Active steering electronic endoscope for urinary system intervention

Abstract

The utility model provides a kind of active steering electronic endoscope for urinary system intervention treatment, on the basis of the structure of classic design, the driving winding wheel of wheel shape structure is connected the pulling wire of two driving snail structure steering, the arc guide block of inward extrusion pulling wire is set in the two sides of the opening structure of pulling wire from the periphery of driving winding wheel outward output, due to the rigidity of pulling wire itself, arc guide block can make pulling wire before reaching opening structure, keep adhering to the periphery wall of driving winding wheel, so that when driving winding wheel rotates, the rotation angle of wheel and the feed amount of two pulling wires it drags can stably keep linear correlation, cooperate rear limiting adjusting mechanism, pulling wire is introduced into mirror tube in parallel straight line direction, avoid pulling wire to appear bending etc., feed amount is stably transferred to front end snail structure, ensure that the action of mirror end snail structure driven by pulling driving mechanism is stable controllable no delay hesitation.

Description

Technical Field

[0001] This utility model relates to the field of medical surgical equipment technology, and more specifically, to an active steering electronic endoscope for interventional treatment of the urinary system. Background Technology

[0002] An endoscope is a detection instrument that integrates traditional optics, ergonomics, precision mechanics, modern electronics, mathematics, and software. It can be inserted into the human body through natural orifices or through small surgical incisions. Endoscopes can be used to see lesions that cannot be detected by X-rays. Therefore, it is a commonly used medical device in hospitals and by doctors during surgery.

[0003] The specialized electronic endoscope in this patent is a commonly used surgical device in urology, used in interventional procedures for kidney lithotripsy, stone removal, and other scenarios. A typical endoscope includes a tube and an operating handle. The tube contains a light guide, cable, cleaning tube (optional), and instrument channel (optional). Generally, the tube cannot be bent, resulting in an unadjustable field of view. However, some electronic endoscopes now exist with bendable ends to change the field of view. These endoscopes have a serpentine structure at the end, and the end of the tube bends by pulling steel wires on both sides of the serpentine structure, thus changing the field of view and the surgical position. The operation of the steel wires inside the endoscope is generally manual pulling, or uses other equivalent steel wire traction methods; some designs also employ electrically driven wire pulling.

[0004] However, this type of endoscope design with a bendable lens tip still has some obvious technical drawbacks:

[0005] Traditional flexible endoscopes rely on mechanical transmission via a handle knob for tip direction adjustment, requiring two-handed operation, which is inconvenient for this type of surgical equipment. Furthermore, when the serpentine structure at the end of the endoscope is controlled by a corresponding control structure at the handle to pull a steel wire, the elasticity and flexibility of the steel wire make it difficult to maintain accurate control. Not only is there a certain lag between the movement of the serpentine structure and the control output at the handle, but the turning range of the serpentine is also difficult to maintain a linear correlation with the control range. This instability in control makes the instrument prone to causing tissue abrasions in emergency situations. In addition, although tactile feedback can be provided to the operating handle during use, it is impossible to judge the accuracy of the tip position by feeling, posing a risk of perforation.

[0006] In summary, existing electronic endoscopes used for interventional treatment of the urinary system have technical problems such as inconvenience in use and imprecise control. Utility Model Content

[0007] The technical problem to be solved by this invention is that existing electronic endoscopes used for interventional treatment of the urinary system are inconvenient to use and lack precise control.

[0008] To address the aforementioned problems, this utility model provides an actively steerable electronic endoscope for interventional treatment of the urinary system, comprising a main body shell and a tube assembly connected to one end of the main body shell. The end of the tube assembly is provided with a snake-tail structure, and two traction lines are respectively provided on both sides of the snake-tail structure for driving the snake-tail structure to steer through traction. The traction lines pass through the tube assembly and connect to a traction drive mechanism inside the main body shell. The traction drive mechanism includes a drive winding wheel, and the traction lines are all connected to the outer periphery of the drive winding wheel; the main body shell... An inner fixed connection is provided with a winding wheel housing, which is circular in shape and surrounds the outer side of the drive winding wheel at a predetermined interval. The winding wheel housing is provided with an opening structure for the two pull wires to pass through. Both sides of the opening structure are provided with arc guide blocks to press the two pull wires towards the outer periphery of the drive winding wheel. A limit adjustment mechanism is also provided inside the main housing. The limit adjustment mechanism is used to straighten the direction of the pull wires so that the two pull wires are parallel to the length direction of the lens tube assembly after passing through the limit adjustment mechanism.

