Endoscope and variable-diameter driving device and operating part thereof

Abstract

The utility model provides an endoscope and a variable-diameter driving device and an operation part thereof, and relates to the technical field of endoscopes, the driving device comprises a driving wheel, the driving wheel can rotate around the rotating center of the driving wheel, a first rope groove is formed in the annular outer side wall of the driving wheel, and the driving wheel is provided with a first side face and a second side face which are oppositely arranged; a first mounting groove and a second rope groove are formed in the first side surface, and the second rope groove is used for communicating the first mounting groove with the first rope groove; the second side surface is connected with the handle lower shell; the first rope groove is provided with an initial position and a final position, and the distance from the tangent line of the initial position to the rotating center is larger than the distance from the tangent line of the final position to the rotating center. Due to the fact that the distance between the tangent line of the initial position of the driving wheel and the rotating center is larger than the distance between the tangent line of the final position of the driving wheel and the rotating center, the resistance radius is reduced along with increase of the rotating angle, the maximum value of driving force can be effectively reduced, the operation difficulty of an operator and the fatigue degree of the operator are reduced, and the labor-saving effect is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of endoscopes, and more particularly to an endoscope and a variable-diameter driving device and operating part thereof. BACKGROUND

[0002] An endoscope is a detection instrument integrating traditional optics, human engineering, precision machinery, modern electronics, mathematics, software, etc., and has been widely popularized for minimally invasive or non-invasive medical examination and treatment with the rapid development of science and technology and medical technology in recent years. An endoscope can enter a human body through a natural channel or a surgical incision to examine or treat internal organs.

[0003] A conventional endoscope is operated by an operator holding a handle part of the endoscope and using fingers to move a lever to control a front end of an insertion part to bend. During the movement of the lever, a moving force gradually increases with an increase in a bending angle of the front end. At zero position and when the bending angle reaches a maximum value, a force difference of the lever is large, and the operator needs to constantly change the moving force of the lever to control the bending section to bend to different angles, thereby increasing operation difficulty. Moreover, the operator will move the lever a lot during operation, and when the moving force of the lever is large, the operator is prone to fatigue. Therefore, reducing the maximum lever force and making the lever force in the moving range of the lever more uniform can effectively reduce the fatigue degree of the operator and operation difficulty, which is a technical problem to be solved urgently. CONTENT OF THE INVENTION

[0004] The present application provides an endoscope and a variable-diameter driving device and operating part thereof, which can effectively ensure uniform driving of a driving wheel, reduce the fatigue degree of an operator, and reduce operation difficulty.

[0005] The present application provides a variable-diameter driving device, which comprises a driving wheel capable of rotating about a rotation center thereof, wherein an annular outer side wall of the driving wheel is provided with a first rope groove, the driving wheel has oppositely arranged first and second side faces, the first side face is provided with a first mounting groove and a second rope groove, and the second rope groove is used to communicate the first mounting groove and the first rope groove; and the second side face is connected with a lower shell of a handle.

[0006] The first rope groove is provided with an initial position and an end position, and a distance from a tangent line of the initial position to the rotation center is greater than a distance from a tangent line of the end position to the rotation center.

[0007] In some optional embodiments, the driving device further comprises a driving rope assembly and a driving lever, the driving rope assembly comprises a driving rope, a fixing seat and a sleeve, the fixing seat is arranged in the first mounting groove, one end of the driving rope is connected with the fixing seat, the other end is arranged along the second rope groove and the first rope groove in sequence and is connected with the insertion part, the sleeve is sleeved on the end of the driving rope close to the insertion part and is fixed on the lower shell of the handle, and the driving lever is connected with the driving wheel and used for driving the driving wheel to rotate.

[0008] In some optional embodiments, the distance from the tangent of any point from the initial position to the terminal position to the rotation center gradually decreases.

