Endoscope insertion part and endoscope

Abstract

The utility model relates to the technical field of endoscopes, and particularly discloses an endoscope insertion portion and an endoscope, the endoscope insertion portion comprises a shell, an insertion portion, a traction wheel, a traction rope, a liquid feeding channel and an air feeding channel, the near end of the insertion portion is connected with the shell, the traction wheel is rotatably arranged in the shell, one end of the traction rope is connected to the far end of the insertion portion, and the other end of the traction rope is connected with the air feeding channel. The other end of the traction rope is connected with the traction wheel, the traction wheel is provided with a butt joint part exposed out of the surface of the shell, the butt joint part is used for being in butt joint with the mechanical arm, the far end of the liquid feeding channel extends to the far end of the insertion part, and the near end of the liquid feeding channel extends into the shell; according to the endoscope, the closed part of the stomach can be opened, the endoscope can conduct effective examination, liquid is fed through the liquid feeding channel to wash and clean dirt and secreta on the surface of gastric mucosa, the insertion part of the endoscope can be integrally abandoned, and the endoscope has the advantages of being convenient to use, low in cost and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of endoscopes, in particular to an endoscope insertion part and an endoscope. Background Art

[0002] As a medical diagnostic device, an endoscope can enter the body and capture images of lesions through a camera module packaged at the far end, providing doctors with sufficient diagnostic information to treat diseases.

[0003] Endoscopes can be classified according to the parts they reach, such as bronchoscopes, nephroscopes and digestive endoscopes. In related technologies, digestive endoscopes can be held by doctors for corresponding surgical operations, or their insertion parts can be connected to the robot's mechanical arm, and the mechanical arm can be used to bend and control the insertion part. However, in related technologies, when digestive endoscopes connected to mechanical arms are used in specific applications, there are problems such as difficulty in probing the far end of the insertion part and blurred observation fields, which lead to patient discomfort and long examination times. Utility Model Content

[0004] The utility model discloses an endoscope insertion part and an endoscope, so as to solve the technical problems of the endoscope connected with a mechanical arm in the related technology that the endoscope is difficult to insert and the observation field is blurred.

[0005] In order to solve the above problems, the utility model adopts the following technical solutions:

[0006] In a first aspect, the present application provides an endoscope insertion portion, which is applied to an endoscope, and the endoscope insertion portion includes a housing, an insertion portion, a traction wheel, a traction rope, a liquid delivery channel, and an air delivery channel; wherein:

[0007] The proximal end of the insertion part is connected to the shell, the traction wheel is rotatably arranged in the shell, one end of the traction rope is connected to the distal end of the insertion part, and the other end of the traction rope is connected to the traction wheel, and the traction wheel has a docking portion exposed on the surface of the shell, and the docking portion is used to dock with the robotic arm to drive the traction wheel to rotate.

[0008] The distal end of the liquid delivery channel extends to the distal end of the insertion portion, and the proximal end of the liquid delivery channel extends into the shell. The shell is provided with a first docking nozzle connected to the liquid delivery channel.

[0009] The distal end of the air supply channel extends to the distal end of the insertion portion, and the proximal end of the air supply channel extends into the shell. The shell is provided with a second docking nozzle connected to the air supply channel.

[0010] Furthermore, the endoscope insertion portion also includes an instrument channel, the distal end of the instrument channel extends to the distal end of the insertion portion, and the proximal end of the instrument channel extends into the shell, and the shell has an instrument mouth and a negative pressure mouth connected to the instrument channel, and the extension direction of the instrument mouth is consistent with the extension direction of the proximal end of the instrument channel.

[0011] Furthermore, the instrument nozzle and the negative pressure nozzle are integrally formed.

[0012] Further, the docking portion, the first docking nozzle and the second docking nozzle are arranged on the same side of the shell, and the instrument nozzle is arranged on a side of the shell opposite to the docking portion.

[0013] Further, the first docking nozzle and the second docking nozzle are arranged on both sides of a first direction, and the first direction is the extension direction of the proximal end of the insertion portion; and / or the two traction wheels are arranged on both sides of the first direction, and the first direction is the extension direction of the proximal end of the insertion portion.

[0014] Furthermore, the extension direction of the instrument mouth toward the proximal end is inclined relative to the first direction, and the angle between the extension direction of the instrument mouth toward the proximal end and the first direction is less than or equal to 45°.