[0009] This electronic endoscope design, based on a classic structural design, employs a wheel-shaped drive winding wheel connected to two traction cables that drive the serpentine structure for steering. The traction cables are typically made of steel wire, possessing a certain degree of rigidity and elasticity. This traction cable design effectively allows the serpentine structure to turn towards the side where the traction cable is retracted as one traction cable advances. The turning angle is positively correlated with the feed rate of the traction cable. The two traction cables are wound in opposite directions around the outer edge of the drive winding wheel. Thus, when the drive winding wheel rotates in opposite clockwise and counterclockwise directions, it drives the serpentine structure to turn in two opposite directions. However, due to the inherent flexibility of the traction cables, it is difficult to ensure a linear correlation between the rotation angle of the drive winding wheel and the turning angle of the serpentine structure at the front end of the endoscope assembly. The opening structure where the traction cables exit from the outer periphery of the drive winding wheel... The endoscope features inwardly pressing arc-shaped guide blocks on both sides to compress the traction wires. Due to the rigidity of the traction wires themselves, these guide blocks ensure that the traction wires remain attached to the outer circumference of the drive winding wheel before reaching the opening structure. This allows the rotation angle of the drive winding wheel to maintain a stable linear relationship with the feed amount of the two traction wires it pulls. Combined with the rear limit adjustment mechanism, the traction wires are introduced into the endoscope tube in a parallel straight line, preventing bending and ensuring a stable feed amount to the front snake-tail structure. With this structure, the traction wires maintain stable curvature and angle drift of less than 3° under a traction force of 2N-4N. This design effectively ensures stable, controllable, and delay-free movement of the snake-tail structure driven by the traction drive mechanism, solving the technical problems of inconvenience and inaccurate control in existing electronic endoscopes used for interventional treatment of the urinary system.

[0010] As a preferred embodiment, the limiting adjustment mechanism includes an adjustment block tightly connected to the inner wall of the main body shell. The adjustment block is provided with two threaded through holes, the direction of which is parallel to the length direction of the endoscope assembly. The distance between the two threaded through holes is greater than the diameter of the opening of the endoscope assembly on the main body shell. Each threaded through hole is threaded with a hollow guide screw. The two pull wires are respectively passed through the central holes of the two guide screws. By rotating and adjusting the engagement position between the guide screws and the adjustment block, the minimum feedback feed amount when the pull wires are pulled by rotating the drive winding wheel is adjusted.

[0011] This design provides a preferred limit adjustment mechanism. An adjustment block is set between the drive winding wheel and the endoscope tube. Two guide screws are connected to the adjustable position on the adjustment block. The guide screws have a central hole with an inner diameter adapted to the pull wire. The pull wire passes through the central hole, and the shape of the guide screw itself achieves the sorting of the pull wire. Furthermore, since the distance between the two threaded through holes is larger than that between the two pull wires inside the endoscope tube, the two pull wires bend after passing through the guide screws. The micro-adjustment of the front and rear position of the guide screws relative to the adjustment block can change the bending angle of the pull wire. Since the pull wire itself has a certain rigidity, the change of this bending angle can improve the sensitivity of the action feedback when the pull wire is fed from one end to the other. A larger bending angle of the pull wire means a smaller feedback sensitivity, while when the line angle between the pull wires on both sides of the adjustment block is close to a flat angle, a greater action feedback sensitivity can be obtained.

[0012] As a preferred embodiment, a slot structure for inserting the adjusting block is provided on one side of the inner wall of the main body shell. The adjusting block is tightly inserted into the slot structure in an adjustable position to adjust the position of the pull wire in the thickness direction within the main body shell. This design provides a preferred positioning method between the adjusting block and the main body shell for the above-mentioned technical solution. A slot structure is provided on one side of the inner wall of the main body shell, and the slot structure is inserted into the outer wall of the adjusting block with an interference fit. By adjusting the depth of the adjusting block inserted into the slot structure, the bending angle of the pull wire passing through the adjusting block can be adjusted in the above-mentioned technical solution.