[0009] In some optional embodiments, the second rope groove is provided with two second rope grooves arranged on the two sides of the first mounting groove respectively, the driving rope comprises a first driving rope and a second driving rope, the first rope groove comprises a first rope groove section, a second rope groove section and a third rope groove section, the first rope groove section and the second rope groove section are arranged on the two sides of the driving wheel respectively, the first driving rope is stretched out along one of the second rope grooves and then is stretched into the first rope groove section, and the second driving rope is stretched out along the other second rope groove and then is stretched into the second rope groove section; the first rope groove section and the second rope groove section are each provided with one initial position and one terminal position, one end of each of the two second rope grooves is communicated with the first mounting groove, and the other end is communicated with the initial position of the first rope groove section and the second rope groove section respectively; the third rope groove section is arranged between the terminal positions of the first rope groove section and the second rope groove section and is used for connecting the first rope groove section and the second rope groove section.

[0010] In some optional embodiments, the distance from the tangent of any point on the third rope groove section to the rotation center is smaller than the distance from the tangent of the terminal position to the rotation center.

[0011] In some optional embodiments, the cross section of the first rope groove in the radial direction of the driving wheel is a concave cavity with one end open and the other end closed, and the closed end is towards the rotation center of the driving wheel.

[0012] In some optional embodiments, the driving device further comprises a bearing, the first mounting boss is arranged on the second side surface, the inner ring of the bearing is mounted in cooperation with the first mounting boss, and the outer ring of the bearing is mounted in cooperation with the lower shell of the handle; the first mounting boss is internally provided with a second mounting groove, the second mounting boss is arranged on the driving lever, the shape of the second mounting boss is adapted to the shape of the second mounting groove, and the second mounting boss is inserted into the second mounting groove after penetrating through the lower shell of the handle.

[0013] The application provides an operating part, comprising a handle lower shell and a driving device as described above, the driving device is assembled on the handle lower shell, and the second side is connected with the handle lower shell.

[0014] In some optional embodiments, the driving device further comprises a bearing, the interior of the handle lower shell is provided with a bearing mounting groove, the second side of the driving wheel is provided with a first mounting boss, the inner ring of the bearing is mounted in cooperation with the first mounting boss, the outer ring of the bearing is mounted in cooperation with the bearing mounting groove, an angle limiting boss is arranged on the first mounting boss, a limiting groove is arranged on the bearing mounting groove, and the angle limiting boss is rotationally arranged in the limiting groove and used for limiting the rotation angle of the driving wheel; a second mounting groove is arranged in the first mounting boss, a second mounting boss is arranged on the driving lever, and a through hole is arranged on the handle lower shell, the second mounting boss is inserted into the second mounting groove after passing through the through hole.

[0015] The application provides an endoscope, comprising an insertion part and an operating part as described above, the insertion part is mounted on the handle lower shell, the driving rope extends to the distal end along the axial direction of the insertion part and is connected with the bending section of the insertion part, and the driving rope is driven to drive the bending section to bend by driving the driving wheel.

[0016] According to the endoscope, the variable-diameter driving device and the operating part in the above-mentioned embodiments, the first rope groove is arranged on the annular outer side wall of the driving wheel of the driving device, the initial position and the terminal position are arranged on the first rope groove, the tangent line of the initial position to the rotation center is longer than the tangent line of the terminal position to the rotation center, the resistance radius decreases with the increase of the rotation angle, the maximum value of the driving force can be effectively reduced, the operation difficulty of the operator and the fatigue degree of the operator are reduced, and the labor-saving effect is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic view of the endoscope in an embodiment;

[0018] Figure 2 It is an exploded view of the structure of the endoscope in an embodiment;

[0019] Figure 3 It is a structural schematic view of the first side of the driving wheel in an embodiment;

[0020] Figure 4 It is a structural schematic view of the rope groove of the driving wheel in an embodiment;

[0021] Figure 5 It is a relational curve diagram of the rotation angle and the resistance radius Rz and the driving force Fq in an embodiment;

[0022] Figure 6 Structure diagram of the first rope groove on the driving wheel in an embodiment;

[0023] Figure 7 Structure front view of the driving wheel in an embodiment;

[0024] Figure 8 Structure diagram of the driving wheel in an embodiment Figure 7 Structure diagram of the cross section of A-A;

[0025] Figure 9 Structure diagram of the driving wheel in an embodiment Figure 7 Structure diagram of the cross section of B-B;

[0026] Figure 10 Structure diagram of the second side of the driving wheel in an embodiment;

[0027] Figure 11 Structure diagram of the cooperation between the driving wheel and the lower handle shell in an embodiment;

[0028] Figure 12 Structure diagram of the driving rope assembly in an embodiment.

