Endoscope steering device and system

Abstract

The utility model relates to an endoscope steering device and system, and belongs to the technical field of endoscopes. The steering system comprises a steering device arranged between the tip part of the endoscope and the insertion tube; the steering device comprises a rotating unit I which rotates around the central axis of the endoscope body and a rotating unit II which is arranged on the rotating unit I and is used for driving the tip part of the endoscope to swing towards the left side and the right side of the central axis of the endoscope body; according to the utility model, the large-range steering of the tip part of the endoscope is realized, and the number of parts for steering is reduced; the length of the bending part is shortened; the turning radius is reduced; and the manufacturing process difficulty is reduced. A first rotating unit and a second rotating unit in the steering device are in transmission connection through a gear, so that the relative positions of the first rotating unit, the second rotating unit and the tip part are clear; the requirement for accurately obtaining the steering information of the front end of the endoscope in the interventional operation can be met, and a hardware basis is provided for more accurate and easier robot interventional operation.

Description

Technical Field

[0001] The utility model relates to an endoscope steering device and a system, belonging to the technical field of endoscopes. Background Art

[0002] At present, endoscopes have been widely used in the medical and industrial fields. They are a commonly used detection instrument and a commonly used medical device. They are commonly used detection and diagnosis instruments in modern medical diagnosis and treatment. In the prior art, endoscopes are clinically divided into hard endoscopes and soft endoscopes according to whether the endoscope body can change the direction of advance. Soft endoscopes generally include the following basic structures, from the end away from the operator to the end close to the operator: the tip, the bending part, the insertion tube, the operating part, the eyepiece part and the imaging interface part. The tip is the hard part, and the end face has multiple cavities and windows, which are the water and air supply outlet holes, the biopsy forceps outlet hole, the objective lens and the light guide window. The water and air supply are common outlets. When the gas is injected, the gas enters the human body cavity from this hole to expand the cavity; when the water is injected, the water comes out of this hole to wash the objective lens surface and the surgical field of view to keep the field of view clear. The negative pressure suction and biopsy forceps outlet holes are the same tube mouth. When there is too much liquid in the cavity that hinders observation, press the suction button and the liquid can be sucked into the suction bottle through this hole; biopsy forceps and other treatment instruments also enter the body cavity through this hole. The curved part is located between the tip and the insertion tube. It is a snake-like tube composed of multiple annular parts. Each pair of adjacent annular parts can move in all directions. The insertion tube is also called the mirror body or hose part, and the interior is various pipes and steel wires. The operating part includes an angle control knob, a suction valve button, a water and air supply button, and a biopsy tube opening. The operator can operate various buttons on the operating part to complete endoscopic examination and treatment.

[0003] In the prior art, the bending portion of the flexible endoscope is composed of a structure similar to a snake bone, which includes a plurality of annular units connected to each other; a traction portion for controlling the turning of the bending portion of the endoscope is provided in the operating portion of the endoscope, and the traction portion includes a plurality of pull ropes for traction. Under the pulling action of the pull ropes, a plurality of annular units accumulate a small axial misalignment to form a turn to achieve the bending and turning of the endoscope; the endoscope can enter the stomach through the mouth or enter the human cavity through other channels, and can also enter the human body through a small surgical incision to meet the needs of surgery or inspection; as described in the Chinese patent (application number 202310806739.0, invention name: flexible structure and endoscope insertion portion). However, the bending part of the flexible endoscope in the prior art has the defects of a long bending part along the axial direction, many parts, complex manufacturing process, high manufacturing cost, and large turning radius; and the steering angle of the tip cannot be accurately known by pulling the wire. In actual operation, the doctor needs to perform manual and uninterrupted correction operations under the monitoring of the image device, and such correction operations are often extremely dependent on the doctor's personal experience. In recent years, with the development of robot technology, interventional robots have also developed rapidly as an emerging industry in the field of interventional diagnosis and treatment. The main working process of the interventional robot is: the doctor operates the operation module with the help of the imaging module, and uses the execution module to let the interventional robot perform the actions of the doctor according to the doctor's instructions. Using the interventional robot for diagnosis and treatment operations can make the operation more accurate and shorten the operation time. However, this also puts forward new requirements for the terminal steering method of the interventional device. During the interventional operation performed by the interventional robot, the interventional robot must obtain the specific angle information of the endoscope steering to perform subsequent operations. Therefore, there is an urgent need in this technical field to obtain a new steering mechanism to overcome the defects of the existing technology, such as the long bending part, large space occupied, and large turning radius; and to meet the needs of the surgeon or interventional robot to accurately obtain the steering information of the endoscope, and provide a hardware foundation for the interventional robot to achieve more precise and easier operation. Utility Model Content

