Hand-held flexible instrument operating device

Abstract

The utility model discloses a handheld flexible instrument operating device, which is characterized in that three buttons are arranged on a holding part of a shell, an instrument inlet / outlet is arranged at the front end of the shell, an instrument storage mechanism is arranged in the shell, and a rotary driving mechanism and an execution driving mechanism are arranged in an inner cylinder of the instrument storage mechanism. A doctor can hold the handheld flexible instrument operation device with one hand, and press the button to control conveying of the flexible instrument and rotation and opening and closing of the execution part. When the button for conveying the flexible instrument is pressed, the inner cylinder of the instrument storage mechanism can be driven to rotate, and the instrument hose can be separated from the spiral rope containing groove of the inner cylinder and conveyed towards the affected part. After the surgical operation is completed, the instrument hose can be retracted and coiled in the spiral rope containing groove of the inner cylinder, the flexible instrument is completely stored in the storage assembly, the situation that the exposed instrument hose causes inconvenience in operation is prevented, and the risk of touching the ground is avoided. The operation difficulty is integrally reduced, and the operation efficiency of doctors can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a handheld flexible instrument operating device. Background Art

[0002] Natural cavities such as the digestive tract, respiratory tract, and urethra are common sites where human diseases are prone to occur. In the treatment of natural cavity diseases, flexible endoscope interventional treatment has been widely used due to its advantages of small incision, less pain, quick recovery, and short hospitalization time.

[0003] In the related art, when the operator operates the flexible endoscope, one hand is needed to hold the handle of the endoscope to control the rotation of the snake bone at the front end of the endoscope, so as to facilitate observation; at the same time, the other hand needs to hold the insertion part of the flexible endoscope and insert it into the patient's body, so that the front end of the insertion part of the endoscope reaches the lesion site for observation, treatment, and surgery. In addition, in endoscopic surgery, it is also necessary to insert operating instruments such as biopsy forceps, snares, and hemostatic clips through the instrument channel of the endoscope, so that the distal actuator of the operating instrument can perform various inspections and surgical treatments at the lesion site. During interventional biopsy sampling and surgery, in the prior art, a dedicated nurse or other doctor usually controls the flexible instrument to cooperate with the operator to complete the corresponding clinical operation, which requires a very high degree of cooperation between the operator and the cooperator, and the relevant experience of the cooperator directly affects the operation efficiency.

[0004] In view of this, it is urgent to optimize the design of the operability of medical flexible devices to overcome the above-mentioned defects. Utility Model Content

[0005] The purpose of this application is to provide a handheld flexible instrument operating device, which is convenient for the operator to independently complete the corresponding operation of the flexible instrument and provides a good technical guarantee for improving the efficiency of the operation.

[0006] The handheld flexible instrument operating device provided in the embodiment of the present application comprises an instrument hose and a control line inserted in the instrument hose, and the front end of the control line is used to set an execution part; the handheld flexible instrument operating device comprises a shell, the gripping part of the shell is provided with three buttons, and the front end of the shell is provided with an instrument entrance and exit; an instrument storage mechanism is provided in the shell, the instrument storage mechanism comprises a storage drive mechanism and a storage component, the storage component comprises an outer cylinder and an inner cylinder, the inner wall surface of the outer cylinder has an internal thread, the outer wall surface of the inner cylinder has an external thread, and the external thread is adapted to the internal thread; the root of the tooth groove of the external thread has a spiral rope groove, the instrument hose is coiled and arranged in the spiral rope groove, and The front end of the instrument hose extends out of the instrument entrance and exit of the outer cylinder and the outer shell, and the rear end of the instrument hose extends into the inner cylinder; the storage drive mechanism provides a rotational drive force to the inner cylinder to transport the flexible instrument; a rotation drive mechanism and an execution drive mechanism are provided in the inner cylinder, the control line extends out of the rear end of the instrument hose and extends into the inner cylinder, and the control line is respectively connected to the rotation drive mechanism and the execution drive mechanism; the rotation drive mechanism is used to drive the control line to rotate, and the execution drive mechanism is used to drive the control line to be pushed out and retracted; the three buttons are respectively interconnected with the control ends of the storage drive mechanism, the rotation drive mechanism and the execution drive mechanism to output corresponding control instructions.