[0029] 1, insertion part; 2, driving handle; 21, lower handle shell; 211, through hole; 212, bearing installation groove; 213, limiting groove; 214, fixing groove; 3, driving device; 31, driving wheel; 311, first rope groove; 3111, first rope groove section; 3112, second rope groove section; 3113, third rope groove section; 3114, first contact surface; 3115, second contact surface; 312, first side; 3121, first installation groove; 3122, second rope groove; 313, second side; 3131, first installation boss; 3132, second installation groove; 3133, angle limiting boss; 32, driving rope assembly; 321, driving rope; 3211, first driving rope; 3212, second driving rope; 322, fixing seat; 323, sleeve; 33, driving lever; 331, second installation boss; 34, bearing; 35, fixing piece; O, rotation center; C, center line; D1, initial position; D2, end position. DETAILED DESCRIPTION

[0030] The application will be described in further detail below with specific reference being made to the drawings. Like elements are marked with the same reference numerals throughout the various figures. In the following description, numerous specific details are described to provide a thorough understanding of the application. However, it will be apparent to one skilled in the art that the application can be practiced without many of the specific details. In other instances, well-known methods have not been described in detail in order to avoid unnecessarily obscuring the application. As used in this description, the words "coupled" and "connected" and variations thereof mean any connection or coupling, either direct or indirect.

[0031] In addition, the features, operations or steps described in the specification can be combined in any suitable manner without departing from the scope of the application. The operations of each of the examples can also be performed in an order different from the order described in the specification. Thus, the specification and the accompanying drawings are not intended to limit the application to the particular examples described.

[0032] The terms "first", "second", and the like, as used in this description do not have any specific technical meaning and are merely used to distinguish one element from another.

[0033] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can also be present. The terms "above", "below", "left", "right", and the like as used herein refer to the orientation of the figure shown in the drawing.

[0034] In the present application, the terms "above", "below", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship as shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to indicating the orientation or positional relationship, some of the above terms can also be used to indicate other meanings, for example, the term "above" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances.

[0035] Furthermore, the terms "mount", "set", "provided with", "connected", "linked" should be interpreted broadly. For example, it can be a fixed connection, detachable connection, or integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or an internal connection between two devices, elements or components. The specific meaning of the above terms in the present application can be understood according to the specific circumstances by those skilled in the art.

[0036] In order to more clearly describe the structure of the present application, "proximal end" and "distal end" are used as directional words, "proximal end" means the end of the structure close to the operator during use, and "distal end" means the end of the structure away from the operator during use, i.e. the end close to the patient or inserted into the patient's body.

[0037] Please refer to Figures 1 to 12 The first embodiment of the present application provides an endoscope, which can be a laparoscope, a renal pelviscope, etc.

[0038] Please continue to refer to Figure 1 and Figure 2 The endoscope comprises an insertion part 1, a driving handle 2 and a variable-diameter driving device 3 (hereinafter referred to as "driving device 3"), the insertion part 1 is used to be inserted into the cavity of the human body, the insertion part 1 has a bending section, the driving device 3 and the insertion part 1 are both connected with the driving handle 2, the driving handle 2 comprises an upper handle shell (not shown in the figure) and a lower handle shell 21, the upper handle shell and the lower handle shell 21 form an installation cavity, part of the structure of the driving device 3 is arranged in the installation cavity, and part of the structure is exposed to the driving handle 2 for the operator to operate the driving device 3, part of the structure of the insertion part 1 is arranged in the installation cavity and connected with the driving device 3, so that the operator can drive the bending section of the insertion part 1 to bend to different angles through the driving device 3, to adapt to the morphology of different cavities in the human body.

