Driving box suitable for endoscope

Abstract

The utility model provides a driving box suitable for an endoscope. The driving box comprises a box body, a transmission part, a driving assembly and an anti-backlash locking assembly. The transmission part is used for installing an endoscope and rotates synchronously with the endoscope, and a transmission gear is coaxially fixed to the part, located in the inner cavity of the box body, of the transmission part. A first tooth transmission part in the driving assembly is in meshing transmission with the transmission gear, and a first driving part in the driving assembly is used for receiving external power to drive the first tooth transmission part to act, so that the transmission gear rotates in the first direction. A second tooth transmission piece in the anti-backlash locking assembly is in meshing transmission with the transmission gear. After the first driving part drives the transmission gear to rotate in the first direction, the second driving part in the anti-backlash locking assembly receives external power to drive the second tooth transmission part to act, and then the transmission gear rotates in the direction opposite to the first direction, so that shaking caused by a return difference gap between the first tooth transmission part and the transmission gear is eliminated, and the anti-backlash effect is achieved. And the locking assembly is matched with the driving assembly to lock rotation of the transmission gear.

Description

Technical Field

[0001] The utility model belongs to the technical field of endoscopes, and in particular relates to a drive box suitable for an endoscope. Background Art

[0002] Endoscopy is a minimally invasive examination and treatment method, mainly used to diagnose and treat a variety of diseases. It uses optical principles to enter the body through natural orifices of the human body or through small surgical incisions. Endoscopes have optical lenses, mechanical devices, etc., which can observe diseased tissues and help doctors diagnose diseases.

[0003] During minimally invasive surgery, medical staff often need to hold an endoscope to provide a field of view for the surgical process. However, when medical staff hold an endoscope, the stability of the image quality is easily reduced due to hand shaking, and it is easy for medical staff to get tired and cause misoperation after holding the endoscope for a long time. In the prior art, the above problems are solved by setting an endoscope drive device. The endoscope drive device generally includes a drive box and a power source. The drive box is connected to the endoscope and controls the rotation of the endoscope. The drive box is connected to the robotic arm through a sterile adapter; the power source is used to provide power to the drive box, and the power source is generally set on the sterile adapter or the robotic arm.

[0004] The existing drive box generally uses a gear transmission mechanism to transmit force. However, due to the negative displacement design of the gear, processing errors and assembly errors, the endoscope may shake, thus affecting minimally invasive surgery. Utility Model Content

[0005] In view of the above problems, the utility model provides a drive box suitable for an endoscope, comprising:

[0006] A box body, wherein the inner cavity of the box body is a mounting cavity;

[0007] A transmission member, the transmission member is rotatably connected to the box body, and the rotation axis between the transmission member and the box body coincides with the first straight line; the transmission member penetrates the box body along the first straight line direction and passes through the installation cavity when penetrating, a transmission gear is fixedly connected to the portion of the transmission member located in the installation cavity, and the transmission gear and the transmission member rotate synchronously around the first straight line; the transmission member is provided with a through hole arranged along the first straight line, the through hole is used for the insertion of an endoscope, and the transmission member is used to connect with the endoscope and drive the endoscope to rotate synchronously;

[0008] The driving assembly comprises a first driving part and a first gear transmission member; the input end of the first driving part is located outside the installation cavity and is used to be connected to an external power source, and the output end of the first driving part is located inside the installation cavity and is connected to the first gear transmission member inside the installation cavity; the first gear transmission member is meshed with the transmission gear, and the first driving part is used to drive the transmission gear to rotate in a first direction through the first gear transmission member under the drive of the external power source;

[0009] The anti-backlash locking assembly comprises a second driving part and a second tooth transmission member; the input end of the second driving part is located outside the installation cavity and is used to be connected to an external power source, and the output end of the second driving part is located inside the installation cavity and is connected to the second tooth transmission member inside the installation cavity; the second tooth transmission member is meshed with the transmission gear; the second driving part is used to drive the transmission gear to rotate in a direction opposite to the first direction through the second tooth transmission member under the drive of an external power source after the driving assembly drives the transmission gear to rotate in a first direction by a preset angle, so as to eliminate the shaking caused by the backlash between the first tooth transmission member and the transmission gear, thereby cooperating with the driving assembly to lock the rotation of the transmission gear.