[0004] The purpose of the utility model is to solve the problem of how to obtain a new steering mechanism to overcome the technical problems in the prior art such as the bending portion being too long, the turning space being too large, and the turning radius being too large; and to meet the need of the interventional robot to accurately obtain the steering information of the endoscope, and to provide a hardware foundation for the interventional robot to achieve more precise and easier operation.

[0005] In order to achieve the purpose of solving the above problems, the technical solution adopted by the utility model is to provide an endoscope steering device, which is arranged at the curved portion between the endoscope tip and the insertion tube, and the insertion tube is provided with various wire tubes leading to the tip, and the outer periphery of the various wire tubes is wrapped with a general sleeve;

[0006] The steering device comprises a rotating unit 1 that rotates around the central axis of the endoscope insertion tube and a rotating unit 2 that is arranged on the rotating unit 1 and is used to drive the endoscope tip to swing left and right to both sides of the central axis of the endoscope insertion tube;

[0007] The rotating unit 1 is provided with a gear 1 for driving the rotating unit 1 to rotate around the central axis of the endoscope insertion tube; the plane of rotation of the gear 1 is perpendicular to the central axis of the endoscope insertion tube; the gear 1 is connected to a driving device;

[0008] The rotating unit 2 is provided with a gear 2 for driving the endoscope tip to swing left and right on both sides of the central axis of the endoscope insertion tube; the plane of rotation of the gear 2 is perpendicular to the plane of rotation of the gear 1; the gear 2 is connected to the rotating unit 1; the gear 2 is connected to a driving device.

[0009] Preferably, the rotating unit 1 comprises a sleeve 1, a gear 1 and a steering plate 1; a movable sleeve 1 is sleeved on the outer periphery of the main sleeve, and a gear 1 and a steering plate 1 are sleeved on both ends of the sleeve 1 respectively; the steering plate 1 is arranged between the front end of the endoscope and the insertion tube.

[0010] Preferably, the first steering plate is provided with a bracket facing the main sleeve, and the bracket is provided with a second gear.

[0011] Preferably, the rotating unit 2 includes a sleeve 2, a gear 2, a gear 3, a gear 4 and a steering plate 2; the sleeve 2 is inserted into the sleeve 1, and the two ends of the sleeve 2 are respectively sleeved with gear 3 and gear 4; gear 3 is meshingly connected with gear 2; gear 4 is linked with gear 3 and is used to mesh with gear 2 by driving gear 3; steering plate 2 is provided on gear 2, and steering plate 2 is movably connected with the main sleeve.

[0012] Preferably, the second steering plate is provided with an annular structure for surrounding the outer circumference of the main sleeve; the main sleeve leading to the front end of the endoscope is passed through the hollow annular structure.

[0013] Preferably, gear one and gear four are provided with pull ropes for driving the gears to rotate.

[0014] Preferably, a retractable elastic sleeve is provided between the distal end of the endoscope and the insertion tube; and the steering device is provided in the elastic sleeve.

[0015] The utility model provides an endoscope steering system, which comprises the above-mentioned steering device; angle sensors are arranged on the first rotating unit and the second rotating unit.

[0016] Preferably, the steering system includes a software module for calculating the rotation angle of the endoscope tip using data of the rotation angles of the rotation unit one and the rotation unit two, and a software module for simulating the rotation of the endoscope in a virtual human body in vitro.

[0017] The utility model provides an intervention object steering device, wherein the end of the intervention object away from the operator is provided with a tip end portion.