[0007] Optionally, the inner cylinder is rotatably arranged on a fixed shaft, the fixed shaft is fixedly connected to the outer shell, and an axial limit is provided between the inner cylinder and the fixed shaft; an axial sliding pair is provided between the outer cylinder and the outer shell, and the axial sliding pair can limit the rotation of the outer cylinder.

[0008] Optionally, a first bearing is arranged between the inner cylinder and the fixed shaft, and the axial limit between the two is formed by the first bearing; a limiting block is arranged on one of the outer surface of the outer cylinder and the inner wall surface of the outer shell, and a limiting groove extending along the axial direction is opened on the other, and the limiting block is placed in the limiting groove to form the axial sliding pair.

[0009] Optionally, the storage drive mechanism includes a first motor and a first gear transmission mechanism, a first driving gear of the first gear transmission mechanism is coaxially fixed with an output shaft of the first motor, and a first driven gear of the first gear transmission mechanism is coaxially fixed with the inner cylinder.

[0010] Optionally, the outer tube is provided with an outlet pipe to guide the instrument hose to extend to the front end to the instrument entrance and exit; the rear end of the spiral rope groove has a through hole penetrating the side wall of the inner tube, and the rear end of the instrument hose extends into the inner tube through the through hole.

[0011] Optionally, the rotation drive mechanism includes a second motor and a second gear transmission mechanism, the second driving gear of the second gear transmission mechanism is coaxially fixed with the output shaft of the second motor, and the second driven gear of the second gear transmission mechanism is fixed to the control line extending into the inner cylinder to drive the control line to rotate.

[0012] Optionally, the second driven gear has mounting shafts on both sides, two sliding supports are spaced apart on the inner wall of the inner cylinder, the mounting shafts are inserted into the corresponding sliding supports and slidingly adapted with the sliding supports; the second driven gear has an axially through-going insertion hole, and the control line is inserted and fixed in the insertion hole.

[0013] Optionally, the execution drive mechanism includes a third motor, a third gear transmission mechanism and a stretching turntable, the stretching turntable is rotatably arranged in the inner cylinder, a stretching terminal seat is fixedly arranged on the stretching turntable, and the rear end of the control line is rotatably connected to the stretching terminal seat; the third driving gear of the third gear transmission mechanism is coaxially fixed with the output shaft of the third motor, and the third driven gear of the third gear transmission mechanism is coaxially fixed with the stretching turntable, so as to drive the control line to be pushed out and retracted through the rotation of the stretching turntable.

[0014] Optionally, a mounting portion extending radially inward is provided in the middle portion of the inner cylinder, the stretching turntable is rotatably connected to the mounting portion, and a wiring groove is provided between the two, and the part of the control line connected to the stretching terminal seat is coiled in the wiring groove; a second bearing is provided in the stretching terminal seat, and the inner extending end of the control line is fixedly connected to the stretching terminal after passing through the second bearing to limit the control line from detaching from the second bearing.

[0015] Optionally, the third driven gear is connected to the stretching turntable via a connecting column; the stretching turntable and the third driven gear are both annular, the fixed shaft passes through the stretching turntable and the third driven gear, and both ends of the fixed shaft are fixedly connected to the outer shell respectively.

[0016] Compared with the prior art, the utility model provides a handheld flexible instrument operating device, wherein the gripping portion of the shell is provided with three buttons, and the front end of the shell is provided with an instrument entrance and exit, the shell is provided with an instrument storage mechanism, and the inner cylinder of the instrument storage mechanism is provided with a rotation drive mechanism and an execution drive mechanism. The doctor can hold the handheld flexible instrument operating device with one hand, and can press the corresponding button to control the delivery of the flexible instrument, as well as the rotation and opening and closing of the execution part. In a specific implementation, when the button for realizing the delivery of the flexible instrument is pressed, the inner cylinder of the instrument storage mechanism can be driven to rotate, the outer cylinder synchronously moves axially toward the rear end, and the instrument hose is disengaged from the spiral rope groove of the inner cylinder, so that the front end of the flexible instrument is delivered toward the affected part. When the flexible instrument is delivered to the place, when the button for realizing the rotation of the execution part is pressed, the control line can be driven to rotate, thereby realizing the rotation operation of the execution part. When the button for realizing the opening and closing of the execution part is pressed, the control line can be driven to push out and retract, thereby realizing the opening and closing operation of the execution part.

