Endoscopic sheath control device, driving system, and surgical robot

Abstract

An endoscopic sheath control device (100), a driving system (200), and a surgical robot (300). The endoscopic sheath control device (100) comprises a base (110), a housing (120), an endoscopic sheath (180), traction components (130), and adjustment components (140). The traction components (130) are fixedly connected to traction wires (350). The adjustment components (140) are disposed on lead paths of the traction wires (350). Each adjustment component (140) comprises an adjustment base (141) and a winding member (142); the winding member (142) is slidably connected to the adjustment base (141); each traction wire (350) is wound around the corresponding winding member (142); and the winding member (142) slides relative to the adjustment base (141) and drives movement of the traction wire (350) to adjust the tension of the traction wire (350). During assembly of the traction wires (350), the tension of the traction wires (350) can be adjusted, which is beneficial for controlling the tension of the traction wires (350), and beneficial for avoiding the problem of a deviation in the bending angle of a bending segment (183) of the endoscopic sheath (180) caused by a deviation between actual and theoretical extension / retraction amounts of the traction wires (350), thereby improving the accuracy of a surgical instrument reaching a target tissue location, and ensuring the surgical efficacy.

Description

Endoscope sheath control device, drive system and surgical robot Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an endoscope sheath control device, a drive system, and a surgical robot. Background Art

[0002] Flexible endoscopy is a minimally invasive surgical technique commonly used in clinical practice. It mainly inserts the flexible endoscope sheath through the natural cavity or artificial incision of the human body into the target surgical site to achieve observation and diagnosis of the target tissue, or inserts surgical instruments through the instrument channel of the flexible endoscope sheath into the target tissue site for corresponding surgical treatment.

[0003] The flexible endoscope robotic system consists of at least a drive box, an instrument box, and a flexible endoscope sheath, which is mounted on the instrument box. In related art, a traction wire is connected to the flexible endoscope sheath, which is fixed to a pulley in the instrument box. A motor in the drive box drives the pulley in the instrument box to rotate, achieving telescopic movement of the traction wire, and thus movement of the sheath's curved section.

[0004] However, during the assembly process of the traction wire, the actual expansion and contraction amount of the traction wire deviates from the theoretical expansion and contraction amount, the bending angle of the bending section deviates, and the accuracy of the surgical instrument entering the target tissue position is low, affecting the surgical effect.

[0005] Summary of the Invention

[0006] In order to solve at least one of the problems mentioned in the background technology, the present application provides an endoscope sheath control device, a drive system and a surgical robot, which are beneficial for controlling the tightness of the traction wire, and further beneficial for avoiding the deviation between the actual expansion and contraction amount of the traction wire and the theoretical expansion and contraction amount, resulting in the deviation of the bending angle of the bending section of the endoscope sheath, thereby improving the accuracy of the surgical instrument entering the target tissue position and ensuring the surgical effect.

[0007] In order to achieve the above-mentioned objectives, in a first aspect, the present application provides an endoscope sheath control device for use in an endoscope, endoscopic surgery and a robotic system, wherein the endoscope has a traction wire, and the endoscope sheath control device includes a base, a shell, an endoscope sheath, a traction assembly and an adjustment assembly, wherein the shell is covered on the base and forms a cavity with the base, the traction assembly and the adjustment assembly are located in the cavity, the first end of the endoscope sheath is fixedly connected to the base, and the second end of the endoscope sheath extends in a direction away from the base; The endoscope sheath is used to fix the first end of the traction wire, the traction assembly is used to fix the second end of the traction wire, and the traction assembly is used to drive the traction wire to perform telescopic movement to realize the bending action of the endoscope sheath; the adjustment assembly is arranged on the lead path of the traction wire; the adjustment assembly includes an adjustment seat and a winding member, the winding member is slidably connected to the adjustment seat, and the traction wire is wound around the winding member; the winding member is used to slide relative to the adjustment seat and drive the traction wire to move to adjust the tightness of the traction wire.

[0008] In the above-mentioned endoscope sheath control device, optionally, an adjustment groove is provided on the adjustment seat, and the winding member is slidably connected to the adjustment groove and slides back and forth along the extension direction of the adjustment groove.

[0009] In the above-mentioned endoscope sheath control device, optionally, the winding component includes a winding wheel and a winding baffle, the winding wheel is slidably connected to the adjustment groove, and slides back and forth along the extension direction of the adjustment groove; the winding baffle is connected to at least part of the periphery of the winding wheel, the winding baffle is located on the side of the winding wheel where the traction wire is wound, and a winding area for the traction wire to pass through is formed between the winding baffle and the winding periphery of the winding wheel, and the winding baffle is used to limit the traction wire from escaping from the winding area.

[0010] In the above-mentioned endoscope sheath control device, it is optional to further include a sheath tube for the traction wire to pass through, the sheath tube is at least located on the side of the adjustment component away from the traction component, the open end of the sheath tube is close to the adjustment component, and the traction wire is led out from the open end of the sheath tube and led to the adjustment component.

[0011] In the above-mentioned endoscope sheath control device, it is optional to further include a sheath fixing assembly, which is located at least on the side of the adjustment assembly away from the traction assembly; the sheath fixing assembly includes a sheath fixing seat and a sheath fixing piece, the first end of the sheath tube is fixedly connected to the endoscope sheath, and the second end of the sheath tube is fixed to the sheath fixing seat through the sheath fixing piece.

[0012] In the above-mentioned endoscope sheath control device, optionally, the traction assembly includes a traction wheel and a traction fixing piece, a transmission disk is installed on the base, the traction wheel is connected to the transmission disk, and the traction wire is fixed to the traction wheel through the traction fixing piece.

[0013] In the above-mentioned endoscope sheath control device, optionally, a notch is provided on at least part of the periphery of the traction wheel, and the notch is "L-shaped", and the notch includes a first extension section and a second extension section, the first extension section is opened on at least part of the periphery of the traction wheel, the extension direction of the first extension section is consistent with the radial direction of the traction wheel or has an angle, the first end of the second extension section is connected to the first extension section, and the second end of the second extension section extends in a direction close to the traction fixture; the traction assembly includes a traction groove, the traction wire is wound in the traction groove and is sequentially led to the fixed end of the traction fixture through the first extension section and the second extension section, and is fixed to the traction wheel through the fixed end.

[0014] In the above-mentioned endoscope sheath control device, optionally, the central axis of the sheath tube at the fixed position of the sheath fixing assembly, the central plane of the adjustment groove and the central plane of the traction groove are in the same horizontal plane; or, the central axis of the sheath tube at the fixed position of the sheath fixing assembly, the central plane of the adjustment groove and the central plane of the traction groove are staggered.

[0015] The above-mentioned endoscope sheath control device may optionally further include a limiting member, which is close to the traction assembly and has a limiting surface, which is in contact with part of the outer periphery of the traction wheel to limit the traction wire from falling off the traction wheel.

[0016] In the above-mentioned endoscope sheath control device, optionally, a lead-in hole is opened on one side of the base along the extension direction of the base, and part of the sheath tube is passed through the lead-in hole; the sheath fixing component, the adjustment component and the traction component are arranged in sequence along the extension direction of the base and toward the side away from the lead-in hole.

[0017] In the above-mentioned endoscope sheath control device, optionally, the number of the adjustment components includes at least two, the number of the traction components includes at least two, one traction component is arranged corresponding to one adjustment component, at least two adjustment components and at least two traction components are respectively used to correspond to at least two traction wires; at least two adjustment components form a group of adjustment groups, and in the same group of adjustment groups, the tightness of at least two traction wires wound around at least two adjustment components is equal.