[0013] As a preferred embodiment, two inner limiting shafts are provided within the space between the drive winding wheel and the adjusting block. The two inner limiting shafts are positioned adjacent to the drive winding wheel and the adjusting block, respectively. The axial direction of the inner limiting shafts is perpendicular to the length direction of the pull wire. The two ends of the inner limiting shafts are distributed and fixed against the two sides of the inner sidewall of the main body shell. The two sides of the outer peripheral wall of the inner limiting shafts abut against the two pull wires, thereby limiting the minimum distance between the two pull wires. This design adds two inner limiting shafts between the pull wire segments between the drive winding wheel and the adjusting block, preferably cylindrical shafts. These inner limiting shaft structures isolate the two pull wires, preventing mutual interference. Furthermore, the pull wires are pre-aligned at the points where the drive winding wheel and the adjusting block interact with the pull wires, ensuring accurate angles at the contact points with the drive winding wheel and the adjusting block. This guarantees the effective steering of the snake-tail structure by the drive winding wheel pulling the pull wires.

[0014] As a preferred embodiment, a guide tube is inserted into the central hole of the guide screw, and the pull wire passes through the guide tube, with the pull wire slidably engaging with the inner circumferential wall of the guide tube. This design optimizes the engagement between the pull wire and the guide screw. Since the guide screw itself has a limited length, the relative sliding between its central hole and the pull wire can cause jamming. Inserting a guide tube into the central hole allows the pull wire to pass through and slide relative to the guide screw, improving the relative sliding effect.

[0015] As a preferred embodiment, a drive shaft is centrally connected to the drive winding wheel. The end of the drive shaft extends through the side wall of the main housing and is fixedly connected to a drive handle for manually rotating the drive winding wheel. The end of the drive handle is bent and extends to one end of the outer side wall of the main housing. The main housing provides unobstructed rotation within the drive handle's axis rotation trajectory. This design optimizes the structure of the drive winding wheel. The main structure includes a drive shaft located at the wheel's center, connected to a drive handle. Rotation of the drive handle, located on the outer side wall of the main housing, effectively drives the rotation of the drive winding wheel. Since the main housing provides unobstructed rotation within the drive handle's axis rotation trajectory, the rotation angle of the drive handle can be relatively large. This optimizes the steering amplitude when the snake-tail structure is turned by rotating the drive handle, ensuring that all operational requirements of the endoscope are met.

[0016] As a preferred embodiment, the drive winding wheel is located at the end of the main housing opposite to the end of the endoscope tube assembly. The sidewall of this end of the main housing is arc-shaped to adapt to the shape of the drive winding wheel, and the bent portion of the drive handle is located outside the arc-shaped portion of the main housing. This design optimizes the relative distribution between the drive winding wheel and the main housing, as well as the adaptive shape of the main housing. The outer side of the main housing connecting the end of the drive winding wheel is arc-shaped, and this arc structure adapts to the rotation trajectory of the bent portion of the drive handle, allowing the drive handle to completely bypass the main housing. This allows the endoscope's serpentine structure to rotate 160° under the operation of the drive handle. Combined with the narrow and elongated outer contour of the main housing itself, the endoscope can be operated with one hand.

[0017] As a preferred embodiment, an annular elastic pad is fitted onto the drive shaft, with its two end faces abutting against the side of the drive winding wheel and the inner wall of the main body housing, respectively. A fastening screw passes through the center of the drive shaft via a shaft hole, and the clamping force on both sides of the elastic pad is adjusted by rotating the fastening screw. This design further optimizes the design of the drive lead wheel by fitting an elastic pad onto the drive shaft, which is sandwiched between the main body housing and the side wall of the drive winding wheel. The clamping force on the elastic pad is adjusted by tightening or loosening the fastening screw at the center of the drive shaft, thereby adjusting the rotational resistance of the drive handle. This is equivalent to adjusting the magnitude of the feedback force between the drive handle and the end of the snake-tail structure, making the feedback force adjustable between 0.1N and 0.8N. This allows the steering action of the snake-tail structure to be suitable for the current surgical situation, greatly reducing the vibration amplitude of the endoscopic instrument during surgery, with a vibration reduction of up to 82%.