[0039] Please continue to refer to Figure 2 The driving device 3 comprises a driving wheel 31, a driving rope assembly 32 and a driving lever 33, the driving wheel 31 is fixedly arranged on the lower handle shell 21 and can rotate around its rotation center O, the driving rope assembly 32 is used to realize the connection between the driving wheel 31 and the insertion part 1, and transmit the rotary motion of the driving wheel 31 to drive the bending section of the insertion part 1 to bend, and the driving lever 33 is used to drive the driving wheel 31 to rotate around its own rotation center O.

[0040] Please refer to Figures 3 to 7The annular outer side wall of the driving wheel 31 is provided with a first rope groove 311, the driving wheel 31 has oppositely arranged first and second side faces 312 and 313, the first side face 312 is provided with a first mounting groove 3121 and a second rope groove 3122, the second rope groove 3122 is used for connecting the first mounting groove 3121 and the first rope groove 311, and the second side face 313 is connected with the handle lower shell 21; the driving rope assembly 32 comprises a driving rope 321 and a fixing seat 322, the fixing seat 322 is arranged in the first mounting groove 3121, one end of the driving rope 321 is connected with the fixing seat 322, the other end is arranged along the second rope groove 3122 and the first rope groove 311 in sequence and connected with the insertion part 1; the driving lever 33 is connected with the driving wheel 31 and used for driving the driving wheel 31 to rotate; the first rope groove 311 is provided with an initial position D1 (a rope exit point of the driving rope 321 from the second rope groove 3122) and an end position D2, and the tangent line of the initial position D1 to the rotation center O is longer than the tangent line of the end position D2 to the rotation center O.

[0041] After the operator applies a driving force on the driving lever 33, the driving wheel 31 rotates and can drive the driving rope 321 to be tensioned, so that the bending section of the insertion part 1 is bent to the side connected with the driving rope 321.

[0042] The annular side wall of the driving wheel 31 is provided with the first rope groove 311 for winding the driving rope 321, the plane where the first rope groove 311 is located intersects with the central axis of the driving wheel 31 at the rotation center O, and the first rope groove 311 can be set as a movement track formed after a movement point rotates around the rotation center O. The entire movement track includes the initial position D1 when the driving rope 321 is not rotated (the rotation angle is 0°) and the end position D2 when the driving rope 321 is rotated to the maximum position (or the maximum angle), and also includes a plurality of movement track points between the initial position D1 and the end position D2, the tangent lines of the initial position D1, the end position D2 and all the movement track points to the rotation center O are the resistance radius (or the resistance force arm) R z , the driving force applied on the driving lever 33 is F q , the distance from the force point on the driving lever 33 to the rotation center O is the driving radius (or the driving force arm) R q , the resistance transmitted to the driving rope 321 by the bending section is F z , F q R q is the driving torque, F z R z is the resistance torque, when the driving torque is greater than or equal to the resistance torque, the operator drives the driving wheel 31 to rotate through the driving lever 33, and finally completes the bending adjustment of the bending section. When the driving wheel 31 rotates to a certain position, the driving wheel 31 satisfies the balance condition F q R q =Fz R z , where the resistance force F z is positively correlated with the rotation angle of the driving wheel 31, and the driving force F q increases with the driving radius R q unchanged, in order to reduce the driving force, make the driving force more uniform, reduce the operation difficulty and the degree of operator fatigue, it is necessary to reduce the resistance radius R z with the increase of the bending angle.

[0043] As Figure 4 shown, the resistance radius of the initial position D1 is R z1 , and the resistance radius of the end position D2 is R z2 , in this application R z1 is greater than R z2 , which reduces the resistance radius at the maximum rotation angle, can effectively reduce the maximum value of the driving force F q (the driving force F q is maximum at the maximum rotation angle), achieves the effect of saving labor, the relationship between the rotation angle and the resistance radius Rz, the driving force Fq is as shown in Figure 5 .

[0044] In some embodiments, the distance from the tangent line of any point (motion trajectory point) from the initial position D1 to the end position D2 to the rotation center O gradually decreases, the first rope groove 311 is a smooth transition non-circular shape, that is, the resistance radius R z gradually decreases with the increase of the rotation angle, which can effectively reduce the maximum value of the driving force F q , and make F q more uniform in the whole rotation angle range.

