A steel wire rope tension real-time measuring device for endoscope elbow control

Abstract

The utility model discloses a steel wire rope tension real -time measuring device for endoscope elbow control, including 2N steel wire rope force measuring assembly of built -in in insertion part, wherein, N is the number of traction group in endoscope, and traction group is used for controlling endoscope elbow, and insertion part is detachably connected with endoscope host computer, and insertion part includes the insertion body with the force measuring cavity, every traction group includes the reel and 2 steel wire ropes, and every steel wire rope force measuring assembly includes static pulley, movable pulley, pressure sensor and force link, static pulley is along the corresponding steel wire rope length direction and is arranged, movable pulley and corresponding steel wire rope rolling contact, and pressure sensor position is fixed, and is through force link and movable pulley extrusion contact of the side of steel wire rope departure, the utility model discloses a steel wire rope force measuring assembly symmetry integration in insertion part, and thus, under the condition of only one endoscope host computer, through replacing the insertion part of different diameter, can satisfy different observation and measurement requirement.

Description

Technical Field

[0001] This utility model relates to an endoscope bending angle control device, and more particularly to a real-time wire rope tension measuring device for endoscope bending angle control. Background Technology

[0002] An endoscope comprises a main unit, an insertion section, a serrated head, and a tip. The insertion section is connected to a handle, while the serrated head and tip are located at the tail end of the insertion section. The serrated head, under the traction of a steel cable, can achieve multi-directional or omnidirectional bending movements, thereby rotating the tip and enabling observation or treatment at multiple bending angles. Real-time tension measurement of the steel cable is essential for achieving precise bending angle control in the endoscope.

[0003] Currently, different operating conditions require different viewing directions, field of view angles, and depths of field, which in turn necessitates insertion tubes of different diameters. Therefore, the ability for a single endoscope unit to accommodate insertion tubes of varying diameters to meet different observation and measurement requirements is a growing trend in endoscope development. Patent application CN102341057A, entitled "Multi-joint robotic arm device and endoscope system having the device," uses a tension detector to detect the tension of the traction cable, thereby controlling the endoscope's bending angle. However, in CN102341057A, the flexible tube (i.e., the insertion tube) is integrally or fixedly connected to the robotic arm drive unit, which in turn is integrally or fixedly connected to the main body of the device. Consequently, one endoscope system can only accommodate one type of flexible tube. When replacement is needed, a new endoscope system must be used, significantly increasing operating costs and making storage and portability inconvenient. Utility Model Content

[0004] The technical problem to be solved by this utility model is to address the shortcomings of the prior art by providing a real-time wire rope tension measuring device for endoscope bending angle control. This real-time wire rope tension measuring device for endoscope bending angle control integrates the wire rope force measuring component into the insertion part. Therefore, in the case of only one endoscope host, different observation and measurement requirements can be met by changing different insertion parts.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A real-time wire rope tension measuring device for controlling the bending angle of an endoscope includes 2N wire rope force measuring components built into the insertion part; wherein, N is the number of traction groups in the endoscope, and the traction groups are used to control the bending angle of the endoscope.

[0006] The insertion part is detachably connected to the endoscope main unit, and the insertion part includes an inserter with a force measuring cavity.

[0007] Each traction assembly includes a winding reel and two steel wire ropes mounted on the winding reel; the winding reel is built into a force measuring cavity and can rotate.

[0008] Each wire rope force measuring assembly includes a stationary pulley, a moving pulley, a pressure sensor, and a force transmission rod.

[0009] There are at least two stationary pulleys, which are arranged along the length of the corresponding wire rope.

[0010] The movable pulley is located on the other side of the corresponding wire rope between two adjacent stationary pulleys and is in rolling contact with the corresponding wire rope.

[0011] The pressure sensor is fixed in position and is pressed into contact with the movable pulley on the side away from the wire rope via a force transmission rod.

[0012] It also includes a force measuring frame mounted on the insert body for mounting the wire rope force measuring assembly.

[0013] The force measuring frame includes N parallel horizontal frames; each horizontal frame is equipped with two of the aforementioned wire rope force measuring components.

[0014] Each crossbar includes a force measuring box and a top plate covering the force measuring box.

[0015] A fixed plate is set in the middle of the force measuring box, and two steel wire rope force measuring components are symmetrically arranged about the fixed plate.

[0016] A pressure sensor is symmetrically installed on both sides of the fixed plate. A force transmission rod is installed on the outside of each pressure sensor. A movable pulley is arranged on the outside of the force transmission rod. Two stationary pulleys, both embedded in the force measuring box, are arranged on the outside of each movable pulley.

