation of the actuator relative to the insertion tube in the up-down and left-right directions, thereby adjusting the observation direction of the lens assembly.

[0007] According to an embodiment of this application, the transmission assembly includes a first traction wire, a second traction wire, a third traction wire, and a fourth traction wire. The combination of the first and second traction wires, and the combination of the third and fourth traction wires, are configured to drive the actuator to swing upward or downward via a guide assembly in response to forward or backward oscillation of the operating part. The combination of the first and fourth traction wires, and the combination of the second and third traction wires, are configured to drive the actuator to swing left or right via a guide assembly in response to left or right oscillation of the operating part.

[0008] According to an embodiment of this application, the guiding assembly includes a steering assembly and a crossing assembly. The steering assembly is configured to convert the radial transmission of the drive assembly into axial transmission, guide a first and a second traction wire connected to the rear side of the operating part to the upper side connected to the actuator, and guide a third and a fourth traction wire connected to the front side of the operating part to the lower side connected to the actuator. The crossing assembly is disposed between the steering assembly and the actuator, and is configured to cross the first and second traction wires and connect them to the upper side of the actuator, and cross the third and fourth traction wires and connect them to the lower side of the actuator.

[0009] According to an embodiment of this application, the steering assembly includes a first guide wire wheel assembly and a second guide wire wheel assembly. The first guide wire wheel assembly is disposed above the axial extension direction of the insertion tube and is configured to convert the radial transmission of the first and second traction wires into axial transmission. The second guide wire wheel assembly is disposed below the axial extension direction of the insertion tube and in front of the first guide wire wheel assembly, and is configured to convert the radial transmission of the third and fourth traction wires into axial transmission.

[0010] According to an embodiment of this application, the cross assembly includes two guide wire rings, which are coaxially spaced with the insertion tube. Each guide wire ring has four first through holes circumferentially spaced. The first traction wire and the second traction wire pass through two first through holes of one guide wire ring and cross each other before passing through two first through holes of the other guide wire ring. The third traction wire and the fourth traction wire pass through the other two first through holes of one guide wire ring and cross each other before passing through the other two first through holes of the other guide wire ring.

[0011] According to an embodiment of this application, the operating part includes a first joint, a second joint, and a third joint. The first joint is mounted on a handle. The second joint is rotatably connected to the first joint about a first axis extending in the front-rear direction. The third joint is rotatably connected to the second joint about a second axis extending in the left-right direction. The first and second joints are provided with four second through holes circumferentially spaced at equal intervals. The first traction wire, the second traction wire, the third traction wire, and the fourth traction wire pass through the second through holes of the first and second joints respectively and are then circumferentially connected to the third joint at equal intervals.

[0012] According to an embodiment of this application, the operating unit further includes a rocker arm. The rocker arm is mounted on the third joint and is configured to: tighten the first and second traction wires by driving the third joint to swing forward relative to the second and first joints; tighten the third and fourth traction wires by driving the third joint to swing backward relative to the second and first joints; tighten the first and fourth traction wires by driving the third joint to swing left relative to the first joint; and tighten the second and third traction wires by driving the third joint to swing right relative to the first joint.

[0013] According to an embodiment of this application, the execution unit further includes a fourth joint, a fifth joint, and a sixth joint. The fourth joint is mounted at the distal end of the insertion tube. The fifth joint is rotatably connected to the fourth joint about a third axis extending in the left-right direction. The sixth joint is rotatably connected to the fifth joint about a fourth axis extending in the up-down direction. The lens assembly is mounted on the sixth joint. The fourth and fifth joints have four third through holes circumferentially spaced at equal intervals. The first, second, third, and fourth traction wires, led out from the insertion tube, pass through the third through holes of the fourth and fifth joints respectively and are then circumferentially connected at equal intervals to the sixth joint.

[0014] According to an embodiment of this application, in response to the first and second traction wires being tightened, the sixth and fifth joints cause the lens assembly to swing upward relative to the fourth joint. In response to the third and fourth traction wires being tightened, the sixth and fifth joints cause the lens assembly to swing downward relative to the fourth joint. In response to the first and fourth traction wires being tightened, the sixth joint causes the lens assembly to swing to the left relative to the fifth and fourth joints. In response to the second and third traction wires being tightened, the sixth joint causes the lens assembly to swing to the right relative to the fifth and fourth joints.

[0015] According to the embodiments of this application, the connection points of the two ends of the first traction wire, the second traction wire, the third traction wire and the fourth traction wire with the third joint and the sixth joint are respectively located at the four vertices of the first square and the second square. The first square and the second square both have side lengths extending in the left-right direction. The projections of the first axis and the second axis in the up-down direction pass through the center of the first square, and the projections of the third axis and the fourth axis in the front-back direction pass through the center of the second square.

[0016] According to the embodiments of this application, the endoscope guides the transmission direction of the transmission component by setting a guide component, and maps the swing of the operating part in the front-back direction and the left-right direction to the swing of the execution part in the up-down direction and the left-right direction. This realizes the isomorphic posture mapping between the operator's hand posture and the lens observation direction, so that the operator can intuitively control the observation direction of the endoscope tip. Attached Figure Description

[0017] 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:

[0018] Figure 1 This schematic diagram illustrates a perspective view of an endoscope according to an embodiment of the present application.

[0019] Figure 2 Schematic illustration Figure 1 A three-dimensional schematic diagram of the endoscope from another perspective;

[0020] Figure 3 Schematic illustration Figure 1 The longitudinal cross-sectional view of the endoscope shown;

[0021] Figure 4 Schematic illustration Figure 1 A three-dimensional schematic diagram of some components inside the endoscope;

[0022] Figure 5 Schematic illustration Figure 4A three-dimensional schematic diagram showing the base, lighting components, cleaning channel, and nozzles removed from the diagram shown.

[0023] Figure 6 Schematic illustration Figure 5 An enlarged schematic diagram of part A in the middle;

[0024] Figure 7 Schematic illustration Figure 5 Enlarged schematic diagram of part B in the middle;

[0025] Figure 8 Schematic illustration Figure 5 An enlarged schematic diagram of section C;

[0026] Figure 9 Schematic illustration Figure 2 The left view of the endoscope shown;

[0027] Figure 10 Schematic illustration Figure 2 The image shows a cross-sectional view of the insertion tube of the endoscope.

[0028] Figure 11 Schematic illustration Figure 2 An enlarged schematic diagram of part A in the middle;

[0029] Figure 12 Schematic illustration Figure 2 A three-dimensional schematic diagram of some components inside the endoscope;

[0030] Figure 13 Schematic illustration Figure 12 An enlarged schematic diagram of part A in the middle;

[0031] Figure 14 Schematic illustration Figure 1 The flowchart shown is for the supply module of the endoscope.

[0032] In the accompanying drawings, the meanings of the reference numerals are as follows:

[0033] 1. Main body;

[0034] 11. Handle;

[0035] 111. Base;

[0036] 112. Interface;

[0037] 12. Insert the tube;

[0038] 2. Operations section;

[0039] 21. First joint;

[0040] 22. Second joint;

[0041] 23. Third joint;

[0042] 24. Joystick;

[0043] 25. Second through hole;

[0044] 3. Execution Department;

[0045] 32. Fourth joint;

[0046] 33. The fifth joint;

[0047] 34. The sixth joint;

[0048] 35. Third through hole;

[0049] 4. Transmission unit;

[0050] 41. Guiding components;

[0051] 411. Steering components;

[0052] 4111, First guide wheel assembly;

[0053] 4112. Second guide wheel assembly;

[0054] 412. Cross-components;

[0055] 4121. First guide wire ring;

[0056] 4122. Second guide wire ring;

[0057] 4123, First through hole;

[0058] 42. Transmission components;

[0059] 421. First traction wire;

[0060] 422. Second traction wire;

[0061] 423. Third traction wire;

[0062] 424. Fourth traction wire;

[0063] 5. End tube;

[0064] 51. End cap;

[0065] 52. Flow guide channel;

[0066] 6. Lens assembly;

[0067] 61. Lens;

[0068] 7. Nozzle;

[0069] 8. Clean the passageway;

[0070] 9. Lighting components;

[0071] 91. Optical fiber;

[0072] 92. Fiber optic connector;

[0073] 10. Supply Module;

[0074] 101. Mixed connector;

[0075] 102. Gas source;

[0076] 103. Coarse adjustment pressure reducing valve;

[0077] 104. Pressure relief valve;

[0078] 105. Solenoid valve;

[0079] 106. Fine-tuning pressure reducing valve;

[0080] 107. Proportional valve;

[0081] 108. Gas flow meter;

[0082] 109. Check valve;

[0083] 110. Liquid storage container;

[0084] 113. Liquid pump. Detailed Implementation

[0085] 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.

[0086] 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.

[0087] 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.

[0088] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, a system 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.

[0089] 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.

[0090] An endoscope is a minimally invasive medical device used for observation and imaging inside body cavities or spaces. It typically includes a handle for the operator to hold, a long, thin insertion tube for insertion into the body, a lens at the tip of the insertion tube for image acquisition, and an illumination component for illuminating the surgical field in front of the lens. Laparoscopic surgery is a minimally invasive surgical procedure. In laparoscopic surgery, the surgeon makes a tiny incision in the patient's abdominal wall and inserts a trocar, then inserts the endoscope and surgical instruments through the trocar into the body cavity to perform the operation. Due to the small incision, the surgeon must rely on the images acquired by the endoscope's lens to obtain real-time information about the surgical field. In actual surgery, the surgeon's observation needs are dynamic, and the endoscope's ability to adjust its viewing angle directly affects the continuity and efficiency of the surgery. If each adjustment requires an assistant to manually move the endoscope, repeatedly communicate instructions, and rely on image feedback to correct the angle, it not only increases surgical time but may also increase surgical risks due to an unstable field of view.

[0091] Figure 1 This schematic diagram illustrates a perspective view of an endoscope according to an embodiment of the present application. Figure 2 Schematic illustration Figure 1 A three-dimensional schematic diagram of the endoscope from another perspective; Figure 3 Schematic illustration Figure 1 The longitudinal cross-sectional view of the endoscope shown; Figure 4 Schematic illustration Figure 1 A three-dimensional schematic diagram of the inside of an endoscope is shown. Figure 5 Schematic illustration Figure 3 The diagram shown is a three-dimensional representation of the interior of an endoscope after the base, lighting assembly, cleaning channel, and nozzle have been removed.