[0010] In a drive box suitable for an endoscope provided in a certain embodiment, the first tooth transmission member is a gear or a rack, and / or the second tooth transmission member is a gear or a rack.

[0011] In a drive box suitable for an endoscope provided in a certain embodiment, the first tooth transmission member is a gear, the first driving part includes a first driving shaft and a first gear, the input end of the first driving shaft is located outside the mounting cavity, and is used to connect to an external power source, and the output end of the first driving shaft is located in the mounting cavity; the first gear is arranged in the mounting cavity, and the first gear is sleeved on the output end of the first driving shaft and fixedly connected thereto to realize synchronous rotation of the first gear and the first driving shaft; the first gear is meshed with the first tooth transmission member for transmission.

[0012] In a drive box suitable for an endoscope provided in a certain embodiment, the second tooth transmission member is a gear, the second driving part includes a second driving shaft and a second gear, the input end of the second driving shaft is located outside the mounting cavity, for connecting to an external power source, and the output end of the second driving shaft is located in the mounting cavity; the second gear is arranged in the mounting cavity, the second gear is sleeved on the output end of the second driving shaft and fixedly connected thereto to realize synchronous rotation of the second gear and the second driving shaft; the second gear is meshed with the second tooth transmission member for transmission.

[0013] In a driving box suitable for an endoscope provided in a certain embodiment, the first gear transmission member and the second gear transmission member are both gears, and the first gear transmission member and the second gear transmission member are rotationally connected to the box body along the same rotation axis.

[0014] In a drive box suitable for an endoscope provided in a certain embodiment, an installation shaft is provided in the installation cavity, the first gear transmission member and the second gear transmission member are arranged side by side on the installation shaft along the axial direction of the installation shaft, and the first gear transmission member and the second gear transmission member are respectively rotatably connected to the installation shaft.

[0015] Due to the adoption of the above technical solution, the utility model has the following advantages and positive effects compared with the prior art:

[0016] When the drive box for endoscope provided by the utility model is used, the drive assembly first drives the transmission gear to rotate in a certain direction (the certain direction is called the first direction), and then the first drive part stops. At this time, due to the negative displacement design of the gear, processing error and assembly error, there is a backlash gap at the meshing point of the first tooth transmission member and the transmission gear. This backlash gap will cause the transmission gear to rotate freely within a small range, which is manifested as the endoscope shaking; then the anti-backlash locking assembly drives the transmission gear to rotate in the opposite direction (that is, the direction opposite to the first direction), so that: the second tooth transmission member applies a force to the transmission gear, and at the meshing point of the transmission gear and the first tooth transmission member, the force will press the teeth on the transmission gear against the teeth on the first tooth transmission member. Therefore, the transmission gear can no longer rotate, and the anti-backlash locking assembly cooperates with the driving assembly to eliminate the shaking caused by the backlash gap and lock the transmission gear. At the same time, in the prior art, the shaking caused by the backlash gap reduces the rotation control accuracy of the endoscope, while the utility model can solve the influence of the backlash gap and lock the relative position of the transmission gear and the box body, thereby improving the rotation control accuracy of the endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0018] Figure 1 It is a schematic diagram of a drive box suitable for an endoscope installed with an endoscope according to the utility model;

[0019] Figure 2 This is a schematic diagram of the internal structure of a drive box suitable for an endoscope of the utility model;

[0020] Figure 3It is a schematic diagram of a drive box applicable to an endoscope of the utility model at a drive assembly and a transmission gear;

[0021] Figure 4 It is a schematic diagram of the partial structure enlargement of a driving box suitable for an endoscope of the utility model.

[0022] Description of reference numerals:

[0023] 1: driving box; 11: box body; 12: transmission member; 13: transmission gear; 14: first driving shaft; 15: first gear; 16: first gear transmission member; 17: second driving shaft; 18: second gear; 19:

[0024] Second tooth transmission member; 2: endoscope. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the specific implementation methods of the utility model will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0026] In order to simplify the drawings, only the parts related to the utility model are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0027] See also Figures 1 to 4 This embodiment provides a driving box 1 applicable to an endoscope. For the convenience of description, the driving box 1 applicable to an endoscope is referred to as the driving box 1 hereinafter.