[0017] After the operation is completed, the instrument hose can be retracted based on the reverse drive and coiled in the spiral rope groove of the inner tube, so that the flexible instrument can be completely stored in the storage component to prevent the exposed too long instrument hose from causing inconvenience in operation and avoid the risk of touching the ground. Overall, the doctor can operate with one hand without the need to cooperate with the nurse, which reduces the difficulty of the operation and effectively improves the doctor's efficiency.

[0018] In an optional solution of the utility model, the inner cylinder is rotatably arranged on a fixed shaft, and the fixed shaft is fixedly connected to the outer shell. There is an axial limit between the inner cylinder and the fixed shaft; there is an axial sliding pair between the outer cylinder and the outer shell, and the axial sliding pair can limit the rotation of the outer cylinder. In this way, when the inner cylinder rotates, the outer cylinder can synchronously move axially backward or forward, so as to reliably realize the delivery and storage of the flexible device.

[0019] In another optional scheme of the present invention, the rotary drive mechanism drives the control line to rotate through the second gear transmission mechanism, and the second driven gear of the second gear transmission mechanism has a mounting shaft on both sides, and is slidably adapted with two sliding supports spaced apart on the inner cylinder to obtain axial movement freedom; the execution drive mechanism drives the stretching turntable to rotate through the third gear transmission mechanism, and the inner extension end of the control line is rotationally connected to the stretching terminal seat fixed on the stretching turntable through the second bearing to obtain rotation freedom. In this way, based on the rotation freedom between the inner extension end of the control line and the stretching terminal seat, the rotation operation of the execution part can be realized, and based on the axial movement freedom of the second driven gear fixed to the control line, the opening and closing operation of the execution part can be realized. On the whole, on the basis of meeting the rotation and opening and closing operation requirements of the execution part, it has good control performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1A schematic diagram of a handheld flexible instrument operating device provided in an embodiment of the present application;

[0021] Figure 2 for Figure 1 Schematic diagram of the internal structure of the handheld flexible instrument operating device shown in;

[0022] Figure 3 for Figure 1 An exploded schematic diagram of an assembly of a handheld flexible instrument operating device shown in;

[0023] Figure 4 for Figure 1 AA section view in;

[0024] Figure 5 for Figure 3 A schematic diagram of the device storage mechanism shown in ;

[0025] Figure 6 This is an exploded schematic diagram of the assembly of the device storage mechanism described in the embodiment of the present application;

[0026] Figure 7 for Figure 5 BB section view in;

[0027] Figure 8 for Figure 5 CC section view in;

[0028] Fig. 9 It is a schematic diagram of the coiled state of the flexible device on the inner cylinder;

[0029] Fig.10 for Fig. 9 A schematic diagram of the wiring of the control wires of the flexible device shown in FIG.

[0030] Fig.11 A schematic diagram of the assembly relationship of the rotary drive mechanism formed at the rear end of the storage assembly;

[0031] Fig.12 A schematic diagram of the structure of the execution drive mechanism provided in the embodiment of the present application;

[0032] Fig.13 It is a schematic diagram of the main components of the rotary drive mechanism described in the embodiment of the present application;

[0033] Fig.14 12 is a D-direction view of the stretching turntable;

[0034] Fig.15 for Figure 7 EE cross-section diagram in .

[0035] In the figure: a handheld flexible instrument operating device 10, a housing 1, a limiting groove 11, an instrument entrance and exit 12, a button 2, a first button 21, a second button 22, a third button 23, and an execution unit 3;

[0036] Equipment storage mechanism 4, storage drive mechanism 41, first motor 411, first gear transmission mechanism 412, first driving gear 4121, first driven gear 4122, first fixed block 413, storage assembly 42, outer cylinder 421, internal thread 4211, limit block 4212, lead-out tube 4213, inner cylinder 422, external thread 4221, spiral rope groove 4222, through hole 4223, mounting portion 4224, fixed shaft 43, first bearing 44, rotation drive mechanism 5, second motor 51 , a second gear transmission mechanism 52, a second driving gear 521, a second driven gear 522, a mounting shaft 5221, an insertion hole 5222, a second fixed block 53, a second bearing 54, a sliding support 55, an execution drive mechanism 6, a third motor 61, a third gear transmission mechanism 62, a third driving gear 621, a third driven gear 622, a third fixed block 63, a stretching turntable 64, a wiring groove 641, a stretching terminal seat 65, a connecting column 66, a stretching terminal 67, an instrument hose 71, and a control line 72. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] See also Figure 1 and Figure 2 ,in, Figure 1 A schematic diagram of a handheld flexible instrument operating device provided in an embodiment of the present application, Figure 2 for Figure 1 Schematic diagram of the internal structure of the handheld flexible instrument operating device shown in.