[0018] In the above-mentioned endoscope sheath control device, optionally, the number of the adjustment components includes four, the number of the traction components includes four, and the four adjustment components and the four traction components are respectively used to correspond to the four traction wires in a one-to-one manner; two of the four adjustment components are relatively arranged to form a first adjustment group, and in the first adjustment group, the tightness of the two traction wires correspondingly wound around the two adjustment components is equal; and / or, the other two of the four adjustment components are relatively arranged to form a second adjustment group, and in the second adjustment group, the tightness of the two traction wires correspondingly wound around the two adjustment components is equal.

[0019] In the above-mentioned endoscope sheath control device, optionally, two of the four traction assemblies are arranged relative to each other to form a first traction group, two of the four traction wires are correspondingly fixed on the two traction assemblies, and the other two of the four traction wires are correspondingly fixed on the two traction assemblies; the first adjustment group, the first traction group, the second adjustment group and the second traction group are arranged in sequence along the extension direction of the base and toward the side away from the guide hole.

[0020] In the above-mentioned endoscope sheath control device, optionally, the horizontal heights of the first adjustment group and the first traction group are staggered with the horizontal heights of the second adjustment group and the second traction group.

[0021] In the above-mentioned endoscope sheath control device, optionally, the traction wheel is made of any one of metal material, rigid material, synthetic resin material or copper alloy; and / or, the winding wheel is a bearing wheel, and the outer ring of the winding wheel is made of any one of polytetrafluoroethylene, Teflon or polyetheretherketone.

[0022] In a second aspect, the present application provides a driving system, comprising a driving device and an endoscope sheath control device, wherein the driving device and the endoscope sheath control device are connected.

[0023] In the above-mentioned driving system, optionally, the driving device includes a driving base, a driving member, a reducer and a coupling, the coupling is installed on the reducer, and the reducer is installed on the driving member; the driving member is connected to the traction assembly of the endoscope sheath control device through the coupling, and the base of the endoscope sheath control device is connected to the driving base.

[0024] In a third aspect, the present application provides a surgical robot comprising a control system, a navigation system, a display system, an operator, an endoscope and a drive system, wherein the traction wire of the endoscope is connected to the endoscope sheath control device of the drive system.

[0025] The endoscope sheath control device, drive system and surgical robot provided by the present application can drive the traction wire to perform telescopic movement by including a traction component, and can effectively fix the traction wire at the same time, which is beneficial to avoiding the problem of the traction wire falling off the traction wheel; by including an adjustment component, during the process of assembling the traction wire, the adjustment component can adjust the tightness of the traction wire, which is beneficial to controlling the tightness of the traction wire, and further helps to avoid the problem that the actual telescopic amount of the traction wire deviates from the theoretical telescopic amount, resulting in a deviation in the bending angle of the bending section of the endoscope sheath, thereby achieving consistency in the bending of the bending section of the endoscope sheath, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0026] The structure of the present application and its other application objectives and beneficial effects will be more clearly understood through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] FIG1 is a schematic structural diagram of a surgical robot provided in an embodiment of the present application;

[0029] FIG2 is a schematic structural diagram of a drive system provided in an embodiment of the present application;

[0030] FIG3 is a schematic diagram of the assembly structure of a driving device and an endoscope sheath control device of a driving system provided in an embodiment of the present application;

[0031] FIG4 is a schematic diagram of the internal structure of a driving device of a driving system provided in an embodiment of the present application;

[0032] FIG5 is a schematic diagram of the internal assembly structure of a driving device and an endoscope sheath control device of a driving system provided by an embodiment of the present application;

[0033] FIG6 is a schematic structural diagram of an endoscope sheath control device provided in an embodiment of the present application;

[0034] FIG7 is an enlarged schematic diagram of the structure of the box portion in FIG6 ;

[0035] FIG8 is an exploded schematic diagram of an endoscope sheath control device provided in an embodiment of the present application;

[0036] FIG9 is a schematic structural diagram of an endoscope sheath of an endoscope sheath control device provided in an embodiment of the present application;

[0037] FIG10 is a schematic structural diagram of an adjustment component of an endoscope sheath control device according to an embodiment of the present application;

[0038] FIG11 is a cross-sectional view of an adjustment assembly of an endoscope sheath control device according to an embodiment of the present application;

[0039] FIG12 is a front structural schematic diagram of a traction assembly of an endoscope sheath control device provided in an embodiment of the present application;

[0040] FIG13 is a schematic diagram of the back structure of the traction assembly of the endoscope sheath control device provided in an embodiment of the present application;

[0041] FIG14 is a cross-sectional view of the traction assembly of the endoscope sheath control device provided in an embodiment of the present application.

[0042] Explanation of reference numerals: 100 - endoscope sheath control device; 110 - base; 111 - wire guide hole; 112 - transmission plate; 113 - first bearing; 114 - shaft of transmission plate; 115 - elastic retaining ring; 116 - locking plate; 1161 - positioning hole; 117 - second bearing; 118 - washer; 119 - locking screw; 120 - housing; 121 - cavity; 130 - traction assembly; 131 - traction wheel; 1311 - notch; 13111 - first extension section; 13112 - second extension section; 1312 - traction groove; 132 - traction fixing member; 1321 - traction fixing screw; 1322 - traction fixing pressure pad; 1323 - traction fixing pressure block; 140 - adjustment assembly; 141 - adjustment seat; 142-Wrapping member; 1421-Wrapping wheel; 1422-Wrapping baffle; 14221-Flat baffle; 14222-Curved baffle; 1423-Wrapping area; 143-Adjustment slot; 144-Mounting slot; 145-Adjustment nut; 146-Adjustment screw; 147-Wrapping slot; 150-Sheath tube; 151-Open end of sheath tube; 160-Sheath fixing assembly; 161-Sheath fixing seat; 162-Sheath fixing member; 1621-Sheath fixing screw; 1622-Sheath fixing pressure pad; 170-Limiting member; 171-Limiting surface; 172-Positioning column; 180-Endoscope sheath; 181-Mechanical channel interface; 182-Insertion section; 183-Bending section;184 - Head end; 200 - Drive system; 210 - Drive device; 211 - Drive base; 212 - Drive element; 2121 - Drive motor; 2122 - Drive; 213 - Reducer; 214 - Coupling; 215 - Drive box; 216 - Positioning pin; 220 - Cart; 230 - Robotic arm; 300 - Surgical robot; 310 - Control system; 320 - Navigation system; 330 - Display system; 340 - Manipulator; 350 - Traction wire.

[0043] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0044] Surgery using a flexible endoscope is a minimally invasive surgical technique currently commonly used in clinical practice. During the operation, the flexible endoscope sheath is inserted into the target tissue location through the natural cavity or artificial incision of the human body to achieve observation and diagnosis of the target tissue, or the surgical instrument is inserted into the target tissue location through the instrument channel of the flexible endoscope sheath for corresponding surgical treatment.

[0045] Compared to traditional open surgery, flexible endoscopic surgery requires minimal or no incision, facilitating a quicker recovery. Currently, flexible endoscopic procedures commonly used on the market primarily utilize manual instruments, requiring the physician to manually insert the endoscopic sheath through a natural orifice or artificial incision into the target tissue based on their experience. This places high demands on the physician's operational skills and operational stability. To improve the operational stability of flexible endoscopic surgery and reduce the physician's reliance on experience during endoscopic insertion, the development of a flexible endoscopic robotic system has begun.