[0015] Furthermore, the traction wheel has two traction rope installation positions distributed along its axial direction, and the two traction ropes that control the distal ends of the insertion parts to bend in opposite directions are connected to the two traction rope installation positions of the same traction wheel.

[0016] Further, an extension length of the traction wheel along its axial direction is greater than a radius of the traction wheel.

[0017] Furthermore, the endoscope insertion part also includes an electrical connection part and an electrical connection line, wherein the electrical connection part is arranged in the shell, the distal end of the electrical connection line extends to the distal end of the insertion part, and the proximal end of the electrical connection line extends into the shell and is connected to the electrical connection part.

[0018] In a second aspect, the present application also provides an endoscope, comprising the aforementioned endoscope insertion portion.

[0019] The technical solution adopted by the utility model can achieve the following beneficial effects:

[0020] The endoscope insertion part and endoscope of the present application can be assembled to the robot arm of the robot, and the robot arm docks with the docking part of the traction wheel to control the rotation of the traction wheel, and then controls the active bending section at the distal end of the insertion part to perform corresponding bending movements, which has high flexibility and precision. The gas supply through the air supply channel can expand the digestive tract, making it easy for the distal end of the insertion part to probe into the digestive tract, reducing the difficulty of the distal end of the insertion part, and also making the cavity wall of the digestive tract better displayed. The liquid supply through the liquid supply channel can flush and clean the dirt and secretions in the digestive tract, so that the camera module at the distal end of the insertion part can more clearly capture the lesion site, improving the accuracy of observation and the accuracy of diagnosis.

[0021] At the same time, after the inspection is completed, the endoscope insertion part can be separated from the robotic arm, and after separation, the endoscope insertion part can be discarded as a whole to avoid cross infection. It has the characteristics of easy use, high safety and low disposal cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is a schematic structural diagram of an endoscope insertion portion according to an embodiment of the present application;

[0024] Figure 2 yes Figure 1 A local enlarged schematic diagram of the middle A;

[0025] Figure 3 is a schematic diagram of the structure of the endoscope insertion portion of an embodiment of the present application after the housing is hidden;

[0026] Figure 4 yes Figure 3 A partial enlarged schematic diagram of point B in the middle;

[0027] Figure 5 It is a schematic diagram of the connection between the traction wheel and the traction rope in an embodiment of the present application.

[0028] In the figure:

[0029] 100, shell; 200, insertion part; 300, traction wheel; 310, docking part; 320, traction rope installation position; 400, traction rope; 500, liquid delivery channel; 600, air delivery channel; 700, instrument channel; 810, first docking nozzle; 820, second docking nozzle; 830, instrument nozzle; 840, negative pressure nozzle; 900, electrical connection part; 1000, electrical connection line. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0031] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0032] The following is combined with Figures 1 to 5 , the endoscope insertion part and the endoscope provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0033] See also Figure 1 , Figure 2 and Figure 4 The present application provides an endoscope insertion part, in particular, an endoscope insertion part used for digestive endoscopes, the endoscope insertion part is used to connect to a robotic arm, the endoscope insertion part includes a shell 100, an insertion part 200, a traction wheel 300, a traction rope 400, a liquid delivery channel 500 and an air delivery channel 600, wherein the insertion part 200 is a tubular configuration as a whole, the proximal end of the insertion part 200 is connected to the shell 100, and the distal end of the insertion part 200 is provided with a camera module and a lighting module, the distal end of the insertion part 200 can enter the digestive tract through the natural cavity of the human body, and when the lighting module provides light, the doctor can intuitively see the situation inside the digestive tract through the image captured by the camera module, so as to make a diagnosis and treatment.

[0034] In the examples of this application, see Figure 3 and Figure 4 The traction wheel 300 is rotatably arranged in the housing 100. The traction wheel 300 has a docking portion 310 exposed on the surface of the housing 100. The docking portion 310 is used to dock with the robot arm of the robot to drive the traction wheel 300 to rotate. Exemplarily, the docking portion 310 can be a docking protrusion that plugs and matches with the robot arm. The docking protrusion is preferably arranged to be two symmetrical about the axial direction of the traction wheel 300. The robot arm is provided with a docking recess corresponding to the docking protrusion. The docking protrusion and the docking recess are plugged and matched, so that the driving part in the robot arm can drive the traction wheel 300 to rotate; of course, in other embodiments of the present application, the docking protrusion can be arranged on the robot arm, and the docking recess can be arranged on the traction wheel 300.