[0039] The housing 1 of the handheld flexible instrument operating device 10 is provided with three buttons 2, which are arranged at the gripping portion of the housing 1. The front end of the housing 1 is provided with an instrument entrance 12, so that the flexible instrument can extend out of the housing 1 through the instrument entrance 12. The "front end" here and the "rear end" mentioned below are defined based on the relative positional relationship between the front end and the affected part in the actual use state, with the end close to the affected part being the front end and the other end away from the affected part being the rear end.

[0040] The operator can press the corresponding button 2 with one hand to realize the conveying of the flexible instrument and the rotation and opening and closing of the actuator 3 at the front end. For example, the actuator 3 at the front end of the flexible instrument shown in the figure is a clamping component. In actual application, different forms of actuators 3 can be selected according to the needs of intraoperative operation. This embodiment of the application is not limited.

[0041] Inside the housing 1, there are arranged an instrument storage mechanism 4, a rotation drive mechanism 5 and an execution drive mechanism 6. In order to clearly show the internal structure of the handheld flexible instrument operating device, Figure 2 The housing 1 on the viewing angle forming side is not shown. The flexible instrument comprises an instrument hose 71 and a control line 72 inserted in the instrument hose 71 , and the actuator 3 is located at the front end of the control line 72 .

[0042] The instrument hose 71 can be extended or retracted from the outer tube 421 of the instrument storage mechanism 4. In order to more smoothly extend or retract the instrument hose 71, a lead-out tube 4213 can be provided on the outer tube 421 to guide the instrument hose 71 to extend toward the front end. Figure 3 , Figure 4 , Figure 5 and Figure 6 ,in, Figure 3 for Figure 1 An exploded schematic diagram of an assembly of a handheld flexible instrument operating device is shown in FIG. Figure 4 for Figure 1 AA section view in the figure, Figure 5 for Figure 3 The schematic diagram of the device storage mechanism 4 is shown in FIG. Figure 6 It is an exploded schematic diagram of the assembly of the instrument storage mechanism described in the embodiment of the present application.

[0043] The device storage mechanism 4 includes a storage drive mechanism 41 and a storage assembly 42. The storage drive mechanism 41 provides a rotational driving force to the storage assembly 42 to realize the transportation of the flexible device, that is, to extend or retract the flexible device.

[0044] In the embodiment of the present application, the storage drive mechanism 41 includes a first motor 411 and a first gear transmission mechanism 412. Figure 4 and Figure 5 As shown, the first motor 411 can be fixedly arranged in the housing 1 through the first fixing block 413. The first driving gear 4121 of the first gear transmission mechanism 412 is coaxially fixed with the output shaft of the first motor 411, and the first driven gear 4122 of the first gear transmission mechanism 412 is coaxially fixed with the inner cylinder 422 of the storage component 42 to drive the inner cylinder 422 to rotate.

[0045] In other specific implementations, the first motor 411 may also be directly fixed on the inner wall of the housing 1, as long as the assembly reliability of the first motor 411 can be achieved. This embodiment of the present application is not limited.

[0046] In other possible implementations, the first gear transmission mechanism 412 may also be a meshing bevel gear transmission mechanism, rather than being limited to the spur gear transmission mechanism shown in the figure. In comparison, the first gear transmission mechanism 412 is a spur gear transmission mechanism, which can reduce the radial dimension and facilitate the operator's handheld operation.

[0047] In the embodiment of the present application, the storage assembly 42 includes an outer cylinder 421 and an inner cylinder 422 . The inner wall surface of the outer cylinder 421 has an internal thread 4211 , and correspondingly, the outer wall surface of the inner cylinder 422 has an external thread 4221 , and the threads of the two are adapted to each other.