[0045] In some embodiments, the second rope groove 3122 is provided with two, and the two second rope grooves 3122 are respectively arranged on both sides of the first mounting groove 3121, the driving rope 321 includes a first driving rope 3211 and a second driving rope 3212, the first driving rope 3211 extends out of one of the second rope grooves 3122 and then extends into the first rope groove 311, the second driving rope 3212 extends out of the other second rope groove 3122 and then extends into the first rope groove 311, and the first driving rope 3211 and the second driving rope 3212 are finally connected with the insertion part 1, so that the bending section of the insertion part 1 can be stably controlled to bend in the corresponding direction by rotating the driving wheel 31 counterclockwise or clockwise. For example, the center line C of the first mounting groove 3121 coincides with the center line C of the first side surface 312 of the driving wheel 31, and the two second rope grooves 3122 are symmetrically arranged along the center line C of the first side surface 312 of the driving wheel 31 (i.e. the center line C of the first mounting groove 3121), so that the first driving rope 3211 and the second driving rope 3212 are uniformly stressed.

[0046] Please continue to refer to Figure 6 In some embodiments, the first rope groove 311 includes a first rope groove segment 3111, a second rope groove segment 3112 and a third rope groove segment 3113, the first rope groove segment 3111 and the second rope groove segment 3112 are respectively arranged on both sides of the driving wheel 31, the first driving rope 3211 extends into the first rope groove segment 3111 along one of the second rope grooves 3122, and the second driving rope 3212 extends into the second rope groove segment 3112 along the other second rope groove 3122; the first rope groove segment 3111 and the second rope groove segment 3112 are respectively provided with an initial position D1 and an end position D2, one end of the two second rope grooves 3122 is in communication with the first mounting groove 3121, and the other end is in communication with the initial position D1 of the first rope groove segment 3111 and the second rope groove segment 3112, respectively; the third rope groove segment 3113 is arranged between the end positions D2 of the first rope groove segment 3111 and the second rope groove segment 3112, and is used for connecting the first rope groove segment 3111 and the second rope groove segment 3112.

[0047] In some embodiments, in order to reduce the resistance during the movement of the driving rope 321, the first rope groove segment 3111, the second rope groove segment 3112 and the third rope groove segment 3113 are all smooth arc structures, and the first rope groove segment 3111, the second rope groove segment 3112 and the third rope groove segment 3113 are all smoothly transitioned.

[0048] In other embodiments, the third rope groove segment 3113 can also be a straight segment, so as to realize the connection of the first rope groove segment 3111 and the second rope groove segment 3112, and the third rope groove segment 3113 can be symmetrically arranged.

[0049] In some embodiments, the distance from the tangent line of any point on the third rope groove segment 3113 to the rotation center O is less than the distance from the tangent line of the end position D2 to the rotation center O. The distance from the tangent line of any point on the third rope groove segment 3113 to the rotation center O is the resistance radius R z3 , R z3 are all less than R z2 , and R z1 .

[0050] In some embodiments, the cross section of the first rope groove 311 in the radial direction of the driving wheel 31 is a concave cavity with a specific profile with one end open and the other end closed, and the end close to the rotation center O of the driving wheel 31. For example, the concave cavity with a specific profile can include but is not limited to a rectangle, a trapezoid, a U shape or a V shape.

[0051] Please refer to Figure 8, the first rope groove 311 includes a first contact surface 3114 and a second contact surface 3115 in a cross section along the radial direction of the driving wheel 31, and the first contact surface 3114 and the second contact surface 3115 coincide at one end toward the rotation center O of the driving wheel 31 and form an included angle. For example, the first contact surface 3114 and the second contact surface 3115 form a "V" shape structure, and the tip of the "V" shape is toward the rotation center O of the driving wheel 31, and the opening of the "V" shape is away from the rotation center O of the driving wheel 31.

[0052] In other embodiments, the first contact surface 3114 and the second contact surface 3115 form an included angle toward the extension line of the rotation center O of the driving wheel 31. For example, the first contact surface 3114 and the second contact surface 3115 form a "U" shape structure, and the closed end of the "U" shape is toward the rotation center O of the driving wheel 31, and the opening of the "U" shape is away from the rotation center O of the driving wheel 31.