[0028] like Figure 1 As shown, the drive box 1 is assembled and connected to the endoscope 2, and connected to the robotic arm through a sterile adapter; the position and posture of the endoscope 2 are controlled by the robotic arm, and the rotation of the endoscope 2 is controlled by the drive box 1.

[0029] The driving box 1 comprises a box body 11, a transmission member 12, a driving assembly and an anti-backlash locking assembly. The inner cavity of the box body 11 is an installation cavity.

[0030] The transmission member 12 is rotatably connected to the box body 11, and the rotation axis between the transmission member 12 and the box body 11 coincides with the first straight line. The transmission member 12 penetrates the box body 11 along the first straight line direction, and passes through the installation cavity when penetrating. The transmission gear 13 is fixedly connected to the part of the transmission member 12 located in the installation cavity, and the transmission gear 13 and the transmission member 12 rotate synchronously around the first straight line.

[0031] The transmission member 12 is provided with a through hole arranged along the first straight line, and the through hole is used for the endoscope 2 to pass through. The transmission member 12 is used to connect with the endoscope 2 and drive the endoscope 2 to rotate synchronously. There are many ways to connect the transmission member 12 with the endoscope 2, for example, it can be: there are a first connecting member and a second connecting member, the first connecting member is connected to the transmission member 12, the first connecting member and the second connecting member are respectively provided with grooves, the two grooves cooperate to form a mounting hole adapted to the endoscope 2, when the locking connection is made, the endoscope 2 is located between the two grooves, the second connecting member is connected to the first connecting member, the two grooves are combined to form a mounting hole and the endoscope 2 is fixed in the mounting hole, and a card block, a card slot, etc. can be provided on the side wall of the mounting hole, which is adapted to the card slot, the card block, etc. on the endoscope 2, so as to limit the axial movement and circumferential rotation of the endoscope 2. Of course, in other embodiments, other connection methods can be used between the transmission member 12 and the endoscope 2, such as a direct fixed connection between the transmission member 12 and the endoscope 2, or the connection method shown in the patent application number 202311306787.X, etc. The present utility model does not limit the connection method between the transmission member 12 and the endoscope 2.

[0032] The driving assembly includes a first driving part and a first gear transmission member 16. The input end of the first driving part is located outside the installation cavity and is used to connect to an external power source. The output end of the first driving part is located inside the installation cavity and is connected to the first gear transmission member 16 inside the installation cavity. The first gear transmission member 16 is meshed with the transmission gear 13. The first driving part is used to drive the transmission gear 13 to rotate in a first direction through the first gear transmission member 16 under the drive of the external power source. The driving box 1 mainly controls the rotation of the transmission gear 13 through the driving assembly, thereby controlling the rotation of the endoscope 2. Among them, the first direction is the direction in which the endoscope 2 actually needs to be controlled to rotate. The first direction can be clockwise or counterclockwise.

[0033] The first tooth transmission member 16 may be a gear or a rack or other member that can mesh with the transmission gear 13. In this embodiment, the first tooth transmission member 16 is preferably a gear.

[0034] The first driving part is used to receive the power transmitted by the external power source, and drive the first gear transmission member 16 to move under the drive of the power. Specifically in this embodiment, the first driving part includes a first driving shaft 14 and a first gear 15, the input end of the first driving shaft 14 is located outside the installation cavity, and is used to connect with the external power source, and the output end of the first driving shaft 14 is located in the installation cavity; the first gear 15 is arranged in the installation cavity, and the first gear 15 is sleeved on the output end of the first driving shaft 14 and fixedly connected thereto to realize the synchronous rotation of the first gear 15 and the first driving shaft 14; the first gear 15 is meshed with the first gear transmission member 16 for transmission.