[0018] As a preferred embodiment, the outer peripheral wall of the drive winding wheel is provided with an annular groove for accommodating the pull wires. Two positioning holes are provided within the annular groove on the side opposite to the opening structure of the drive winding wheel, respectively for securing the tail ends of the two pull wires. This design optimizes the connection and fit structure between the drive winding wheel and the pull wires. The annular groove on the outer peripheral wall of the drive winding wheel effectively limits and guides the pull wires, preventing winding errors on the drive winding wheel. The positioning holes on the side of the annular groove opposite to the opening structure ensure proper positioning of the pull wire ends.

[0019] As a preferred embodiment, the inner sidewall of the main body shell is provided with a guide rib structure between the drive winding wheel and the adjusting block. The guide rib structure includes two guide grooves corresponding to the positions of the pull wires, and the two pull wires pass through the two guide grooves respectively. This design further limits and guides the pull wires between the drive winding wheel and the adjusting block, ensuring that the pull wires remain straight and avoiding displacement loss during transmission. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall external structure of an active steering electronic endoscope for interventional treatment of the urinary system provided by this utility model;

[0021] Figure 2 for Figure 1 A schematic diagram of the internal structure of one side of an actively steerable electronic endoscope used for interventional treatment of the urinary system.

[0022] Figure 3 for Figure 1 A side-sectional schematic diagram of an actively steerable electronic endoscope used for interventional treatment of the urinary system.

[0023] Figure 4 for Figure 1 A schematic diagram of the internal structure of the other side of an actively steerable electronic endoscope used for interventional treatment of the urinary system.

[0024] Figure 5 for Figure 1 A partial structural diagram of the traction drive mechanism of an active steering electronic endoscope used for interventional treatment of the urinary system.

[0025] in, Figures 1-5 middle:

[0026] 1. Main body shell; 2. Lens tube assembly; 3. Snake tail structure; 4. Drive handle; 5. Fastening screw; 6. Drive winding wheel; 7. Open structure; 8. Arc guide block; 9. Pulling wire; 10. Inner limit shaft; 11. Guide screw; 12. Adjusting block; 13. Slot structure; 14. Guide rib structure; 15. Annular groove; 16. Drive shaft; 17. Elastic pad; 18. Positioning locating hole. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0028] Before providing a detailed explanation of the working principle of this utility model, further clarification is needed regarding its description: In this description, terms such as "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a welded connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] refer to Figures 1-5 The following examples illustrate this. Figure 1A schematic diagram of the overall external structure of an active steering electronic endoscope for interventional treatment of the urinary system provided by this utility model; Figure 2 for Figure 1 A schematic diagram of the internal structure of one side of an actively steerable electronic endoscope used for interventional treatment of the urinary system. Figure 3 for Figure 1 A side-sectional schematic diagram of an actively steerable electronic endoscope used for interventional treatment of the urinary system. Figure 4 for Figure 1 A schematic diagram of the internal structure of the other side of an actively steerable electronic endoscope used for interventional treatment of the urinary system. Figure 5 for Figure 1 A partial structural diagram of the traction drive mechanism of an active steering electronic endoscope used for interventional treatment of the urinary system.

[0031] This embodiment provides an actively steerable electronic endoscope for interventional treatment of the urinary system, including a main body shell 1 and a tube assembly 2 connected to one end of the main body shell 1. A snake-tail structure 3 is provided at the end of the tube assembly 2, and two traction wires 9 are respectively provided on both sides of the snake-tail structure 3 for driving the snake-tail structure 3 to steer through traction. The traction wires 9 pass through the tube assembly 2 and connect to a traction drive mechanism inside the main body shell 1. The traction drive mechanism includes a drive winding wheel 6, and the traction wires 9 are all connected to the outer periphery of the drive winding wheel 6. A winding wheel housing is fixedly connected inside the shell 1. The winding wheel housing is circular and surrounds the outside of the drive winding wheel 6 at preset intervals. The winding wheel housing is provided with an opening structure 7 for passing through two pull wires 9. Both sides of the opening structure 7 are provided with arc guide blocks 8 to press the two pull wires 9 towards the outer periphery of the drive winding wheel 6. A limit adjustment mechanism is also provided inside the main shell 1. The limit adjustment mechanism is used to straighten the direction of the pull wires 9 so that the two pull wires 9 are parallel to the length direction of the lens tube assembly 2 after passing through the limit adjustment mechanism.