[0053] Please refer to Figure 9 In some embodiments, the structure of the second rope groove 3122 is consistent with that of the first rope groove 311, and a cross section along the radial direction of the driving wheel 31 is a "V" or "U" shape structure.

[0054] In some embodiments, the driving device 3 further includes a bearing 34, the first side surface 312 is provided with a first mounting boss 3131, the inner ring of the bearing 34 is mounted in cooperation with the first mounting boss 3131, and the outer ring of the bearing 34 is mounted in cooperation with the lower handle shell 21; the first mounting boss 3131 is provided with a second mounting groove 3132, the driving lever 33 is provided with a second mounting boss 331, the second mounting boss 331 is matched in shape with the second mounting groove 3132, and the second mounting boss 331 is inserted into the second mounting groove 3132 after passing through the lower handle shell 21.

[0055] In some embodiments, the second mounting groove 3132 is a polygonal structure, and the outer dimensions of the second mounting boss 331 are matched with the second mounting groove 3132, so as to drive the driving wheel 31 to rotate after the operator manually drives the driving lever 33. For example, the second mounting groove 3132 is a quadrilateral structure or a hexagonal structure.

[0056] In some embodiments, the driving device 3 further includes a fixing member 35, which is capable of being arranged in the second mounting groove 3132 from the first side surface 312 to the second side surface 313 of the driving wheel 31 and connected with the second mounting boss 331 of the driving lever 33, so that the driving lever 33 and the driving wheel 31 are fixedly connected. For example, the fixing member 35 can be a bolt or a screw. Of course, in other embodiments, the driving lever 33 can be an integral structure with the driving wheel 31, and part of the structure of the driving lever 33 is exposed to the lower handle shell 21, which is convenient for the operator to apply driving force.

[0057] In some embodiments, the handle lower shell 21 is provided with a through hole 211, and the second mounting boss 331 of the driving lever 33 is inserted into the second mounting groove 3132 through the through hole 211.

[0058] Please refer to Figure 11 In some embodiments, the handle shell is provided with a bearing mounting groove 212, the first mounting boss 3131 is provided with an angle limiting boss 3133, the bearing mounting groove 212 is provided with a limiting groove 213, and the angle limiting boss 3133 is rotationally arranged in the limiting groove 213, for limiting the rotation angle of the driving wheel 31. During the rotation of the driving wheel 31, the angle limiting boss 3133 is arranged in the limiting groove 213 and rotates in the limiting groove 213 with the rotation of the driving wheel 31. When the inner wall of the limiting groove 213 and the outer wall of the angle limiting boss 3133 abut, the angle limiting boss 3133 is prevented from continuing to rotate, thereby preventing the driving wheel 31 from continuing to rotate, and achieving the purpose of limiting the maximum rotation angle of the driving wheel 31.

[0059] Please refer to Figure 12 In some embodiments, the driving rope assembly 32 further includes a sleeve 323, which is sleeved on the driving rope 321 and fixed on the handle lower shell 21. The sleeve 323 is provided for protecting the driving rope 321, avoiding abrasion caused by contact and friction between the driving rope 321 and the handle lower shell 21 during movement. The sleeve 323 is provided with two, which are respectively sleeved on the outside of the first driving rope 3211 and the second driving rope 3212.

[0060] In some embodiments, the handle lower shell 21 is provided with a fixing groove 214, and the sleeve 323 is fixedly arranged in the fixing groove 214, avoiding displacement of the sleeve 323 during movement of the driving rope 321, which affects the realization of its function.

[0061] The second embodiment of the present application provides a variable diameter driving device 3, which has been described in detail above and will not be described in detail here.

[0062] The third embodiment of the present application provides an operating part, which includes a handle lower shell 21 and a driving device 3, and the driving device 3 is assembled in the handle lower shell 21. The handle lower shell 21 and the driving device 3 have been described in detail above and will not be described in detail here.

[0063] The above application of specific examples to the present application is only used to help understand the present application and does not limit the present application. For those skilled in the art to which the present application belongs, according to the idea of the present application, a number of simple deductions, deformations or substitutions can be made.