[0046] A flexible endoscopic robotic system generally consists of a drive system and a flexible endoscope sheath. The drive system includes a drive box and an instrument box, and the flexible endoscope sheath is mounted on the instrument box. The drive box and the instrument box enable the flexible endoscope sheath to bend. The flexible endoscopic robotic system replaces the vertical bending and overall rotation of the endoscope sheath with four directions of bending, up, down, left, and right, and achieves 360-degree bending in any direction through the coordination of these four directions. Specifically, before surgery, the doctor uses CT images to scan and model the patient's tissue and develop the optimal route for the flexible endoscope sheath to advance. During the surgery, the display system displays the actual position of the endoscope sheath end in the model and along the path in real time. The doctor controls the movement of the robotic arm and the drive box by controlling the manipulator to achieve the bending of the flexible endoscope sheath and ultimately reach the target position. The vertical bending of the flexible endoscope sheath is called pitch motion, and the left-right bending is called yaw motion.

[0047] The flexible endoscope sheath is divided into three parts according to its function and structure: the insertion section, the bending section, and the head end. The distal end of the insertion section is connected to the instrument box, the proximal end of the insertion section is connected to the bending section, and the head end is located at the distal end of the bending section. The bending section is evenly distributed around the circumference with traction wires. The traction wires pass through the bending section and the insertion section in turn and enter the instrument box, and are respectively fixed on the traction wheels in the instrument box. The motor in the drive box drives the traction wheels in the instrument box to rotate, realizing the telescopic movement of the traction wire, and then realizing the pitch and deflection movement of the bending section. The end of the flexible endoscope sheath connected to the instrument box is the proximal end, and the other end, which is the end closest to the patient, is the distal end.

[0048] It should be noted that the bending movement of the flexible endoscope sheath is achieved by the motor of the drive box driving the traction wheel to rotate, which indirectly drives the extension and retraction of the traction wire. Therefore, the extension and retraction of the traction wire determines the bending angle of the sheath. When the extension and retraction of the traction wire deviates, the bending angle of the sheath will deviate. This deviation will cause the actual arrival position of the sheath head end to be inconsistent with the target position, and it will take a long time to correct the position. This deviation at the surgical site will also cause the actual surgical position to deviate from the target position, and may even cause the operation to fail.

[0049] In the related art, during the assembly process of the traction wire, in some embodiments, the traction wire is directly fixed to the traction wheel. In some embodiments, the traction wire is fixed to the traction wheel after being transferred through an orthogonal and fixed position rotating wheel, and the end of the traction wire is clamped in the groove provided on the traction wheel. However, the related art does not have an adjustment mechanism that can adjust the tightness of the traction wire. The tightness of the traction wire cannot be controlled, resulting in a deviation between the actual expansion and contraction amount of the traction wire and the theoretical expansion and contraction amount, causing a deviation in the bending angle of the bending section. In addition, the traction wire is currently fixed to the traction wheel using a clamping technology. When the traction wire is subjected to a large pulling force, the end of the traction wire may fall out. The end of the traction wire is easy to fall out of the clamping slot, and the sheath is deflected in the opposite direction under the pulling force of the traction wire in the opposite direction, resulting in deviation from the surgical site and causing surgical accidents.

[0050] Based on the above-mentioned technical problems, the embodiments of the present application provide an endoscope sheath control device, a drive system and a surgical robot. By including a traction component, the traction component can drive the traction wire to perform telescopic movement, and at the same time can effectively fix the traction wire, improve the fixing effect of the traction wire, and help avoid the problem of the traction wire falling off the traction wheel; by including an adjustment component, during the process of assembling the traction wire, the adjustment component can adjust the tightness of the traction wire, which is beneficial to control the tightness of the traction wire, and further avoid the problem that the actual telescopic amount of the traction wire deviates from the theoretical telescopic amount, resulting in a deviation in the bending angle of the bending section of the endoscope sheath, thereby achieving consistency in the bending of the bending section of the endoscope sheath, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0051] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar structural parts or structural parts with the same or similar functions. The described embodiments are part of the structural embodiments of the present application, rather than full structural embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be understood as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. The embodiments of the present application are described in detail below in conjunction with the drawings.

[0052] The structure of the surgical robot provided in an embodiment of the present application is described below with reference to FIG1 .

[0053] FIG1 is a schematic structural diagram of a surgical robot provided in an embodiment of the present application.

[0054] As shown in Figure 1, an embodiment of the present application provides a surgical robot 300, which may include a control system 310, a navigation system 320, a display system 330, an operator 340, an endoscope and a drive system 200.

[0055] The control system 310 can include three types: mechanical, electric and pneumatic. The mechanical control system 310 controls the movement of surgical instruments through manual operation and is suitable for simple surgical operations; the electric control system 310 drives the movement of surgical instruments through electric motors, which can achieve more precise operations; the pneumatic control system 310 drives the movement of surgical instruments through air pressure, and has the characteristics of fast response and high precision.

[0056] Before surgery, the navigation system 320 can be used to design a surgical approach and perform a simulated surgery on a computer, allowing the surgeon to accurately determine the route and position of the surgical instruments, ensuring surgical accuracy while minimizing additional damage to surrounding tissues and organs. During surgery, the display system 330 can display the actual position of the endoscope sheath tip 184 within the model and path in real time, assisting the surgeon in performing accurate operations. Exemplarily, the display system 330 can be a display screen. The operator 340 can be an operating console equipped with a manual controller, etc., which the surgeon can use to control all movements of the surgical instruments and endoscope.

[0057] The structure of the drive system provided in the embodiment of the present application is described below with reference to FIG. 2 to FIG. 5 .

[0058] Figure 2 is a structural schematic diagram of the driving system provided in an embodiment of the present application, Figure 3 is a schematic diagram of the assembly structure of the driving device and the endoscope sheath control device of the driving system provided in an embodiment of the present application, Figure 4 is a schematic diagram of the internal structure of the driving device of the driving system provided in an embodiment of the present application, and Figure 5 is a schematic diagram of the internal assembly structure of the driving device and the endoscope sheath control device of the driving system provided in an embodiment of the present application.

[0059] 2 , an embodiment of the present application provides a driving system 200 . The driving system 200 may include a driving device 210 and an endoscope sheath control device 100 . The driving device 210 and the endoscope sheath control device 100 are connected.

[0060] In some embodiments, as shown in FIG2 , the drive system 200 may further include a cart 220 and a robotic arm 230, one end of the robotic arm 230 being connected to the cart 220, and the other end of the robotic arm 230 being connected to the drive box 215. The robotic arm 230 is used to drive the entire drive system 200 to move, thereby enabling the endoscope sheath 180 to move forward and backward along the motion trajectory.

[0061] Among them, the connection method between the robot arm 230 and the drive box 215 and the cart 220 is not further limited. For example, the robot arm 230 and the drive box 215 and the cart 220 can be connected by screw fixation, clamping or bonding, or can be connected by other methods.

[0062] For example, as shown in Figures 3 to 5, the drive device 210 may include a drive box 215, and the endoscope sheath control device 100 may include a base 110, and the drive box 215 is connected to the base 110. The connection method between the drive box 215 and the base 110 is not further limited. For example, the drive box 215 and the base 110 may be connected by screw fixation, clamping, or bonding. In this embodiment, the drive box 215 and the base 110 are mainly connected by clamping.

[0063] To further improve the connection between the driver box 215 and the base 110, a positioning pin 216 may be provided on the driver box 215, and a positioning hole may be provided on the base 110. The positioning pin 216 is correspondingly inserted into the positioning hole, which not only helps to connect the driver box 215 and the base 110, but also helps to ensure the accurate positioning of the driver box 215 and the base 110. The number of the positioning pins 216 and the positioning holes is not further limited.

[0064] Continuing with reference to Figures 4 and 5, the drive box 215 may be provided with a drive base 211, a drive member 212, a reducer 213, and a coupling 214. The drive member 212 may include a drive motor 2121 and a driver 2122. The drive motor 2121 is located between the reducer 213 and the driver 2122. One end of the drive motor 2121 is connected to the reducer 213, and the other end of the drive motor 2121 is connected to the driver 2122. The reducer 213 is fixed to the drive base 211, and the coupling 214 is mounted on the shaft of the reducer 213. The drive motor 2121 is connected to the traction assembly 130 of the endoscope sheath control device 100 via the coupling 214.