[0032] This electronic endoscope design, based on a classic structural design, employs a wheel-shaped drive winding wheel 6 connected to two traction wires 9 that drive the snake-tail structure 3 for steering. The traction wires 9 are typically made of steel wire, possessing a certain degree of rigidity and elasticity. This design effectively allows the snake-tail structure 3 to turn towards the side where the traction wire 9 is retracted as one traction wire 9 advances. The turning angle is positively correlated with the feed rate of the traction wire 9. The two traction wires 9 are wound in opposite directions around the outer periphery of the drive winding wheel 6. Thus, when the drive winding wheel 6 rotates in opposite clockwise and counterclockwise directions, it can drive the snake-tail structure 3 to turn in two opposite directions. However, due to the inherent flexibility of the traction wires 9, it is difficult to ensure a linear relationship between the rotation angle of the drive winding wheel 6 and the turning angle of the snake-tail structure 3 at the front end of the endoscope tube assembly 2. The opening angle of the traction wires 9 as they exit from the outer periphery of the drive winding wheel 6... Arc-shaped guide blocks 8 are provided on both sides of the opening structure 7 to compress the traction wires inward. Due to the rigidity of the traction wires 9 themselves, the arc-shaped guide blocks 8 can keep the traction wires 9 in contact with the outer peripheral wall of the drive winding wheel 6 before reaching the opening structure 7. Thus, when the drive winding wheel 6 rotates, the rotation angle of the wheel and the feed amount of the two traction wires 9 it pulls can be stably linearly related. With the limit adjustment mechanism at the rear, the traction wires 9 are introduced into the endoscope tube in a parallel straight line direction, avoiding bending of the traction wires and other situations. The feed amount is stably transmitted to the front snake tail structure 3. With this structure, the traction wires 9 can maintain a stable curvature under a traction force of 2N-4N, and the angle drift is less than 3°. This design effectively ensures that the movement of the snake tail structure 3 at the end of the endoscope driven by the traction drive mechanism is stable, controllable, and without delay or sluggishness. It solves the technical problems of inconvenience and inaccurate control of existing electronic endoscopes used for interventional treatment of the urinary system.

[0033] In the technical solution provided in this embodiment, the limiting adjustment mechanism includes an adjustment block 12 that is tightly connected to the inner wall of the main body shell 1. The adjustment block 12 is provided with two threaded through holes, the direction of which is parallel to the length direction of the endoscope assembly 2. The distance between the two threaded through holes is greater than the diameter of the opening of the endoscope assembly 2 on the main body shell 1. The threaded through holes are threaded with hollow guide screws 11. Two pull lines 9 are respectively passed through the middle holes of the two guide screws 11. By rotating and adjusting the matching position between the guide screws 11 and the adjustment block 12, the minimum feedback feed amount when the pull line 9 is pulled by the rotating drive winding wheel 6 is adjusted.

[0034] This design provides a preferred limit adjustment mechanism. An adjustment block 12 is set between the drive winding wheel 6 and the endoscope tube. Two guide screws 11 are connected to the adjustable position on the adjustment block 12. The guide screws 11 have a central hole with an inner diameter adapted to the pull wire 9. The pull wire 9 passes through the central hole, and the shape of the guide screw 11 itself achieves the sorting of the pull wire 9. Furthermore, since the distance between the two threaded through holes is relatively larger than the two pull wires 9 in the endoscope tube, the two pull wires 9 bend after passing through the guide screws 11. The micro-adjustment of the front and rear position of the guide screws 11 relative to the adjustment block 12 can change the bending angle of the pull wire 9. The pull wire 9 itself has a certain rigidity. The change of this bending angle can realize the sensitivity of the action feedback when the pull wire 9 is fed from one end to the other end. A larger bending angle of the pull wire 9 means a smaller feedback sensitivity, while when the line angle between the pull wire 9 on both sides of the adjustment block 12 is close to a flat angle, a greater action feedback sensitivity can be obtained.

[0035] The above-mentioned design for adjusting the sensitivity of the pull wire 9's action feedback generally involves adjusting the feedback sensitivity to the required level by rotating the guide screw 11 before the main body shell 1 is closed and fixed. The preferred sensitivity of this technical solution is 0.5°, that is, when the minimum rotation angle of the drive winding wheel 6 is 0.5°, the snake tail structure 3 produces a controllable steering amplitude. The relative position between the guide screw 11 and the adjustment block 12 is completely fixed by means of glue application or welding.