[0092] like Figures 1 to 5As shown, this application provides an endoscope including a main body 1, an operating part 2, an execution part 3, and a transmission part 4. The main body 1 includes a handle 11 and an insertion tube 12 extending axially from the distal end of the handle 11. The operating part 2 extends radially from the handle 11 and is configured to swing relative to the handle 11 in a front-back direction parallel to the axial direction and in a left-right direction perpendicular to the axial direction. The execution part 3 is mounted at the distal end of the insertion tube 12 and includes a lens assembly 6. The transmission part 4 includes a transmission assembly 42 and a guide assembly 41. The transmission assembly 42 is connected between the operating part 2 and the execution part 3 and passes through the insertion tube 12. The guide assembly 41 is mounted within the handle 11 and is configured to guide the transmission direction of the transmission assembly 42, such that the transmission part 4 maps the swing of the operating part 2 in the front-back and left-right directions to the swing of the execution part 3 relative to the insertion tube 12 in the up-down and left-right directions, thereby adjusting the observation direction of the lens assembly 6.

[0093] It should be noted that the proximal end refers to the end of the endoscope that is closer to the operator (doctor or surgeon) when in use, while the distal end refers to the end of the endoscope that is farther from the operator when in use. The forward / backward direction refers to the direction in which the operator moves the operating part 2 away from or towards themselves; forward refers to moving the operating part 2 away from the operator (or towards the distal end), and backward refers to moving the operating part 2 towards the operator (or towards the proximal end). See also Figure 3 Assuming the operator is Figure 3 The right side Figure 3 The endoscope posture shown refers to the direction of operation of the endoscope, where the axial direction refers to the direction extending along the length of the insertion tube 12 or the front-back direction. Figure 3 The left-right direction (in the context of the diagram) and the radial direction refer to the direction perpendicular to the axial direction, that is, the direction extending along the radius of the cross-section of the insertion tube 12. Both the up-down and left-right directions are defined by... Figure 3 The endoscope placement shown is defined using a reference standard. Left and right directions refer to... Figure 3 The direction perpendicular to the paper surface, where left and right correspond to the left and right sides of the operator when holding handle 11, respectively; the up and down direction refers to the direction perpendicular to the axial direction and perpendicular to the left and right direction when the operator normally holds handle 11. Figure 3 (the vertical direction in the middle).

[0094] In some exemplary embodiments, the handle 11 is used by the operator to hold and provide operational support for the entire endoscope. The insertion tube 12 is an elongated tubular structure extending in the axial direction, with its distal end used to extend into the body cavity through a puncture hole on the patient's body surface. The portion of the operating part 2 extending radially beyond the handle 11 is easily accessible and manipulated by the operator's hand. The operating part 2 serves as the input end for the operator's hand posture, and its deflection direction and angle directly correspond to the operator's intention to change the observation direction of the endoscope's distal end. The actuator 3 is installed at the distal end of the insertion tube 12, i.e., the end of the insertion tube 12 away from the handle 11. The actuator 3 includes a lens assembly 6, which is used to acquire scene information within the body cavity (the target to be examined), and its observation direction determines the range of the surgical field that the doctor can see. For example, an imaging device can be installed in the lens assembly 6 to image the scene observed by the lens and store the imaging information, or transmit the imaging message to the outside via wireless or wired transmission. The actuator 3 is configured to swing relative to the insertion tube 12 in the vertical and horizontal directions. By swinging the actuator 3, the observation direction of the lens assembly 6 is changed, allowing the physician to observe different areas within the body cavity without moving the insertion tube 12 as a whole.

[0095] In some exemplary embodiments, the transmission assembly 42 is connected between the operating part 2 and the execution part 3 and passes through the insertion tube 12. The transmission assembly 42 is used to transmit motion and force between the operating part 2 and the execution part 3, transmitting the deflection action applied to the operating part 2 by the operator to the execution part 3, causing the execution part 3 to produce a corresponding bending motion. The guide assembly 41 performs direction conversion and spatial layout guidance on the transmission path of the transmission assembly 42 between the operating part 2 side and the execution part 3 side, so that the transmission part 4 maps the swing of the operating part 2 in the front-back direction and the left-right direction to the swing of the execution part 3 relative to the insertion tube 12 in the up-down direction and the left-right direction. The one-to-one mapping means that when the operating part 2 swings forward, the execution part 3 swings upward; when the operating part 2 swings backward, the execution part 3 swings downward; when the operating part 2 swings to the left, the execution part 3 swings to the left; when the operating part 2 swings to the right, the execution part 3 swings to the right. Therefore, the direction of deflection of the operating unit 2 by the operator is consistent with the direction of bending of the lens assembly 6 driven by the actuator 3. The operator can directly perceive and control the observation direction of the lens assembly 6 through his own hand posture, and realize intuitive viewing angle adjustment.

[0096] According to the endoscope of this application embodiment, the guide component 41 guides the transmission direction of the transmission component 42, mapping the swing of the operating part 2 in the front-back and left-right directions to the swing of the execution part 3 in the up-down and left-right directions. This achieves isomorphic posture mapping between the operator's hand posture and the observation direction of the lens component 6, allowing the operator to intuitively control the observation direction of the endoscope tip, improving the intuitiveness, continuity, and response speed of the viewing angle adjustment. Simultaneously, since the execution part 3 can swing relative to the insertion tube 12 in the up-down and left-right directions, the observation range of the endoscope is effectively expanded, simultaneously meeting the needs of both expanded observation range and intuitive viewing angle control.

[0097] Figure 6 Schematic illustration Figure 5 An enlarged schematic diagram of part A in the middle; Figure 7 Schematic illustration Figure 5 Enlarged schematic diagram of part B in the middle; Figure 8 Schematic illustration Figure 5 An enlarged schematic diagram of section C.

[0098] like Figures 5 to 8 As shown, according to an embodiment of this application, the transmission assembly 42 includes a first traction wire 421, a second traction wire 422, a third traction wire 423, and a fourth traction wire 424. The combination of the first traction wire 421 and the second traction wire 422 is configured to drive the actuator 3 to swing upward via the guide assembly 41 in response to the forward swing of the operation unit 2; the combination of the third traction wire 423 and the fourth traction wire 424 is configured to drive the actuator 3 to swing downward via the guide assembly 41 in response to the backward swing of the operation unit 2; the combination of the first traction wire 421 and the fourth traction wire 424 is configured to drive the actuator 3 to swing left via the guide assembly 41 in response to the leftward swing of the operation unit 2; the combination of the second traction wire 422 and the third traction wire 423 is configured to drive the actuator 3 to swing right via the guide assembly 41 in response to the rightward swing of the operation unit 2.

[0099] In some exemplary embodiments, the transmission assembly 42 includes four traction wires, each with its two ends connected to the operating part 2 and the actuating part 3, respectively, for transmitting tension between the operating part 2 and the actuating part 3, converting the deflection action applied to the operating part 2 by the operator into the bending motion of the actuating part 3. It is understood that the traction wires can be in the form of tungsten wire, steel wire, cable, push-pull rod, or flexible transmission rod, etc., capable of transmitting motion and force between the operating part 2 and the actuating part 3. In the circumferential direction of the operating part 2, the first traction wire 421 and the second traction wire 422 are connected to the rear region of the operating part 2, and the third traction wire 423 and the fourth traction wire 424 are connected to the front region of the operating part 2. In the circumferential direction of the actuating part 3, the first traction wire 421 and the second traction wire 422 are connected to the upper region of the actuating part 3, and the third traction wire 423 and the fourth traction wire 424 are connected to the lower region of the actuating part 3. When the operator pushes the operating part 2 forward, the operating part 2 deflects forward, tightening the first traction wire 421 and the second traction wire 422 connected to the rear side of the operating part 2, while the third traction wire 423 and the fourth traction wire 424 connected to the front side of the operating part 2 are in a relatively relaxed state. The tension of the first traction wire 421 and the second traction wire 422 is transmitted to the actuator 3 via the guide assembly 41, pulling the upper area of ​​the actuator 3 and causing the actuator 3 to swing upward. Conversely, when the operator pushes the operating part 2 backward, the operating part 2 deflects backward, tightening the third traction wire 423 and the fourth traction wire 424 connected to the front side of the operating part 2, while the first traction wire 421 and the second traction wire 422 connected to the rear side of the operating part 2 are in a relatively relaxed state. The tension of the third traction wire 423 and the fourth traction wire 424 is transmitted to the actuator 3 via the guide assembly 41, pulling the lower area of ​​the actuator 3 and causing the actuator 3 to swing downward. Thus, the combination of the first traction wire 421 and the second traction wire 422, and the combination of the third traction wire 423 and the fourth traction wire 424, respectively respond to the forward or backward swing of the operation unit 2, and drive the execution unit 3 to swing upward or downward through the guide assembly 41.

[0100] When the operator pushes the operating unit 2 to swing to the left, the operating unit 2 deflects to the left, and the first traction wire 421 and the fourth traction wire 424 connected to the right side of the operating unit 2 are tightened, while the second traction wire 422 and the third traction wire 423 connected to the left side of the operating unit 2 are in a relatively relaxed state. The tension of the first traction wire 421 and the fourth traction wire 424 is transmitted to the actuator 3 via the guide assembly 41, pulling the left side of the actuator 3 and causing the actuator 3 to swing to the left. Conversely, when the operator pushes the operating unit 2 to swing to the right, the operating unit 2 deflects to the right, and the second traction wire 422 and the third traction wire 423 connected to the left side of the operating unit 2 are tightened, while the first traction wire 421 and the fourth traction wire 424 connected to the right side of the operating unit 2 are in a relatively relaxed state. The tension of the second traction wire 422 and the third traction wire 423 is transmitted to the actuator 3 via the guide assembly 41, pulling the right side of the actuator 3 and causing the actuator 3 to swing to the right. Thus, the combination of the first traction wire 421 and the fourth traction wire 424, and the combination of the second traction wire 422 and the third traction wire 423, respectively respond to the leftward or rightward swing of the operation unit 2, and drive the execution unit 3 to swing leftward or rightward through the guide assembly 41.

[0101] It should be noted that the "tensioning" and "relaxation" of the traction wire here refer to the relative changes in the effective path length and tension state of the traction wire during the bending process of the operating part 2 and the execution part 3. The traction wire adopts a fixed length structure, and its body does not extend or retract. Instead, the equivalent winding and unwinding effect is achieved by changing the path length of each traction wire inside or outside the bending section when the operating part 2 deflects.