[0017] The top plate is provided with a waist-shaped hole parallel to the force transmission rod, and the waist-shaped hole slides in conjunction with the rotating shaft of the movable pulley.

[0018] The movable pulley and two stationary pulleys in each wire rope force measuring assembly are arranged in an isosceles triangle.

[0019] When N > 1, the force measuring frame also includes a vertical plate, which is used to connect the N horizontal frames.

[0020] The central hole of the winding reel is formed as a drive hole, which can be detachably connected to the drive device in the endoscope host and can be actively rotated under the drive of the drive device.

[0021] N winding reels are rotatably mounted on the head of the insert body; the insert body includes an inner shell and an outer shell that interlock, the outer end face of each winding reel is interlocked with the outer shell, and the inner end face of each winding reel is integrally provided with a hollow shaft, the outer circumference of the hollow shaft is rotatably connected to the inner shell through a bearing.

[0022] Each wire rope downstream of the wire rope force measuring assembly is fitted with a lead guide post.

[0023] All outgoing guide posts are mounted on the insert via guide brackets.

[0024] A data transmission interface is also provided on the outside of the insert.

[0025] This utility model has the following beneficial effects: 1. This application integrates the wire rope force measuring component symmetrically into the insertion part. Therefore, in the case of only one endoscope host, different observation and measurement requirements can be met by changing the insertion part of different diameters.

[0026] 2. In this application, each type of wire rope with a different diameter has a different type of insert, thus achieving high tension testing accuracy; in addition, each wire rope corresponds to a wire rope force measuring component, which can measure in real time, thereby further improving the testing accuracy. Attached Figure Description

[0027] Figure 1 A physical drawing of the insertion part in this application is shown.

[0028] Figure 2 A three-dimensional view of the insert in this application is shown.

[0029] Figure 3 The diagram shows a structural diagram of a wire rope tension real-time measuring device for endoscope bending angle control according to this application.

[0030] Figure 4 Showing Figure 3 A magnified view of a portion of the image.

[0031] Figure 5 The diagram shows the interaction between the real-time wire rope tension measuring device and the wire rope in this application.

[0032] Figure 6 A partially enlarged schematic diagram of the force measuring frame in this application is shown.

[0033] Figure 7 A schematic diagram showing the arrangement of the waist-shaped hole in the top plate of the present invention is shown.

[0034] Figure 8 This is a partially enlarged schematic diagram of the winding disc in this invention.

[0035] Among them are: 10. Insertion body; 11. Connector; 12. Pipe interface; 13. Data transmission port; 14. Inner shell; 15. Outer shell; 16. Force measuring chamber; 20. Insert the tube; 30. Traction group; 31. Steel wire rope; 32. Winding spool; 321. Drive hole; 322. Hollow shaft; 323. Bearing; 33. Cable guide post; 331. Guide frame; 40. Force measuring frame; 41. Beams and slabs; 42. Horizontal frame; 421. Top plate; 421a. Waist-shaped hole; 422. Force measuring box; 423. Fixing plate; 43. Vertical board; 50. Force measuring assembly; 51. Stationary pulley; 52. Movable pulley; 53. Pressure sensor; 54. Force transmission rod. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0037] In the description of this utility model, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this utility model. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the protection scope of this utility model.

[0038] An endoscope includes an endoscope main unit and a device that plugs into the endoscope main unit and, as shown in the image, ... Figure 1 The insertion section shown includes an insertion body 10 and an insertion tube 20 connected to the insertion body.

[0039] like Figure 2 As shown, the insert includes a connector 11, a tube interface 12, a data transmission port 13, an inner shell 14, and an outer shell 15.

[0040] The aforementioned connector 11 can be detachably connected to the endoscope host, preferably by a plug-in connection, so that different diameter insertion tubes or steel wire ropes can be replaced as needed.

[0041] The aforementioned data transmission port is located on the outside of the insert, enabling the transmission of pressure sensor data from the wire rope tension real-time measuring device to the endoscope host or controller, etc.

[0042] The aforementioned inner shell has openings on both sides, and these openings are sealed and engaged by two outer shells. The engaging method is existing technology and will not be described in detail here. Therefore, the insert has the following characteristics: Figure 3The hollow force measuring cavity 16 shown has a pipe interface 12 at its tail end that connects to the insertion tube.