[0018] The steering device includes a rotating unit 1 that rotates around the central axis of the intervention object and a rotating unit 2 that is arranged on the rotating unit 1 and is used to drive the front end of the intervention object to swing left and right to both sides of the central axis of the intervention object;

[0019] The rotating unit 1 is provided with a gear 1 for driving the rotating unit 1 to rotate around the central axis of the intervention object; the plane of rotation of the gear 1 is perpendicular to the central axis of the intervention object; the gear 1 is connected to a driving device;

[0020] The rotating unit 2 is provided with a gear 2 for driving the front end of the intervention object to swing left and right on both sides of the central axis of the intervention object; the plane of rotation of the gear 2 is perpendicular to the plane of rotation of the gear 1; the gear 2 is connected to the rotating unit 1; the gear 2 is connected to a driving device.

[0021] Compared with the prior art, the utility model has the following beneficial effects:

[0022] 1. The utility model achieves the purpose of large-range steering of the front end of the endoscope; reduces the number of parts used for bending and steering the front end of the endoscope; shortens the length of the bending portion; reduces the turning radius; reduces the difficulty of the manufacturing process; and reduces the manufacturing cost.

[0023] 2. The utility model rotates the rotating unit 1 and the rotating unit 2 through an extracorporeal pulling wire operation, and through an extracorporeal monitoring imaging system, it is easier to grasp the steering angle and steering direction of the endoscope, thereby reducing the current situation where the steering operation is highly dependent on the actual experience of the specific operator.

[0024] 3. In the steering device of the utility model, the rotating unit 1 and the rotating unit 2 are connected by gear transmission, which is a mechanical hard connection, so that the relative positions between the rotating unit 1 and the rotating unit 2 and the front end are clear; and then by setting an angle sensor, the angle of rotation of the front end can be monitored, which meets the need of the interventional surgical robot to accurately know the steering information of the front end of the endoscope, and provides a hardware foundation for realizing more accurate and easier interventional operations and reducing dependence on the operator's actual experience.

[0025] 4. In practical applications, the pull wires used to control the rotation of the rotating unit 1 and the rotating unit 2 can be connected in a ring shape outside the body. When turning, it is only necessary to pull the two pull wires forward or reverse to complete the work of controlling the rotation of the rotating unit 1 and the rotating unit 2, making the operation more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1This is a schematic diagram of the turning direction of the endoscope in Example 1 of the utility model Figure 1 ;

[0027] Figure 2 This is a schematic diagram of the turning direction of the endoscope in Example 1 of the utility model Figure 2 ;

[0028] Figure 3 This is a schematic structural diagram of an endoscope steering device according to Embodiment 1 of the present utility model;

[0029] Figure 4 for Figure 3 A partial enlarged view of the middle part;

[0030] Figure 5 It is a schematic diagram of the turning of the viewing angle of the pulling rope from the endoscope operator end to the endoscope tip end in Example 1 of the utility model;

[0031] Figure 6 This is a schematic diagram of the direction of the endoscope steering rope in Example 1 of the utility model;

[0032] Figure 7 This is a schematic diagram of the endoscope turning in Example 2 of the utility model;

[0033] Figure 8 This is a schematic diagram of the direction of the endoscope steering rope in Example 3 of the utility model.

[0034] Figure numerals: 1. tip end; 2. insertion tube; 3. main sleeve; 4. gear one; 5. gear two; 6. gear three; 7. gear four; 8. sleeve one; 9. steering plate one; 10. sleeve two; 11. steering plate two; 12. annular structure; 13. pull rope; 14. elastic sleeve; 15. bracket; 16. steering rod; 17. outer sleeve; 18. end face; 19. bevel gear. DETAILED DESCRIPTION

[0035] In order to make the present invention more clearly understood, a preferred embodiment is described in detail with reference to the accompanying drawings as follows:

[0036] like Figure 1-8As shown, the utility model provides an endoscope steering device, which is arranged at a curved portion between an endoscope tip 1 and an insertion tube 2, wherein the insertion tube 2 is provided with various wire tubes (including video signal cables, lighting cables, ventilation and water pipes, etc.) leading to the tip 1, and the outer periphery of various wire tubes is wrapped with a main sleeve 3; the steering device comprises a rotating unit 1 which rotates around the central axis of the endoscope insertion tube 2 and a rotating unit 1 which is arranged on the rotating unit 1 and is used to drive the endoscope tip 1 to swing left and right to both sides of the central axis of the endoscope insertion tube 2. Rotating unit two; a rotating unit one is sleeved along the central axis of the endoscope insertion tube 2, and the rotating unit one is provided with a gear one 4 for driving the rotating unit one to rotate around the central axis of the endoscope insertion tube 2; the rotating unit two is provided with a gear two 5 for driving the endoscope tip 1 to swing left and right on both sides of the central axis of the endoscope insertion tube 2; a gear three 6 is also sleeved along the central axis of the endoscope insertion tube 2, and the gear three 6 is meshed with the gear two 5; and a gear four 7 is provided in linkage with the gear three 6 for meshing with the drive gear two 5 by driving the gear three 6.

[0037] The rotating unit 1 includes a sleeve 18, a gear 14 and a steering plate 19; a movable sleeve 18 is sleeved on the outer periphery of the main sleeve 3, and a gear 14 and a steering plate 19 are sleeved on the sleeve 18. The steering plate 19 is provided with a bracket 15 facing the main sleeve 3, and a gear 25 is provided on the bracket 15.

[0038] The rotating unit 2 includes a sleeve 2 10, a gear 2 5, a gear 3 6, a gear 4 7 and a steering plate 2 11; a movable sleeve 2 10 is inserted into the hollow inner side of the sleeve 1 8, and the sleeve 2 10 is arranged on the outer periphery of the main sleeve 3; the two ends of the sleeve 2 10 are respectively sleeved with a gear 3 6 and a gear 4 7; a steering plate 2 11 is arranged on the gear 2 5, and the steering plate 2 11 is movably connected with the main sleeve 3. An annular structure 12 for surrounding the outer periphery of the main sleeve 3 is arranged on the steering plate 2 11; the main sleeve 3 leading to the endoscope tip 1 is inserted into the hollow annular structure 12. A pull rope 13 for driving the gears to rotate is arranged on the gear 1 4 and the gear 4 7.

[0039] Gear two 5 and gear three 6 are bevel gears.

[0040] A retractable elastic sleeve 14 is provided between the endoscope tip 1 and the insertion tube 2;

[0041] The steering device is arranged in the elastic sleeve 14 .

[0042] The utility model provides an endoscope steering system, the steering system comprises the above-mentioned steering device; in the steering device, the rotation unit 1 and the rotation unit 2 are provided with angle sensors. The angle sensor can detect the rotation angle data information of the gear 1 4 and the gear 4 7, thereby obtaining the rotation angle data information of the rotation unit 1 and the rotation unit 2, and then calculating the rotation angle of the endoscope tip.

[0043] The steering system also includes a software module for calculating the rotation angle of the endoscope tip through the data of the rotation angles of the rotation unit 1 and the rotation unit 2, and a software module for simulating the rotation shape of the endoscope in a virtual human body in vitro.

[0044] Example 1

[0045] like Figure 1-6 The utility model provides a steering device for a medical flexible endoscope, which is arranged at a curved portion between a distal end portion 1 and an insertion tube 2 of the endoscope, wherein the insertion tube 2 is provided with various wire tubes (including video signal cables, lighting cables, ventilation and water pipes, etc.) leading to the distal end portion 1, and the outer circumference of the various wire tubes is wrapped with a main sleeve 3; the main sleeve 3 leads from the insertion tube 2 to the distal end portion 1 having a titanium metal shell.

[0046] The steering device includes a rotating unit 1 that rotates around the central axis of the endoscope insertion tube 2 and a rotating unit 2 that is arranged on the rotating unit 1 and is used to drive the endoscope tip 1 to swing left and right on both sides of the central axis of the endoscope insertion tube 2; the left and right swing is on the same swing plane.