[0102] According to the above embodiments of this application, by setting four traction wires distributed at the same interval along the circumference of the operation part 2 and the execution part 3, and grouping them according to specific combinations of the front wire group and the rear wire group, and the left wire group and the right wire group, the deflection action of the operation part 2 in the front-back direction and the left-right direction is transmitted to the execution part 3 through different combinations of traction wires, realizing an independent mapping relationship between front-back swing and up-down bending, and between left-right swing and left-right bending, thus ensuring the accuracy and reliability of the viewing angle adjustment.

[0103] like Figures 3 to 8As shown, according to an embodiment of this application, the guide assembly 41 includes a steering assembly 411 and a crossing assembly 412. The steering assembly 411 is configured to convert the radial transmission of the transmission assembly 42 into axial transmission, guide the first traction wire 421 and the second traction wire 422 connected to the rear side of the operating part 2 to the upper side connected to the actuator 3, and guide the third traction wire 423 and the fourth traction wire 424 connected to the front side of the operating part 2 to the lower side connected to the actuator 3. The crossing assembly 412 is disposed between the steering assembly 411 and the actuator 3, and is configured to cross the first traction wire 421 and the second traction wire 422 and connect them to the upper side of the actuator 3, and cross the third traction wire 423 and the fourth traction wire 424 and connect them to the lower side of the actuator 3. The steering assembly 411 includes a first guide wire wheel set 4111 and a second guide wire wheel set 4112. The first guide wire wheel assembly 4111 is disposed above the insertion tube 12 along its axial extension direction and is configured to convert the radial transmission of the first traction wire 421 and the second traction wire 422 into axial transmission. The second guide wire wheel assembly 4112 is disposed below the insertion tube 12 along its axial extension direction and in front of the first guide wire wheel assembly 4111 and is configured to convert the radial transmission of the third traction wire 423 and the fourth traction wire 424 into axial transmission.

[0104] In some exemplary embodiments, the handle 11 includes a housing and a base 111 mounted inside the housing, with the operating part 2 passing through the housing and mounted on the base 111. The base 111 has an axially extending internal cavity for accommodating the steering assembly 411 and the crossing assembly 412, and providing a transition channel for each traction wire from the operating part 2 to the insertion tube 12. The rear portion (proximal portion) of the base 111 is cuboid in shape, with a hollow interior forming a first receiving cavity in which the steering assembly 411 is fixedly mounted. The front portion (distal portion) of the base 111 extends forward axially and transitions into a cylindrical shape, with a hollow interior forming a second receiving cavity. The second receiving cavity communicates axially with the first receiving cavity, and the insertion tube 12 is mounted on the distal end of the base 111. The axis of the second receiving cavity is coaxial with the axis of the insertion tube 12, and the crossing assembly 412 is fixedly mounted within the second receiving cavity of the base 111.

[0105] In some exemplary embodiments, the operating part 2 is arranged radially within the handle 11 and mounted on the base 111, and each traction wire extends radially when drawn out from the operating part 2. The steering assembly 411 guides the first traction wire 421 and the second traction wire 422 drawn from the rear region of the operating part 2 toward the upper region of the corresponding actuator 3; and guides the third traction wire 423 and the fourth traction wire 424 drawn from the front region of the operating part 2 toward the lower region of the corresponding actuator 3. At the same time, the steering assembly 411 changes the extension direction of each traction wire from the radial direction to the axial direction along the insertion tube 12, so that the traction wire can extend distally along the channel inside the insertion tube 12.

[0106] In some exemplary embodiments, the cross assembly 412 is disposed between the steering assembly 411 and the actuator 3, located within the second receiving cavity of the base 111. The cross assembly 412 connects the first traction wire 421 and the second traction wire 422 to the upper region of the actuator 3 after cross-interchanging in the left-right direction, and connects the third traction wire 423 and the fourth traction wire 424 to the lower region of the actuator 3 after cross-interchanging in the left-right direction. Through the sequential cooperation of the steering assembly 411 and the cross assembly 412, the first traction wire 421 and the second traction wire 422 are led out from the rear side of the operating part 2, first turned by the steering assembly 411 for axial transmission, and then connected to the upper side of the actuator 3 after crossing left and right by the cross assembly 412; the third traction wire 423 and the fourth traction wire 424 are led out from the front side of the operating part 2, first turned by the steering assembly 411 for axial transmission, and then connected to the lower side of the actuator 3 after crossing left and right by the cross assembly 412.

[0107] According to the above embodiments of this application, by providing a steering component 411 and a crossing component 412 inside the handle 11, each traction wire, after being led out from the operating part 2, first completes the radial to axial transmission direction conversion and corresponding vertical guidance through the steering component 411, and then completes the left and right cross direction reversal through the crossing component 412. Each traction wire forms a complete cross mapping layout between the operating part 2 and the execution part 3, mapping the deflection posture of the operating part 2 in the front-back direction and the left and right direction to the bending posture of the execution part 3 in the vertical direction and the left and right direction, ensuring the accurate realization of isomorphic posture mapping.

[0108] In some exemplary embodiments, both the first guide wire wheel assembly 4111 and the second guide wire wheel assembly 4112 include a mounting bracket and two guide wire wheels. The mounting bracket is installed in the first receiving cavity of the base 111 inside the handle 11. The two guide wire wheels are used to guide the first traction wire 421 and the second traction wire 422, or the third traction wire 423 and the fourth traction wire 424, respectively, to complete the transmission conversion of each traction wire from the radial direction to the axial direction. The first guide wire wheel assembly 4111 is disposed above the axial extension direction of the insertion tube 12. The first guide wire wheel assembly 4111 is configured to convert the transmission of the first traction wire 421 and the second traction wire 422 in the radial direction into transmission in the axial direction. When the first traction wire 421 and the second traction wire 422 are drawn out from the rear region of the operating part 2, they extend in the radial direction to the first guide wire wheel assembly 4111, and then change their extension direction around the first guide wire wheel assembly 4111, changing from the radial direction to the axial direction along the insertion tube 12. The second guide wire wheel assembly 4112 is disposed below the insertion tube 12 along its axial extension direction and in front of the first guide wire wheel assembly 4111. "In front" refers to the side closer to the distal end of the insertion tube 12 along the axial direction. The second guide wire wheel assembly 4112 is configured to convert the radial transmission of the third traction wire 423 and the fourth traction wire 424 into axial transmission. When the third traction wire 423 and the fourth traction wire 424 are drawn out from the front region of the operating part 2, they extend radially to the second guide wire wheel assembly 4112, then change their extension direction around the second guide wire wheel assembly 4112, from radial to axial.

[0109] In some exemplary embodiments, the first guide wire wheel assembly 4111 and the second guide wire wheel assembly 4112 are arranged staggered front to back in the axial direction and located on the upper and lower sides of the axis of the insertion tube 12 in the vertical direction, respectively. This spatial arrangement allows the first traction wire 421 and the second traction wire 422 to be drawn out from the rear side of the operating part 2 and guided upwards, while the third traction wire 423 and the fourth traction wire 424 are drawn out from the front side of the operating part 2 and guided downwards. The four traction wires form vertically separated routing paths at the turning assembly 411, avoiding mutual interference. Each guide wire wheel assembly includes two guide wire wheels, and the circumferential surface of the guide wire wheel is provided with a guide groove. The traction wire is embedded in the guide groove and smoothly transitions under the guidance of the guide wire wheel.

[0110] According to the above embodiments of this application, by setting the first guide wire wheel assembly 4111 and the second guide wire wheel assembly 4112 above and below the axis of the insertion tube 12, respectively, and staggered in the axial direction, the first traction wire 421 and the second traction wire 422 connected to the rear side of the operating part 2 are guided upward by the first guide wire wheel assembly 4111 to achieve axial transmission, while the third traction wire 423 and the fourth traction wire 424 connected to the front side of the operating part 2 are guided downward by the second guide wire wheel assembly 4112 to achieve axial transmission. This arrangement of the guide wire wheel assembly allows the combination of the first traction wire 421 and the second traction wire 422 to drive the actuator 3 to swing upward in response to the forward swing of the operating part 2; and the combination of the third traction wire 423 and the fourth traction wire 424 to drive the actuator 3 to swing downward in response to the backward swing of the operating part 2. This achieves an orderly conversion of the four traction wires from the radial lead-out direction of the operating part 2 to the axial extension direction of the insertion tube 12.

[0111] like Figures 5 to 8 As shown, according to an embodiment of this application, the cross assembly 412 includes two guide wire rings, which are coaxially spaced with the insertion tube 12. Each guide wire ring has four first through holes circumferentially spaced. The first traction wire 421 and the second traction wire 422 pass through two first through holes of one guide wire ring and cross each other before passing through two first through holes of the other guide wire ring. The third traction wire 423 and the fourth traction wire 424 pass through the other two first through holes of one guide wire ring and cross each other before passing through the other two first through holes of the other guide wire ring.

[0112] In some exemplary embodiments, the cross assembly 412 includes two guide wire rings, namely a first guide wire ring 4121 and a second guide wire ring 4122. The first guide wire ring 4121 and the second guide wire ring 4122 are coaxially spaced from the insertion tube 12 within the second receiving cavity of the base 111. The first guide wire ring 4121 and the second guide wire ring 4122 are arranged front and back along the axial direction, forming an axial gap between them. Each guide wire ring has four first through holes 4123 evenly spaced in the circumferential direction. The four first through holes 4123 are located at the upper left, upper right, lower left, and lower right positions of the guide wire ring, respectively. The diameter of each first through hole 4123 matches the diameter of the traction wire, allowing the traction wire to move through and serving as a guide and positioning function.

[0113] In some exemplary embodiments, after four traction wires are led out from the steering assembly 411, they pass sequentially through the first guide wire ring 4121 and the second guide wire ring 4122 along the axial direction. Taking the first guide wire ring 4121 being the guide wire ring closer to the steering assembly 411 and the second guide wire ring 4122 being the guide wire ring closer to the actuator 3 as an example, the threading and crossing method of each traction wire is as follows:

[0114] After the first traction wire 421 and the second traction wire 422 are led out from the first guide wire wheel assembly 4111 of the steering assembly 411, they respectively pass through the two first through holes above the first guide wire ring 4121. Specifically, the first traction wire 421 passes through the upper right first through hole of the first guide wire ring 4121, and the second traction wire 422 passes through the upper left first through hole of the first guide wire ring 4121. Then, after being led out from the first guide wire ring 4121, the first traction wire 421 extends obliquely to the left and passes through the upper left first through hole of the second guide wire ring 4122; after being led out from the first guide wire ring 4121, the second traction wire 422 extends obliquely to the right and passes through the upper right first through hole of the second guide wire ring 4122. Thus, the first traction wire 421 and the second traction wire 422 complete a left-right cross-positioning between the first guide wire ring 4121 and the second guide wire ring 4122.