[0065] Reducer 213 is a crucial component in medical equipment. It converts the rotational speed of a high-speed or slow-speed motor into low-speed, high-torque mechanical torque, which is then transmitted to various systems or modes. This effectively enables control and coordination between different components, thereby stably completing various medical procedures and tasks. Coupling 214 connects two shafts (driving and driven) in different mechanisms, enabling them to rotate together and transmit torque. Some couplings 214 also provide cushioning, vibration reduction, and improve the dynamic performance of the shaft system.

[0066] Exemplarily, the coupling 214 of the embodiment of the present application may be an elastic Oldham coupling.

[0067] The structure of the endoscope sheath control device provided in the embodiment of the present application is described below with reference to FIG. 6 to FIG. 8 .

[0068] Figure 6 is a structural schematic diagram of the endoscope sheath control device provided in an embodiment of the present application, Figure 7 is an enlarged structural schematic diagram of the box part in Figure 6, Figure 8 is a decomposed schematic diagram of the endoscope sheath control device provided in an embodiment of the present application, Figure 9 is a structural schematic diagram of the endoscope sheath of the endoscope sheath control device provided in an embodiment of the present application, Figure 10 is a structural schematic diagram of the adjustment component of the endoscope sheath control device provided in an embodiment of the present application, and Figure 11 is a cross-sectional view of the adjustment component of the endoscope sheath control device provided in an embodiment of the present application.

[0069] 6 to 8 , an embodiment of the present application provides an endoscope sheath control device 100 , which can be used for an endoscope, endoscopic surgery, and a surgical robot 300 . The endoscope has a traction wire 350 . Exemplarily, the traction wire 350 can be made of stainless steel.

[0070] 3, 4, and 6 to 8, the endoscope sheath control device 100 may include a base 110, a housing 120, an endoscope sheath 180, a traction assembly 130, and an adjustment assembly 140. The housing 120 covers the base 110 and together with the base 110, forms a cavity 121, and the traction assembly 130 and the adjustment assembly 140 are located in the cavity 121.

[0071] Referring to Figures 3 to 5 and Figure 9, the endoscope sheath 180 may include a mechanical channel interface 181, an insertion section 182, a curved section 183 and a head end 184, the curved section 183 being connected between the insertion section 182 and the head end 184, the insertion section 182 being located on the side of the curved section 183 close to the base 110, the head end 184 being located on the side of the curved section 183 away from the base 110, and the mechanical channel interface 181 being arranged at the end of the insertion section 182 facing away from the curved section 183.

[0072] The insertion section 182 is fixedly connected to the base 110, and a portion of the insertion section 182 is inserted into the cavity 121. The mechanical channel interface 181 extends from the top surface of the housing 120. Surgical instruments can enter the insertion section 182, the curved section 183, and the head end 184 in sequence through the mechanical channel interface 181, ultimately reaching the target tissue location. The first end of the traction wire 350 is fixedly connected to the head end 184, and the second end of the traction wire 350 extends toward the base 110. The second end of the traction wire 350 extends into the cavity 121 and is fixedly connected to the traction assembly 130. The first end of the endoscope sheath 180 is the end where the insertion section 182 is connected to the base 110, and the second end of the endoscope sheath 180 is the head end 184.

[0073] The length of the insertion section 182 is not further limited and can be set according to actual conditions. The method for fixing the first end of the traction wire 350 to the head end 184 is also not further limited. For example, the first end of the traction wire 350 and the head end 184 can be connected by welding, bonding, or clamping.

[0074] 6 and 7 , the adjustment component 140 is arranged on the lead path of the traction wire 350 , that is, the adjustment component 140 is located on the side of the traction component 130 close to the endoscope sheath 180 . It should be noted that the “lead path” of the traction wire 350 can be shown with reference to the direction of arrow A in FIG7 and FIG8 .

[0075] 10 and 11 , the adjustment assembly 140 may include an adjustment seat 141 and a winding member 142 , the winding member 142 being slidably connected to the adjustment seat 141 , the traction wire 350 being wound around the winding member 142 , the winding member 142 sliding relative to the adjustment seat 141 and driving the traction wire 350 to move so as to adjust the tightness of the traction wire 350 .

[0076] For example, the adjustment seat 141 can be an adjustment boss, or the adjustment seat 141 can also have other structures. In this embodiment, the adjustment seat 141 is mainly described as an adjustment boss. For example, the adjustment boss can be a cubic structure, for example, the adjustment boss can be a rectangular parallelepiped structure, or the adjustment boss can be a cube structure. This embodiment does not further limit this, and can be specifically configured according to actual conditions.

[0077] Illustratively, the adjustment boss may be a part of the base 110 , or may be a boss mounted on the base 110 .

[0078] Continuing with reference to Figures 10 and 11 , the adjustment seat 141 may be provided with an adjustment slot 143 and a mounting slot 144. The adjustment slot 143 may be an oblong hole, and the mounting slot 144 may be a strip hole. The oblong hole and the strip hole extend in the same direction, and an adjustment nut 145 is placed in the strip hole. In this embodiment, the shapes of the adjustment slot 143 and the mounting slot 144 include, but are not limited to, the shapes described above, and may be specifically configured based on actual circumstances. Furthermore, the size, number, and material of the adjustment slot 143 and the mounting slot 144 are not further limited.

[0079] Continuing with reference to Figures 10 and 11, the winding member 142 may include a winding wheel 1421 and a winding baffle 1422. The winding baffle 1422 is connected to at least part of the periphery of the winding wheel 1421. The winding baffle 1422 is located on the side of the winding wheel 1421 where the traction wire 350 is wound. A winding area 1423 for the traction wire 350 to pass through is formed between the winding baffle 1422 and the winding periphery of the winding wheel 1421. The winding baffle 1422 is used to limit the traction wire 350 from escaping from the winding area 1423, which is beneficial to prevent the traction wire 350 from escaping from the winding wheel 1421 and ensure the winding effect of the traction wire 350.

[0080] Exemplarily, as shown in Figures 10 and 11, the winding baffle 1422 may include a flat baffle 14221 and an arc-shaped baffle 14222 connected to at least part of the periphery of the flat baffle 14221, the flat baffle 14221 is located between the winding wheel 1421 and the adjustment boss, the arc-shaped baffle 14222 is located on the side of the winding wheel 1421 where the traction wire 350 is wound, and the winding area 1423 is formed between the arc-shaped baffle 14222 and the winding periphery of the winding wheel 1421.

[0081] It should be noted that the shape, fixing position and fixing method of the winding baffle 1422 include but are not limited to the above-mentioned shape, fixing position and fixing method. For example, the winding baffle 1422 can be bonded to the adjustment seat 141. As long as it can limit the traction wire 350 from escaping from the winding area 1423, it falls within the protection scope of this application.

[0082] In actual application, the winding wheel 1421 is slidably connected to the adjustment slot 143 and slides back and forth along the extension direction of the adjustment slot 143. The adjusting screw 146 passes through the center hole of the winding wheel 1421, the flat baffle 14221 and the adjustment slot 143 in turn and is connected to the adjusting nut 145. The adjusting nut 145 can move back and forth along the extension direction of the mounting slot 144.

[0083] For example, in this embodiment, the extension direction of the adjustment slot 143 mainly refers to reciprocating sliding along the length direction of the adjustment slot 143, and the extension direction of the installation slot 144 mainly refers to reciprocating movement along the length direction of the installation slot 144. For example, the adjustment slot 143 can be V-shaped, U-shaped, or other shapes, which are not limited in this embodiment.