[0047] The rotating unit 1 includes a sleeve 8, a gear 4 and a steering plate 9;

[0048] The second rotating unit comprises a second sleeve 10, a second gear 5, a third gear 6, a fourth gear 7 and a second steering plate 11;

[0049] An annular object is sleeved on the outer circumference of the main sleeve 3 , and a movable sleeve 2 10 and a movable sleeve 1 8 are sleeved on the outer circumference of the annular object in sequence; the sleeve 2 10 and the sleeve 1 8 can rotate around the outer circumference of the main sleeve 3 respectively.

[0050] The two ends of the sleeve 8 are respectively sleeved with a gear 4 and a steering plate 9. The plane of rotation of the gear 4 is perpendicular to the central axis of the main sleeve 3. The steering plate 9 is provided with a bracket 15 located at the curved portion facing the main sleeve 3, and the bracket 15 is provided with a gear 2 5. The plane of rotation of the gear 2 5 is parallel to the central axis of the main sleeve 3;

[0051] When the gear 1 4 rotates around the central axis of the main sleeve 3, the sleeve 1 8 rotates, driving the steering plate 1 9 to rotate, so that the rotating unit 1 rotates around the central axis of the endoscope insertion tube 2, and drives the gear 2 5 to rotate around the central axis of the main sleeve 3;

[0052] A movable sleeve 2 10 is passed through the hollow inner side of the sleeve 1 8, and the sleeve 2 10 is arranged on the outer periphery of the main sleeve 3; the two ends of the sleeve 2 10 are respectively sleeved with a gear 3 6 and a gear 4 7; the gear 3 6 is arranged on the outer side of the connection between the steering plate 1 9 and the sleeve 1 8; the gear 4 7 is arranged on the outer side of the connection between the gear 1 4 and the sleeve 1 8;

[0053] Gear 3 6 meshes with gear 2 5; gear 4 7 is linked with gear 3 6; gear 4 7 drives gear 3 6 to rotate and then meshes to drive gear 2 5 to rotate;

[0054] A steering plate 11 is fixed on the gear 5, and a ring structure 12 is provided on the steering plate 11 for surrounding the outer periphery of the main sleeve 3; the ring structure 12 is sleeved on the main sleeve 3 for steering the main sleeve 3; the steering of the main sleeve 3 drives the endoscope tip 1 to swing left and right on both sides of the central axis of the main sleeve 3;

[0055] When gear four 7 rotates around the central axis of the main sleeve 3, sleeve two 10 rotates accordingly, and drives gear three 6 to rotate. Gear three 6 meshes with gear two 5, thereby driving gear two 5 to rotate. The rotation of gear two 5 drives steering plate two 11 to rotate, and then drives the annular structure 12 to rotate, thereby realizing the steering of the main sleeve 3 and driving the endoscope tip 1 to swing left and right on both sides of the central axis of the main sleeve 3.

[0056] The gear 1 drives the steering plate 1 9 to rotate 360 ​​degrees around the central axis of the endoscope insertion tube 2 through the gear 1 4, and drives the gear 2 5 to rotate 360 ​​degrees around the central axis of the endoscope insertion tube 2;

[0057] Then, gear four 7 links gear three 6 and gear two 5 to rotate, driving steering plate two 11 to swing left and right on both sides of the central axis of the endoscope insertion tube 2; thereby, the endoscope tip 1 is turned to point to any direction on a virtual hemispherical surface in the advancing direction of the endoscope tip.

[0058] The rotation plane of gear 14 and gear 47 is perpendicular to the central axis of the endoscope insertion tube 2; a pull rope 13 for driving the gear rotation is provided on gear 14 and gear 47; a steering rod 16 and a pull rope groove along the axial direction of the insertion tube 2 are provided on the inner side wall of the endoscope insertion tube 2; the pull rope 13 is turned 90 degrees by the steering rod 16, from along the radial direction of the endoscope body to along the axial direction of the endoscope body, and then along the pull rope groove to the left and right knobs of the endoscope operating part; during operation, the pull rope 13 is pulled by rotating clockwise or counterclockwise, thereby rotating gear 14 or gear 47.

[0059] Gear 2 5 and gear 3 6 are bevel gears meshing with each other.