[0048] The inner cylinder 422 is rotatably arranged on the fixed shaft 43, and the fixed shaft 43 is fixedly connected to the outer shell 1. There is an axial limit between the inner cylinder 422 and the fixed shaft 43, combined with Figure 4 As shown, a first bearing 44 can be provided between the inner cylinder 422 and the fixed shaft 43, and an axial limit is formed between the two by the first bearing 44. In this way, when the first motor 411 drives the inner cylinder 422 to rotate through the first gear transmission mechanism 412, the axial relative position of the inner cylinder 422 is fixed.

[0049] Of course, in other specific implementations, the inner cylinder 422 can rotate relative to the fixed shaft 43, and there is an axial limit between the two, and other structural forms can also be used. This embodiment of the application is not limited.

[0050] Among them, the outer surface of the outer cylinder 421 is provided with a limit block 4212, and correspondingly, the inner wall surface of the outer shell 1 is provided with a limit groove 11 extending in the axial direction, and the limit block 4212 can be placed in the limit groove 11 to form an axial sliding pair. Based on the matching limit block 4212 and the limit groove 11, the rotation of the outer cylinder 421 can be limited, and the outer cylinder 421 has the freedom to move axially. In this way, when the inner cylinder 422 rotates, the outer cylinder 421 cannot rotate synchronously with the inner cylinder 422, and based on the threaded matching relationship between the two, the outer cylinder 421 can move forward or backward along the axial direction relative to the inner cylinder 422.

[0051] At the root of the tooth groove of the external thread 4221 of the inner tube 422, there is a spiral rope groove 4222. Please refer to Figure 7 and Figure 8 ,in, Figure 7 for Figure 5 BB section view in Figure 8 for Figure 5 To simplify the illustration, Figure 7 and Figure 8 The storage drive mechanism is not shown in the figures.

[0052] When the outer cylinder 421 moves backward, the instrument hose 71 wound in the spiral rope groove 4222 of the inner cylinder 422 will come out with the relative rotation of the outer cylinder 421 and the inner cylinder 422, and will be gradually transported from the lead-out pipe 4213 of the outer cylinder 421 to be extended or retracted.

[0053] In this embodiment, the matching limit blocks 4212 and limit slots 11 are arranged in two groups and are arranged at intervals along the circumference to balance the force and avoid unbalanced load. In other specific implementations, the matching limit blocks 4212 and limit slots 11 can also be arranged in one group, or other multiple groups. This embodiment of the application is not limited.

[0054] In other possible implementation schemes, the matching limit block 4212 and limit groove 11 can also be configured in reverse on the outer shell 1 and the outer cylinder 421, that is, the limit groove 11 is located on the outer wall surface of the outer cylinder 421, and the limit block 4212 is located on the inner wall surface of the outer shell 1 (not shown in the figure). As long as the rotation of the outer cylinder 421 can be limited and the outer cylinder 421 has the freedom of axial movement, it is within the scope of protection requested by the present application.

[0055] In this embodiment, the instrument hose 71 wound in the spiral rope groove 4222 of the inner tube 422 is inserted into the outlet pipe 4213 of the outer tube 421 at the front end of the spiral rope groove 4222, and extends toward the front end under the guidance of the outlet pipe 4213. Figure 7 , Figure 8 , Fig. 9 and Fig.10 ,in, Fig. 9 This is a schematic diagram of the coiled state of the flexible device on the inner cylinder. Fig.10 for Fig. 9 A schematic diagram of the wiring of the control line 72 is shown in FIG.

[0056] At the rear end of the spiral rope groove 4222 of the inner tube 422, there is a through hole 4223 that penetrates the side wall of the inner tube 422. The rear end of the instrument hose 71 can extend into the inner tube 422, and the control line 72 built into the instrument hose 71 extends from the rear end of the instrument hose 71 and extends forward in the axial direction. The inner end of the control line 72 is rotatably connected to the stretching terminal seat 65 through the second bearing 54. Please refer to Fig.11 and Fig.12 ,in, Fig.11 is a schematic diagram of the assembly relationship of the rotation drive mechanism 5 formed at the rear end of the storage component 42, Fig.12 A schematic diagram of the structure of the execution drive mechanism provided in an embodiment of the present application.