[0035] In the embodiment of the present application, an active bending section is further provided at the distal end of the insertion portion 200, the proximal end of the traction rope 400 is connected to the traction wheel 300, and the distal end of the traction rope 400 is connected to the active bending section. The traction wheel 300 is driven to rotate by the robotic arm, and the traction rope 400 can be pulled to make the active bending section bend in a preset direction. The robotic arm controls the bending movement of the active bending section with high flexibility and precision, and can more accurately position and manipulate the digestive endoscope, reduce operating errors, and at the same time reduce interference caused by factors such as doctor's hand tremors, thereby improving the stability and reliability of the examination.

[0036] In the embodiment of the present application, the distal end of the liquid delivery channel 500 extends to the distal end of the insertion part 200, and the proximal end of the liquid delivery channel 500 extends into the housing 100. The housing 100 has a first docking nozzle 810 connected to the liquid delivery channel 500. The first docking nozzle 810 is used to dock with an external liquid path. The external liquid path can be selectively arranged on the robot's mechanical arm. When the housing 100 is docked with the mechanical arm, the first docking nozzle 810 can be synchronously docked with the upper liquid path. The water delivered through the liquid delivery channel 500 can flush and clean the dirt and secretions in the digestive tract, so as to observe the lesion more clearly. At the same time, the water delivered into the digestive tract can also expand the gastric mucosa and show it better, which is conducive to the doctor's accurate diagnosis.

[0037] In an embodiment of the present application, the distal end of the air supply channel 600 extends to the distal end of the insertion portion 200, and the proximal end of the air supply channel 600 extends into the shell 100. The shell 100 has a second docking nozzle 820 connected to the air supply channel 600. The second docking nozzle 820 is used to dock with an external air circuit. The external air circuit can be selectively arranged on the robotic arm of the robot. When the shell 100 is docked with the robotic arm, the second docking nozzle 820 can be synchronously docked with the upper air circuit. The air supply through the air supply channel 600 can expand the gastric cavity, so that the gastric mucosa can be better displayed, further improving the accuracy of observation and the accuracy of diagnosis.

[0038] Based on the above technical solution, the endoscope insertion part of the present application can be assembled to the robot arm of the robot, and the robot arm docks with the docking part 310 of the traction wheel 300 so as to control the rotation of the traction wheel 300, and then control the active bending section at the distal end of the insertion part 200 to perform corresponding bending movements, which has high flexibility and precision. The gas supply through the air supply channel 600 can expand the digestive tract, making it easy for the distal end of the insertion part 200 to probe into the digestive tract, reducing the difficulty of the distal end of the insertion part 200 to probe into the digestive tract, and at the same time, the cavity wall of the digestive tract can be better displayed. The liquid supply through the liquid supply channel 500 can flush and clean the dirt and secretions in the digestive tract, so that the camera module at the distal end of the insertion part 200 can more clearly capture the lesion site, improving the accuracy of observation and the accuracy of diagnosis.

[0039] At the same time, after the inspection is completed, the endoscope insertion part can be separated from the robotic arm, and after separation, the endoscope insertion part can be discarded as a whole to avoid cross infection. It has the characteristics of easy use, high safety and low disposal cost.

[0040] In a preferred embodiment of the present application, the first docking nozzle 810 and the second docking nozzle 820 are preferably arranged on both sides of the extension direction of the proximal end of the insertion portion 200. In this way, the liquid delivery channel 500 connected to the first docking nozzle 810 and the air delivery channel 600 connected to the second docking nozzle 820 will not have a large bend, thereby ensuring the smoothness of liquid and air delivery.

[0041] In a preferred embodiment of the present application, the number of traction wheels 300 may be two, and each traction wheel 300 is connected to two traction ropes 400 for controlling the active bending section to bend in opposite directions, so that the active bending section at the distal end of the insertion portion 200 can be bent in four directions. For example, the rotation of one traction wheel 300 can achieve the front-back bending of the active bending section, and the rotation of the other traction wheel 300 can achieve the left-right bending of the active bending section. It can be understood that the two traction ropes 400 connected to the same traction wheel 300 are wound on the traction wheel 300 in opposite ways.