[0060] A retractable elastic sleeve 14 is provided between the endoscope tip 1 and the insertion tube 2 ; a steering device is provided in the elastic sleeve 14 .

[0061] The utility model provides an endoscope steering system, the steering system comprises the above-mentioned steering device; in the steering device, the rotation unit 1 and the rotation unit 2 are provided with angle sensors. The angle sensor can detect the rotation angle data information of the gear 1 4 and the gear 4 7, thereby obtaining the rotation angle data information of the rotation unit 1 and the rotation unit 2, and then calculating the rotation angle of the endoscope tip.

[0062] The steering system also includes a software module for calculating the rotation angle of the endoscope tip through the data of the rotation angles of rotation unit one and rotation unit two, and a software module for simulating the rotation shape of the endoscope in a virtual human body in vitro; thereby helping doctors or guiding surgical robots to complete interventional operations.

[0063] Use of this utility model:

[0064] The medical flexible endoscope provided by the utility model is placed into a cavity of a human body, and when the front end of the endoscope reaches a fork in the road or a sharp turn;

[0065] The operator turns a knob on the operating part to turn gear 14 through the pull rope 13, and gear 14 rotates around the central axis of the endoscope body, driving sleeve 18 to rotate, and then driving steering plate 19 to rotate, thereby driving gear 25 to rotate around the central axis of the endoscope body until the rotation plane of gear 25 is parallel to the target direction;

[0066] The operator turns another knob of the operating part, and rotates gear four 7 through the pull rope 13, and gear four 7 links gear three 6 and gear two 5 to rotate, thereby driving steering plate two 11 to swing left and right on both sides of the central axis of the endoscope body; thereby making the endoscope tip 1 point to the target direction, completing the steering operation.

[0067] Furthermore, by integrating human image information and information reflecting the status of the endoscope itself, the operation image is simulated in vitro, and the movement status of the endoscope in the virtual human body is simulated. When the endoscope tip reaches a fork in the road or a sharp turn, the robot operating system adjusts the rotation instructions in real time through the real-time transmitted rotation angle information of gear 1 4 and gear 4 7, so that gear 1 4 and gear 4 7 rotate successively until the endoscope tip 1 points to the target direction, completing the steering operation.

[0068] When rotating gear 1 4 rotates around the central axis of the endoscope body, gear 2 5 rotates around the central axis of the endoscope body at the same time; since gear 2 5 is meshed with gear 3 6, the "revolution" of gear 2 5 will cause the rotation of gear 3 6, gear 4 7 and the rotation of gear 2 5 itself, which will cause the endoscope tip 1 to swing; at this time, gear 2 5 can be restored to its original rotation position by rotating gear 4 7, that is, the endoscope tip 1 is kept pointing in the forward direction.

[0069] The utility model enables the endoscope to achieve the function of turning within a larger range, with a small turning radius and fewer parts involved;

[0070] The utility model designs a mechanical structure for mechanically controllable steering, which has a small turning radius, can greatly improve the steering success rate, and can better cope with the situation in which the abnormal direction of the patient's cavity is caused by individual differences among patients during surgery.

[0071] The utility model satisfies the need of a surgeon or a surgical robot to accurately obtain the steering information of the front end of an endoscope, thereby providing a hardware foundation for realizing more accurate and easier robotic intervention operations.

[0072] Example 2

[0073] like Figure 7 As shown, the utility model provides a steering sleeve of an industrial flexible endoscope, in which a steering device as described in Example 1 is arranged;

[0074] The structure of the applicable industrial flexible endoscope includes, from the end away from the operator to the end close to the operator, a distal end 1, an insertion tube 2, and an imaging part.

[0075] Various wire tubes (including video signal cables and lighting cables) leading to the distal end portion 1 are arranged in the insertion tube 2 .

[0076] The steering sleeve comprises an outer sleeve 17, a steering device and a steering control part; the steering device is arranged at one end of the outer sleeve 17 away from the operator; and an operating knob for controlling the steering device is arranged at one end of the outer sleeve 17 close to the operator.