[0084] The adjustment method of the adjustment assembly 140 provided in the embodiment of the present application is as follows: after the traction wire 350 is fixed to the traction assembly 130, the adjustment screw 146 of the adjustment assembly 140 is loosened, the tension on the winding wheel 1421 is measured by a dynamometer, and the position of the winding wheel 1421 is adjusted along the length direction of the adjustment slot 143 until a specified force is reached, and then the adjustment screw 146 is tightened. For example, when the winding wheel 1421 moves outward along the length direction of the adjustment slot 143, the traction wire 350 is tightened, and when the winding wheel 1421 moves inward along the length direction of the adjustment slot 143, the traction wire 350 is relaxed, wherein the inner side and the outer side are relative to the center plane of the base 110.

[0085] It should be noted that the tension on the winding wheel 1421 can be obtained by measuring the pressure exerted by the traction wire 350 on the winding wheel 1421. In addition, the direction of the winding wheel 1421 moving outward can be shown by the arrow B1 direction in Figure 10, and the direction of the winding wheel 1421 moving inward can be shown by the arrow B2 direction in Figure 10, and the B1 direction and the B2 direction are opposite directions.

[0086] In addition, it should be noted that the winding wheel 1421 can be a bearing wheel, the upper plane of the inner ring of the bearing wheel is tightly pressed against the adjusting screw 146, and the lower plane is in contact with the flat baffle 14221. The traction wire 350 is wound in the winding groove 147 of the outer ring of the bearing wheel. The winding groove 147 can be a U-shaped groove. The winding wheel 1421 can be made of a material with a low friction coefficient with the traction wire 350, which is beneficial to reduce the friction resistance of the traction wire 350 when sliding on the winding wheel 1421.

[0087] Exemplarily, the outer ring of the winding wheel 1421 can be made of any low friction material selected from polytetrafluoroethylene, Teflon, or polyetheretherketone. The inner ring of the winding wheel 1421 is not limited by material, for example, the inner ring of the winding wheel 1421 can be made of any material such as metal or plastic.

[0088] Exemplarily, the surface of the winding wheel 1421 can also be sprayed with a friction-reducing coating such as tetrafluoroethylene, so as to minimize the friction between the surface of the winding wheel 1421 and the traction wire 350, which is beneficial to further reduce the friction resistance of the traction wire 350 when sliding on the winding wheel 1421.

[0089] Therefore, in this embodiment, by setting up the adjustment component 140, during the process of assembling the traction wire 350, the adjustment component 140 can adjust the tightness of the traction wire 350, which is beneficial to controlling the tightness of the traction wire 350, and further helps to avoid the problem that the actual expansion and contraction amount of the traction wire 350 deviates from the theoretical expansion and contraction amount, resulting in a deviation in the bending angle of the bending section 183 of the endoscope sheath, thereby achieving consistency in the bending of the bending section 183 of the endoscope sheath, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0090] As an optional embodiment, as shown in Figures 6 and 7, a sheath tube 150 for the traction wire 350 to pass through may also be included. Specifically, the sheath tube 150 is provided in the insertion section 182 and wrapped around the outside of the traction wire 350. The sheath tube 150 extends from the insertion section 182 into the base 110. The sheath tube 150 is at least located on the side of the adjustment component 140 away from the traction component 130. The open end 151 of the sheath tube is close to the adjustment component 140. The traction wire 350 is led out from the open end 151 of the sheath tube and led to the adjustment component 140. The sheath tube 150 can provide a movement channel for the traction wire 350 and can reduce the friction resistance between the traction wire 350 and other components, which is beneficial to extending the service life of the traction wire 350.

[0091] The “at least located” in which the sheath tube 150 is at least located on the side of the adjustment component 140 away from the traction component 130 means: in some embodiments, the sheath tube 150 can be located on the side of the adjustment component 140 away from the traction component 130; in some embodiments, the sheath tube 150 can also be arranged between the adjustment component 140 and the traction component 130.

[0092] In the embodiment of the present application, the sheath tube 150 is mainly located on the side of the adjustment component 140 away from the traction component 130 for illustration. Such a design helps to improve the space utilization inside the base 110, reduce the overall size of the endoscope sheath control device 100, and the sheath tube 150 will not cause assembly interference with other components on the base 110.

[0093] It should be noted that because the length of the sheath tube 150 affects the length of the traction wire 350 and thus affects the bending angle of the bending section 183, the sheath tube 150 needs to be fixed to ensure that the effective length of the sheath tube 150 remains unchanged. For example, the distal end of the sheath tube 150 and the distal end of the insertion section 182 can be fixedly connected by welding or bonding, and the proximal end of the sheath tube 150 can be fixed to the side of the adjustment assembly 140 facing away from the traction assembly 130 by screws.

[0094] For example, the sheath tube 150 in the embodiment of the present application may be a spring tube.

[0095] As an optional embodiment, as shown in Figures 6 and 7, a sheath fixing assembly 160 may also be included. The sheath fixing assembly 160 is located at least on the side of the adjustment assembly 140 facing away from the traction assembly 130. In the embodiment of the present application, the sheath fixing assembly 160 is located on the side of the adjustment assembly 140 facing away from the traction assembly 130 as an example for description.

[0096] 6 and 7 , the sheath fixing assembly 160 may include a sheath fixing seat 161 and a sheath fixing member 162, wherein the sheath fixing seat 161 may be a sheath fixing boss, and the sheath fixing member 162 may include a sheath fixing screw 1621 and a sheath fixing pressure pad 1622. The sheath fixing pressure pad 1622 is disposed on the sheath fixing boss. After the sheath tube 150 extends from the insertion section 182 and enters the base 110, it is fixed to the sheath fixing seat 161 by the sheath fixing screw 1621 and the sheath fixing pressure pad 1622. Thus, the sheath fixing assembly 160 is beneficial for firmly fixing the sheath tube 150 to the base 110, improving the fixing effect of the sheath tube 150, ensuring that the sheath tube 150 does not move during the use of the endoscope sheath control device 100, and ensuring that the effective length of the sheath tube 150 remains unchanged to the greatest extent.

[0097] Exemplarily, the sheath fixing seat 161 may be a part of the base 110 or a component installed on the base 110 , which is not further limited in this embodiment.

[0098] To further enhance the securing effect on the sheath tube 150, in the embodiment of the present application, the sheath fixing seat 161 and the sheath fixing pressure pad 1622 can be made of a material with a high friction coefficient. For example, the sheath fixing seat 161 and the sheath fixing pressure pad 1622 can be made of any one of metal, rigid material, synthetic resin, or copper alloy, thereby ensuring a more secure securing of the sheath tube 150.

[0099] It should be noted that the number, shape, size and setting position of the sheath fixing seat 161, the sheath fixing screw 1621 and the sheath fixing pressure pad 1622 are not further limited and can be specifically set according to actual conditions.

[0100] As an optional embodiment, as shown in FIG6 , a stopper 170 may be further included. The stopper 170 is located near the traction assembly 130 and has a stopper surface 171. The stopper surface 171 abuts against a portion of the outer periphery of the traction wheel 131 to prevent the traction wire 350 from being dislodged from the traction wheel 131. Exemplarily, the stopper 170 may be a stopper platform, and the stopper 170 is mounted on the base 110.

[0101] The specific shape of the limiting surface 171 is not further limited. For example, the limiting surface 171 can be a flat surface, or a concave arc surface. In this embodiment, the limiting surface 171 is primarily described as a concave arc surface. The arc surface fits with a small gap around a portion of the outer periphery of the traction wheel 131, securing the traction wire 350 to the traction wheel 131 and preventing it from slipping out. The shape, material, quantity, and arrangement of the limiting members 170 are not further limited and can be configured based on actual circumstances.