[0035] The anti-backlash locking assembly includes a second driving part and a second gear transmission member 19. The input end of the second driving part is located outside the installation cavity and is used to connect to an external power source. The output end of the second driving part is located inside the installation cavity and is connected to the second gear transmission member 19 inside the installation cavity. The second gear transmission member 19 is meshed with the transmission gear 13. The second driving part is used to drive the transmission gear 13 to rotate in a direction opposite to the first direction through the second gear transmission member 19 under the drive of an external power source after the driving assembly drives the transmission gear 13 to rotate in a first direction by a preset angle, so as to eliminate the shaking caused by the backlash between the first gear transmission member 16 and the transmission gear 13, thereby cooperating with the driving assembly to lock the rotation of the transmission gear 13.

[0036] The second tooth transmission member 19 may be a gear or a rack or other member that can mesh with the transmission gear 13. In this embodiment, the second tooth transmission member 19 is preferably a gear.

[0037] The second driving part is used to receive the power transmitted by the external power source, and drive the second gear transmission member 19 to move under the drive of the power. Specifically in this embodiment, the second driving part includes a second driving shaft 17 and a second gear 18, the input end of the second driving shaft 17 is located outside the installation cavity, and is used to connect with the external power source, and the output end of the second driving shaft 17 is located in the installation cavity; the second gear 18 is arranged in the installation cavity, and the second gear 18 is sleeved on the output end of the second driving shaft 17 and fixedly connected thereto to realize the synchronous rotation of the second gear 18 and the second driving shaft 17; the second gear 18 is meshed with the second gear transmission member 19 for transmission.

[0038] To save space, the first gear transmission member 16 and the second gear transmission member 19 can be rotatably connected to the box body 11 along the same rotation axis. Specifically, a mounting shaft is provided in the mounting cavity, and the first gear transmission member 16 and the second gear transmission member 19 are sleeved on the mounting shaft side by side along the axial direction of the mounting shaft, and the first gear transmission member 16 and the second gear transmission member 19 are rotatably connected to the mounting shaft respectively.

[0039] The second direction is defined as a direction opposite to the first direction. When the drive box 1 provided in this embodiment drives the endoscope 2 to rotate, an external power source drives the first drive shaft 14 to rotate in the first direction, drives the first gear 15 to rotate in the first direction, and then drives the first tooth transmission member 16 to rotate in the second direction, and finally drives the transmission gear 13 to rotate in the first direction (in this process, the components in the anti-backlash locking assembly can also rotate accordingly, so that it will not hinder the driving of the transmission gear 13 by the driving assembly; or other methods can be used to ensure that the anti-backlash locking assembly does not hinder the driving of the transmission gear 13 by the driving assembly in this process). When the first drive shaft 14 stops rotating, due to the negative displacement design of the gear, processing errors and assembly errors, etc., there will be a large backlash gap between the first gear 15, the first tooth transmission member 16 and the transmission gear 13 (such as Figure 4 As shown in the figure, the existence of the backlash clearance will allow the transmission member 12 to rotate freely within a small angle range, thereby causing the endoscope 2 to shake. To this end, after the first drive shaft 14 stops rotating, the second drive shaft 17 is driven to rotate in the second direction by an external power source, driving the second gear 18 to rotate in the second direction, and then driving the second gear transmission member 19 to rotate in the first direction, and finally driving the transmission gear 13 to rotate in the second direction. The power source for driving the second drive shaft 17 to rotate is generally a motor. By detecting the current size of the motor when it is running, the resistance size encountered by the second gear transmission member 19 when driving the transmission gear 13 to rotate in the second direction can be determined; when the influence of the backlash clearance is completely eliminated, if the second gear transmission member 19 wants to continue to drive the transmission gear 13 to rotate in the second direction, the second gear transmission member 19 will be subject to a sudden increase in resistance. Therefore, it is possible to monitor the current size of the motor to determine when to stop driving the second drive shaft 17 to rotate in the second direction to eliminate the influence of the backlash clearance. Of course, in other embodiments, other methods may be used to determine when to stop driving the second drive shaft 17 to rotate in the second direction, and the present invention does not impose any limitation on this.