[0042] In the examples of this application, please continue to refer to Figure 2 and Figure 4The insertion part of the endoscope may also include an instrument channel 700, the distal end of the instrument channel 700 extends to the distal end of the insertion part 200, and the proximal end of the instrument channel 700 extends into the housing 100. The housing 100 has an instrument mouth 830 connected to the instrument channel 700, and the extension direction of the instrument mouth 830 is consistent with the extension direction of the proximal end of the instrument channel 700. The operator can insert a treatment instrument (such as a biopsy forceps) into the human body through the instrument mouth 830 and the instrument channel 700 to perform a corresponding surgical operation, which has the characteristics of convenient operation. It should be noted that because the instrument channel 700 extends into the housing 100 and is adaptively docked with the instrument mouth 830, the extension direction of the proximal end of the instrument channel 700 may be different from the extension direction of the proximal end of the insertion part 200. In an optional embodiment of the present application, the extension direction of the instrument mouth 830 to the proximal end is inclined relative to the first direction, so that the instrument mouth 830 can extend from the side of the housing 100 facing away from the mechanical arm, which is convenient for the operator to insert the treatment instrument into the instrument mouth.

[0043] In the preferred embodiment of this application, see Figure 4 The angle between the proximal extension direction of the instrument mouth 830 and the first direction is less than or equal to 45°. In this way, the instrument mouth 830 can be extended from the side of the shell 100 facing away from the robot arm, which is convenient for the operator to insert the instrument. At the same time, a smaller inclination angle can be maintained relative to the first direction, thereby reducing the friction resistance of the treatment instrument and improving the smoothness of the treatment instrument insertion.

[0044] In the embodiment of the present application, the endoscope insertion part may also include a negative pressure nozzle 840 provided on the housing 100, the negative pressure nozzle 840 is connected to the instrument channel 700, and the negative pressure nozzle 840 is connected to a negative pressure source. The negative pressure nozzle 840 and the instrument channel 700 can be used to remove blood, body fluids, tissue fragments or other substances that may affect the clarity of the surgical field of view by negative pressure suction, so as to ensure that the doctor can clearly see the surgical site, thereby performing the surgical operation more accurately and safely. In a preferred embodiment of the present application, the instrument nozzle 830 and the negative pressure nozzle 840 can be integrally formed to form a three-way structure connected to the instrument channel 700.

[0045] Please continue to see Figure 2 and Figure 4 The entire shell 100 is a roughly square structure, the docking portion 310, the first docking nozzle 810 and the second docking nozzle 820 are arranged on the same side of the shell 100, and the instrument nozzle 830 is arranged on the side of the shell 100 opposite to the docking portion 310. In specific applications, the side of the shell 100 where the docking portion 310, the first docking nozzle 810 and the second docking nozzle 820 are provided faces the robotic arm and is connected to the robotic arm, and the instrument nozzle 830 faces away from the robotic arm, so that the operator can insert the treatment instrument conveniently.

[0046] As can be seen from the above, each traction wheel 300 is connected to two traction ropes 400. For details, see Figure 4 The traction wheel 300 has two traction rope installation positions 320 distributed along its axial direction, and the two traction ropes 400 that control the distal end of the insertion part 200 to bend in opposite directions are connected to the two traction rope installation positions 320 of the same traction wheel 300. Exemplarily, the outer periphery of the traction wheel 300 is provided with longitudinally extending convex strips, and the two traction rope installation positions 320 are installation holes opened on the convex strips. The traction rope 400 is inserted into the installation holes and can be relatively fixed with the convex strips by means of ball head limit or welding. It can be understood that the two traction ropes 400 are wound in opposite ways on the traction wheel 300.

[0047] For further technical solutions, see Figure 5 The extension length of the traction wheel 300 in the axial direction is greater than the radius of the traction wheel 300. In a preferred embodiment, the extension length of the traction wheel 300 in the axial direction is not less than the diameter of the traction wheel 300. In this way, on the one hand, the axial length of the traction wheel 300 is relatively large, which can increase the rotation stability of the traction wheel 300 and is not prone to tilting. On the other hand, the two traction rope installation positions 320 can have a suitable distribution spacing in the axial direction of the traction wheel 300, which can avoid the situation where the traction rope 400 is twisted due to too small a spacing.