[0102] As an optional embodiment, as shown in Figures 6 and 7, a wire hole 111 may be provided on one side of the base 110 along the extension direction of the base 110, and a portion of the sheath tube 150 is passed through the wire hole 111. In this embodiment, the extension direction of the base 110 primarily refers to the length direction of the base 110, and the wire hole 111 is provided on one side of the base 110. For example, the wire hole 111 is provided on the side of the adjustment assembly 140 facing away from the traction assembly 130.

[0103] The sheath fixing assembly 160, the adjustment assembly 140, and the pulling assembly 130 are arranged in sequence along the extension direction of the base 110 and toward the side away from the lead-in hole 111. This arrangement helps to greatly improve the space utilization inside the base 110, reduce the overall size of the endoscope sheath control device 100, and prevent assembly interference between the components.

[0104] Figure 12 is a front structural schematic diagram of the traction component of the endoscope sheath control device provided in an embodiment of the present application, Figure 13 is a back structural schematic diagram of the traction component of the endoscope sheath control device provided in an embodiment of the present application, and Figure 14 is a cross-sectional view of the traction component of the endoscope sheath control device provided in an embodiment of the present application.

[0105] As an optional embodiment, referring to Figures 8 and 12 to 14, the traction assembly 130 may include a traction wheel 131 and a traction fixing member 132. A transmission disc 112 is mounted on the base 110. The traction wheel 131 is connected to the transmission disc 112. The traction wire 350 is fixed to the traction wheel 131 via the traction fixing member 132. Exemplarily, the traction wheel 131 is mounted on a shaft of the transmission disc 112. The traction wheel 131 and the transmission disc 112 may be fixed by snapping or bonding.

[0106] Exemplarily, as shown in FIG12 , the traction fixing member 132 may include a traction fixing screw 1321, a traction fixing pressure pad 1322, and a traction fixing pressure block 1323. The traction fixing pressure block 1323 is disposed on the traction wheel 131, and the traction fixing pressure pad 1322 is disposed on the traction fixing pressure block 1323. The traction wheel 131 may be provided with a traction groove 1312. After passing through the winding wheel 1421, the traction wire 350 is wound clockwise on the traction groove 1312 and routed around the traction fixing screw 1321 between the traction fixing pressure pad 1322 and the traction fixing pressure block 1323 on the upper surface of the traction wheel 131. When the traction fixing screw 1321 is tightened, the traction wire 350 is fixed.

[0107] Exemplarily, the traction fixed pressure block 1323 and the traction wheel 131 can be two separate components, or the traction fixed pressure block 1323 can be connected to the traction wheel 131 by bonding, clamping or threading, or the traction fixed pressure block 1323 can also be a part of the traction wheel 131, which is not further limited in this embodiment.

[0108] In addition, there is no limitation on the number of turns of the traction wire 350 on the traction groove 1312, and the number of turns can be determined based on actual conditions. The shape of the traction groove 1312 can also be V-shaped, U-shaped, or other shapes.

[0109] In addition, there is no limitation on the shape of the traction fixing block 1323 and the traction fixing pressure pad 1322, as long as they can achieve the purpose of pressing the wire. The traction fixing screw 1321 can be made into a plain shaft without a thread at the front end, and the front end of the traction fixing screw 1321 serves to prevent the traction wire 350 from falling out of the traction groove 1312.

[0110] To further prevent the traction wire 350 from slipping out of the traction groove 1312, in the embodiment of the present application, the traction wheel 131, the traction fixing pressure pad 1322, and the traction fixing pressure block 1323 can all be made of a material with a high friction coefficient. For example, the traction wheel 131, the traction fixing pressure pad 1322, and the traction fixing pressure block 1323 can be made of any one of metal, rigid material, synthetic resin, or copper alloy, thereby effectively ensuring the fixing effect of the traction wire 350.

[0111] As an optional embodiment, referring to FIG. 12 and FIG. 13 , a notch 1311 may be provided on the traction wheel 131 .

[0112] It should be noted that in the embodiment of the present application, the shape of the notch 1311 is not further limited. For example, the notch 1311 can be "L-shaped" or "W-shaped." In this embodiment, referring to Figures 12 and 13, the L-shaped notch 1311 is mainly used as an example for description.

[0113] Exemplarily, as shown in Figure 12, the notch 1311 may include a first extension section 13111 and a second extension section 13112. The first extension section 13111 is opened on at least a portion of the periphery of the traction wheel 131. Exemplarily, the extension direction of the first extension section 13111 may be consistent with the radial direction of the traction wheel 131, or the extension direction of the first extension section 13111 may have an angle with the radial direction of the traction wheel 131. This is not further limited in this embodiment.

[0114] The first end of the second extension section 13112 is connected to the first extension section 13111, and the second end of the second extension section 13112 extends in a direction close to the traction fixing member 132. Thus, during winding, the traction wire 350 is wound in the traction groove 1312 and sequentially guided through the first extension section 13111 and the second extension section 13112 to the fixed end of the traction fixing member 132, and then fixed to the traction wheel 131 via the fixed end, wherein the fixed end is the top end of the traction fixing screw 1321.

[0115] With this design, the traction wire 350 is fixed against the root of the L-shaped wire groove and is blocked by the boss extending from the L-shaped wire groove and will not fall out of the spool. The traction fixing screw 1321 further fixes the traction wire 350 between it and the spool, so that the traction wire 350 cannot fall out of the spool.

[0116] The size, location, and number of the notches 1311 are not further limited and may be configured based on actual conditions. Furthermore, the outer diameter of the traction wheel 131 should be sufficiently larger than the outer diameter of the spool to ensure that the traction wire 350 does not escape from the traction wheel 131 even when the traction wire 350 is in a relaxed state during movement.

[0117] Furthermore, it should be noted that the L-shaped notch 1311 in the embodiment of the present application offers another advantage over straight-line, rectangular, square, or fan-shaped notches: when the traction wire 350 is guided from the notch 1311 to the fixed end of the traction fixture 132, the traction wire 350 is tightened at the second end of the second extension section 13112. From the first end to the second end of the second extension section 13112, the traction wire 350 is tightened by twice the length of the second extension section 13112 compared to a conventional notch. When the traction wire 350 needs to be released, the second extension section 13112 must be relaxed by twice the length of the conventional notch to allow the traction wire 350 to escape from the notch 1311. Therefore, the L-shaped notch in this embodiment effectively secures the traction wire 350 to the traction wheel 131.

[0118] As an optional embodiment, as shown in Figure 6, the center axis of the sheath tube 150 at the fixed position of the sheath fixing assembly 160, the center plane of the adjustment groove 143, and the center plane of the traction groove 1312 can be maintained on the same horizontal plane, or the center axis of the sheath tube 150 at the fixed position of the sheath fixing assembly 160, the center plane of the adjustment groove 143, and the center plane of the traction groove 1312 can also be staggered.

[0119] In the embodiment of the present application, the central axis of the sheath tube 150 at the fixed position of the sheath fixing assembly 160, the central plane of the adjustment groove 143, and the central plane of the traction groove 1312 are maintained on the same horizontal plane. This arrangement helps to minimize the frictional resistance of the traction wire 350 during the extension and retraction process, thereby ensuring that the extension and retraction process of the traction wire 350 is smoother to the greatest extent possible.

[0120] As an optional embodiment, the number of adjustment components 140 can include one, the number of traction components 130 can include one, one traction component 130 is set corresponding to one adjustment component 140, and the adjustment component 140 and the traction component 130 are respectively used to correspond to one traction wire 350.