[0057] In this embodiment, the rotation drive mechanism 5 and the execution drive mechanism 6 are both disposed in the inner cylinder 422 of the storage assembly 42 .

[0058] The rotary drive mechanism 5 includes a second motor 51 and a second gear transmission mechanism 52. Figure 7 , Figure 8 and Fig.13 ,in, Fig.13 Schematic diagram of the main components of the rotary drive mechanism described in the embodiment of the present application. The second motor 51 can be fixedly disposed in the inner cylinder 422 through the second fixing block 53. The second driving gear 521 of the second gear transmission mechanism 52 is coaxially fixed with the output shaft of the second motor 51, and the second driven gear 522 of the second gear transmission mechanism 52 is fixed with the control line 72 to drive the control line 72 to rotate.

[0059] The second driven gear 522 has mounting shafts 5221 on both sides, and correspondingly, two sliding supports 55 are arranged on the inner wall of the inner cylinder 422 at intervals, and the mounting shafts 5221 on both sides of the second driven gear 522 are respectively inserted into the corresponding sliding supports 55 and slidably fit with the sliding supports 55. In this way, the second driven gear 522 has axial freedom of movement.

[0060] Of course, in order to maintain a reliable meshing relationship between the second driving gear 521 and the second driven gear 522, as shown in the figure, the tooth thickness of the second driven gear 522 is greater than the tooth thickness of the second driving gear 521. In other specific implementations, the tooth thickness of the second driving gear 521 may also be greater than the tooth thickness of the second driven gear 522. Alternatively, such a design may also be adopted, in which the tooth thicknesses of the two are equal and the axial movement stroke requirement of the second driven gear 522 is met.

[0061] In a specific possible implementation, the sliding matching relationship between the second driven gear 522 and the sliding support 55 can also be matched with the corresponding sliding support 55 by the installation shaft 5221 located on one side of the second driven gear 522. In comparison, the second driven gear 522 is provided with the installation shaft 5221 that can be slidably matched on both sides, which is more stable and reliable.

[0062] In order to simplify the structure, the second driven gear 522 has an axially through-insertion hole 5222, so that the control line 72 can be inserted into the insertion hole 5222 of the second driven gear 522 and fixedly connected. In a specific implementation, different fixed connection methods can be used, such as but not limited to bonding, welding or other fixed connection structures, to achieve reliable fixation between the control line 72 and the second driven gear 522.

[0063] In this embodiment, the execution drive mechanism 6 includes a third motor 61 and a third gear transmission mechanism 62. Figure 7 , Figure 8 and Fig.12 and Fig.14 and Fig.15 ,in, Fig.1412 is a D-direction view of the stretching turntable, Fig.15 for Figure 7 The third motor 61 can be fixedly arranged in the inner cylinder 422 by the third fixing block 63. The third driving gear 621 of the third gear transmission mechanism 62 is coaxially fixed with the output shaft of the third motor 61, and the third driven gear 622 of the third gear transmission mechanism 62 is coaxially fixed with the stretching turntable 64 to drive the stretching turntable 64 to rotate.

[0064] The middle part of the inner cylinder 422 is provided with a mounting portion 4224 extending radially inward, the stretching turntable 64 is rotatably connected to the mounting portion 4224, and a wiring groove 641 is provided between the two. The stretching terminal seat 65 is fixedly provided on the stretching turntable 64, and a part of the control line 72 connected to the stretching terminal seat 65 is coiled in the wiring groove 641 of the stretching turntable 64. The stretching terminal seat 65 is provided with a second bearing 54, and the inner extension end of the control line 72 passes through the second bearing 54 and is fixedly connected to the stretching terminal 67, so as to limit the control line 72 from being separated from the second bearing 54 through the limiting effect of the stretching terminal 67. In this way, driven by the third driven gear 622 of the third gear transmission mechanism 62, the stretching turntable 64 and the stretching terminal seat 65 can be driven to rotate synchronously, thereby realizing the operation of pushing out and retracting the control line 72.

[0065] In a specific implementation, the tension terminal 67 can be implemented in different structural forms, as long as it can be fixedly connected to the control line 72 and can limit the relative position between it and the second bearing 54.