[0043] like Figure 3 As shown, the force measuring cavity is equipped with N traction groups 30, force measuring frames 40, and force measuring components 50. In this embodiment, N is preferably 1 or 2. Alternatively, the number of N can be increased by equivalent substitution as needed.

[0044] The traction unit is used to control the bending angle of the endoscope, such as... Figure 3 , Figure 4 and Figure 6 As shown, each traction group includes a winding reel 32, two steel wire ropes 31 mounted on the winding reel, and a lead wire post; when N=2, it has two winding reels and four steel wire ropes.

[0045] like Figure 3 , Figure 6 and Figure 8 As shown, N winding discs are rotatably mounted on the head of the insert body; the outer end face of each winding disc is preferably engaged with the outer shell, and the inner end face of each winding disc is integrally provided with a hollow shaft 322, the outer circumference of the hollow shaft is rotatably connected to the inner shell through a bearing 323.

[0046] The central hole of each winding spool is formed as a drive hole 321, which can be detachably connected to the drive device in the endoscope host and can be actively rotated under the drive of the drive device.

[0047] The external structure of the endoscope main unit is similar to existing technologies, therefore no additional drawings are provided. The difference lies in the relocation of the chord winding reel and the real-time wire rope tension measuring device from the existing endoscope main unit to the insertion section, thus decoupling the chord winding reel from the drive device built into the endoscope main unit. The drive device is existing technology, such as a motor, with the number of motors corresponding to the number of chord winding reels. Each motor preferably has a retractable motor shaft, and the retraction method is existing technology, allowing for both elastic and electric retraction. When the insertion head is inserted into the endoscope main unit, the motor shaft inserts into and locks into the drive hole of the corresponding chord winding reel, thereby driving the corresponding chord winding reel to rotate. When the insertion head needs to be replaced, the motor shaft releases the lock from the drive hole of the corresponding chord winding reel and retracts from the drive hole, facilitating the removal of the insertion head. The locking or unlocking method of the motor shaft and the drive hole is mature existing technology, similar to the elastic pin locking or magnetic adsorption (including electromagnetic adsorption) locking of an automatic umbrella, etc., and will not be elaborated here.

[0048] The aforementioned lead-out guide posts 33 are equal in number to the steel wire ropes, and are fitted onto the corresponding steel wire ropes located downstream of the steel wire rope force measuring assembly, guiding the steel wire ropes out of the force measuring cavity. All lead-out guide posts are connected via... Figure 6The guide frame 331 shown is mounted on the insert body.

[0049] A real-time wire rope tension measuring device for endoscope bending angle control includes the aforementioned force measuring frame 40 and force measuring component 50 arranged in the force measuring cavity.

[0050] The aforementioned force measuring frame is used to install the wire rope force measuring assembly, and preferably includes a beam plate 41, a cross frame 42, and a vertical plate 43.

[0051] Preferably, there are two beams, which are installed on both sides of the inner shell along the length of the inner shell, and can also be used to install the guide frame.

[0052] Preferably, there are N horizontal frames, arranged parallel to each other along the height direction of the inner shell; vertical plates are used to reinforce and connect the N horizontal frames; when N=1, vertical plates can be omitted, and the two sides of the horizontal frames can be directly installed on the aforementioned beam plate. When N=2, two horizontal frames and vertical plates form an I-shaped structure, with the two sides of the top horizontal frame installed on the aforementioned beam plate. Alternatively, when N>2, they can be arranged in the same manner.

[0053] Two wire rope force measuring components are installed on each crossbeam.

[0054] like Figures 4 to 7 As shown, each crossbar includes a force-measuring box 422 and a top plate 421 covering the top of the force-measuring box. A fixing plate 423, fixed in position, is located in the middle of the force-measuring box for mounting subsequent pressure sensors. The aforementioned force measuring component 50 includes 2N wire rope force measuring components.

[0055] Each wire rope force measuring assembly includes a stationary pulley 51, a movable pulley 52, a pressure sensor 53, and a force transmission rod 54.

[0056] There are at least two stationary pulleys, which are arranged along the length of the corresponding wire rope.

[0057] The movable pulley is located on the other side of the corresponding wire rope between two adjacent stationary pulleys and is in rolling contact with the corresponding wire rope.