[0115] The third traction wire 423 and the fourth traction wire 424 are led out from the second guide wire wheel assembly 4112 of the steering assembly 411 and respectively pass through the two lower first through holes of the first guide wire ring 4121. Specifically, the third traction wire 423 passes through the lower left first through hole of the first guide wire ring 4121, and the fourth traction wire 424 passes through the lower right first through hole of the first guide wire ring 4121. Then, after being led out from the first guide wire ring 4121, the third traction wire 423 extends obliquely to the right and passes through the lower right first through hole of the second guide wire ring 4122; the fourth traction wire 424 extends obliquely to the left and passes through the lower left first through hole of the second guide wire ring 4122. Thus, the third traction wire 423 and the fourth traction wire 424 complete a left-right cross-positioning between the first guide wire ring 4121 and the second guide wire ring 4122.

[0116] After the aforementioned cross-directional reversal, the circumferential positional relationship of the four traction wires when they emerge from the second guide wire ring 4122 is as follows: the first traction wire 421 is located at the upper left, the second traction wire 422 at the upper right, the third traction wire 423 at the lower right, and the fourth traction wire 424 at the lower left. After each traction wire emerges from the second guide wire ring 4122, it continues to extend towards the actuator 3 along the channel inside the insertion tube 12, and connects to the actuator 3 according to the circumferential positional relationship after the cross-directional reversal.

[0117] According to the above embodiments of this application, by setting two axially spaced guide wire rings and opening four first through holes at equal intervals in the circumferential direction of each guide wire ring, the first traction wire 421 and the second traction wire 422 pass through two first through holes of one guide wire ring and cross into the corresponding first through hole of the other guide wire ring. The third traction wire 423 and the fourth traction wire 424 pass through the other two first through holes of one guide wire ring and cross into the corresponding first through hole of the other guide wire ring. With this arrangement of the guide wire rings, the combination of the first traction wire 421 and the fourth traction wire 424 can drive the actuator 3 to swing to the left in response to the leftward swing of the operating part 2; the combination of the second traction wire 422 and the third traction wire 423 can drive the actuator 3 to swing to the right in response to the rightward swing of the operating part 2. Thus, within a limited axial space, the four traction wires are arranged in an orderly cross-directional manner in the left and right directions, so that the traction wires connected to the left and right sides of the operating part 2 can be accurately connected to the corresponding sides of the actuator 3, ensuring that a one-to-one mapping relationship is formed between the left and right deflection of the operating part 2 and the left and right bending of the actuator 3.

[0118] like Figures 4 to 6 As shown, according to an embodiment of this application, the operating part 2 includes a first joint 21, a second joint 22, and a third joint 23. The first joint 21 is mounted on the handle 11. The second joint 22 is rotatably connected to the first joint 21 about a first axis extending in the front-rear direction. The third joint 23 is rotatably connected to the second joint 22 about a second axis extending in the left-right direction. The first joint 21 and the second joint 22 are provided with four second through holes 25 at equal intervals in the circumference. The first traction wire 421, the second traction wire 422, the third traction wire 423, and the fourth traction wire 424 pass through the second through holes of the first joint 21 and the second joint 22 respectively and are then connected to the third joint 23 at equal intervals in the circumference.

[0119] In some exemplary embodiments, the first joint 21, the second joint 22, and the third joint 23 are arranged sequentially along the axial direction of the operating part 2, together constituting the deflectable main structure of the operating part 2. The third joint 23 is located at the top and is the part directly or indirectly controlled by the operator; the first joint 21 is located at the bottom and is fixedly installed on the base 111 inside the handle 11, serving as the fixed base end of the operating part 2 and providing support and positioning for the entire operating part 2. The second joint 22 is rotatably connected to the first joint 21 about a first axis extending in the front-rear direction. The first axis extends in the front-rear direction, that is, in a direction parallel to the direction in which the operator pushes the operating part 2 forward or backward. The second joint 22 can rotate relative to the first joint 21 about the first axis, and this rotation allows the second joint 22 and the third joint 23 above it to swing in the left-right direction, that is, the left-right deflection of the operating part 2 is achieved through the rotation between the second joint 22 and the first joint 21. The third joint 23 is rotatably connected to the second joint 22 about a second axis extending in the left-right direction. The second axis extends in the left-right direction, that is, in a direction perpendicular to the first axis. The third joint 23 can rotate relative to the second joint 22 about the second axis. This rotation allows the third joint 23 to swing in the front-back direction. That is, the front-back deflection of the operating part 2 is achieved by the rotation between the third joint 23 and the second joint 22.

[0120] In some exemplary embodiments, four second through holes 25 are equally spaced circumferentially on the first joint 21 and the second joint 22. It can be understood that the four second through holes 25 are located at the four vertices of the first square. Specifically, the four second through holes 25 are located at the right rear, left rear, left front, and right front positions of the first joint 21 and the second joint 22, respectively. The first traction wire 421, the second traction wire 422, the third traction wire 423, and the fourth traction wire 424 pass through the second through holes 25 at the right rear, left rear, left front, and right front positions of the first joint 21 and the second joint 22, respectively, and are then connected to the third joint 23 at equal circumferential intervals. The second through holes 25 on the first joint 21 and the second joint 22 serve to guide and position each traction wire. When the operating part 2 deflects, each traction wire slides through the second through holes 25 of the first joint 21 and the second joint 22. The second through holes 25 restrict the circumferential position of each traction wire, ensuring that it remains orderly distributed during the deflection of the operating part 2, preventing tangling or misalignment. The third joint 23 serves as the connection point for the force application end of the traction wire. When the operator pushes the third joint 23 to deflect, the third joint 23 drives each traction wire to produce corresponding retraction and extension actions, thereby transmitting the deflection posture of the operating part 2 to the transmission part 4.

[0121] It is understood that the structure of the operating unit 2 is not limited to the three-joint rotation structure consisting of the first joint 21, the second joint 22, and the third joint 23 described above. In other embodiments, the operating unit 2 may also be in the form of a continuous rocker arm, a snake-bone rocker arm, a flexible hinge rocker arm, or a multi-degree-of-freedom operating handle. The above alternative structures can also realize the deflection of the operating unit 2 in the front-back direction and the left-right direction, and transmit the deflection attitude to the transmission unit 4 through each traction wire, thereby realizing the isomorphic attitude mapping function between the operating unit 2 and the execution unit 3.

[0122] According to the above embodiments of this application, by setting the first joint 21, the second joint 22 and the third joint 23 to be rotatably connected in sequence, the operation part 2 can achieve two degrees of freedom or independent deflection in four directions relative to its axis in the front-back direction and the left-right direction. At the same time, by opening four second through holes 25 at equal intervals in the circumferential direction in the first joint 21 and the second joint 22, the four traction wires are kept evenly distributed in the circumferential direction when passing through the first joint 21 and the second joint 22, which ensures that the traction wires are routed in an orderly manner during the deflection of the operation part 2, and provides a structural basis for the traction wires to accurately transmit the posture changes of the operation part 2 to the execution part 3.

[0123] like Figure 6 As shown, according to an embodiment of this application, the operation unit 2 further includes a rocker arm 24. The rocker arm 24 is mounted on the third joint 23 and is configured to: drive the third joint 23 to swing forward relative to the second joint 22 and the first joint 21 to tighten the first traction wire 421 and the second traction wire 422; drive the third joint 23 to swing backward relative to the second joint 22 and the first joint 21 to tighten the third traction wire 423 and the fourth traction wire 424; drive the third joint 23 and the second joint 22 to swing left relative to the first joint 21 to tighten the first traction wire 421 and the fourth traction wire 424; and drive the third joint 23 and the second joint 22 to swing right relative to the first joint 21 to tighten the second traction wire 422 and the third traction wire 423.

[0124] In some exemplary embodiments, the rocker arm 24 is mounted on the third joint 23 as a component directly controlled by the operator's hand. The rocker arm 24 extends partially from the radial opening in the handle 11, facilitating the operator's grip and deflection operation. The rocker arm 24 is fixedly connected to the third joint 23, with no relative movement between them. The deflection force applied by the operator to the rocker arm 24 is directly transmitted to the third joint 23, driving the third joint 23 and other linked joints to deflect.

[0125] When the operator pushes the rocker arm 24 forward, the rocker arm 24 causes the third joint 23 to deflect forward relative to the second joint 22 and the first joint 21 around the second axis. The forward deflection of the third joint 23 tightens the first traction wire 421 and the second traction wire 422 connected to the rear side of the third joint 23, generating a pulling force transmitted to the actuator 3; at the same time, the third traction wire 423 and the fourth traction wire 424 connected to the front side of the third joint 23 are in a relatively relaxed state. The tension of the first traction wire 421 and the second traction wire 422 is transmitted to the actuator 3 through the steering assembly 411 and the crossing assembly 412, driving the actuator 3 to swing upward.

[0126] When the operator pushes the rocker arm 24 to swing backward, the rocker arm 24 causes the third joint 23 to deflect backward relative to the second joint 22 and the first joint 21 around the second axis. The backward deflection of the third joint 23 tightens the third traction wire 423 and the fourth traction wire 424 connected to the front of the third joint 23, generating a pulling force transmitted to the actuator 3; at the same time, the first traction wire 421 and the second traction wire 422 connected to the rear of the third joint 23 are in a relatively relaxed state. The tension of the third traction wire 423 and the fourth traction wire 424 is transmitted to the actuator 3 through the steering assembly 411 and the crossing assembly 412, driving the actuator 3 to swing downward.

[0127] When the operator pushes the rocker arm 24 to the left, the rocker arm 24 causes the third joint 23 and the second joint 22 to deflect to the left relative to the first joint 21 around the first axis. Since the first axis extends in the front-rear direction, the deflection of the third joint 23 and the second joint 22 around the first axis causes the third joint 23 and the second joint 22 to deflect to the left as a whole. The first traction wire 421 and the fourth traction wire 424 connected to the right side of the third joint 23 are tightened, generating a pulling force transmitted to the actuator 3. At the same time, the second traction wire 422 and the third traction wire 423 connected to the left side of the third joint 23 are in a relatively relaxed state. The tension of the first traction wire 421 and the fourth traction wire 424 is transmitted to the actuator 3 through the steering assembly 411 and the crossing assembly 412, driving the actuator 3 to swing to the left.