[0040] The problem that the rotation of the second drive shaft 17 will drive the transmission gear 13 to rotate a certain angle in the second direction can be solved by rotating the corresponding angle in advance when the rotation of the first drive shaft 14 drives the transmission gear 13 to rotate in the first direction at the beginning. For example, when the transmission gear 13 is actually required to rotate 60° in the first direction, the transmission gear 13 needs to be rotated 2° in the second direction to eliminate the influence of the backlash. In this case, the transmission gear 13 can be directly rotated 62° (the degrees here are only for explanation, not the values ​​in the actual scene) when the rotation of the first drive shaft drives the transmission gear 13 to rotate at the beginning. As for how many degrees are needed to rotate in the second direction to eliminate the influence of the backlash, it can be obtained by calculation, or by conducting experiments in advance to obtain the corresponding relationship and then using it in the actual scene, or it can be obtained by other methods, which are not limited here.

[0041] The above is a detailed description of the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A drive box suitable for an endoscope, characterized in that: include: A box body, wherein the inner cavity of the box body is a mounting cavity; A transmission member, the transmission member is rotatably connected to the box body, and a rotation axis between the transmission member and the box body coincides with a first straight line; The transmission member penetrates the box body along the first straight line direction and passes through the installation cavity when penetrating. A transmission gear is fixedly connected to the portion of the transmission member located in the installation cavity, and the transmission gear and the transmission member rotate synchronously around the first straight line. The transmission member is provided with a through hole arranged along the first straight line, and the through hole is used for the insertion of an endoscope. The transmission member is used to connect with the endoscope and drive the endoscope to rotate synchronously. A drive assembly, comprising a first drive unit and a first gear transmission member; an input end of the first drive unit is located outside the installation cavity and is used to be connected to an external power source, and an output end of the first drive unit is located inside the installation cavity and is connected to the first gear transmission member inside the installation cavity; the first gear transmission member is meshed with the transmission gear, and the first drive unit is used to drive the transmission gear to rotate in a first direction through the first gear transmission member under the drive of an external power source; The anti-backlash locking assembly comprises a second driving part and a second gear transmission member; the input end of the second driving part is located outside the installation cavity and is used to connect to an external power source, and the output end of the second driving part is located inside the installation cavity and is connected to the second gear transmission member inside the installation cavity; the second gear transmission member is meshed with the transmission gear; The second driving part is used to drive the transmission gear to rotate in a direction opposite to the first direction through the second tooth transmission member under the drive of an external power source after the driving component drives the transmission gear to rotate in a first direction by a preset angle, so as to eliminate the shaking caused by the backlash clearance between the first tooth transmission member and the transmission gear, thereby cooperating with the driving component to lock the rotation of the transmission gear.

2. The drive box suitable for an endoscope according to claim 1, characterized in that: The first tooth transmission member is a gear or a rack, and / or the second tooth transmission member is a gear or a rack.

3. The drive box suitable for an endoscope according to claim 1, characterized in that: The first gear transmission member is a gear, and the first driving part includes a first driving shaft and a first gear. The input end of the first driving shaft is located outside the installation cavity and is used to connect with an external power source, and the output end of the first driving shaft is located in the installation cavity; the first gear is arranged in the installation cavity, and the first gear is sleeved on the output end of the first driving shaft and fixedly connected thereto to realize synchronous rotation of the first gear and the first driving shaft; The first gear is meshed with the first gear transmission member for transmission.

4. The drive box suitable for an endoscope according to claim 1, characterized in that: The second gear transmission member is a gear, the second driving part includes a second driving shaft and a second gear, the input end of the second driving shaft is located outside the installation cavity and is used to connect to an external power source, and the output end of the second driving shaft is located inside the installation cavity; The second gear is arranged in the installation cavity, and the second gear is sleeved on the output end of the second drive shaft and fixedly connected thereto to realize synchronous rotation of the second gear and the second drive shaft; The second gear is meshed with the second gear transmission member for transmission.

5. The drive box suitable for an endoscope according to claim 1, characterized in that: The first gear transmission member and the second gear transmission member are both gears, and the first gear transmission member and the second gear transmission member are rotatably connected to the box body along the same rotation axis.

6. The drive box suitable for an endoscope according to claim 5, characterized in that: An installation shaft is arranged in the installation cavity, the first gear transmission member and the second gear transmission member are sleeved on the installation shaft side by side along the axial direction of the installation shaft, and the first gear transmission member and the second gear transmission member are rotationally connected to the installation shaft respectively.

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