[0066] As shown in the figure, the third driven gear 622 and the stretching turntable 64 are fixedly connected by a connecting column 66, and a plurality of connecting columns 66 are arranged between the two at intervals in the circumferential direction. In other specific implementations, the third driven gear 622 and the stretching turntable 64 can also adopt other fixing implementation methods, such as but not limited to directly fixing the two.

[0067] In order to improve the load-bearing reliability of the fixed shaft 43, Figure 1 As shown, both ends of the fixed shaft 43 can be fixedly connected to the housing 1 respectively, so as to have good load-bearing capacity when subjected to radial force and avoid lateral deviation. Based on the fixed setting mode of the fixed shaft 43, the stretching turntable 64 and the third driven gear 622 are both annular, so that the fixed shaft 43 passes through the stretching turntable 64 and the third driven gear 622 to achieve reliable fixation.

[0068] In actual operation, the doctor can hold the handheld flexible instrument operating device 10 with one hand, and can press the corresponding button 2 to control the corresponding first motor, second motor or third motor to rotate forward or reverse, thereby realizing flexible instrument delivery, and rotation and opening and closing of the actuator.

[0069] When the first button 21 for delivering the flexible instrument is pressed, the inner cylinder 422 is driven by the first motor 411 to rotate, and the outer cylinder 421 simultaneously moves axially toward the rear end, and the instrument hose 71 escapes from the spiral rope groove 4222 of the inner cylinder 422 and extends forward through the lead-out tube 4213 of the outer cylinder 421, so that the front end of the flexible instrument is delivered toward the affected area.

[0070] When the flexible device is delivered to the position, when the second button 22 for rotating the actuator 3 is pressed, the control line 72 can be driven to rotate by the second motor 51. The inner end of the control line 72 has rotational freedom with the stretching terminal seat 65, thereby realizing the rotation operation of the actuator 3.

[0071] When the third button 23 for opening and closing the execution part 3 is pressed, the stretching turntable 64 can be driven to rotate by the third motor 61, and the winding length of the control line 72 in the wiring groove 641 of the stretching turntable 64 can be adjusted. The second driven gear 522 fixed to the control line 72 has axial movement freedom, which regulates and controls the push-out and retraction of the control line 72, thereby realizing the opening and closing operation of the execution part 3.

[0072] It should be noted that each button 2 is interconnected with the control end of the storage drive mechanism 41, the rotation drive mechanism 5 and the execution drive mechanism 6 to output the corresponding control instructions. It is understandable that the interconnection control method of each button 2 and the corresponding motor can be implemented using existing technology, so it will not be repeated in this article.

[0073] After the operation is completed, based on the drive of the reversed first motor 411, the outer cylinder 421 synchronously moves axially toward the front end, and the instrument hose 71 is retracted and coiled in the spiral rope groove 4222 of the inner cylinder 422, so that the flexible instrument can be completely stored in the storage component 42, preventing the inconvenience of operation and the risk of touching the ground caused by the exposed too long instrument hose 71. Overall, the doctor can operate with one hand without the need to cooperate with the nurse, which reduces the difficulty of the operation and effectively improves the efficiency of the doctor.

[0074] The ordinal numbers "first", "second" and "third" used in this document are only used to describe the composition or structure of the same function in the technical solution. It is understood that the use of the ordinal numbers "first", "second" and "third" does not constitute an understanding limitation on the technical solution claimed for protection in this application.

[0075] The above are only preferred implementations of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A handheld flexible instrument operating device, wherein the flexible instrument comprises an instrument hose and a control line inserted in the instrument hose, and the front end of the control line is used to set an execution part; characterized in that: The handheld flexible instrument operating device comprises a shell, a grip portion of the shell is provided with three buttons, and a front end of the shell is provided with an instrument entrance and exit; The shell is provided with an instrument storage mechanism, the instrument storage mechanism comprises a storage drive mechanism and a storage assembly, the storage assembly comprises an outer cylinder and an inner cylinder, the inner wall surface of the outer cylinder has an inner thread, the outer wall surface of the inner cylinder has an outer thread, the outer thread is matched with the inner thread; the tooth groove root of the outer thread has a spiral rope groove, the instrument hose is coiled and arranged in the spiral rope groove, and the front end of the instrument hose extends out of the instrument inlet and outlet of the outer cylinder and the shell, and the rear end of the instrument hose extends into the inner cylinder; the storage drive mechanism provides a rotational driving force to the inner cylinder to transport the flexible instrument; The inner tube is provided with a rotation drive mechanism and an execution drive mechanism, the control line extends out of the rear end of the instrument hose and extends into the inner tube, and the control line is connected to the rotation drive mechanism and the execution drive mechanism respectively; the rotation drive mechanism is used to drive the control line to rotate, and the execution drive mechanism is used to drive the control line to push out and retract; The three buttons are respectively interconnected with the control ends of the storage drive mechanism, the rotation drive mechanism and the execution drive mechanism to output corresponding control instructions.