[0128] When the operator pushes the rocker arm 24 to the right, the rocker arm 24 causes the third joint 23 and the second joint 22 to rotate to the right relative to the first joint 21 around the first axis. The rotation of the third joint 23 and the second joint 22 around the first axis causes the third joint 23 and the second joint 22 to deflect to the right as a whole. The second traction wire 422 and the third traction wire 423 connected to the left side of the third joint 23 are tightened, generating a tension force transmitted to the actuator 3. At the same time, the first traction wire 421 and the fourth traction wire 424 connected to the right side of the third joint 23 are in a relatively relaxed state. The tension of the second traction wire 422 and the third traction wire 423 is transmitted to the actuator 3 through the steering assembly 411 and the crossing assembly 412, driving the actuator 3 to swing to the right.

[0129] According to the above embodiments of this application, by setting the rocker arm 24 to be installed on the third joint 23, the operator's deflection operation of the rocker arm 24 in the four directions of forward, backward, left and right is converted into selective tensioning of different traction wire combinations through two pairs of orthogonal revolute joints between the first joint 21, the second joint 22 and the third joint 23. This realizes the mechanical conversion of the operator's hand control action into the tension change of each traction wire, so that the operator can directly perceive and control the extension and retraction state of each traction wire through hand posture without relying on image feedback. The operation is intuitive and the response is direct.

[0130] like Figure 8 As shown, according to an embodiment of this application, the execution unit 3 further includes a fourth joint 32, a fifth joint 33, and a sixth joint 34. The fourth joint 32 is installed at the distal end of the insertion tube 12. The fifth joint 33 is rotatably connected to the fourth joint 32 about a third axis extending in the left-right direction. The sixth joint 34 is rotatably connected to the fifth joint 33 about a fourth axis extending in the up-down direction. The lens assembly 6 is installed on the sixth joint 34. The fourth joint 32 and the fifth joint 33 are provided with four third through holes 35 at equal intervals in the circumference. The first traction wire 421, the second traction wire 422, the third traction wire 423, and the fourth traction wire 424, which are led out from the insertion tube 12, pass through the third through holes of the fourth joint 32 and the fifth joint 33 respectively, and are then connected to the sixth joint 34 at equal intervals in the circumference.

[0131] In some exemplary embodiments, the fourth joint 32, the fifth joint 33, and the sixth joint 34 are arranged sequentially along the axial direction of the actuator 3, together constituting the flexible main structure of the actuator 3. The fourth joint 32 is fixedly connected to the distal end of the insertion tube 12; the sixth joint 34 carries the lens assembly 6; the fifth joint 33 is located between the fourth joint 32 and the sixth joint 34, and is rotatably connected to both the fourth joint 32 and the sixth joint 34. The fourth joint 32 is installed at the distal end of the insertion tube 12, serving as the fixed base end of the actuator 3, providing support and positioning for the entire actuator 3. The fourth joint 32 is fixedly connected to the distal end of the insertion tube 12, with no relative movement between them. The fifth joint 33 is rotatably connected to the fourth joint 32 about a third axis extending in the left-right direction. The third axis extends in the left-right direction, allowing the fifth joint 33 to rotate relative to the fourth joint 32 about the third axis. This rotation enables the fifth joint 33 and the sixth joint 34 in front of it to swing the lens assembly 6 in the up-down direction. The sixth joint 34 is rotatably connected to the fifth joint 33 about a fourth axis extending in the up-down direction. The fourth axis extends vertically, that is, perpendicular to the third axis. The sixth joint 34 is capable of rotating about the fourth axis relative to the fifth joint 33 and the fourth joint 32. This rotation allows the sixth joint 34 to swing the lens assembly 6 in the left-right direction. The lens assembly 6 is mounted on the sixth joint 34 and changes its viewing direction as the sixth joint 34 deflects.

[0132] In some exemplary embodiments, four third through holes 35 are equally spaced circumferentially on the fourth joint 32 and the fifth joint 33. It can be understood that the four second through holes 25 are located at the four vertices of the second square. Specifically, the four third through holes 35 are located at the upper left, upper right, lower right, and lower left positions of the fourth joint 32 and the fifth joint 33, respectively. The first traction wire 421, the second traction wire 422, the third traction wire 423, and the fourth traction wire 424, which are led out from the channel inside the insertion tube 12, pass through the third through holes 35 at the upper left, upper right, lower right, and lower left positions of the fourth joint 32 and the fifth joint 33, respectively, and are then connected to the sixth joint 34 at equal circumferential intervals. The connection positions of the four traction wires on the sixth joint 34 are evenly distributed circumferentially, corresponding to the connection positions of each traction wire on the third joint 23 of the operating part 2.

[0133] It should be noted that the actuator 3 adopts a three-joint flexible structure with the same structural configuration as the operating part 2. That is, the fourth joint 32, the fifth joint 33, and the sixth joint 34 of the actuator 3 correspond to the first joint 21, the second joint 22, and the third joint 23 of the operating part 2, respectively. The two have the same structural configuration in terms of the number of joints, the direction of the rotation axis, and the arrangement order, forming a structural isomorphism between the operating end and the actuator end. In other embodiments, the actuator 3 can also adopt a continuous structure, a serpentine structure, a flexible joint structure, or a flexible hinge structure, etc. The above-mentioned alternative structures can also realize the bending of the actuator 3 in the vertical and horizontal directions, and can correspondingly convert the deflection posture of the operating part 2 into the bending posture of the actuator 3 under the drive of each traction wire, realizing the isomorphic posture mapping function between the operating part 2 and the actuator 3.

[0134] According to the above embodiments of this application, by setting the fourth joint 32, the fifth joint 33 and the sixth joint 34 to be rotatably connected in sequence, the actuator 3 can achieve two degrees of freedom or independent bending in the vertical and horizontal directions relative to the axis of the insertion tube. At the same time, by making the fourth joint 32, the fifth joint 33 and the sixth joint 34 of the actuator 3 identical in structural configuration to the first joint 21, the second joint 22 and the third joint 23 of the operating part 2, and by opening four third through holes 35 at equal intervals in the circumferential direction on the fourth joint 32 and the fifth joint 33, the insertion and connection positions of the four traction wires on the actuator 3 side correspond to those on the operating part 2 side. This ensures that a one-to-one mapping relationship is formed between the driving action of each traction wire on the actuator 3 and the deflection posture of the operating part 2, providing a structural basis for the end effector for isomorphic posture mapping between the operating part 2 and the actuator 3.

[0135] like Figures 5 to 8 As shown, according to an embodiment of this application, in response to the tension of the first traction wire 421 and the second traction wire 422, the sixth joint 34 and the fifth joint 33 cause the lens assembly 6 to swing upward relative to the fourth joint 32. In response to the tension of the third traction wire 423 and the fourth traction wire 424, the sixth joint 34 and the fifth joint 33 cause the lens assembly 6 to swing downward relative to the fourth joint 32. In response to the tension of the first traction wire 421 and the fourth traction wire 424, the sixth joint 34 causes the lens assembly 6 to swing to the left relative to the fifth joint 33 and the fourth joint 32. In response to the tension of the second traction wire 422 and the third traction wire 423, the sixth joint 34 causes the lens assembly 6 to swing to the right relative to the fifth joint 33 and the fourth joint 32.

[0136] In some exemplary embodiments, when the operator pushes the operating part 2 to swing forward, the first traction wire 421 and the second traction wire 422 are tightened, and the tension force is transmitted to the actuator 3 via the steering assembly 411 and the crossing assembly 412. The first traction wire 421 and the second traction wire 422 are connected to the upper region of the sixth joint 34, and the tension force acts on the upper side of the sixth joint 34, causing the sixth joint 34 and the fifth joint 33 to rotate upward relative to the fourth joint 32 about the third axis, thereby driving the lens assembly 6 mounted on the sixth joint 34 to swing upward.

[0137] When the operator pushes the operating unit 2 to swing backward, the third traction wire 423 and the fourth traction wire 424 are tightened, and the tension is transmitted to the actuator 3 via the steering assembly 411 and the crossing assembly 412. The third traction wire 423 and the fourth traction wire 424 are connected to the lower region of the sixth joint 34. The tension acts on the lower side of the sixth joint 34, causing the sixth joint 34 and the fifth joint 33 to rotate downward relative to the fourth joint 32 around the third axis, thereby driving the lens assembly 6 to swing downward.

[0138] When the operator pushes the operating unit 2 to swing to the left, the first traction wire 421 and the fourth traction wire 424 are tightened, and the tension is transmitted to the actuator 3 via the steering assembly 411 and the crossing assembly 412. The first traction wire 421 and the fourth traction wire 424 are connected to the left side of the sixth joint 34. The tension acts on the left side of the sixth joint 34, causing the sixth joint 34 to rotate to the left relative to the fifth joint 33 and the fourth joint 32 around the fourth axis, thereby driving the lens assembly 6 to swing to the left.

[0139] When the operator pushes the operating unit 2 to swing to the right, the second traction wire 422 and the third traction wire 423 are tightened, and the tension is transmitted to the actuator 3 via the steering assembly 411 and the crossing assembly 412. The second traction wire 422 and the third traction wire 423 are connected to the right side region of the sixth joint 34, and the tension acts on the right side of the sixth joint 34, causing the sixth joint 34 to rotate to the right relative to the fifth joint 33 and the fourth joint 32 around the fourth axis, thereby driving the lens assembly 6 to swing to the right.

[0140] According to the above embodiments of this application, by connecting four traction wires to the sixth joint 34 of the actuator 3 according to the upper wire group, lower wire group, left wire group and right wire group respectively, the tensioning action of each traction wire can directly drive the actuator 3 to bend in the corresponding direction, realizing a one-to-one mapping relationship between the forward and backward deflection of the operating part 2 and the up and down bending of the actuator 3, and the left and right deflection of the operating part 2 and the left and right bending of the actuator 3.

[0141] like Figures 5 to 8As shown, according to the embodiment of this application, the connection points of the two ends of the first traction wire 421, the second traction wire 422, the third traction wire 423 and the fourth traction wire 424 with the third joint 23 and the sixth joint 34 are respectively located at the four vertices of the first square and the second square. The first square and the second square both have side lengths extending in the left-right direction. The projections of the first axis and the second axis in the up-down direction pass through the center of the first square, and the projections of the third axis and the fourth axis in the front-back direction pass through the center of the second square.