[0121] As an optional embodiment, the number of adjustment components 140 can include at least two. For example, the number of adjustment components 140 can include two, three, or more. The number of traction components 130 can include at least two. For example, the number of traction components 130 can include two, three, or more. One traction component 130 is corresponding to one adjustment component 140. The at least two adjustment components 140 and the at least two traction components 130 are respectively used to correspond to the at least two traction wires 350. The at least two adjustment components 140 form an adjustment group. In the same adjustment group, the tightness of the at least two traction wires 350 wound around the at least two adjustment components 140 is equal, which is beneficial to ensure the consistency of the bending of the curved section 183.

[0122] In the embodiment of the present application, as shown in Figure 6, the example is mainly taken as follows: the number of adjustment components 140 includes four, the number of traction components 130 includes four, and the number of traction wires 350 includes four. The four adjustment components 140 and the four traction components 130 are respectively used to correspond one to one with the four traction wires 350.

[0123] For example, as shown in Figure 6, two adjustment components 140 of the four adjustment components 140 are arranged relative to each other to form a first adjustment group. In the first adjustment group, the tightness of the two traction wires 350 correspondingly wound around the two adjustment components 140 is equal; the other two adjustment components 140 of the four adjustment components 140 are arranged relative to each other to form a second adjustment group. In the second adjustment group, the tightness of the two traction wires 350 correspondingly wound around the two adjustment components 140 is equal.

[0124] Illustratively, two of the four traction assemblies 130 are arranged relative to each other to form a first traction group, two of the four traction wires 350 are correspondingly fixed on the two traction assemblies 130, and the other two of the four traction assemblies 130 are arranged relative to each other to form a second traction group, and the other two of the four traction wires 350 are correspondingly fixed on the two traction assemblies 130.

[0125] The first adjustment group, the first traction group, the second adjustment group, and the second traction group are arranged in sequence along the extension direction of the base 110 and toward the side away from the lead-in hole 111. This arrangement helps to greatly improve the space utilization inside the base 110, reduce the overall size of the endoscope sheath control device 100, and prevent assembly interference between the components.

[0126] It should be noted that the relationship between the tightness of the first adjustment group and the tightness of the second adjustment group is not limited. For example, the tightness of the first adjustment group and the tightness of the second adjustment group can be the same, or the tightness of the first adjustment group and the tightness of the second adjustment group can be different. In addition, the arrangement of the first adjustment group, the first traction group, the second adjustment group, and the second traction group includes but is not limited to the above-mentioned arrangement, and can be arranged according to the actual space size.

[0127] Exemplarily, the distribution positions of the two traction components 130 in the first traction group can be set about mirror symmetry, and the distribution positions of the two traction components 130 in the second traction group can be set about mirror symmetry, which is beneficial to ensure the consistency of the movement of the traction wire 350 in two relative directions.

[0128] As an optional embodiment, the horizontal heights of the first adjustment group and the first traction group can be staggered with the horizontal heights of the second adjustment group and the second traction group. Exemplarily, as shown in FIG6 , the horizontal heights of the first adjustment group and the first traction group are the same, which is the first horizontal height, and the horizontal heights of the second adjustment group and the second traction group are the same, which is the second horizontal height, and the second horizontal height is higher than the first horizontal height. This design allows the traction wire 350 for front-to-back adjustment to be arranged above the first adjustment group and the first traction group. On the one hand, it greatly improves the space utilization inside the base 110 and reduces the overall size of the endoscope sheath control device 100. On the other hand, it will not interfere with the arrangement of the traction wire 350 for left-right adjustment, and can also avoid problems such as entanglement between multiple traction wires 350.

[0129] In some embodiments, the horizontal heights of the four traction components 130 can also be designed to be the same. In some embodiments, the first horizontal height can also be lower than the second horizontal height. This is not further limited in the present embodiment and can be adjusted according to actual conditions.

[0130] As an optional embodiment, as shown in Figure 8, the endoscope sheath control device 100 can also include a transmission disk 112, a first bearing 113, an elastic retaining ring 115, a locking plate 116, a second bearing 117, a washer 118 and a locking screw 119. A plurality of positioning columns 172 can be provided on the limit member 170, and a plurality of positioning holes 1161 are provided on the locking plate 116. The plurality of positioning columns 172 and the plurality of positioning holes 1161 are provided in a one-to-one correspondence.

[0131] During assembly, the first bearing 113 is installed on the shaft 114 of the transmission disk and is installed on the base 110 from the bottom of the base 110. The traction wheels 131 are respectively mounted on the shaft 114 of the transmission disk and finally fixed above the shaft shoulder. The elastic retaining ring 115 is installed on the shaft 114 of the transmission disk to clamp the traction wheel 131 to prevent the traction wheel 131 from moving up and down. The locking plate 116 is installed on the limit piece 170 and is precisely positioned through the positioning column 172 and the positioning hole 1161, which is beneficial to improve the fixing effect of the locking plate 116 and the limit piece 170. The second bearing 117 is respectively installed on the upper end of the shaft 114 of the transmission disk from above the locking plate 116, which is used to circumferentially limit the transmission disk 112. The locking screw 119 is installed on the top of the shaft 114 of the transmission disk and the inner ring of the second bearing 117 is pressed by the washer 118.

[0132] It should be noted that, since in this embodiment, the number of adjustment assemblies 140 includes four, the number of traction assemblies 130 includes four, and the number of traction wires 350 includes four, the number of transmission plates 112, the number of first bearings 113, the number of circlips 115, the number of second bearings 117, the number of washers 118, and the number of locking screws 119 can all be set to four. Similarly, the number of drive motors 2121, the number of drivers 2122, the number of reducers 213, and the number of couplings 214 can also all be set to four.

[0133] Similarly, the number of sheath tubes 150 can be set to four, and the four sheath tubes 150 are respectively placed outside the four traction wires 350, which is beneficial to reduce friction between the traction wires 350 and between the traction wires 350 and other components, thereby extending the service life of the traction wires 350.

[0134] The cooperative working process of the endoscope sheath control device 100 and the driving device 210 provided in the embodiment of the present application is described as follows:

[0135] The four traction wires 350 pass through the four winding wheels 1421 one by one and are fixed on the four traction wheels 131. The four driving motors 2121 respectively drive the four transmission disks 112 to make circumferential motion. The four traction wheels 131 make circumferential motion under the drive of the four transmission disks 112. The four traction wheels 131 drive the four traction wires 350 to make telescopic motion one by one, thereby controlling the bending section 183 of the endoscope sheath 180 to bend toward the target direction.

[0136] Illustratively, the two traction components 130 in the first traction group respectively control the deflection movement of the curved section 183 of the endoscope sheath 180, that is, control the movement of the curved section 183 in the left and right directions (the two traction components 130 closer to the guide hole 111); the two traction components 130 in the second traction group respectively control the pitch movement of the curved section 183 of the endoscope sheath 180, that is, control the movement of the curved section 183 in the up and down directions (the two traction components 130 away from the guide hole 111).

[0137] For example, when the bending section 183 needs to deflect to the left, the traction component 130 close to the inner side of the first traction group rotates to put the traction wire 350 in a contracted and retracted state, and the traction component 130 close to the outer side of the first traction group rotates to put the traction wire 350 in a stretched and released state, thereby enabling the bending section 183 to bend to the left.

[0138] Therefore, the endoscope sheath control device 100, drive system 200 and surgical robot 300 provided in the present application, by including a traction component 130, can drive the traction wire 350 to perform telescopic movement, and at the same time can effectively fix the traction wire 350, which is beneficial to avoiding the problem of the traction wire 350 coming off the traction wheel 131; by including an adjustment component 140, during the process of assembling the traction wire 350, the adjustment component 140 can adjust the tightness of the traction wire 350, which is beneficial to controlling the tightness of the traction wire 350, and further helps to avoid the problem that the actual telescopic amount of the traction wire 350 deviates from the theoretical telescopic amount, resulting in a deviation in the bending angle of the bending section 183 of the endoscope sheath, thereby achieving consistency in the bending of the endoscope sheath 180, improving the accuracy of the surgical instrument entering the target tissue position, and ensuring the surgical effect.