2. The handheld flexible instrument operating device according to claim 1, characterized in that: The inner cylinder is rotatably arranged on a fixed shaft, the fixed shaft is fixedly connected to the outer shell, and an axial limit is provided between the inner cylinder and the fixed shaft; an axial sliding pair is provided between the outer cylinder and the outer shell, and the axial sliding pair can limit the rotation of the outer cylinder.

3. The handheld flexible instrument operating device according to claim 2, characterized in that: A first bearing is arranged between the inner cylinder and the fixed shaft, and the axial limit between the two is formed by the first bearing; a limiting block is arranged on one of the outer surface of the outer cylinder and the inner wall surface of the outer shell, and a limiting groove extending along the axial direction is opened on the other, and the limiting block is placed in the limiting groove to form the axial sliding pair.

4. The handheld flexible instrument operating device according to claim 2, characterized in that: The storage drive mechanism includes a first motor and a first gear transmission mechanism, wherein a first driving gear of the first gear transmission mechanism is coaxially fixed to an output shaft of the first motor, and a first driven gear of the first gear transmission mechanism is coaxially fixed to the inner cylinder.

5. The handheld flexible instrument operating device according to any one of claims 2 to 4, characterized in that: The outer cylinder is provided with an outlet pipe to guide the instrument hose to extend to the front end to the instrument entrance and exit; the rear end of the spiral rope groove has a through hole penetrating the side wall of the inner cylinder, and the rear end of the instrument hose extends into the inner cylinder through the through hole.

6. The handheld flexible instrument operating device according to claim 5, characterized in that: The rotary drive mechanism includes a second motor and a second gear transmission mechanism, wherein a second driving gear of the second gear transmission mechanism is coaxially fixed to an output shaft of the second motor, and a second driven gear of the second gear transmission mechanism is fixed to the control line extending into the inner cylinder to drive the control line to rotate.

7. The handheld flexible instrument operating device according to claim 6, characterized in that: The second driven gear has mounting shafts on both sides, and two sliding supports are arranged at intervals on the inner wall of the inner cylinder. The mounting shafts are inserted into the corresponding sliding supports and slidably adapted with the sliding supports; the second driven gear has an axially through-going insertion hole, and the control line is inserted and fixed in the insertion hole.

8. The handheld flexible instrument operating device according to claim 7, characterized in that: The execution drive mechanism includes a third motor, a third gear transmission mechanism and a stretching turntable, the stretching turntable is rotatably arranged in the inner cylinder, a stretching terminal seat is fixedly arranged on the stretching turntable, and the rear end of the control line is rotatably connected to the stretching terminal seat; the third driving gear of the third gear transmission mechanism is coaxially fixed with the output shaft of the third motor, and the third driven gear of the third gear transmission mechanism is coaxially fixed with the stretching turntable, so as to drive the control line to be pushed out and retracted through the rotation of the stretching turntable.

9. The handheld flexible instrument operating device according to claim 8, characterized in that: A mounting portion extending radially inward is provided in the middle of the inner cylinder, the stretching turntable is rotatably connected to the mounting portion, and a wiring groove is provided between the two, and the part of the control line connected to the stretching terminal seat is coiled in the wiring groove; a second bearing is provided in the stretching terminal seat, and the inner extending end of the control line is fixedly connected to the stretching terminal after passing through the second bearing to limit the control line from being separated from the second bearing.

10. The handheld flexible instrument operating device according to claim 8, characterized in that: The third driven gear is connected to the stretching turntable through a connecting column; the stretching turntable and the third driven gear are both annular, the fixed shaft passes through the stretching turntable and the third driven gear, and both ends of the fixed shaft are fixedly connected to the outer shell.

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