[0142] In some exemplary embodiments, on the third joint 23 of the operating part 2, the connection points of the four traction wires form a first square on a projection plane perpendicular to the axis of the operating part 2. The four vertices of the first square are located at the left front, right front, left rear, and right rear positions, respectively. The first traction wire 421 is connected to the right rear vertex, the second traction wire 422 is connected to the left rear vertex, the third traction wire 423 is connected to the left front vertex, and the fourth traction wire 424 is connected to the right front vertex. The first axis is the rotation axis between the second joint 22 and the first joint 21, extending in the front-back direction; the second axis is the rotation axis between the third joint 23 and the second joint 22, extending in the left-right direction. The projections of the first axis and the second axis in the vertical direction are orthogonal to each other, and the intersection of the projections of the two axes passes through the center of the first square. The side length direction of the first square maintains a specific correspondence with the direction of each rotation axis. The front and back sides of the first square are parallel to the second axis, and the left and right sides are parallel to the first axis.

[0143] In some exemplary embodiments, on the sixth joint 34 of the actuator 3, the connection points of the four traction wires form a second square on a projection plane perpendicular to the axis of the actuator 3. The four vertices of the second square are located at the upper left, upper right, lower left, and lower right positions, respectively, corresponding to the connection layout on the third joint 23. The first traction wire 421 is connected to the upper left vertex of the second square, the second traction wire 422 is connected to the upper right vertex of the second square, the third traction wire 423 is connected to the lower right vertex of the second square, and the fourth traction wire 424 is connected to the lower left vertex of the second square. Here, the connection positions of each traction wire on the second square and the connection positions on the first square are reversed by the up-down reversal of the steering component 411 and the left-right reversal of the crossing component 412, presenting a corresponding relationship after crossing. The third axis is the rotation axis between the fifth joint 33 and the fourth joint 32, extending in the left-right direction; the fourth axis is the rotation axis between the sixth joint 34 and the fifth joint 33, extending in the up-down direction. The projections of the third axis and the fourth axis in the front-back direction are orthogonal to each other, and the intersection point of the projections of the two axes passes through the center of the second square. The side length of the second square maintains a specific correspondence with the direction of each rotation axis. The top and bottom sides of the second square are parallel to the third axis, and the left and right sides are parallel to the fourth axis.

[0144] According to the above embodiments of this application, by arranging the connection points of the four traction wires on the third joint 23 of the operating part 2 and the sixth joint 34 of the execution part 3 as the four vertices of the first square and the second square respectively, and making the intersection of the projections of the first axis and the second axis pass through the center of the first square, and the intersection of the projections of the third axis and the fourth axis pass through the center of the second square, the symmetrical and uniform distribution of the connection points of each traction wire about the two sets of orthogonal rotation axes is achieved, so that each traction wire has an equal lever arm length when performing pitch and yaw drive, ensuring the balance and symmetry of the driving torque of the operating part 2 and the execution part 3 in the two degrees of freedom directions, and improving the accuracy of isomorphic attitude mapping and the consistency of operation feel.

[0145] Figure 9 Schematic illustration Figure 2 The left view of the endoscope shown; Figure 10 Schematic illustration Figure 2 The image shows a cross-sectional view of the insertion tube of the endoscope. Figure 11 Schematic illustration Figure 2 An enlarged schematic diagram of part A in the middle; Figure 12 Schematic illustration Figure 2 A three-dimensional schematic diagram of the inside of an endoscope is shown. Figure 13 Schematic illustration Figure 12 An enlarged schematic diagram of part A in the middle.

[0146] like Figure 1 , Figure 2 , Figures 9 to 13 As shown, the endoscope of this application also includes a distal tube 5, a nozzle 7, and a cleaning channel 8. The distal tube 5 is mounted on the distal end of the actuator 3 (i.e., on the sixth joint), and the distal end of the distal tube 5 is provided with an end cap 51. The lens assembly 6 includes a lens 61 mounted on the end cap 51 for optical observation of the interior of the target object within the patient's body. The nozzle 7 extends partially from the end cap 51 and is configured to face the lens 61. The cleaning channel 8 extends axially from the proximal end of the handle 11 through the insertion tube 12 and the actuator 3 to the distal tube 5, communicating with the nozzle 7 to spray cleaning media through the nozzle 7 onto the outer surface of the lens 61.

[0147] In some exemplary embodiments, the actuator 3 serves as a movable part of the endoscope's front end, used to change the observation direction of the lens 61 disposed at its front end. The end tube 5 is mounted on the sixth joint 34 of the actuator 3, such that the rocker arm 24's rocking motion drives the sixth joint 34 and the end tube 5 to swing via the transmission assembly 42. The end tube 5 extends axially, with an end cap 51 at its distal end. The end tube 5 serves as a transitional connection structure between the actuator 3 and the end cap 51, used to transmit the swinging motion of the actuator 3 to the end cap 51. The end cap 51 is used to integrate and mount front-end functional components such as the lens assembly 6 and the nozzle 7. When the actuator 3 swings, the end tube 5 moves synchronously with the distal end of the actuator 3, thereby causing the end cap 51 and its mounted functional components to move together.

[0148] In some exemplary embodiments, the lens assembly 6 includes a lens 61 mounted on the end cap 51. The lens 61 is used to acquire image information of the interior of the target under inspection and to perform optical observation of the interior of the target. The front end surface of the lens 61 is a light-emitting surface, which is directly exposed to the body cavity environment during surgery and is the main site for contaminant adhesion. The end cap 51 provides mounting positioning and fixed support for the lens 61, so that the lens 61 moves with the end cap 51 when the actuator 3 swings. The lens assembly 6 also includes an imaging device to image the scene observed by the lens and to store the imaging information or transmit the imaging message to the outside via wireless or wired transmission. The imaging device is used to convert the optical image acquired by the lens 61 into an electrical signal. A cable is connected to the rear end of the imaging device, extending axially from the imaging device through the end tube 5, the actuator 3, and the insertion tube 12 to the proximal end of the handle 11, for transmitting the electrical signal generated by the imaging device to an external image processing device. The portion of the cable inside the actuator 3 bends with the swing of the actuator 3, with an appropriate bending allowance to accommodate the swing deformation of the actuator 3.

[0149] In some exemplary embodiments, the rear end (proximal end) of the nozzle 7 is located inside the end tube 5 and communicates with the cleaning channel 8; the front end (distal end) of the nozzle 7 extends from the front end face of the end cap 51, and its outlet faces the outer surface of the lens 61. The nozzle 7 is used to spray the cleaning medium onto the outer surface of the lens 61 in a certain direction and speed to rinse and blow away contaminants adhering to the surface of the lens 61. Since both the nozzle 7 and the lens 61 are mounted on the end cap 51, their relative positions remain unchanged when the actuator 3 swings, so the outlet of the nozzle 7 always faces the outer surface of the lens 61, ensuring the accuracy of the cleaning medium spray direction. The lens 61 and the nozzle 7 can be mounted and fixed on the end cap 51 by any one or more combinations of methods such as bonding, welding, snap-fit, interference fit, threaded connection, or rubber coating. The cleaning channel 8 is used to transport the cleaning medium from the proximal end of the handle 11 to the nozzle 7, and its front end is connected to the rear end of the nozzle 7 inside the end tube 5 to transport the cleaning medium into the flow channel of the nozzle 7.

[0150] According to the endoscope of this application embodiment, by providing an end tube 5 installed at the distal end of the execution unit 3 and an end cap 51 located at the distal end of the end tube 5, both the lens 61 and the nozzle 7 are mounted on the end cap 51. The cleaning channel 8 extends axially from the proximal end of the handle 11 through the insertion tube 12 and the execution unit 3 to the end tube 5 and communicates with the nozzle 7. This ensures that the relative position between the nozzle 7 and the lens 61 remains unchanged when the execution unit 3 swings relative to the insertion tube 12. This allows the cleaning medium to be delivered to the nozzle 7 and accurately sprayed onto the outer surface of the lens 61 through the cleaning channel 8 in any bending posture of the execution unit 3. Intraoperative in-situ rinsing, blowing, and defogging of the lens 61 are achieved without withdrawing the endoscope, improving the continuity of the field of vision and surgical efficiency. Simultaneously, because the relative position of the nozzle 7 and the lens 61 is fixed, the cleaning medium can always be sprayed onto the outer surface of the lens 61 in a predetermined direction, ensuring the cleaning effect even when the execution unit 3 is bent.

[0151] like Figures 9 to 13 As shown, according to the embodiment of this application, the length of the cleaning channel 8 within the actuator 3 is greater than the total length of the actuator 3 in the swing state, so as to accommodate the swing deformation of the actuator 3.

[0152] When the actuator 3 swings relative to the insertion tube 12, it will bend and deform. For the cleaning channel 8 passing through the interior of the actuator 3, if the length of the cleaning channel 8 within the actuator 3 is only equal to the straight-line distance between its two ends in the non-bent state, then when the actuator 3 bends, the path length on the outer side of the bend will be greater than this straight-line distance, causing the cleaning channel 8 to be stretched; the path length on the inner side of the bend may be less than this straight-line distance, causing the cleaning channel 8 to be compressed. Both stretching and compression can lead to loosening or seal failure at the connection between the cleaning channel 8 and the nozzle 7, or the cleaning channel 8 itself may be bent or blocked, affecting the delivery of the cleaning medium.

[0153] To avoid the aforementioned problems, in some exemplary embodiments, the length of the cleaning channel 8 within the actuator 3 is set to be greater than the total length of the actuator 3 in its swinging state. Here, "the total length of the actuator 3 in its swinging state" refers to the outline length of the bending path of the actuator 3 in its maximum bending posture. The length of the cleaning channel 8 within the actuator 3 is greater than this length, i.e., a certain length margin is provided, allowing the cleaning channel 8 to extend or bend with the bending deformation when the actuator 3 bends, without being stretched or excessively bent due to insufficient length. This length margin can be achieved by setting the portion of the cleaning channel 8 within the actuator 3 to a curved or spiral shape, or by using flexible piping and reserving a certain length margin during installation.

[0154] According to the above embodiments of this application, by setting the length of the cleaning channel 8 within the actuator 3 to be greater than the total length of the actuator 3 in the swinging state, the cleaning channel 8 has sufficient length to accommodate its bending deformation in any swinging posture of the actuator 3. This avoids the cleaning channel 8 from being subjected to tensile stress due to insufficient length or from being bent and blocked due to excessive bending. It ensures the smoothness and connection reliability of the cleaning channel 8 during the swinging process of the actuator 3, thereby ensuring that the cleaning medium can be continuously and stably delivered to the nozzle 7 to achieve reliable cleaning of the lens 61.