Claims

1. A variable-diameter drive device, characterized in that, Includes a drive wheel that can rotate around its rotation center. The drive wheel has a first rope groove on its annular outer side wall. The drive wheel has a first side and a second side that are disposed opposite to each other. The first side has a first mounting groove and a second rope groove. The second rope groove is used to connect the first mounting groove and the first rope groove. The second side is connected to the lower shell of the handle. The first rope groove has an initial position and an end position, and the distance from the tangent of the initial position to the rotation center is greater than the distance from the tangent of the end position to the rotation center.

2. The variable-diameter drive device according to claim 1, characterized in that, The distance from the tangent at any point from the initial position to the end position to the center of rotation gradually decreases.

3. The variable-diameter drive device according to claim 1, characterized in that, The driving device further includes a driving rope assembly and a driving lever. The driving rope assembly includes a driving rope, a fixed base, and a sleeve. The fixed base is disposed in the first mounting groove. One end of the driving rope is connected to the fixed base, and the other end is arranged sequentially along the second rope groove and the first rope groove and connected to the insertion part. The sleeve is sleeved on the end of the driving rope near the insertion part and fixed to the lower shell of the handle. The driving lever is connected to the driving wheel and is used to drive the driving wheel to rotate.

4. The variable-diameter drive device according to claim 3, characterized in that, Two second rope grooves are provided, respectively located on both sides of the first mounting groove. The drive rope includes a first drive rope and a second drive rope. The first rope groove includes a first rope groove segment, a second rope groove segment, and a third rope groove segment. The first rope groove segment and the second rope groove segment are respectively located on both sides of the drive wheel. The first drive rope extends out along one of the second rope grooves and then enters the first rope groove segment. The second drive rope extends out along the other second rope groove and then enters the second rope groove segment. Each of the first rope groove segment and the second rope groove segment has an initial position and an end position. One end of each of the two second rope grooves is connected to the first mounting groove, and the other end is connected to the initial position of the first rope groove segment and the second rope groove segment, respectively. The third rope groove segment is located between the end positions of the first rope groove segment and the second rope groove segment and is used to connect the first rope groove segment and the second rope groove segment.

5. The variable-diameter drive device according to claim 4, characterized in that, The distance from the tangent at any point on the third rope groove segment to the center of rotation is less than the distance from the tangent at the endpoint to the center of rotation.

6. The variable-diameter drive device according to claim 3, characterized in that, The drive device also includes a bearing, and a first mounting boss is provided on the second side. The inner ring of the bearing is fitted with the first mounting boss, and the outer ring of the bearing is fitted with the lower shell of the handle. A second mounting groove is provided in the first mounting boss, and a second mounting boss is provided on the drive lever. The shape of the second mounting boss is adapted to the shape of the second mounting groove. The second mounting boss passes through the lower shell of the handle and is inserted into the second mounting groove.

7. The variable-diameter drive device according to any one of claims 1-6, characterized in that, The first rope groove has a cross-section along the radial direction of the drive wheel that is a concave cavity with one end open and the other end closed, and the end facing the rotation center of the drive wheel is closed.

8. An operating unit, characterized in that, include: Handle lower shell; And the driving device as described in any one of claims 1-7, wherein the driving device is mounted on the lower housing of the handle, and the second side is connected to the lower housing of the handle.

9. The operating unit according to claim 8, characterized in that, The driving device is the driving device as described in claim 6. The lower housing of the handle is provided with a bearing mounting groove inside. The outer ring of the bearing is fitted with the bearing mounting groove. The first mounting boss is provided with an angle limiting boss. The bearing mounting groove is provided with a limiting groove. The angle limiting boss is rotatably disposed in the limiting groove to limit the rotation angle of the drive wheel. The lower housing of the handle is provided with a through hole. The second mounting boss passes through the through hole and is inserted into the second mounting groove.

10. An endoscope, characterized in that, It includes an insertion part and an operating part as described in claim 8 or 9, the insertion part being mounted on the lower housing of the handle, the drive rope extending distally along the axial direction of the insertion part and connected to the curved section of the insertion part, for driving the drive wheel to drive the drive rope and cause the curved section to bend.

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