[0048] In the examples of this application, please continue to refer to Figure 4 The insertion part of the endoscope also includes an electrical connection part 900 and an electrical connection line 1000. The electrical connection part 900 is arranged in the shell 100. The distal end of the electrical connection line 1000 extends to the distal end of the insertion part 200 and is connected to the functional module at the distal end of the insertion part 200. By way of example, the functional module includes but is not limited to a camera module, a lighting module, etc. The proximal end of the electrical connection line 1000 extends into the shell 100 and is connected to the electrical connection part 900. The electrical connection part 900 can be connected to an external device for providing power and transmitting signals to ensure that the insertion part of the endoscope can ensure the normal use function of the endoscope after docking with the robotic arm.

[0049] An embodiment of the present application also provides an endoscope, which includes the aforementioned endoscope insertion portion.

[0050] It should be noted that, in this article, the term "comprises", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0051] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention.

Claims

1. An endoscope insertion portion, used to connect to a robotic arm, characterized in that: It comprises a housing (100), an inserting portion (200), a traction wheel (300), a traction rope (400), a liquid delivery channel (500) and an air delivery channel (600); wherein: The proximal end of the insertion part (200) is connected to the shell (100), the traction wheel (300) is rotatably arranged in the shell (100), one end of the traction rope (400) is connected to the distal end of the insertion part (200), and the other end of the traction rope (400) is connected to the traction wheel (300), and the traction wheel (300) has a docking portion (310) exposed on the surface of the shell (100), and the docking portion (310) is used to dock with the mechanical arm to drive the traction wheel (300) to rotate; The distal end of the liquid delivery channel (500) extends to the distal end of the insertion portion (200), and the proximal end of the liquid delivery channel (500) extends into the housing (100), and the housing (100) is provided with a first docking nozzle (810) that is in communication with the liquid delivery channel (500); The distal end of the air supply channel (600) extends to the distal end of the insertion portion (200), and the proximal end of the air supply channel (600) extends into the shell (100). The shell (100) has a second docking nozzle (820) connected to the air supply channel (600).

2. The endoscope insertion portion according to claim 1, wherein: The endoscope insertion portion also includes an instrument channel (700), the distal end of the instrument channel (700) extends to the distal end of the insertion portion (200), and the proximal end of the instrument channel (700) extends into the shell (100). The shell (100) has an instrument mouth (830) and a negative pressure mouth (840) connected to the instrument channel (700), and the extension direction of the instrument mouth (830) is consistent with the extension direction of the proximal end of the instrument channel (700).

3. The endoscope insertion portion according to claim 2, wherein: The instrument nozzle (830) and the negative pressure nozzle (840) are integrally formed.

4. The endoscope insertion portion according to claim 3, characterized in that: The docking portion (310), the first docking nozzle (810) and the second docking nozzle (820) are arranged on the same side of the shell (100), and the instrument nozzle (830) is arranged on a side of the shell (100) opposite to the docking portion (310).

5. The endoscope insertion portion according to claim 4, characterized in that: The first docking nozzle (810) and the second docking nozzle (820) are arranged on both sides of a first direction, and the first direction is the extension direction of the proximal end of the insertion part (200); and / or the two traction wheels (300) are arranged on both sides of the first direction, and the first direction is the extension direction of the proximal end of the insertion part (200).

6. The endoscope insertion portion according to claim 5, wherein: The proximal extension direction of the instrument mouth (830) is inclined relative to the first direction, and the angle between the proximal extension direction of the instrument mouth (830) and the first direction is less than or equal to 45°.

7. The endoscope insertion portion according to any one of claims 1 to 6, characterized in that: The traction wheel (300) has two traction rope installation positions (320) distributed along its axial direction, and the two traction ropes (400) that control the distal end of the insertion part (200) to bend in opposite directions are connected to the two traction rope installation positions (320) of the same traction wheel (300).

8. The endoscope insertion portion according to claim 7, wherein: The extension length of the traction wheel (300) along its axial direction is greater than the radius of the traction wheel (300).

9. The endoscope insertion portion according to claim 1, wherein: It also includes an electrical connection part (900) and an electrical connection line (1000), wherein the electrical connection part (900) is arranged on the shell (100), the distal end of the electrical connection line (1000) extends to the distal end of the insertion part (200), and the proximal end of the electrical connection line (1000) extends into the shell (100) and is connected to the electrical connection part (900).

10. An endoscope, characterized in that: The invention comprises the endoscope insertion portion according to any one of claims 1 to 9.

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