[0077] The steering device includes a rotating unit 1 that rotates around the central axis of the endoscope body and a rotating unit 2 that is arranged on the rotating unit 1 and is used to drive the endoscope tip 1 to swing left and right on both sides of the central axis of the endoscope body; the left and right swing is on the same plane.

[0078] The structures of the rotating unit 1 and the rotating unit 2 are the same as those in Example 1;

[0079] An end face 18 is provided at the end of the outer tube sleeve 17, and a through hole is provided on the end face 18 for the endoscope tip 1 and the insertion tube 2 to pass through; a movable sleeve 2 10 and a movable sleeve 1 8 are provided in the through hole; the sleeve 2 10 and the sleeve 1 8 can rotate around the outer circumference of the insertion tube 2 respectively.

[0080] The gear 2 5 is provided with a steering plate 2 11, and the steering plate 2 11 is provided with an annular structure 12 for surrounding the outer periphery of the insertion tube 2; the annular structure 12 is sleeved with the insertion tube 2 for steering the insertion tube 2; the steering of the insertion tube 2 drives the endoscope tip 1 to swing left and right to both sides of the central axis of the endoscope body;

[0081] When gear 1 4 rotates around the central axis of the insertion tube 2 , sleeve 1 8 rotates, which drives steering plate 1 9 to rotate, thereby driving gear 2 5 to rotate around the central axis of the insertion tube 2 , realizing the rotation of rotating unit 1 around the central axis of the endoscope insertion tube 2 .

[0082] When gear four 7 rotates around the central axis of the insertion tube 2, sleeve two 10 rotates accordingly, and drives gear three 6 to rotate. Gear three 6 meshes with gear two 5, thereby driving gear two 5 to rotate. The rotation of gear two 5 drives steering plate two 11 to rotate, and then drives the annular structure 12 to rotate, thereby realizing the steering of the insertion tube 2 and driving the endoscope tip 1 to swing to the left and right sides of the central axis of the endoscope body.

[0083] The gear 1 drives the steering plate 1 9 to rotate 360 ​​degrees around the central axis of the endoscope insertion tube 2 through the gear 1 4, and drives the gear 2 5 to rotate 360 ​​degrees around the central axis of the endoscope insertion tube 2;

[0084] Then, gear four 7 links gear three 6 and gear two 5 to rotate, driving steering plate two 11 to swing to the left and right sides of the central axis of the endoscope insertion tube 2; thereby, the endoscope tip 1 is turned to point to any direction on a virtual hemispherical surface in the advancing direction of the endoscope tip.

[0085] The rotation plane of gear 14 and gear 47 is perpendicular to the central axis of the endoscope insertion tube 2; a pull rope 13 for driving the gear rotation is provided on gear 14 and gear 47; a steering rod 16 and a pull rope groove along the axial direction of the outer tube sleeve 17 are provided on the inner side wall of the outer tube sleeve 17; the pull rope 13 is turned 90 degrees through the steering rod 16, from the radial direction of the outer tube sleeve 17 to the axial direction of the outer tube sleeve 17, and then along the pull rope groove to the left and right knobs of the operating part of the outer tube sleeve 17 close to the operator; during operation, the pull rope 13 is pulled by rotating clockwise or counterclockwise, thereby rotating gear 14 or gear 47.

[0086] When there is a sharp turn in the pipeline to be inspected and needs to be observed, but the conventional industrial flexible endoscope cannot turn, the flexible endoscope without snake bone structure is inserted into the outer tube sleeve 17, and the endoscope tip 1 and part of the insertion tube 2 pass through the front end surface 18 of the outer tube sleeve 17. By operating the left and right knobs of the outer tube sleeve 17 operating part and pulling the pull rope 13, gear one 4 or gear four 7 is rotated to realize the steering of the endoscope tip 1; turn to the channel to be observed.

[0087] Example 3

[0088] like Figure 8 As shown, the utility model provides a steering device for a medical flexible endoscope, and the direction of the pull rope 13 of the steering device is different from that of the first embodiment.