[0036] In the technical solution provided in this embodiment, a slot structure 13 for inserting an adjusting block 12 is provided on one side of the inner wall of the main body shell 1. The adjusting block 12 and the slot structure 13 are tightly inserted in an adjustable position to adjust the position of the pull wire 9 in the thickness direction within the main body shell 1. This design provides a preferred positioning method between the adjusting block 12 and the main body shell 1 for the above technical solution. A slot structure 13 is provided on one side of the inner wall of the main body shell 1. The slot structure 13 and the outer wall of the adjusting block 12 are inserted with an interference fit. By adjusting the depth of the adjusting block 12 inserted into the slot structure 13, the bending angle of the pull wire 9 passing through the adjusting block 12 can be adjusted in the above technical solution.

[0037] In the technical solution provided in this embodiment, two inner limiting shafts 10 are provided in the space between the drive winding wheel 6 and the adjusting block 12. The positions of the two inner limiting shafts 10 are adjacent to the drive winding wheel 6 and the adjusting block 12, respectively. The axial direction of the inner limiting shafts 10 is perpendicular to the length direction of the pull line 9. The two ends of the inner limiting shafts 10 are distributed and abutted against the two sides of the inner sidewall of the main body shell 1. The two sides of the outer peripheral wall of the inner limiting shafts abut against the two pull lines 9, so as to limit the minimum distance between the two pull lines 9. This design adds two inner limiting shafts 10 between the pull line 9 segments between the drive winding wheel 6 and the adjusting block 12. These shafts are preferably cylindrical. The inner limiting shafts 10 isolate the two pull lines 9, preventing mutual interference. Furthermore, the pull lines 9 are pre-aligned at the points where the drive winding wheel 6 and the adjusting block 12 interact with each other, ensuring that the pull lines 9 maintain an accurate angle at the contact points with the drive winding wheel 6 and the adjusting block 12. This guarantees the effectiveness of the drive winding wheel 6 in controlling the steering of the snake tail structure 3 by pulling the pull lines 9.

[0038] In the technical solution provided in this embodiment, a guide tube is inserted into the central hole of the guide screw 11, and the pull wire 9 passes through the guide tube. The pull wire 9 and the inner peripheral wall of the guide tube are slidably engaged. This design optimizes the fit between the pull wire 9 and the guide screw 11. Since the length of the guide screw 11 itself is limited, the relative sliding between its central hole and the pull wire 9 can cause jamming. By inserting the guide tube into the central hole, the pull wire 9 passes through the guide tube and slides relative to the guide screw 11 through the guide tube, thus improving the relative sliding effect.

[0039] In the technical solution provided in this embodiment, a drive shaft 16 is connected to the center of the drive winding wheel 6. The end of the drive shaft 16 extends through the side wall of the main body shell 1 and is fixedly connected to a drive handle 4 for manually rotating the drive winding wheel 6. The end of the drive handle 4 is bent and extends to one end of the outer side wall of the main body shell 1. There is no obstruction from the main body shell 1 within the rotation trajectory of the drive handle 4 around the shaft. This design optimizes the structural design of the drive winding wheel 6. The main structure includes a drive shaft 16 located at the center of the wheel. The drive shaft 16 is connected to the drive handle 4. The rotation of the drive handle 4 located on the outer side wall of the main body shell 1 effectively drives the rotation of the drive winding wheel 6. Since there is no obstruction from the main body shell 1 within the rotation trajectory of the drive handle 4 around the shaft, the rotation angle of the drive handle 4 can be large. This optimizes the steering amplitude when the snake tail structure 3 is turned by the rotation of the drive handle 4, ensuring that all working requirements of the endoscope are met.

[0040] In the technical solution provided in this embodiment, the drive winding wheel 6 is located at the end of the main body housing 1 away from the end of the endoscope tube assembly 2. The side wall of this end of the main body housing 1 is arc-shaped to adapt to the shape of the drive winding wheel 6, and the bent part of the drive handle 4 is located outside the arc-shaped part of the main body housing 1. This design optimizes the relative distribution position between the drive winding wheel 6 and the main body housing 1 as well as the adaptive shape design of the main body housing 1. The outer part of the main body housing 1 connecting the end of the drive winding wheel 6 is arc-shaped, and this arc structure adapts to the rotation trajectory of the bent part of the drive handle 4, allowing the drive handle 4 to completely bypass the main body housing 1. This allows the endoscope snake tail structure 3 to rotate 160° under the operation of the drive handle 4. Combined with the narrow and long outer contour of the main body housing 1 itself, the operation of the endoscope can be achieved with one hand.