[0058] The pressure sensor is fixed in position and makes contact with the movable pulley on the side opposite to the wire rope via a force transmission rod. In this embodiment, the two wire rope force measuring components in each crossbeam are symmetrically arranged about the fixed plate. The preferred arrangement is as follows: a pressure sensor is symmetrically installed on both sides of the fixed plate, a force transmission rod is installed outside each pressure sensor, a movable pulley is arranged outside the force transmission rod, and two stationary pulleys, each embedded in the force measuring box, are arranged outside each movable pulley. The movable pulley and the two stationary pulleys in each wire rope force measuring component are preferably arranged in an isosceles triangle.

[0059] Furthermore, such as Figure 7As shown, the top plate is provided with a waist-shaped hole 421a parallel to the force transmission rod, and the waist-shaped hole slides in conjunction with the rotating shaft of the movable pulley.

[0060] The force measurement principle of the above-mentioned real-time wire rope tension measuring device is as follows: Figure 5 As shown, the wire rope drawn from the winding reel is guided by the stationary pulleys and then leads out from the corresponding lead wire post before entering the insertion tube. The bend angle of the serpentine section at the end of the insertion tube is controlled. When the wire rope passes through two stationary pulleys, the other side of the wire rope comes into contact with the moving pulley. The moving pulley floats accordingly along the oblong hole based on the magnitude of the compressive force, and transmits the compressive force to the corresponding pressure sensor through the corresponding force transmission rod. The pressure sensor measures the real-time tension of the wire rope.

[0061] In this application, each type of wire rope with a different diameter has a different type of insert, thus achieving high tension testing accuracy; in addition, each wire rope corresponds to a wire rope force measuring component, which can measure in real time, thereby further improving testing accuracy.

[0062] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solution of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A real-time wire rope tension measuring device for endoscope bending angle control, characterized in that: It includes 2N steel wire rope force measuring components built into the insertion part; where N is the number of traction groups in the endoscope, and the traction groups are used to control the bending angle of the endoscope; The insertion part is detachably connected to the endoscope main unit, and the insertion part includes an inserter with a force measuring cavity; Each traction assembly includes a winding reel and two steel wire ropes mounted on the winding reel; the winding reel is built into a force measuring cavity and can rotate; Each wire rope force measuring assembly includes a stationary pulley, a movable pulley, a pressure sensor, and a force transmission rod; There are at least two stationary pulleys, which are arranged along the length of the corresponding wire rope; The movable pulley is located on the other side of the corresponding wire rope between two adjacent stationary pulleys and is in rolling contact with the corresponding wire rope; The pressure sensor is fixed in position and is pressed into contact with the movable pulley on the side away from the wire rope via a force transmission rod.

2. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 1, characterized in that: It also includes a force measuring frame mounted on the insert body for mounting the wire rope force measuring assembly; The force measuring frame includes N parallel horizontal frames; each horizontal frame is equipped with two of the aforementioned wire rope force measuring components; Each crossbar includes a force measuring box and a top plate covering the top of the force measuring box; A fixed plate is set in the middle of the force measuring box, and two steel wire rope force measuring components are symmetrically arranged about the fixed plate; A pressure sensor is symmetrically installed on both sides of the fixed plate. A force transmission rod is installed on the outside of each pressure sensor. A movable pulley is arranged on the outside of the force transmission rod. Two stationary pulleys, both embedded in the force measuring box, are arranged on the outside of each movable pulley.

3. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 2, characterized in that: The top plate is provided with a waist-shaped hole parallel to the force transmission rod, and the waist-shaped hole slides in conjunction with the rotating shaft of the movable pulley.

4. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 2, characterized in that: The movable pulley and two stationary pulleys in each wire rope force measuring assembly are arranged in an isosceles triangle.

5. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 1, characterized in that: When N > 1, the force measuring frame also includes a vertical plate, which is used to connect the N horizontal frames.

6. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 1, characterized in that: The central hole of the winding reel is formed as a drive hole, which can be detachably connected to the drive device in the endoscope host and can be actively rotated under the drive of the drive device.

7. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 6, characterized in that: N winding reels are rotatably mounted on the head of the insert body; the insert body includes an inner shell and an outer shell that interlock, the outer end face of each winding reel is interlocked with the outer shell, and the inner end face of each winding reel is integrally provided with a hollow shaft, the outer circumference of the hollow shaft is rotatably connected to the inner shell through a bearing.

8. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 1, characterized in that: Each wire rope downstream of the wire rope force measuring assembly is fitted with a lead guide post.

9. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 8, characterized in that: All outgoing guide posts are mounted on the insert via guide brackets.

10. The real-time wire rope tension measuring device for endoscope bending angle control according to claim 1, characterized in that: A data transmission interface is also provided on the outside of the insert.

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