[0139] In the description of the embodiments of this application, it should be understood that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, an indirect connection via an intermediate medium, the communication between the internal structures of two components, or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0140] Terms such as "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," and "outer" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. In the description of this application, "plurality" means two or more, unless otherwise specified.

[0141] The terms "first," "second," "third," "fourth," and the like in the specification and claims of the present application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that such terms are interchangeable where appropriate so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products, or apparatus.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for the structural or full structural technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An endoscope sheath control device, characterized in that: Used for endoscopes, endoscopic surgery and surgical robots, the endoscope has a traction wire, and the endoscope sheath control device includes a base, a shell, an endoscope sheath, a traction component and an adjustment component; The shell is covered on the base and encloses a cavity with the base, the traction assembly and the adjustment assembly are located in the cavity, the first end of the endoscope sheath is fixedly connected to the base, and the second end of the endoscope sheath extends in a direction away from the base; The endoscope sheath is used to be fixedly connected to the first end of the traction wire, the traction assembly is used to be fixedly connected to the second end of the traction wire, and the traction assembly is used to drive the traction wire to perform telescopic movement to achieve a bending action of the endoscope sheath; The adjustment component is arranged on the lead path of the traction wire, and the adjustment component includes an adjustment seat and a winding member, the winding member is slidably connected to the adjustment seat, and the traction wire is wound around the winding member; the winding member is used to slide relative to the adjustment seat and drive the traction wire to move so as to adjust the tightness of the traction wire.

2. The endoscope sheath control device according to claim 1, characterized in that: The adjusting seat is provided with an adjusting slot, the wrapping member is slidably connected in the adjusting slot, and reciprocates along the extending direction of the adjusting slot.

3. The endoscope sheath control device according to claim 2, characterized in that: The winding member comprises a winding wheel and a winding baffle, wherein the winding wheel is slidably connected to the adjusting groove and reciprocates along the extending direction of the adjusting groove; The winding baffle is connected to at least part of the periphery of the winding wheel, and the winding baffle is located on the side of the winding wheel where the traction wire is wound. A winding area for the traction wire to pass through is formed between the winding baffle and the winding periphery of the winding wheel, and the winding baffle is used to limit the traction wire from escaping from the winding area.

4. The endoscope sheath control device according to claim 3, characterized in that: It also includes a sheath tube for the traction wire to pass through, the sheath tube is at least located on the side of the adjustment component away from the traction component, the open end of the sheath tube is close to the adjustment component, and the traction wire is led out from the open end of the sheath tube and led to the adjustment component.

5. The endoscope sheath control device according to claim 4, characterized in that: It also includes a sheath fixing assembly, wherein the sheath fixing assembly is at least located on a side of the adjustment assembly facing away from the traction assembly; The sheath fixing assembly comprises a sheath fixing seat and a sheath fixing piece. The first end of the sheath tube is fixedly connected to the endoscope sheath tube, and the second end of the sheath tube is fixed to the sheath fixing seat through the sheath fixing piece.

6. The endoscope sheath control device according to claim 5, characterized in that: The traction assembly comprises a traction wheel and a traction fixing piece. A transmission disc is mounted on the base. The traction wheel is connected to the transmission disc. The traction wire is fixed on the traction wheel through the traction fixing piece.

7. The endoscope sheath control device according to claim 6, characterized in that: The traction wheel is provided with a notch, the notch is "L-shaped", and the notch includes a first extension section and a second extension section, the first extension section is opened on at least part of the periphery of the traction wheel, the extension direction of the first extension section is consistent with or has an angle with the radial direction of the traction wheel, the first end of the second extension section is connected to the first extension section, and the second end of the second extension section extends in a direction close to the traction fixing member; The traction wheel is provided with a traction groove, the traction wire is wound in the traction groove and sequentially led to the fixed end of the traction fixing member through the first extension section and the second extension section, and is fixed to the traction wheel through the fixed end.

8. The endoscope sheath control device according to claim 7, characterized in that: The central axis of the sheath tube at the fixed position of the sheath fixing assembly, the central plane of the adjustment groove and the central plane of the traction groove are in the same horizontal plane; or, the central axis of the sheath tube at the fixed position of the sheath fixing assembly, the central plane of the adjustment groove and the central plane of the traction groove are staggered.

9. The endoscope sheath control device according to claim 8, characterized in that: It also includes a limiting member, which is close to the traction assembly and has a limiting surface. The limiting surface is in contact with a portion of the outer periphery of the traction wheel to limit the traction wire from escaping from the traction wheel.

10. The endoscope sheath control device according to claim 9, characterized in that: A wire lead hole is provided on one side of the base along the extension direction of the base, and part of the sheath tube passes through the wire lead hole; The sheath fixing assembly, the adjusting assembly and the pulling assembly are arranged in sequence along the extending direction of the base and toward a side away from the lead-in hole.

11. The endoscope sheath control device according to any one of claims 1 to 10, characterized in that: The number of the adjustment components includes at least two, the number of the traction components includes at least two, one traction component is correspondingly arranged with one adjustment component, and at least two adjustment components and at least two traction components are respectively used to be arranged in a one-to-one correspondence with at least two traction wires; At least two of the adjustment components form one adjustment group. In the same adjustment group, the tightness of at least two traction wires wound around at least two of the adjustment components is equal.

12. The endoscope sheath control device according to claim 10, characterized in that: The number of the adjustment components includes four, the number of the traction components includes four, and the four adjustment components and the four traction components are respectively used to be arranged in one-to-one correspondence with the four traction wires; Two of the four adjustment components are arranged opposite to each other to form a first adjustment group. In the first adjustment group, the tightness of the two traction wires wound around the two adjustment components is equal. And / or, the other two of the four adjustment components are arranged relatively to form a second adjustment group, and in the second adjustment group, the tightness of the two traction wires correspondingly wound around the two adjustment components is equal.

13. The endoscope sheath control device according to claim 12, characterized in that: Two of the four traction assemblies are arranged opposite to each other to form a first traction group, two of the four traction wires are fixed to the two traction assemblies respectively, and the other two of the four traction assemblies are arranged opposite to each other to form a second traction group, and the other two of the four traction wires are fixed to the two traction assemblies respectively; The first adjustment group, the first pulling group, the second adjustment group and the second pulling group are arranged in sequence along the extension direction of the base and toward a side away from the lead hole.

14. The endoscope sheath control device according to claim 13, characterized in that: The horizontal heights of the first adjustment group and the first traction group are staggered from the horizontal heights of the second adjustment group and the second traction group.

15. The endoscope sheath control device according to any one of claims 6 to 10, characterized in that: The traction wheel is made of any one of metal material, rigid material, synthetic resin material or copper alloy; and / or the winding wheel is a bearing wheel, and the outer ring of the winding wheel is made of any one of polytetrafluoroethylene, Teflon or polyetheretherketone.

16. A drive system, characterized in that: It comprises a driving device and an endoscope sheath control device according to any one of claims 1 to 15, wherein the driving device is connected to the endoscope sheath control device.

17. The drive system according to claim 16, characterized in that: The driving device comprises a driving base, a driving member, a reducer and a coupling, wherein the coupling is mounted on the reducer, and the reducer is mounted on the driving member; The driving member is connected to the traction assembly of the endoscope sheath control device through the coupling, and the base of the endoscope sheath control device is connected to the driving base.

18. A surgical robot, characterized in that: It comprises a control system, a navigation system, a display system, an operator, an endoscope and a driving system as claimed in claim 16 or 17, wherein the traction wire of the endoscope is connected to an endoscope sheath control device of the driving system.

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