[0041] In the technical solution provided in this embodiment, an annular elastic pad 17 is fitted on the drive shaft 16. The two end faces of the elastic pad 17 abut against the side of the drive winding wheel 6 and the inner sidewall of the main body shell 1, respectively. A fastening screw 5 passes through the shaft hole at the center of the drive shaft 16. The clamping force on both sides of the elastic pad 17 is adjusted by rotating the fastening screw 5. This design further optimizes the design of the drive winding wheel. The elastic pad 17 is fitted on the drive shaft 16 and is sandwiched between the main body shell 1 and the sidewall of the drive winding wheel 6. The clamping force on the elastic pad 17 is adjusted by tightening or loosening the fastening screw 5 at the center of the drive shaft 16, thereby adjusting the rotation resistance of the drive handle 4. This is equivalent to adjusting the magnitude of the feedback force between the drive handle 4 and the end of the snake tail structure 3, making the magnitude of the feedback force adjustable between 0.1N and 0.8N. This makes the steering action of the snake tail structure 3 suitable for the current surgical situation, greatly reducing the vibration amplitude of the endoscopic instrument during surgery. The vibration reduction can reach 82%.

[0042] In the technical solution provided in this embodiment, the outer peripheral wall of the drive winding wheel 6 is provided with an annular groove 15 for accommodating the pull wires 9. Two positioning holes 18 are provided in the annular groove 15 on the side opposite to the opening structure 7 of the drive winding wheel 6, respectively used to secure the tail ends of the two pull wires 9. This design optimizes the connection and fit structure between the drive winding wheel 6 and the pull wires 9. The annular groove 15 on the outer peripheral wall of the drive winding wheel 6 effectively limits and guides the pull wires 9, preventing winding errors on the drive winding wheel 6. Positioning holes 18 for fixing the ends of the pull wires 9 are provided on the side of the annular groove 15 opposite to the opening structure 7, ensuring the positioning of the pull wire ends.

[0043] In the technical solution provided in this embodiment, a guide rib structure 14 is provided on the inner sidewall of the main body shell 1 between the drive winding wheel 6 and the adjusting block 12. The guide rib structure 14 includes two guide grooves corresponding to the positions of the pull wires 9, and the two pull wires 9 pass through the two guide grooves respectively. This design further limits and guides the pull wires 9 between the drive winding wheel 6 and the adjusting block 12, ensuring that the pull wires 9 remain straight and avoiding displacement loss during transmission.

[0044] Although the embodiments of this utility model have been disclosed above, the scope of protection of this utility model is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this utility model, and all such changes and modifications will fall within the protection scope of this utility model.

Claims

1. An actively steerable electronic endoscope for interventional treatment of the urinary system, comprising a main body shell (1) and a tube assembly (2) connected to one end of the main body shell (1), wherein a snake tail structure (3) is provided at the end of the tube assembly (2), and two traction wires (9) are respectively provided on both sides of the snake tail structure (3) for driving the snake tail structure (3) to steer through traction action; the traction wires (9) pass through the tube assembly (2) and are connected to a traction drive mechanism inside the main body shell (1); the traction drive mechanism includes a drive winding wheel (6), and the traction wires (9) are all connected to the outer periphery of the drive winding wheel (6); characterized in that, The main body shell (1) is fixedly connected to a winding wheel shell. The winding wheel shell is circular and surrounds the outside of the drive winding wheel (6) at a preset interval. The winding wheel shell is provided with an opening structure (7) for the two pulling wires (9) to pass through. Both sides of the opening structure (7) are provided with arc guide blocks (8) for pressing the two pulling wires (9) towards the outer periphery of the drive winding wheel (6). The main body shell (1) is also provided with a limit adjustment mechanism. The limit adjustment mechanism is used to straighten the direction of the pulling wires (9) so that the two pulling wires (9) are parallel to the length direction of the lens tube assembly (2) after passing through the limit adjustment mechanism.