[0155] like Figures 9 to 13 As shown, according to an embodiment of this application, an illumination assembly 9 is also included, which includes an optical fiber 91 and an optical fiber head 92. The proximal end of the optical fiber 91 is connected to an external light source at the handle 11, and the distal end of the optical fiber 91 extends to the end tube 5. The optical fiber head 92 is mounted on the distal end of the optical fiber 91 and extends out of the end cap 51 to illuminate the observation area of ​​the lens 61, so that the lens assembly 6 can observe and / or image the interior of the target under inspection.

[0156] In some exemplary embodiments, the optical fiber 91 is used to conduct illumination light generated by an external light source from the proximal end to the distal end of the endoscope, providing illumination for the observation area of ​​the lens 61. The proximal end of the optical fiber 91 is connected to the external light source at the handle 11. The external light source is, for example, a separate medical cold light source device, located outside the endoscope, and connected to the optical fiber interface 112 at the proximal end of the handle 11 via a beam guide. After entering the endoscope from the proximal end of the handle 11, the optical fiber 91 extends axially through the insertion tube 12 and the actuator 3 to the end tube 5. The portion of the optical fiber 91 inside the insertion tube 12 extends straight axially, while the portion inside the actuator 3 bends with the curvature of the actuator 3. The distal end of the optical fiber 91 extends into the end tube 5 and is fitted with an optical fiber head 92. The optical fiber head 92 is the light-emitting end face of the distal end of the optical fiber 91, fixed to the end cap 51, and extends from the front end face of the end cap 51, with its light-emitting direction facing the observation area in front of the lens 61. The fiber optic head 92 emits illumination light transmitted from the fiber optic head 91 into the surgical field area in front of the lens 61, illuminating the interior of the target under examination, enabling the lens assembly 6 to observe and / or image the interior of the target. For example, the fiber optic head 91 can be a bundle of multiple optical fibers, and the fiber optic head 92 is the light-emitting end face formed after end-face processing of the distal end of the fiber bundle. The fiber optic head 92 can be fixed to the end cap 51 by means of bonding, welding, snap-fitting, or interference fit to ensure that the fiber optic head 92 does not loosen or fall off during the swinging of the actuator 3.

[0157] According to the above embodiments of this application, by setting an illumination assembly 9 including an optical fiber 91 and an optical fiber head 92, the proximal end of the optical fiber 91 is connected to an external light source at the handle 11, and the distal end extends to the end tube 5. The optical fiber head 92 is installed at the distal end of the optical fiber 91 and extends out of the end cap 51. This realizes the transmission and emission of illumination light from the proximal end to the distal end of the endoscope, so that the observation area in front of the lens 61 is adequately illuminated. This ensures that the lens assembly 6 can clearly observe and image the target under examination in the dark environment inside the body cavity. At the same time, since the optical fiber head 92 is fixed on the end cap 51, when the actuator 3 swings, the optical fiber head 92 moves synchronously with the end cap 51. The illumination direction is always consistent with the observation direction of the lens 61, ensuring that the observation area can be effectively illuminated in any bending posture.

[0158] like Figures 9 to 13 As shown, according to an embodiment of this application, the end tube 5 further includes a transparent protective film disposed on the distal side of the end cap 51. The protective film covers the lens 61 and the fiber optic head 92, and the nozzle 7 extends out of the protective film and sprays a cleaning medium toward the protective film.

[0159] In some exemplary embodiments, a protective film is located in front of the end cap 51, covering the lens 61 and the fiber optic head 92. The protective film is made of a transparent medical material, such as quartz glass or a transparent medical-grade polymer, and has good light transmittance and biocompatibility. The protective film is fixed to the front end face of the end cap 51, forming a sealed connection with the end cap 51 to prevent liquids and contaminants from entering the end tube 5, protecting the lens 61 and fiber optic head 92 from direct contact and contamination. A nozzle 7 extends from a corresponding through-hole in the protective film, with the outlet of the nozzle 7 located outside the protective film. The outlet of the nozzle 7 faces the outer surface of the protective film, and the cleaning medium is sprayed through the nozzle 7 onto the outer surface of the protective film to rinse and blow away contaminants adhering to the outer surface of the protective film. Because the protective film covers the lens 61 and the fiber optic head 92, the lens 61 and the fiber optic head 92 are not directly exposed to the impact of the sprayed cleaning medium, thereby avoiding potential damage to the lens 61 and the fiber optic head 92 caused by the high-pressure cleaning medium. Meanwhile, the outer surface of the protective film serves as the cleaning medium, and the cleaned protective film maintains good light transmittance, ensuring that the observation of the lens 61 and the illumination of the fiber optic head 92 are not affected.

[0160] In some exemplary embodiments, the protective film can be fixed to the front end face of the end cap 51 by means of adhesive bonding, snap-fitting, or overmolding. A seal can be provided at the through hole between the protective film and the nozzle 7 to prevent cleaning media or body cavity fluid from seeping into the end tube 5 through the through hole.

[0161] According to the above embodiments of this application, by setting a transparent protective film to cover the lens 61 and the fiber optic head 92, and by having the nozzle 7 extend out of the protective film and spray the cleaning medium toward the outer surface of the protective film, the physical protection of the lens 61 and the fiber optic head 92 and the surface cleaning are separated. The cleaning medium only acts on the outer surface of the protective film, avoiding the damage that direct spraying may cause to the optical components, while ensuring that the observation clarity of the lens 61 and the illumination brightness of the fiber optic head 92 are not affected after cleaning.

[0162] like Figures 9 to 13 As shown, according to an embodiment of this application, two nozzles 7 are provided, and the two nozzles 7 are configured to alternately spray cleaning liquid or cleaning gas simultaneously. Alternatively, one nozzle 7 is configured to spray cleaning liquid, and the other nozzle 7 is configured to spray cleaning gas, and the spraying of cleaning liquid and spraying of cleaning gas are performed alternately.

[0163] In some exemplary embodiments, the two nozzles 7 are configured to alternately spray cleaning liquid or cleaning gas simultaneously. Both nozzles 7 may be connected to the same cleaning channel 8, or they may be connected to two separate cleaning channels 8. By controlling the switching of the type of cleaning medium supply source, the two nozzles 7 can simultaneously spray cleaning liquid or cleaning gas. When the two nozzles 7 simultaneously spray cleaning liquid, contaminants such as blood and tissue fluid adhering to the surfaces of the two lenses 61 are washed away. Then, the system switches to the two nozzles 7 simultaneously spraying cleaning gas, using the purging action of the gas to disperse any remaining droplets and contaminants on the surfaces of the two lenses 61, restoring the surfaces of the two lenses 61 to dryness and cleanliness.

[0164] In other exemplary embodiments, the two nozzles 7 are respectively connected to two cleaning channels 8, one for conveying cleaning liquid and the other for conveying cleaning gas, thereby achieving a configuration where one nozzle 7 sprays cleaning liquid and the other nozzle 7 sprays cleaning gas. The spray range of the cleaning liquid nozzle and the cleaning gas nozzle can cover both lenses. After the liquid nozzle completes rinsing, the gas nozzle is used to blow clean the rinsed lens area. It is understood that the specific number and connection method of the cleaning channels can be flexibly set according to actual needs.

[0165] According to the above embodiments of this application, by setting two nozzles 7 and configuring the two nozzles 7 to alternately spray cleaning liquid or cleaning gas simultaneously, or one spraying cleaning liquid and the other spraying cleaning gas, separate coverage and independent cleaning of the two lens surfaces in the binocular lens are achieved, so that each lens can be effectively rinsed and blown, ensuring the imaging quality of the lens during the operation. At the same time, the combination of liquid rinsing and gas blowing improves the cleaning efficiency and cleaning effect.

[0166] like Figures 9 to 11As shown, according to an embodiment of this application, an annular guide groove 52 is formed on the outer side of the protective film near the edge to guide the cleaning liquid blown by the cleaning gas to flow along the guide groove 52.

[0167] In some exemplary embodiments, the guide channel 52 is located in the circumferential edge region of the outer surface of the protective film, extending circumferentially to form an annular channel. The radial position of the guide channel 52 is close to the outer edge of the protective film, outside the effective observation area of ​​the lens 61 and the fiber optic head 92, to avoid obstructing the imaging and illumination optical paths. The cross-section of the guide channel 52 can be V-shaped, U-shaped, rectangular, or arc-shaped, capable of accommodating and guiding the blown cleaning liquid along the channel. When the cleaning medium is sprayed onto the outer surface of the protective film through the nozzle 7, the cleaning liquid first covers the surface of the protective film, rinsing away contaminants on the protective film. Subsequently, the cleaning gas is blown across the surface of the protective film through the nozzle 7, dispersing the remaining cleaning liquid and detached contaminants toward the edge of the protective film. As the blown cleaning liquid flows from the outer surface of the protective film toward the edge, it reaches the guide channel 52 and enters the channel, flowing along the annular path of the guide channel 52, thus preventing the blown cleaning liquid from flowing back to the central region of the protective film. The guide channel 52 can be provided with an opening in the area below the outer surface of the protective membrane, so that the cleaning liquid flowing along the channel can be more easily discharged under the action of gravity.

[0168] According to the above embodiments of this application, by forming an annular guide groove 52 near the outer edge of the protective film, a directional flow channel is provided for the cleaning liquid blown away by the cleaning gas, so that the cleaning liquid can flow and be discharged in an orderly manner along the guide groove 52, avoiding the cleaning liquid from obstructing the field of view on the surface of the protective film, thereby ensuring the light transmittance of the protective film and the clarity of the observation area after cleaning, and improving the reliability and cleaning effect of lens cleaning.

[0169] Figure 14 Schematic illustration Figure 1 The flowchart shown is for the supply control module of the endoscope.

[0170] like Figure 14 As shown in the embodiment of this application, it also includes a supply module 10, comprising a gas supply branch, a liquid supply branch, and a mixing connector 101. The gas supply branch is used to deliver clean gas. The liquid supply branch is used to deliver clean liquid. One end of the mixing connector 101 is connected to both the gas supply branch and the liquid supply branch, and the other end is connected to the cleaning channel 8 at the interface 112 of the handle 11.

[0171] In some exemplary embodiments, the supply module 10 is used to deliver cleaning liquid and cleaning gas to the nozzle 7, and to control the timing, sequence, pressure, and flow rate of the cleaning medium input. A gas supply branch is used to deliver cleaning gas, such as carbon dioxide, and a liquid supply branch is used to deliver cleaning liquid, such as saline, sterile water, or other medical cleaning liquid. A mixing connector 101 is used to collect the media output from the gas and liquid supply branches and send them into the cleaning channel 8. The cleaning medium is then delivered to the nozzle 7 via the cleaning channel 8 and sprayed onto the surface of the lens 61.