[0089] In this embodiment, gear 14 and gear 297 are bevel gears; a bevel gear 19 whose rotation plane is parallel to the central axis of the endoscope body is meshed with gear 14 and gear 297, and a pull rope 13 along the axial direction of the endoscope body is provided on the bevel gear 19. Pulling the pull rope 13, through the transmission of the gear set, causes gear 14 and gear 297 to rotate, thereby realizing the steering of the endoscope tip 1.

[0090] The above is only a preferred embodiment of the utility model, and is not any formal or substantial limitation of the utility model. It should be pointed out that ordinary technicians in this technical field can make some improvements and supplements without departing from the utility model, and these improvements and supplements should also be regarded as the protection scope of the utility model. Any technician familiar with this profession can make some changes, modifications and equivalent changes made by using the technical content disclosed above without departing from the spirit and scope of the utility model, which are all equivalent embodiments of the utility model; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above embodiments based on the essential technology of the utility model are still within the scope of the technical solution of the utility model.

Claims

1. An endoscope steering device, arranged at a curved portion between an endoscope tip and an insertion tube, wherein the insertion tube is provided with various wire tubes leading to the tip, and the outer periphery of the various wire tubes is wrapped with a main sleeve; characterized in that: The steering device comprises a rotating unit 1 that rotates around the central axis of the endoscope insertion tube and a rotating unit 2 that is arranged on the rotating unit 1 and is used to drive the endoscope tip to swing left and right to both sides of the central axis of the endoscope insertion tube; The rotating unit 1 is provided with a gear 1 for driving the rotating unit 1 to rotate around the central axis of the endoscope insertion tube; the plane of rotation of the gear 1 is perpendicular to the central axis of the endoscope insertion tube; the gear 1 is connected to a driving device; The rotating unit 2 is provided with a gear 2 for driving the endoscope tip to swing left and right on both sides of the central axis of the endoscope insertion tube; the plane of rotation of the gear 2 is perpendicular to the plane of rotation of the gear 1; the gear 2 is connected to the rotating unit 1; the gear 2 is connected to a driving device.

2. An endoscope steering device according to claim 1, characterized in that: The rotating unit 1 includes a sleeve 1, a gear 1 and a steering plate 1; a movable sleeve 1 is sleeved on the outer periphery of the main sleeve, and a gear 1 and a steering plate 1 are sleeved on both ends of the sleeve 1 respectively; the steering plate 1 is arranged between the front end of the endoscope and the insertion tube.

3. An endoscope steering device according to claim 2, characterized in that: The first steering plate is provided with a bracket facing the main sleeve, and the bracket is provided with a second gear.

4. An endoscope steering device according to claim 3, characterized in that: The rotating unit 2 includes a sleeve 2, a gear 2, a gear 3, a gear 4 and a steering plate 2; the sleeve 1 is penetrated by a sleeve 2, and the two ends of the sleeve 2 are respectively sleeved with a gear 3 and a gear 4; the gear 3 is meshed and connected with the gear 2; the gear 4 is linked with the gear 3 and is used to mesh with the driving gear 2 by driving the gear 3; the gear 2 is provided with a steering plate 2, and the steering plate 2 is movably connected with the main sleeve.

5. An endoscope steering device according to claim 4, characterized in that: The second steering plate is provided with an annular structure for surrounding the outer circumference of the main sleeve; the main sleeve leading to the front end of the endoscope is passed through the hollow annular structure.

6. An endoscope steering device according to claim 4, characterized in that: The gear one and the gear four are provided with pull ropes for driving the gears to rotate.

7. An endoscope steering device according to claim 1, characterized in that: A retractable elastic tube sleeve is arranged between the front end of the endoscope and the insertion tube; and the steering device is arranged in the elastic tube sleeve.

8. An endoscope steering system, characterized in that: The steering system comprises a steering device according to any one of claims 1 to 7; and angle sensors are provided on the rotating unit 1 and the rotating unit 2.

9. An endoscope steering system according to claim 8, characterized in that: The steering system includes a software module for calculating the rotation angle of the endoscope tip through the data of the rotation angles of the rotation unit 1 and the rotation unit 2, and a software module for simulating the rotation of the endoscope in a virtual human body in vitro.

Images