2. The actively steering electronic endoscope for urinary system intervention according to claim 1, characterized in that, The limiting adjustment mechanism includes an adjustment block (12) that is tightly connected to the inner wall of the main body shell (1). The adjustment block (12) is provided with two threaded through holes. The direction of the threaded through holes is parallel to the length direction of the lens tube assembly (2). The distance between the two threaded through holes is greater than the opening diameter of the lens tube assembly (2) on the main body shell (1). The threaded through holes are threaded with hollow guide screws (11). The two pull lines (9) are respectively passed through the middle holes of the two guide screws (11). By rotating and adjusting the matching position between the guide screws (11) and the adjustment block (12), the minimum feedback feed amount when the pull line (9) is pulled by rotating the drive winding wheel (6) is adjusted.

3. The actively steering electronic endoscope for urinary system intervention according to claim 2, characterized in that, The inner side wall of the main body shell (1) is provided with a slot structure (13) for inserting the adjustment block (12). The adjustment block (12) is tightly inserted into the slot structure (13) in an adjustable position to adjust the position of the pull line (9) in the thickness direction inside the main body shell (1).

4. The actively steering electronic endoscope for urinary system intervention according to claim 2, characterized in that, Two inner limiting shafts (10) are provided in the space between the drive winding wheel (6) and the adjusting block (12). The positions of the two inner limiting shafts (10) are adjacent to the drive winding wheel (6) and the adjusting block (12) respectively. The axial direction of the inner limiting shaft (10) is perpendicular to the length direction of the pull line (9). The two ends of the inner limiting shaft (10) are distributed and abutted against the two sides of the inner sidewall of the main body shell (1). The two sides of the outer peripheral wall of the inner limiting shaft abut against the two pull lines (9) respectively to limit the minimum distance between the two pull lines (9).

5. The actively steering electronic endoscope for urinary system intervention according to claim 2, characterized in that, A guide tube is inserted through the central hole of the guide screw (11), and the pull line (9) passes through the guide tube. The pull line (9) is slidably engaged with the inner circumferential wall of the guide tube.

6. The actively steering electronic endoscope for the urinary system intervention treatment according to any one of claims 2-5, characterized in that, The center of the drive winding wheel (6) is connected to a drive shaft (16). The end of the drive shaft (16) extends through the side wall of the main body shell (1) and is fixedly connected to a drive handle (4) for manually rotating the drive winding wheel (6). The end of the drive handle (4) is bent and extends to one end of the outer side wall of the main body shell (1). There is no obstruction from the main body shell (1) in the rotation trajectory of the drive handle (4) around the shaft.

7. The actively steering electronic endoscope for urinary system interventions according to claim 6, characterized in that, The drive winding wheel (6) is located inside the main body housing (1) at one end away from the end of the lens tube assembly (2). The side wall of this end of the main body housing (1) is arc-shaped to adapt to the shape of the drive winding wheel (6). The bent part of the drive handle (4) is located outside the arc-shaped part of the main body housing (1).

8. The actively steering electronic endoscope for urinary system intervention according to claim 6, characterized in that, The drive shaft (16) is fitted with an annular elastic pad (17), and the two end faces of the elastic pad (17) abut against the side of the drive winding wheel (6) and the inner side wall of the main body shell (1), respectively; a fastening screw (5) is inserted through the shaft hole at the center of the drive shaft (16), and the clamping force on both sides of the elastic pad (17) is adjusted by rotating the fastening screw (5).

9. The actively steering electronic endoscope for urinary system interventions according to claim 6, characterized in that, The outer peripheral wall of the drive winding wheel (6) is provided with an annular groove (15) for placing the pull wire (9). Two positioning holes (18) are provided in the annular groove (15) on the side away from the opening structure (7) of the drive winding wheel (6), which are used to clamp and fix the tail ends of the two pull wires (9).

10. The actively steering electronic endoscope for urinary system intervention according to claim 6, characterized in that, The inner wall of the main body shell (1) is provided with a guide rib structure (14) between the drive winding wheel (6) and the adjusting block (12). The guide rib structure (14) includes two guide grooves corresponding to the positions of the pull wires (9), and the two pull wires (9) pass through the two guide grooves respectively.

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