[0172] In some exemplary embodiments, the gas supply branch includes a gas source 102, a coarse-adjustment pressure reducing valve 103, a pressure relief valve 104, a solenoid valve 105, a fine-adjustment pressure reducing valve 106, a proportional valve 107, a gas flow meter 108, and a check valve 109. The gas source 102 provides clean gas; the coarse-adjustment pressure reducing valve 103 initially reduces the gas pressure; the pressure relief valve 104 releases pressure when the gas pressure exceeds a preset threshold, ensuring pipeline safety; the solenoid valve 105 controls the on / off state of the gas path; the fine-adjustment pressure reducing valve 106 finely adjusts the gas pressure; the proportional valve 107 continuously adjusts the gas flow rate according to a control signal; the gas flow meter 108 monitors the real-time gas flow rate; and the check valve 109 prevents backflow of the medium in the gas pipeline. These components are arranged sequentially along the gas flow direction to jointly achieve the functions of gas pressure reduction, on / off state, flow regulation, and backflow prevention.

[0173] In some exemplary embodiments, the liquid supply branch includes a storage container 110, a liquid pump 113, and a check valve 109. The storage container 110 is used to store cleaning liquid; the liquid pump 113 is used to pump the cleaning liquid from the storage container 110 and deliver it to the mixing connector 101; the check valve 109 is used to prevent gas or mixed media from flowing back from the mixing connector 101 to the liquid supply branch.

[0174] In some exemplary embodiments, during the cleaning process, cleaning liquid and cleaning gas can be delivered to nozzle 7 separately or jointly via mixing connector 101. The system can employ various spraying methods, such as water-to-air, air-to-water, alternating water and air, simultaneous water and air spraying, or pulse spraying. The water-to-air method involves first delivering cleaning liquid for rinsing, then delivering cleaning gas for purging to disperse residual droplets; the air-to-water method involves first using gas to remove loose particles from the surface, then rinsing with liquid; the alternating water and air method involves alternating spraying of liquid and gas at preset time intervals; the simultaneous water and air spraying method involves simultaneous spraying of liquid and gas to form a mixed jet; and the pulse spraying method involves outputting liquid or gas in a pulsed form to enhance the impact effect on contaminants. The above spraying methods can be selected according to the actual degree of contamination and cleaning needs during surgery to achieve effective rinsing and purging of the lens 61 surface.

[0175] In some exemplary embodiments, when the supply module 10 is used for a robot-assisted endoscope or an automatic endoscope holder, the supply module 10 can be connected to a robot control system, an endoscope control handle, a manual button, a foot switch, or a control circuit, and trigger a cleaning action via an external control signal. The cleaning action is a control method used to keep the endoscope lens clear and not change the endoscope's observation direction.

[0176] According to the above embodiments of this application, by setting a supply module 10 including a gas supply branch, a liquid supply branch, and a mixing connector 101, the gas supply branch and the liquid supply branch are respectively connected to one end of the mixing connector 101, and the other end of the mixing connector 101 is connected to the cleaning channel 8 at the interface 112 of the handle 11. This realizes the orderly delivery and collection of cleaning liquid and cleaning gas from the external supply source to the internal cleaning channel 8 of the endoscope. This allows the cleaning medium to be sprayed onto the surface of the lens 61 through the nozzle 7 in various ways, such as water first then air, air first then water, water and air alternation, water and air simultaneously, or pulse jet, according to the surgical requirements. This improves the delivery efficiency of the cleaning medium and the flexibility of the cleaning method, ensuring that the lens 61 can be effectively rinsed and blown under different levels of contamination, and achieving reliable cleaning of the lens 61.

[0177] 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, characterized in that, include: The main body (1) includes a handle (11) and an insertion tube (12) extending axially from the distal end of the handle (11). The operating part (2), which extends radially from the handle (11), is configured to swing relative to the handle (11) in the front-back direction parallel to the axial direction and in the left-right direction perpendicular to the axial direction. The actuator (3) is installed at the distal end of the insertion tube (12) and includes a lens assembly (6). The transmission unit (4) includes: The transmission assembly (42) is connected between the operation part (2) and the execution part (3) and passes through the insertion tube (12). as well as The guide assembly (41), installed in the handle (11), is configured to guide the transmission direction of the transmission assembly (42), such that the transmission part (4) maps the swing of the operation part (2) in the front-back direction and the left-right direction to the swing of the execution part (3) relative to the insertion tube (12) in the up-down direction and the left-right direction, so as to adjust the observation direction of the lens assembly (6).

2. The endoscope according to claim 1, characterized in that, The transmission assembly (42) includes a first traction wire (421), a second traction wire (422), a third traction wire (423), and a fourth traction wire (424). The combination of the first traction wire (421) and the second traction wire (422), and the combination of the third traction wire (423) and the fourth traction wire (424) are configured to drive the actuator (3) to swing up or down via the guide assembly (41) in response to the forward or backward swing of the operating part (2); The combination of the first traction wire (421) and the fourth traction wire (424), and the combination of the second traction wire (422) and the third traction wire (423) are configured to drive the actuator (3) to swing left or right in response to the left or right swing of the operating part (2) via the guide assembly (41).

3. The endoscope according to claim 2, characterized in that, The guide component (41) includes: The steering assembly (411) is configured to convert the transmission of the transmission assembly (42) in the radial direction into the transmission in the axial direction, guide the first traction wire (421) and the second traction wire (422) connected to the rear side of the operating part (2) to the upper side connected to the actuator (3), and guide the third traction wire (423) and the fourth traction wire (424) connected to the front side of the operating part (2) to the lower side connected to the actuator (3); The cross assembly (412), disposed between the steering assembly (411) and the actuator (3), is configured to connect the first traction wire (421) and the second traction wire (422) to the upper side of the actuator (3) after crossing, and to connect the third traction wire (423) and the fourth traction wire (424) to the lower side of the actuator (3) after crossing.

4. The endoscope according to claim 3, characterized in that, The steering assembly (411) includes: The first guide wire wheel assembly (4111), disposed above the axial extension direction of the insertion tube (12), is configured to convert the radial transmission of the first traction wire (421) and the second traction wire (422) into axial transmission; and The second guide wire wheel assembly (4112), located below the axial extension direction of the insertion tube (12) and in front of the first guide wire wheel assembly (4111), is configured to convert the radial transmission of the third traction wire (423) and the fourth traction wire (424) into axial transmission.

5. The endoscope according to claim 3, characterized in that, The cross assembly (412) includes two guide wire rings, which are coaxially spaced from the insertion tube (12). Each guide wire ring has four first through holes circumferentially spaced. The first traction wire (421) and the second traction wire (422) pass through two first through holes of one guide wire ring and cross each other before passing through two first through holes of the other guide wire ring. The third traction wire (423) and the fourth traction wire (424) pass through the other two first through holes of one guide wire ring and cross each other before passing through the other two first through holes of the other guide wire ring.

6. The endoscope according to claim 2, characterized in that, The operating unit (2) includes: The first joint (21) is mounted on the handle (11). The second joint (22) is rotatably coupled to the first joint (21) about a first axis extending in the front-rear direction; and The third joint (23) is rotatably connected to the second joint (22) around a second axis extending in the left-right direction. The first joint (21) and the second joint (22) are provided with four second through holes (25) at equal intervals in the circumference. The first traction wire (421), the second traction wire (422), the third traction wire (423) and the fourth traction wire (424) pass through the second through holes of the first joint (21) and the second joint (22) respectively and are then connected to the third joint (23) at equal intervals in the circumference.

7. The endoscope according to claim 6, characterized in that, The operating unit (2) further includes: A rocker arm (24), mounted on the third joint (23), is configured to tighten the first traction wire (421) and the second traction wire (422) by driving the rocker arm (24) to swing the third joint (23) forward relative to the second joint (22) and the first joint (21); to tighten the third traction wire (423) and the fourth traction wire (424) by driving the rocker arm to swing the third joint (23) backward relative to the second joint (22) and the first joint (21); to tighten the first traction wire (421) and the fourth traction wire (424) by driving the rocker arm (24) to swing the third joint (23) and the second joint (22) to swing to the left relative to the first joint (21); and to tighten the second traction wire (422) and the third traction wire (423) by driving the rocker arm (24) to swing the third joint (23) and the second joint (22) to swing to the right relative to the first joint (21).

8. The endoscope according to claim 6, characterized in that, The execution unit (3) also includes: The fourth joint (32) is installed at the distal end of the insertion tube (12); The fifth joint (33) is rotatably joined to the fourth joint (32) about a third axis extending in the left-right direction; and The sixth joint (34) is rotatably connected to the fifth joint (33) about a fourth axis extending in the vertical direction. The lens assembly (6) is mounted on the sixth joint (34). The fourth joint (32) and the fifth joint (33) are provided with four third through holes (35) at equal intervals in the circumferential direction. The first traction wire (421), the second traction wire (422), the third traction wire (423) and the fourth traction wire (424) led out from the insertion tube (12) pass through the third through holes of the fourth joint (32) and the fifth joint (33) respectively and are then connected to the sixth joint (34) at equal intervals in the circumferential direction.

9. The endoscope according to claim 8, characterized in that, In response to the tensioning of the first traction wire (421) and the second traction wire (422), the sixth joint (34) and the fifth joint (33) cause the lens assembly (6) to swing upward relative to the fourth joint (32); In response to the tensioning of the third traction wire (423) and the fourth traction wire (424), the sixth joint (34) and the fifth joint (33) cause the lens assembly (6) to swing downward relative to the fourth joint (32); In response to the tensioning of the first traction wire (421) and the fourth traction wire (424), the sixth joint (34) causes the lens assembly (6) to swing to the left relative to the fifth joint (33) and the fourth joint (32); In response to the tightening of the second traction wire (422) and the third traction wire (423), the sixth joint (34) causes the lens assembly (6) to swing to the right relative to the fifth joint (33) and the fourth joint (32).

10. The endoscope according to claim 8, characterized in that, The two ends of the first traction wire (421), the second traction wire (422), the third traction wire (423) and the fourth traction wire (424) are connected to the third joint (23) and the sixth joint (34) respectively at the four vertices of the first square and the second square. The first square and the second square both have side lengths extending in the left and right direction. The projections of the first axis and the second axis in the up and down direction pass through the center of the first square, and the projections of the third axis and the fourth axis in the front and back direction pass through the center of the second square.

Images